CN109018054A - Adaptive cambered surface magnetic suck climbing robot - Google Patents

Abstract

The invention proposes a kind of adaptive cambered surface magnetic suck climbing robots, by the way that magnetic suck pedrail mechanism is hinged with car body, and damper is set, when needs are when steel pipe inner arc or outer arc do wide-angle, vertical crawling, magnetic suck pedrail mechanism does adaptability rotation around car body with landing ground radian, damper plays the role of support and damping, to adapt to the steel pipe or cambered surface of different radians；Further, it by the way that motor to be set in chain crawler belt, without installing complicated gear shift, runs more stable；Setting driving gear and driven gear, and the two spacing can be adjusted according to actual needs, facilitate adjusting track tension；Guiding mechanism is set, up-and-down ground can be fitted, reduces the impact force in walking process.

Description

Adaptive curved surface magnetic adsorption crawling robot

technical field

The invention relates to the field of crawling robots, in particular to an adaptive arc surface magnetic adsorption crawling robot.

Background technique

Pipeline robot is a kind of machine, electricity and instrument that can walk automatically along the inside or outside of a small pipeline, carry one or more sensors and detection equipment, and perform a series of pipeline operations under the remote operation of the staff or the automatic control of the computer. system.

At present, the magnetic adsorption crawling robot on the market can only move on the plane, and cannot move on the inner or outer arc of the steel pipe with a radian. The reason is that the adsorption force is not enough, so that the crawler falls down and causes safety accidents and losses. In order to realize large-angle and vertical movement on the steel pipe, it is generally used to make the magnetic track or the magnetic wheel into an arc surface with a known arc of the steel pipe. For steel pipes or curved surfaces with the same curvature, such a robot needs to be equipped with various types of magnetic tracks or magnetic wheels, resulting in the need for frequent replacement of magnetic tracks or magnetic wheels.

Contents of the invention

In view of this, the present invention proposes an adaptive arc surface magnetic adsorption crawling robot.

The technical solution of the present invention is achieved in this way: the present invention provides a kind of self-adaptive curved surface magnetic adsorption crawling robot, and it comprises vehicle body (1) and two magnetic adsorption crawler mechanisms (2), and magnetic adsorption crawler mechanism (2) comprises Frame (21), drive gear (22), driven gear (23) and chain crawler (24), drive gear (22), driven gear (23) are rotatably connected with frame (21) respectively and with chain The crawler belt (24) is meshed, and at least two shock absorbers (3) are also included. The two racks (21) are arranged on both sides of the car body (1) and are hingedly connected thereto. The two ends of the shock absorber (3) are respectively hinged. Car body (1) and frame (21).

On the basis of the above technical solutions, preferably, the shock absorber (3) includes two hinged seats (31), a screw rod (32) and a spring (33), and the two ends of the screw rod (32) are connected with the two hinged seats respectively. (31) threaded connection, the spring (33) is nested on the screw mandrel (32) and the two ends hold against two hinged seats (31) respectively, and the two hinged seats (31) are connected with the car body (1) and the frame (21) respectively. ) hinge connection.

On the basis of the above technical solutions, preferably, the frame (21) includes two load-bearing plates (211) arranged in parallel, a fixed plate (212), a bent plate (213) and a hinged plate (214 ), two driving gears (22) and two driven gears (23) are respectively arranged on two load-bearing plates (211) head and both sides of the tail, and the fixed plate (212) and the hinged plate (214) are fixed on the load-bearing plate ( 211) is set, and the two ends of the bent plate (213) are respectively fixedly connected to the fixed plate (212) and the hinged plate (214), the fixed plate (212) and the load-bearing plate (211) are fixedly arranged, and the hinged plate (214) is connected to the car body respectively. (1) is hingedly connected with shock absorber (3).

Further preferably, a support column (11) is provided on the side of the vehicle body (1), and the end surface of the support column (11) and the hinge plate (214) are opposed to each other.

Further preferably, also include shaft coupling (4), T-shaped gear box (5) and motor (6), motor (6) is fixed between two bearing plates (211) in parallel and with shaft coupling (4) Connect with T-shaped gear box (5) successively, and T-shaped gear box (5) is fixed between two bearing plates (211) and is connected with two drive gears (22) axles.

Further preferably, the magnetic adsorption crawler mechanism (2) also includes a limit block (25), a tension screw (26), a driven shaft (27) and an open bearing (28), and the rear part of the bearing plate (211) is arranged There is a strip-shaped movable groove (215), the driven shaft (27) passes through the strip-shaped movable groove (215) and two driving gears (22) are nested and fixed at both ends, and the tension screw rod (26) and the driven shaft (27) ) is vertically arranged and the end is fixedly connected to the open bearing (28), the open bearing (28) is nested on the driven shaft (27), the tension screw (26) is threaded with the limit block (25), and the limit block (25) is fixedly arranged between two bearing plates (211).

Further preferably, also comprise guiding mechanism (29), guiding mechanism (29) comprises two tripods (291), a pivot shaft (292) and four guide wheels (293), and tripod (291) is an isosceles triangle, Two tripods (291) are arranged parallel to each other and the top angle positions are connected and fixed by pivot shafts (292). 293) are respectively arranged at the bottom corner position of the tripod (41) and are rollingly connected with the chain crawler belt (24).

More preferably, there are four guide mechanisms (29), which are arranged between the driving gear (22) and the driven gear (23) and arranged symmetrically in pairs up and down.

Compared with the prior art, the self-adaptive arc surface magnetic adsorption crawling robot of the present invention has the following beneficial effects:

(1) By hinge-connecting the magnetic adsorption track mechanism with the car body and installing a shock absorber, when it is necessary to crawl vertically at a large angle in the inner arc or outer arc of the steel pipe, the magnetic adsorption track mechanism moves around the car body along the ground arc. Adaptive rotation, the shock absorber plays the role of support and shock absorption, so as to adapt to steel pipes or curved surfaces with different radians;

(2) Further, by setting the motor in the chain crawler, there is no need to install a complicated gear transmission mechanism, and the operation is more stable;

(3) Set the driving gear and the driven gear, and the distance between the two can be adjusted according to actual needs, so as to facilitate the adjustment of the track tension;

(4) A guiding mechanism is provided, which can adapt to undulating ground and reduce the impact force during walking.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the three-dimensional view of self-adaptive curved surface magnetic adsorption crawling robot of the present invention;

Fig. 2 is the exploded view of the self-adaptive curved surface magnetic adsorption crawling robot of the present invention;

Fig. 3 is the side view of the magnetic adsorption crawler mechanism of the self-adaptive curved surface magnetic adsorption crawler robot of the present invention;

Fig. 4 is the three-dimensional view of the driving part of the self-adaptive curved surface magnetic adsorption crawling robot of the present invention;

Fig. 5 is the three-dimensional view of the guide mechanism of the self-adaptive curved surface magnetic adsorption crawling robot of the present invention;

Fig. 6 is a front view of the shock absorber of the self-adaptive curved surface magnetic adsorption crawling robot of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

As shown in Figure 1, in conjunction with Figure 5, the self-adaptive curved surface magnetic adsorption crawling robot of the present invention includes a car body 1, two magnetic adsorption crawler mechanisms 2, at least two shock absorbers 3, a coupling 4, a T-shaped Gearbox 5 and motor 6.

Car body 1 is equipped with functional operation equipment.

The shock absorber 3 limits the relative position of the frame 21 and the vehicle body 1, and acts as a shock absorber. Both ends of the shock absorber 3 are hingedly connected to the vehicle body 1 and the frame 21 respectively. Specifically, the shock absorber 3 includes two hinged seats 31, a threaded rod 32 and a spring 33, the two ends of the threaded rod 32 are respectively threaded with the two hinged seats 31, the spring 33 is nested on the threaded rod 32 and the two ends are respectively against Two hinged seats 31 are held, and the two hinged seats 31 are hingedly connected with the vehicle body 1 and the frame 21 respectively.

The magnetic adsorption crawler mechanism 2 is the running mechanism of the vehicle body 1 . As shown in Figure 2, in conjunction with Figure 3 and Figure 4, it includes a frame 21, a driving gear 22, a driven gear 23, a chain crawler 24, a limit block 25, a tension screw 26, a driven shaft 27, and an open bearing 28 and guiding mechanism 29.

Wherein, the driving gear 22 and the driven gear 23 are respectively rotatably connected with the frame 21 and meshed with the chain crawler 24 , and the frame 21 is hingedly connected with the car body 1 . Specifically, the frame 21 includes two load-bearing plates 211 arranged in parallel, a fixed plate 212, a bent plate 213 and a hinged plate 214, and two driving gears 22 and two driven gears 23 are respectively arranged on the two load-bearing plates 211. On both sides of the head and the tail, the fixed plate 212 and the hinged plate 214 are fixed parallel to the load-bearing plate 211, and the two ends of the bent plate 213 are respectively fixedly connected to the fixed plate 212 and the hinged plate 214, and the fixed plate 212 and the load-bearing plate 211 are fixed and hinged. The plate 214 is hingedly connected with the vehicle body 1 and the shock absorber 3 respectively. In this way, the hinge plate 214 can rotate around the vehicle body 1 to adapt to surfaces with different arcs. The bent plate 213 ensures that there is enough space between the frame 21 and the vehicle body 1 to facilitate the rotation of the hinged plate 214 . Specifically, a support column 11 is provided on the side of the vehicle body 1 , and the end surface of the support column 11 and the hinge plate 214 are opposed to each other. In this way, the hinge plate 214 can play a role of limiting support.

As shown in Figure 3, in order to facilitate the adjustment of the tension of the chain crawler 24, the tail of the bearing plate 211 is provided with a strip-shaped movable groove 215, and the driven shaft 27 passes through the strip-shaped movable groove 215 and two driving gears 22 are nested and fixed at both ends. , the tension screw 26 is vertically arranged with the driven shaft 27 and the end is fixedly connected to the open bearing 28, the open bearing 28 is nested on the driven shaft 27, the tension screw 26 is threadedly connected with the limit block 25, and the limit block 25 is fixedly arranged between two bearing plates 211 . In this way, by turning the tension screw 26 , the driven shaft 27 can be driven to move back and forth in the strip-shaped movable groove 215 , thereby adjusting the tension of the driving gear 22 , the driven gear 23 and the chain crawler belt 24 .

As a driving part, the motor 6 is fixed to the frame 21 and connected to the drive gear 22 in transmission. Specifically, the motor 6 is fixed in parallel between the two bearing plates 211 and is sequentially connected with the coupling 4 and the T-shaped gearbox 5, and the T-shaped gearbox 5 is fixed between the two bearing plates 211 and connected with the two driving gears 22 shaft connection.

In order to adapt to the uneven situation of the ground, as shown in Figure 5, the guide mechanism 29 includes two tripods 291, a pivot shaft 292 and four guide wheels 293, the tripod 291 is an isosceles triangle, and the two tripods 291 are arranged parallel to each other and The top angle position is connected and fixed by the pivot shaft 292. The pivot shaft 292 is arranged between the two bearing plates 211 and is rotatably connected with it. The four guide wheels 293 are respectively arranged at the bottom corner position of the tripod 41 and are rollingly connected with the chain crawler belt 24. . In this way, when encountering undulating terrain, the tripod 291 can rotate around the bearing plate 211 to reduce the impact force on the chain crawler belt 24 . Specifically, there are four guide mechanisms 29 arranged between the driving gear 22 and the driven gear 23 and symmetrically arranged in pairs up and down.

The mode of action of the motor-external pipe crawling robot of the present invention is as follows:

The motor 6 drives the drive gear 22 to rotate, and drives the chain crawler belt 24 to circulate forward;

When encountering undulating ground, the tripod 291 can rotate around the load-bearing plate 211 to reduce the impact force on the chain crawler belt 24, and at the same time, the shock absorber 3 can play the role of shock absorption.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (8)

1. A self-adaptive arc surface magnetic adsorption crawling robot, it comprises car body (1) and two magnetic adsorption crawler mechanisms (2), and magnetic adsorption crawler mechanism (2) comprises frame (21), driving gear (22), Driven gear (23) and chain crawler (24), driving gear (22), driven gear (23) are rotatably connected with frame (21) respectively and meshed with chain crawler (24), it is characterized in that: also comprise At least two shock absorbers (3), two frames (21) are arranged on both sides of the car body (1) and are hingedly connected thereto, and the two ends of the shock absorber (3) are respectively hinged to the car body (1) and the frame (twenty one). 2. The self-adaptive curved surface magnetic adsorption crawling robot as claimed in claim 1, characterized in that: the shock absorber (3) comprises two hinged seats (31), a threaded rod (32) and a spring (33), the thread The two ends of the rod (32) are threadedly connected with the two hinged seats (31) respectively, the spring (33) is nested on the screw rod (32) and the two ends hold against the two hinged seats (31) respectively, and the two hinged seats (31) respectively It is hingedly connected with the car body (1) and the frame (21). 3. The self-adaptive curved surface magnetic adsorption crawling robot as claimed in claim 1, characterized in that: the frame (21) comprises two load-bearing plates (211) arranged in parallel, a fixed plate (212), a curved Folding plate (213) and a hinged plate (214), two drive gears (22) and two driven gears (23) are respectively arranged on two bearing plates (211) head and tail both sides, fixed plate (212) and The hinged plate (214) is fixed parallel to the load-bearing plate (211), and the two ends of the bent plate (213) are respectively fixedly connected to the fixed plate (212) and the hinged plate (214), and the fixed plate (212) is fixed to the load-bearing plate (211). Set, the hinge plate (214) is hingedly connected with the vehicle body (1) and the shock absorber (3) respectively. 4. The self-adaptive arc surface magnetic adsorption crawling robot as claimed in claim 3, characterized in that: the side of the car body (1) is provided with a support column (11), and the end surface of the support column (11) and the hinge plate (214) are against each other hold. 5. The self-adaptive arc surface magnetic adsorption crawling robot as claimed in claim 3, is characterized in that: also comprises shaft coupling (4), T-shaped gear box (5) and motor (6), and motor (6) is fixed in parallel Between two load-bearing plates (211) and connected with the coupling (4) and T-shaped gearbox (5) in sequence, the T-shaped gearbox (5) is fixed between the two load-bearing plates (211) and connected with the two Drive gear (22) shaft connection. 6. The self-adaptive arc surface magnetic adsorption crawling robot as claimed in claim 3, characterized in that: the magnetic adsorption crawler mechanism (2) also includes a limit block (25), a tension screw (26), a driven The shaft (27) and the open bearing (28), the end of the load-bearing plate (211) is provided with a strip-shaped movable groove (215), the driven shaft (27) passes through the strip-shaped movable groove (215), and the two ends are nested and fixed. The gear (22), the tension screw rod (26) and the driven shaft (27) are vertically arranged and the end is fixedly connected with the open bearing (28), the open bearing (28) is nested on the driven shaft (27), and the tension The screw mandrel (26) is threadedly connected with the limiting block (25), and the limiting block (25) is fixedly arranged between the two bearing plates (211). 7. The self-adaptive curved surface magnetic adsorption crawling robot as claimed in claim 3, is characterized in that: also comprise guiding mechanism (29), and guiding mechanism (29) comprises two tripods (291), a pivot shaft (292) and Four guide wheels (293), the tripod (291) is an isosceles triangle, the two tripods (291) are arranged parallel to each other and the position of the top angle is connected and fixed by the pivot shaft (292), and the pivot shaft (292) is arranged on two load-bearing The plates (211) are rotatably connected to each other, and four guide wheels (293) are respectively arranged at the bottom corners of the tripod (41) and are rollingly connected with the chain crawler belt (24). 8. The self-adaptive curved surface magnetic adsorption crawling robot according to claim 7, characterized in that: four guide mechanisms (29) are arranged between the driving gear (22) and the driven gear (23) And set up and down two by two symmetrically.