Curved-surface self-adaptive adsorption type omni-directional mobile platform

An omnidirectional mobile and adsorption technology, applied in the direction of motor vehicles, manipulators, manufacturing tools, etc., can solve the problems of non-adjustable permanent magnet adsorption air gap, inability to adapt to curved surface movement, etc., to achieve reliable adsorption, easy disassembly and maintenance, and installation. The effect of benchmark unification

Active Publication Date: 2016-09-21
中国东方电气集团有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It is characterized by high utilization rate of magnetic energy and strong load capacity, but the front and rear wheels are rigidly connected, and the permanent magnet adsorption air gap cannot be adjusted, which cannot meet the requirements of curved surface movement

Method used

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  • Curved-surface self-adaptive adsorption type omni-directional mobile platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] A curved surface self-adaptive adsorption omni-directional mobile platform adopts a three-wheel or four-wheel topology, including a modular front wheel steering module 11, a modular rear wheel drive module 12, a vehicle frame 13 and a motion control system; the front The wheel steering module is a module integrating drive and steering. The modular front wheel steering module 11 includes an air gap magnetic adsorption assembly 21, a driving and transmission device 25, a reference mounting plate 24, a steering wheel 23 and a bogie 22. The steered wheels 23 are connected to the bogie 22 through axles, the lower end of the bogie 22 is fixedly connected to the air-gap adsorption assembly 416, and the upper end of the bogie 22 is connected to the output end of the driving and transmission device 25 and received by it. For driving steering, the reference mounting plate 24 is precisely connected with the driving and transmission device 25 through a positioning reference. Thus, ...

Embodiment 2

[0047] A curved surface self-adaptive adsorption omni-directional mobile platform adopts a three-wheel or four-wheel topology, including a modular front wheel steering module 11, a modular rear wheel drive module 12, a vehicle frame 13 and a motion control system; the front The wheel steering module is a module integrating drive and steering. The modular front wheel steering module 11 includes an air gap magnetic adsorption assembly 21, a driving and transmission device 25, a reference mounting plate 24, a steering wheel 23 and a bogie 22. The steered wheels 23 are connected to the bogie 22 through axles, the lower end of the bogie 22 is fixedly connected to the air-gap adsorption assembly 416, and the upper end of the bogie 22 is connected to the output end of the driving and transmission device 25 and received by it. For driving steering, the reference mounting plate 24 is precisely connected with the driving and transmission device 25 through a positioning reference. Thus, ...

Embodiment 3

[0058]A curved surface self-adaptive adsorption omni-directional mobile platform adopts a three-wheel or four-wheel topology, including a modular front wheel steering module 11, a modular rear wheel drive module 12, a vehicle frame 13 and a motion control system; the front The wheel steering module is a module integrating drive and steering. The modular front wheel steering module 11 includes an air gap magnetic adsorption assembly 21, a driving and transmission device 25, a reference mounting plate 24, a steering wheel 23 and a bogie 22. The steered wheels 23 are connected to the bogie 22 through axles, the lower end of the bogie 22 is fixedly connected to the air-gap adsorption assembly 416, and the upper end of the bogie 22 is connected to the output end of the driving and transmission device 25 and received by it. For driving steering, the reference mounting plate 24 is precisely connected with the driving and transmission device 25 through a positioning reference. Thus, a...

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Abstract

The invention relates to the technical field of specialized robots, in particular to a curved-surface self-adaptive adsorption type omni-directional mobile platform used for a specialized mobile robot. A three-wheel or four-wheel topological structure is adopted. The curved-surface self-adaptive adsorption type omni-directional mobile platform comprises a modularized front-wheel steering module, modularized rear-wheel driving modules, a vehicle frame and a movement control system. The front-wheel steering module is a module with driving and steering being integrated. The modularized front-wheel steering module comprises an air gap type magnetic adsorption assembly, a driving and transmission device, a benchmark installation plate, a steering vehicle wheel and a steering frame. The steering vehicle wheel is connected to the steering frame through a vehicle shaft. The lower end of the steering frame is fixedly connected with the air gap type magnetic adsorption assembly. The curved-surface self-adaptive adsorption type omni-directional mobile platform can adapt to a ferromagnetic wall face with a certain curvature, and omni-directional moving on a curved surface is achieved. According to the curved-surface self-adaptive adsorption type omni-directional mobile platform, the modularization is mainly reflected in low coupling and high cohesion among the functional modules, the mutual dependence degree is low, and conducting on integration of a higher layer, convenient disassembly, assembly and maintenance and the like are facilitated.

Description

technical field [0001] The invention relates to the technical field of special robots, in particular to a curved surface adaptive adsorption omni-directional mobile platform for special mobile robots. Background technique [0002] As an important branch in the field of robotics, the magnetic adsorption wall-climbing robot is a special type of mobile robot, and it is an automatic electromechanical device designed to perform specific operations on a magnetically permeable wall under dangerous and extreme conditions. , it can move in all directions on the vertical wall, inclined wall or even the top of the container, and can carry tools to complete specific tasks, such as steel plate welding, surface grinding, testing, etc. [0003] The particularity of its function determines the complexity of the system, making it a comprehensive multi-disciplinary interdisciplinary technology, which integrates professional knowledge such as physics, machinery, automatic control, computer tec...

Claims

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): B25J5/00B62D57/024
CPCB25J5/007B62D57/024
Inventor彭波官雪梅于信宾莫堃董娜邓超
Owner中国东方电气集团有限公司