Magnetic suspension dynamic balance adjusting mechanism

Abstract

The utility model discloses a magnetic suspension dynamic balance adjusting mechanism which comprises a first rack, supports are installed at the two ends of the first rack respectively, and cameras are installed on the two supports respectively. The two dynamic balance units are symmetrically distributed, and each dynamic balance unit comprises a first opening formed in the two sides of the support, a second rack arranged on the two sides of the first rack, a knuckle bearing assembly used for connecting the first rack with the second rack, two symmetrically-distributed magnetic attraction wheels rotating on the second rack and a driving component driving the second rack to rotate. The lower ends of the two racks II are respectively provided with a distance sensor for controlling the dynamic balance unit to carry out angle adjustment, the precise dynamic adjustment of the posture of the robot is realized, the stable movement of the robot on the wall surface is ensured, the falling risk caused by the posture imbalance is effectively prevented, and the safety of the robot is ensured. And the safety and the reliability of operation are greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of wall-climbing robots, in particular to a magnetic suspension dynamic balance adjustment mechanism. Background Art

[0002] In some pipeline-type equipment, such as substation GIS switches, after running for a period of time, it is necessary to check the status of the internal pipelines. These internal pipelines are cylindrical, and these internal pipelines require the wall-climbing robot to be able to crawl on both vertical surfaces and negative surfaces. In addition, the pipelines are cylindrical, and the wall-climbing robot is also required to have the ability to crawl on curved surfaces.

[0003] However, since all wall-climbing robots on the market basically adopt a fixed integrated structure, the fixed integrated structure design basically has a very narrow working surface (≤300mm) due to fitting reasons, resulting in low work efficiency, frequent falls and detachment, and cannot autonomously change the diameter to adapt to the working surface as the diameter of the pipe changes. Robots of various specifications are needed to achieve crawling on all pipes, conical pipes, and pipe walls. Utility Model Content

[0004] The purpose of the present utility model is to provide a magnetic suspension dynamic balance adjustment mechanism to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a magnetic suspension dynamic balance adjustment mechanism, comprising a frame 1, brackets are installed at both ends of the frame 1, and cameras are installed on both brackets;

[0006] And two symmetrically distributed dynamic balancing units, the dynamic balancing unit includes an opening 1 provided on both sides of the bracket, a frame 2 provided on both sides of the frame 1, a joint bearing assembly for connecting the frame 1 and the frame 2, two symmetrically distributed magnetic wheels rotating on the frame 2, and a driving component for driving the frame 2 to rotate, and the lower ends of the two frames 2 are both equipped with distance sensors for controlling the dynamic balancing unit to adjust the angle.

[0007] In a preferred embodiment: the joint bearing assembly includes a limit ring, a dynamic cylinder 1, a connecting column 1, a fixed ring and a limit plate, the limit ring is installed in the opening 1, the dynamic cylinder 1 is slidably arranged in the limit ring, the center position of the dynamic cylinder 1 is fixedly installed with a connecting column 1, one end of the connecting column 1 is fixedly connected to the limit plate, the frame 1 is provided with a cavity, the limit plate is movably arranged in the cavity, the end of the connecting column 1 away from the limit plate is installed with a fixed ring, and the fixed ring is installed in the frame 2.

[0008] In a preferred embodiment: the dynamic cylinder 1 is spherical, and opening 2 is provided on the two end walls of each limit plate, and a shock absorber is connected between each opening 2 and the inner wall of the cavity. The middle section of the limit plate is arc-shaped, and two symmetrically distributed protrusions are installed on the frame 1, and one end of the two protrusions is protruded in the cavity, and the protruding ends of the two protrusions are in contact with the arc-shaped middle section of the limit plate on the same side.

[0009] In a preferred embodiment: the driving component includes a servo motor, a gear and an adjustment ring, the upper end of the frame 2 is mounted on the base through a fastening bolt 1, the servo motor is mounted on the base, the output shaft at one end of the servo motor is fixedly connected to the gear, a connecting plate is mounted on the side wall of the frame 1 through a fastening bolt 2, the upper end of the connecting plate is fixedly connected to the adjustment ring, and a tooth groove is opened in the adjustment ring.

[0010] In a preferred embodiment, there are several tooth grooves, and the tooth grooves match the gears.

[0011] In a preferred embodiment, the distance sensor on the same side is electrically connected to a servo motor, and a chassis is provided outside the servo motor, and the chassis is installed on the second frame.

[0012] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0013] 1. The present invention is equipped with two symmetrically distributed dynamic balancing units, in which the distance sensor plays a key role: during the robot's climbing process, when the distance sensor detects a change in the distance between one side and the wall, indicating that the robot is showing a tilting trend, it will quickly transmit a signal to the servo motor on the same side. After the servo motor is started, its output shaft drives the gear to rotate. The gear interacts with the tooth groove of the adjustment ring, causing the second frame to rotate relative to the first frame. For example, when encountering a local unevenness on the wall, causing one side of the robot to lift or sink, this adjustment mechanism can respond quickly. At the same time, the spherical dynamic cylinder 1 in the joint bearing assembly slides within the limit ring, and the limit plate moves within the cavity of the first frame. The shock absorbers connected between the openings 2 on the wall at both ends of the limit plate and the inner wall of the cavity play an auxiliary buffering and reset role, realizing precise dynamic adjustment of the robot's posture, ensuring that the robot always maintains stable movement on the wall, effectively preventing the risk of falling due to posture imbalance, and greatly improving the safety and reliability of the operation.

[0014] 2. The utility model enables the robot to have intelligent diameter-changing capability, writes the pipe diameter information into the main control system through visual feedback, and then performs real-time diameter changing in combination with the bottom anti-fall distance sensor information: the diameter changing is completed by real-time matching of the servo motor and the angle information. In practical applications, such as when processing pipe systems with different diameters, the robot can automatically sense the change in pipe diameter through the camera and quickly adjust its own structure. When transitioning from a large-diameter pipe to a small-diameter pipe, the servo motor drives the relevant components to move, adjust the spacing of the magnetic wheels and the distribution of the magnetic units, so that the robot can fit closely to the wall, maintain stable adsorption and effective movement. This intelligent diameter-changing function does not require human intervention, greatly improves work efficiency, reduces the time waste and cost increase caused by replacing robots of different specifications, enables the robot to operate efficiently in a complex system composed of pipes of various diameters, and significantly improves the flexibility and adaptability of the overall operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0016] Figure 1 This is a schematic diagram of the overall structure of the robot of the present utility model;

[0017] Figure 2 This is a schematic diagram of the internal structure of the robot cavity of the present utility model;

[0018] Figure 3 This is a schematic diagram of the driving component structure of the utility model;

[0019] Figure 4 This is a schematic diagram of the cross-sectional structure of the robot of the present invention;

[0020] In the figure: 1. Frame 1; 2. Bracket; 3. Camera;

[0021] 4. Dynamic balancing unit; 40. Opening 1; 41. Frame 2; 42. Spherical bearing assembly; 420. Limiting ring; 421. Dynamic cylinder 1; 422. Connecting column 1; 423. Fixing ring; 424. Limiting plate; 425. Cavity; 426. Opening 2; 427. Shock absorber; 428. Bump; 43. Magnetic wheel; 44. Driving component; 440. Servo motor; 441. Gear; 442. Adjusting ring; 443. Machine base; 444. Connecting plate; 445. Tooth groove; 446. Chassis; 45. Distance sensor. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] See also Figures 1-4 The utility model provides a technical solution: a magnetic suspension dynamic balance adjustment mechanism, comprising a frame 1, brackets 2 are installed at both ends of the frame 1, and cameras 3 are installed on both of the brackets 2;

[0024] And two symmetrically distributed dynamic balancing units 4, the dynamic balancing unit 4 includes an opening 1 40 provided on both sides of the bracket 2, a frame 2 41 provided on both sides of the frame 1, a joint bearing assembly 42 for connecting the frame 1 and the frame 2 41, two symmetrically distributed magnetic wheels 43 rotating on the frame 2 41, and a driving member 44 for driving the frame 2 41 to rotate. The lower ends of the two frames 2 41 are both equipped with distance sensors 45 for controlling the angle adjustment of the dynamic balancing unit 4.

[0025] The joint bearing assembly 42 includes a limit ring 420, a dynamic cylinder 421, a connecting column 422, a fixed ring 423 and a limit plate 424. The limit ring 420 is installed in the opening 40, and the dynamic cylinder 421 is slidably arranged in the limit ring 420. A connecting column 422 is fixedly installed through the center position of the dynamic cylinder 421. One end of the connecting column 422 is fixedly connected to the limit plate 424. A cavity 425 is provided on the frame 1. The limit plate 424 is movably arranged in the cavity 425. A fixing ring 423 is installed on the end of the connecting column 422 away from the limit plate 424. The fixing ring 423 is installed in the frame 2 41.

[0026] The dynamic cylinder 1 421 is spherical, and an opening 2 426 is provided on the wall at both ends of each limit plate 424. A shock absorber 427 is connected between each opening 2 426 and the inner wall of the cavity 425. The middle section of the limit plate 424 is arc-shaped, and two symmetrically distributed protrusions 428 are installed on the frame 1. One end of the two protrusions 428 is protruded in the cavity 425, and the protruding ends of the two protrusions 428 are in contact with the arc-shaped middle section of the limit plate 424 on the same side.

[0027] The driving component 44 includes a servo motor 440, a gear 441 and an adjustment ring 442. The upper end of the frame 41 is mounted with a base 443 by a fastening bolt 1. The servo motor 440 is mounted on the base 443. The output shaft at one end of the servo motor 440 is fixedly connected with the gear 441. A connecting plate 444 is mounted on the side wall of the frame 1 by a fastening bolt 2. The upper end of the connecting plate 444 is fixedly connected with the adjustment ring 442. A tooth groove 445 is provided in the adjustment ring 442.

[0028] There are a plurality of tooth grooves 445 , and the tooth grooves 445 match the gear 441 .

[0029] The distance sensor 45 on the same side is electrically connected to the servo motor 440 . The servo motor 440 is provided with a chassis 446 outside, and the chassis 446 is installed on the second frame 41 .

[0030] The working principle of the present invention is as follows: the operator moves the robot to the vicinity of the magnetic wall to be climbed, so that the magnetic wheel 43 approaches the wall, and the magnetic wheel 43 is adsorbed on the external magnetic wall through the magnetic sheet 3 52. The frameless motor drives the magnetic wheel 43 to start moving on the adsorbed magnetic wall, and the robot starts to climb the wall. The distance sensor 45 located at the lower end of the frame 2 41 monitors the distance information between the robot and the wall in real time. When the distance sensor 45 detects a change in the distance on one side, indicating that the robot has a tilt trend, the signal is transmitted to the servo motor 440 on the same side. After receiving the signal, the servo motor 440 starts, and its output shaft drives the gear 441 to rotate. The gear 441 interacts with the tooth groove 445 of the adjustment ring 442, so that the frame 2 41 rotates relative to the frame 1, so that the robot can move stably. When the robot completes the task or needs to stop climbing, a stop command is sent to the frameless motor 46, the magnetic wheel 43 stops rotating, and by controlling the servo motor 440 to reverse, the robot gradually separates from the magnetic wall, completing a wall climbing task.

[0031] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A magnetic suspension dynamic balance adjustment mechanism, characterized by: It comprises a frame (1), both ends of the frame (1) are equipped with brackets (2), and both of the brackets (2) are equipped with cameras (3); and two symmetrically distributed dynamic balancing units (4), the dynamic balancing units (4) comprising an opening (40) provided on both sides of the bracket (2), a frame (41) provided on both sides of the frame (1), a joint bearing assembly (42) for connecting the frame (1) and the frame (41), two symmetrically distributed magnetic wheels (43) rotating on the frame (41), and a driving member (44) for driving the frame (41) to rotate, and a distance sensor (45) for controlling the dynamic balancing unit (4) to adjust the angle is installed at the lower ends of the two frames (41).

2. The magnetic suspension dynamic balance adjustment mechanism according to claim 1, characterized in that: The joint bearing assembly (42) includes a limiting ring (420), a dynamic cylinder (421), a connecting column (422), a fixing ring (423) and a limiting plate (424), wherein the limiting ring (420) is installed in the opening (40), the dynamic cylinder (421) is slidably arranged in the limiting ring (420), the center position of the dynamic cylinder (421) is fixedly installed with a connecting column (422), one end of the connecting column (422) is fixedly connected to the limiting plate (424), the frame (1) is provided with a cavity (425), the limiting plate (424) is movably arranged in the cavity (425), the connecting column (422) is installed with a fixing ring (423) at one end away from the limiting plate (424), and the fixing ring (423) is installed in the frame (41).

3. The magnetic suspension dynamic balance adjustment mechanism according to claim 2, characterized in that: The dynamic cylinder (421) is spherical, and each of the two end walls of the limiting plate (424) is provided with an opening (426). A shock absorber (427) is connected between each opening (426) and the inner wall of the cavity (425). The middle section of the limiting plate (424) is arc-shaped. Two symmetrically distributed protrusions (428) are installed on the frame (1), and one end of the two protrusions (428) is protruded in the cavity (425). The protruding ends of the two protrusions (428) are in contact with the arc-shaped middle section of the limiting plate (424) on the same side.

4. The magnetic suspension dynamic balance adjustment mechanism according to claim 1, characterized in that: The driving component (44) includes a servo motor (440), a gear (441) and an adjustment ring (442). The upper end of the frame (41) is mounted on a base (443) via a fastening bolt (441). The servo motor (440) is mounted on the base (443). The output shaft at one end of the servo motor (440) is fixedly connected to the gear (441). A connecting plate (444) is mounted on the side wall of the frame (1) via a fastening bolt (441). The upper end of the connecting plate (444) is fixedly connected to the adjustment ring (442). A tooth groove (445) is provided in the adjustment ring (442).

5. The magnetic suspension dynamic balance adjustment mechanism according to claim 4, characterized in that: There are a plurality of tooth grooves (445), and the tooth grooves (445) match the gears (441).

6. The magnetic suspension dynamic balance adjustment mechanism according to claim 4, characterized in that: The distance sensor (45) on the same side is electrically connected to the servo motor (440). A chassis (446) is provided outside the servo motor (440), and the chassis (446) is installed on the second frame (41).

Images