CN111572662A - Magnetic gap type wall-climbing robot - Google Patents
Magnetic gap type wall-climbing robot Download PDFInfo
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- CN111572662A CN111572662A CN201910122495.8A CN201910122495A CN111572662A CN 111572662 A CN111572662 A CN 111572662A CN 201910122495 A CN201910122495 A CN 201910122495A CN 111572662 A CN111572662 A CN 111572662A
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- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 238000001179 sorption measurement Methods 0.000 claims abstract description 43
- 230000009471 action Effects 0.000 claims abstract description 12
- 230000005389 magnetism Effects 0.000 claims abstract description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 50
- 239000003638 chemical reducing agent Substances 0.000 claims description 34
- 229910052742 iron Inorganic materials 0.000 claims description 25
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 claims description 20
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 20
- 239000004677 Nylon Substances 0.000 claims description 8
- 230000006698 induction Effects 0.000 claims description 8
- 229920001778 nylon Polymers 0.000 claims description 8
- 230000009194 climbing Effects 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 6
- 238000004140 cleaning Methods 0.000 description 12
- 238000012423 maintenance Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention belongs to the technical field of wall-climbing robots, and particularly relates to a magnetic gap type wall-climbing robot which comprises a rack, a swing arm mechanism, an adsorption walking mechanism and two driving mechanisms, wherein the rack comprises a main frame body and two auxiliary frame bodies hinged to the left side and the right side of the main frame body through a hinge mechanism, the swing arm mechanism is arranged at the position of the front side of the top of the main frame body, the adsorption walking mechanism comprises a driving wheel, a magnetic adsorption unit and an auxiliary magnetic wheel, the auxiliary magnetic wheel is arranged at the position of the rear side of the bottom of the main frame body, the two driving mechanisms are respectively arranged on the two auxiliary frame bodies, and the bottom of two actuating mechanism all is provided with the magnetism and adsorbs the unit, all installs two action wheels of being connected with actuating mechanism on two subframe body, and two action wheels on every subframe body set up respectively in the both sides of magnetism and adsorb the unit, and the horizontal position of action wheel bottom is less than the horizontal position of magnetism and adsorbs the unit bottom. The magnetic gap type wall-climbing robot can give consideration to the load capacity, the obstacle crossing capacity and the curved surface adaptability.
Description
Technical Field
The invention belongs to the technical field of wall-climbing robots, and particularly relates to a magnetic gap type wall-climbing robot.
Background
At present, rust removal and cleaning operations of ships, offshore platforms, wind towers and other places in China are finished by manually carrying equipment to be lifted to the high altitude or enter underwater, but the operation mode has low efficiency and high labor intensity and is more dangerous, and irrecoverable life and property loss can be caused once an accident occurs. The wall-climbing robot combines the ground mobile robot technology with the adsorption technology, and extends the wall motion to the vertical space. The wall-climbing robot carrying equipment is adsorbed on the wall surface to complete corresponding operation, so that workers can be liberated from dangerous high-altitude operation, and the operation efficiency is improved. The existing wall climbing robot is generally in a crawler type and a wheel type, the body of the existing wall climbing robot is mostly in a rigid structure and is only suitable for a flat large plane, the surfaces of ships, offshore platforms and wind towers belong to a complex working environment, and obstacles such as curved surfaces, welding lines and the like with multiple curvatures exist, so that the wall climbing robot is limited in application in various fields and cannot meet the working requirements of the complex curved surface environment.
In a magnetic-force-distribution-adsorption type three-wheel wall-climbing robot (application number: 201710179867.1), a magnetic-gap type wall-climbing robot is provided, a chassis is provided with a plurality of permanent magnets, the height of the chassis can be adjusted according to the wall surface condition, and the magnetic-gap type wall-climbing robot is simple in structure, firm in adsorption, flexible in steering, but insufficient in obstacle-crossing capability and curved surface adaptability. The patent 'a stable wall-climbing paint spraying robot' (application number: 201710181074.3) proposes a wheel type wall-climbing robot, which can ensure that the robot can be effectively adsorbed on an irregular working surface by arranging an elastic wheel and a rotary spray head, but the robot can only adapt to a hollow plane to a certain degree and cannot meet the cylindrical surface and the spherical surface with small radius. The patent 'a track multi-foot hybrid wall climbing robot device' (application number: 201710260478.1) proposes a track multi-foot hybrid wall climbing robot, which adopts a negative pressure adsorption mode, a plurality of vacuum suckers are distributed on a track, four mechanical foot units with suckers are arranged at the front end and the rear end, the track and the mechanical foot units are in alternative matched motion, the adsorption stability is ensured, the obstacle crossing capability of the robot is improved, but the wall climbing robot is complicated in structure and limited in load capacity, and the curved surface adaptability of the structure is insufficient.
In conclusion, the existing wall-climbing robot body is mostly of a rigid structure, the whole robot is large in size and heavy, the attaching degree of the adsorption structure and the wall surface is greatly influenced when the robot meets an obstacle, and the robot cannot adapt to the curved surfaces with multiple curvatures, such as the wall surface of a ship, the surface of an oil tank and the surface of a wind tower. Meanwhile, the wall surface cleaning equipment has certain weight, and can generate larger recoil force during working, so that the robot is required to have larger load capacity. That is, the load capacity of the existing wall-climbing robot is often contradictory to the motion flexibility, and the load capacity, the obstacle-surmounting capacity and the curved surface adaptability cannot be considered at the same time, so that the existing wall-climbing robot has a limited effect on the maintenance operation of various metal wall surfaces.
Disclosure of Invention
The invention aims to provide a magnetic gap type wall-climbing robot, and aims to solve the technical problems that the load capacity of the wall-climbing robot in the prior art is often contradictory to the motion flexibility, and the load capacity, the obstacle-crossing capacity and the curved surface adaptability cannot be considered at the same time, so that the effect of the wall-climbing robot on maintenance operation of various wall surfaces is limited.
In order to achieve the above object, an embodiment of the present invention provides a magnetic gap type wall-climbing robot, including a frame, a swing arm mechanism, an adsorption walking mechanism and two driving mechanisms, where the frame includes a main frame body and two sub-frame bodies hinged to the left and right sides of the main frame body by a hinge mechanism, the swing arm mechanism is mounted at a position on the front side of the top of the main frame body, the adsorption walking mechanism includes a driving wheel, a magnetic adsorption unit and an auxiliary magnetic wheel, the auxiliary magnetic wheel is mounted at a position on the rear side of the bottom of the main frame body, the two driving mechanisms are respectively mounted on the two sub-frame bodies, the bottoms of the two driving mechanisms are respectively provided with the magnetic adsorption unit, the two sub-frame bodies are respectively provided with two driving wheels connected with the driving mechanism, the two driving wheels on each sub-frame body are respectively disposed at two sides of the magnetic adsorption unit, the horizontal position of the bottom of the driving wheel is lower than that of the bottom of the magnetic adsorption unit.
Optionally, the hinge mechanisms include connecting axle, articulated seat and articulated shaft, the connecting axle with the lateral part of the body frame body is connected, just the tip of connecting axle is provided with the axis along the shaft hole that the horizontal direction extends, articulated seat with the lateral part of the vice support body is connected, just articulated seat is provided with the hinge hole that the axis extends along the horizontal direction, the articulated shaft passes the hinge hole with the shaft hole and will articulated seat with the connecting shaft is articulated.
Optionally, each driving wheel includes a first hub and a rubber sheet wrapped around an outer circumference of the first hub, and the first hub is connected to the driving mechanism.
Optionally, the surface of the rubber skin is provided with a friction pattern.
Optionally, the magnetism adsorbs the unit and includes special-shaped neodymium iron boron permanent magnet, magnet protective sheath and magnetic yoke iron plate, the magnetic yoke iron plate is fixed in the bottom of subframe body is located two between the action wheel, the magnet protective sheath cup joint in outside the special-shaped neodymium iron boron permanent magnet, special-shaped neodymium iron boron permanent magnet is fixed in the bottom of magnetic yoke iron plate, just the horizontal position of the bottom of special-shaped neodymium iron boron permanent magnet is higher than the horizontal position of the bottom of action wheel.
Optionally, supplementary magnetic wheel includes second wheel hub, annular neodymium iron boron permanent magnet, nylon cover and annular yoke iron plate, second wheel hub rotationally install in the position of body frame body bottom rear side, annular yoke iron plate install in on the second wheel hub, the nylon cover cup joint in outside the annular neodymium iron boron permanent magnet, annular neodymium iron boron permanent magnet is fixed in the inboard of annular yoke iron plate.
Optionally, a universal wheel carrier is arranged at the rear side of the bottom of the main frame body, and the auxiliary magnetic wheel is mounted on the universal wheel carrier.
Optionally, the driving mechanism includes a first motor and a first speed reducer, the first speed reducer is installed on the subframe body, a main shaft of the first motor is connected with an input hole of the first speed reducer, and two ends of an output shaft of the first speed reducer are respectively connected with two adjacent driving wheels.
Optionally, the swing arm mechanism includes a second motor, a second speed reducer and a swing arm, the second speed reducer is installed at a position on the front side of the top of the main frame body, a spindle of the second motor is connected with an input hole of the second speed reducer, and the swing arm is connected with an output shaft of the second speed reducer.
Optionally, be provided with the response iron sheet on the swing arm, be provided with two positions on the second reduction gear different and be used for with the inductor of response iron sheet induction connection, the inductor with the second motor electricity is connected.
One or more technical solutions in the magnetic gap type wall-climbing robot provided by the embodiment of the present invention at least have one of the following technical effects: the adsorption walking mechanism of the robot is provided with a left driving mechanism and a right driving mechanism, each driving mechanism respectively drives two driving wheels, the driving wheels are matched with the auxiliary magnetic wheels to realize the walking of the whole robot, a magnetic adsorption unit is arranged below the driving mechanisms, and a certain distance is formed between the magnetic adsorption unit and the wall surface, so that the driving wheels can be tightly attached to the wall surface under the action of the magnetic adsorption unit; meanwhile, the arranged hinge mechanisms enable the subframe bodies on the left side and the right side to form swing amplitude with a certain angle along with the condition of the wall surface, when the robot walks to a curved surface with different curvatures, the driving wheels on the two sides can swing around the hinge mechanisms along with the fluctuation of the wall surface, so that the driving wheels, the auxiliary magnetic wheels and the wall surface are tightly attached, the gap between the magnetic adsorption unit and the wall surface cannot be obviously changed, the robot is ensured to stably adsorb and walk, the overturning danger cannot occur, the robot has the curved surface self-adaptive capacity, and the robot can be more flexible in maintenance operation of various wall surfaces.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a magnetic gap type wall-climbing robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of another view angle of the magnetic gap type wall-climbing robot in fig. 1.
Fig. 3 is an exploded schematic view of a magnetic gap type wall-climbing robot according to an embodiment of the present invention.
Fig. 4 is a front view of the magnetic gap type wall-climbing robot in fig. 1.
Fig. 5 is a side view of the magnetic gap type wall-climbing robot in fig. 1.
Wherein, in the figures, the respective reference numerals:
10-frame 11-main frame 12-auxiliary frame
20-swing arm mechanism 21-second motor 22-second speed reducer
23-swing arm 24-induction iron sheet 25-inductor
30-adsorption running gear 31-driving wheel 32-magnetic adsorption unit
33-auxiliary magnetic wheel 40-drive mechanism 41-first motor
42-first speed reducer 50-hinge mechanism 51-connecting shaft
52-hinge seat 53-hinge shaft 111-universal wheel carrier
121-protective cover 231-cleaning nozzle 311-first hub
312-rubber 321-special-shaped neodymium-iron-boron permanent magnet 322-magnet protective sleeve
323-magnetic yoke block 331-second hub 332-annular neodymium iron boron permanent magnet
333-nylon sleeve 334-ring yoke iron block.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to fig. 1-5 are exemplary and intended to be used to illustrate embodiments of the invention, and should not be construed as limiting the invention.
In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
In one embodiment of the present invention, as shown in fig. 1 to 5, a magnetic gap type wall-climbing robot is provided, which can be used for operations such as spraying and detection of a metal wall surface by mounting corresponding operation equipment in addition to operations for removing rust and cleaning of a metal surface.
Specifically, the magnetic gap type wall-climbing robot of this embodiment includes a frame 10, a swing arm mechanism 20, an adsorption walking mechanism 30 and two driving mechanisms 40, where the frame 10 includes a main frame body 11 and two auxiliary frame bodies 12 hinged to the left and right sides of the main frame body 11 through a hinge mechanism 50, the swing arm mechanism 20 is installed at the position of the front side of the top of the main frame body 11, the adsorption walking mechanism 30 includes a driving wheel 31, a magnetic adsorption unit 32 and an auxiliary magnetic wheel 33, the auxiliary magnetic wheel 33 is installed at the position of the rear side of the bottom of the main frame body 11, the two driving mechanisms 40 are respectively installed on the two auxiliary frame bodies 12, the bottom of the two driving mechanisms 40 is provided with the magnetic adsorption unit 32, the two driving wheels 31 connected with the driving mechanisms 40 are installed on the two auxiliary frame bodies 12, the two driving wheels 31 on each auxiliary frame body 12 are respectively arranged at two sides of the magnetic adsorption unit 32, the horizontal position of the bottom of the driving wheel 31 is lower than the horizontal position of the bottom of the magnetic adsorption unit 32.
In this embodiment, the adsorption traveling mechanism 30 of the robot is provided with a left driving mechanism and a right driving mechanism 40, each driving mechanism 40 drives two driving wheels 31, the driving wheels 31 are matched with the auxiliary magnetic wheels 33 to realize the traveling of the whole robot, the magnetic adsorption units 32 are arranged below the driving mechanisms 40, and the magnetic adsorption units 32 form a certain distance with the wall surface, so that the driving wheels 31 can be tightly attached to the wall surface under the action of the magnetic adsorption units 32; meanwhile, the hinge mechanisms 50 are arranged so that the sub-frame bodies 12 on the left side and the right side can form a certain-angle swing amplitude along with the wall surface, when the robot walks to curved surfaces with different curvatures, the driving wheels 31 on the two sides can swing around the hinge mechanisms 50 along with the fluctuation of the wall surface, so that the driving wheels 31 and the auxiliary magnetic wheels 33 are tightly attached to the wall surface, the gap between the magnetic adsorption unit 32 and the wall surface cannot be obviously changed, the stable adsorption walking of the robot is ensured, and the danger of overturning is avoided, so that the robot has the curved self-adaptive surface capability, and further the robot can be more flexible in the maintenance operation of various wall surfaces.
Furthermore, the robot complete machine disclosed by the invention adopts a modular design, different mechanisms are not interfered with each other and are matched with each other, and the robot complete machine can be disassembled, replaced and assembled in a blocking manner during installation and maintenance, so that the maintenance is more convenient. The overall structure of the robot is shown in fig. 1-2, the auxiliary frame bodies 12 arranged on both sides of the main frame body 11 are installed as driving wheels 31 on both sides to form symmetrical arrangement on the left and right sides, and the auxiliary magnetic wheels 33 are positioned behind the whole robot and are positioned on the central plane of the robot; the swing arm mechanism 20 is arranged on the upper edge of the main frame body 11 close to the front position, and the steering stability and flexibility of the robot are improved.
In another embodiment of the present invention, the magnetic gap type wall-climbing robot further comprises two protection covers 121 covering the two subframe bodies 12, which can be used for protecting the driving wheel 31 and the driving machine.
In another embodiment of the present invention, as shown in fig. 2 to 3, the hinge mechanism 50 of the magnetic gap type wall-climbing robot includes a connecting shaft 51, a hinge seat 52 and a hinge shaft 53, the connecting shaft 51 is connected to a side portion of the main frame body 11, an axial hole (not shown) having an axial line extending in a horizontal direction is formed at an end portion of the connecting shaft 51, the hinge seat 52 is connected to a side portion of the sub frame body 12, the hinge seat 52 is provided with a hinge hole (not shown) having an axial line extending in a horizontal direction, and the hinge shaft 53 passes through the hinge hole and the axial hole and hinges the hinge seat 52 to the connecting shaft 51. Specifically, the connecting shaft 51 is disposed to form a certain distance between the main frame 11 and the sub-frame 12, so as to provide a sufficient space for the subsequent sub-frame 12 to swing. Meanwhile, the axis of the shaft hole formed in the end of the connecting shaft 51 extends in the horizontal direction and the axis of the hinge hole formed in the hinge shaft 53 extends in the horizontal direction, so that the hinge shaft 53 can be ensured to swing around the hinge shaft 53 as the center when the hinge shaft 53 passes through the hinge hole and the shaft hole, and thus, the swinging in the vertical direction can be realized when the hinge seat 52 and the connecting shaft 51 rotate mutually, which is beneficial to the driving wheels 31 on two sides swinging around the hinge shaft 53 along with the fluctuation of the wall surface when the robot walks to the curved surfaces with different curvatures, so that the driving wheels 31 and the auxiliary magnetic wheels 33 are tightly attached to the wall surface, and the overturning can be prevented.
In another embodiment of the present invention, as shown in fig. 3, each driving wheel 31 of the magnetic gap type wall-climbing robot provided includes a first hub 311 and a rubber skin 312 covering an outer circumference of the first hub 311, and the first hub 311 is connected to the driving mechanism 40. Specifically, when the driving wheel 31 encounters obstacles such as a weld, the contact surface between the driving wheel 31 and the weld is small, and the rubber sheet 312 has certain flexibility, so that the compression amount of the wheel at the contact position is large, the magnetic adsorption unit 32 and the gap between the magnetic adsorption unit and the wall surface cannot change too much, and the adsorption force is ensured; when the auxiliary magnetic wheel 33 at the rear position gets over the obstacle, the driving magnetic adsorption unit 32 provides main adsorption force and anti-overturning moment, thereby ensuring that the robot gets over the obstacle smoothly.
In another embodiment of the present invention, a friction pattern (not shown) is provided on the surface of the rubber skin 312 of the magnetic gap type wall-climbing robot. Specifically, the friction pattern provided on the rubber skin 312 may be formed by engraving, and the friction force of the entire driving wheel 31 may be increased by the arrangement thereof, so that it can better walk on the wall surface.
In another embodiment of the present invention, as shown in fig. 3, the magnetic adsorption unit 32 of the magnetic gap type wall-climbing robot includes a special-shaped neodymium-iron-boron permanent magnet 321, a magnet protection sleeve 322, and a magnetic yoke block 323, the magnetic yoke block 323 is fixed at the bottom of the subframe body 12 and located between the two driving wheels 31, the magnet protection sleeve 322 is sleeved outside the special-shaped neodymium-iron-boron permanent magnet 321, the special-shaped neodymium-iron-boron permanent magnet 321 is fixed at the bottom of the magnetic yoke block 323, and a horizontal position of the bottom of the special-shaped neodymium-iron-boron permanent magnet 321 is higher than a horizontal position of the bottom of the driving wheels 31. Specifically, the magnetic yoke block 323 plays a role of mounting the special-shaped ndfeb permanent magnet 321 at the bottom of the subframe body 12, and the magnet protective sleeve 322 can protect the special-shaped ndfeb permanent magnet 321 and prevent the special-shaped ndfeb permanent magnet 321 from being directly exposed and adsorbed on the wall surface.
In another embodiment of the present invention, as shown in fig. 3, the auxiliary magnetic wheel 33 of the magnetic gap type wall-climbing robot includes a second wheel hub 331, an annular ndfeb permanent magnet 332, a nylon sleeve 333 and an annular yoke iron block 334, the second wheel hub 331 is rotatably mounted at a position on the rear side of the bottom of the main frame 11, the annular yoke iron block 334 is mounted on the second wheel hub 331, the nylon sleeve 333 is sleeved outside the annular ndfeb permanent magnet 332, and the annular ndfeb permanent magnet 332 is fixed inside the annular yoke iron block 334. Specifically, the annular yoke iron block 334 plays a role of mounting the annular ndfeb permanent magnet 332 on the second hub 331, and the nylon sleeve 333 can protect the annular ndfeb permanent magnet 332 and prevent the annular ndfeb permanent magnet 332 from being directly exposed and adsorbed on the wall surface.
In another embodiment of the present invention, as shown in fig. 3, a universal wheel carrier 111 is provided at a position behind the bottom of the main frame 11 of the magnetic gap type wall-climbing robot, and the auxiliary magnetic wheel 33 is mounted on the universal wheel carrier 111. Specifically, the universal wheel carrier 111 can rotate, so that the auxiliary magnetic wheel 33 can swing to a proper angle to cooperate with the driving wheel 31 to travel according to the traveling path of the driving wheel 31.
In another embodiment of the present invention, as shown in fig. 2 to 3, the driving mechanism 40 of the magnetic gap type wall-climbing robot includes a first motor 41 and a first speed reducer 42, the first speed reducer 42 is mounted on the subframe body 12, a main shaft of the first motor 41 is connected to an input hole of the first speed reducer 42, and two ends of an output shaft of the first speed reducer 42 are respectively connected to two adjacent driving wheels 31. Specifically, the first motor 41 drives the first speed reducer 42, and the first speed reducer 42 drives the two driving wheels 31 connected to the two ends of the output shaft thereof to rotate simultaneously, so as to drive the whole robot to walk.
In another embodiment of the present invention, as shown in fig. 1 to 3, the swing arm mechanism 20 of the magnetic gap type wall-climbing robot includes a second motor 21, a second speed reducer 22, and a swing arm 23, wherein the second speed reducer 22 is installed at a position on the front side of the top of the main frame 11, a main shaft of the second motor 21 is connected to an input hole of the second speed reducer 22, and the swing arm 23 is connected to an output shaft of the second speed reducer 22. Specifically, the second motor 21 drives the second speed reducer 22, the output shaft of the second speed reducer 22 drives the swing arm 23 to rotate, and the swing arm 23 can perform circular rotation motion around the output shaft of the second speed reducer 22, so that the length of the swing arm 23 is reduced, the load of the second motor 21 is reduced, the center of gravity of the robot is close to the coaxial line of the rotating shaft as much as possible, and the possibility of overturning of the robot is reduced.
More specifically, as shown in fig. 1 to 5, the swing arm 23 may be mounted to an actuator, for example, to the cleaning nozzle 231, so that the robot in the embodiment can perform a cleaning operation by the self-rotation of the cleaning nozzle 231 of the robot and the cooperation of the swing arm 23. The cleaning nozzle 231 starts to rotate after reaching a certain pressure to form a small cleaning ring surface, and the swing arm 23 drives the self-rotating cleaning nozzle 231 to swing back and forth under the driving of the second speed reducer 22, so that a ring cleaning surface with a certain width is formed, and efficient cleaning operation is realized.
In another embodiment of the present invention, as shown in fig. 1 and 3, an induction iron sheet 24 is disposed on the swing arm 23 of the magnetic gap type wall-climbing robot, two inductors 25 having different positions and inductively connected to the induction iron sheet 24 are disposed on the second speed reducer 22, and the inductors 25 are electrically connected to the second motor 21. Specifically, the induction iron sheet 24 is in induction connection with the two inductors 25 at different positions, so that two limit signals can be sent to the second motor 21, that is, the second motor 21 is automatically stopped when the swing arm 23 is driven to swing to two angles in different directions, the safety of the use of the swing arm 23 is ensured, and the problem of robot overturning caused by the error swing angle of the swing arm 23 is further prevented.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a magnetic gap formula wall climbing robot which characterized in that: comprises a frame, a swing arm mechanism, an adsorption walking mechanism and two driving mechanisms, wherein the frame comprises a main frame body and two auxiliary frame bodies hinged on the left side and the right side of the main frame body through a hinge mechanism, the swing arm mechanism is arranged at the front side of the top of the main frame body, the adsorption travelling mechanism comprises a driving wheel, a magnetic adsorption unit and an auxiliary magnetic wheel, the auxiliary magnetic wheel is arranged at the rear side of the bottom of the main frame body, the two driving mechanisms are respectively arranged on the two auxiliary frame bodies, and two actuating mechanism's bottom all is provided with the magnetism adsorbs the unit, two all install on the subframe body with two that actuating mechanism connects the action wheel, every two on the subframe body the action wheel sets up respectively the both sides of magnetism adsorbs the unit, the horizontal position of action wheel bottom is less than the horizontal position of magnetism adsorbs the unit bottom.
2. The magnetic gap type wall-climbing robot according to claim 1, characterized in that: hinge mechanism includes connecting axle, articulated seat and articulated shaft, the connecting axle with the lateral part of the body frame body is connected, just the tip of connecting axle is provided with the axis along the shaft hole that the horizontal direction extends, articulated seat with the lateral part of vice support body is connected, just articulated seat is provided with the hinge hole that the axis extends along the horizontal direction, the articulated shaft passes the hinge hole with the shaft hole will articulated seat with the connecting shaft is articulated.
3. The magnetic gap type wall-climbing robot according to claim 1, characterized in that: each driving wheel comprises a first hub and a rubber sheet wrapping the outer circumference of the first hub, and the first hub is connected with the driving mechanism.
4. The magnetic gap type wall-climbing robot according to claim 3, characterized in that: the surface of the rubber skin is provided with friction patterns.
5. The magnetic gap type wall-climbing robot according to claim 1, characterized in that: the magnetism adsorbs the unit and includes special-shaped neodymium iron boron permanent magnet, magnet protective sheath and magnetic yoke iron plate, the magnetic yoke iron plate is fixed in the bottom of auxiliary frame body is located two between the action wheel, the magnet protective sheath cup joint in outside the special-shaped neodymium iron boron permanent magnet, special-shaped neodymium iron boron permanent magnet is fixed in the bottom of magnetic yoke iron plate, just the horizontal position of the bottom of special-shaped neodymium iron boron permanent magnet is higher than the horizontal position of the bottom of action wheel.
6. The magnetic gap type wall-climbing robot according to claim 1, characterized in that: supplementary magnetic wheel includes second wheel hub, annular neodymium iron boron permanent magnet, nylon cover and annular yoke iron plate, second wheel hub rotationally install in the position of body frame body bottom rear side, annular yoke iron plate install in on the second wheel hub, the nylon cover cup joint in outside the annular neodymium iron boron permanent magnet, annular neodymium iron boron permanent magnet is fixed in the inboard of annular yoke iron plate.
7. The magnetic gap type wall-climbing robot according to claim 1, characterized in that: the position of the rear side of the bottom of the main frame body is provided with a universal wheel carrier, and the auxiliary magnetic wheel is arranged on the universal wheel carrier.
8. The magnetic gap type wall-climbing robot according to any one of claims 1 to 7, characterized in that: the driving mechanism comprises a first motor and a first speed reducer, the first speed reducer is installed on the auxiliary frame body, a main shaft of the first motor is connected with an input hole of the first speed reducer, and two ends of an output shaft of the first speed reducer are respectively connected with two adjacent driving wheels.
9. The magnetic gap type wall-climbing robot according to any one of claims 1 to 7, characterized in that: the swing arm mechanism comprises a second motor, a second speed reducer and a swing arm, the second speed reducer is installed at the front side of the top of the main frame body, a main shaft of the second motor is connected with an input hole of the second speed reducer, and the swing arm is connected with an output shaft of the second speed reducer.
10. The magnetic gap type wall-climbing robot according to claim 9, characterized in that: the swing arm is provided with an induction iron sheet, the second speed reducer is provided with two inductors which are different in position and used for being connected with the induction iron sheet in an induction mode, and the inductors are electrically connected with the second motor.
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| CN201910122495.8A CN111572662A (en) | 2019-02-19 | 2019-02-19 | Magnetic gap type wall-climbing robot |
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| CN112960046A (en) * | 2021-03-29 | 2021-06-15 | 新天绿色能源股份有限公司 | Self-adaptive wall-climbing robot |
| CN113060251A (en) * | 2021-04-22 | 2021-07-02 | 深圳市行知行机器人技术有限公司 | Wall-climbing robot |
| CN113525558A (en) * | 2021-07-31 | 2021-10-22 | 广东工业大学 | Wheeled robot and separable wheel-leg composite robot |
| CN113879419A (en) * | 2021-10-25 | 2022-01-04 | 深圳市行知行机器人技术有限公司 | Cleaning robot |
| CN114013528A (en) * | 2021-11-01 | 2022-02-08 | 重庆大学 | Wall-climbing robot for walking operation of boiler water wall in thermal power plant |
| CN114655330A (en) * | 2022-03-28 | 2022-06-24 | 中国铁建重工集团股份有限公司 | Magnetic adsorption type wall-climbing robot chassis and magnetic wheel assembly |
| CN115489634A (en) * | 2022-09-29 | 2022-12-20 | 江苏镌极特种设备有限公司 | Deformable wall-climbing robot with high flexibility |
| CN117184270A (en) * | 2023-10-26 | 2023-12-08 | 武汉万曦智能科技有限公司 | Running gear of wall climbing robot and welding seam overhauls robot |
| EP4438447A1 (en) * | 2023-03-28 | 2024-10-02 | Shenzhen Aka Robotics Technology Co., Ltd. | Pipe climbing robot |
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| CN117184270A (en) * | 2023-10-26 | 2023-12-08 | 武汉万曦智能科技有限公司 | Running gear of wall climbing robot and welding seam overhauls robot |
| CN117184270B (en) * | 2023-10-26 | 2024-04-02 | 武汉万曦智能科技有限公司 | Running gear of wall climbing robot and welding seam overhauls robot |
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Inventor after: Chen Hao Inventor after: Cai Jiannan Inventor after: Li Jiuhua Inventor after: Geng Yongqing Inventor after: Wang Xingchao Inventor after: Lin Bingdi Inventor after: Hu Shaojie Inventor after: Deng Jing Inventor after: Liao Shanwei Inventor before: Chen Hao Inventor before: Deng Jing Inventor before: Liao Shanwei Inventor before: Cai Jiannan Inventor before: He Kai Inventor before: Li Jiuhua Inventor before: Fang Haitao Inventor before: Geng Yongqing Inventor before: Wang Xingchao Inventor before: Lin Bingdi Inventor before: Hu Shaojie |