CN204775574U - Magnetism adsorbs formula adaptive wall face mobile robot - Google Patents
Magnetism adsorbs formula adaptive wall face mobile robot Download PDFInfo
- Publication number
- CN204775574U CN204775574U CN201520484670.5U CN201520484670U CN204775574U CN 204775574 U CN204775574 U CN 204775574U CN 201520484670 U CN201520484670 U CN 201520484670U CN 204775574 U CN204775574 U CN 204775574U
- Authority
- CN
- China
- Prior art keywords
- magnetic
- wall
- mobile robot
- self adaptation
- type self
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a magnetism adsorbs formula adaptive wall face mobile robot, include: the bottom plate, it is a plurality of magnetism roll the wheel all with the bottom plate is articulated, a drive uni, drive arrangement installs on the bottom plate, and with the wheel connection is rolled with the drive to magnetism magnetism is rolled to take turns and is rotated. This magnetism adsorbs formula adaptive wall face mobile robot passes through magnetism and rolls that magnetic force adsorbs on the wall between wheel and the wall, and the adsorption affinity is big, can not drop, the absorption mode is simple and convenient, and the magnetic force that directly leans on a plurality of magnetism to roll between wheel and the wall adsorbs, does not need plus other adsorption equipment. This wall mobile robot pass through magnetism roll the wheel with articulating between the bottom plate, every magnetism are rolled and are taken turns the joint that is equivalent to the robot with the articulated department of bottom plate, and magnetism is rolled to take turns and to be rotated for the bottom plate to automatically, adapting to the wall of different situations, making this wall mobile robot have nimble function of freely scrambleing between the wall of different curvatures, adaptability is very strong.
Description
Technical field
The utility model relates to robotics, especially relates to a kind of magnetic adsorption type self adaptation wall-surface mobile robot.
Background technology
Along with industrial expansion, industry engineering is implemented more and more higher for the requirement of safety, and the safety control problem of workman more and more receives the concern of government and society, and the high-risk operations in some key industries production cannot be implemented by manpower.In some factories, have many ferrimagnetism curved surfaces and iron structure, as boiler of power plant, be not easy to arrive these local millworkers usually, work efficiency is on the low side, and has certain danger during climbing.
In recent years, robot was widely used in every field, with robot replace the mankind be engaged in various danger, heavy, repeat, a trend that dull and poisonous and hazardous work is social development.Wherein, magnetic adsorption type self adaptation wall-surface mobile robot is mainly used in the industries such as nuke industry, petrochemical industry, building industry, ship building industry, fire-fighting.
Magnetic adsorption type self adaptation wall-surface mobile robot is also known as climbing robot, and be a branch of robot, adsorption plant is the core that wall machine side mobile robot completes wall movement.At present both at home and abroad after deliberation, develop various climbing robot, come point to have negative pressure or vacuum suction by adsorption function, thrust adsorbs two classes.
Vacuum suction method is by vacuum pump apparatus, makes sucker inner chamber produce negative pressure or pressurized air be sprayed through nozzle by eductor, makes to form vacuum around, make robot be adsorbed on wall, and it is not by the restriction of wall surface material, but the adsorption affinity that it produces is less.When wall is uneven, sucker easily leaks gas, and reduces adsorption affinity and bearing capacity, once amount of leakage is beyond the mark, forfeiture adsorption power drops by body.
Thrust absorption method is a kind of novel suction type, and it has used for reference aeronautical technology, uses screw propeller or ducted fan to produce suitable thrust, makes robot stabilized being reliably adsorbed on wall.Compared with vacuum suction, though thrust absorption does not exist leakage problem, but the noise of the device of its generation thrust is large, volume is large, cost is high.
Utility model content
The purpose of this utility model is to provide a kind of magnetic adsorption type self adaptation wall-surface mobile robot, to solve the technical matters of little, the easy gas leakage of magnetic adsorption type self adaptation wall-surface mobile robot adsorption affinity of the prior art.
The magnetic adsorption type self adaptation wall-surface mobile robot that the utility model provides, comprising:
Base plate;
Multiple magnetic scroll wheel, multiple described magnetic scroll wheel all with described base plate hinged;
Actuating device, described actuating device is arranged on described base plate, and is connected with described magnetic scroll wheel to drive described magnetic scroll wheel to rotate.
Further, multiple described magnetic scroll wheel all adopts permanent magnet to make.
Further, described magnetic scroll wheel is three, three described magnetic scroll wheels comprise two the first magnetic scroll wheels being positioned at described base plate front end and the second magnetic scroll wheel being positioned at described base plate rear end, and described base plate is connected respectively by universal-joint with two described first magnetic scroll wheels.
Further, described actuating device is electrical motor.
Further, the quantity of described electrical motor is three, and three described electrical motors and three described magnetic scroll wheels connect one to one.
Further, described electrical motor is DC servo-motor.
Further, described magnetic adsorption type self adaptation wall-surface mobile robot also comprises the cardan wheel be arranged on below described base plate, and described cardan wheel has magnetic.
Further, described cardan wheel is arranged on the middle part of the front end of described base plate.
Further, also comprise and be arranged on micro controller system on described base plate and attitude sensor, described micro controller system is connected with described attitude sensor and described electrical motor respectively.Described attitude sensor is for measuring the current pose of described magnetic adsorption type self adaptation wall-surface mobile robot; Described micro controller system controls the rotation of described electrical motor according to described current pose.
Further, described base plate is provided with lightening hole.
Magnetic adsorption type self adaptation wall-surface mobile robot in the utility model, has following beneficial effect:
(1) adopt magnetic suck mode, by magnetic force between magnetic scroll wheel and wall, magnetic adsorption type self adaptation wall-surface mobile robot is adsorbed on wall.The suction type of this magnetic scroll wheel, compared with the wall-surface mobile robot of vacuum suction in background technology, adsorption affinity is large, can not there is gas leakage situation, can not drop.
(2) this magnetic adsorption type self adaptation wall-surface mobile robot suction type is simple and convenient, directly by the magnetic-adsorption between multiple magnetic scroll wheel and wall, do not need other adsorption plants additional, solve a lot of danger in technical application and stubborn problem, compared with the wall-surface mobile robot adsorbed with thrust in background technology, noiselessness, volume are little, cost is low, efficiency is high.
(3) hinged by between magnetic scroll wheel and described base plate, the hinged place of each magnetic scroll wheel and base plate is equivalent to the joint of robot, magnetic scroll wheel can rotate relative to base plate, automatically to adapt to the wall of different situation, thus make this magnetic adsorption type self adaptation wall-surface mobile robot have the function of freely climbing flexibly between the wall of different curvature, comformability is very strong, and overcoming climbing robot of the prior art can only in the limitation of single plane movement.
(4) the magnetic adsorption type self adaptation wall-surface mobile robot entirety in the utility model adopts wheel type structure (profile is dolly shape), the robot of wheel type mobile mode relatively easily can stride across larger obstacle (Ru Gou, bank etc.), and a large amount of degree of freedom that multiple magnetic scroll wheels of this magnetic adsorption type self adaptation wall-surface mobile robot have can make the motion of robot more flexible, stronger to the adaptive capability on wall surface of rough and uneven in surface and many curvatures.The magnetic adsorption type self adaptation wall-surface mobile robot of this wheel type structure is compared with the crawler-type wall climbing robot in background technology, simplicity of design convenience, various shapes, motion are flexible, more can adapt to the wall of various curvature shape, and can across obstacle, therefore wheeled construction will on magnetic adsorption type self adaptation wall-surface mobile robot, especially, on microminiature climbing robot, extraordinary application prospect is had.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model detailed description of the invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in detailed description of the invention or description of the prior art below, apparently, accompanying drawing in the following describes is embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The front view of the magnetic adsorption type self adaptation wall-surface mobile robot that Fig. 1 provides for the utility model embodiment;
Fig. 2 is the left view of magnetic adsorption type self adaptation wall-surface mobile robot in Fig. 1.
Reference numeral:
1-base plate; 2-magnetic scroll wheel;
3-electrical motor; 4-universal-joint;
5-cardan wheel; 6-lightening hole.
Detailed description of the invention
Be clearly and completely described the technical solution of the utility model below in conjunction with accompanying drawing, obviously, described embodiment is the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
In description of the present utility model, it should be noted that, orientation or the position relationship of the instruction such as term " " center ", " on ", D score, "left", "right", " vertically ", " level ", " interior ", " outward " they be based on orientation shown in the drawings or position relationship; be only the utility model and simplified characterization for convenience of description; instead of instruction or imply the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as restriction of the present utility model.In addition, term " first ", " second ", " the 3rd " only for describing object, and can not be interpreted as instruction or hint relative importance.Wherein, term " primary importance " and " second place " are two different positions.
In description of the present utility model, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, particular case the concrete meaning of above-mentioned term in the utility model can be understood.
The front view of the magnetic adsorption type self adaptation wall-surface mobile robot that Fig. 1 provides for the utility model embodiment; Fig. 2 is the left view of magnetic adsorption type self adaptation wall-surface mobile robot in Fig. 1.As depicted in figs. 1 and 2, the magnetic adsorption type self adaptation wall-surface mobile robot that the utility model provides, comprising: base plate 1 (being equivalent to the health of robot); Multiple magnetic scroll wheel 2 (being equivalent to the foot of robot), multiple described magnetic scroll wheel 2 all hinged with described base plate 1 (wherein, each magnetic scroll wheel 2 and the hinged place of base plate 1 are equivalent to the joint of robot) is connected; Actuating device, described actuating device is arranged on described base plate 1, and is connected with described magnetic scroll wheel 2, and actuating device provides the power of walking for whole magnetic adsorption type self adaptation wall-surface mobile robot, rotates to drive described magnetic scroll wheel 2.This magnetic adsorption type self adaptation wall-surface mobile robot is applicable to operation on the wall of permeability magnetic material (such as iron).
Particularly, base plate 1 can be rigid construction, and base plate 1 is for supporting and installing the parts such as magnetic scroll wheel 2, actuating device.Base plate 1 can for shown in Fig. 1 approximate rectangular, also can be arranged to other shapes such as triangle, circle according to actual needs.
Magnetic scroll wheel 2 is the magnetic scroll wheels of tool, magnetic scroll wheel 2 can body surface rotate and attracting with permeability magnetic material.The quantity of magnetic scroll wheel 2 can be two, three, four, five ...The quantity of magnetic scroll wheel 2 and size can be little according to the size increase and decrease on actual job surface, to realize many curvatures wall self adaptation locomotive function of the ingenious smoothness of magnetic adsorption type self adaptation wall-surface mobile robot.When the quantity of magnetic scroll wheel 2 is more than three or three, a plane and the most stable law of triangular structure is determined according to three, as long as there are three magnetic scroll wheels 2 to contact with wall is attracting, so this wall robot can be adsorbed on wall to firm stable.
The magnetic adsorption type self adaptation wall-surface mobile robot of said structure can operation on different walls, divides three kinds of situation explanations below.
When this magnetic adsorption type self adaptation wall-surface mobile robot is on vertical wall during operation, magnetic-adsorption is passed through between magnetic scroll wheel 2 and wall, this magnetic force shows as the pressure of magnetic scroll wheel 2 pairs of walls, this pressure produces friction force, as long as the gravity that this friction force is greater than magnetic adsorption type self adaptation wall-surface mobile robot can make magnetic adsorption type self adaptation wall-surface mobile robot stably be adsorbed on vertical wall, and can not drop.
When this magnetic adsorption type self adaptation wall-surface mobile robot is on the horizontal surfaces such as top ceiling during operation, magnetic-adsorption is passed through between magnetic scroll wheel 2 and wall, as long as the gravity that this magnetic force is greater than this magnetic adsorption type self adaptation wall-surface mobile robot can make magnetic adsorption type self adaptation wall-surface mobile robot stably be adsorbed on vertical wall, and can not drop.
When this magnetic adsorption type self adaptation wall-surface mobile robot is on the curved surfaces such as pipeline during operation, because multiple described magnetic scroll wheel 2 is all hinged with described base plate 1, make magnetic scroll wheel 2 can opposed bottom 1 one way or another flexible rotating, change the inclination angle between magnetic scroll wheel 2 and base plate 1, make magnetic scroll wheel 2 automatically can rotate to be adsorbed on wall relative to base plate 1 according to the different curvature of wall and concavo-convex situation.That is, the magnetic adsorption type self adaptation wall-surface mobile robot in the utility model can adapt to the wall of different curvature automatically, and the wall of different curvature is climbed flexibly.
In summary, magnetic adsorption type self adaptation wall-surface mobile robot in the utility model can move freely the feature of flexible rotating on the wall of certain degree of dip, vertical, level and all kinds of different curvature, can according to different wall demand adjustment absorption parameter, reach the effect reducing energy consumption, thus the mobile operating completed under the different conditions such as high altitude conditions, harsh environment, scope of work is very wide.
Magnetic adsorption type self adaptation wall-surface mobile robot in the utility model can realize replacing the mankind to carry out work in every to given place in some special especially ferromagnetic environment, complete and produce and life requirement, dangerous property at such as Nuclear Power Industry and so on can be realized and replace the mankind to make a video recording to given place in the environment that not easily arrives of workman, overhaul, clean, detect a flaw, overhaul, spray paint, the work in every such as roughing-in, workman is freed from hazardous environment.
Magnetic adsorption type self adaptation wall-surface mobile robot in the utility model, has following beneficial effect:
(1) adopt magnetic suck mode, by magnetic force between magnetic scroll wheel 2 and wall, magnetic adsorption type self adaptation wall-surface mobile robot is adsorbed on wall.The suction type of this magnetic scroll wheel 2, compared with the wall-surface mobile robot of vacuum suction in background technology, adsorption affinity is large, can not there is gas leakage situation, can not drop.
(2) this magnetic adsorption type self adaptation wall-surface mobile robot suction type is simple and convenient, directly by the magnetic-adsorption between multiple magnetic scroll wheel 2 and wall, do not need other adsorption plants additional, solve a lot of danger in technical application and stubborn problem, compared with the wall-surface mobile robot adsorbed with thrust in background technology, noiselessness, volume are little, cost is low, efficiency is high.
(3) hinged by between magnetic scroll wheel 2 and described base plate 1, each magnetic scroll wheel 2 and the hinged place of base plate 1 are equivalent to the joint of robot, magnetic scroll wheel 2 can rotate relative to base plate 1, automatically to adapt to the wall of different situation, thus make this magnetic adsorption type self adaptation wall-surface mobile robot have the function of freely climbing flexibly between the wall of different curvature, comformability is very strong, and overcoming climbing robot of the prior art can only in the limitation of single plane movement.
(4) the magnetic adsorption type self adaptation wall-surface mobile robot entirety in the utility model adopts wheel type structure (profile is dolly shape), the robot of wheel type mobile mode relatively easily can stride across larger obstacle (Ru Gou, bank etc.), and a large amount of degree of freedom that multiple magnetic scroll wheels 2 of this magnetic adsorption type self adaptation wall-surface mobile robot have can make the motion of robot more flexible, stronger to the adaptive capability on wall surface of rough and uneven in surface and many curvatures.The magnetic adsorption type self adaptation wall-surface mobile robot of this wheel type structure is compared with the crawler-type wall climbing robot in background technology, simplicity of design convenience, various shapes, motion are flexible, more can adapt to the wall of various curvature shape, and can across obstacle, therefore wheeled construction will on magnetic adsorption type self adaptation wall-surface mobile robot, especially, on microminiature climbing robot, extraordinary application prospect is had.
Particularly, as long as the magnetic scroll wheel 2 in the utility model has enough magnetic, can be adsorbed on the wall of permeability magnetic material.Because magnetic suck mode can be permanent magnet absorption and electromagnetic adsorption, the magnetic scroll wheel 2 thus in the utility model can be made up of permanent magnet, and after also can being energized, the magnetic iron of tool is made.The adsorption affinity maintained due to permanent magnet absorption is large, does not need external energy, safe and reliable, even if power-off suddenly, magnetic adsorption type self adaptation wall-surface mobile robot also can not fall the feature of phenomenon, chooses and adopt permanent magnetic suck mode in the present embodiment.Preferred multiple described magnetic scroll wheel 2 all adopts permanent magnet to make.
The quantity of the magnetic scroll wheel 2 in the present embodiment is three, three described magnetic scroll wheels 2 comprise two the first magnetic scroll wheels being positioned at described base plate 1 front end and the second magnetic scroll wheel being positioned at described base plate 1 rear end, two the first magnetic scroll wheels can use as front-wheel, second magnetic scroll wheel can use as trailing wheel, two front-wheels drive a trailing wheel that magnetic adsorption type self adaptation wall-surface mobile robot is walked on different walls, wherein, described base plate 1 is connected respectively by universal-joint 4 with two described first magnetic scroll wheels.Second magnetic scroll wheel can adopt hinge and base plate 1 hinged, also can realize hinged by universal-joint 4 and base plate 1.When the second magnetic scroll wheel is also hinged by universal-joint 4 and base plate 1, this magnetic adsorption type self adaptation wall-surface mobile robot alerting ability is higher, and the ability adapting to wall is stronger.
Wherein, the type of drive of this magnetic adsorption type self adaptation wall-surface mobile robot can be that fluid pressure type drives, vapour-pressure type drives and electrodynamic type drives.Preferred employing electrodynamic type drives, and namely actuating device comprises electrical motor 3, and the output shaft of electrical motor 3 is connected with magnetic scroll wheel 2.The present embodiment adopts electrical motor 3 to drive magnetic scroll wheel 2 to rotate and has the following advantages: electrical motor 3 volume is little, lightweight, and driving reaction is fast, controller performance is good, and rotating reaction is fast.
Wherein, electrical motor 3 mainly contains stepper motor and servomotor torque constant.Stepper motor is opened loop control unit stepper motor part electromagnetic pulse signal being changed into angular transposition or displacement of the lines.Servomotor torque constant refers to the driving engine controlling the running of mechanical original paper in Fu, is the indirect transmission system of a kind of subsidy motor.Servomotor torque constant can make control rate, and positional precision is very accurate, voltage signal can be converted into torque and rotational speed with drived control object.Servomotor torque constant is divided into direct current and the large class of AC servomotor two.The electrical motor 3 of the present embodiment is preferably DC servo-motor.DC servo-motor has that volume is little, load-carrying capacity is strong, power is large, control is simple, be easy to speed governing, price is low, rotating speed is steady, vibrate little, temperature rise is low, high reliability.
Preferably, the quantity of described electrical motor 3 is three, and three described electrical motors 3 and three described magnetic scroll wheels 2 (two the first magnetic scroll wheels and a second magnetic scroll wheel) connect one to one.Three magnetic scroll wheels 2 connect an electrical motor 3 respectively, and each electrical motor 3 also connects a magnetic scroll wheel 2 respectively, and each electrical motor 3 drives a magnetic scroll wheel 2 respectively.Like this, three electrical motors 3 and three magnetic scroll wheels 2 exert a force jointly, ensure that each point uniform force, stable.Electrical motor 3 can adopt low potential source to power, to save electric energy.
In addition, can be connected between electrical motor 3 with magnetic scroll wheel 2 by retarder, the power of electrical motor 3 passes to magnetic scroll wheel 2 after retarder slows down, and obtains required rotating speed to make magnetic scroll wheel 2.
Further, as shown in Figure 2, the magnetic adsorption type self adaptation wall-surface mobile robot in the present embodiment also comprises the cardan wheel 5 be arranged on below described base plate 1, and described cardan wheel 5 has magnetic.Cardan wheel 5 plays absorption wall, support baseboard 1 and rotates the effect of the attitude adjusting magnetic adsorption type self adaptation wall-surface mobile robot along with the rotation of multiple magnetic scroll wheel 2.
As shown in Figure 1, second magnetic scroll wheel 2 is positioned at the middle part of base plate 1 rear end, cardan wheel 5 is preferably mounted at the middle part of the front end of base plate 1, to play the effect of evenly making base plate 1, and by scattered multiple magnetic scroll wheel 2 and cardan wheel 5, this magnetic adsorption type self adaptation wall-surface mobile robot is firmly adsorbed on wall, adsorption affinity is large, and absorption position is many, and reliability is high.
Further, the magnetic adsorption type self adaptation wall-surface mobile robot in the present embodiment also comprises and is arranged on micro controller system on described base plate 1 and attitude sensor, and described micro controller system is connected with described attitude sensor and described electrical motor 3 respectively.Described attitude sensor is for measuring the current pose of described magnetic adsorption type self adaptation wall-surface mobile robot; Described micro controller system controls the rotation of described electrical motor 3 according to described current pose.Current pose comprises the current moving velocity of magnetic adsorption type self adaptation wall-surface mobile robot, the information such as current location.After micro controller system obtains the described current pose of magnetic adsorption type self adaptation wall-surface mobile robot, the moving direction changing this magnetic adsorption type self adaptation wall-surface mobile robot can be transferred by controlling the positive and negative of described electrical motor 3, or the moving velocity by regulating the rotating speed of electrical motor 3 to change this magnetic adsorption type self adaptation wall-surface mobile robot.
The present embodiment uses micro controller system to regulate the mode of dutycycle to realize the speed governing of electrical motor 3.Particularly, be easily by chip microcontroller pulse width modulation, as long as change the switching electricity time of electrical motor 3 stator winding voltage, the object regulating electrical motor 3 rotating speed can be reached.PWM is analog output method conventional on micro controller system, exported by the DAC of the external change-over circuit of Single-chip Controlling, pulse width conversion different for the dutycycle of PWM ripple can be become different voltage, driving motor 3 thus obtain different rotating speeds, program carrys out regulation output analog voltage by the dutycycle of regulation output pulse.This mode of speed control, efficiency is high, circuit is simple, convenient to use, and use also relatively more extensive, cost is low.
Preferably, described base plate 1 is provided with lightening hole 6, forms engraved structure, to alleviate the quality of whole wall displacing force.Lightening hole 6 can be one or more, and lightening hole 6 can be arranged on the stressed less region of base plate 1, the such as middle part of base plate 1, and lightening hole 6 can be circle, oblong, bar shaped etc.In the embodiment shown in Fig. 1, lightening hole 6 is strip, and multiple lightening hole 6 is arranged side by side, the distance that between adjacent two lightening holes 6, interval is equal.
The magnetic adsorption type self adaptation wall-surface mobile robot that the utility model provides can SolidWorks three-dimensional modeling and 3D printing technique, and quick Fabrication goes out the magnetic adsorption type self adaptation wall-surface mobile robot of various profile.
The utility model achieves many curvatures wall locomotive function of magnetic adsorption type self adaptation wall-surface mobile robot, can be static and move freely on the ferrimagnetism wall of adsorbable different curvature, the mobile operating under the different conditions such as high altitude conditions, harsh environment can be completed, industrially have broad application prospects, as detected in the act, wall cleaning, boiler exam etc., what particularly can be used for metal power equipment in power industry patrols and examines service.
Magnetic adsorption type self adaptation wall-surface mobile robot in the utility model can be applied in the following aspects:
(1) nuke industry: sight control, thickness measuring, flaw detection etc. are carried out to nuclear waste storage tank;
(2) petroleum chemical enterprise: the inside face of storage tank to be checked, the process such as rust cleaning;
(3) construction trade: installation ceramic tile, wall clean, clean the windows;
(4) fire department: transmit rescue material, carry out salvage work etc.;
(5) shipbuilding industry: hull or inwall are sprayed etc.;
(6) power industry: the detection etc. of station boiler water cooling tube wall thickness.
Wherein, nuclear power utilizes nuclear energy power generation, once there is nuclear leakage, staff wall carrying out detect a flaw can absorb a large amount of nuclear radiation, and direct serious harm is to the life of people.If the magnetic adsorption type self adaptation wall-surface mobile robot that employing the utility model provides is to detect the weld seam problem of wall, in earliest time, situation can be passed to relevant staff, a series of measure can be carried out in time to deal with, thus greatly reduce the life threat probability of personnel.
Last it is noted that above each embodiment is only in order to illustrate the technical solution of the utility model, be not intended to limit; Although be described in detail the utility model with reference to foregoing embodiments, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of each embodiment technical scheme of the utility model.
Claims (10)
1. a magnetic adsorption type self adaptation wall-surface mobile robot, is characterized in that, comprising:
Base plate;
Multiple magnetic scroll wheel, multiple described magnetic scroll wheel all with described base plate hinged;
Actuating device, described actuating device is arranged on described base plate, and is connected with described magnetic scroll wheel to drive described magnetic scroll wheel to rotate.
2. magnetic adsorption type self adaptation wall-surface mobile robot according to claim 1, is characterized in that, multiple described magnetic scroll wheel all adopts permanent magnet to make.
3. magnetic adsorption type self adaptation wall-surface mobile robot according to claim 1, it is characterized in that, described magnetic scroll wheel is three, three described magnetic scroll wheels comprise two the first magnetic scroll wheels being positioned at described base plate front end and the second magnetic scroll wheel being positioned at described base plate rear end, and described base plate is connected respectively by universal-joint with two described first magnetic scroll wheels.
4. magnetic adsorption type self adaptation wall-surface mobile robot according to claim 3, is characterized in that, described actuating device is electrical motor.
5. magnetic adsorption type self adaptation wall-surface mobile robot according to claim 4, is characterized in that, the quantity of described electrical motor is three, and three described electrical motors and three described magnetic scroll wheels connect one to one.
6. magnetic adsorption type self adaptation wall-surface mobile robot according to claim 4, is characterized in that, described electrical motor is DC servo-motor.
7. the magnetic adsorption type self adaptation wall-surface mobile robot according to any one of claim 1-6, is characterized in that, described magnetic adsorption type self adaptation wall-surface mobile robot also comprises the cardan wheel be arranged on below described base plate, and described cardan wheel has magnetic.
8. magnetic adsorption type self adaptation wall-surface mobile robot according to claim 7, it is characterized in that, described cardan wheel is arranged on the middle part of the front end of described base plate.
9. the magnetic adsorption type self adaptation wall-surface mobile robot according to any one of claim 4-6, it is characterized in that, also comprise and be arranged on micro controller system on described base plate and attitude sensor, described micro controller system is connected with described attitude sensor and described electrical motor respectively.
10. magnetic adsorption type self adaptation wall-surface mobile robot according to claim 1, it is characterized in that, described base plate is provided with lightening hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520484670.5U CN204775574U (en) | 2015-07-07 | 2015-07-07 | Magnetism adsorbs formula adaptive wall face mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520484670.5U CN204775574U (en) | 2015-07-07 | 2015-07-07 | Magnetism adsorbs formula adaptive wall face mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204775574U true CN204775574U (en) | 2015-11-18 |
Family
ID=54515677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520484670.5U Expired - Fee Related CN204775574U (en) | 2015-07-07 | 2015-07-07 | Magnetism adsorbs formula adaptive wall face mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204775574U (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106645171A (en) * | 2016-12-22 | 2017-05-10 | 江苏工程职业技术学院 | Method for detecting concrete cracks by using wall-climbing robot |
| CN106644794A (en) * | 2016-12-22 | 2017-05-10 | 江苏工程职业技术学院 | Method for detecting concrete strength with wall-climbing robot |
| TWI602774B (en) * | 2016-05-30 | 2017-10-21 | Xin-Yuan Tong | Climb high machine |
| CN107351934A (en) * | 2017-08-30 | 2017-11-17 | 烟台皇宸智能制造有限公司 | A kind of wheeled magnetic adsorption wall climbing robot |
| CN107804384A (en) * | 2017-11-20 | 2018-03-16 | 河北工业大学 | The adaptive crawler belt climbing robot of wall four |
| CN108082320A (en) * | 2017-12-15 | 2018-05-29 | 长沙志唯电子科技有限公司 | The adaptive wall-surface mobile robot of magnetic adsorption type |
| CN108082319A (en) * | 2017-12-15 | 2018-05-29 | 长沙志唯电子科技有限公司 | The flexible adaptive wall-surface mobile robot of magnetic adsorption type |
| CN110341828A (en) * | 2019-07-26 | 2019-10-18 | 上海酷酷机器人有限公司 | A kind of curved surface running gear and its magnetic cleaner device people |
| CN111204379A (en) * | 2018-11-22 | 2020-05-29 | 临颍县爬杆机器人有限公司 | Magnetic adsorption type wall-climbing robot |
| CN111572662A (en) * | 2019-02-19 | 2020-08-25 | 深圳市行知行机器人技术有限公司 | Magnetic gap type wall-climbing robot |
| CN113212585A (en) * | 2021-06-16 | 2021-08-06 | 燕山大学 | Wall-climbing robot adapting to variable-curvature vertical face |
| CN114074724A (en) * | 2022-01-20 | 2022-02-22 | 彼合彼方机器人(天津)有限公司 | Wall climbing robot suitable for storage tanks with different curvature radiuses |
| CN114179927A (en) * | 2021-12-07 | 2022-03-15 | 大唐（赤峰）新能源有限公司 | Intelligent cleaning and detecting robot |
| CN114455022A (en) * | 2022-01-19 | 2022-05-10 | 中船澄西船舶修造有限公司 | Magnetic adsorption wall-climbing robot capable of correcting deviation |
| WO2022115763A1 (en) * | 2020-11-30 | 2022-06-02 | Saudi Arabian Oil Company | Magnetic crawler with 3 articulated wheels for navigation on pipes |
-
2015
- 2015-07-07 CN CN201520484670.5U patent/CN204775574U/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI602774B (en) * | 2016-05-30 | 2017-10-21 | Xin-Yuan Tong | Climb high machine |
| CN106644794A (en) * | 2016-12-22 | 2017-05-10 | 江苏工程职业技术学院 | Method for detecting concrete strength with wall-climbing robot |
| CN106645171A (en) * | 2016-12-22 | 2017-05-10 | 江苏工程职业技术学院 | Method for detecting concrete cracks by using wall-climbing robot |
| CN107351934B (en) * | 2017-08-30 | 2023-05-09 | 烟台皇宸智能制造有限公司 | Wheeled magnetic adsorption wall climbing robot |
| CN107351934A (en) * | 2017-08-30 | 2017-11-17 | 烟台皇宸智能制造有限公司 | A kind of wheeled magnetic adsorption wall climbing robot |
| CN107804384A (en) * | 2017-11-20 | 2018-03-16 | 河北工业大学 | The adaptive crawler belt climbing robot of wall four |
| CN107804384B (en) * | 2017-11-20 | 2023-08-04 | 河北工业大学 | Self-adaptive wall surface four-crawler wall climbing robot |
| CN108082320A (en) * | 2017-12-15 | 2018-05-29 | 长沙志唯电子科技有限公司 | The adaptive wall-surface mobile robot of magnetic adsorption type |
| CN108082319A (en) * | 2017-12-15 | 2018-05-29 | 长沙志唯电子科技有限公司 | The flexible adaptive wall-surface mobile robot of magnetic adsorption type |
| CN111204379A (en) * | 2018-11-22 | 2020-05-29 | 临颍县爬杆机器人有限公司 | Magnetic adsorption type wall-climbing robot |
| CN111204379B (en) * | 2018-11-22 | 2022-07-29 | 临颍县爬杆机器人有限公司 | Magnetic adsorption type pole-climbing robot |
| CN111572662A (en) * | 2019-02-19 | 2020-08-25 | 深圳市行知行机器人技术有限公司 | Magnetic gap type wall-climbing robot |
| CN110341828A (en) * | 2019-07-26 | 2019-10-18 | 上海酷酷机器人有限公司 | A kind of curved surface running gear and its magnetic cleaner device people |
| WO2022115763A1 (en) * | 2020-11-30 | 2022-06-02 | Saudi Arabian Oil Company | Magnetic crawler with 3 articulated wheels for navigation on pipes |
| US11584158B2 (en) | 2020-11-30 | 2023-02-21 | Saudi Arabian Oil Company | Magnetic crawler with 3 articulated wheels for navigation on pipes |
| CN113212585A (en) * | 2021-06-16 | 2021-08-06 | 燕山大学 | Wall-climbing robot adapting to variable-curvature vertical face |
| CN114179927A (en) * | 2021-12-07 | 2022-03-15 | 大唐（赤峰）新能源有限公司 | Intelligent cleaning and detecting robot |
| CN114455022A (en) * | 2022-01-19 | 2022-05-10 | 中船澄西船舶修造有限公司 | Magnetic adsorption wall-climbing robot capable of correcting deviation |
| CN114074724A (en) * | 2022-01-20 | 2022-02-22 | 彼合彼方机器人(天津)有限公司 | Wall climbing robot suitable for storage tanks with different curvature radiuses |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204775574U (en) | Magnetism adsorbs formula adaptive wall face mobile robot | |
| CN204801918U (en) | Magnetism adsorbs flexible adaptive wall face mobile robot of formula | |
| CN108082320A (en) | The adaptive wall-surface mobile robot of magnetic adsorption type | |
| CN105962856A (en) | Double-suction-cup connecting rod type wall face cleaning robot | |
| CN105465549A (en) | Crawler wheel type pipeline cleaning robot capable of adapting to changes of different pipe diameters | |
| CN103832500A (en) | Gecko robot | |
| CN109973759B (en) | Adsorption type omnidirectional mobile robot walking along wall surface of straight pipeline | |
| CN108082319A (en) | The flexible adaptive wall-surface mobile robot of magnetic adsorption type | |
| CN107773167A (en) | The contactless cleaning robot of glass curtain wall | |
| CN101544249B (en) | Wall mobile robot based on airflow lifting force | |
| CN114074724A (en) | Wall climbing robot suitable for storage tanks with different curvature radiuses | |
| CN204159493U (en) | A kind of reciprocally swinging spray body | |
| CN204263162U (en) | Underwater propeller thrust adsorbed wall-climbing robot | |
| CN112589684A (en) | Recovery disc rust removal robot | |
| CN213799956U (en) | Integrated crawling robot, derusting robot and paint spraying robot | |
| CN115257993A (en) | Curved surface self-adaptive wheel-foot type wall-climbing robot capable of being used for K-TIG welding | |
| CN206338211U (en) | The centrifugal pump of rapid-maintenance | |
| CN112265590B (en) | Integrated crawling robot | |
| Zhang et al. | Study on negative pressure adsorption characteristics of ship climbing robot | |
| CN205675124U (en) | A kind of rotary climbing robot | |
| CN113247124A (en) | Visual multipurpose intelligent robot capable of climbing high-altitude multi-angle iron terrain | |
| CN217348012U (en) | Lightweight magnetic wheel adsorption type wall-climbing robot | |
| CN207106681U (en) | A kind of new autonomous mobile robot | |
| US11975585B2 (en) | Systems and methods for detecting characteristics of a multi-oriented surface | |
| CN219160153U (en) | Long gas leakage detection device for natural gas pipeline |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151118 Termination date: 20160707 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |