CN103332232B - Steel plate climbing robot - Google Patents
Steel plate climbing robot Download PDFInfo
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- CN103332232B CN103332232B CN201310222443.0A CN201310222443A CN103332232B CN 103332232 B CN103332232 B CN 103332232B CN 201310222443 A CN201310222443 A CN 201310222443A CN 103332232 B CN103332232 B CN 103332232B
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- crawler belt
- chassis
- steel plate
- climbing robot
- iron core
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Abstract
Type of the present invention discloses a kind of steel plate climbing robot, comprise chassis and be arranged on the running gear on chassis, running gear is by by sprocket wheel, the crawler belt be arranged on chassis is formed, winding and iron core is provided with in the scope that described crawler belt surrounds, winding parallel in crawler belt around in the core which, described iron core is arranged on chassis, and described crawler belt is prepared by the non-magnetic metallic material of monolithic conductive.Structure of the present invention is simple, assembling is easy and adsorption affinity is powerful, operating flexibility.
Description
Technical field
The present invention relates to artificial intelligence field, a kind of steel plate climbing robot of concrete finger.
Background technology
At present, countries in the world all at the positive various forms of robot of research and development, widespread use and military affairs, scientific research, industry, the field such as civilian.Climbing robot, be widely used because people can be replaced to be engaged in the high-risk operations of various outer wall for it, wherein at ship domain, the use of climbing robot, techniques such as can making hull-rust extraction, clean, spray paint obviously is improved, and workman's service conditions improves, at present, at ship domain, more widely used climbing robot mainly adopts wheeled, crawler-type permanent magnet absorption, but such climbing robot mainly exists some problems below:
1, wheeled climbing robot adopts bulk permanent magnet to provide adsorption affinity, and weight is large, and adsorption affinity is not as good as electromagnet, reduces attached wall function and load-carrying capacity.Along with the expansion of task scope, carry the increase of instrument, require that robot is under the prerequisite that reduces as far as possible of conducting oneself with dignity, and improves load-carrying capacity further.
2, crawler-type permanent magnet suction type is many is arranged on permanent magnet on crawler belt, and assembly difficulty is large, and polylith permanent magnet is adsorbed in turn by caterpillar drive or departs from steel plate, i.e. consumed energy but also limit the raising of running velocity.
3, drive system that is wheeled, crawler-type permanent magnet adsorption wall climbing robot generally adopts rotating machine, drives wheel or crawler belt by transmission device, and mounting structure is complicated, and driving power is low.
4, wheeled, crawler-type permanent magnet adsorption wall climbing robot is applicable to wall near vertical, smooth wide Chuan Bi both sides, but large curved surface destructuring wall exists the weak problem of adsorption power on the bow, at the bottom of stern, boats and ships abdomen etc.
5, wheeled, crawler-type permanent magnet adsorption wall climbing robot adopts permanent magnet material, and physicochemical property are unstable, and material is crisp, corrosion-resistant, easily demagnetizes, manufacture and maintenance cost high.
Summary of the invention
Object of the present invention will overcome above-mentioned deficiency exactly, provides a kind of structure simple, assembles easily and the steel plate climbing robot of the powerful operating flexibility of adsorption affinity.
For achieving the above object, steel plate climbing robot designed by the present invention, comprise chassis and be arranged on the running gear on chassis, running gear is by by sprocket wheel, the crawler belt be arranged on chassis is formed, its special character is: be provided with winding and iron core in the scope that described crawler belt surrounds, winding parallel is in crawler travel face around in the core which, and described iron core is arranged on chassis, and described crawler belt is prepared by the metallic material that monolithic conductive is non-magnetic.
Further, in described running gear, crawler belt is arranged on the left and right sides, chassis by sprocket wheel.
Further, described iron core is that bar shaped and crawler travel face be arranged in parallel, is longitudinally furnished with groove that is multiple and crawler travel direction horizontal vertical, the coiling between the slots of described winding in the core which along iron core.
Again further, described winding adopts star connection or triangle to connect.
Again further, described crawler belt is linked side by side by polylith copper or aluminum strip and forms, adjacent two bronze medals or the flexible wire conducting of aluminum strip end.
Again further, described track outer surface is processed with horizontal lines.
Again further, described chassis is provided with apparatus for work.
The present invention structurally has the following advantages:
1, because line inductance electromotor is while generation thrust, also produce steel plate to the adsorption affinity of robot, thrust and adsorption affinity are completed by a set of electromagnetic mechanism, simplify system architecture.
2, linear induction function produces direct thrust, eliminates the driving device for mode of motion conversion when adopting rotating machine, makes physical construction simplify further.
3, line inductance electromotor is installed along crawler belt direction, utilizes steel plate as the part magnetic circuit of line inductance electromotor, decreases the use of motor body to ferromagnetic material, directly reduces volume and weight, and makes topology layout reasonable, compact.
The present invention mainly contains following characteristics in operation and in-use performance:
1, linear induction function realizes high thrust driving, improves load-carrying capacity.In conjunction with Modern AC Adjusting Speed Technology, can realize further controlling fast, flexibly.
2, with permanent magnetic suck Method compare, adopt electromagnetic adsorption mode, adsorption affinity is larger, and controllability is good, the physical property of material and stable chemical performance, the problem of demagnetizing under not having poor working conditions.
Accompanying drawing explanation
Fig. 1 is steel plate climbing robot structural representation.
Fig. 2 is the right elevation of Fig. 1.
Fig. 3 is schematic diagram of the present invention.
Fig. 4 is the structural representation of crawler belt in Fig. 1.
In figure: primary part 1, winding 2, iron core 3, chassis 4, crawler belt 5, sprocket wheel 6, sprocket shaft 6.1, steel plate 7, thrust 8, Movement in Magnetic Field direction 9, mover sense of motion 11, normal direction attractive force 12, apparatus for work 13.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, type of the present invention is described in further detail:
The climbing robot of steel plate shown in figure, the running gear comprising chassis 4 and be arranged on chassis 4, chassis 4 is provided with apparatus for work 13, running gear is arranged on the left and right sides, chassis 4, running gear is by by sprocket wheel 6, the crawler belt 5 be arranged on chassis 4 is formed, winding 2 and iron core 3 is respectively equipped with in the scope that the crawler belt 5 of the left and right sides, chassis 4 surrounds, iron core 3 is arranged on chassis 4, crawler belt 5 is propped up by sprocket wheel, do not contact with iron core 3 with winding 2, sprocket wheel 6 is arranged in the both sides, front and back of iron core 3, sprocket wheel 6 also can make integrative-structure with iron core 3, sprocket wheel 6 is connected on chassis 4 by sprocket shaft 6.1, as shown in Figure 4, crawler belt 5 is the non-magnetic material of conduction, and select copper or aluminium under normal circumstances, crawler belt 5 is linked side by side by polylith bar shaped copper coin or aluminium sheet and forms, and two adjacent bar copper coins or aluminium sheet end are connected with flexible wire, and realizing circuit connects, crawler belt 5 outside face is processed with horizontal lines, chassis 4 is provided with apparatus for work.
Present invention employs line inductance electromotor principle, winding 2 and iron core 3 form line inductance electromotor primary part 1, and winding 2 is powered by trailing cable; Crawler belt 5 is propped up round line inductance electromotor primary part 1 by sprocket wheel 6, but does not contact with primary part 1, and crawler belt 5 is propped up by sprocket wheel 6 and defined certain gap with primary part 1, to avoid rubbing between crawler belt 5 and primary part 1; Crawler belt 5 outside face directly contacts with operation steel plate 7, and jointly forms the sub section of line inductance electromotor with operation steel plate 7.Crawler belt 5 produces eddy current when doing relative motion with magnetic field by electromagnetic induction, then produces powerful electromagnetic force.Crawler belt 5 and steel plate 7 contact surface are processed with horizontal lines, which increase the static friction between crawler belt 5 with vertical steel plate 7 plane.
This plant running schematic diagram, as shown in Figure 3:
1, primary part 1 sets up the cross motion magnetic field of vertical direction, the aluminium sheet of cross motion magnetic field intercepts crawler belt 5 and steel plate 7, produce electromagnetic force 9 backward, due to the aluminium sheet of crawler belt 5 and steel plate 7 static, primary part 1 obtains thrust 8 forward, thrust 8 passes to sprocket wheel 6 by chassis, and sprocket wheel 6 rotates and drives crawler belt 5 to move, and causes platform to advance;
2, primary part 1 be energized after due to electromagnetic principle, normal direction attractive force 12 will be produced with sub section, in common DC machine, generally can overcome this power as far as possible, to reduce advance friction force, motor here then utilizes this normal direction attractive force 12, makes steel plate produce adsorption to robot, steel plate 7 is not only robot and provides plane of movement, also constitutes the part magnetic circuit of linear electric motors simultaneously;
3, crawler belt 5 is linked by polylith bar shaped copper coin or aluminium sheet and forms, crawler belt 5 produces eddy current when doing relative motion with magnetic field by electromagnetic induction, then electromagnetic force is produced, like this than only obtaining larger electromagnetic force by the straight-line electric function that steel plate 7 and primary part 1 are formed.
This robot can provide enough propulsive forces 8 and adsorption affinity 12 for mobile platform simultaneously.
During operation, between iron core 3 and operation steel plate 7, produce electromagnetic attraction, platform is attached on vertical operation steel plate 7.With the crawler belt 5 of operation steel plate 7 contact portion because static friction keeps static, and as the stator winding of line inductance electromotor, by electromagnetic action, for primary part 1 provides thrust parallel plane with operation steel plate 7, this thrust makes primary part 1 be with movable sprocket 6 to rotate, and drives crawler belt 5 to roll.Robot adopts two caterpillar belt structure, is powered respectively to winding 2 in the crawler belt of both sides by trailing cable, and to feeding the phase sequence of three-phase electricity, frequency, voltage adjusts, thus controls another robot and advance, retreat or turn to flexibly.Fig. 2 is apparatus of the present invention birds-eye view, and two crawler belt 5 link portions sub chassis 4 can load device 13 needed for robot manipulating task.
Claims (6)
1. a steel plate climbing robot, the running gear comprising chassis (4) and be arranged on chassis (4), running gear is made up of the crawler belt (5) be arranged on chassis (4) by sprocket wheel (6), it is characterized in that: in the scope that described crawler belt (5) surrounds, be provided with winding (2) and iron core (3), winding (2) is parallel to crawler belt (5) walking surface around in iron core (3), described iron core (3) is arranged on chassis (4), described crawler belt (5) is linked side by side by polylith copper or aluminum strip and forms, adjacent two bronze medals or the flexible wire conducting of aluminum strip end.
2. steel plate climbing robot as claimed in claim 1, is characterized in that: in described running gear, crawler belt (5) is arranged on chassis (4) left and right sides by sprocket wheel (6).
3. steel plate climbing robot as claimed in claim 2, it is characterized in that: described iron core (3) in bar shaped and crawler belt (5) walking surface be arranged in parallel, longitudinally groove that is multiple and crawler belt (5) direction of travel horizontal vertical is furnished with, described winding (2) coiling between the slots along iron core (3) in iron core (3).
4. steel plate climbing robot as claimed in claim 3, is characterized in that: described winding (2) adopts star connection or triangle to connect.
5. steel plate climbing robot as claimed in claim 4, is characterized in that: described crawler belt (5) outside face is processed with horizontal lines.
6. steel plate climbing robot as described in claim any one of claim 1 to 5, is characterized in that: described chassis (4) are provided with apparatus for work (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310222443.0A CN103332232B (en) | 2013-06-06 | 2013-06-06 | Steel plate climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310222443.0A CN103332232B (en) | 2013-06-06 | 2013-06-06 | Steel plate climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN103332232A CN103332232A (en) | 2013-10-02 |
| CN103332232B true CN103332232B (en) | 2015-10-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310222443.0A Expired - Fee Related CN103332232B (en) | 2013-06-06 | 2013-06-06 | Steel plate climbing robot |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103934574B (en) * | 2014-02-28 | 2016-01-20 | 浙江海洋学院 | A kind of new pattern laser derusting device |
| CN104742996B (en) * | 2015-04-08 | 2017-03-15 | 南通理工学院 | Triangular crawler type wall climbing robot |
| CN107310651A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of crawler type electromagnetic adsorption climbing robot walking mechanism |
| EP3741654A1 (en) * | 2017-01-23 | 2020-11-25 | Mitsubishi Electric Corporation | Traveling body |
| CN106995014B (en) * | 2017-05-23 | 2022-12-16 | 湖南沄耀中创科技有限公司 | Magnetic circuit structure beneficial to crawler adsorption transmission and climbing device |
| CN108556949A (en) * | 2018-03-30 | 2018-09-21 | 西北工业大学 | A kind of magnetic force Multi-legged Wall-climbing Robots |
| CN108438079B (en) * | 2018-05-18 | 2023-04-07 | 南京林业大学 | Wall-climbing robot |
| CN109204598A (en) * | 2018-08-07 | 2019-01-15 | 国网辽宁省电力有限公司葫芦岛供电公司 | A kind of climbing robot electromagnetism pedrail mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29622167U1 (en) * | 1996-12-20 | 1997-02-20 | Schmid, Dietmar, Prof.Dr.-Ing., 73457 Essingen | Climbing caterpillar / climbing robot |
| CN1739925A (en) * | 2005-09-09 | 2006-03-01 | 清华大学 | Non-contact magnetically adsorbed wall climbing robot |
| CN201501448U (en) * | 2009-09-27 | 2010-06-09 | 清华大学 | Non-contact flexible track tension device of underwater wheel-track type magnetic attraction creeping robot |
| CN102079339A (en) * | 2010-05-24 | 2011-06-01 | 安徽理工大学 | Robot operated on surface of oil storage tank |
| CN202019286U (en) * | 2011-04-02 | 2011-10-26 | 上海海事大学 | Propelling mechanism for metal surface climbing device |
| CN202201082U (en) * | 2011-08-15 | 2012-04-25 | 福建工程学院 | Crawler-type wall-climbing adsorption structure |
-
2013
- 2013-06-06 CN CN201310222443.0A patent/CN103332232B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29622167U1 (en) * | 1996-12-20 | 1997-02-20 | Schmid, Dietmar, Prof.Dr.-Ing., 73457 Essingen | Climbing caterpillar / climbing robot |
| CN1739925A (en) * | 2005-09-09 | 2006-03-01 | 清华大学 | Non-contact magnetically adsorbed wall climbing robot |
| CN201501448U (en) * | 2009-09-27 | 2010-06-09 | 清华大学 | Non-contact flexible track tension device of underwater wheel-track type magnetic attraction creeping robot |
| CN102079339A (en) * | 2010-05-24 | 2011-06-01 | 安徽理工大学 | Robot operated on surface of oil storage tank |
| CN202019286U (en) * | 2011-04-02 | 2011-10-26 | 上海海事大学 | Propelling mechanism for metal surface climbing device |
| CN202201082U (en) * | 2011-08-15 | 2012-04-25 | 福建工程学院 | Crawler-type wall-climbing adsorption structure |
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| CN103332232A (en) | 2013-10-02 |
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