CN106828650B - Magnetic adsorption steering wheel for magnetic adsorption wall-climbing robot - Google Patents
Magnetic adsorption steering wheel for magnetic adsorption wall-climbing robot Download PDFInfo
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- CN106828650B CN106828650B CN201710181072.4A CN201710181072A CN106828650B CN 106828650 B CN106828650 B CN 106828650B CN 201710181072 A CN201710181072 A CN 201710181072A CN 106828650 B CN106828650 B CN 106828650B
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- outer side
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- body shell
- wheel
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/006—Magnetic wheels
Abstract
The invention discloses a magnetic adsorption steering wheel for a magnetic adsorption wall climbing robot, which comprises a first bolt, a second bolt, rubber on the outer side of a wheel body, an outer side supporting plate and an inner side herringbone supporting frame, wherein the upper end surface of the outer side supporting plate is rotatably connected with the bottom of a shaft seat, the shaft seat is of a hollow structure, a long shaft is inserted in the inner cavity of the shaft seat, a second bearing is sleeved on the long shaft, an annular friction bulge is sleeved on the outer side wall of the shaft seat, and the annular friction bulge is in contact with a friction turntable in a fit manner.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a magnetic adsorption steering wheel for a magnetic adsorption wall-climbing robot.
Background
The wall-climbing robot is a mobile robot, has the characteristics of being capable of flexibly climbing on a magnetic conductive wall surface and carrying a tool to complete a certain task, can replace manpower to execute the tasks of simplicity, repeatability, high danger and high labor intensity, and particularly plays a great role in daily maintenance operation in the fields of ships, petrifaction and the like; however, the existing wall climbing robot generally has the defects of poor stability, poor motion flexibility and the like, in order to improve the wall climbing stability of the robot, the adsorption force of the robot magnetic adsorption unit needs to be increased, the traditional method for increasing the magnetic adsorption force generally simply increases the number of permanent magnets, so that the overall weight of the magnetic adsorption unit is heavier, the crawling flexibility of the robot is influenced, and at the moment, on the premise of not reducing the performance of the adsorption force of the robot, the weight reduction of the adsorption unit is very important;
through patent search, the application numbers are found as follows: CN 202686556, chinese patent with application date of 2013.01.03 relates to a novel rolling steering magnetic wheel of a wall-climbing robot, the assembly of the invention is more complicated, and from the structural point of view, the patent structure has design defects, it is known that permanent magnets are all brittle materials and have huge acting force on steel wheels, the assembly difficulty is larger, if the fit of positioning cylindrical surfaces is too tight, the positioning is not easy and the permanent magnets are easy to break in the assembly process, if the fit of the positioning cylindrical surfaces is loose, the coaxiality of two steel wheels is not easy to guarantee, turning is difficult to realize by depending on a plurality of small wheels on the wheels during turning, many disadvantages in the assembly and maintenance are not considered, and the small wheels and the metal wall surface are easy to collide with and scratch in the turning process.
Disclosure of Invention
The invention aims to provide a magnetic adsorption steering wheel for a magnetic adsorption wall-climbing robot, which solves the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a magnetic adsorption steering wheel for a magnetic adsorption wall climbing robot comprises a first bolt, a second bolt, rubber outside a wheel body, an outside supporting plate and an inside herringbone supporting frame, wherein the upper end surface of the outside supporting plate is rotatably connected with the bottom of a shaft seat, the shaft seat is of a hollow structure, a long shaft is inserted into an inner cavity of the shaft seat, and a second bearing is sleeved on the long shaft;
the side wall of the outer side supporting plate is provided with a switch, the switch is electrically connected with a corresponding power supply, square holes are formed in the two side walls of the outer side supporting plate, a magnetic wheel driving shaft is arranged between the two square holes, square blocks matched with the square holes and fixedly clamped are arranged at the two ends of the magnetic wheel driving shaft, the middle of the magnetic wheel driving shaft is of a cylindrical structure, the magnetic wheel driving shaft penetrates through the wheel body shell, first bearings are arranged at one ends, close to the inner sides of the outer side supporting plate, of the two square blocks, the two first bearings are rotatably connected with the magnetic wheel driving shaft, the first bearings are rotatably connected with the wheel body shell, a wheel body shell cover is sleeved on the outer side of the wheel body shell, and wheel body outer side rubber is sleeved on the outer side of the wheel body shell cover;
the wheel body shell is of a hollow structure, an inner cavity of the wheel body shell is provided with a fan-shaped permanent magnet, an inner side herringbone supporting frame, an iron core and a coil, the fan-shaped permanent magnet is connected with the iron core, the coil is wound on the iron core and is electrically connected with the switch, the fan-shaped permanent magnet is connected with one end of the inner side herringbone supporting frame through a first bolt and a second bolt, and the other end of the inner side herringbone supporting frame is connected with a magnetic wheel driving shaft in a rotating mode.
Preferably, the number of the second bearings is two, and the two second bearings are coaxially arranged.
Preferably, there are two iron cores and two coils, and the iron cores are of two symmetrically-arranged fan-shaped structures.
Preferably, the shaft seat is rotationally clamped with a groove formed in the upper end face of the outer side supporting plate in a matched mode through a circular protrusion formed in the bottom of the shaft seat.
Preferably, the structure still contains generator, annular friction arch and friction turntable, and the up end fixed connection of tripod and outside backup pad is passed through to the lateral wall of generator, and the pivot on the generator is connected with friction turntable, has cup jointed annular friction arch at the lateral wall of axle bed, and annular friction arch and friction turntable laminating contact.
Compared with the prior art, the invention has the beneficial effects that: the magnetic adsorption steering wheel for the magnetic adsorption wall-climbing robot is simple in structure, and the invention aims to provide a suspended magnetic adsorption steering device which is lighter in weight, larger in adsorption force, more flexible in turning and more convenient to maintain compared with the existing magnetic adsorption device, overcomes the pair of contradiction between stability and flexibility of the wall-climbing robot, and realizes flexible turning of the wall-climbing robot on a magnetic conductivity wall surface; the device adopts a pendulum type structure and adopts a combined structure of a fan-shaped permanent magnet, an iron core and a coil, the fan-shaped permanent magnet is suspended on a magnetic wheel driving shaft and can swing around the driving shaft, on one hand, the whole weight of the magnetic adsorption unit is reduced, on the other hand, the permanent magnet is prevented from being in direct contact with a magnetic conductivity wall surface, and the defects that the permanent magnet is fragile and low in strength are overcome; the bearing rotates during steering, the steering performance and the supporting condition are good, wherein the power supply leads current into the coil through the switch, so that the iron core wound with the coil has magnetism, the adsorption force is enhanced, and the wall-climbing robot can turn on the magnetic conductivity wall surface more flexibly and stably; the device is based on the principle that furthest improves permanent magnet magnetic induction line utilization ratio, rationally optimizes the permanent magnet structure, abandons traditional annular permanent magnet structure, adopts fan-shaped pendulum novel structure, and the cost is not only reduced, and the assembling process is simple and convenient, and simple structure is compact, easily realizes dismantling and maintaining.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 isbase:Sub>A cross-sectional view of the structure A-A of FIG. 1;
FIG. 3 is a schematic view of an assembly of a herringbone support frame and a fan-shaped permanent magnet;
FIG. 4 is a schematic view of another embodiment of the present invention;
fig. 5 isbase:Sub>A sectional view of the structurebase:Sub>A-base:Sub>A of fig. 4.
In the figure: the magnetic wheel comprises a first bolt 1, a second bolt 2, a wheel body outer side rubber 3, a wheel body shell 4, an outer side supporting plate 5, a first bearing 6, a sector permanent magnet 7, a wheel body shell cover 8, a magnetic wheel driving shaft 9, a shaft end fixing screw 10, an inner side herringbone supporting frame 11, a switch 12, a shaft seat 13, a second bearing 14, a long shaft 15, an iron core 16, a coil 17, a generator 18, an annular friction bulge 19 and a friction turntable 20.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution:
a magnetic adsorption steering wheel for a magnetic adsorption wall climbing robot comprises a first bolt 1, a second bolt 2, wheel body outer side rubber 3, an outer side supporting plate 5 and an inner side herringbone supporting frame 11, wherein the upper end face of the outer side supporting plate 5 is rotatably connected with the bottom of a shaft seat 13, the shaft seat 13 is rotatably clamped with a groove formed in the upper end face of the outer side supporting plate 5 in a matching manner through a circular bulge arranged at the bottom, the shaft seat 13 is of a hollow structure, a long shaft 15 is inserted into an inner cavity of the shaft seat 13, a second bearing 14 is sleeved on the long shaft 15, the second bearings 14 are two, the two second bearings 14 are coaxially arranged, and more stable adsorption force is required when the wall climbing robot turns; or, the structure still contains generator 18, annular friction bulge 19 and friction carousel 20, the up end fixed connection of generator 18's lateral wall through tripod and outside backup pad 5, friction carousel 20 is connected with the pivot on the generator 18, annular friction bulge 19 has been cup jointed at the lateral wall of axle bed 13, and annular friction bulge 19 and friction carousel 20 laminating contact, promptly when axle bed 13 rotates, drive friction carousel 20 through annular friction bulge 19 and rotate, friction carousel 20 drives generator 18 and rotates the electricity generation, at this moment, generator 18 lets in the electric current to coil 17 through switch 12 in, make the iron core 16 that the winding has coil 17 have magnetism, reinforcing adsorption affinity, in order to guarantee to realize climbing the more nimble and steady turn of wall robot on the magnetic conductivity wall.
Be equipped with switch 12 on the lateral wall of outside backup pad 5, and switch 12 and power electric connection, the quad slit has all been seted up to outside backup pad 5 both sides wall, and be equipped with magnetism wheel drive shaft 9 between two quad slits, the both ends of magnetism wheel drive shaft 9 are equipped with the quad slit that matches fixed joint with the quad slit, be the cylinder structure in the middle of the magnetism wheel drive shaft 9, magnetism wheel drive shaft 9 runs through wheel body shell 4, two quad slits are close to the inboard one end of outside backup pad 5 and are equipped with first bearing 6, and rotate between two first bearings 6 all and the magnetism wheel drive shaft 9 and be connected, first bearing 6 and wheel body shell 4 rotate and be connected, wheel body shell cover 8 has been cup jointed in the outside of wheel body shell 4, wheel body shell cover 8 outside has been cup jointed in the wheel body shell cover outside, increase magnetism wheel and the coefficient of friction of magnetic conductivity wall, prevent to climb the wall robot and turn to the in-process skidding in removing, wheel body shell 4 cross section is "worker" style of calligraphy and erects the shape structure for "worker", its both sides backup pad is detachable adjustable fender, after dismantling both sides backup pad, its middle axle is the structure in the excircle square, this excircle square hole is the excircle, this excircle square hole is used for hanging pendulum in the excircle, fan-shaped magnet portion, the cooperation of the drive wheel.
Fan-shaped permanent magnet 7 is fan-shaped shape of semicircle ring, and it is formed by strong magnetic material, if neodymium iron boron preparation, is used for providing the strong magnetic environment who produces the adsorption affinity, and fan-shaped permanent magnet 7 is fan-shaped neodymium iron boron permanent magnet, and 11 lower parts of chevron shape support frame are that two symmetrical mounting holes correspond with fan-shaped neodymium iron boron permanent magnet left side fixed orifices and fan-shaped neodymium iron boron permanent magnet right side fixed orifices, are in the same place two inboard chevron shape support frames 11 are fixed with fan-shaped permanent magnet 7 through first bolt 1, second bolt 2. The cladding has wheel body outside rubber 3 in order to increase its frictional force with the wall on the outer spill circular curved surface of wheel body shell 4, the fish tail metal wall is destroyed to the wall, wheel body shell 4 links into an integrated entity through a plurality of screws with wheel body shell lid 8, thereby realize that wheel body shell 4 is circular motion around two first bearings 6 with wheel body shell lid 8 is integrative in the motion process, and make magnetic wheel drive shaft 9 not move, inboard chevron shape support frame 11 and the fan-shaped permanent magnet 7 that link to each other also will keep motionless in wheel body shell 4 motion process.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. The utility model provides a magnetism adsorbs steering wheel for magnetism adsorbs wall climbing robot, includes first bolt (1), second bolt (2), wheel body outside rubber (3), outside backup pad (5) and inboard chevron shape support frame (11), its characterized in that: the upper end surface of the outer side supporting plate (5) is rotatably connected with the bottom of the shaft seat (13), the shaft seat (13) is of a hollow structure, a long shaft (15) is inserted into the inner cavity of the shaft seat (13), and a second bearing (14) is sleeved on the long shaft (15); the side wall of the outer side supporting plate (5) is provided with a switch (12), the switch (12) is electrically connected with a power supply, square holes are formed in two side walls of the outer side supporting plate (5), a magnetic wheel driving shaft (9) is arranged between the two square holes, square blocks matched with the square holes and fixedly clamped with the square holes are arranged at two ends of the magnetic wheel driving shaft (9), the middle of the magnetic wheel driving shaft (9) is of a cylindrical structure, the magnetic wheel driving shaft (9) penetrates through the wheel body shell (4), first bearings (6) are arranged at one ends, close to the inner side of the outer side supporting plate (5), of the two square blocks, the two first bearings (6) are rotatably connected with the magnetic wheel driving shaft (9), the first bearings (6) are rotatably connected with the wheel body shell (4), a wheel body shell cover (8) is sleeved on the outer side of the wheel body shell (4), and wheel body outer side rubber (3) is sleeved on the outer side of the wheel body shell cover (8);
the wheel body shell (4) is of a hollow structure, a fan-shaped permanent magnet (7), an inner side herringbone support frame (11), an iron core (16) and a coil (17) are arranged in an inner cavity of the wheel body shell (4), the fan-shaped permanent magnet (7) is connected with the iron core (16), the coil (17) is wound on the iron core (16), the coil (17) is electrically connected with a switch (12), the fan-shaped permanent magnet (7) is connected with one end of the inner side herringbone support frame (11) through a first bolt (1) and a second bolt (2), and the other end of the inner side herringbone support frame (11) is rotatably connected with a magnetic wheel driving shaft (9);
the number of the second bearings (14) is two, and the two second bearings (14) are coaxially arranged; the number of the iron cores (16) and the number of the coils (17) are two, and the iron cores (16) are of two symmetrical fan-shaped structures.
2. The magnetic adsorption steering wheel for the magnetic adsorption wall-climbing robot according to claim 1, characterized in that: the shaft seat (13) is rotationally clamped with a groove which is matched and arranged on the upper end surface of the outer side supporting plate (5) through a circular bulge arranged at the bottom.
3. The magnetic adsorption steering wheel for the magnetic adsorption wall-climbing robot according to claim 1, characterized in that: still contain generator (18), annular friction protrusion (19) and friction turntable (20), the up end fixed connection of tripod and outside backup pad (5) is passed through to the lateral wall of generator (18), and the pivot on generator (18) is connected with friction turntable (20), has cup jointed annular friction protrusion (19) at the lateral wall of axle bed (13), and annular friction protrusion (19) and friction turntable (20) laminating contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710181072.4A CN106828650B (en) | 2017-03-24 | 2017-03-24 | Magnetic adsorption steering wheel for magnetic adsorption wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710181072.4A CN106828650B (en) | 2017-03-24 | 2017-03-24 | Magnetic adsorption steering wheel for magnetic adsorption wall-climbing robot |
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| Publication Number | Publication Date |
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| CN106828650A CN106828650A (en) | 2017-06-13 |
| CN106828650B true CN106828650B (en) | 2023-03-17 |
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| CN201710181072.4A Active CN106828650B (en) | 2017-03-24 | 2017-03-24 | Magnetic adsorption steering wheel for magnetic adsorption wall-climbing robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127770A (en) * | 2017-06-18 | 2017-09-05 | 中国船舶重工集团公司第七六研究所 | A kind of ferromagnetism climbs wall working robot |
| CN107336760B (en) * | 2017-06-23 | 2019-06-18 | 东南大学 | A kind of magnetic suck lifting system for metal covering climbing robot |
| CN109484507A (en) * | 2018-12-29 | 2019-03-19 | 衡昇科技有限公司 | Oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot for complicated magnetic conduction wall surface |
| CN109990167B (en) * | 2019-02-21 | 2020-10-30 | 诸暨市秀珠建材有限公司 | Wheel type pipeline detection robot utilizing magnetic adsorption |
| CN109850027B (en) * | 2019-02-28 | 2021-03-16 | 重庆邮电大学 | Bionic biped wall-climbing robot based on magnetic-sensitive rubber adhesion material |
| CN110086275B (en) * | 2019-04-22 | 2024-02-23 | 上海海洋大学 | Magnetic adsorption driving wheel structure with controllable adsorption force |
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