CN106976491A - A kind of lightweight magnetic roller adsorption type wall climbing robot - Google Patents

A kind of lightweight magnetic roller adsorption type wall climbing robot Download PDF

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Publication number
CN106976491A
CN106976491A CN201710252115.3A CN201710252115A CN106976491A CN 106976491 A CN106976491 A CN 106976491A CN 201710252115 A CN201710252115 A CN 201710252115A CN 106976491 A CN106976491 A CN 106976491A
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CN
China
Prior art keywords
magnetic
wheel
frame
climbing robot
motor
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Pending
Application number
CN201710252115.3A
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Chinese (zh)
Inventor
桂仲成
马云峰
贺骥
杨辉
张宪文
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Chengdu Gui Robot Co Ltd
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Chengdu Gui Robot Co Ltd
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Filing date
Publication date
Application filed by Chengdu Gui Robot Co Ltd filed Critical Chengdu Gui Robot Co Ltd
Priority to CN201710252115.3A priority Critical patent/CN106976491A/en
Publication of CN106976491A publication Critical patent/CN106976491A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/024Vehicles 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

Abstract

The invention discloses a kind of lightweight magnetic roller adsorption type wall climbing robot, including main body of vehicle frame, drive mechanism is installed on main body of vehicle frame, drive mechanism includes being inlaid with equally distributed permanent magnet on magnetic front-wheel, the rubbing surface of magnetic front-wheel;Also include magnetic trailing wheel, Rear frame and compliant mechanism, Rear frame is connected by compliant mechanism with the main body of vehicle frame, magnetic trailing wheel is arranged in Rear frame.The present invention is using two the independent magnet pulleies driven and the Rear frame servo magnetic wheel connected by flexible hinge, so as to realize that wall movement is climbed in the magnetic suction of wheel type mobile.Robot can be walked and turned in magnetic conduction wall free walker.Due to the magnetic drive front-wheel using specific structure, it can be ensured that magnetic conduction wall structure can be followed in climbing barrier, it is ensured that stable absorption affinity.The Rear frame of flexible hinge connection, can follow agent structure to move, it is ensured that the stability of agent structure, and can reduce the control difficulty of robot.

Description

A kind of lightweight magnetic roller adsorption type wall climbing robot
Technical field
The present invention relates to a kind of lightweight magnetic roller adsorption type wall climbing robot, belong to robotic technology field.
Background technology
Magnetic adsorption wall climbing robot is that a kind of design carries out operations specific as welded on magnetic conduction wall, polishing, detection etc. A kind of automated machine device.Lightweight magnet-wheel absorption type video detection climbing robot can be large-scale in ship, container Video or image around flexible movement and captured in real-time on the magnetic conduction face of structural member etc., and local control end is transmitted back to, make Atmospheric reference information is provided for relevant work.
Climbing robot, which must have, to be adsorbed and mobile two basic functions.Common suction type has negative-pressure adsorption, magnetic Absorption and surfacing absorption etc..Wherein negative pressure mode can produce negative pressure by device and adsorb mechanical device in wall, no Limited by wall surface material;Magnetic suck mode requires that absorption surface must be the surface with certain magnetic conductivity;Surfacing is adsorbed Mode is mainly control certain material and is bonded and separates by modes such as electricity, chemistry, physics with absorption surface.
Magnetic adsorption wall climbing robot mainly has the modes such as magnetic foot, magnet-wheel, gap absorption by adsorption function point.Magnetic suck mode Climbing robot mainly has magnetic sufficient, wheeled and crawler type by locomotive function point.Magnetic foot formula, can cross over more complicated barrier, But translational speed is slow and mechanical structure and control mode are complicated;Wheel type mobile speed is fast, and control is relatively flexible, but is crossing over Wall is easily separated from when barrier, it is difficult to maintain stable absorption affinity;Crawler type, the area that lands is big, and loading capacity is big, but not The surface of complexity is adapted to, and is difficult to turn to.
The content of the invention
It is an object of the present invention to provide a kind of lightweight magnetic roller adsorption type wall climbing robot, translational speed is fast, turn to spirit It is living, and relative complex wall structure is can adapt to, it is not susceptible to fall.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that:
Drive mechanism is installed on a kind of lightweight magnetic roller adsorption type wall climbing robot, including main body of vehicle frame, main body of vehicle frame, Drive mechanism includes being inlaid with equally distributed permanent magnet on magnetic front-wheel, the rubbing surface of magnetic front-wheel;Also include magnetic trailing wheel, Rear frame and compliant mechanism, Rear frame are connected by compliant mechanism with the main body of vehicle frame, and magnetic trailing wheel is arranged in Rear frame. Magnetic front-wheel can also select the magnet-wheel of other forms, as long as can be adsorbed climbing robot in wall by magnetic force. The rubbing surface refers to the focusing surface of front-wheel.
Specifically, in a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, the magnetic front-wheel is elastomeric material, There are some hole positions on magnetic front-wheel.The weight of magnetic front-wheel is mitigated by the form of hole position, it is often more important that, by magnetic Hole position is set on front-wheel, more permanent magnets can be made to be fitted with wall.Particularly, the deformation of magnetic front-wheel can be increased Amount, increases the fitting area of magnetic front-wheel and wall, so that more permanent magnets are fitted with wall, so as to improve magnetic front-wheel Adsorption capacity.
As one of which embodiment, in a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, the magnetic Property trailing wheel be universal wheel.Overall flexibility and stability when being turned to improving.
In a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, the compliant mechanism is articulated structure, Rear frame It is hinged on main body of vehicle frame.
In a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, head, head are installed on the main body of vehicle frame On image collecting device is installed, head and image collecting device are electrically connected with the control system of climbing robot.
In a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, the head includes the first motor, second Motor and support frame, support frame l-shaped;First motor is arranged on main body of vehicle frame, and support frame one end is fixed on the On the drive end of one motor, the second motor is arranged on the other end of support frame, and image collecting device is arranged on second On the drive end of motor.
In a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, main body of vehicle frame is provided with and control system electricity The three-axis gyroscope of connection, accelerometer and multiple ultrasonic radar distance measuring sensors and telecommunication devices.Main part Three-axis gyroscope, the spatial attitude and speed of the real-time recorder people of accelerometer energy, ultrasonic distance-measuring sensor can be to surrounding Distance is measured, under known surrounding space situation, can judge that robot exists by spatial attitude and range measurement The position of known spatial.
In a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, the drive mechanism also includes power motor, connection Axle device, wheel shaft, bearing and preceding drive module housing;The output shaft of power motor is connected by shaft coupling with wheel shaft, and wheel shaft passes through Bearing is connected with magnetic front-wheel, and shaft coupling and wheel shaft are located in preceding drive module housing.
In a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, first motor and the second motor It is brushless DC servomotor.The head photographing module that brushless DC servomotor drives can be according to robot body's posture Adjust head angle, it is ensured that the stabilization of shooting picture, and special angle is shot.
In a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, the magnetic front-wheel is hollow structure, hollow knot Structure is to be inlaid with permanent magnet on charging portion, the tyre wall of magnetic front-wheel.
Compared with prior art, after the present invention uses two independent magnet pulleies driven and connected by flexible hinge Vehicle frame servo magnetic wheel, so as to realize that wall movement is climbed in the magnetic suction of wheel type mobile.Robot in vertical, top surface or can be carried The magnetic conduction wall free walker in certain obstacle face is walked and turned to.Due to the magnetic drive front-wheel using specific structure, it can be ensured that Magnetic conduction wall structure can be followed during climbing barrier, it is ensured that stable absorption affinity.The Rear frame of flexible hinge connection, can be followed Agent structure is moved, it is ensured that the stability of agent structure, and the conventional each driving wheel of climbing robot is required to outfit one Individual motor, and trailing wheel provides the motor of power without being equipped with using servo-actuated form in this patent, because the quantity of motor is reduced , so this patent can reduce the control difficulty of robot.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment of the present invention;
Fig. 2 is a kind of internal structure schematic diagram of embodiment of the present invention;
Fig. 3 is a kind of structural representation of embodiment of drive mechanism;
Fig. 4 is a kind of structural representation of embodiment of head;
Fig. 5 is a kind of structural representation of embodiment of Rear frame;
Fig. 6 is a kind of structural representation of embodiment of magnetic trailing wheel.
Reference:1- main body of vehicle frame;2- magnetic front-wheels;3- telecommunication devices;4- compliant mechanisms;5- Rear frames;6- Magnetic trailing wheel;7- drive mechanisms;The motors of 8- first;9- heads;10- image collecting devices;11- power motors;12- shaft couplings Device;13- wheel shafts;14- bearings;Drive module housing before 15-;The motors of 16- second;Magnet-wheel after 17-;18- second bearings; 19- roller pins;20- rotating shafts;21- permanent magnets;22- wheel bodys;23- hole positions;24- accelerometers;The ranging of 25- ultrasonic radars is sensed Device, 26- support frames.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Embodiment
Embodiments of the invention 1:As shown in Figures 1 to 6, a kind of lightweight magnetic roller adsorption type wall climbing robot, for taking A kind of automated machine device in welding, polishing, detection etc. is carried, specifically includes and is installed on main body of vehicle frame 1, main body of vehicle frame 1 There is drive mechanism 7, drive mechanism 7 is used to drive magnetic front-wheel 2 to rotate, and is the mobile offer power of main body of vehicle frame 1.Drive mechanism 7 include being inlaid with equally distributed permanent magnet 21, magnetic front-wheel 2 on magnetic front-wheel 2, the rubbing surface of the wheel body 22 of magnetic front-wheel 2 It is smaller and there is the material of certain flexibility, magnetic front-wheel 2 to produce certain deformation after adsorbing on wall from density, so as to carry The fitting area of high magnetic front-wheel 2 and wall, to improve absorption affinity, also, if wall structure is not very smooth, before magnetic Wheel 2 also can be by the irregular of the deformation laminating wall of itself, so as to improve the adaptability of robot.
The climbing robot of the present invention also includes magnetic trailing wheel 6, Rear frame 5 and compliant mechanism 4, and Rear frame 5 passes through flexibility Mechanism 4 is connected with the main body of vehicle frame 1, and magnetic trailing wheel 6 is arranged in Rear frame 5.After rotating shaft 20 is fixed on by roller pin 19 On vehicle frame 5, rear magnet-wheel 17 is arranged in rotating shaft 20 by second bearing 18.
When climbing robot is turned to, carry out differential motion by two magnetic front-wheels 2 and realize preliminary steering, then drive Rear frame 5 is turned to, due to the presence of compliant mechanism 4, can be decomposed go to action, to improve stabilization overall during steering Property, in the present embodiment, the magnetic front-wheel 2 is to have some hole positions 23 on elastomeric material, magnetic front-wheel 2.Using hole position 23 The weight of form reduction magnetic front-wheel 2, improves overall load capacity.In the present embodiment, the magnetic trailing wheel 6 is universal wheel. The compliant mechanism 4 is articulated structure, and Rear frame 5 is hinged on main body of vehicle frame 1.
It is provided with the main body of vehicle frame 1 on head 9, head 9 and image collecting device 10 is installed, head 9 and image is adopted Equal and climbing robot the control system electrical connection of acquisition means 10.Head 9 can drive image collecting device 10 orthogonal two Individual direction is freely rotated, and ensures to shoot steady to realize multi-angled shooting, and can adjust head angle according to robot pose It is qualitative.Freely rotating for head 9 is realized by following structure.The head 9 drives including the first motor 8, second Motor 16 and support frame 26, the l-shaped of support frame 26;First motor 8 is arranged on main body of vehicle frame 1, and the one end of support frame 26 is consolidated On the drive end for being scheduled on the first motor 8, the second motor 16 is arranged on the other end of support frame 26, image collecting device 10 are arranged on the drive end of the second motor 16.The motor 16 of first motor 8 and second is brushless straight Flow servo motor.
Main body of vehicle frame 1 is provided with three-axis gyroscope, accelerometer 24 and the multiple ultrasounds electrically connected with the control system Ripple radar range finding sensor 25 and telecommunication devices 3.Gyroscope, accelerometer can in real time the spatial attitude of recorder people and Speed, ultrasonic distance-measuring sensor can be measured to distance around, under known surrounding space situation, can pass through sky Between posture and range measurement judge robot in the position of known spatial.
The drive mechanism 7 also includes power motor 11, shaft coupling 12, wheel shaft 13, bearing 14 and preceding drive module housing 15;The output shaft of power motor 11 is connected by shaft coupling 12 with wheel shaft 13, and wheel shaft 13 passes through bearing 14 and the phase of magnetic front-wheel 2 Even, shaft coupling 12 and wheel shaft 13 are located in preceding drive module housing 15.
Embodiment 2:As shown in Figures 1 to 6, a kind of lightweight magnetic roller adsorption type wall climbing robot, including main body of vehicle frame 1, Drive mechanism 7 is installed, drive mechanism 7 includes being inlaid with magnetic front-wheel 2, the rubbing surface of magnetic front-wheel 2 on main body of vehicle frame 1 The permanent magnet 21 of even distribution;Magnetic front-wheel 2 selects density smaller and has the material of certain flexibility, and magnetic front-wheel 2 is adsorbed in wall Certain deformation can be produced after upper, so as to improve the fitting area of magnetic front-wheel 2 and wall, to improve absorption affinity, also, if Wall structure is not very smooth, and magnetic front-wheel 2 also can be by the irregular of the deformation laminating wall of itself, so as to improve this The adaptability of robot.
In the present embodiment, the magnetic front-wheel 2 is hollow structure, and hollow structure is charging portion, the tyre wall of magnetic front-wheel 2 On be inlaid with permanent magnet 21.I.e.:Magnetic front-wheel 2 is identical with conventional tire construction, is only embedded on the rubbing surface of tire There is permanent magnet, the rubbing surface refers to the surface that magnetic front-wheel 2 comes in contact with wall.Can be by reducing the pressure of charging portion Power improves the contact area of magnetic front-wheel 2 and wall, more permanent magnets is contacted wall, so as to improve overall absorption Power.
Also include magnetic trailing wheel 6, Rear frame 5 and compliant mechanism 4, Rear frame 5 passes through compliant mechanism 4 and the main body of vehicle frame 1 is connected, and magnetic trailing wheel 6 is arranged in Rear frame 5.When climbing robot is turned to, differential fortune is carried out by two magnetic front-wheels 2 It is dynamic to realize preliminary steering, then drive Rear frame 5 to turn to, due to the presence of compliant mechanism 4, go to action can be divided Solution, to improve in stability overall during steering, the present embodiment, the magnetic front-wheel 2 is to have on elastomeric material, magnetic front-wheel 2 There are some hole positions 23.The weight of magnetic front-wheel 2 is reduced in the form of hole position 23, overall load capacity is improved.The present embodiment In, the magnetic trailing wheel 6 is universal wheel.The compliant mechanism 4 is articulated structure, and Rear frame 5 is hinged on main body of vehicle frame 1.Hinge Chain structure has stronger rigidity in one direction, is unlikely to deform, and rigidity is weaker on another direction, is easily deformed, in energy Enough improve on the premise of climbing robot moves integrally stability and realize that trailing wheel is servo-actuated.
It is provided with the main body of vehicle frame 1 on head 9, head 9 and image collecting device 10 is installed, head 9 and image is adopted Equal and climbing robot the control system electrical connection of acquisition means 10.Head 9 can drive image collecting device 10 orthogonal two Individual direction is freely rotated, to realize multi-angled shooting.Freely rotating for head 9 is realized by following structure.The head 9 Including the first motor 8, the second motor 16 and support frame 26, the l-shaped of support frame 26;First motor 8 is arranged on On main body of vehicle frame 1, the one end of support frame 26 is fixed on the drive end of the first motor 8, and the second motor 16 is arranged on branch The other end of support 26, image collecting device 10 is arranged on the drive end of the second motor 16.First motor 8 It is brushless DC servomotor with the second motor 16.
Main body of vehicle frame 1 is provided with three-axis gyroscope, accelerometer 24 and the multiple ultrasounds electrically connected with the control system Ripple radar range finding sensor 25 and telecommunication devices 3.Gyroscope, accelerometer can in real time the spatial attitude of recorder people and Speed, ultrasonic distance-measuring sensor can be measured to distance around, under known surrounding space situation, can pass through sky Between posture and range measurement judge robot in the position of known spatial.
The drive mechanism 7 also includes power motor 11, shaft coupling 12, wheel shaft 13, bearing 14 and preceding drive module housing 15;The output shaft of power motor 11 is connected by shaft coupling 12 with wheel shaft 13, and wheel shaft 13 passes through bearing 14 and the phase of magnetic front-wheel 2 Even, shaft coupling 12 and wheel shaft 13 are located in preceding drive module housing 15.

Claims (10)

1. a kind of lightweight magnetic roller adsorption type wall climbing robot, it is characterised in that including main body of vehicle frame (1), on main body of vehicle frame (1) Drive mechanism (7) is installed, drive mechanism (7) includes being inlaid with magnetic front-wheel (2), the rubbing surface of magnetic front-wheel (2) uniformly The permanent magnet (21) of distribution;Also include magnetic trailing wheel (6), Rear frame (5) and compliant mechanism (4), Rear frame (5) passes through flexible machine Structure (4) is connected with the main body of vehicle frame (1), and magnetic trailing wheel (6) is arranged in Rear frame (5).
2. a kind of lightweight magnetic roller adsorption type wall climbing robot according to claim 1, it is characterised in that before the magnetic It is to have some hole positions (23) on elastomeric material, magnetic front-wheel (2) to take turns (2).
3. a kind of lightweight magnetic roller adsorption type wall climbing robot according to claim 1, it is characterised in that after the magnetic It is universal wheel to take turns (6).
4. a kind of lightweight magnetic roller adsorption type wall climbing robot according to claim 1, it is characterised in that the flexible machine Structure (4) is articulated structure, and Rear frame (5) is hinged on main body of vehicle frame (1).
5. a kind of lightweight magnetic roller adsorption type wall climbing robot according to claim 1, it is characterised in that the vehicle frame master It is provided with body (1) on head (9), head (9) and image collecting device (10) is installed, head (9) and image collecting device (10) the control system electrical connection of equal and climbing robot.
6. a kind of lightweight magnetic roller adsorption type wall climbing robot according to claim 1, it is characterised in that the head (9) the first motor (8), the second motor (16) and support frame (26), support frame (26) l-shaped are included;First driving Motor (8) is arranged on main body of vehicle frame (1), and support frame (26) one end is fixed on the drive end of the first motor (8), and second Motor (16) is arranged on the other end of support frame (26), and image collecting device (10) is arranged on the second motor (16) On drive end.
7. a kind of lightweight magnetic roller adsorption type wall climbing robot according to claim 1, it is characterised in that main body of vehicle frame (1) passed provided with the three-axis gyroscope, accelerometer (24) and multiple ultrasonic radar rangings electrically connected with the control system Sensor (25) and telecommunication devices (3).
8. a kind of lightweight magnetic roller adsorption type wall climbing robot according to claim 1, it is characterised in that the driving machine Structure (7) also includes power motor (11), shaft coupling (12), wheel shaft (13), bearing (14) and preceding drive module housing (15);Power The output shaft of motor (11) is connected by shaft coupling (12) with wheel shaft (13), and wheel shaft (13) passes through bearing (14) and magnetic front-wheel (2) it is connected, shaft coupling (12) and wheel shaft (13) are located in preceding drive module housing (15).
9. a kind of lightweight magnetic roller adsorption type wall climbing robot according to claim 6, it is characterised in that described first drives Dynamic motor (8) and the second motor (16) are brushless DC servomotors.
10. a kind of lightweight magnetic roller adsorption type wall climbing robot according to claim 1, it is characterised in that the magnetic Front-wheel (2) is hollow structure, and hollow structure is to be inlaid with permanent magnet (21) on charging portion, the tyre wall of magnetic front-wheel (2).
CN201710252115.3A 2017-04-18 2017-04-18 A kind of lightweight magnetic roller adsorption type wall climbing robot Pending CN106976491A (en)

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CN201710252115.3A CN106976491A (en) 2017-04-18 2017-04-18 A kind of lightweight magnetic roller adsorption type wall climbing robot

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Application Number Priority Date Filing Date Title
CN201710252115.3A CN106976491A (en) 2017-04-18 2017-04-18 A kind of lightweight magnetic roller adsorption type wall climbing robot

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107685784A (en) * 2017-07-28 2018-02-13 安徽工程大学 A kind of guide tracked three-dimensional climbing robot running gear of magnetic positioning
CN108927812A (en) * 2018-06-27 2018-12-04 国网山东省电力公司菏泽供电公司 Robot and method are detected in magnetic-type substation room
CN110773489A (en) * 2019-09-12 2020-02-11 天津华能北方热力设备有限公司 Barrier-free high-altitude rust removal device
CN111505009A (en) * 2020-04-21 2020-08-07 国网河南省电力公司电力科学研究院 Power transformer internal fault detection system based on wall-climbing robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107685784A (en) * 2017-07-28 2018-02-13 安徽工程大学 A kind of guide tracked three-dimensional climbing robot running gear of magnetic positioning
CN108927812A (en) * 2018-06-27 2018-12-04 国网山东省电力公司菏泽供电公司 Robot and method are detected in magnetic-type substation room
CN110773489A (en) * 2019-09-12 2020-02-11 天津华能北方热力设备有限公司 Barrier-free high-altitude rust removal device
CN111505009A (en) * 2020-04-21 2020-08-07 国网河南省电力公司电力科学研究院 Power transformer internal fault detection system based on wall-climbing robot

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