CN107310640A - A kind of crawler type electromagnetic adsorption climbing robot - Google Patents
A kind of crawler type electromagnetic adsorption climbing robot Download PDFInfo
- Publication number
- CN107310640A CN107310640A CN201610263559.2A CN201610263559A CN107310640A CN 107310640 A CN107310640 A CN 107310640A CN 201610263559 A CN201610263559 A CN 201610263559A CN 107310640 A CN107310640 A CN 107310640A
- Authority
- CN
- China
- Prior art keywords
- crawler belt
- robot
- steel
- climbing robot
- connecting plate
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
Abstract
The present invention is a kind of absorption principle of utilization battery iron, realize the robot of the lower surface climbing of the vertical wall built in steel or horizontal wall surface, utilize existing electronic control technology, realize battery iron absorption affinity in size and temporal control, it is more intelligent, it is more steady in motion by the use of crawler belt as main movement mechanism, while being also beneficial to the layout in space；On the other hand, caterpillar belt structure is beneficial to lower the center of gravity, increase and the contact area of wall, when running into obstacle, it is stronger by property, the robot can creep in the walls of steel object such as some big machinery walls, bridge, steel buildings, the task such as reconnoitred, repaired, cleaned, completing some manually be difficult to competent work.
Description
Technical field：
Crawler type battery adsorption wall climbing robot is a kind of absorption principle of utilization battery iron, and realization is built in steel
The robot of the lower surface climbing of the vertical wall built or horizontal wall surface, is mainly used in exploring, investigation field.
Design background：
With developing rapidly for society, the raising of living standards of the people and the raising of contemporary science and technology level, people
Initiated to explore to the every field of life using the intelligence and wisdom of itself and the strength of science, but
The exploring ability of some limit field mankind or limited, still can not be reached, such as simply by virtue of manpower
It is undoubtedly the wisdom of humanity for some large-scale steel building such as Bird's Nest, Nanjing Yangtze River Bridge, Eiffel Towers
Crystallization, but prospecting after being built for them is a nerve-wracking problem again with maintenance, and one being body
Product is huge, checks wide, it is necessary to expend huge manpower and material resources, and being that the place of prospecting is one mostly
Some dangerous places, such as the vertical or lower surface that stands upside down, along with needing to take various exploration equipment,
This, which is undoubtedly existing burden, what is be fraught with risks.So both having adapted to this severe work in the urgent need to a kind of
Condition can complete the intelligent robot of task to help the mankind again.
The content of the invention：
The precondition for being operated in the vertically or horizontally lower surface of steel is that robot can overcome gravity and adsorb
On its surface, absorption breakthrough problem is not solved, absorption affinity is by electromagnet offer, and the magnetic force of electromagnet is can be with
By current control, under normal working conditions, the magnetic force produced by the bigger electromagnet of electric current is also bigger,
The magnetic force of the mainly electromagnet of gravity is overcome when being operated in horizontal surface, electromagnetic force at this moment is to be enough
Overcome gravity；The mainly crawler belt of gravity and the friction produced by wall are overcome when being operated in vertical surface
Power, this, which is accomplished by faying face, larger equlvalent coefficient of friction, is that this is special by the outer surface progress of creeper tread
Processing, increasing its coefficient of friction, so could produce larger frictional force carrys out balancing gravity.The mechanism of walking is
Crawler belt, power is the motor of two autonomous workings, by controlling the rotating speed of motor to be moved ahead with control machine people
Speed and turning and the conventional func such as fall away.And crawler belt has strong by property, large carrying capacity, work
Steadily, the advantages of structural strength is big, this is more more advantageous than other kinds of walking mechanism.
The present invention mainly make use of electric magnetisation principle, using electromagnet produce magnetic field so as to steel and crawler belt it
Between form the magnetic force attracted each other, using it is automatically controlled so that control it is more intelligent so that robot is steady
A series of activities is carried out on steel building field.
Brief description of the drawings：
Fig. 1：A kind of crawler type battery adsorption wall climbing robot overall structure diagram
Fig. 2：Crawler belt electromagnetic adsorption walking mechanism schematic diagram
Fig. 3：Power drive mechanism schematic diagram
Fig. 4：Sectional flywheel schematic diagram
Embodiment
The walking mechanism of crawler type electromagnetic adsorption climbing robot it is main by crawler belt (5), connecting plate (10), hold
Roller (6), built-up gear (Fig. 4) and direct current generator (18) composition, set gear above during design
The gear that size is more than rear is counted, so moving ahead, it is stronger by property during staged obstacle to run into, at the same time will
Electromagnet (7) be arranged in the lower section of connecting plate (10) and be interspersed in crawler belt (5) centre neither influence carry out
Band motion again can reduce the center of integral body, in addition connecting plate (10) between crawler belt added with damping device
(6,16), and each piece of creeper tread is all made of special material, can be magnetized so as to which band is magnetic,
And then causing crawler belt absorption on ferrous materials building wall, former and later two built-up gears (Fig. 4) are by support frame
(15) connect, and engaged with the chain on crawler belt, be illustrated in figure 4 built-up gear, its be have two it is complete
Exactly the same big gear combination, centre is provided with keyway, can engage transmission with two row chain bars simultaneously dynamic
Power, is illustrated in figure 3 the core transmission mechanism of robot, the power source of robot is direct current generator (18),
Power is transmitted to by the built-up gear on both sides by gear (20,21) transmission respectively from input shaft (19,22),
And then crawler belt (5) motion is driven, it can be taken the photograph by integrated circuit (13) with the motion morphology of control machine people
As head device (1) and electronic detector (3) operationally can be detected and explored.
Claims (1)
1. a kind of walking mechanism of crawler type electromagnetic adsorption climbing robot is main by crawler belt, connecting plate, load-bearing
Wheel, sectional flywheel and direct current generator composition, battery iron are arranged in the lower section of connecting plate and are interspersed in crawler belt
Centre, between connecting plate and support frame plus by damping spring, each piece of creeper tread is all made of special material,
Former and later two compound gears are connected by support frame, and are engaged with the chain on crawler belt, its have two it is identical
Big gear combination is formed, and centre is provided with keyway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610263559.2A CN107310640A (en) | 2016-04-26 | 2016-04-26 | A kind of crawler type electromagnetic adsorption climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610263559.2A CN107310640A (en) | 2016-04-26 | 2016-04-26 | A kind of crawler type electromagnetic adsorption climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107310640A true CN107310640A (en) | 2017-11-03 |
Family
ID=60184882
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610263559.2A Pending CN107310640A (en) | 2016-04-26 | 2016-04-26 | A kind of crawler type electromagnetic adsorption climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107310640A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657298A (en) * | 2018-05-18 | 2018-10-16 | 江苏省特种设备安全监督检验研究院 | A kind of climbing robot based on electromagnetic adsorption |
| CN108791554A (en) * | 2018-07-19 | 2018-11-13 | 湖北聚注通用技术研究有限公司 | A kind of meal delivery robot |
| CN108791555A (en) * | 2018-04-28 | 2018-11-13 | 李晓 | A kind of magnetic wheel shoe formula climbing robot barrier getting over mechanism |
| CN108944304A (en) * | 2018-06-25 | 2018-12-07 | 西安理工大学 | A kind of amphibious robot having both flight and wall climbing function |
| CN109129394A (en) * | 2018-08-08 | 2019-01-04 | 国网辽宁省电力有限公司葫芦岛供电公司 | Climb wall type operation in narrow space robot |
| CN109515540A (en) * | 2018-12-08 | 2019-03-26 | 西南石油大学 | A kind of magnechuck ejection traction barrier-crossing wall-climbing robot device |
| CN110962134A (en) * | 2018-09-29 | 2020-04-07 | 浙江维思无线网络技术有限公司 | Robot for cleaning inner wall of converter valve hall |
| CN111776098A (en) * | 2020-06-23 | 2020-10-16 | 陕西宝智通科技发展有限公司 | Crawler-type excitation adsorption wall-climbing operation robot |
| CN111775132A (en) * | 2020-07-14 | 2020-10-16 | 广州百畅信息科技有限公司 | Magnetic force crawler-type communication tower equipment maintenance climbing robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3960229A (en) * | 1975-03-31 | 1976-06-01 | Cheng Shio | Electromagnetic vehicle |
| JPS5459796A (en) * | 1977-10-21 | 1979-05-14 | Hitachi Metals Ltd | Adsorptive travelling device |
| CN101863025A (en) * | 2010-04-15 | 2010-10-20 | 上海应用技术学院 | Wall-climbing robot |
| CN103303387A (en) * | 2013-05-24 | 2013-09-18 | 宁波大学 | Curved surface self-adaption magnetic adsorption wall-climbing robot |
| CN104354777A (en) * | 2014-11-06 | 2015-02-18 | 中国人民解放军国防科学技术大学 | Rocker arm type four-bar linkage suspension system for crawler vehicle |
-
2016
- 2016-04-26 CN CN201610263559.2A patent/CN107310640A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3960229A (en) * | 1975-03-31 | 1976-06-01 | Cheng Shio | Electromagnetic vehicle |
| JPS5459796A (en) * | 1977-10-21 | 1979-05-14 | Hitachi Metals Ltd | Adsorptive travelling device |
| CN101863025A (en) * | 2010-04-15 | 2010-10-20 | 上海应用技术学院 | Wall-climbing robot |
| CN103303387A (en) * | 2013-05-24 | 2013-09-18 | 宁波大学 | Curved surface self-adaption magnetic adsorption wall-climbing robot |
| CN104354777A (en) * | 2014-11-06 | 2015-02-18 | 中国人民解放军国防科学技术大学 | Rocker arm type four-bar linkage suspension system for crawler vehicle |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108791555A (en) * | 2018-04-28 | 2018-11-13 | 李晓 | A kind of magnetic wheel shoe formula climbing robot barrier getting over mechanism |
| CN108791555B (en) * | 2018-04-28 | 2020-08-04 | 泰州市津专知识产权服务有限公司 | Magnetic wheel-track type obstacle crossing mechanism of wall climbing robot |
| CN108657298A (en) * | 2018-05-18 | 2018-10-16 | 江苏省特种设备安全监督检验研究院 | A kind of climbing robot based on electromagnetic adsorption |
| CN108657298B (en) * | 2018-05-18 | 2023-06-16 | 江苏省特种设备安全监督检验研究院 | Wall climbing robot based on electromagnetic adsorption |
| CN108944304B (en) * | 2018-06-25 | 2019-06-18 | 西安理工大学 | A kind of amphibious robot having both flight and wall climbing function |
| CN108944304A (en) * | 2018-06-25 | 2018-12-07 | 西安理工大学 | A kind of amphibious robot having both flight and wall climbing function |
| CN108791554A (en) * | 2018-07-19 | 2018-11-13 | 湖北聚注通用技术研究有限公司 | A kind of meal delivery robot |
| CN109129394A (en) * | 2018-08-08 | 2019-01-04 | 国网辽宁省电力有限公司葫芦岛供电公司 | Climb wall type operation in narrow space robot |
| CN110962134A (en) * | 2018-09-29 | 2020-04-07 | 浙江维思无线网络技术有限公司 | Robot for cleaning inner wall of converter valve hall |
| CN109515540A (en) * | 2018-12-08 | 2019-03-26 | 西南石油大学 | A kind of magnechuck ejection traction barrier-crossing wall-climbing robot device |
| CN111776098A (en) * | 2020-06-23 | 2020-10-16 | 陕西宝智通科技发展有限公司 | Crawler-type excitation adsorption wall-climbing operation robot |
| CN111776098B (en) * | 2020-06-23 | 2021-10-08 | 陕西宝智通科技发展有限公司 | Crawler-type excitation adsorption wall-climbing operation robot |
| CN111775132A (en) * | 2020-07-14 | 2020-10-16 | 广州百畅信息科技有限公司 | Magnetic force crawler-type communication tower equipment maintenance climbing robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20171103 |