CN108248714A - A kind of sole of the climbing robot based on electromagnetic adsorption mode - Google Patents
A kind of sole of the climbing robot based on electromagnetic adsorption mode Download PDFInfo
- Publication number
- CN108248714A CN108248714A CN201711247850.1A CN201711247850A CN108248714A CN 108248714 A CN108248714 A CN 108248714A CN 201711247850 A CN201711247850 A CN 201711247850A CN 108248714 A CN108248714 A CN 108248714A
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- China
- Prior art keywords
- electromagnet
- sole
- climbing robot
- electromagnetic adsorption
- adsorption mode
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Classifications
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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
Abstract
The present invention relates to a kind of sole of the climbing robot based on electromagnetic adsorption mode, including：Sole bottom plate, at least one set of electromagnet and Anti-slip cover, at least one set of electromagnet are fixedly installed on sole bottom plate；One group of electromagnet includes one or several electromagnet, anti-skidding to be set on the outer surface of electromagnet.The present invention have frictional force it is big, adsorption reliability, it is simple in structure the features such as.
Description
Technical field
The invention belongs to robotic technology fields, are related to a kind of sole of the climbing robot based on electromagnetic adsorption mode.
Background technology
Climbing robot is one of mobile robot extraordinary branch, passes through matching for walking mechanism and wall adsorption mechanism
It closes, realizes and climbed on arbitrary angle tilt wall surface and operation.At present, climbing robot is mainly used in oil tank skin and lacks
Instead of tradition in the operations such as sunken and leak detection, nuclear power plant containment shell defects detection, the derusting of large ship wall surface, polishing and spray painting
Manual operation can not only improve production efficiency, and can reduce cost, therefore, such with magnetic metal wall surface to being applied to
The research of the climbing robot of operation has a wide range of applications and important meaning.
Climbing robot can be climbed on arbitrary inclination wall surface and operation, relies primarily on walking mechanism with inhaling
The cooperation of random structure.Reliable adsorption capacity is premise and the guarantee that it realizes safety work, and complicated working environment can
The wall surface situation that climbing robot is adsorbed can be caused very severe, therefore, the adsorption capacity of climbing robot is wall-climbing device
The key of human nature energy.
The climbing robot of metal wall surface operation is currently used for mainly using permanent magnetic suck and the suction type of electromagnetic adsorption.
Permanent magnetic suck load capacity is very strong, but flexibility is poor, and energy consumption is big.The adsorption capacity of electromagnetic adsorption and flexibility are all very strong, control letter
Single, load capacity is moderate.Current climbing robot both domestic and external is mainly still by the way of permanent magnetic suck, but with electromagnetic adsorption
The development of technology, the advantage of electromagnetic adsorption mode embody gradually, and more and more climbing robots are also begun to using electromagnetism
The mode of absorption.However, when robot is in vertical walls, although electromagnet can generate sufficiently large adsorption capacity,
It is at this point, overcome robot and load gravity is not adsorption capacity that electromagnet provides, but is rubbed by what the adsorption capacity generated
Wipe power.The size of frictional force is related with the friction coefficient between adsorption capacity and absorption surface.Majority electromagnet surfacing is at present
Nickel, it is smaller with the friction coefficient of metal surface, only rely on the adsorption plane of electromagnet and wall surface adsorb it is unreliable.Cause
This, it is the hot and difficult issue of research to improve robot sole with the frictional force for adsorbing wall surface.
Invention content
In view of the defects existing in the prior art, the present invention provides a kind of climbing robots based on electromagnetic adsorption mode
Sole.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of sole of the climbing robot based on electromagnetic adsorption mode, including：Sole bottom plate, at least one set of electromagnet and anti-
Sliding sleeve, at least one set of electromagnet are fixedly installed on sole bottom plate；One group of electromagnet includes one or several electromagnet, anti-skidding
It is set on the outer surface of electromagnet.
Further, Anti-slip cover is sock cover type Anti-slip cover, and sock cover type Anti-slip cover wraps surrounding and the bottom of electromagnet.
Preferably, the material that Anti-slip cover uses the friction coefficient with certain elasticity and between metal higher is made.
Preferably, several electromagnet is arrange in column.
Preferably, several electromagnet are uniformly distributed into circle.
Further, Anti-slip cover is the hollow type Anti-slip cover for only enveloping electromagnet surrounding.
Compared with prior art, the present invention with following obvious prominent substantive distinguishing features and marked improvement：
1. the structure of the present invention is simple, easy for installation, interchangeability is strong.
2. the present invention uses the material high with friction coefficient between metal wall surface, robot sole and absorption wall can be significantly improved
The frictional force in face improves the reliability of robot absorption.
It 3. the present invention is not limited by installation space, electromagnet quantity and distribution situation, can be freely combined, there is very strong fit
Ying Xing.It is big with frictional force, adsorption reliability, it is simple in structure the features such as.
Description of the drawings
Fig. 1 is a kind of single sole of climbing robot based on electromagnetic adsorption mode of embodiment 1（Hollow type）Cut open
View.
Fig. 2 is an a kind of row sole of climbing robot based on electromagnetic adsorption mode of embodiment 2（Hollow type）Face upward
View.
Fig. 3 is an a kind of row sole of climbing robot based on electromagnetic adsorption mode of embodiment 2（Hollow type）Cut open
View.
Fig. 4 is a kind of round sole of climbing robot based on electromagnetic adsorption mode of embodiment 3（Hollow type）Face upward
View.
Fig. 5 is a kind of single sole of climbing robot based on electromagnetic adsorption mode of embodiment 4（Sock cover type）Cut open
View.
Fig. 6 is an a kind of row sole of climbing robot based on electromagnetic adsorption mode of embodiment 5（Sock cover type）Face upward
View.
Fig. 7 is an a kind of row sole of climbing robot based on electromagnetic adsorption mode of embodiment 5（Sock cover type）Cut open
View.
Fig. 8 is a kind of round sole of climbing robot based on electromagnetic adsorption mode of embodiment 6（Sock cover type）Face upward
View.
Fig. 9 is a kind of round sole of climbing robot based on electromagnetic adsorption mode of embodiment 6（Sock cover type）Cut open
View.
Specific embodiment
Below in conjunction with attached drawing, the technical solution in the embodiment of the present invention is fully described by.
A kind of sole of the climbing robot based on electromagnetic adsorption mode, including：Sole bottom plate 1, at least one set of electromagnet 2
And Anti-slip cover, at least one set of electromagnet are fixedly installed on sole bottom plate 1；One group of electromagnet 2 includes one or several electricity
Magnet, it is anti-skidding to be set on the outer surface of electromagnet.
Embodiment 1
As shown in Figure 1, a kind of sole of the climbing robot based on electromagnetic adsorption mode, including sole bottom plate 1, single electromagnet
2 and hollow type Anti-slip cover 3, the height of the hollow type Anti-slip cover 3 is identical with 2 height of electromagnet, intermediate hollow out, and hollow type is anti-skidding
Set 3 is wrapped in the surrounding of electromagnet 2.The hollow type Anti-slip cover 3 using have certain elasticity and with the magnetic metal of tool such as steel
Between the higher material of friction coefficient, such as rubber.
Embodiment 2
As shown in Figure 2 to Figure 3, one group of electromagnet 2 is column distribution, at this point, sole bottom plate 1 is replaced with into row sole bottom plate 4,
For fixed electromagnet 2；The hollow type Anti-slip cover 3 replaces with row hollow type Anti-slip cover 5.
Embodiment 3
As shown in figure 4, one group of electromagnet 2 is circular distribution, at this point, sole bottom plate 1 is replaced with into round sole bottom plate 6,
For fixed electromagnet 2；The hollow type Anti-slip cover 3 replaces with circular hollow formula Anti-slip cover 7.
Embodiment 4
As shown in figure 5, a kind of sole of the climbing robot based on electromagnetic adsorption mode, including sole bottom plate 1, single electromagnet
2 and sock cover type Anti-slip cover 8, the sock cover type Anti-slip cover 8 wrap surrounding and the bottom of electromagnet 2.The sock cover type Anti-slip cover 8
Using the material for having certain elasticity and friction coefficient between the magnetic metal of tool such as steel is higher, such as rubber.
Embodiment 5
As shown in Figure 6 to 7, one group of electromagnet 2 is column distribution, at this point, sole bottom plate 1 is replaced with into row sole bottom plate 4,
For fixed electromagnet 2；The sock cover type Anti-slip cover 8 replaces with row sock cover type Anti-slip cover 9.
Embodiment 6
As shown in Figure 8 and Figure 9, one group of electromagnet 2 is circular distribution, at this point, sole bottom plate 1 is replaced with round sole bottom
Plate 6, for fixed electromagnet 2；The sock cover type Anti-slip cover 8 replaces with round sock cover type Anti-slip cover 10.
Claims (6)
1. a kind of sole of the climbing robot based on electromagnetic adsorption mode, which is characterized in that including sole bottom plate, at least one set
Electromagnet and Anti-slip cover, at least one set electromagnet are fixedly installed on the sole bottom plate；One group of electromagnet packet
Include one or several electromagnet, it is described anti-skidding to be set on the outer surface of the electromagnet.
2. the sole of the climbing robot according to claim 1 based on electromagnetic adsorption mode, which is characterized in that described anti-
Sliding sleeve is sock cover type Anti-slip cover, and the sock cover type Anti-slip cover wraps surrounding and the bottom of the electromagnet.
3. the sole of the climbing robot according to claim 1 or 2 based on electromagnetic adsorption mode, which is characterized in that institute
The material that Anti-slip cover uses the friction coefficient with certain elasticity and between metal higher is stated to be made.
4. the sole of the climbing robot according to claim 1 based on electromagnetic adsorption mode, which is characterized in that if described
Dry electromagnet is arranges in column.
5. the sole of the climbing robot according to claim 1 based on electromagnetic adsorption mode, which is characterized in that if described
Dry electromagnet is uniformly distributed into circle.
6. the sole of the climbing robot according to claim 1 based on electromagnetic adsorption mode, which is characterized in that described anti-
Sliding sleeve is the hollow type Anti-slip cover for only enveloping the electromagnet surrounding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711247850.1A CN108248714A (en) | 2017-12-01 | 2017-12-01 | A kind of sole of the climbing robot based on electromagnetic adsorption mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711247850.1A CN108248714A (en) | 2017-12-01 | 2017-12-01 | A kind of sole of the climbing robot based on electromagnetic adsorption mode |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108248714A true CN108248714A (en) | 2018-07-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711247850.1A Pending CN108248714A (en) | 2017-12-01 | 2017-12-01 | A kind of sole of the climbing robot based on electromagnetic adsorption mode |
Country Status (1)
| Country | Link |
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| CN (1) | CN108248714A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111806589A (en) * | 2020-07-31 | 2020-10-23 | 苏州荣坤智能机器科技有限公司 | Wall-climbing robot foot pad based on electromagnetic adsorption |
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| JPS6078877A (en) * | 1983-10-07 | 1985-05-04 | Hitachi Ltd | Wall surface climber |
| CN2378216Y (en) * | 1999-05-20 | 2000-05-17 | 吴明泽 | Colour rubber magnetic strip |
| CN102745278A (en) * | 2012-08-01 | 2012-10-24 | 浙江大学 | Permanent magnetic adsorption wall-climbing robot with self-locking device |
| CN202742906U (en) * | 2012-09-14 | 2013-02-20 | 厦门外国语学校 | One-step forming elliptic trammel |
| CN203661328U (en) * | 2013-12-04 | 2014-06-18 | 美的集团股份有限公司 | Magnetic stripe fixing device and electric heating appliance |
| CN203751527U (en) * | 2014-02-28 | 2014-08-06 | 浙江海洋学院 | Novel hull plate rust removing device |
| CN204895638U (en) * | 2015-08-28 | 2015-12-23 | 昆山塔米机器人有限公司 | Magnetism dielectric surface climbs wall robot based on electromagnet |
| CN105539624A (en) * | 2015-12-30 | 2016-05-04 | 广东出入境检验检疫局检验检疫技术中心 | Metal surface climbing and detecting robot |
| CN105845309A (en) * | 2016-05-20 | 2016-08-10 | 安吉司润磁性材料有限公司 | Composite flexible magnetic strip and preparation method thereof |
| CN106608305A (en) * | 2016-05-23 | 2017-05-03 | 中科新松有限公司 | Double-foot wall-climbing robot |
| CN106826831A (en) * | 2017-02-27 | 2017-06-13 | 武汉科技大学 | Detect the walking robot control system and control method of steel construction wall |
-
2017
- 2017-12-01 CN CN201711247850.1A patent/CN108248714A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6078877A (en) * | 1983-10-07 | 1985-05-04 | Hitachi Ltd | Wall surface climber |
| CN2378216Y (en) * | 1999-05-20 | 2000-05-17 | 吴明泽 | Colour rubber magnetic strip |
| CN102745278A (en) * | 2012-08-01 | 2012-10-24 | 浙江大学 | Permanent magnetic adsorption wall-climbing robot with self-locking device |
| CN202742906U (en) * | 2012-09-14 | 2013-02-20 | 厦门外国语学校 | One-step forming elliptic trammel |
| CN203661328U (en) * | 2013-12-04 | 2014-06-18 | 美的集团股份有限公司 | Magnetic stripe fixing device and electric heating appliance |
| CN203751527U (en) * | 2014-02-28 | 2014-08-06 | 浙江海洋学院 | Novel hull plate rust removing device |
| CN204895638U (en) * | 2015-08-28 | 2015-12-23 | 昆山塔米机器人有限公司 | Magnetism dielectric surface climbs wall robot based on electromagnet |
| CN105539624A (en) * | 2015-12-30 | 2016-05-04 | 广东出入境检验检疫局检验检疫技术中心 | Metal surface climbing and detecting robot |
| CN105845309A (en) * | 2016-05-20 | 2016-08-10 | 安吉司润磁性材料有限公司 | Composite flexible magnetic strip and preparation method thereof |
| CN106608305A (en) * | 2016-05-23 | 2017-05-03 | 中科新松有限公司 | Double-foot wall-climbing robot |
| CN106826831A (en) * | 2017-02-27 | 2017-06-13 | 武汉科技大学 | Detect the walking robot control system and control method of steel construction wall |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111806589A (en) * | 2020-07-31 | 2020-10-23 | 苏州荣坤智能机器科技有限公司 | Wall-climbing robot foot pad based on electromagnetic adsorption |
| CN111806589B (en) * | 2020-07-31 | 2023-12-22 | 苏州荣坤智能机器科技有限公司 | Wall climbing robot foot pad based on electromagnetic adsorption |
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Application publication date: 20180706 |