CN109229299A - The magnetic structure of climbing robot magneto crawler belt - Google Patents
The magnetic structure of climbing robot magneto crawler belt Download PDFInfo
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- CN109229299A CN109229299A CN201811158925.3A CN201811158925A CN109229299A CN 109229299 A CN109229299 A CN 109229299A CN 201811158925 A CN201811158925 A CN 201811158925A CN 109229299 A CN109229299 A CN 109229299A
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- magnetic
- permanent magnet
- permanent
- magnetic structure
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 106
- 230000009194 climbing Effects 0.000 title claims abstract description 10
- 230000001681 protective effect Effects 0.000 claims description 12
- 239000004411 aluminium Substances 0.000 claims description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 8
- 229910052782 aluminium Inorganic materials 0.000 claims description 8
- 238000002955 isolation Methods 0.000 claims description 6
- 229910002551 Fe-Mn Inorganic materials 0.000 claims description 5
- 239000004677 Nylon Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 238000004806 packaging method and process Methods 0.000 claims description 3
- 238000005538 encapsulation Methods 0.000 claims 1
- 238000001179 sorption measurement Methods 0.000 abstract description 11
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000002474 experimental method Methods 0.000 description 7
- 238000004088 simulation Methods 0.000 description 6
- 230000005389 magnetism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 239000010949 copper Substances 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 3
- 229910001369 Brass Inorganic materials 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 239000010951 brass Substances 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910001172 neodymium magnet Inorganic materials 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- 102220581630 Haptoglobin-related protein_N42H_mutation Human genes 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- ZDVYABSQRRRIOJ-UHFFFAOYSA-N boron;iron Chemical compound [Fe]#B ZDVYABSQRRRIOJ-UHFFFAOYSA-N 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
-
- 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
- B62D55/20—Tracks of articulated type, e.g. chains
-
- 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 relates to a kind of magnetic structures of climbing robot magneto crawler belt, it is made of permanent magnetic suck unit and double row roller chain, permanent magnetic suck unit, is then mounted on the bent plate of chain by the double strand chain with bent plate and mounting hole, and permanent magnetic suck unit selects B-mode magnetic circuit.The beneficial effects of the present invention are: both having met load-carrying needs, also meet obstacle detouring and power needs, therefore, crawler belt has powerful adsorption capacity, can carry the weight of the weight of robot and the equipment being attached in robot and not fall off.
Description
Technical field
The present invention relates to robot fields, more particularly to a kind of magnetic structure of climbing robot magneto crawler belt.
Background technique
Ship derusting cleaning is an important service in shipping industry, is shipbuilding and the indispensable important ring of shiprepair
Section, is the first step before vessel coating, immerses the erosion for enduring seawater to the fullest extent in the seawater for a long time additionally, due to ship outer wall, no
It is evitable to corrode, to improve the service life of ship and increasing safety in utilization, when ship outer wall corrosion to certain journey
When spending, it is necessary to carry out derusting cleaning.
There are a variety of climbing robots at present, for adsorbing and walking in wall surfaces of ships, magneto crawler belt wall-climbing device
As soon as generally existing contradiction in the research of people improves robot load capacity and needs to increase permanent magnetic suck unit on permanent magnetism crawler belt
Adsorption capacity, adsorption capacity increase will lead to robot turn to when side-friction it is big, driving moment will be big, and driving moment increase
Driving element volume and weight is then caused to increase.
Therefore, the crawler belt of climbing robot should consider adsorption capacity, i.e. magnetic force, decide lifting capacity, also to examine
Obstacle performance and driving force cannot be influenced by force very much by considering magnetic force.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of magnetic structure of climbing robot magneto crawler belt, it is by as follows
What technical solution was realized.
The magnetic structure of climbing robot magneto crawler belt is made of multiple permanent magnetic suck units and double row roller chain,
Double row roller chain includes the mounting hole on multiple bent plates and bent plate, and the permanent magnetic suck unit is mounted on the bent plate of chain.
Further, individually permanent magnetic suck is made of two pieces of permanent magnets, yoke and magnetic isolation plate.
Further, the yoke is adsorbed on the wherein one side of permanent magnet, with a thickness of 6-14cm.
Further, the magnetic isolation plate be arranged between two permanent magnets with a thickness of 2~5cm every magnetic copper sheet.
Further, the permanent magnet by aluminium frame and protective case packaging protection, the setting of aluminium frame in permanent magnet edge,
Protective case is the nylon protective case with a thickness of 2~3mm.
Further, the permanent magnet is Ru-Fe-Mn permanent magnet.
Further, the permanent magnet is the isosceles trapezoid body that the base angle of side is 82 ° -86 °.
The beneficial effects of the present invention are: both having met load-carrying needs, also meet obstacle detouring and power needs, therefore, crawler belt has
Powerful adsorption capacity can carry the weight of the weight of robot and the equipment being attached in robot and not fall off.
Detailed description of the invention
Fig. 1 is magneto caterpillar belt structure schematic diagram of the invention.
Fig. 2 is the schematic diagram of the section structure of permanent magnetic suck unit of the invention.
Fig. 3 is the permanent magnet schematic shapes of presently preferred embodiments of the present invention.
Fig. 4 is B-mode magnetic structure schematic diagram of the invention.
Fig. 5 be in specific embodiment monolithic permanent magnetism body length to the curve graph of the relationship of magnetic adsorbability.
Fig. 6 is the curve graph of the relationship of monolithic permanent magnet width and magnetic adsorbability in specific embodiment.
Fig. 7 is the curve graph of monolithic permanent magnet height and the relationship of magnetic adsorbability in specific embodiment.
Fig. 8 is the curve graph of yoke height and the relationship of magnetic adsorbability in specific embodiment.
The experiment of permanent magnetic suck unit magnetic force and simulation result comparison diagram in Fig. 9 embodiment of the present invention.
Specific embodiment
Below with reference to embodiment and attached drawing, it is described in detail with specific embodiments of the present invention.
As shown in Figs. 1-2, magneto crawler belt 10 is made of several permanent magnetic suck units 20 and double row roller chain 30, double
Roller chain is the double strand chain with bent plate and mounting hole, then permanent magnetic suck unit is mounted on the bent plate of chain to subtract
Small leakage field and the magnetic energy that can make full use of permanent magnet.
Permanent magnetic suck unit 10 uses B-mode magnetic circuit, is made of two pieces of permanent magnets 21, yoke 22 and magnetic isolation plate 23, yoke 12
It is fixed on by parts such as screws in the mounting hole of the bent plate of double row roller chain, the optional mode being screwed, permanent magnet
21 pass through magnetic-adsorption on yoke 22, and double row roller chain is engaged with the gear teeth of the driving wheel 40 of driving structure and driven wheel
Connection.
The preferred Nd-Fe-B permanent magnet of permanent magnet, belongs to hard brittle material, and perishable, the protection of permanent magnet plating nickel on surface layer.
Permanent magnetic suck unit is constantly attracted in climbing robot walking process and is detached from wall surface, collision is generated with wall surface, to avoid
Permanent magnet is damaged because of collision, and using aluminium frame 24 and 25 packaging protection of protective case, aluminium frame 24 is arranged in permanent magnet edge, frame
Firmly permanent magnet.Due to the superhigh temperature of robot work, when robot turns to, permanent magnet unit and wall surface can generate dry friction, therefore
Protective case is needed to need wear-resisting and high temperature resistant, it is preferred to use the nylon protective case of the wall thickness of 2-3mm protects Ru-Fe-Mn permanent magnet,
When assembly, first two pieces of permanent magnets are nested in protective case 25, are then fixed on the edge of permanent magnet with aluminium frame again, finally
It is bonded with the absorption of yoke 22.
The sufficiently large adsorption capacity of permanent magnet mechanism guarantees that robot can work.Suction between permanent magnetic suck unit and wall surfaces of ships
Gap of the attached power between by permanent magnet geomery and permanent magnet and wall surface is influenced.Permanent magnetic suck unit uses B-mode magnetic circuit, with
Gap of the adsorption capacity between by permanent magnet geomery and permanent magnet and wall surface between wall surfaces of ships is influenced.Common B-mode magnetic circuit
In have magnetic isolation plate between two pieces of permanent magnets, the magnetic isolation plate in the embodiment of the present invention uses brass, although since brass has one
Fixed separated magnetic effect, but can not be completely every magnetic.In another program of the invention, permanent magnetic suck unit does not include every magnetic
Plate.
As shown in figure 3, in an embodiment of the present invention, using two pieces of a height of 50 × 20 × 15mm of length and width prismatoid you
Iron boron permanent magnet, side are isosceles trapezoid of the base angle at 82 ° -86 °, and preferably 85 ° of isosceles trapezoid uses thickness between permanent magnet
It is 3mm every magnetic copper sheet, yoke is set with a thickness of 10mm, permanent magnet and wall distance between the surface are 2.5mm, wall thickness 15mm.
Obtain the magnetic adsorbability of the permanent magnetic suck unit when the magnetic copper between 488.32N to 495.6N by simulation calculation.
In addition to magnetic structure has an impact to the adsorption capacity between permanent magnetic suck unit and wall surfaces of ships, each component part in magnetic circuit
Geomery and permanent magnet protective case thickness will all have a significant impact to magnetic adsorbability.Due to sharing hundred pieces on two crawler belts
Left and right permanent magnetic suck unit, quantity is big and the density of permanent magnet and yoke is all higher, leads to whole permanent magnetic suck lists in robot
The weight of member accounts for the significant proportion of robot body weight.To mitigate robot overall weight, need in magnetic circuit and packing forms
Reasonable size is selected in the case where determination for each component in permanent magnetic suck unit.General crawler belt needs to carry 200-300KG
Weight, therefore, it is necessary to combine the distance apart from wall surface of thickness and permanent magnet of the size of permanent magnet and yoke and avoid thickness
Degree is to be analyzed.
In conjunction with Fig. 4, the present invention inhales permanent magnetism using the dimensional parameters of main member in the technique study magnetic circuit of control variable
The influence of coupon member magnetic adsorbability, and influence of the unitary variant to magnetic adsorbability is calculated using software platform.First soft
B-mode magnetic circuit model as shown in Figure 4 is established in part, wherein the gap between permanent magnet and wall surfaces of ships is S0, wall surfaces of ships thickness
It is set as h, Ru-Fe-Mn permanent magnet is set as rectangle its length, width and height indicates that yoke is also its length, width and height of rectangle with L1, W1, H1 respectively
It is indicated respectively with L0, W0, H0, and remains the relationship of L0=L1 and W0=W1.Then unitary variant is controlled respectively to carry out
Magnetic adsorbability emulation, is divided into following several situations.
As shown in figure 5, influence of the monolithic permanent magnetism body length to permanent magnetic suck unit magnetic adsorbability, control monolithic permanent magnet is long
Degree L1 is unitary variant, enables W1=20mm, H1=15mm, H0=10mm, S0=2.5mm, h=15mm.Pass through Ansoft
Maxwell software emulation obtains the relation curve of unitary variant L1 and magnetic adsorbability, the length of permanent magnet and magnet adsorption capacity at
Direct ratio, when length reaches certain value, amplification is slightly slow, by taking rectangle neodymium iron boron N42H as an example, when length is more than L1 > 40mm, increases
Width gradually delays.
As shown in fig. 6, influence of the monolithic permanent magnet width to permanent magnetic suck unit magnetic adsorbability, control monolithic permanent magnet is wide
Degree W1 is unitary variant, enables L1=50mm, H1=15mm, H0=10mm, S0=2.5mm, h=15mm.Pass through Ansoft
Maxwell software emulation obtains the relation curve of unitary variant W1 and magnetic adsorbability as shown, permanent magnet width and magnet are inhaled
Attached power is proportional.When H1=15mm, the magnetic adsorbability F of absorbing unit is about 275N.
As shown in fig. 7, influence of the monolithic permanent magnet height to permanent magnetic suck unit magnetic adsorbability, control monolithic permanent magnet is high
Degree H1 is unitary variant, enables L1=50mm, W1=20mm, H0=10mm, S0=2.5mm, h=15mm.Pass through Ansoft
Maxwell software emulation obtains the relation curve of unitary variant H1 and magnetic adsorbability as shown, being to be incremented by curve, in height
When H0=10mm, the magnetic adsorbability F of absorbing unit is about 425N.
As shown in figure 8, influence of the yoke height to permanent magnetic suck unit magnetic adsorbability, control monolithic permanent magnet height H0 are
Unitary variant enables L1=50mm, W1=20mm, H1=15mm, S0=2.5mm, h=15mm.It is soft by Ansoft Maxwell
Part emulation obtains the relation curve such as figure of unitary variant H0 and magnetic adsorbability, and yoke height is in h=36.25mm, magnetic adsorbability
F reaches peak value 645N, and when enabling h=15mm, magnetic adsorbability F is about 500N.
According to above simulation result, the final structural parameters for determining each crucial component parts in robot adsorbing mechanism.For
It proves the reasonability of simulation result, while to determine the practical magnetic adsorbability of permanent magnetic suck unit, needing to carry out magnetic force experiment.Experiment
The test equipment used is Instron-E10000 universal testing machine, the steel plate that fixed material is Q235.Displacement can be measured
With the curve graph of magnetic adsorbability, as shown in figure 9, permanent magnetism suction is built in the gap that displacement herein is permanent magnetic suck unit and wall surface
Coupon member magnetic force test experiments platform, measures the relation curve of permanent magnetic suck unit magnetic adsorbability and displacement.In Ansoft
The experimentation is simulated using magnetic field Transient method in Maxwell system, the parameters of software systems are real according to experiment
Border parameter setting, simulation calculation obtain the relation curve of permanent magnetic suck unit magnetic adsorbability and displacement.Simulation result and experiment are tied
Fruit is close, it is believed that the credible result gone out using Ansoft Maxwell system emulation.Enable L1=50mm, W1=20mm, H1=
15mm, S0=2.5mm, h=15mm, wherein the practical magnetic when permanent magnetic suck unit and wall surface by experiment test are in close contact
Adsorption capacity size is 498N, while can be seen that the magnetic adsorbability when the gap between permanent magnetic suck unit and wall surface is more than 4mm
Less than half when fitting closely is decayed to.
Some embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, several changes and improvements can also be made, these belong to guarantor of the invention
Protect range.
Claims (7)
1. the magnetic structure of climbing robot magneto crawler belt, which is characterized in that by permanent magnetic suck unit and double row roller chain
Then permanent magnetic suck unit is mounted on the bent plate of chain by composition, the double strand chain with bent plate and mounting hole.
2. magnetic structure according to claim 1, which is characterized in that permanent magnetic suck unit selects B-mode magnetic circuit, B-mode magnetic
Route two pieces of permanent magnets, yoke and magnetic isolation plate composition.
3. magnetic structure according to claim 2, which is characterized in that permanent magnet is by aluminium frame and protective case packaging protection.
4. magnetic structure according to claim 2, which is characterized in that permanent magnet is Ru-Fe-Mn permanent magnet.
5. magnetic structure according to claim 2, which is characterized in that the permanent magnet is protected by aluminium frame and protective case encapsulation
Shield, for the setting of aluminium frame in permanent magnet edge, protective case is with a thickness of 2~3mm and nylon protective case wear-resisting and resistant to high temperature.
6. magnetic structure according to claim 2, which is characterized in that the permanent magnet is that the base angle of side is 82 ° -86 °
Isosceles trapezoid body.
7. magnetic structure according to claim 2, which is characterized in that the B-mode magnetic circuit, the setting of Ru-Fe-Mn permanent magnet
When for rectangle, length and width are identical as the length and width for the yoke for being all rectangle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811158925.3A CN109229299A (en) | 2018-09-30 | 2018-09-30 | The magnetic structure of climbing robot magneto crawler belt |
| PCT/CN2019/108177 WO2020063759A1 (en) | 2018-09-30 | 2019-09-26 | Magnetic circuit structure for permanent magnet crawler of wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811158925.3A CN109229299A (en) | 2018-09-30 | 2018-09-30 | The magnetic structure of climbing robot magneto crawler belt |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109229299A true CN109229299A (en) | 2019-01-18 |
Family
ID=65054785
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811158925.3A Pending CN109229299A (en) | 2018-09-30 | 2018-09-30 | The magnetic structure of climbing robot magneto crawler belt |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109229299A (en) |
| WO (1) | WO2020063759A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020063759A1 (en) * | 2018-09-30 | 2020-04-02 | 友联船厂（蛇口）有限公司 | Magnetic circuit structure for permanent magnet crawler of wall-climbing robot |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022097256A1 (en) * | 2020-11-06 | 2022-05-12 | 三菱電機株式会社 | Magnetic-adsorption-method crawler-type moving device, multiple-linked-type magnetic-adsorption-method crawler-type moving device, and electricity generator inspection robot |
| CN115257989B (en) * | 2022-07-15 | 2023-08-11 | 北京航空航天大学 | Wheeled wall climbing robot |
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- 2018-09-30 CN CN201811158925.3A patent/CN109229299A/en active Pending
-
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| JPH06144313A (en) * | 1992-10-30 | 1994-05-24 | Honsyu Shikoku Renrakukiyou Kodan | Magnetic attraction type crawler belt device |
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| CN1789062A (en) * | 2005-12-21 | 2006-06-21 | 哈尔滨工程大学 | Permanent-magnet adsorption type double-track robot for ship hull surface cleaning and brushing |
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| WO2020063759A1 (en) | 2020-04-02 |
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