CN109941367A - Climbing robot - Google Patents
Climbing robot Download PDFInfo
- Publication number
- CN109941367A CN109941367A CN201910324954.0A CN201910324954A CN109941367A CN 109941367 A CN109941367 A CN 109941367A CN 201910324954 A CN201910324954 A CN 201910324954A CN 109941367 A CN109941367 A CN 109941367A
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- China
- Prior art keywords
- wheel
- wheel body
- magnetic patch
- paramagnetism
- climbing robot
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- 230000009194 climbing Effects 0.000 title claims abstract description 34
- 230000005291 magnetic effect Effects 0.000 claims abstract description 53
- 230000005408 paramagnetism Effects 0.000 claims description 20
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical group [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 2
- 229910052782 aluminium Inorganic materials 0.000 claims description 2
- 239000004411 aluminium Substances 0.000 claims description 2
- 239000003795 chemical substances by application Substances 0.000 claims description 2
- 238000001179 sorption measurement Methods 0.000 description 6
- 239000003463 adsorbent Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 125000000623 heterocyclic group Chemical group 0.000 description 1
- 230000005298 paramagnetic effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The present invention provides a kind of climbing robot, including robot body and wheel body, the wheeling thereof is connected on the robot body, the wheel body includes multiple magnetic patch, multiple magnetic patch are arranged along the axis of the wheel body, two opposite end faces of the two neighboring magnetic patch have opposite magnetic pole, and the wheel body is used to adsorb working face by the magnetic patch, and is able to drive the robot body and walks along the working face.The present invention can be improved the reliability that climbing robot uses.
Description
Technical field
The present invention relates to walking arrangement technology more particularly to a kind of climbing robots.
Background technique
With the high speed development of modern society and science and technology, climbing robot is just increasingly used in various multiple
Heterocycle border.
Existing climbing robot includes robot body, traveling wheel and adsorbent equipment, and traveling wheel and adsorbent equipment are arranged
On robot body, adsorbent equipment can adsorb working face, and traveling wheel is able to drive robot body and walks on working face.
However, existing climbing robot since the adsorption capacity of adsorbent equipment is smaller, is easy to be separated with working face,
So as to cause falling, the reliability that climbing robot uses is affected.
Summary of the invention
The present invention provides a kind of climbing robot, to improve the reliability used.
One aspect of the present invention provides a kind of climbing robot, including robot body and wheel body, the wheeling thereof connection
On the robot body, the wheel body includes multiple magnetic patch, and multiple magnetic patch are arranged along the axis of the wheel body,
Two opposite end faces of the two neighboring magnetic patch have opposite magnetic pole, and the wheel body is used to adsorb work by the magnetic patch
Face, and be able to drive the robot body and walk along the working face.
Based on above-mentioned, climbing robot provided by the invention, when in use, work can be adsorbed by the magnetic patch in wheel body
Face is walked so that wheel body be made to be able to drive robot body along working face.Since multiple magnetic patch in wheel body are along the axis of wheel body
It is arranged, and opposite two end faces of two neighboring magnetic patch have opposite magnetic pole, therefore can between two neighboring magnetic patch
It attracts each other, to be conducive to improve the magnetic adsorbability of wheel body, enables wheel body is more stable to be adsorbed on working face, make wheel body not
It is easily detached from working face, improves the reliability that climbing robot uses.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of climbing robot provided by the invention；
Fig. 2 is a kind of structural schematic diagram of the wheel body of climbing robot provided by the invention；
Fig. 3 is a kind of partial structural diagram of climbing robot provided by the invention.
Appended drawing reference:
101: robot body；102: wheel body；103: magnetic patch；
104: paramagnetism baffle；105: wheel body unit；106: main part；
107: articulation piece；108: motor；109: handle.
Specific embodiment
To keep the purpose of the present invention, feature, advantage more obvious and understandable, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Fig. 1 and Fig. 2 are please referred to, the embodiment of the present invention provides a kind of climbing robot, including robot body 101 and wheel body
102, wheel body 102 is rotatably connected on robot body 101, and wheel body 102 includes multiple magnetic patch 103, and multiple magnetic patch 103 are along wheel body
102 axis is arranged, and two opposite end faces of two neighboring magnetic patch 103 have opposite magnetic pole, and wheel body 102 is for passing through
Magnetic patch 103 adsorbs working face, and is able to drive robot body 101 and walks along working face.
Climbing robot in the present embodiment can adsorb working face by the magnetic patch 103 in wheel body 102 when in use, from
And so that wheel body 102 is able to drive robot body 101 and walk along working face.Since multiple magnetic patch 103 in wheel body 102 are along wheel body
102 axis is arranged, and opposite two end faces of two neighboring magnetic patch 103 have opposite magnetic pole, therefore two neighboring
It can attract each other between magnetic patch 103, to be conducive to improve the magnetic adsorbability of wheel body 102, the suction for keeping wheel body 102 more stable
It is attached on working face, wheel body 102 is made to be not easily disconnected from working face, improve the reliability that climbing robot uses.
In the present embodiment, it is preferred that wheel body 102 further includes paramagnetism baffle 104, sandwiched between two neighboring magnetic patch 103
There is paramagnetism baffle 104.Due to being folded with paramagnetism baffle 104 between two neighboring magnetic patch 103, it can reduce adjacent
Magnetic adsorbability between two magnetic patch 103 can prevent in 102 assembling process of wheel body due between two neighboring magnetic patch 103
The too strong and too fast actuation of magnetic adsorbability, so that effective prevent from crushing work due to the too fast actuation of two neighboring magnetic patch 103
The problem of making personnel improves the safety of the assembling of wheel body 102.
In the present embodiment, it is preferred that magnetic patch 103 be magnet-wheel, paramagnetism baffle 104 be circular slab, paramagnetism baffle 104 with
Multiple magnet-wheel coaxial lines, and the diameter of paramagnetism baffle 104 is greater than the axis of magnet-wheel.Since the diameter of paramagnetism baffle 104 is big
In the axis of magnet-wheel, therefore it is conducive to further decrease the magnetic adsorbability between two neighboring magnetic patch 103, to improve wheel body 102
The safety of assembling.In addition, can be directly in contact with working face by paramagnetism baffle 104, and make between magnet-wheel and working face
Certain distance is kept, to prevent magnet-wheel from wearing.Meanwhile magnet-wheel and 104 coaxial line of paramagnetism baffle, when wheel body 102 is working
When rolling on face, more uniform adsorption capacity can be generated.
In the present embodiment, it is preferred that wheel body 102 includes multiple wheel body units 105, and wheel body unit 105 includes two paramagnetics
Property baffle 104 and a magnet-wheel, magnet-wheel are folded between two paramagnetism baffles 104, and multiple wheel body units 105 are along wheel body 102
Axis be arranged.As a result, in 102 assembling process of wheel body, connects, make as long as multiple wheel body units 105 are arranged
Wheel body 102 assembles more convenient.
In the present embodiment, it is preferred that paramagnetism baffle 104 is aluminium sheet.It is conducive to further decrease two neighboring magnetic patch as a result,
Magnetic adsorbability between 103, to improve the safety of the assembling of wheel body 102.
In the present embodiment, it is preferred that robot body 101 include multiple main parts 106, two neighboring main part 106 it
Between it is hinged by articulation piece 107, each main part 106 is equipped with wheel body 102.Due to passing through hinge between two neighboring main part 106
Fitting 107 is hinged, therefore, can work as walking using the axis of articulation piece 107 as center relative rotation between multiple main parts 106
For device when on curved working face, multiple main parts 106 can be with the axis of articulation piece 107 under the adsorption force of magnetic patch 103
Line is center relative rotation, so that robot body 101 be made to form the shape for adapting to curved working face, thus, it is possible to shorten magnetic patch
The distance between 103 and working face effectively prevent wheel body 102 and work to improve magnetic patch 103 for the adsorption capacity of working face
Face is separated, and improves the reliability that climbing robot uses.
Referring to FIG. 3, in the present embodiment, it is preferred that be equipped on each main part 106 and multiple be arranged in parallel and at interval wheel
Body 102 is additionally provided with multiple motors 108 on each main part 106, and multiple motors 108 connect one to one with multiple wheel bodys 102, electricity
Machine 108 is for driving wheel body 102 to rotate, to drive robot body 101 to walk along working face.Pass through multiple main parts as a result,
The differential speed rotation between multiple wheel bodys 102, reverse rotation on 106, can be such that climbing robot turns to more flexible.
In the present embodiment, it is preferred that multiple main parts 106 are alternatively arranged setting along the width direction of robot body 101,
The axis of articulation piece 107 is arranged along the length direction of robot body 101, and multiple wheel bodys 102 on each main part 106 are along machine
The length direction interval of human agent 101 is arranged.As a result, when climbing robot in the duct or on cylinder along pipeline or the axis of cylinder
To when walking, the length direction of robot body 101 and pipeline or cylinder it is axial consistent, magnetic patch 103 adsorb inner wall of the pipe or
Cylinder outer wall, multiple main parts 106 under the action of adsorption capacity can using the axis of articulation piece 107 as center relative rotation, by
It is arranged in the axis of articulation piece 107 along the length direction of robot body 101, it is suitable so as to form robot body 101
The shape for answering inner wall of the pipe or cylinder outer wall, thus, it is possible to shorten the distance between magnetic patch 103 and working face, to improve magnetic patch
103 for working face adsorption capacity, effectively prevent wheel body 102 to be separated with working face, improve that climbing robot uses can
By property.Wherein, wherein the length direction and width direction of robot body 101 is only to the height perpendicular to robot body 101
The name for spending direction and orthogonal both direction, be not to the length in the longitudinal direction of robot body 101 and
The limitation of length in width direction, specifically the length of robot body 101 in the longitudinal direction will not necessarily be longer than
Length in width direction.
In the present embodiment, it is preferred that the top surface of each main part 106 is equipped with handle 109.Staff can pass through handle as a result,
Hand 109 exerts a force to climbing robot, so as to easily move climbing robot.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (9)
1. a kind of climbing robot, which is characterized in that including robot body and wheel body, the wheeling thereof is connected to the machine
On device human agent, the wheel body includes multiple magnetic patch, and multiple magnetic patch are arranged along the axis of the wheel body, two neighboring
Two opposite end faces of the magnetic patch have opposite magnetic pole, and the wheel body is used to adsorb working face, and energy by the magnetic patch
The robot body is enough driven to walk along the working face.
2. climbing robot according to claim 1, which is characterized in that the wheel body further includes paramagnetism baffle, adjacent
The paramagnetism baffle is folded between two magnetic patch.
3. climbing robot according to claim 2, which is characterized in that the magnetic patch is magnet-wheel, the paramagnetism baffle
For circular slab, the paramagnetism baffle and multiple magnet-wheel coaxial lines, and the diameter of paramagnetism baffle is greater than the magnet-wheel
Axis.
4. climbing robot according to claim 3, which is characterized in that the wheel body includes multiple wheel body units, described
Wheel body unit include two paramagnetism baffles and a magnet-wheel, the magnet-wheel be folded in two paramagnetism baffles it
Between, multiple wheel body units are arranged along the axis of the wheel body.
5. climbing robot according to claim 2, which is characterized in that the paramagnetism baffle is aluminium sheet.
6. any climbing robot in -5 according to claim 1, which is characterized in that the robot body includes multiple
Main part, hinged by articulation piece between the two neighboring main part, each main part is equipped with the wheel body.
7. climbing robot according to claim 6, which is characterized in that be equipped on each main part it is multiple parallel and
The spaced wheel body is additionally provided with multiple motors, multiple motors and multiple wheel bodys one on each main part
One is correspondingly connected with, and the motor is for driving the wheeling thereof, to drive the robot body to walk along the working face.
8. climbing robot according to claim 7, which is characterized in that multiple main parts are along the robot body
Width direction be alternatively arranged setting, the axis of the articulation piece is arranged along the length direction of the robot body, each described
Multiple wheel bodys on main part are arranged along the length direction interval of the robot body.
9. climbing robot according to claim 6, which is characterized in that the top surface of each main part is equipped with handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910324954.0A CN109941367A (en) | 2019-04-22 | 2019-04-22 | Climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910324954.0A CN109941367A (en) | 2019-04-22 | 2019-04-22 | Climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109941367A true CN109941367A (en) | 2019-06-28 |
Family
ID=67015933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910324954.0A Pending CN109941367A (en) | 2019-04-22 | 2019-04-22 | Climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109941367A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07323701A (en) * | 1994-05-31 | 1995-12-12 | Hitachi Metals Ltd | Magnetic wheel |
| CN103009373A (en) * | 2012-12-13 | 2013-04-03 | 浙江大学 | Magnetic wheel type wall climbing robot with curved face self-adaptation adsorption |
| CN205920089U (en) * | 2016-08-24 | 2017-02-01 | 东北林业大学 | Supersonic reflectoscope suitable for pipe ring welding seam |
| CN109466650A (en) * | 2018-12-27 | 2019-03-15 | 北京史河科技有限公司 | A kind of climbing robot |
| CN208715323U (en) * | 2018-02-05 | 2019-04-09 | 李建亮 | A kind of wheeled magnetic adsorption wall climbing robot wheel |
| CN210793396U (en) * | 2019-04-22 | 2020-06-19 | 北京史河科技有限公司 | Wall-climbing robot |
-
2019
- 2019-04-22 CN CN201910324954.0A patent/CN109941367A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07323701A (en) * | 1994-05-31 | 1995-12-12 | Hitachi Metals Ltd | Magnetic wheel |
| CN103009373A (en) * | 2012-12-13 | 2013-04-03 | 浙江大学 | Magnetic wheel type wall climbing robot with curved face self-adaptation adsorption |
| CN205920089U (en) * | 2016-08-24 | 2017-02-01 | 东北林业大学 | Supersonic reflectoscope suitable for pipe ring welding seam |
| CN208715323U (en) * | 2018-02-05 | 2019-04-09 | 李建亮 | A kind of wheeled magnetic adsorption wall climbing robot wheel |
| CN109466650A (en) * | 2018-12-27 | 2019-03-15 | 北京史河科技有限公司 | A kind of climbing robot |
| CN210793396U (en) * | 2019-04-22 | 2020-06-19 | 北京史河科技有限公司 | Wall-climbing robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
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