CN110466639A - A kind of climbing robot - Google Patents
A kind of climbing robot Download PDFInfo
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- CN110466639A CN110466639A CN201910875929.1A CN201910875929A CN110466639A CN 110466639 A CN110466639 A CN 110466639A CN 201910875929 A CN201910875929 A CN 201910875929A CN 110466639 A CN110466639 A CN 110466639A
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- 230000009194 climbing Effects 0.000 title claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 80
- 238000005096 rolling process Methods 0.000 claims abstract description 77
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000007704 transition Effects 0.000 claims abstract description 26
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000008450 motivation Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000001179 sorption measurement Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of climbing robots, including vehicle frame, the drive system being located on vehicle frame, the magnet-wheel being connect with driving mechanism, drive system includes the motor being located on vehicle frame, is connected to motor and the transmission mechanism for driving magnet-wheel to move, transmission mechanism is located on vehicle frame, magnet-wheel includes magnetic body module, is located on the outside of magnetic body module and outer diameter is greater than the annulus rolling member of magnetic body module, and magnetic body module, annulus rolling member are connect with transmission mechanism.The present invention directly passes through magnet-wheel mechanism and completes wall surface transition, and control system is simple, achievees the effect that wall surface transition high stability.
Description
Technical field
The present invention relates to robot fields, more particularly, to a kind of climbing robot.
Background technique
Climbing robot is kind can to climb on all kinds of wall surfaces, carrying operation tool and auxiliary device and complete spy
It is set for the mobile robot of industry, is exploited for exploring, is checked, wall cleaning and rescue research field are mainly engaged in instead of people
Dangerous, heavy field operation can be improved operating efficiency, promote operation quality and guarantee operation safety without installing scaffold.
But current most of robots can only carry out plane and climb, without transitive capability.But in real work, comprising various structures with
The environment of obstacle, the transition between plane and plane are essential.In order to realize stable and quickly climbing, wall-climbing device
People needs to have wall surface transitive capability.
Application No. is 2017100147777 Chinese patent " a kind of climbing robot for being adsorbed on steel wall surface ", the machines
Device people includes the identical creeper-traveler of former and later two structures, and the cradle head being driven by motor is devised between two car bodies, is passed through
The angle changed between the car body of front and back completes wall surface transition, controls complex.Application No. is 2017107478249 China specially
Sharp " a kind of permanent magnetic suck climbing robot of achievable right angle wall surface transition ", which includes the identical mobile mould in front and back
Block is connected by the hinge of hinge-type, and at right angle when wall surface transition, front and back car body passively changes angle, completes wall surface transition, should
Mechanism can not provide stable wall surface transitive capability.Application No. is the Chinese patent of 201811312586.X, " one kind has wall surface
The climbing robot of fade function ", the robot include the front truck section and rear car section of crawler-type traveling, and front and back vehicle section can pass through
One positioning mechanism changes angle, completes wall surface transition.Having the climbing robot of wall surface transitive capability at present is mostly multisection type
Body construction, complete wall surface transition by changing angle between the car body of front and back, whole body construction and control system are complicated, lack
Weary stability.
Summary of the invention
It is an object of the invention to propose a kind of climbing robot, which directly passes through for above there is the state of the art
Magnet-wheel completes wall surface transition, and control is simple, achievees the effect that wall surface transition high stability.
The present invention solve above-mentioned technical problem the technical solution adopted is that: a kind of climbing robot, including vehicle frame, be located at vehicle
Drive system on frame, the magnet-wheel connecting with driving mechanism, drive system include the motor being located on vehicle frame, are connected to motor simultaneously
Transmission mechanism for driving magnet-wheel to move, transmission mechanism are located on vehicle frame, and magnet-wheel includes magnetic body module, is located at outside magnetic body module
Side and outer diameter are greater than the annulus rolling member of magnetic body module, and magnetic body module, annulus rolling member are connect with transmission mechanism；
Magnet-wheel is adsorbed on wall surface by magnetic body module, and the rotation of motor control transmission mechanism, transmission mechanism rotation is to band
Dynamic magnetic body module and annulus rolling member travel forward；When magnet-wheel encounters wall surface, magnetic body module does inscribe fortune with respect to annulus rolling member
It is dynamic that magnet-wheel is made to complete wall surface transition.Magnetic body module can the relatively described annulus rolling member do inscribe motion process be annulus rolling member by
It in contact wall surface, remain stationary, magnetic body module is still to make rotating motion at this time, and magnetic body module is generated with annulus rolling member phase section
Biggish frictional force, make annulus rolling member along it is tangent upwardly move, meanwhile, magnetic body module by the attraction of wall surface act on to
Circle rolling member moves upwards offer power, and magnet-wheel is made to complete wall surface transition.
Preferably, transmission mechanism includes the cabinet being located on vehicle frame, the gear assembly being located on cabinet, for band movable tooth
The transmission shaft component of wheel assembly and magnet-wheel rotation, transmission shaft component are connect with motor, gear assembly, magnet-wheel respectively.Motor rotation
Drive transmission shaft component rotation, transmission component rotation driven gear component and magnet-wheel rotation.
Preferably, transmission shaft component includes motor connection axle, magnetic wheel driven automatic scan axis, motor connection axle respectively with motor, tooth
Wheel assembly connection, magnetic wheel driven automatic scan axis are connect with gear assembly, magnetic body module, annulus rolling member respectively.Motor rotation drives motor
Connecting shaft rotation, the rotation of motor connection axle rotation driven gear component, gear assembly rotation drive the rotation of magnetic wheel driven automatic scan axis, magnet-wheel
Drive shaft turns drive magnet-wheel rotation.
Preferably, gear assembly includes the driving gear that axis connection is connected to motor, transmission gear and magnetic wheel driven automatic scan axis
The driving gear of connection, transmission shaft component further include the gearing shaft connecting with transmission gear.Motor rotation drives motor to connect
Spindle rotation, motor connection axle rotation drive driving gear rotation, and driving gear rotation band nutating gear rotates, transmission gear
Rotation driven gear transmission shaft and the rotation of sliding tooth wheel, the rotation of sliding tooth wheel drive the rotation of magnetic wheel driven automatic scan axis, and magnetic wheel driven automatic scan axis turns
It is dynamic to drive magnet-wheel rotation.
Preferably, magnet-wheel includes preceding magnet-wheel and rear magnet-wheel, transmission gear includes forward pass moving gear and final drive gear, is driven
Moving gear includes front drive gear and rear drive gear, and gearing shaft includes nipper wheel shaft and backgear transmission shaft, magnetic
Wheel drive shaft includes preceding magnetic wheel driven automatic scan axis and rear magnetic wheel driven automatic scan axis, forward pass moving gear respectively with nipper wheel shaft, driving gear
Connection, final drive gear connect with backgear transmission shaft, driving gear respectively, front drive gear respectively with forward pass moving gear, preceding
Magnetic wheel driven automatic scan axis connection, rear drive gear respectively with final drive gear, rear magnetic wheel driven automatic scan axis connection, preceding magnetic wheel driven automatic scan axis and preceding magnetic
Wheel connection, rear magnetic wheel driven automatic scan axis are connect with rear magnet-wheel.By a motor, while preceding magnet-wheel and rear magnet-wheel being driven to rotate, so that
While preceding magnet-wheel and rear magnet-wheel work asynchronously, moreover it is possible to reduce production cost.
Preferably, magnetic body module further includes magnet, the armature being located on the outside of magnet, the circle rolling being located on the outside of armature
Part, magnet, armature, circle rolling member with magnetic wheel driven automatic scan axis connection.Magnet is circular ring shape, radial magnetizing；Armature is circle, magnetic conduction
Material；Armature is distributed in magnet two sides, is connected by magnetic-adsorption.It is located on the outside of round rolling member and outer diameter is greater than magnetic body module
Annulus rolling member, circle rolling member, annulus rolling member are connect with transmission mechanism；Magnet-wheel is adsorbed on wall surface by magnetic body module,
The rotation of motor control transmission mechanism, transmission mechanism rotation is to drive round rolling member and annulus rolling member to travel forward；Magnet-wheel is met
When to wall surface, circle rolling member, which does inscribe movement with respect to annulus rolling member, makes magnet-wheel completion wall surface transition.Circle rolling member can opposite institute
Stating annulus rolling member and doing inscribe motion process is annulus rolling member due to contacting wall surface, remain stationary, justifies rolling member at this time and be still to
Make rotating motion, circle rolling member and the biggish frictional force of annulus rolling member phase section generation, make annulus rolling member along it is tangent towards
Upper movement, meanwhile, magnetic body module is acted on by the attraction of wall surface and moves upwards offer power to circle rolling member, completes magnet-wheel
Wall surface transition.
Preferably, magnet-wheel further includes the baffle being located on the outside of annulus rolling member.By the setting of baffle, can prevent miscellaneous
Object enters magnet-wheel.
Preferably, magnet-wheel include left front magnet-wheel, be right before magnet-wheel, left back magnet-wheel, it is right after magnet-wheel, transmission gear includes left front
Transmission gear, right forward pass moving gear, left back transmission gear, right final drive gear, driving gear include left drive gear, it is left back
Gear, right front drive gear, right rear drive gear are driven, gearing shaft includes left front gearing shaft, left back gear drive
Axis, right nipper wheel shaft, right backgear transmission shaft, magnetic wheel driven automatic scan axis include left front magnetic wheel driven automatic scan axis, left back magnetic wheel driven automatic scan axis,
Magnetic wheel driven automatic scan axis behind magnetic wheel driven automatic scan axis, the right side before the right side, driving gear includes left driving gear, right driving gear, and motor includes left drive
Dynamic motor, right driving motor, motor connection axle include left motor connection axle, right motor connection axle, left driving motor and left motor
Connect axis connection, left motor connection axle connect with left driving gear, left back transmission gear respectively with left back gearing shaft, left master
Moving gear connection, left drive gear respectively with left front transmission gear, left front magnetic wheel driven automatic scan axis connection, left rear drive gear difference
With left back transmission gear, left back magnetic wheel driven automatic scan axis connection, left front magnetic wheel driven automatic scan axis is connect with left front magnet-wheel, left back magnetic wheel driven automatic scan axis
It is connect with left back magnet-wheel；Right driving motor is connect with right motor connection axle, and right motor connection axle is connect with right driving gear, after right
Transmission gear is connect with right backgear transmission shaft, right driving gear respectively, right front drive gear respectively with right forward pass moving gear, the right side
Preceding magnetic wheel driven automatic scan axis connection, right rear drive gear respectively with right final drive gear, it is right after magnetic wheel driven automatic scan axis connection, it is right before magnet-wheel drive
Moving axis is connect with magnet-wheel before the right side, and magnetic wheel driven automatic scan axis is connect with magnet-wheel behind the right side behind the right side.By the setting of four magnet-wheels, so that climbing wall machine
Device people it is mobile more convenient with it is more stable.
Preferably, vehicle frame includes car bottom plate, the motor connection frame for being fixed on motor on car bottom plate, motor and electricity
The connection of machine connection frame, motor connection frame, cabinet are connect with car bottom plate.
Preferably, car bottom plate is equipped with lifting handle.By the setting of lifting handle, what user can be convenient lift and
Pick and place climbing robot.
The invention has the advantages that:
1, by magnet design, wall surface transition is directly completed by magnet-wheel mechanism, control system is simple, reaches wall surface transition
The effect of high stability.
2, wall surface transitional structure can be realized compared to other, the design structure is simply easily achieved, and has good application
Prospect.
3, by the design of multiple magnet-wheels, the stability of climbing robot is increased.
4, climbing robot is when carrying out wall surface transition, since the diameter of annulus rolling member is greater than the diameter of magnetic body module,
So that the magnetic body module in magnet-wheel is not contacted two intersection wall surfaces simultaneously, rubs in the suction of another side wall surface and interior section
Common gains effect under, simple and fast completion wall surface transient motion.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is another overall structure diagram of the invention.
Fig. 3 is the schematic diagram of driving structure of the present invention.
Fig. 4 is the schematic diagram of magnet-wheel structure of the present invention.
Fig. 5 is the flow diagram of magnet-wheel wall surface transition of the present invention.
In figure: 1, left back magnet-wheel, 2, left front magnet-wheel, 3, it is right before magnet-wheel, 4, it is right after magnet-wheel, 5, Left Drive mechanism, 6, right biography
Motivation structure, 7, left driving motor, 8, right driving motor, 9, motor connection frame, 10, car bottom plate, 11, lifting handle, 101, magnet,
102, left armature, 103, right armature, 104, left round rolling member, 105, right round rolling member, 106, Zuo Yuanhuan rolling member, 107, right circle
Ring rolling member, 108, left catch, 109, right catch, 501, cabinet, 502, motor connection axle, 503, backgear transmission shaft, 504,
Magnetic wheel driven automatic scan axis afterwards, 505, nipper wheel shaft, 506, preceding magnetic wheel driven automatic scan axis, 507, driving gear, 508, final drive gear,
509, rear drive gear, 510, forward pass moving gear, 511, front drive gear
Specific embodiment
Below in conjunction with drawings and embodiments, the present invention is further illustrated.
As shown in Figs. 1-5, a kind of climbing robot of the present invention, including vehicle frame, the drive system being located on vehicle frame and driving
The magnet-wheel of mechanism connection, drive system includes the motor being located on vehicle frame, is connected to motor and the biography for driving magnet-wheel to move
Motivation structure, transmission mechanism are located on vehicle frame, and magnet-wheel includes magnetic body module, the circle rolling member that connect with magnetic body module, is located at round rolling
On the outside of moving part and outer diameter is greater than the annulus rolling member of magnetic body module, and magnetic body module, circle rolling member, annulus rolling member are and driver
Structure connection.
Transmission mechanism includes the cabinet 501 being located on vehicle frame, the gear assembly being located on cabinet 501, for band moving gear
The transmission shaft component of component and magnet-wheel rotation, transmission shaft component are connect with motor, gear assembly, magnet-wheel respectively.Transmission mechanism packet
Left Drive mechanism 5, right transmission mechanism 6 are included, Left Drive mechanism 5, right transmission mechanism 6 are symmetrical arranged.
Transmission shaft component includes motor connection axle 502, magnetic wheel driven automatic scan axis, motor connection axle 502 respectively with motor, gear set
Part connection, magnetic wheel driven automatic scan axis are connect with gear assembly, magnetic body module, circle rolling member, annulus rolling member respectively.
Gear assembly includes that the driving gear 507 that the connection of axis 502 is connected to motor, transmission gear and magnetic wheel driven automatic scan axis connect
The driving gear connect, transmission shaft component further include the gearing shaft connecting with transmission gear.
Magnet-wheel includes preceding magnet-wheel and rear magnet-wheel, and transmission gear includes forward pass moving gear 510 and final drive gear 508, driving
Gear includes front drive gear 511 and rear drive gear 509, and gearing shaft includes that nipper wheel shaft 505 and backgear pass
Moving axis 503, magnetic wheel driven automatic scan axis include preceding magnetic wheel driven automatic scan axis 506 and rear magnetic wheel driven automatic scan axis 504, forward pass moving gear 510 respectively with it is preceding
Gearing shaft 505, driving gear 507 connect, final drive gear 508 respectively with backgear transmission shaft 503, driving gear 507
Connection, front drive gear 511 connect with forward pass moving gear 510, preceding magnetic wheel driven automatic scan axis 506 respectively, rear drive gear 509 respectively with
Final drive gear 508, the connection of rear magnetic wheel driven automatic scan axis 504, preceding magnetic wheel driven automatic scan axis 506 are connect with preceding magnet-wheel, rear magnetic wheel driven automatic scan axis 504
It is connect with rear magnet-wheel.
Magnet-wheel 5 behind magnet-wheel 3, left back magnet-wheel 1, the right side before magnet-wheel includes left front magnet-wheel 2, is right, transmission gear includes left front transmission
Gear 510, right forward pass moving gear 510, left back transmission gear 508, right final drive gear 508, driving gear includes left drive
Gear 511, left rear drive gear 509, right front drive gear 511, right rear drive gear 509, gearing shaft include left front tooth
Wheel shaft 505, left back gearing shaft 503, right nipper wheel shaft 505, right backgear transmission shaft 503, magnetic wheel driven automatic scan axis
Including magnetic wheel driven automatic scan axis behind magnetic wheel driven automatic scan axis, the right side before left front magnetic wheel driven automatic scan axis, left back magnetic wheel driven automatic scan axis, the right side, driving gear 507 is wrapped
Left driving gear 507, right driving gear 507 are included, motor includes left driving motor 7, right driving motor 8, and motor connection axle 502 is wrapped
Left motor connection axle 502, right motor connection axle 502 are included, left driving motor 7 is connect with left motor connection axle 502, left motor connection
Axis 502 is connect with left driving gear 507, left back transmission gear 508 respectively with left back gearing shaft 503, left driving gear 507
Connection, left drive gear 511 respectively with left front transmission gear 510, left front magnetic wheel driven automatic scan axis connection, left rear drive gear 509
Respectively with left back transmission gear 508, left back magnetic wheel driven automatic scan axis connection, left front magnetic wheel driven automatic scan axis connect with left front magnet-wheel 2, left back magnetic
Wheel drive shaft is connect with left back magnet-wheel 1；Right driving motor 8 is connect with right motor connection axle 502, right motor connection axle 502 and the right side
Driving gear 507 connects, and right final drive gear 508 is connect with right backgear transmission shaft 503, right driving gear 507 respectively, before right
Drive gear 511 respectively with magnetic wheel driven automatic scan axis connection before right forward pass moving gear 510, the right side, right rear drive gear 509 is respectively and behind the right side
Transmission gear 508, it is right after magnetic wheel driven automatic scan axis connection, it is right before magnetic wheel driven automatic scan axis with it is right before magnet-wheel 3 connect, behind the right side magnetic wheel driven automatic scan axis and
Magnet-wheel 5 connects behind the right side.
Magnet-wheel 5 includes magnet 101, left armature 102, right armature behind magnet-wheel 3, left back magnet-wheel 1, the right side before left front magnet-wheel 2, the right side
103, left round rolling member 104, right round rolling member 105, Zuo Yuanhuan rolling member 106, right annulus rolling member 107, left catch 108, the right side
Baffle 109, left catch 108, Zuo Yuanhuan rolling member 106, left round rolling member 104, left armature 102, magnet 101, right armature 103,
Right round rolling member 105, right annulus rolling member 107, right catch 109 sequentially pass through magnetic wheel driven automatic scan axis connection.Armature includes left armature
102, right armature 103, circle rolling member include left round rolling member 104, right round rolling member 105, and annulus rolling member includes left annulus rolling
Moving part 106, right annulus rolling member 107, baffle include left catch 108, right catch 109.
Magnet 101, left armature 102 and right armature 103 are concentric, connect to form magnetic body module by magnetic-adsorption, provide
Magnetic force enables magnet-wheel to be adsorbed on wall surface.
Annulus rolling member inner circle and circle rolling member outer circle inscribe, and the outer diameter of annulus rolling member is greater than magnetic body module.
Two pieces of baffles are separately mounted to magnet-wheel two sides, limit the axial position of circle rolling member.
As shown in figure 5, single magnet-wheel includes the following steps: when wall surface moves
Step 1, in position A, horizontal plane motion, magnet-wheel is adsorbed on wall surface magnet-wheel by magnetic body module, magnetic wheel driven automatic scan
When axis starts turning, the magnetic body module and circle rolling member being connect with magnetic wheel driven automatic scan axis by flat key are rotated with it, annulus rolling member
It travels forward under the active force of circle rolling member.
Step 2, magnet-wheel encounter intersection wall surface in position B, and annulus rolling member contacts another wall surface first, remain stationary, this
When circle rolling member be still to make rotating motion, so making in circle rolling member and the biggish frictional force of annulus rolling member phase section generation
Annulus rolling member moves upwardly along tangent, meanwhile, magnetic body module is acted on by the attraction of another wall surface, which also gives
Circle rolling member moves upwards offer power, and magnet-wheel is enable more easily to complete wall surface transition.
Step 3, magnet-wheel move after completing wall surface transition in perpendicular, and magnetic body module provides enough adsorption capacities at this time
Make to generate biggish frictional force between magnet-wheel and wall surface, prevents magnet-wheel from falling.
Magnet-wheel is mounted on climbing robot car body, wall surface transient process is identical, basic functional principle are as follows: by driving electricity
Machine generates driving moment, and torque is driven respectively by gear drive and gives magnetic wheel driven automatic scan axis by motor connection axle, by magnetic wheel driven automatic scan axis
Magnet-wheel rotation is driven, climbing robot is enable to move in wall surface.When intersecting wall surface transition, two preceding magnet-wheels first contact another
Wall surface does the movement of above-mentioned single magnet-wheel step 2 in wall surface movement, and after front-wheel completes wall surface transition, magnet-wheel is contacted after two
Another wall surface repeats step 2, completes the transition of vehicle wall surface.
By the design to magnet-wheel structure, wheeled climbing robot is made to avoid the occurrence of magnet-wheel in wall surface transition simultaneously by two
The strong adsorption capacity absorption of the wall surface in a direction, the case where can't continue to exercise.
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of climbing robot, it is characterised in that: connect including vehicle frame, the drive system being located on vehicle frame, with driving mechanism
Magnet-wheel, drive system include the motor being located on vehicle frame, be connected to motor and for drive magnet-wheel move transmission mechanism, pass
Motivation structure is located on vehicle frame, and magnet-wheel includes magnetic body module, is located on the outside of magnetic body module and outer diameter is greater than the annulus rolling of magnetic body module
Moving part, magnetic body module, annulus rolling member are connect with transmission mechanism；
Magnet-wheel is adsorbed on wall surface by magnetic body module, and the rotation of motor control transmission mechanism, transmission mechanism rotation is to drive magnetic
Module and annulus rolling member travel forward；When magnet-wheel encounters wall surface, magnetic body module, which does inscribe movement with respect to annulus rolling member, to be made
Magnet-wheel completes wall surface transition.
2. climbing robot according to claim 1, it is characterised in that: transmission mechanism includes the cabinet being located on vehicle frame
(501), gear assembly, the transmission shaft component for driving gear assembly and magnet-wheel to rotate being located on cabinet (501), transmission shaft
Component is connect with motor, gear assembly, magnet-wheel respectively.
3. climbing robot according to claim 2, it is characterised in that: transmission shaft component include motor connection axle (502),
Magnetic wheel driven automatic scan axis, motor connection axle (502) are connect with motor, gear assembly respectively, magnetic wheel driven automatic scan axis respectively with gear assembly, magnetic
Module, the connection of annulus rolling member.
4. climbing robot according to claim 3, it is characterised in that: gear assembly includes that axis (502) are connected to motor
Driving gear (507), transmission gear, the driving gear with magnetic wheel driven automatic scan axis connection of connection, transmission shaft component further include and pass
The gearing shaft of moving gear connection.
5. climbing robot according to claim 4, it is characterised in that: magnet-wheel includes preceding magnet-wheel and rear magnet-wheel, driving cog
Wheel includes forward pass moving gear (510) and final drive gear (508), and driving gear includes front drive gear (511) and rear sliding tooth
It takes turns (509), gearing shaft includes nipper wheel shaft (505) and backgear transmission shaft (503), and magnetic wheel driven automatic scan axis includes preceding magnetic
Wheel drive shaft (506) and rear magnetic wheel driven automatic scan axis (504), forward pass moving gear (510) respectively with nipper wheel shaft (505), actively
Gear (507) connection, final drive gear (508) are connect with backgear transmission shaft (503), driving gear (507) respectively, preceding driving
Gear (511) is connect with forward pass moving gear (510), preceding magnetic wheel driven automatic scan axis (506) respectively, rear drive gear (509) respectively with it is rear
Transmission gear (508), rear magnetic wheel driven automatic scan axis (504) connection, preceding magnetic wheel driven automatic scan axis (506) connect with preceding magnet-wheel, rear magnetic wheel driven automatic scan
Axis (504) is connect with rear magnet-wheel.
6. climbing robot according to claim 5, it is characterised in that: magnet-wheel before magnet-wheel includes left front magnet-wheel (2), is right
(3), left back magnet-wheel (1), it is right after magnet-wheel (5), transmission gear include left front transmission gear (510), right forward pass moving gear (510),
Left back transmission gear (508), right final drive gear (508), driving gear includes left drive gear (511), left back sliding tooth
(509), right front drive gear (511), right rear drive gear (509) are taken turns, gearing shaft includes left front gearing shaft
(505), left back gearing shaft (503), right nipper wheel shaft (505), right backgear transmission shaft (503), magnetic wheel driven automatic scan axis
Including magnetic wheel driven automatic scan axis behind magnetic wheel driven automatic scan axis, the right side before left front magnetic wheel driven automatic scan axis, left back magnetic wheel driven automatic scan axis, the right side, driving gear (507)
Including left driving gear (507), right driving gear (507), motor includes left driving motor (7), right driving motor (8), motor
Connecting shaft (502) includes left motor connection axle (502), right motor connection axle (502), and left driving motor (7) is connect with left motor
Axis (502) connection, left motor connection axle (502) connect with left driving gear (507), left back transmission gear (508) respectively with a left side
Backgear transmission shaft (503), left driving gear (507) connection, left drive gear (511) respectively with left front transmission gear
(510), left front magnetic wheel driven automatic scan axis connection, left rear drive gear (509) are driven with left back transmission gear (508), left back magnet-wheel respectively
Moving axis connection, left front magnetic wheel driven automatic scan axis are connect with left front magnet-wheel (2), and left back magnetic wheel driven automatic scan axis is connect with left back magnet-wheel (1)；Right drive
Dynamic motor (8) are connect with right motor connection axle (502), and right motor connection axle (502) connect with right driving gear (507), after right
Transmission gear (508) is connect with right backgear transmission shaft (503), right driving gear (507) respectively, right front drive gear (511)
Respectively with right forward pass moving gear (510), it is right before magnetic wheel driven automatic scan axis connection, right rear drive gear (509) respectively with driving cog behind the right side
Take turns (508), it is right after magnetic wheel driven automatic scan axis connection, it is right before magnetic wheel driven automatic scan axis with it is right before magnet-wheel (3) connect, it is right after magnetic wheel driven automatic scan axis and the right side
Magnet-wheel (5) connects afterwards.
7. climbing robot according to claim 1 or 2 or 3 or 4 or 5 or 6, it is characterised in that: magnetic body module further includes
Magnet (101), the armature being located on the outside of magnet (101), the circle rolling member being located on the outside of armature.
8. climbing robot according to claim 7, it is characterised in that: magnet-wheel further includes being located on the outside of annulus rolling member
Baffle.
9. according to climbing robot described in Claims 2 or 3 or 4 or 5 or 6 or 8, it is characterised in that: vehicle frame includes car bottom plate
(10), frame (9) connection, motor is connected to motor in the motor connection frame (9) for being fixed on motor on car bottom plate (10), motor
Connection frame (9), cabinet (501) are connect with car bottom plate (10).
10. climbing robot according to claim 9, it is characterised in that: car bottom plate (10) is equipped with lifting handle (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910875929.1A CN110466639A (en) | 2019-09-17 | 2019-09-17 | A kind of climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910875929.1A CN110466639A (en) | 2019-09-17 | 2019-09-17 | A kind of climbing robot |
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| Publication Number | Publication Date |
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| CN110466639A true CN110466639A (en) | 2019-11-19 |
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| CN201910875929.1A Pending CN110466639A (en) | 2019-09-17 | 2019-09-17 | A kind of climbing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110988121A (en) * | 2019-11-28 | 2020-04-10 | 合肥通用机械研究院有限公司 | Electromagnetic sound detection robot for storage tank |
| CN111270608A (en) * | 2020-03-09 | 2020-06-12 | 浙江大学 | Wall-climbing robot for detection in steel box girder of large-span bridge |
| CN111301544A (en) * | 2019-11-22 | 2020-06-19 | 广东省智能制造研究所 | Control system and control method of wall-climbing robot with scanning function |
Citations (12)
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