CN111993378A - Wheel structure capable of climbing metal surface and advancing in floating mode on water surface - Google Patents
Wheel structure capable of climbing metal surface and advancing in floating mode on water surface Download PDFInfo
- Publication number
- CN111993378A CN111993378A CN202010805278.1A CN202010805278A CN111993378A CN 111993378 A CN111993378 A CN 111993378A CN 202010805278 A CN202010805278 A CN 202010805278A CN 111993378 A CN111993378 A CN 111993378A
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- China
- Prior art keywords
- wheel
- permanent magnet
- annular cavity
- structure according
- propeller
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- Pending
Links
- 239000002184 metal Substances 0.000 title abstract description 26
- 230000009194 climbing Effects 0.000 title abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 13
- 239000000696 magnetic material Substances 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 101710158075 Bucky ball Proteins 0.000 claims description 3
- XMWRBQBLMFGWIX-UHFFFAOYSA-N C60 fullerene Chemical compound C12=C3C(C4=C56)=C7C8=C5C5=C9C%10=C6C6=C4C1=C1C4=C6C6=C%10C%10=C9C9=C%11C5=C8C5=C8C7=C3C3=C7C2=C1C1=C2C4=C6C4=C%10C6=C9C9=C%11C5=C5C8=C3C3=C7C1=C1C2=C4C6=C2C9=C5C3=C12 XMWRBQBLMFGWIX-UHFFFAOYSA-N 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 abstract description 14
- 230000000694 effects Effects 0.000 description 3
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention provides a wheel structure, wherein a wall climbing function is realized by a wheel depending on a magnetic adsorption mode, a magnet is positioned in an annular cavity of an outer ring of the wheel, and the magnet is always positioned at the position closest to a metal surface under any terrain condition, so that the adaptability of a robot to the terrain is greatly improved; and further in order to meet the requirement of water surface floating advancing, the corresponding buoyancy is provided by the design of the volume of the annular cavity, and the propeller structure is designed on the wheels, so that the robot has the water surface floating advancing capability. The structure has the characteristics of light weight, small volume and high reliability, and is particularly suitable for small reconnaissance robots.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a wheel structure for a robot, which can meet the requirements of climbing uneven and irregular metal vertical surfaces and floating on water surface.
Background
The reconnaissance robot is one of the important directions of the research of the robot industry, and has great application market and prospect in the aspects of military use and police use and great potential in the aspect of civil use. The common reconnaissance robot is mostly a ground crawling structure, is difficult to climb on a vertical surface and reconnaissance, and especially for vertical surfaces which are not flat and regular, how to climb on the vertical surfaces is always a key and difficult problem to be solved by the climbing robot.
Aiming at the climbing of a metal surface, the main design directions at present are magnetic adsorption and vacuum adsorption, the vacuum adsorption robot is relatively complex in structure, large in size, limited in load capacity and high in requirement on terrain, and is difficult to be used for a reconnaissance robot, so that the conventional reconnaissance robot mainly adopts a magnetic adsorption mode to realize the climbing of the metal surface. In practical applications, various shapes of metal surfaces, such as circular arc, corner shape, etc., are encountered, and the metal surfaces often have various welding seams, which have great influence on the magnetic adsorption effect of the robot. Therefore, a wheel structure of the robot, which can adapt to metal surfaces with different shapes, needs to be designed.
In addition, the reconnaissance robot can often meet the situation of wading forward in the course of working, can further design and make it still possess the ability that the surface of water floats forward on the basis of realizing that the robot wheel possesses complicated metal surface climbing ability.
Disclosure of Invention
The wheel structure is characterized in that a wheel leans on a magnetic adsorption mode to achieve a wall climbing function, a magnet is located in an annular cavity of an outer ring of the wheel, the magnet is always located at a position nearest to the metal surface no matter under any terrain condition, and accordingly adaptability of the robot to the terrain is greatly improved; and further in order to meet the requirement of water surface floating advancing, the corresponding buoyancy is provided by the design of the volume of the annular cavity, and the propeller structure is designed on the wheels, so that the robot has the water surface floating advancing capability. The structure has the characteristics of light weight, small volume and high reliability, and is particularly suitable for small reconnaissance robots.
The technical scheme of the invention is as follows:
the wheel structure comprises a wheel shell and a wheel assembling mechanism; the wheel assembling mechanism is positioned in the center of the wheel shell and used for realizing the connection of the wheel and the external wheel shaft and realizing the rotation of the wheel driven by the external wheel shaft through the wheel assembling mechanism;
the wheel housing has an annular cavity; the wheel shell is made of a non-magnetic material meeting the structural strength requirement;
the inner surface of the annular cavity is a smooth barrier-free surface; the permanent magnet is placed in the annular cavity and can move in the annular cavity along with the rolling of the wheel.
Further, the structural thickness of the outer ring surface of the annular cavity part in the wheel shell and the inner side surface part close to the outer ring surface is the minimum value meeting the structural strength requirement.
Furthermore, the permanent magnet adopts a block permanent magnet or a plurality of bucky ball permanent magnets.
Further, the surface of the block permanent magnet is subjected to smoothing treatment, and sharp edges and angles are subjected to fillet or chamfer treatment.
Furthermore, the block permanent magnet is a permanent magnet in a cuboid form, and the maximum length of the block permanent magnet is not more than the length of a bus at the position of the outer ring surface of the annular cavity.
Furthermore, the section contour of the block permanent magnet can be attached to the inner wall of the annular cavity.
Furthermore, the structure in the wheel assembling mechanism adopts a non-magnetic material which meets the structural strength requirement.
Furthermore, a propeller is coaxially arranged on the outer side cover of the wheel shell by adopting a detachable connection structure; the annular cavity of the wheel shell is a sealed cavity; the propeller can rotate along with the wheel in step.
Furthermore, the propeller is provided with a propeller shaft and a plurality of blades, the blades are uniformly arranged on the surface of the propeller shaft along the circumferential direction, and the blades and the propeller shaft are integrally processed or separately processed and then fixedly connected.
Furthermore, the propeller is made of nonmagnetic materials.
Advantageous effects
According to the wheel structure provided by the invention, the annular cavity is formed in the outer ring of the wheel, the permanent magnet in a specific shape is placed in the cavity, and the magnet can flexibly slide in the cavity, so that the distance between the magnet and the metal surface is always the minimum, and the size of the adsorption force is ensured. The structure has the advantages of light weight, small volume, large adsorption force, strong terrain adaptability and the like, is not only suitable for various small scouting robots, but also can be used for other small robots needing the metal surface climbing function.
And further, a detachable propeller structure is adopted, so that the reconnaissance robot has the capability of floating on the water surface and advancing. When the magnetic wheel structure is used together with the propeller structure, the robot can cope with a more complex environment, and the reconnaissance capability and the survival capability are greatly improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 fig. 2 and 3 are views showing the wheel assembly;
FIG. 4 shows several typical positions of rectangular parallelepiped permanent magnets in the cavity
FIG. 5 shows the position of the L-shaped permanent magnet in the cavity
FIG. 6 shows the position of the magnets for different surface shapes
FIG. 7 shows a propeller structure
Wherein: 1. a wheel housing; 2. a wheel assembly mechanism; 3. an annular cavity; 4. a permanent magnet; 4.1, a cuboid permanent magnet; 4.2, an L-shaped permanent magnet; 5. a propeller; 6. a propeller connection device; 7. the position of the permanent magnet; 8. the position of the permanent magnet; 9. the position of the permanent magnet; 10. a paddle; 11. a propeller shaft.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
The wheel structure in this embodiment is used for small-size reconnaissance robot, at first in order to satisfy the needs of climbing on complicated metal surface, and the wheel structure in this embodiment includes wheel casing 1 and wheel equipment mechanism 2, and wheel casing and wheel equipment mechanism adopt the non-magnetic material that satisfies structural strength requirement.
The wheel assembling mechanism 2 is located at the center of the wheel shell 1 and used for connecting the wheels with wheel shafts on the reconnaissance robot body and enabling the wheel shafts to drive the wheels to rotate through the wheel assembling mechanism.
The wheel shell 1 is provided with an annular cavity 3, the outer ring surface of the annular cavity and the inner side surface close to the outer ring surface are separated from the outside by only one layer of nonmagnetic material wall, and the structural thickness of the part can be required to be the minimum value meeting the structural strength requirement, so that the adsorption force of the permanent magnet and the external metal surface can be ensured to the maximum extent.
The cavity is internally provided with a permanent magnet with a specific shape, and the shape and the number of the permanent magnets are flexibly arranged according to the practical application environment and load.
In this embodiment, the permanent magnet realizes the magnetism adsorption efficiency, in order to satisfy the absorption demand on complicated metal curved surface, also in order to alleviate wheel weight simultaneously, be convenient for realize other functional demands, this embodiment does not adopt traditional fixed permanent magnet mounting means, but directly place the permanent magnet of specific shape in the toroidal cavity, and carry out smooth processing to the toroidal cavity internal surface, make the permanent magnet can roll along with the wheel and remove in the toroidal cavity, including the removal along wheel roll direction and to the slip of toroidal cavity lateral wall, make the permanent magnet be located the position nearest apart from the metal surface all the time, guarantee that the wheel possesses sufficient adsorption affinity.
In order to achieve the purpose that the permanent magnet moves in the annular cavity, the permanent magnet can adopt a block permanent magnet or a plurality of bucky ball permanent magnets. The Bake ball permanent magnets have good conformal adsorption effect and can be always positioned at the position closest to the metal surface.
In consideration of cost and the like, when the block permanent magnet is adopted, firstly, the surface of the block permanent magnet needs to be subjected to smoothing treatment, and the sharp edge and angle are subjected to fillet or chamfer treatment, so that the block permanent magnet can move smoothly in the cavity, and the situation that the magnet is clamped cannot occur. The most common of the blocky permanent magnets is the cuboid permanent magnet, and at the moment, the requirement on the cuboid permanent magnet is that the maximum size in three directions of the cuboid permanent magnet is not more than the length (axial length) of a bus at the position of an outer ring surface of the annular cavity, so that the magnet can be guaranteed not to be obliquely lapped in the cavity, and the magnet and the metal surface are guaranteed to have enough adsorption area. Fig. 4 shows different positions of the rectangular parallelepiped permanent magnet 4.1 in the annular cavity 3, the magnet being in the position shown in fig. 7 when the metal surface is parallel to the wheel axis, in the position shown in fig. 8 when the metal surface is at an angle to the wheel axis, and in the position shown in fig. 9 when the metal surface is on the wheel side. Throughout the movement, the permanent magnet 4 is kept at a minimum distance from the metal surface. Fig. 6 shows the distribution of the permanent magnets 4 in different metal surface shapes, and it can be seen that the designed wheel structure can adapt to different metal surface shapes.
Of course, the block permanent magnet may also be an L-shaped permanent magnet whose cross-section outer profile can be fitted to the inner wall of the annular cavity, and the main movement direction of the permanent magnet moving along with the wheel is the movement along the rolling direction of the wheel. Fig. 5 shows a position schematic of the L-shaped permanent magnet 4.2 in the annular cavity 3, the shape of the outer profile of the cross section of the L-shaped magnet substantially coincides with the shape of the annular cavity 3, and the permanent magnet 4.2 can provide sufficient attraction even if the metal surface forms an angle with the wheel because of the large magnetic area of the L-shaped magnet 4.2.
In order to enable the reconnaissance robot to have the capability of floating and advancing on the water surface, the annular cavity of the wheel shell is sealed, so that the plurality of wheels can provide larger buoyancy for the reconnaissance robot, and the weight of the reconnaissance robot is greatly reduced due to the fewer permanent magnets in the wheels.
The outer side cover of the wheel shell is provided with a connecting structure which is made of a detachable nonmagnetic material, the connecting structure is coaxially provided with a propeller made of a nonmagnetic material, the connecting structure is connected in a buckling mode, a bolt mode or a key mode, and the propeller can synchronously rotate along with the wheel. The propeller is provided with a propeller shaft and a plurality of blades, wherein the blades are uniformly arranged on the surface of the propeller shaft along the circumferential direction, and the blades and the propeller shaft are fixedly connected in an integrated processing forming mode or an independent processing mode and then in a gluing or clamping mode. The paddle is arc or rectangular in shape, and when the propeller rotates along with the wheels, the propeller can provide thrust for the robot to float and advance on the water surface.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (10)
1. A wheel structure characterized in that: comprises a wheel shell and a wheel assembling mechanism; the wheel assembling mechanism is positioned in the center of the wheel shell and used for realizing the connection of the wheel and the external wheel shaft and realizing the rotation of the wheel driven by the external wheel shaft through the wheel assembling mechanism;
the wheel housing has an annular cavity; the wheel shell is made of a non-magnetic material meeting the structural strength requirement;
the inner surface of the annular cavity is a smooth barrier-free surface; the permanent magnet is placed in the annular cavity and can move in the annular cavity along with the rolling of the wheel.
2. A wheel structure according to claim 1, wherein: the structure thickness of the outer ring surface of the annular cavity part in the wheel shell and the inner side surface part close to the outer ring surface is the minimum value meeting the structural strength requirement.
3. A wheel structure according to claim 1, wherein: the permanent magnet adopts a block permanent magnet or a plurality of bucky ball permanent magnets.
4. A wheel structure according to claim 3, wherein: the surfaces of the block permanent magnets are subjected to smoothing treatment, and sharp edges and angles are subjected to fillet or chamfer treatment.
5. The wheel structure according to claim 4, wherein: the block permanent magnet is a permanent magnet in a cuboid form, and the maximum length of the block permanent magnet is not more than the length of a bus at the position of the outer ring surface of the annular cavity.
6. The wheel structure according to claim 4, wherein: the block permanent magnet adopts a permanent magnet with a section outline capable of being attached to the inner wall of the annular cavity.
7. A wheel structure according to claim 1, wherein: the structure in the wheel assembling mechanism adopts non-magnetic materials meeting the structural strength requirement.
8. A wheel structure according to claim 1, wherein: the outer side cover of the wheel shell adopts a detachable connection structure and is coaxially provided with a propeller; the annular cavity of the wheel shell is a sealed cavity; the propeller can rotate along with the wheel in step.
9. A wheel structure according to claim 8, wherein: the propeller is provided with a propeller shaft and a plurality of blades, wherein the blades are uniformly arranged on the surface of the propeller shaft along the circumferential direction, and the blades and the propeller shaft are integrally processed or separately processed and then fixedly connected.
10. A wheel structure according to claim 9, wherein: the propeller is made of nonmagnetic materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010805278.1A CN111993378A (en) | 2020-08-12 | 2020-08-12 | Wheel structure capable of climbing metal surface and advancing in floating mode on water surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010805278.1A CN111993378A (en) | 2020-08-12 | 2020-08-12 | Wheel structure capable of climbing metal surface and advancing in floating mode on water surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111993378A true CN111993378A (en) | 2020-11-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010805278.1A Pending CN111993378A (en) | 2020-08-12 | 2020-08-12 | Wheel structure capable of climbing metal surface and advancing in floating mode on water surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111993378A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022194169A1 (en) * | 2021-03-18 | 2022-09-22 | 袁海海 | Vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0526900A1 (en) * | 1991-08-06 | 1993-02-10 | Osaka Gas Co., Ltd. | Vehicle for use in pipes |
| CN105947007A (en) * | 2015-03-09 | 2016-09-21 | 通用电器技术有限公司 | Magnetic roller |
| CN108528160A (en) * | 2018-06-13 | 2018-09-14 | 浙江群英车业有限公司 | A kind of land and water toy motorcycle ship |
| CN109278891A (en) * | 2018-12-06 | 2019-01-29 | 河北工业大学 | A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot |
| CN210191676U (en) * | 2019-07-31 | 2020-03-27 | 上海酷酷机器人有限公司 | Magnetic wheel for adsorption robot and adsorption robot with magnetic wheel |
| CN212794929U (en) * | 2020-08-12 | 2021-03-26 | 中天智控科技控股股份有限公司 | Wheel structure capable of climbing metal surface and advancing in floating mode on water surface |
-
2020
- 2020-08-12 CN CN202010805278.1A patent/CN111993378A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0526900A1 (en) * | 1991-08-06 | 1993-02-10 | Osaka Gas Co., Ltd. | Vehicle for use in pipes |
| US5284096A (en) * | 1991-08-06 | 1994-02-08 | Osaka Gas Company, Limited | Vehicle for use in pipes |
| CN105947007A (en) * | 2015-03-09 | 2016-09-21 | 通用电器技术有限公司 | Magnetic roller |
| CN108528160A (en) * | 2018-06-13 | 2018-09-14 | 浙江群英车业有限公司 | A kind of land and water toy motorcycle ship |
| CN109278891A (en) * | 2018-12-06 | 2019-01-29 | 河北工业大学 | A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot |
| CN210191676U (en) * | 2019-07-31 | 2020-03-27 | 上海酷酷机器人有限公司 | Magnetic wheel for adsorption robot and adsorption robot with magnetic wheel |
| CN212794929U (en) * | 2020-08-12 | 2021-03-26 | 中天智控科技控股股份有限公司 | Wheel structure capable of climbing metal surface and advancing in floating mode on water surface |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022194169A1 (en) * | 2021-03-18 | 2022-09-22 | 袁海海 | Vehicle |
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