CN113371088A - Magnetic adsorption crawler-type wall-climbing robot - Google Patents
Magnetic adsorption crawler-type wall-climbing robot Download PDFInfo
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- CN113371088A CN113371088A CN202110750693.6A CN202110750693A CN113371088A CN 113371088 A CN113371088 A CN 113371088A CN 202110750693 A CN202110750693 A CN 202110750693A CN 113371088 A CN113371088 A CN 113371088A
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- 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
- B62D55/30—Track-tensioning means
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Abstract
The invention discloses a magnetic adsorption crawler-type wall-climbing robot, which comprises a support frame, wherein magnetic adsorption crawler-type motion mechanisms are respectively arranged on the left side and the right side of the support frame, an obstacle-crossing magnetic wheel mechanism is arranged at the bottom of the support frame, each set of magnetic adsorption crawler-type motion mechanism comprises a crawler, a front wheel and a rear wheel, a plurality of permanent magnets are arranged on the surface of the crawler, and the permanent magnets and a magnetic conduction wall surface are magnetically adsorbed, so that the whole robot is adsorbed on the magnetic conduction wall surface, and the front wheel is driven to rotate through a driving mechanism, so that a crawler is driven to run; obstacle-crossing magnetic wheel mechanism comprises obstacle-crossing magnetic wheels, the obstacle-crossing magnetic wheels are rotatably mounted at the bottom ends of magnetic wheel support frames, the top ends of the magnetic wheel support frames are rotatably mounted on a chassis of a support frame, the middle sections of the magnetic wheel support frames are connected with a shell of the support frame through dampers, and the obstacle-crossing magnetic wheels are magnetically attached to magnetic conduction wall surfaces during operation. The invention has the advantages that: the robot can stably and reliably adsorb and adapt to various complex wall surfaces.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a magnetic adsorption crawler-type wall-climbing robot.
Background
The industrial scene and the civil scene are both filled with a plurality of high-altitude and high-risk working scenes, in the industrial field, such as the scenes of cleaning, rust removing and spraying of large ships, detection, flaw detection and maintenance of thermal power boilers and the like, and in the daily civil field, such as the operation of spiders, scaffolds and hanging baskets of building curtain walls, great difficulty and challenge are brought to workers, and meanwhile, relevant companies and mechanisms also bear great life safety hazards of the workers.
Meanwhile, workers willing to work high above the ground are short of supply and demand, so that the wall climbing robot is urgently needed to fill the gap of the loss of the workers in both the industrial field and the civil field.
The adsorption mode of the wall climbing robot can be generally divided into a magnetic adsorption type, a vacuum negative pressure adsorption type, a positive pressure propulsion type and a bionic climbing type.
The vacuum negative pressure adsorption type is mainly characterized in that vacuum negative pressure is formed in a sealing cavity, even if the internal pressure and the external pressure are different, pressure difference is formed, and the sealing cavity is driven by external atmospheric pressure to adsorb the whole robot on a wall surface. However, the requirement for the smoothness of the wall surface is strict, and the carrying of the vacuum pump is required, so that strong noise is generated. The positive pressure propulsion type mainly utilizes a fan to generate back thrust in a certain direction, so that the robot can be attached to a wall surface, and the defects of complex control system, low efficiency, serious energy conversion waste, uneconomic energy conversion and the like exist. The bionic climbing type wall-climbing robot has the defects of high manufacturing cost, complex production process, difficult actual application and the like due to the fact that a plurality of nonstandard parts are provided.
The existing magnetic adsorption robot is large and heavy in size, cannot adapt to crawling of walls in narrow space, is insufficient in adsorption force, does not have an obstacle crossing function, and cannot adapt to various complex walls with unevenness and the like.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a magnetic adsorption crawler-type wall-climbing robot, so that the robot can stably and reliably adsorb and adapt to various complex wall surfaces.
The invention is realized by the following technical scheme:
a magnetic adsorption crawler-type wall-climbing robot comprises a supporting frame, wherein a set of magnetic adsorption crawler-type motion mechanism is respectively arranged on the left side and the right side of the supporting frame, an obstacle-crossing magnetic wheel mechanism is arranged at the bottom of the supporting frame, the supporting frame comprises a chassis and a shell arranged above the chassis,
each set of magnetic adsorption crawler type movement mechanism comprises a crawler belt, a front wheel and a rear wheel, wherein the front wheel and the rear wheel are respectively rotatably installed on the outer side of the support frame, the crawler belt is in transmission connection with the rear wheel through the front wheel, a plurality of permanent magnets are arranged on the surface of the crawler belt, and are magnetically adsorbed on the magnetic conduction wall surface through the permanent magnets, so that the whole robot is adsorbed on the magnetic conduction wall surface, the front wheel is driven to rotate through the driving mechanism, the crawler belt is driven to operate, and the whole robot is driven to move;
the obstacle-crossing magnetic wheel mechanism is arranged in the middle of the supporting frame and comprises obstacle-crossing magnetic wheels, the obstacle-crossing magnetic wheels are rotatably installed at the bottom end of a magnetic wheel supporting frame, the top end of the magnetic wheel supporting frame is rotatably installed on a chassis of the supporting frame, the middle sections of the magnetic wheel supporting frames are connected with a shell of the supporting frame through a damper, the bottoms of the obstacle-crossing magnetic wheels extend downwards out of the chassis, and the obstacle-crossing magnetic wheels are magnetically attached to the magnetic conduction wall surface during operation.
Furthermore, the rear wheel is rotatably installed on a rear wheel support, and the inner side of the rear wheel support is connected with a track tensioning device for tensioning the track.
Furthermore, the track tensioning device comprises a stop block, a tensioning block and a tensioning bolt, wherein the left side and the right side of the chassis of the support frame are respectively fixed with a side plate, the stop block is fixed at the inner side of the side plate of the support frame, the tensioning bolt extends along the front-back direction, the tensioning bolt is rotatably arranged on the stop block, a threaded hole is formed at one end of the tensioning block close to the stop block, the rod part of the tensioning bolt is screwed into the threaded hole, the tensioning block is fixed with the rear wheel bracket through two guide bolts, the guide bolts extend along the left and right directions, the side plate is provided with a guide groove for the guide bolts to pass through, the guide groove is a strip-shaped groove extending along the front and back directions and is used for limiting and guiding the front and back movement of the two guide bolts, by rotating the tensioning bolt, the tensioning bolt can drive the tensioning block to move back and forth, so that the rear wheel bracket and the rear wheel are driven to move back and forth, and the tensioning force of the crawler belt is adjusted.
Furthermore, the left end and the right end of the rear wheel are respectively provided with an installation shaft, the installation shaft at the outer end is rotatably installed on the rear wheel bracket through a bearing, and the installation shaft at the inner end is rotatably installed on the tensioning block through a bearing after penetrating through an avoidance elongated slot on the side plate.
Furthermore, the center of the permanent magnet is provided with a through hole, the outer side of the permanent magnet is provided with a sponge gasket, the crawler belt is provided with a mounting hole, and the fastening bolt sequentially penetrates through the sponge gasket, the through hole of the permanent magnet and the mounting hole of the crawler belt and then screws the nut, so that the permanent magnet and the crawler belt can be detachably mounted.
Furthermore, the middle sections of the front wheel and the rear wheel are respectively provided with an annular avoiding groove for avoiding the nut.
Furthermore, the driving mechanism is a driving motor, the driving motor is installed on the supporting frame, and an output shaft of the driving motor is fixedly connected with the front wheel.
Furthermore, the shell comprises a front shell and a rear shell which are hinged front and back, the front shell is fixed on the chassis, and the bottom end of the rear shell and the rear end of the chassis are prevented from moving left and right by a mode of embedding a lug and a groove.
Further, obstacle crossing magnetic wheel mechanisms comprise two groups, two groups of obstacle crossing magnetic wheel mechanisms are arranged side by side on the left and right sides of the front end of the chassis, and each group of obstacle crossing magnetic wheel mechanisms comprise two obstacle crossing magnetic wheels which are arranged side by side on the left and right sides and are adsorbed mutually.
Furthermore, the left side and the right side of the front end of the supporting frame are respectively provided with a rotatable steering wheel, the two steering wheels respectively protrude forwards and outwards out of the supporting frame, and the middle part of the front end of the supporting frame is provided with a camera.
Compared with the prior art, the invention has the following advantages:
1. the invention provides a magnetic adsorption crawler-type wall-climbing robot, wherein a plurality of permanent magnets are arranged on a crawler, and magnetic adsorption is carried out on the magnetic adsorption crawler and a magnetic conduction wall surface through the permanent magnets on the crawler; meanwhile, the obstacle-crossing magnetic wheel mechanism is arranged in the middle of the support frame, so that the obstacle-crossing function can be realized, the magnetic adsorption force between the obstacle-crossing magnetic wheel mechanism and the magnetic conduction wall surface can be enhanced, the adsorption capacity of the whole robot is improved, the falling-off phenomenon caused by insufficient adsorption force of the robot is prevented, and the stable and reliable adsorption of the robot can be realized on the magnetic conduction wall surfaces with different roughness. And whole robot owing to do not need extra to add the power supply to magnetism adsorption crawler-type motion, consequently can realize miniaturization, lightweight design, overall structure overall arrangement is compact, occupation space not, even also can realize normal operation in narrow and small space, for example wash and blade detection, chemical industry jar body is clean and is detected a flaw, boats and ships rust cleaning and annex thing are got rid of under water and industrial scenes such as pipeline detection and flaw detection can both be suitable for.
2. According to the magnetic adsorption crawler-type wall-climbing robot, the tensioning force of the crawler can be adjusted by the crawler tensioning device, so that the magnetic adsorption crawler-type wall-climbing robot can be suitable for the conditions of various complex wall surfaces such as a straight wall surface or a curved wall surface, and the application range is very wide. And the tension bolt only needs to be rotated, so that the tension force can be adjusted, and the operation process is convenient and quick.
3. According to the magnetic adsorption crawler-type wall-climbing robot, the magnetic adsorption crawler-type motion mechanism, the obstacle crossing magnetic wheel mechanism, the crawler tensioning device and the like are independent modular units, when one unit breaks down, only one unit needs to be replaced, maintenance is convenient, and cost is saved.
4. According to the magnetic adsorption crawler-type wall-climbing robot, in the magnetic adsorption crawler-type moving mechanism, the permanent magnets are detachably mounted on the crawler through the fastening bolts, the number of the permanent magnets can be adjusted according to needs, and therefore the size of adsorption magnetic force is adjusted to adapt to wall surfaces with different roughness. And the sponge gasket is arranged on the outer side of the permanent magnet, so that on one hand, the whole robot can be buffered, on the other hand, the permanent magnet can be prevented from being broken due to collision, and the permanent magnet is effectively protected.
5. According to the magnetic adsorption crawler-type wall-climbing robot, the steering wheels are respectively arranged on the left side and the right side of the front end of the support frame, the robot can perform obstacle avoidance turning in a right-angle area by means of the steering wheels, damage or falling of the robot caused by direct rigid collision of the robot body is prevented, and the safety and stability of the operation of the robot are guaranteed. And the front end of the support frame is provided with a camera which can detect the front wall surface and is used as a reference basis for the running track of the robot.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a perspective view of the present invention with the housing removed.
Fig. 3 is a perspective view of the drive motor and track tensioner arrangement of the present invention.
Fig. 4 is a distributed perspective view of the obstacle detouring apparatus of the present invention.
FIG. 5 is a perspective view of a single-sided magnetic-adsorption track-type motion mechanism of the present invention.
Fig. 6 is a perspective view of the connection of the permanent magnet part of the present invention.
Fig. 7 is a rear wheel mounting perspective view of the present invention.
Fig. 8 is a perspective view of the obstacle detouring magnet wheel mechanism of the present invention.
Figure 9 is a perspective view of the track tensioner of the present invention.
Reference numbers in the figures: 1 supporting a frame; 2, a steering wheel; 3, a camera; 4, magnetic adsorption crawler type motion mechanism; 5 obstacle crossing magnetic wheel mechanism; 6, a chassis; 7 side plates; 8 a front housing; 9 a rear housing; 10 tracks; 11 front wheels; 12 a rear wheel; 13 a permanent magnet; 14 a sponge pad; 15 a nut; 16 annular evasion grooves; 17 driving a motor; 18 obstacle crossing magnetic wheels; 19 a magnetic wheel support frame; 20 a first hinge axis; 21, a support; 22 a damper; 23 a second hinge shaft; 24 a third hinge shaft; 25 rear wheel support; 26 track tensioning means; 27, a stop block; 28 tensioning blocks; 29 tensioning the bolt; 30, guiding a bolt; 31 a guide groove; 32 installing shafts; 33 avoidance slots; 34 to tighten the bolts.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Referring to fig. 1 to 9, this embodiment discloses a wall robot is climbed to magnetic adsorption crawler-type, including supporting frame 1, the left and right sides of the front end of supporting frame 1 is equipped with respectively can the pivoted directive wheel 2, and outside two directive wheels 2 extended support frame 1 forward to the evagination respectively, supporting frame 1 front end middle part was equipped with camera 3. The left side and the right side of the supporting frame 1 are respectively provided with a set of magnetic adsorption crawler type motion mechanism 4, the bottom of the supporting frame 1 is provided with an obstacle crossing magnetic wheel mechanism 5, the supporting frame 1 comprises a chassis 6 and a shell installed above the chassis 6, the left side and the right side of the chassis 6 of the supporting frame 1 are respectively fixed with a side plate 7, and the shell covers the two side plates 7. The shell comprises preceding shell 8 and back shell 9 of front and back articulated, and preceding shell 8 is fixed on chassis 6, through the mode of lug and recess looks gomphosis between 9 bottoms of back shell and the chassis 6 rear end, prevents both and controls the drunkenness.
Each set of magnetic adsorption crawler type movement mechanism 4 comprises a crawler belt 10, a front wheel 11 and a rear wheel 12, wherein the front wheel 11 and the rear wheel 12 are respectively and rotatably installed on the outer side of the support frame 1, and the outer side of the front wheel 11 blocks a bearing through a front wheel 11 bearing blocking piece. The crawler belt 10 is in transmission connection with the rear wheel 12 through the front wheel 11, the plurality of permanent magnets 13 are arranged on the surface of the crawler belt 10, through holes are formed in the centers of the permanent magnets 13, sponge gaskets 14 are arranged on the outer sides of the permanent magnets 13, mounting holes are formed in the crawler belt 10, and the fastening bolts 34 sequentially penetrate through the sponge gaskets 14, the through holes of the permanent magnets 13 and the mounting holes of the crawler belt 10 and then screw nuts 15 tightly to achieve detachable mounting of the permanent magnets 13 and the crawler belt 10. The middle sections of the front wheel 11 and the rear wheel 12 are respectively provided with an annular avoidance groove 16 for avoiding the nut 15. Through permanent magnet 13 and magnetic conduction wall magnetic adsorption to adsorb whole robot on the magnetic conduction wall, drive front wheel 11 through actuating mechanism and rotate, thereby drive track 10 operation, and then drive whole robot and advance. The driving mechanism is a driving motor 17, the driving motor 17 is installed on the supporting frame 1, and an output shaft of the driving motor 17 is fixedly connected with the front wheel 11.
Obstacle-crossing magnetic wheel mechanisms 5 are arranged in the middle of a support frame 1, the obstacle-crossing magnetic wheel mechanisms 5 comprise two groups, the two groups of obstacle-crossing magnetic wheel mechanisms 5 are arranged side by side on the left and right of the front end of a chassis 6, and each group of obstacle-crossing magnetic wheel mechanism 5 comprises two obstacle-crossing magnetic wheels 18 which are arranged side by side on the left and right and are adsorbed mutually. Two magnetic wheel 18 that hinder more of every group rotate and install in magnetic wheel support frame 19 bottom, 19 tops of magnetic wheel support frame rotate through first articulated shaft 20 and install on the support 21 on chassis 6, 19 middle sections of magnetic wheel support frame are connected with the shell of supporting frame 1 through a attenuator 22, 22 tops of attenuator articulate in the front on shell 8 through second articulated shaft 23, attenuator 22 bottom articulates on magnetic wheel support frame 19 through third articulated shaft 24, first articulated shaft 20, second articulated shaft 23, third articulated shaft 24 all extends along left right direction. The bottom of the obstacle-crossing magnetic wheel 18 extends downwards below the chassis 6, and the obstacle-crossing magnetic wheel 18 is magnetically attached to the magnetic conduction wall surface during operation.
The rear wheel 12 is rotatably mounted on a rear wheel bracket 25, and a track-tightening device 26 for tightening the track 10 is connected to the inside of the rear wheel bracket 25. The track tensioning device 26 comprises a stop block 27, a tensioning block 28 and a tensioning bolt 29, wherein the stop block 27 is fixed on the inner side of the side plate 7 of the support frame 1, the tensioning bolt 29 extends along the front-back direction, the tensioning bolt 29 is rotatably arranged on the stop block 27, the tensioning block 28 is provided with a threaded hole at one end close to the stop block 27, the rod part of the tensioning bolt 29 is screwed into the threaded hole, the tensioning block 28 is fixed with the rear wheel bracket 25 through two guide bolts 30, the guide bolts 30 extend along the left-right direction, a guide groove 31 for the guide bolts 30 to pass through is arranged on the side plate 7, the guide groove 31 is a strip-shaped groove extending along the front-back direction, the guide groove 31 is used for limiting and guiding the front and back movement of the two guide bolts 30, by turning the tensioning bolt 29, the tensioning bolt 29 will move the tensioning block 28 back and forth, thereby driving the rear wheel bracket 25 and the rear wheel 12 to move back and forth, and realizing the adjustment of the tension of the crawler belt 10.
Wherein, the left and right ends of the rear wheel 12 are respectively provided with a mounting shaft 32, the mounting shaft 32 at the outer end is rotatably mounted on the rear wheel bracket 25 through a bearing, and the mounting shaft 32 at the inner end is rotatably mounted on the tensioning block 28 through a bearing after passing through an avoiding long groove 33 on the side plate 7.
When the robot works, the driving motor 17 drives the front wheels 11 to rotate, and the rear wheels 12 follow the track 10, so that the track 10 is driven to run, and the robot moves forwards or backwards; the turning action of the robot can be realized by controlling the rotation speed of the two front wheels 11 to be different. In the process, the obstacle-crossing magnetic wheel 18 can rotate in a reciprocating mode in a certain range around the first hinge shaft 20 along with the magnetic wheel support frame 19, so that an obstacle-crossing function is achieved, the damper 22 can buffer the obstacle-crossing process, severe hard collision of obstacles on the obstacle-crossing magnetic wheel 18 and the whole robot is avoided, and instantaneous impact is eliminated. In the process, the robot can avoid barriers and turn in a right-angle area by means of the steering wheel 2, the robot caused by direct rigid collision of the robot body is prevented from being damaged or falling, and the safety and stability of the robot in operation are guaranteed. And the front end of the support frame 1 is provided with a camera 3 which can detect the front wall surface and is used as a reference basis for the running track of the robot.
If the tension of the crawler 10 needs to be adjusted, the tensioning bolt 29 can be rotated to drive the tensioning block 28 to move back and forth by the tensioning bolt 29, so as to drive the rear wheel bracket 25 and the rear wheel 12 to move back and forth, thereby adjusting the tension of the crawler 10.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a wall robot is climbed to magnetic adsorption crawler-type, includes support frame (1), its characterized in that: the left side and the right side of the supporting frame (1) are respectively provided with a set of magnetic adsorption crawler type moving mechanism (4), the bottom of the supporting frame (1) is provided with an obstacle crossing magnetic wheel mechanism (5), the supporting frame (1) comprises a chassis (6) and a shell arranged above the chassis (6),
each set of magnetic adsorption crawler type movement mechanism (4) comprises a crawler belt (10), front wheels (11) and rear wheels (12), wherein the front wheels (11) and the rear wheels (12) are respectively rotatably installed on the outer side of the support frame (1), the crawler belt (10) is in transmission connection with the rear wheels (12) through the front wheels (11), a plurality of permanent magnets (13) are arranged on the surface of the crawler belt (10), and are magnetically adsorbed on the magnetic conduction wall surface through the permanent magnets (13), so that the whole robot is adsorbed on the magnetic conduction wall surface, the front wheels (11) are driven to rotate through a driving mechanism, the crawler belt (10) is driven to run, and the whole robot is driven to run;
obstacle-crossing magnetic wheel mechanism (5) is arranged in the middle of a support frame (1), obstacle-crossing magnetic wheel mechanism (5) comprises obstacle-crossing magnetic wheels (18), obstacle-crossing magnetic wheels (18) are rotatably installed at the bottom of a magnetic wheel support frame (19), the top of the magnetic wheel support frame (19) is rotatably installed on a chassis (6) of the support frame (1), the middle section of the magnetic wheel support frame (19) is connected with a shell of the support frame (1) through a damper (22), the bottom of the obstacle-crossing magnetic wheels (18) downwardly extends out of the bottom of the chassis (6), and the obstacle-crossing magnetic wheels (18) are magnetically attached to a magnetic conduction wall surface during work.
2. The magnetic adsorption crawler-type wall-climbing robot of claim 1, wherein: the rear wheel (12) is rotatably mounted on a rear wheel support (25), and a track tensioning device (26) for tensioning the track (10) is connected to the inner side of the rear wheel support (25).
3. The magnetic adsorption crawler-type wall-climbing robot of claim 2, wherein: the track tensioning device (26) comprises a stop block (27), a tensioning block (28) and a tensioning bolt (29), side plates (7) are respectively fixed on the left side and the right side of a chassis (6) of the support frame (1), the stop block (27) is fixed on the inner side of the side plate (7) of the support frame (1), the tensioning bolt (29) extends along the front-back direction, the tensioning bolt (29) is rotatably installed on the stop block (27), a threaded hole is formed in one end, close to the stop block (27), of the tensioning block (28), a rod part of the tensioning bolt (29) is screwed into the threaded hole, the tensioning block (28) is fixed with the rear wheel bracket (25) through two guide bolts (30), the guide bolts (30) extend along the left-right direction, a guide groove (31) for the guide bolt (30) to pass through is formed in the side plate (7), the guide groove (31) is a strip-shaped groove extending along the front-back direction, and the guide groove (31) is used for limiting and guiding the front and back movement of the two guide bolts (30), by rotating the tensioning bolt (29), the tensioning bolt (29) can drive the tensioning block (28) to move back and forth, so that the rear wheel bracket (25) and the rear wheel (12) are driven to move back and forth, and the tensioning force of the crawler belt (10) is adjusted.
4. A magnetic adsorption crawler-type wall-climbing robot as claimed in claim 3, wherein: both ends are equipped with installation axle (32) respectively about rear wheel (12), and installation axle (32) of outer end rotate through the bearing and install on rear wheel support (25), and installation axle (32) of inner pass through behind the dodge elongated slot (33) on curb plate (7) through the bearing rotation install on tensioning block (28).
5. The magnetic adsorption crawler-type wall-climbing robot of claim 1, wherein: the center of the permanent magnet (13) is provided with a through hole, the outer side of the permanent magnet (13) is provided with a sponge gasket (14), the crawler belt (10) is provided with a mounting hole, and the fastening bolt (34) sequentially penetrates through the through hole of the sponge gasket (14) and the permanent magnet (13) and the mounting hole of the crawler belt (10) and then screws the nut (15), so that the permanent magnet (13) and the crawler belt (10) can be detachably mounted.
6. The magnetic adsorption crawler-type wall-climbing robot of claim 5, wherein: the middle sections of the front wheel (11) and the rear wheel (12) are respectively provided with an annular avoiding groove (16) for avoiding the nut (15).
7. The magnetic adsorption crawler-type wall-climbing robot of claim 1, wherein: the driving mechanism is a driving motor (17), the driving motor (17) is installed on the supporting frame (1), and an output shaft of the driving motor (17) is fixedly connected with the front wheel (11).
8. The magnetic adsorption crawler-type wall-climbing robot of claim 1, wherein: the shell comprises front shell (8) and rear shell (9) which are hinged front and back, the front shell (8) is fixed on the chassis (6), and the bottom end of the rear shell (9) and the rear end of the chassis (6) are embedded through a convex block and a groove to prevent the left and right movement of the front shell and the rear shell.
9. The magnetic adsorption crawler-type wall-climbing robot of claim 1, wherein: obstacle-crossing magnetic wheel mechanisms (5) comprise two groups, the two groups of obstacle-crossing magnetic wheel mechanisms (5) are arranged side by side on the left and right sides of the front end of a chassis (6), and each group of obstacle-crossing magnetic wheel mechanisms (5) comprise two obstacle-crossing magnetic wheels (18) which are arranged side by side on the left and right sides and are mutually adsorbed.
10. The magnetic adsorption crawler-type wall-climbing robot of claim 1, wherein: the left side and the right side of the front end of the supporting frame (1) are respectively provided with a rotatable steering wheel (2), the two steering wheels (2) respectively extend outwards forwards to the outside of the supporting frame (1), and the middle part of the front end of the supporting frame (1) is provided with a camera (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110750693.6A CN113371088A (en) | 2021-07-02 | 2021-07-02 | Magnetic adsorption crawler-type wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110750693.6A CN113371088A (en) | 2021-07-02 | 2021-07-02 | Magnetic adsorption crawler-type wall-climbing robot |
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| CN113371088A true CN113371088A (en) | 2021-09-10 |
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| CN202110750693.6A Pending CN113371088A (en) | 2021-07-02 | 2021-07-02 | Magnetic adsorption crawler-type wall-climbing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113844564A (en) * | 2021-10-26 | 2021-12-28 | 河海大学 | Magnetic adsorption wall-climbing robot suitable for multiple vertical surfaces |
| CN114013528A (en) * | 2021-11-01 | 2022-02-08 | 重庆大学 | Wall-climbing robot for walking operation of boiler water wall in thermal power plant |
| CN114715302A (en) * | 2022-04-08 | 2022-07-08 | 北京京能能源技术研究有限责任公司 | Crawler-type wall climbing robot suitable for water-cooled wall detection |
-
2021
- 2021-07-02 CN CN202110750693.6A patent/CN113371088A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113844564A (en) * | 2021-10-26 | 2021-12-28 | 河海大学 | Magnetic adsorption wall-climbing robot suitable for multiple vertical surfaces |
| CN114013528A (en) * | 2021-11-01 | 2022-02-08 | 重庆大学 | Wall-climbing robot for walking operation of boiler water wall in thermal power plant |
| CN114715302A (en) * | 2022-04-08 | 2022-07-08 | 北京京能能源技术研究有限责任公司 | Crawler-type wall climbing robot suitable for water-cooled wall detection |
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