CN114228857A - Magnetic force adjustable electromagnetism adsorbs formula wall climbing robot - Google Patents
Magnetic force adjustable electromagnetism adsorbs formula wall climbing robot Download PDFInfo
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- CN114228857A CN114228857A CN202111683147.1A CN202111683147A CN114228857A CN 114228857 A CN114228857 A CN 114228857A CN 202111683147 A CN202111683147 A CN 202111683147A CN 114228857 A CN114228857 A CN 114228857A
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- electromagnetic adsorption
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- climbing robot
- control module
- connecting plate
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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
Abstract
The invention discloses a magnetic force adjustable electromagnetic adsorption type wall climbing robot which comprises a main body connecting plate, wherein a left wheel driving module and a right wheel driving module are symmetrically arranged on the left side and the right side of the front side of the main body connecting plate, a universal driven magnetic wheel is arranged on the rear side of the main body connecting plate, an electric control module is arranged on the lower side of the main body connecting plate, the left wheel driving module and the right wheel driving module respectively comprise a driving wheel and an electromagnetic adsorption module, the electromagnetic adsorption modules are connected with the electric control module and comprise an even number, the current directions of the adjacent electromagnetic adsorption modules are opposite to each other to generate opposite magnetic poles, every two adjacent electromagnetic adsorption modules are transversely or longitudinally combined to form a magnet group, and the electric control module changes the current according to a gap signal so as to change the electromagnetic adsorption force of the electromagnetic adsorption modules. The electromagnetic adsorption module is adopted, when the wall climbing robot works, the electric control module flexibly changes the electromagnetic adsorption force of the device by changing the current according to the real-time distance information collected by the infrared distance meter, the larger the distance is, the larger the electromagnetic adsorption force is, and the safety and the flexibility of the wall climbing robot are considered.
Description
Technical Field
The invention mainly relates to the technical field of wall-climbing robots, in particular to an electromagnetic adsorption type wall-climbing robot with adjustable magnetic force.
Background
The industrial production has a plurality of requirements in the aspect of high-altitude operation, such as cleaning, descaling and spraying of large ships, inspection, flaw detection and maintenance of thermal power boilers, and the high-altitude operation is carried out by using a wall-climbing robot instead of manpower, so that the working efficiency and the safety can be improved.
The existing magnetic adsorption wall-climbing robot is mainly divided into a permanent magnetic adsorption type and an electromagnetic adsorption type, wherein the permanent magnetic adsorption type has large adsorption force and a simple structure, but the adsorption force of the permanent magnetic adsorption is mostly unadjustable, so that the wall-climbing robot has adsorption problems on the wall surfaces with different curvatures and magnetic conductivities. The magnetic force is too large, the walking resistance is too large, and the walking flexibility of the robot is reduced; the magnetic force is too small, the load capacity is too small, and the risk of wall surface sliding exists. The electromagnetic adsorption type wall climbing robot has the capability of flexibly and controllably adsorbing force, but the load resisting capability is usually small, and the mass and the volume of the wall climbing robot are increased rapidly to obtain larger load capacity.
Based on the above discussion, it is desirable to provide an electromagnetic attraction type wall-climbing robot with adjustable magnetic force, which can solve the above problems.
Disclosure of Invention
The invention aims to overcome the problems and provides the electromagnetic adsorption type wall-climbing robot with adjustable magnetic force, which can realize larger magnetic adsorption force, has higher load resistance, can reasonably adjust the electromagnetic adsorption force aiming at magnetic wall surfaces with different curvatures and improves the flexibility and the safety of the robot.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the electromagnetic adsorption type wall climbing robot comprises a main body connecting plate, wherein the left wheel driving module and the right wheel driving module are symmetrically arranged on the left side and the right side of the front side of the main body connecting plate, the universal driven magnetic wheel is arranged on the rear side of the main body connecting plate, the electric control module is arranged on the lower side of the main body connecting plate, the left wheel driving module and the right wheel driving module respectively comprise a driving wheel and an electromagnetic adsorption module, the electromagnetic adsorption modules are connected with the electric control module and comprise an even number, the current directions of the adjacent electromagnetic adsorption modules are opposite to each other to generate opposite magnetic poles, every two adjacent electromagnetic adsorption modules are transversely or longitudinally combined to form a magnet group, and the electric control module changes the current magnitude according to a gap signal so as to change the electromagnetic adsorption force of the electromagnetic adsorption modules.
Further, be equipped with infrared distance meter on the main part connecting plate, electrical control module and infrared distance meter communication connection detect through infrared distance meter the clearance signal between wall climbing robot and the magnetism wall, the clearance increase, the electric current increase to increase the electromagnetic adsorption power, otherwise then reduce the electromagnetic adsorption power.
Furthermore, the electromagnetic adsorption module is externally provided with a yoke, the inside of the electromagnetic adsorption module contains an iron core, and the surface of the iron core is wound with a copper coil.
Furthermore, the electromagnetic adsorption modules are arranged in a fan shape.
Furthermore, the left wheel driving module and the right wheel driving module have the same structure and also comprise an electrical appliance protection cover, and two driving wheels are respectively arranged on two sides of the electrical appliance protection cover; install servo drive motor and reduction gear in the electrical apparatus safety cover, the electromagnetism absorption module is installed to the downside of electrical apparatus safety cover.
Further be equipped with clean scale removal module below the electrical control module, clean scale removal module rear is equipped with clean module driving motor, clean scale removal module top is equipped with infrared distance meter, main part connecting plate top is equipped with safety and prevents weighing down rings.
Furthermore, still be equipped with the aviation socket on the electrical control module, the electrical control module passes through aviation socket and clean module driving motor, infrared distance meter, servo driving motor, electromagnetic adsorption module communication connection.
The beneficial effects are that:
the invention provides an electromagnetic adsorption type wall climbing robot with adjustable magnetic force, which adopts an electromagnetic adsorption module, wherein when the electromagnetic adsorption type wall climbing robot works, an electrical control module flexibly changes the electromagnetic adsorption force of a device by changing the current according to real-time distance information acquired by an infrared distance meter, and the larger the distance is, the larger the electromagnetic adsorption force is, so that the safety and the flexibility of the wall climbing robot are considered; the plurality of magnet groups are adopted, the current directions of every two magnet groups are opposite, so that every two magnet groups generate opposite magnetic poles to form a closed magnetic field, the magnetic leakage is reduced, and therefore, the larger electromagnetic adsorption force is generated, and the wall-climbing robot has higher anti-load capacity.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic perspective view of a left wheel driving module according to the present invention;
FIG. 3 is a schematic diagram of an electromagnetic adsorption module of the present invention;
FIG. 4 is a schematic view of a transverse magnet assembly formed by the electromagnetic adsorption module of the present invention;
FIG. 5 is a schematic view of a longitudinal magnet assembly formed by the electromagnetic adsorption module of the present invention;
FIG. 6 is a schematic diagram of the magnetic pole arrangement of the electromagnetic adsorption module of the present invention;
wherein: 1. a left wheel drive module; 2. a right wheel drive module; 3. a main body connecting plate; 4. an electrical control module; 5. cleaning the descaling module; 6. the cleaning module drives the motor; 7. an infrared range finder; 8. a universal driven magnetic wheel; 9. the safe anti-falling hanging ring; 10. an aviation socket; 11. a magnetic wall surface; 1-1, a driving wheel; 1-2, a speed reducer; 1-3, an electric appliance protective cover; 1-4, a servo drive motor; 1-6, mounting a yoke iron; 1-7, an electromagnetic adsorption module; 1-7-1, yoke iron; 1-7-2, copper coil; 1-7-3 and an iron core.
Detailed Description
The preferred mechanisms and methods of motion realization of the present invention are further described below in conjunction with the figures and the detailed description.
As shown in fig. 1-3, the electromagnetic adsorption type wall-climbing robot with adjustable magnetic force comprises a left wheel driving module 1, a right wheel driving module 2, a main body connecting plate 3, an electrical control module 4, a cleaning and descaling module 5, a cleaning module driving motor 6, a universal driven magnetic wheel 8 and a safety anti-falling hanging ring 9.
The main part connecting plate 3 is the triangle-shaped structure, and its positive front side below left and right sides symmetry is equipped with left wheel drive module 1 and right wheel drive module 2, and the rear side below is equipped with universal driven magnetic wheel 8.
The below of main part connecting plate 3 still is equipped with electrical control module 4, is in between left wheel drive module 1, right wheel drive module 2 and the universal driven magnetic wheel 8, electrical control module 4's below is equipped with clean scale removal module 5, clean scale removal module 5 rear is equipped with clean module driving motor 6, clean scale removal module 6 top is equipped with infrared distance meter 7, main part connecting plate 3 top is equipped with safety and prevents weighing down rings 9.
The left driving module 1 and the right driving module 2 have the same structure, so that the left driving module 1 is taken as an example, the left driving module 1 comprises two driving wheels 1-1 respectively arranged at the left side and the right side, an electric appliance protection cover 1-3 is arranged between the two driving wheels 1-1, a servo driving motor 1-4 and a speed reducer 1-2 are arranged inside the electric appliance protection cover 1-3, a yoke mounting plate 1-6 is arranged on the lower side of the electric appliance protection cover 1-3, and an even number of electromagnetic adsorption modules 1-7 are arranged on the lower side of the yoke mounting plate 1-6.
The electromagnetic adsorption module 1-7 is externally provided with a yoke 1-7-1, the inside of the electromagnetic adsorption module comprises an iron core 1-7-3, the surface of the iron core 1-7-3 is wound with a copper coil 1-7-2, every two adjacent electromagnetic adsorption modules 1-7 are combined transversely or longitudinally to form a magnet group, and the magnet groups are arranged in a sector shape.
The electromagnetic adsorption modules 1-7 comprise an even number, each electromagnetic adsorption module 1-7 is connected in parallel to form a plurality of electric loops, the current directions of the adjacent electromagnetic adsorption modules 1-7 are opposite, and every two adjacent electromagnetic adsorption modules 1-7 are combined transversely or longitudinally to form a magnet group. The electric control module 4 is further provided with an aviation socket 10, and the electric control module 4 is in communication connection with the cleaning module driving motor 6 and the infrared distance meter 7 through the aviation socket 10 and is also in communication connection with the servo driving motors 1-4 and the electromagnetic adsorption modules 1-7 through the aviation socket 10.
This magnetic force adjustable electromagnetism adsorbs formula wall climbing robot's theory of operation:
the electric control module 4 is a power and control system of the wall-climbing robot, the electric control module 4 drives the servo driving motors 1-4 to generate driving force, the driving force is amplified by the speed reducer 1-2 to drive the driving wheel 1-1 to move, and then the universal driven magnetic wheel 8 is driven to move. If the signals received by the servo driving motors 1-4 in the left driving module 1 and the right driving module 2 are the same, the wall climbing robot can do linear motion, and if the signals received by the servo driving motors 1-4 in the left driving module 1 and the right driving module 2 are different, the wall climbing robot can do differential turning.
Fig. 3 shows a schematic diagram of the magnetic force generated by the single electromagnetic adsorption module 1-7 when current is applied, I is the direction of the current and direct current is used.
Fig. 4-5 show schematic diagrams of 2 electromagnetic absorption modules 1-7 with opposite current directions, which generate magnetic induction lines in the transverse direction and the longitudinal direction respectively.
Fig. 6 is a schematic diagram of 8 electromagnetic adsorption modules 1 to 7, wherein adjacent electromagnetic adsorption modules 1 to 7 are respectively supplied with currents in opposite directions, and the N pole and the S pole thereof are illustrated.
The electric control module 4 supplies power to the electromagnetic adsorption modules 1-7, the electrified copper coils 1-7-2 and the iron cores 1-7-3 form electromagnets, magnetic leakage is reduced by matching with the yokes 1-7-1, current in opposite directions is introduced into every two connected electromagnetic adsorption modules 1-7, so that every two connected electromagnetic adsorption modules 1-7 generate opposite magnetic poles to form a plurality of transverse or longitudinal combined magnet groups, the magnet groups can form a closed magnetic field to further reduce magnetic leakage, and larger electromagnetic adsorption force is generated by matching with the iron cores 1-7-3 to improve the load resistance of the wall climbing robot.
The electromagnetic adsorption force jointly generated by the plurality of electromagnetic adsorption modules 1-7 is offset along the horizontal direction of the magnetic wall surface 11, the electromagnetic adsorption force is superposed along the normal direction of the magnetic wall surface 11, the magnetic adsorption force generated by the universal driven magnetic wheel 8 is also along the normal direction of the magnetic wall surface 11, and the directions of the magnetic adsorption force and the magnetic wall surface are the same, so that the wall-climbing robot can be stably adsorbed on the magnetic wall surface 11.
In summary, the electromagnetic adsorption wall-climbing robot with adjustable magnetic force of the invention adopts the electromagnetic adsorption modules 1-7, and can flexibly change the electromagnetic adsorption force of the wall-climbing robot according to the gap between the wall-climbing robot and the magnetic wall surface 11, so that the wall-climbing robot has higher safety and flexibility; every two electromagnetic adsorption modules 1-7 form a magnet group, every two electromagnetic adsorption modules generate opposite magnetic poles to form a closed magnetic field, so that greater electromagnetic adsorption force is generated, and the wall-climbing robot has higher load resistance.
Finally, it should be noted that: although the present invention has been described in detail with reference to the embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (7)
1. The electromagnetic adsorption type wall-climbing robot with the adjustable magnetic force is characterized by comprising a main body connecting plate (3), wherein the left wheel driving module (1) and the right wheel driving module (2) are symmetrically arranged on the left side and the right side of the front side of the main body connecting plate, the universal driven magnetic wheel (8) is arranged on the rear side of the main body connecting plate, the electric control module (4) is arranged on the lower side of the main body connecting plate, the left wheel driving module (1) and the right wheel driving module (2) respectively comprise driving wheels (1-1) and electromagnetic adsorption modules (1-7), the electromagnetic adsorption modules (1-7) are connected with the electric control module (4) and comprise even numbers, the current directions of the adjacent electromagnetic adsorption modules (1-7) are opposite to each other to generate opposite magnetic poles, every two adjacent electromagnetic adsorption modules (1-7) are transversely or longitudinally combined to form a magnet group, and the electric control module (4) changes the current magnitude according to a gap signal so as to change the electromagnetic adsorption of the electromagnetic adsorption modules (1-7) And (4) attaching force.
2. The magnetic force-adjustable electromagnetic adsorption type wall-climbing robot is characterized in that an infrared distance meter (7) is arranged on the main body connecting plate (3), the electrical control module (4) is in communication connection with the infrared distance meter (7), a gap signal between the wall-climbing robot and the magnetic wall surface (11) is detected through the infrared distance meter (7), the gap is increased, the current is increased, the electromagnetic adsorption force is increased, and otherwise, the electromagnetic adsorption force is reduced.
3. The magnetic force adjustable electromagnetic adsorption type wall climbing robot is characterized in that a yoke (1-7-1) is arranged outside the electromagnetic adsorption module (1-7), an iron core (1-7-3) is contained inside the electromagnetic adsorption module, and a copper coil (1-7-2) is wound on the surface of the iron core (1-7-3).
4. The magnetic force adjustable electromagnetic adsorption type wall climbing robot according to claim 1, characterized in that the electromagnetic adsorption modules (1-7) are arranged in a fan shape.
5. The magnetic force adjustable electromagnetic adsorption type wall climbing robot is characterized in that the left wheel driving module (1) and the right wheel driving module (2) are identical in structure, the magnetic force adjustable electromagnetic adsorption type wall climbing robot further comprises an electrical appliance protection cover (1-3), and two driving wheels (1-1) are arranged on two sides of the electrical appliance protection cover (1-3) respectively; the electric appliance protection cover is characterized in that a servo driving motor (1-4) and a speed reducer (1-2) are installed in the electric appliance protection cover (1-3), and an electromagnetic adsorption module (1-7) is installed on the lower side of the electric appliance protection cover (1-3).
6. The magnetic force adjustable electromagnetic adsorption type wall-climbing robot according to claim 5, characterized in that a cleaning and descaling module (5) is arranged below the electrical control module (4), a cleaning module driving motor (6) is arranged behind the cleaning and descaling module (5), an infrared distance meter (7) is arranged above the cleaning and descaling module (6), and a safety anti-falling hanging ring (9) is arranged above the main body connecting plate (3).
7. The magnetic force adjustable electromagnetic adsorption type wall climbing robot according to claim 6, characterized in that an aviation socket (10) is further arranged on the electrical control module (4), and the electrical control module (4) is in communication connection with the cleaning module driving motor (6), the infrared distance meter (7), the servo driving motors (1-4) and the electromagnetic adsorption modules (1-7) through the aviation socket (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111683147.1A CN114228857A (en) | 2021-12-31 | 2021-12-31 | Magnetic force adjustable electromagnetism adsorbs formula wall climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111683147.1A CN114228857A (en) | 2021-12-31 | 2021-12-31 | Magnetic force adjustable electromagnetism adsorbs formula wall climbing robot |
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| CN114228857A true CN114228857A (en) | 2022-03-25 |
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| CN202111683147.1A Pending CN114228857A (en) | 2021-12-31 | 2021-12-31 | Magnetic force adjustable electromagnetism adsorbs formula wall climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116553194A (en) * | 2023-06-14 | 2023-08-08 | 武汉煜炜光学科技有限公司 | Single-block material taking steel plate stacker based on laser radar and using method thereof |
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| WO2021012426A1 (en) * | 2019-07-22 | 2021-01-28 | 朱家义 | Anti-fall wall climbing robot and walking method thereof |
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2021
- 2021-12-31 CN CN202111683147.1A patent/CN114228857A/en active Pending
Patent Citations (6)
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| CN101941478A (en) * | 2010-09-21 | 2011-01-12 | 上海交通大学 | Electromagnetic-permanent magnetic double-exciting sucking mechanism for wall-climbing robots |
| CN104058018A (en) * | 2014-05-28 | 2014-09-24 | 苏州工业园区职业技术学院 | Control system for wall-climbing robot |
| CN205819364U (en) * | 2016-05-14 | 2016-12-21 | 上海大学 | A kind of electromagnetic adsorption type climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116553194A (en) * | 2023-06-14 | 2023-08-08 | 武汉煜炜光学科技有限公司 | Single-block material taking steel plate stacker based on laser radar and using method thereof |
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