CN114516373B - Curved surface self-adaptation wall climbing robot - Google Patents
Curved surface self-adaptation wall climbing robot Download PDFInfo
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- CN114516373B CN114516373B CN202210181856.8A CN202210181856A CN114516373B CN 114516373 B CN114516373 B CN 114516373B CN 202210181856 A CN202210181856 A CN 202210181856A CN 114516373 B CN114516373 B CN 114516373B
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- electromagnet
- magnetic field
- curved surface
- permanent magnet
- climbing robot
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention discloses a curved surface self-adaptive wall climbing robot, which comprises a machine body, wherein 4 mechanical legs are arranged on the machine body, 4 driving devices for respectively driving the 4 mechanical legs to walk are arranged in the machine body, each mechanical leg is provided with a thigh part, a lower leg part and a foot part, the upper end of the thigh part is fixedly connected with the machine body, the lower end of the thigh part is connected with the upper end of the lower leg part through a rotating joint, the lower end of the lower leg part is fixedly connected with the foot part, a mixed excitation device is arranged inside one side of the lower leg part close to the foot part, the mixed excitation device comprises a permanent magnet and an electromagnet, the outer part of the foot part is a soft outer layer, and scrap iron is filled in the foot part; when the magnetic field generated by the electromagnet through the forward current is superposed with the magnetic field generated by the permanent magnet, the iron filings are magnetized by the superposed magnetic field; when the magnetic field generated by the electromagnet through the reverse current is offset with the magnetic field generated by the permanent magnet, the iron scraps are demagnetized. The invention has the advantages of capability of crossing obstacles, flexible movement, strong adsorption force and suitability for complex curved surfaces.
Description
Technical Field
The invention belongs to the technical field of wall-climbing robots, and particularly relates to a curved surface self-adaptive wall-climbing robot.
Background
The wall climbing robot belongs to the field of special robots, is an important branch of the field of mobile robots, combines the ground mobile robot technology with the adsorption technology, and can realize operation in a high-scale space wall surface environment. The method is widely applied to rust removal and flaw detection of ships, cleaning of the outer surface of large buildings, paint spraying and detection of large oil tanks in petrochemical industry, maintenance of large wind power fan blades and the like.
At present, the wall climbing robot has the main problem that the wall climbing robot cannot work well in the complex curved surface environment with curvature change because the working wall surface environment of the wall climbing robot is mostly a single flat wall surface or a curved surface with gentle curvature change, and the fundamental reason of the wall climbing robot is that the problem of adaptation of the wall climbing robot to the complex wall surface in a three-dimensional space is not well solved, so that the further development and application of the wall climbing robot are restricted to a great extent. Therefore, the complex curved surface adaptability of the wall climbing robot needs to be researched.
Common problems with existing wall-climbing robots include the following:
lack of autonomous compliance of the wall: most of the existing magnetic adsorption type wall climbing robots cannot adapt to curved surface operation wall surfaces well, mainly adopt a relatively solidified chassis adsorption structure design, namely a crawler type or a wheel type, cannot be effectively attached to a warped curved surface, so that the wall surfaces are small in contact area and unstable in contact, have the defects of easiness in slipping, poor stability and the like, and meanwhile, the defects of insufficient adsorption efficiency, incapability of obtaining better zone load capacity and further incapability of breaking through vicious circle of adsorption force and self weight are caused. This restricts the popularization and application of the wall-climbing robot from the root.
Disclosure of Invention
The invention aims to provide a curved surface self-adaptive wall climbing robot which can cross obstacles, is flexible in movement, strong in adsorption force and suitable for complex curved surfaces.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
a curved surface self-adaptive wall climbing robot comprises a robot body, wherein 4 mechanical legs are arranged on the robot body, 4 driving devices for respectively driving the 4 mechanical legs to walk are arranged in the robot body, each mechanical leg is provided with a thigh part, a lower leg part and a foot part, the upper end of the thigh part is fixedly connected with the robot body, the lower end of the thigh part is connected with the upper end of the lower leg part through a rotary joint, the lower end of the lower leg part is fixedly connected with the foot part, a mixed excitation device is arranged inside one side, close to the foot part, of the lower leg part, the mixed excitation device comprises a permanent magnet and an electromagnet, the outer part of the foot part is a soft outer layer, and scrap iron is filled inside the foot part; when the magnetic field generated by the electromagnet through forward current is superposed with the magnetic field generated by the permanent magnet, the iron scraps are magnetized by the superposed magnetic field; when the magnetic field generated by the electromagnet through the reverse current is counteracted with the magnetic field generated by the permanent magnet, the iron scraps are demagnetized.
As a preferable aspect of the present invention, the foot has a plate-like structure.
In a preferred embodiment of the present invention, the thigh portion and the lower leg portion are both of a hollow pipe structure.
As a preferable scheme of the present invention, the driving device includes a motor, a driving roller, a driven roller, and a transmission belt rope, a power output end of the motor is fixedly connected to the driving roller, the driven roller is fixedly connected to a joint rotating shaft of the rotating joint, and the transmission belt rope is in transmission connection with the driving roller and the driven roller.
As a preferable scheme of the present invention, the driving roller and the driven roller are both sprockets, and the driving belt rope is a particle flexible rope.
As a preferable aspect of the present invention, the belt line is inserted into a cavity of the thigh portion.
As a preferable scheme of the present invention, the permanent magnet and the electromagnet are sequentially fixed in the cavity of the shank portion along the axial direction of the shank portion, the electromagnet is disposed at the upper portion of the permanent magnet, and the magnetizing directions of the permanent magnet and the electromagnet are both the axial direction of the shank portion.
As a preferable aspect of the present invention, the electromagnet includes a magnetically permeable iron core and an excitation coil wound around an outer periphery of the magnetically permeable iron core.
Compared with the prior art, the curved surface self-adaptive wall-climbing robot provided by the invention has the beneficial effects that:
according to the curved surface self-adaptive wall-climbing robot, through the design of the mixed excitation device consisting of the permanent magnet and the electromagnet and the soft feet wrapping iron scraps, when a magnetic field generated by the electromagnet through forward current is superposed with a magnetic field generated by the permanent magnet, the iron scraps in the feet are magnetized by the superposed magnetic field and are adsorbed on the magnetic working wall surface; when the magnetic field generated by the electromagnet through the reverse current is offset with the magnetic field generated by the permanent magnet, iron scraps in the feet are demagnetized, and the feet are separated from the magnetic working wall surface; therefore, forward movement is realized by controlling the adsorption and the separation of the four feet. Meanwhile, due to the flexible design of the feet, under the action of a magnetic field, the feet can be completely attached to the magnetic wall surfaces with different curvature radiuses through the magnetic property of the iron chips, so that the contact area is increased, the adsorption stability is improved, and the magnetic iron chip is particularly suitable for curved surface environments with complex curvature changes; and the hybrid excitation mode that permanent magnet and electro-magnet are constituteed can improve the adsorption affinity, further improves the stability of absorption. In addition, the curved surface self-adaptive wall-climbing robot adopts a four-foot form, can cross obstacles and is flexible in movement.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
Fig. 1 is a schematic structural diagram of a curved surface adaptive wall-climbing robot provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of the hybrid excitation device.
The mark in the figure is:
1. a body; 2. mechanical leg, 21, thigh, 22, shank, 23, foot, 24, rotary joint; 3. the driving device 31, the motor 32, the driving roller 33, the driven roller 34 and the transmission belt rope; 4. the hybrid excitation device comprises 41 permanent magnets 42 electromagnets 421, magnetic iron cores 422 and excitation coils.
Detailed Description
The following detailed description of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. It should be understood that the terms "upper end", "lower end", and the like are used herein to describe various information, but the information should not be limited to these terms, which are used only to distinguish one type of information from another. For example, "upper" information may also be referred to as "lower" information, and similarly, "lower" information may also be referred to as "upper" information, without departing from the scope of the present invention.
As shown in fig. 1 and fig. 2, a curved surface adaptive wall-climbing robot provided by an embodiment of the present invention includes a body 1, 4 mechanical legs 2 are installed on the body 1, 4 driving devices 3 for respectively driving the 4 mechanical legs 2 to walk are installed in the body 1, each mechanical leg 2 is provided with a thigh portion 21, a shank portion 22 and a foot portion 23, an upper end of the thigh portion 21 is fixedly connected with the body 1, a lower end of the thigh portion 21 is connected with an upper end of the shank portion 22 through a rotating joint 24, a lower end of the shank portion 22 is fixedly connected with the foot portion 23, a hybrid excitation device 4 is installed inside one side of the shank portion 22 close to the foot portion 23, the hybrid excitation device 4 includes a permanent magnet 41 and an electromagnet 42, an outer soft layer is provided outside the foot portion 23, and iron pieces are filled inside the foot portion 23; when the magnetic field generated by the electromagnet 42 through the forward current is superimposed with the magnetic field generated by the permanent magnet 41, the iron pieces are magnetized by the superimposed magnetic field; when the magnetic field generated by the electromagnet 42 through the reverse current is cancelled by the magnetic field generated by the permanent magnet 41, the iron pieces are demagnetized.
Therefore, according to the curved surface self-adaptive wall-climbing robot provided by the embodiment of the invention, through the design of the mixed excitation device 4 consisting of the permanent magnet 41 and the electromagnet 42 and the soft foot 23 wrapping iron chips, when the magnetic field generated by the electromagnet 42 through forward current is superposed with the magnetic field generated by the permanent magnet 41, the iron chips in the foot 23 are magnetized by the superposed magnetic field and adsorbed on the magnetic working wall surface; when the magnetic field generated by the electromagnet 42 through the reverse current is counteracted with the magnetic field generated by the permanent magnet 41, the iron scraps in the foot part 23 are demagnetized, and the foot part 23 is separated from the magnetic working wall surface; therefore, the forward movement is realized by controlling the adsorption and the separation of the four feet. Meanwhile, due to the flexible design of the foot part 23, under the action of a magnetic field, the foot part 23 can be completely attached to the magnetic wall surfaces with different curvature radiuses by the magnetic property of the iron filings, so that the contact area is increased, the adsorption stability is improved, and the magnetic iron filings are particularly suitable for curved surface environments with complex curvature changes; in addition, the hybrid excitation method formed by the permanent magnet 41 and the electromagnet 42 can improve the adsorption force and further improve the stability of adsorption. In addition, the curved surface self-adaptive wall-climbing robot adopts a four-foot form, can cross obstacles and is flexible in movement.
Illustratively, the foot 23 is of a plate-shaped structure, and the shape of the foot 23 shown in fig. 1 is represented by two curved surface shapes with different curvatures, so that the thickness of an iron chip layer of the foot 23 is reduced while the contact area of the foot 23 and a magnetic wall surface is ensured, the iron chips are magnetized better, the loss in the magnetic force transmission process is reduced, and the improvement of the adsorption force is facilitated.
Illustratively, the thigh portion 21 and the shank portion 22 are both hollow tubular structures. Thus, the weight can be reduced, and the light weight design can be realized.
Illustratively, in order to better control the four-footed walking, the driving device 3 includes a motor 31, a driving roller 32, a driven roller 33 and a transmission belt rope 34, the power output end of the motor 31 is fixedly connected with the driving roller 32, the driven roller 33 is fixedly connected with the joint rotating shaft of the rotating joint 24, and the transmission belt rope 34 is in transmission connection with the driving roller 32 and the driven roller 33. The driving roller 32 and the driven roller 33 are both chain wheels, and the transmission belt rope 34 is a particle flexible rope; the transmission belt rope 34 is arranged in the cavity of the thigh part 21 in a penetrating way. Therefore, when the motor 31 is driven, the driving components such as the driving roller 32, the driven roller 33 and the transmission belt rope 34 drive the joint rotating shaft of the rotating joint 24 to rotate, that is, the lower leg 22 is driven to rotate relative to the upper leg 21, and the four mechanical legs 2 are independently driven and controlled by the respective driving devices 3, so that the four-footed advancing action is realized.
Illustratively, the permanent magnet 41 and the electromagnet 42 are sequentially fixed in the cavity of the shank 22 along the axial direction of the shank 22, the electromagnet 42 is disposed on the upper portion of the permanent magnet 41, and the magnetizing directions of the permanent magnet 41 and the electromagnet 42 are both the axial direction of the shank 22. The electromagnet 42 includes a magnetically permeable core 421 and an excitation coil 422 wound around the magnetically permeable core 421. When the excitation coil is electrified with positive current, the magnetic field generated by the electromagnet 42 is superposed with the magnetic field generated by the permanent magnet 41, so that the adsorption force is enhanced, and iron scraps in the foot part 23 are quickly magnetized and adsorbed on the magnetic working wall surface; when the exciting coil is energized with a reverse current, the magnetic field generated by the electromagnet 42 is cancelled out by the magnetic field generated by the permanent magnet 41, and at this time, no adsorption force exists, so that the foot 23 is desorbed. In addition, the magnetic magnitude of the electromagnet 42 can be controlled by the magnitude of the current.
It should be noted that the permanent magnet 41 may be a single permanent magnet, or may be composed of permanent magnet poles along the axial direction of the lower leg portion, or may be composed of a halbach permanent magnet pole array.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (8)
1. The curved surface self-adaptive wall-climbing robot is characterized by comprising a robot body, wherein 4 mechanical legs are arranged on the robot body, 4 driving devices for respectively driving the 4 mechanical legs to walk are arranged in the robot body, each mechanical leg is provided with a thigh part, a lower leg part and a foot part, the upper end of each thigh part is fixedly connected with the robot body, the lower end of each thigh part is connected with the upper end of each lower leg part through a rotary joint, the lower end of each lower leg part is fixedly connected with the foot part, a mixed excitation device is arranged inside one side, close to the foot part, of each lower leg part, each mixed excitation device comprises a permanent magnet and an electromagnet, the outer part of the foot part is a soft outer layer, and scrap iron is filled inside the foot part; when the magnetic field generated by the electromagnet through forward current is superposed with the magnetic field generated by the permanent magnet, the iron filings are magnetized by the superposed magnetic field; when the magnetic field generated by the electromagnet through the reverse current is counteracted with the magnetic field generated by the permanent magnet, the iron scraps are demagnetized.
2. The curved surface self-adaptive wall-climbing robot according to claim 1, wherein the foot is of a plate-shaped structure.
3. The curved surface self-adaptive wall-climbing robot according to claim 1, wherein the thigh part and the shank part are both hollow pipe structures.
4. The curved surface self-adaptive wall climbing robot according to claim 3, wherein the driving device comprises a motor, a driving roller, a driven roller and a transmission belt rope, a power output end of the motor is fixedly connected with the driving roller, the driven roller is fixedly connected with a joint rotating shaft of the rotating joint, and the transmission belt rope is in transmission connection with the driving roller and the driven roller.
5. The curved surface self-adaptive wall climbing robot according to claim 4, wherein the driving roller and the driven roller are both chain wheels, and the transmission belt rope is a particle flexible rope.
6. The curved surface self-adaptive wall-climbing robot according to claim 4, wherein the transmission belt rope is arranged in a cavity of the thigh part in a penetrating manner.
7. The curved surface self-adaptive wall climbing robot according to claim 3, wherein the permanent magnet and the electromagnet are sequentially fixed in the cavity of the shank along the axial direction of the shank, the electromagnet is arranged on the upper portion of the permanent magnet, and the magnetizing directions of the permanent magnet and the electromagnet are both the axial direction of the shank.
8. The curved surface self-adaptive wall-climbing robot according to claim 7, wherein the electromagnet comprises a magnetic core and an excitation coil wound around the periphery of the magnetic core.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210181856.8A CN114516373B (en) | 2022-02-25 | 2022-02-25 | Curved surface self-adaptation wall climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210181856.8A CN114516373B (en) | 2022-02-25 | 2022-02-25 | Curved surface self-adaptation wall climbing robot |
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| CN114516373A CN114516373A (en) | 2022-05-20 |
| CN114516373B true CN114516373B (en) | 2022-12-02 |
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