CN115027589A - Wall-climbing mobile robot capable of actively adjusting magnetic adsorption force - Google Patents
Wall-climbing mobile robot capable of actively adjusting magnetic adsorption force Download PDFInfo
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- CN115027589A CN115027589A CN202210710958.4A CN202210710958A CN115027589A CN 115027589 A CN115027589 A CN 115027589A CN 202210710958 A CN202210710958 A CN 202210710958A CN 115027589 A CN115027589 A CN 115027589A
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 29
- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 claims description 5
- 230000009194 climbing Effects 0.000 abstract description 16
- 230000009193 crawling Effects 0.000 description 5
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention relates to a wall-climbing mobile robot capable of actively adjusting magnetic adsorption force, which comprises a first driving wheel, a second driving wheel and a follow-up wheel, wherein the first driving wheel and the second driving wheel are driven by a motor to rotate; the lifting magnet assembly is connected to the frame and comprises a movable magnet assembly and a lifting driving device, the lifting driving device is connected to the frame, the movable magnet assembly is driven by the lifting driving device to lift, a distance sensor is connected to the movable magnet assembly, and the movable magnet assembly is connected to the bottom of the frame. The invention can effectively improve the wall climbing reliability of the magnetic adsorption wall climbing mobile robot.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to a wall-climbing mobile robot capable of actively adjusting magnetic adsorption force.
Background
The magnetic adsorption wall-climbing mobile robot is an automatic device which has the functions of moving and adsorbing and can move on a vertical wall surface, and can replace a worker to complete specific operation in severe, dangerous or extreme environments; the magnetic adsorption wall-climbing mobile robot mainly depends on the magnetic attraction force generated between the magnet group and the adsorbed surface, so that the wall-climbing robot can be adsorbed on the wall surface.
Traditional magnetism adsorbs wall climbing mobile robot's magnet group is fixed mounting on the robot, magnet and adsorbed between the plane apart from fixed unchangeable, it is reliable relatively that this kind of robot crawls on leveling the wall, but when this kind of robot crawls in unsmooth curved surface, the distance can change between its magnet and the wall, the concave surface can and the magnet between the distance can the grow, magnetic attraction descends, lead to climbing wall robot easily to take place to slide or the phenomenon of dropping, thereby the distance then can diminish between convex surface and the magnet produces the interference phenomenon.
Therefore, the wall climbing reliability of the existing magnetic adsorption wall climbing mobile robot is poor, and the use requirement cannot be met.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defect of poor wall climbing reliability of the magnetic adsorption wall climbing mobile robot in the prior art.
In order to solve the technical problems, the invention provides a wall-climbing mobile robot capable of actively adjusting magnetic adsorption force, which comprises a first driving wheel, a second driving wheel and a follow-up wheel, wherein the first driving wheel and the second driving wheel are driven by a motor to rotate, the motor is fixed on a frame, the follow-up wheel is connected in front of the frame, a lifting magnet assembly is connected on the frame, the lifting magnet assembly comprises a movable magnet assembly and a lifting driving device, the lifting driving device is connected on the frame, the movable magnet assembly is driven by the lifting driving device to lift, a distance sensor is connected on the movable magnet assembly, and the movable magnet assembly is connected at the bottom of the frame.
In one embodiment of the present invention, a plurality of first fixed magnet assemblies are further connected to the bottom of the frame, and the first fixed magnet assemblies are located between the first driving wheel and the second driving wheel.
In one embodiment of the present invention, the first driving wheel and the second driving wheel each comprise a driving shaft, driving wheel bodies are connected to both ends of the driving shaft, the driving shaft is connected to the first bearing seat through a first bearing, a second fixed magnet assembly is connected to the bottom of the first bearing seat, and the second fixed magnet assembly is located between the driving wheel bodies at both ends of the driving shaft.
In one embodiment of the invention, the first bearing is a rolling bearing or a sliding bearing.
In one embodiment of the present invention, the follower wheel includes a rotating shaft, the two ends of the rotating shaft are connected to follower wheel bodies, the rotating shaft is connected to the second bearing seat through the second bearing, the bottom of the second bearing seat is connected to the third fixed magnet assemblies, and the third fixed magnet assemblies are located between the follower wheel bodies at the two ends of the rotating shaft.
In an embodiment of the invention, the fourth fixed magnet assemblies are connected to both sides of the bottom of the vehicle frame, each fourth fixed magnet assembly comprises a magnetic conductive plate and a permanent magnet, an insertion port is formed in the magnetic conductive plate of each fourth fixed magnet assembly, the permanent magnets are connected to the bottoms of the magnetic conductive plates on both sides of the insertion port, the first driving wheel is inserted into the insertion port of the fourth fixed magnet assembly on one side of the vehicle frame, and the second driving wheel is inserted into the insertion port of the fourth fixed magnet assembly on the other side of the vehicle frame.
In one embodiment of the invention, an auxiliary wheel is further connected to the rear of the frame, the auxiliary wheel is connected to an auxiliary support, an auxiliary top plate is connected to the upper portion of the frame, and an elastic element is connected between the auxiliary top plate and the auxiliary support.
In one embodiment of the invention, a sliding sleeve is connected to the auxiliary top plate, and a sliding rod is connected to the upper part of the auxiliary support and can be slidably connected in the sliding sleeve.
In one embodiment of the present invention, the lifting driving device is connected to both ends of the movable magnet assembly.
In one embodiment of the invention, the lifting driving device adopts an air cylinder, a hydraulic cylinder or an electric push rod.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the wall-climbing mobile robot capable of actively adjusting the magnetic adsorption force can effectively improve the wall-climbing reliability of the magnetic adsorption wall-climbing mobile robot, so that the wall-climbing mobile robot can stably run.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference will now be made in detail to the present disclosure, examples of which are illustrated in the accompanying drawings.
FIG. 1 is a three-dimensional schematic view of a lift magnet assembly of the present invention;
FIG. 2 is a front view of the lift magnet assembly of FIG. 1;
FIG. 3 is a left side view of the lift magnet assembly of FIG. 2;
FIG. 4 is a schematic structural diagram of a wall-climbing mobile robot capable of actively adjusting magnetic attraction force according to a first embodiment of the present invention;
fig. 5 is a structural view of a second angle of the wall-climbing mobile robot shown in fig. 4;
fig. 6 is a structural view of a third angle of the wall-climbing mobile robot shown in fig. 4;
fig. 7 is a front view of the wall-climbing mobile robot shown in fig. 4;
fig. 8 is a plan view of the wall-climbing mobile robot shown in fig. 7;
fig. 9 is a schematic structural diagram of a second embodiment of the wall-climbing mobile robot capable of actively adjusting magnetic attraction force according to the present invention;
fig. 10 is a structural view of a second angle of the wall-climbing mobile robot shown in fig. 9;
fig. 11 is a front view of the wall-climbing mobile robot shown in fig. 9;
fig. 12 is a plan view of the wall-climbing mobile robot shown in fig. 9;
fig. 13 is a schematic structural diagram of a third embodiment of the wall-climbing mobile robot capable of actively adjusting magnetic attraction force according to the present invention;
fig. 14 is a structural view of a second angle of the wall-climbing mobile robot shown in fig. 13;
fig. 15 is a front view of the wall-climbing mobile robot shown in fig. 13;
fig. 16 is a plan view of the wall-climbing mobile robot shown in fig. 13;
fig. 17 is a schematic structural view of a third embodiment of the wall-climbing mobile robot capable of actively adjusting magnetic attraction force according to the present invention;
fig. 18 is a structural schematic view of a second angle of the wall-climbing mobile robot shown in fig. 17;
fig. 19 is a front view of the wall-climbing mobile robot shown in fig. 17;
fig. 20 is a plan view of the wall-climbing mobile robot shown in fig. 17;
the specification reference numbers indicate: 1. a frame; 2. a first drive wheel; 21. a drive wheel body; 22. a first bearing housing; 3. a second drive wheel; 4. a follower wheel; 41. a follow-up wheel body; 42. a second bearing housing; 5. a lifting magnet assembly; 51. a movable magnet assembly; 52. a lift drive device; 53. a distance sensor; 6. a first fixed magnet assembly; 7. a second fixed magnet assembly; 8. a third fixed magnet assembly; 9. a fourth fixed magnet assembly; 91. a magnetic conductive plate; 911. an interface; 92. a permanent magnet; 10. an auxiliary wheel; 11. an auxiliary support; 12. an auxiliary top plate; 13. an elastic member; 14. a sliding sleeve; 15. a slide bar; 16. a connecting plate; 17. a vertical shaft; 18. and (4) supporting the base.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Example one
Referring to fig. 4-8, the embodiment discloses a wall-climbing mobile robot capable of actively adjusting magnetic attraction, which includes a first driving wheel 2, a second driving wheel 3 and a follower wheel 4, wherein the first driving wheel 2 and the second driving wheel 3 are driven by a motor to rotate, the motor is fixed on a vehicle frame 1, and the follower wheel 4 is rotatably connected in front of the vehicle frame 1;
the lifting magnet assembly 5 is connected to the frame 1, referring to fig. 1-3, the lifting magnet assembly 5 comprises a movable magnet assembly 51 and a lifting driving device 52, the lifting driving device 52 is connected to the frame 1, the movable magnet assembly 51 is driven to lift by the lifting driving device 52, a distance sensor 53 is connected to the movable magnet assembly 51, and the movable magnet assembly 51 is connected to the bottom of the frame 1.
The distance between the movable magnet assembly 51 and the wall surface can be detected in real time through the distance sensor 53, and the lifting of the movable magnet assembly 51 can be controlled according to the distance, for example, when the distance between the movable magnet assembly 51 and the wall surface is increased, the movable magnet assembly 51 is controlled to descend, the distance between the movable magnet assembly 51 and the wall surface is shortened, the magnet adsorption force is increased, otherwise, when the distance between the movable magnet assembly 51 and the wall surface is too small, the movable magnet assembly 51 is controlled to ascend, the distance between the movable magnet assembly 51 and the wall surface is properly increased, and the occurrence of interference is avoided. Through the process, the movable magnet assembly 51 can keep a proper distance with the wall surface to be crawled, so that the movable magnet assembly is guaranteed to have enough magnetic adsorption force all the time when crawling is performed, and the wall climbing reliability of the wall climbing mobile robot is effectively improved.
The wall climbing principle of the wall climbing mobile robot is as follows: arrange the robot in on the wall of crawling, and make first drive wheel 2, second drive wheel 3 and trailing wheel 4 all contact the wall of crawling, the first drive wheel of drive 2 and second drive wheel 3 take place to rotate, thereby make trailing wheel 4 rotate thereupon, and then make whole robot take place to remove on the wall of crawling, simultaneously, because each magnet subassembly with crawl and produce between the wall and have magnetic adsorption power, can effectively guarantee the reliability that the robot removed, the phenomenon of dropping can not take place.
The bottom of the frame 1 of the wall-climbing mobile robot is further connected with a plurality of first fixed magnet assemblies 6, and referring to fig. 6, the first fixed magnet assemblies 6 are located between the first driving wheels 2 and the second driving wheels 3. Because first drive wheel 2, second drive wheel 3 and trailing wheel 4 all are with crawling the wall and contact, set up first fixed magnet subassembly 6 in above-mentioned position, can be more close the wheel contact point to it is littleer to make magnet subassembly distance creep the distance change of wall, and magnetism adsorption affinity changes littleer, thereby the operating stability of better assurance robot.
Further, first drive wheel 2 and second drive wheel 3 all include the drive shaft, and the both ends of drive shaft all are connected with drive wheel body 21, and the drive shaft is connected with first bearing 22 through first bearing, and the bottom of first bearing 22 all is connected with the fixed magnet subassembly 7 of second, and the fixed magnet subassembly 7 of second all is located between the drive wheel body 21 at drive shaft both ends. The driving wheel structure and the arrangement position of the second fixed magnet assembly 7 can better ensure that the magnetic attraction at the driving wheel has the minimum influence on the change of various wall surfaces, so that the robot runs more stably.
In one embodiment, the first bearing is a rolling bearing or a sliding bearing.
In one embodiment, referring to fig. 4 and 7, an auxiliary wheel 10 is further connected to the rear of the frame 1, the auxiliary wheel 10 is rotatably connected to an auxiliary support 11, an auxiliary top plate 12 is connected to the upper portion of the frame 1, and an elastic member 13 is connected between the auxiliary top plate 12 and the auxiliary support 11.
The auxiliary wheel 10 plays an auxiliary supporting role, and the auxiliary wheel 10 is always in contact with the wall surface under the action of the elastic piece 13, so that the overall operation stability of the robot is improved; especially, when the magnetic attraction force of the lifting magnet assembly 5 becomes weak and the front follower wheel 4 receives its own weight and does not contact the wall surface, the force applied to the rear auxiliary wheel 10 increases, and the auxiliary wheel 10 contacts the wall surface more closely under the elastic force of the elastic member 13, thereby effectively preventing the robot from falling.
In one embodiment, a sliding sleeve 14 is fixed on the auxiliary top plate 12, a sliding rod 15 is connected to the upper portion of the auxiliary support 11, and the sliding rod 15 is slidably connected in the sliding sleeve 14 so as to drive the whole body formed by the auxiliary support 11 and the auxiliary wheel 10 to move up and down through the sliding rod 15.
Further, the elastic member 13 is a spring, and the spring is arranged on the sliding rod 15 in a penetrating manner.
In one embodiment, the lifting driving devices 52 are connected to both ends of the movable magnet assembly 51, and the lifting driving devices 52 at both ends may be symmetrically arranged, so as to better ensure the lifting stability of the movable magnet assembly 51.
In one embodiment, the lifting drive 52 is an air cylinder, a hydraulic cylinder, or an electric push rod.
In one embodiment, the follower wheels 4 are universal wheels.
Further, referring to fig. 4 and 7, a connecting plate 16 is mounted on the frame 1, a vertical shaft 17 is rotatably connected to the connecting plate 16, a supporting seat 18 is connected to the vertical shaft 17, and the follower wheel 4 is rotatably connected to the supporting seat 18, so that the supporting wheel can rotate horizontally by 360 degrees.
The magnetic adsorption structure in the first embodiment is a combination of the lifting magnet assembly 5, the first fixed magnet assembly 6, and the second fixed magnet assembly 7.
Example two
Referring to fig. 9-12, the main differences between this embodiment and the first embodiment are: the follower wheel 4 includes the pivot, and the both ends of pivot all are connected with the follower wheel 4 body, and the pivot is connected through second bearing and second bearing 42, and the bottom of second bearing 42 all is connected with the fixed magnet subassembly 8 of third, and the fixed magnet subassembly 8 of third all is located between the follower wheel 4 body at pivot both ends.
Through set up the fixed magnet subassembly 8 of third on follower wheel 4, can guarantee better that the magnetic attraction of follower wheel 4 department produces on various wall changes the influence minimum for the operation of robot is more stable.
In one embodiment, the second bearing is a rolling bearing or a sliding bearing.
The magnetic adsorption structure in the second embodiment is a combination of the lifting magnet assembly 5, the first fixed magnet assembly 6, the second fixed magnet assembly 7, and the third fixed magnet assembly 8.
EXAMPLE III
Referring to fig. 13-16, the main difference between this embodiment and the first embodiment is: first drive wheel 2 and second drive wheel 3 all adopt the single wheel body form, and 1 bottom both sides of frame all are connected with the fixed magnet subassembly 9 of fourth, the fixed magnet subassembly 9 of fourth includes magnetic conduction board 91 and permanent magnet 92, be provided with interface 911 on the magnetic conduction board 91 of the fixed magnet subassembly 9 of fourth, the magnetic conduction board 91 bottom of interface 911 both sides all is connected with permanent magnet 92, first drive wheel 2 pegs graft in the interface 911 of the fixed magnet subassembly 9 of fourth of frame 1 one side, second drive wheel 3 pegs graft in the interface 911 of the fixed magnet subassembly 9 of fourth of frame 1 opposite side.
It can be understood that a gap is left between the socket 911 and the wheel body of the first driving wheel 2 (or the second driving wheel 3), and the rotation of the wheel body is not affected.
Through the arrangement of the fourth fixed magnet assembly 9, the inner sides and the outer sides of the first driving wheel 2 and the second driving wheel 3 have magnetic adsorption effects, and the magnetic adsorption effects on the inner sides and the outer sides can be complementary, for example, when a robot runs in a pipe along the axial direction, the gap between a permanent magnet on the outer side of the wheel and a wall surface is small, the magnetic adsorption force is large, the gap between a total magnet between the wheels and the wall surface is large, and the magnetic adsorption force is small; when the magnetic wheel runs outside the tube along the axial direction, the gap between the permanent magnet on the outer side of the wheel and the wall surface is large, the magnetic adsorption force is small, the gap between the permanent magnet between the wheels and the wall surface is small, and the magnetic adsorption force is large.
It will be appreciated that the permanent magnet 92 between the first and second drive wheels 2, 3 described above acts as an attractive force for the first fixed magnet assembly 6.
The magnetic adsorption structure in the third embodiment is a combination of the lifting magnet assembly 5 and the fourth fixed magnet assembly 9.
Example four
Referring to fig. 17-20, the main differences between this embodiment and the third embodiment are: the follower wheel 4 comprises a rotating shaft, the two ends of the rotating shaft are connected with follower wheel 4 bodies, the rotating shaft is connected with a second bearing seat 42 through a second bearing, the bottom of the second bearing seat 42 is connected with a third fixed magnet assembly 8, and the third fixed magnet assembly 8 is located between the follower wheel 4 bodies at the two ends of the rotating shaft.
Through set up the fixed magnet subassembly 8 of third on follower wheel 4, can guarantee better that the magnetic attraction of follower wheel 4 department produces on various wall changes the influence minimum for the operation of robot is more stable.
In one embodiment, the second bearing is a rolling bearing or a sliding bearing.
The magnetic adsorption structure in the fourth embodiment is a combination of the lifting magnet assembly 5, the fourth fixed magnet assembly 9, and the third fixed magnet assembly 8.
In the above embodiment, the movable magnet assembly 51, the first fixed magnet assembly 6, the second fixed magnet assembly 7, the third fixed magnet assembly 8 and the fourth fixed magnet assembly 9 each include a magnetic conductive plate 91 and a permanent magnet 92, and the permanent magnet 92 is fixed to the bottom of the magnetic conductive plate 91, but the shape and the configuration of the magnetic conductive plate 91 in each magnet assembly are different, and the manufacturing can be performed according to actual situations.
The first fixed magnet group 6, the second fixed magnet group 7, the third fixed magnet group 8, and the fourth fixed magnet group 9 are all fixed, and only the movable magnet group 51 can move up and down.
The wall climbing mobile robot capable of actively adjusting the magnetic adsorption force can effectively improve the wall climbing reliability of the magnetic adsorption wall climbing mobile robot, and the wall climbing mobile robot can stably run.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Various other modifications and alterations will occur to those skilled in the art upon reading the foregoing description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the spirit or scope of the invention.
Claims (10)
1. The wall-climbing mobile robot capable of actively adjusting the magnetic adsorption force is characterized by comprising a first driving wheel, a second driving wheel and a follow-up wheel, wherein the first driving wheel and the second driving wheel are driven by a motor to rotate, the motor is fixed on a frame, the follow-up wheel is connected in front of the frame, a lifting magnet assembly is connected onto the frame and comprises a movable magnet assembly and a lifting driving device, the lifting driving device is connected onto the frame, the movable magnet assembly is driven by the lifting driving device to lift, a distance sensor is connected onto the movable magnet assembly, and the movable magnet assembly is connected onto the bottom of the frame.
2. The wall-climbing mobile robot capable of actively adjusting magnetic attraction force according to claim 1, characterized in that: the bottom of the frame is further connected with a plurality of first fixed magnet assemblies, and the first fixed magnet assemblies are located between the first driving wheel and the second driving wheel.
3. The wall-climbing mobile robot capable of actively adjusting magnetic attraction force according to claim 2, characterized in that: the first driving wheel and the second driving wheel both comprise driving shafts, driving wheel bodies are connected to the two ends of each driving shaft, the driving shafts are connected with first bearing seats through first bearings, second fixed magnet assemblies are connected to the bottoms of the first bearing seats, and the second fixed magnet assemblies are located between the driving wheel bodies at the two ends of the driving shafts.
4. The wall-climbing mobile robot capable of actively adjusting magnetic attraction force according to claim 3, characterized in that: the first bearing is a rolling bearing or a sliding bearing.
5. The wall-climbing mobile robot capable of actively adjusting magnetic attraction force according to claim 1, characterized in that: the follow-up wheel comprises a rotating shaft, the two ends of the rotating shaft are connected with follow-up wheel bodies, the rotating shaft is connected with a second bearing seat through a second bearing, the bottom of the second bearing seat is connected with a third fixed magnet assembly, and the third fixed magnet assembly is located between the follow-up wheel bodies at the two ends of the rotating shaft.
6. The wall-climbing mobile robot capable of actively adjusting magnetic attraction force according to claim 1, characterized in that: the frame bottom both sides all are connected with the fixed magnet subassembly of fourth, the fixed magnet subassembly of fourth includes magnetic conduction board and permanent magnet, be provided with the interface on the magnetic conduction board of the fixed magnet subassembly of fourth, the magnetic conduction board bottom of interface both sides all is connected with the permanent magnet, first drive wheel is pegged graft in the interface of the fixed magnet subassembly of fourth on one side of the frame, the second drive wheel is pegged graft in the interface of the fixed magnet subassembly of fourth on the other side of the frame.
7. The wall-climbing mobile robot capable of actively adjusting magnetic attraction force according to claim 1, characterized in that: the rear part of the frame is also connected with an auxiliary wheel which is connected to an auxiliary support, the upper part of the frame is connected with an auxiliary top plate, and an elastic part is connected between the auxiliary top plate and the auxiliary support.
8. The wall-climbing mobile robot capable of actively adjusting magnetic attraction force according to claim 7, characterized in that: the auxiliary top plate is connected with a sliding sleeve, the upper part of the auxiliary support is connected with a sliding rod, and the sliding rod can be connected in the sliding sleeve in a sliding manner.
9. The wall-climbing mobile robot capable of actively adjusting magnetic attraction force according to claim 1, characterized in that: and the two ends of the movable magnet assembly are connected with the lifting driving device.
10. The wall-climbing mobile robot capable of actively adjusting magnetic attraction force according to claim 1, characterized in that: the lifting driving device adopts an air cylinder, a hydraulic cylinder or an electric push rod.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210710958.4A CN115027589A (en) | 2022-06-22 | 2022-06-22 | Wall-climbing mobile robot capable of actively adjusting magnetic adsorption force |
| PCT/CN2022/108520 WO2023245808A1 (en) | 2022-06-22 | 2022-07-28 | Wall-climbing mobile robot capable of actively adjusting magnetic adsorption force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210710958.4A CN115027589A (en) | 2022-06-22 | 2022-06-22 | Wall-climbing mobile robot capable of actively adjusting magnetic adsorption force |
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| CN115027589A true CN115027589A (en) | 2022-09-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210710958.4A Pending CN115027589A (en) | 2022-06-22 | 2022-06-22 | Wall-climbing mobile robot capable of actively adjusting magnetic adsorption force |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115027589A (en) |
| WO (1) | WO2023245808A1 (en) |
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| CN101947778A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-type obstacle detouring mechanism for wall climbing robot with adjustable magnetic adsorption force |
| CN102673671A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Composite magnetic adsorption visual detection climbing robot |
| CN106314032A (en) * | 2016-09-30 | 2017-01-11 | 宁波介量机器人技术有限公司 | Linear reversing follower wheel |
| CN106741268A (en) * | 2016-12-02 | 2017-05-31 | 广东省智能制造研究所 | A kind of transfer of wheeled magnetic adsorption wall climbing robot |
| CN107054491A (en) * | 2017-03-24 | 2017-08-18 | 洛阳圣瑞智能机器人有限公司 | A kind of walking chassis device of Pa Bi magnetic sucks robot |
| CN207579988U (en) * | 2017-12-08 | 2018-07-06 | 中国石油化工股份有限公司 | A kind of obstacle detouring auxiliary body applied to the wheeled climbing robot of non-destructive testing |
| CN108890612A (en) * | 2018-08-20 | 2018-11-27 | 南昌大学 | A kind of non-contact magnetically absorption wheel leg composite structure for climbing robot |
| CN109455244A (en) * | 2018-12-27 | 2019-03-12 | 北京史河科技有限公司 | A kind of climbing robot with magnet-wheel mechanism |
| CN109866840A (en) * | 2019-03-18 | 2019-06-11 | 山东交通学院 | A kind of the sorption wheel group and its height adjusting method of self-adapting changeable suction |
| CN211685392U (en) * | 2020-01-22 | 2020-10-16 | 南京林业大学 | Three-wheel wall-climbing robot |
| CN111267986A (en) * | 2020-02-20 | 2020-06-12 | 佛山国防科技工业技术成果产业化应用推广中心 | Curved surface self-adaptation electromagnetism climbing dolly |
| CN114084242A (en) * | 2021-12-16 | 2022-02-25 | 武汉科技大学 | Curved surface self-adaptive wheel type wall-climbing robot and working method thereof |
| CN216508687U (en) * | 2022-01-06 | 2022-05-13 | 江苏镌极特种设备有限公司 | Anti-overturning crawler-type wall-climbing robot |
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| WO2023245808A1 (en) | 2023-12-28 |
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