CN115157920A - Magnet follow-up wheel and wall-climbing robot - Google Patents
Magnet follow-up wheel and wall-climbing robot Download PDFInfo
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- CN115157920A CN115157920A CN202210718899.5A CN202210718899A CN115157920A CN 115157920 A CN115157920 A CN 115157920A CN 202210718899 A CN202210718899 A CN 202210718899A CN 115157920 A CN115157920 A CN 115157920A
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- 230000009194 climbing Effects 0.000 claims abstract description 8
- 230000008878 coupling Effects 0.000 claims description 24
- 238000010168 coupling process Methods 0.000 claims description 24
- 238000005859 coupling reaction Methods 0.000 claims description 24
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 4
- 241000227287 Elliottia pyroliflora Species 0.000 claims description 4
- 229910002804 graphite Inorganic materials 0.000 claims description 4
- 239000010439 graphite Substances 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 238000001179 sorption measurement Methods 0.000 abstract description 25
- 230000008859 change Effects 0.000 description 6
- 230000005389 magnetism Effects 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/006—Magnetic wheels
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2900/00—Purpose of invention
- B60B2900/30—Increase in
- B60B2900/331—Safety or security
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2900/00—Purpose of invention
- B60B2900/90—Providing or changing
- B60B2900/931—Magnetic effects
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Manipulator (AREA)
Abstract
The invention relates to a magnet follow-up wheel and a wall-climbing robot, comprising: a wheel assembly comprising a first wheel and a second wheel, the first wheel and the second wheel coupled by an axle; the magnetic assembly comprises a connecting shaft sleeve and a follow-up magnet, the follow-up magnet is fixedly connected with the connecting shaft sleeve, a force sensor is arranged between the follow-up magnet and the connecting shaft sleeve, the connecting shaft sleeve is arranged on the wheel shaft through a bearing sleeve, gaps exist between two ends of the connecting shaft sleeve and the first wheel and between two ends of the connecting shaft sleeve and the second wheel, and a height difference exists between the bottom surface of the follow-up magnet and the periphery of the wheel assembly. The angle of the follow-up magnet can be automatically adjusted according to the condition of the magnetic adsorption force, the magnetic adsorption force of the follow-up magnet on the magnetic conduction wall surface is always the maximum value, the wall climbing robot can be suitable for the magnetic conduction wall surface with a curved surface, the automatic adjustment of a path is realized by utilizing the feedback of the force sensor, and the safety of the robot is greatly improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a magnet follow-up wheel and a wall-climbing robot.
Background
The magnetic adsorption wall-climbing robot is one of special robots, is an automatic mechanical device designed to perform specific operations such as inspection, detection, welding, polishing and the like on a magnetic conduction wall surface under severe, dangerous and extreme conditions, and is increasingly valued by people. In particular to a micro wall-climbing robot, which makes it possible to replace manual work to carry out various limit operations, such as detection and maintenance of the outer pipe wall when entering a nuclear industry pipeline group with a narrow space.
The general wall-climbing robot has two main implementation methods: vacuum adsorption and magnetic adsorption. The vacuum adsorption type has the advantage of not being limited by wall materials, but when the wall is uneven, the sucker is easy to leak air, so that the magnetic adsorption force is reduced, the bearing capacity is reduced, and the vacuum adsorption device mainly comprises the sucker, a cylinder, a vacuum pump and the like, and is difficult to miniaturize in proportion, so that the vacuum adsorption device is difficult to be well applied to a miniature wall-climbing robot. The magnetic adsorption method has two modes: permanent magnets and electromagnets. The magnetic adsorption device is simple in structure, large in magnetic adsorption force, strong in adaptability to the concave-convex surface of the wall surface, and free of the problem of vacuum adsorption air leakage. Compared with an electromagnet mode, the permanent magnet mode has the advantages of no energy consumption in adsorption, simple structure, high safety, no influence of power failure and the like. The magnet group of traditional magnetism adsorbs wall climbing robot lies in between the wheel and with robot body fixed connection, position and angle are fixed between magnet and body, are reliable relatively on leveling the wall.
However, in practical application, some magnetic conductive wall surfaces are space curved surfaces, the surface appearance of the magnetic conductive wall surfaces is changed greatly, the magnetic conductive wall surfaces are uneven, the curvature radius is smaller, and the curvature change range is larger. For the magnetic adsorption wall-climbing robot running on the surface, the air gap between the adsorption device and the blade surface can be changed, so that the magnetic adsorption force is changed, and the load capacity of the wall-climbing robot is further influenced. In addition, due to the unevenness of the magnetic conduction wall surface, the motion performance of the wall-climbing robot is also affected, and for example, the driving wheel can be suspended due to the unevenness of the wall surface, so that the driving failure is caused. The crawling safety of the wall-climbing robot is influenced.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defects that the magnet group of the magnetic adsorption wall-climbing robot in the prior art is fixed, has poor adaptability and affects the safety of the wall-climbing robot, and provide the magnet follow-up wheel and the wall-climbing robot, so that the sufficient magnetic adsorption force is ensured, and the safety of the wall-climbing robot is ensured.
In order to solve the above technical problem, the present invention provides a magnet-driven wheel, comprising:
a wheel assembly comprising a first wheel and a second wheel, the first wheel and the second wheel coupled by a wheel axle;
the magnetic assembly comprises a connecting shaft sleeve and a follow-up magnet, the follow-up magnet is fixedly connected with the connecting shaft sleeve, a force sensor is arranged between the follow-up magnet and the connecting shaft sleeve, the connecting shaft sleeve is arranged on the wheel shaft through a bearing sleeve, gaps exist between two ends of the connecting shaft sleeve and the first wheel and between two ends of the connecting shaft sleeve and the second wheel, and a height difference exists between the bottom surface of the follow-up magnet and the periphery of the wheel assembly.
In one embodiment of the present invention, the lower surface of the follower magnet is disposed in a trapezoidal shape along the circumferential direction of the wheel assembly.
In one embodiment of the invention, the wheel shaft is a solid round rod, and the connecting shaft sleeve is sleeved on the wheel shaft through a deep groove ball bearing.
In one embodiment of the invention, the first wheel and the second wheel are fixedly connected to two ends of the axle, and one end of the axle is connected with the first motor.
In an embodiment of the present invention, the axle is a hollow connecting shaft, a second motor is disposed in the hollow connecting shaft, two ends of the hollow connecting shaft are respectively and fixedly connected to the first wheel and the second wheel, one end of the second motor is fixedly connected to the first wheel, and the connecting sleeve is rotatably connected to the axle through a sliding bearing.
In one embodiment of the invention, the two ends of the follow-up magnet extend to form mounting arms, the connecting shaft sleeve is externally provided with a pressure head, and the force sensor is clamped between the mounting arms and the pressure head.
In one embodiment of the invention, the sliding bearing is a graphite copper bush sliding bearing.
In one embodiment of the invention, the second motor is connected to a connecting flange extending towards the other end thereof.
In one embodiment of the invention, two force sensors are provided, two force sensors being provided circumferentially along the wheel assembly.
The wall climbing robot is characterized by comprising a plurality of magnet follow-up wheels and a controller, wherein the controller is electrically connected with the force sensor, and the controller adjusts the traveling path of the robot according to the feedback of the force sensor.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the magnet follow-up wheel, the angle of the follow-up magnet can be automatically adjusted according to the condition of the magnetic adsorption force, the magnetic adsorption force of the follow-up magnet on the magnetic conduction wall surface is always the maximum value, and therefore the safety of the wall climbing robot is improved;
the wall-climbing robot provided by the invention can be suitable for the magnetic conduction wall surface of the curved surface through the arrangement of the magnet follow-up wheels, and the automatic adjustment of the path is realized by utilizing the feedback of the force sensor, so that the safety of the robot is greatly improved.
Drawings
In order that the present disclosure may be more readily understood, a more particular description of the disclosure will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings
FIG. 1 is a schematic view of the overall construction of a driven wheel according to the present invention;
FIG. 2 is a first cross-sectional view of the driven wheel of the present invention;
FIG. 3 is a second cross-sectional view of the driven wheel of the present invention;
FIG. 4 is a schematic view of the outboard drive wheel of the present invention;
FIG. 5 is a first cross-sectional view of the outboard drive wheel of the present invention;
FIG. 6 is a second cross-sectional view of the outboard drive wheel of the present invention;
FIG. 7 is a schematic view of the drive wheel built in with the present invention;
FIG. 8 is a first cross-sectional view of the drive wheel with the drive built in accordance with the present invention;
fig. 9 is a second cross-sectional view of the drive wheel with the drive built in accordance with the present invention.
The specification reference numbers indicate: 10. a wheel assembly; 11. a first wheel; 12. a second wheel; 13. a wheel axle; 131. a hollow connecting shaft; 14. a first motor; 15. a second motor; 16. a connecting flange;
20. a magnet assembly; 21. a coupling sleeve; 211. a deep groove ball bearing; 212. a sliding bearing; 213. a pressure head; 22. a follower magnet; 221. a mounting arm; 23. a force sensor.
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.
Referring to fig. 1, the overall structure of a magnet-driven wheel according to the present invention is schematically illustrated. The magnet follower wheel in the embodiment of the invention comprises:
a wheel assembly 10, said wheel assembly 10 comprising a first wheel 11 and a second wheel 12, said first wheel 11 and second wheel 12 being connected by a wheel axle 13. The structure of the prior art one-piece wheel is modified by separating the wheel from the center so that a space exists inside the wheel to accommodate the magnet assembly 20. Meanwhile, the magnet assemblies 20 are arranged inside the wheel assemblies 10, so that the wheel assemblies 10 do not need to be arranged into an integral structure, and the flexibility of the robot structure is improved.
Specifically, the magnet assembly 20 includes a coupling sleeve 21 and a follower magnet 22, and the follower magnet 22 is fixedly connected to the coupling sleeve 21, that is, the follower magnet 22 moves along with the movement of the coupling sleeve 21. Follow-up magnet 22 with set up force sensor 23 between the axle sleeve 21 to can real-time detection magnetism adsorption affinity, climb the wall robot and can initiatively carry out the early warning when magnetism adsorption affinity is less than the setting value, improve the security of climbing the wall robot. The coupling sleeve 21 is sleeved on the wheel shaft 13 through a bearing, so that the coupling sleeve 21 can rotate around the wheel shaft 13, and in order to prevent friction from existing between the coupling sleeve 21 and the first wheel 11 and the second wheel 12 when the coupling sleeve 21 rotates and influence the smooth rotation of the coupling sleeve, gaps exist between two ends of the coupling sleeve 21 and the first wheel 11 and the second wheel 12. The follow-up magnet 22 is connected with the wheel shaft 13 through the coupling sleeve 21, when the wheel assembly 10 moves, the follow-up magnet 22 adsorbs the magnetic conduction wall surface, so that the robot can run on the magnetic conduction wall surface, and in order to ensure that the follow-up magnet 22 is not in contact with the magnetic conduction wall surface, a certain air gap exists between the follow-up magnet 22 and the magnetic conduction wall surface, and a height difference exists between the bottom surface of the follow-up magnet 22 and the periphery of the wheel assembly 10.
Referring to fig. 2, in operation, when on a flat wall, the first wheel 11 and the second wheel 12 contact the magnetically conductive wall, and the coupling sleeve 21 rotates until the follower magnet 22 is parallel to the magnetically conductive wall due to the attraction of the follower magnet 22 to the magnetically conductive wall. Since the follower magnet 22 is spaced apart from the outer periphery of the wheel assembly 10 by a predetermined distance, the follower magnet 22 is prevented from contacting the magnetically conductive wall surface. When the vehicle moves to a curved surface, the first wheel 11 and the second wheel 12 still contact the magnetic conductive wall surface, if the follower magnet 22 still works at an angle on the flat wall surface, the magnetic attraction force of the follower magnet 22 to the magnetic conductive wall surface is not uniform, and because the follower magnet 22 can rotate freely, when the curvature of the magnetic conductive wall surface changes, the follower magnet 22 rotates along with the change of the magnetic attraction force, so that the lower surface of the follower magnet 22 is always parallel to the magnetic conductive wall surface as much as possible, and the maximum magnetic attraction force is provided. The force sensor 23 is located between the follow-up magnet 22 and the shaft coupling sleeve 21, and the magnetic attraction force between the follow-up magnet 22 and the magnetic conduction wall surface tends to pull the follow-up magnet 22 towards the direction of the magnetic conduction wall surface, so that the force sensor 23 can detect the magnitude of the magnetic attraction force in real time, and early warning is provided for the action of the robot. Since there is a height difference between the lower surface of the follower magnet 22 and the outer periphery of the wheel assembly 10, when the first wheel 11 and the second wheel 12 contact the magnetically conductive wall surface, the follower magnet 22 does not contact the magnetically conductive wall surface even if the wheel assembly 10 moves to a curved surface, thereby ensuring normal operation of the wheel. Further, in order to reduce the distance between the follower magnet 22 and the outer periphery of the wheel assembly 10 as much as possible while ensuring that the size of the follower magnet 22 is large, in the present embodiment, the lower surface of the follower magnet 22 is provided in a trapezoidal shape in the circumferential direction of the wheel assembly 10. Thereby avoided the both ends of follow-up magnet 22 lower surface to stretch out outside the centre gripping scope of first wheel 11 and second wheel 12, this moment to the curved surface transition in-process, the both ends of follow-up magnet 22 also can not be prior to wheel subassembly 10 and contact the magnetic conduction wall, and trapezoidal inclined plane makes the magnetism adsorption affinity to the curved surface can be more even, and the change of follow-up magnet 22 angle is more steady, smooth and easy.
Referring to fig. 3, the magnet follower wheel of the present invention can be used as a driven wheel in a robot. The driven wheel in this embodiment is rotated by fixing the axle 13 to the robot and rotating the first wheel 11 and the second wheel 12 about the axle 13. In this example, to ensure the structural strength of the axle 13, the axle 13 is a solid round rod, and the first wheel 11 and the second wheel 12 are rotatably connected to both ends of the axle 13 through deep groove ball bearings 211. The coupling sleeve 21 is sleeved on the wheel axle 13 between the first wheel 11 and the second wheel 12, and in order to ensure smooth rotation of the coupling sleeve 21 around the wheel axle 13, the coupling sleeve 21 is sleeved on the wheel axle 13 through a deep groove ball bearing 211. The deep groove ball bearing 211 has a small friction force and a high rotation speed, so that the magnetic attraction force of the follower magnet 22 to the magnetic conductive wall surface changes with the change of the curvature of the magnetic conductive wall surface, and the follower magnet 22 can rotate to adjust the magnetic attraction force to the magnetic conductive wall surface.
Referring to fig. 4 and 5, the magnet follower wheel of the present invention can be used as a driving wheel in a robot. The driving wheel in this embodiment fixes the first motor 14, the first motor 14 drives the axle 13, and the first axle 13 drives the first wheel 11 and the second wheel 12 to rotate, so as to drive the wheel assembly 10. Specifically, the first wheel 11 and the second wheel 12 are fixedly connected to two ends of the axle 13, and one end of the axle 13 is connected to the first motor 14. At this time, since the wheel shaft 13 is a solid round bar and the wheel assembly 10 is small in size as a micro wall-climbing robot, the first motor 14 is located outside the first wheel 11 or the second wheel 12. The coupling sleeve 21 is fitted over the wheel shaft 13 between the first wheel 11 and the second wheel 12, and the coupling sleeve 21 is rotatable around the wheel shaft 13, so that the angle of the follower magnet 22 with respect to the magnetically conductive wall surface does not change even if the wheel shaft 13 rotates without changing the magnetic attraction force. Referring to fig. 6, since the angle of the follower magnet 22 is adjusted at any time when the follower magnet is on a curved surface, the magnetic attraction forces at the two ends of the magnet may be different, and in order to improve the accuracy of detecting the magnetic attraction forces, the two force sensors 23 are provided, and the two force sensors 23 are provided along the circumferential direction of the wheel assembly 10, that is, are provided corresponding to the two ends of the follower magnet 22.
Referring to fig. 7 and 8, in order to further reduce the volume of the magnet follower wheel as the driving wheel to be adapted to the micro wall-climbing robot, in the present embodiment, the second motor 15 is disposed in the wheel shaft 13. At this time, the wheel shaft 13 is a hollow connecting shaft 131, and the second motor 15 is disposed in the hollow connecting shaft 131, so that the diameter of the hollow connecting shaft 131 is larger than the size of the output end of the second motor 15, for convenient connection, two ends of the hollow connecting shaft 131 are respectively and fixedly connected to the first wheel 11 and the second wheel 12, and one end of the second motor 15 is fixedly connected to the first wheel 11 or the second wheel 12. The second motor 15 can thus drive the first wheel 11 or the second wheel 12 to rotate, and then drive the other wheel to rotate through the connection of the hollow connecting shaft 131, so as to drive the wheel assembly 10. Since the second motor 15 is located inside the wheel shaft 13, the diameter of the wheel shaft 13 is large at this time, and if the coupling boss 21 is continuously connected by the deep groove ball bearing 211, there is not enough space for the follower magnet 22. In this embodiment, the coupling sleeve 21 is therefore connected to the wheel shaft 13 by a plain bearing 212. The slide bearing 212 is small in thickness so that the increased dimension of the hub 13 in the radial direction is small to ensure that sufficient space is reserved for the installation of the follower magnet 22. Further, referring to fig. 9, mounting arms 221 extend from both ends of the follower magnet 22, a ram 213 is disposed outside the coupling sleeve 21, and the force sensor 23 is sandwiched between the mounting arms 221 and the ram 213. Therefore, the follow-up magnet 22 is directly connected with the connecting shaft sleeve 21, the space occupied by the force sensor 23 is reduced, and the sufficient installation space of the follow-up magnet 22 is further ensured. And at this moment, the force sensors 23 are positioned at the two ends of the follow-up magnet 22, so that the change situation of the magnetic adsorption force at the two ends can be more sensitively detected, the form of the curved surface can be judged, and meanwhile, the running state of the wheel can be adjusted. In the present embodiment, the sliding bearing 212 is selected to be a graphite copper bush sliding bearing 212. The graphite copper bush bearing has high strength, high hardness, wear resistance, corrosion resistance and good self-lubricating effect, and ensures the free rotation of the follow-up magnet 22. In order to fix the second motor 15, the second motor 15 is further connected to a connecting flange 16 extending toward the other end thereof. The second motor 15 is fixedly connected with the robot through the connecting flange 16, and the robot runs.
The invention also provides a wall-climbing robot, which comprises a plurality of magnet follow-up wheels and a controller, wherein the plurality of magnet follow-up wheels form a support for the robot, and the controller is used for controlling the action of the robot. Specifically, the controller with force sensor 23 electricity is connected, and the minimum of force sensor 23 is set for to the controller, and when magnetic attraction was less than the setting value, wall climbing robot can initiatively carry out the early warning. Since the distance between the follower magnet 22 and the outer periphery of the first wheel 11 and the second wheel 12 is fixed, in this case, the wheel assembly 10 tends to lift away from the magnetic wall surface, so that the curved surface is too steep or the obstacle is too large to pass through by the robot, and therefore the controller can re-plan the traveling path of the robot according to the feedback of the force sensor 23 to avoid the position, thereby ensuring the safety of the wall climbing robot.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. And obvious variations or modifications derived therefrom are intended to be within the scope of the invention.
Claims (10)
1. A magnet-follower wheel, comprising:
a wheel assembly comprising a first wheel and a second wheel, the first wheel and the second wheel coupled by a wheel axle;
the magnetic component comprises a connecting shaft sleeve and a follow-up magnet, the follow-up magnet is fixedly connected with the connecting shaft sleeve, a force sensor is arranged between the follow-up magnet and the connecting shaft sleeve, the connecting shaft sleeve is arranged on the wheel shaft through a bearing sleeve, gaps exist between two ends of the connecting shaft sleeve and the first wheel and between two ends of the connecting shaft sleeve and the second wheel, and a height difference exists between the bottom surface of the follow-up magnet and the periphery of the wheel component.
2. A magnet follower wheel as in claim 1, wherein the lower surface of said follower magnet is trapezoidal in shape along the circumference of said wheel assembly.
3. A magnet-driven wheel as claimed in claim 1, wherein the axle is a solid round bar and the coupling sleeve is fitted to the axle by deep groove ball bearings.
4. A magnet-follower wheel as in claim 3, wherein said first and second wheels are fixedly attached to opposite ends of said axle, one of said ends of said axle being connected to said first motor.
5. The magnet-driven wheel as claimed in claim 1, wherein the wheel shaft is a hollow connecting shaft, a second motor is disposed in the hollow connecting shaft, two ends of the hollow connecting shaft are respectively and fixedly connected with the first wheel and the second wheel, one end of the second motor is fixedly connected with the first wheel, and the coupling sleeve is rotatably connected with the wheel shaft through a sliding bearing.
6. A magnet follower wheel as claimed in claim 5, wherein mounting arms extend from each end of the follower magnet, a ram is located outside the coupling sleeve, and the force sensor is sandwiched between the mounting arms and the ram.
7. A magnet follower wheel as claimed in claim 5, wherein the plain bearing is a graphite copper bush plain bearing.
8. A magnet-actuated wheel as claimed in claim 5, wherein said second motor is connected to a connecting flange extending towards the other end thereof.
9. A magnet-follower wheel as claimed in claim 1, wherein there are two of said force sensors, two of said force sensors being disposed circumferentially of said wheel assembly.
10. A wall climbing robot comprising a plurality of magnet follower wheels as claimed in any of claims 1 to 9 and a controller electrically connected to the force sensors, the controller adjusting the path of travel of the robot in accordance with the feedback from the force sensors.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210718899.5A CN115157920A (en) | 2022-06-23 | 2022-06-23 | Magnet follow-up wheel and wall-climbing robot |
| PCT/CN2022/108522 WO2023245809A1 (en) | 2022-06-23 | 2022-07-28 | Magnet follow-up vehicle wheel and wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210718899.5A CN115157920A (en) | 2022-06-23 | 2022-06-23 | Magnet follow-up wheel and wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115157920A true CN115157920A (en) | 2022-10-11 |
Family
ID=83487069
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210718899.5A Pending CN115157920A (en) | 2022-06-23 | 2022-06-23 | Magnet follow-up wheel and wall-climbing robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115157920A (en) |
| WO (1) | WO2023245809A1 (en) |
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| CN206112400U (en) * | 2016-09-13 | 2017-04-19 | 广州特种承压设备检测研究院 | Wheeled detection robot |
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| JP7424924B2 (en) * | 2020-06-25 | 2024-01-30 | 住友重機械工業株式会社 | Magnetic adsorption wheels and vehicles |
| JP7487023B2 (en) * | 2020-06-25 | 2024-05-20 | 住友重機械工業株式会社 | Magnetic attraction wheels and vehicles |
| CN114074724B (en) * | 2022-01-20 | 2022-11-04 | 彼合彼方机器人(天津)有限公司 | It is applicable in different curvature radius's storage tank interior outer wall climbing robot |
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2022
- 2022-06-23 CN CN202210718899.5A patent/CN115157920A/en active Pending
- 2022-07-28 WO PCT/CN2022/108522 patent/WO2023245809A1/en unknown
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| US5284096A (en) * | 1991-08-06 | 1994-02-08 | Osaka Gas Company, Limited | Vehicle for use in pipes |
| JP2000052702A (en) * | 1998-08-11 | 2000-02-22 | Gijutsu Kaihatsu Kenkyusho:Kk | Attractive wheel for magnetic body running incorporating running drive mechanism |
| CN105947007A (en) * | 2015-03-09 | 2016-09-21 | 通用电器技术有限公司 | Magnetic roller |
| CN108313154A (en) * | 2018-02-05 | 2018-07-24 | 浙江大学 | A kind of ferromagnetic wheeled magnetic adsorption device |
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| WO2023245809A1 (en) | 2023-12-28 |
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