CN116279881A - Actively-adaptive double-drive magnetic wall climbing robot wheel set and transition method - Google Patents
Actively-adaptive double-drive magnetic wall climbing robot wheel set and transition method Download PDFInfo
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- CN116279881A CN116279881A CN202310115590.1A CN202310115590A CN116279881A CN 116279881 A CN116279881 A CN 116279881A CN 202310115590 A CN202310115590 A CN 202310115590A CN 116279881 A CN116279881 A CN 116279881A
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- 230000009194 climbing Effects 0.000 title claims abstract description 45
- 230000007704 transition Effects 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000007789 sealing Methods 0.000 claims description 15
- 230000003044 adaptive effect Effects 0.000 claims description 10
- 241000252254 Catostomidae Species 0.000 claims description 3
- 230000009193 crawling Effects 0.000 description 18
- 238000001179 sorption measurement Methods 0.000 description 13
- 230000000712 assembly Effects 0.000 description 8
- 238000000429 assembly Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 4
- 239000000853 adhesive Substances 0.000 description 3
- 230000001070 adhesive effect Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000004519 manufacturing process Methods 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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Abstract
The invention relates to an actively-adaptive double-drive magnetic wall climbing robot wheel set and a transition method, comprising the following steps: is the central axis of the hollow cylinder; the driving and controlling integrated actuator is inserted into the two ends of the central shaft, and the output end of the driving and controlling integrated actuator is connected with a driving wheel; the magnetic assembly comprises a driving worm wheel and a driving worm, wherein the driving worm wheel is connected to the central shaft in a rotating mode, the driving worm is arranged on the central shaft in a corresponding mode, at least two driving worm wheels are arranged on the central shaft, tooth grooves are formed in the surface of the driving worm wheel in the circumferential direction, the surface of the driving worm wheel is connected with a magnetic chuck through a force transducer, two ends of the central shaft are connected with side plates, the top ends of the side plates are connected with a top plate, the driving worm is mounted on the lower surface of the top plate through a bearing seat, and one end of the driving worm is connected with a steering engine. The invention can always ensure the uniformity and stability of the air gap between the magnetic chuck and the wall surface, thereby ensuring the stability and reliability of the magnetic attraction force, rapidly releasing force and realizing the walking of the wheel set between two wall surfaces with any included angle.
Description
Technical Field
The invention relates to the technical field of wall climbing robots, in particular to an actively-adaptive double-drive magnetic wall climbing robot wheel set and a transition method.
Background
The wall climbing robot is a special robot which can climb on a non-horizontal wall surface and perform work to replace manual work. The method is mostly applied to the spraying, cleaning, hull detection, welding, rust removal and other operation tasks on the surface of the hull or the spraying, sand blasting, polishing and detection operations on the surface of a large-scale oil storage tank, and cleaning, paint spraying and the like on the outer surface of a high-rise building. Along with the continuous development of science and technology, the research of the wall climbing robot has important significance and application value.
The gesture of magnet subassembly is inconvenient for the adjustment on the current walking wheelset, and is weaker to the wall adaptability of crawling of difference, can't guarantee the stability and the reliability of magnetic attraction between magnet subassembly and the wall of crawling, needs two sets of wheels cooperation around to realize turning to, especially in the turning to between horizontal wall and the vertical wall.
Disclosure of Invention
Therefore, the invention aims to overcome the defect that in the prior art, when the magnetic wall climbing robot wheel set is in transition between two wall surfaces, the robot falls due to insufficient adsorption force, and provides the active adaptive double-drive magnetic wall climbing robot wheel set and the transition method, so that the robot wheel set can always maintain the adsorption force on the wall surfaces, and the safety of the robot is improved.
In order to solve the technical problems, the invention provides an actively-adaptive double-drive magnetic wall climbing robot wheel set, which comprises:
the central shaft is a hollow cylinder;
the driving and controlling integrated actuator is inserted into the two ends of the central shaft, and the output end of the driving and controlling integrated actuator is connected with a driving wheel;
the magnetic assembly comprises a driving worm wheel and a driving worm, wherein the driving worm wheel is rotationally connected to the central shaft, the driving worm wheel corresponds to the driving worm wheel, the driving worm wheel is at least provided with two driving worm wheels, tooth grooves are formed in the surface of the driving worm wheel along the circumferential direction, the surface of the driving worm wheel is connected with a magnetic chuck through a force transducer, two ends of the central shaft are connected with side plates, the top ends of the side plates are connected with a top plate, the driving worm is installed on the lower surface of the top plate through a bearing seat, and one end of the driving worm is connected with a steering engine.
In one embodiment of the invention, two driving worm gears are provided, the width of each magnetic chuck is larger than that of one driving worm gear, one side of each magnetic chuck is connected with the first driving worm gear, the other side of each magnetic chuck extends towards the second driving worm gear, and the two magnetic chucks are staggered in the circumferential direction of the central shaft.
In one embodiment of the invention, the magnetic chuck is coupled to the drive worm gear by at least two load cells.
In one embodiment of the invention, pins corresponding to the driving worm gears one by one are protruded on the outer surface of the central shaft, two set screws are protruded on the inner surface of the driving worm gears, and the set screws are located on two sides of the pins along the circumferential direction of the central shaft.
In one embodiment of the invention, two groups of magnetic attraction components are arranged between the two driving wheels, the two groups of magnetic attraction components are separated by an auxiliary wheel, and the auxiliary wheel is rotationally connected with the central shaft through a bearing.
In one embodiment of the present invention, the width of the auxiliary wheel is smaller than the width of the driving wheel, and the outer diameter of the auxiliary wheel is smaller than the outer diameter of the driving wheel and is larger than the distance from the vertex of the magnetic chuck to the center of the center shaft.
In one embodiment of the invention, the side surface of the auxiliary wheel is clamped with a gel adhesive ring round rope, the gel adhesive ring round rope is attached to a sealing plate, and the sealing plate is fixedly connected with the top plate.
In one embodiment of the invention, two auxiliary wheels are arranged, and the sealing plates are locked on the side edges of the bearing seat.
In one embodiment of the invention, the magnetic chuck includes a permanent magnet and a yoke.
The transition method of the double-drive magnetic wall climbing robot wheel set comprises a first wall surface and a second wall surface which form an included angle, the double-drive magnetic wall climbing robot wheel set which is actively adapted is adopted, and when the wall climbing robot wheel set moves from the first wall surface to the second wall surface, the transition method comprises the following steps:
s1: the force transducer detects pressure data received by a plurality of magnetic suckers in the magnetic attraction assembly and transmits the pressure data to the main controller;
s2: the main controller controls the steering engine to work according to the pressure data, so that at least one magnetic chuck corresponds to the first wall surface and at least one magnetic chuck corresponds to the second wall surface;
s3: the main controller controls the magnetic chuck corresponding to the first wall surface to be far away from the first wall surface, and the wall climbing robot wheel set moves on the second wall surface.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the robot wheel set always ensures the uniformity and stability of an air gap between the magnetic chuck and the wall surface, and due to the existence of the two independently working magnetic attraction components, the single wheel set can ensure the adsorption of the original wall surface when the magnetic chuck is transferred between the two wall surfaces, and after the transfer, the force release of the original wall surface is realized, so that the wheel set is stably transferred between the two crawling wall surfaces;
according to the transition method, one magnetic chuck always adsorbs the original wall surface, the other magnetic chuck transfers and adsorbs the new wall surface, then force is released to the original wall surface, the stability and reliability of the magnetic attraction to the wall surface are always ensured, and the safety of the wall climbing robot is improved.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings, in which
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a front cross-sectional view of an embodiment of the present invention;
FIG. 3 is a side cross-sectional view of an embodiment of the present invention;
FIG. 4 is a schematic diagram of a second embodiment of the present invention;
FIG. 5 is a front cross-sectional view of a second embodiment of the present invention;
FIG. 6 is a side cross-sectional view of an embodiment of the invention;
FIG. 7 is a schematic diagram of the internal structure of a second embodiment of the present invention;
FIG. 8 is a schematic view of the wheel set moving on a first wall;
FIG. 9 is a schematic diagram showing a wheel set moving toward a second wall;
FIG. 10 is a second schematic diagram illustrating the movement of the wheel set toward the second wall;
fig. 11 is a schematic view of the wheel set moving on the second wall.
Description of the specification reference numerals: 10. a central shaft; 11. a side plate; 12. a top plate; 13. a pin; 20. driving and controlling an integrated actuator; 21. a driving wheel; 22. an auxiliary wheel; 221. a gel adhesive ring round rope; 222. a sealing plate;
30. a magnetic attraction component; 31. a drive worm wheel; 311. tooth slots; 312. a set screw; 32. driving a worm; 321. a bearing seat; 322. steering engine; 33. a magnetic chuck; 331. a permanent magnet; 332. a yoke; 34. a load cell;
41. a first wall surface; 42. and a second wall surface.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.
Referring to fig. 1, 2 and 3, a schematic diagram of an embodiment of an actively adaptive dual-drive magnetic wall climbing robot wheel set according to the present invention is shown. The wall climbing robot wheel set of the invention comprises:
the central shaft 10, the central shaft 10 is a hollow cylinder, is used for connecting two driving wheels 21, and is convenient to connect with a driving and controlling integrated actuator 20.
The drive-control integrated actuator 20 is a servo integrated device integrating a servo motor, a harmonic reducer and a servo driver. Due to the integral assembly, the assembly error among the components is small, and the integral volume is small, so that the driving and controlling integral actuator 20 can be inserted into the two ends of the hollow central shaft 10, the installation space is saved, the distance between two wheels is controllable, and the strength of the wall climbing robot in the axial direction of the central shaft 10 is improved. The output end of the driving and controlling integrated actuator 20 is located outside the central shaft 10, and the driving wheel 21 is connected to the output end of the driving and controlling integrated actuator 20. The two driving wheels 21 are respectively connected with a driving and controlling integrated actuator 20, namely, the two driving wheels 21 can independently act, so that the flexibility of the movement of the wall climbing robot is improved.
The magnetic assembly 30 is further included, the magnetic assembly 30 comprises a driving worm wheel 31 rotatably connected to the central shaft 10 and a driving worm 32 corresponding to the driving worm wheel 31, the driving worm wheel 31 is at least provided with two driving worm wheels, tooth grooves 311 are formed in the surface of the driving worm wheel 31 along the circumferential direction, magnetic suction discs 33 are connected to the surface of the driving worm wheel 31 through a force transducer 34, side plates 11 are connected to two ends of the central shaft 10, the top ends of the side plates 11 are connected to the top plate 12, the driving worm 32 is mounted on the lower surface of the top plate 12 through a bearing seat 321, and a steering engine 322 is connected to one end of the driving worm 32. When the steering engine 322 is started, the driving worm 32 rotates, the driving worm wheel 31 matched with the driving worm 32 rotates, and the magnetic chuck 33 is fixed on the driving worm wheel 31, so that when the driving worm wheel 31 rotates, the position of the magnetic chuck 33 in the circumferential direction of the driving worm wheel 31 changes. The magnetic chuck 33 and the crawling wall are in non-contact adsorption, when the relative distance between the magnetic chuck 33 and the crawling wall is short, the adsorption force is strong, the reaction force of the pressure-magnetic attraction force detected by the force transducer 34 is large, when the relative distance between the magnetic chuck 33 and the crawling wall is long, the adsorption force is weak, and the reaction force of the pressure-magnetic attraction force detected by the force transducer 34 is small, so that the start and stop of the steering engine 322 are controlled according to the pressure data detected by the force transducer 34, the position of the magnetic chuck 33 is changed along with fluctuation of the crawling wall, the fact that the magnetic chuck 33 always adsorbs the crawling wall with the maximum adsorption force is ensured, and the adaptability of the crawling wall robot to different crawling walls is improved. Further, when the transition between two wall surfaces of crawling is steeper, the magnetic chuck 33 must have a section and the distance between two wall surfaces is all farther in the rotation process, and at this time, the wheel set of the wall climbing robot easily leaks force, so that the wall climbing robot falls. In the present invention, a plurality of driving worm gears 31, that is, a plurality of magnetic chucks 33 are provided, and each magnetic chuck 33 can independently operate. When the two walls are in transition, at least one magnetic chuck 33 is always used for adsorbing the first wall 41, other magnetic chucks 33 are controlled to rotate so as to adsorb the second wall 42, then the magnetic chuck 33 which adsorbs the first wall 41 releases force, and the wall climbing robot wheel set can smoothly move on the second wall 42. Specifically, the magnetic chuck 33 includes a permanent magnet 331 and a yoke 332. The permanent magnet 331 is fixed through the yoke 332, the utilization rate of the material of the permanent magnet 331 is improved, the permanent magnet 331 is large in attractive force, good in stability and high in reliability, and the magnetic adsorption force to the crawling wall surface is ensured to be enough.
In the invention, not only the movable magnetic chuck 33 is arranged, but also a plurality of magnetic chucks 33 are arranged, and each magnetic chuck 33 can independently move, so that the plurality of magnetic chucks 33 are matched, and the stability and reliability of the magnetic attraction force of the wall climbing robot wheel set under the conditions of upper and lower wall surfaces, transition transportation, obstacle crossing and the like are improved. Because the magnetic chuck 33 is provided with a plurality of magnetic chucks, the traditional driving mechanism has large volume and can cause the structural size of the wheel set to be overlarge, so that a worm and gear transmission mechanism is adopted in the embodiment. The driving worm 32 is located the driving worm wheel 31 top, and the diameter of driving worm 32 can be less than the width of driving worm wheel 31 to do not occupy the unnecessary space on the width direction, steering wheel 322 are installed at driving worm 32 tip, on the one hand, driving worm 32 tip is kept away from driving worm wheel 31, thereby this department space is great, conveniently installs steering wheel 322, on the other hand, steering wheel 322 is also for the servo all-in-one device that has integrated servo motor, harmonic reducer and servo driver, and its own volume is less, can not occupy unnecessary space, makes a plurality of driving worm wheel 31 can closely arrange. Further, in the steering engine 322, the axial direction of the servo motor is perpendicular to the axial direction of the harmonic reducer, so that the extending direction of the driving worm 32 does not occupy too much space. The driving worm wheel 31 only needs to be provided with the tooth grooves 311 on the surface thereof, so that the occupied space is not increased. Therefore, the worm and gear transmission mechanism can greatly reduce the structural size of the wheel set.
Referring to fig. 1 and 2, in this embodiment, two driving worm gears 31 are provided, and by the cooperation of the magnetic chuck 33 on two driving worm gears 31, the adaptability of the wall climbing robot wheel set to the wall surface is improved, which is conducive to the operation of the robot, and is particularly suitable for transition transportation between two wall surfaces with included angles. If the drive worm wheel 31 is provided in plural, the magnetic attraction force of the magnetic chuck 33 is too small to satisfy the attraction requirement on the wall surface if the width of the magnetic chuck 33 is not larger than the width of the drive worm wheel 31. Therefore, in this embodiment, the width of the magnetic chuck 33 is greater than the width of one driving worm wheel 31, and one side of the magnetic chuck 33 is connected to the first driving worm wheel 31, and the other side of the magnetic chuck 33 extends toward the second driving worm wheel 31, so that the adsorption area of the magnetic chuck 33 is increased without increasing the structural size of the wheel set. Moreover, since the width of the magnetic chuck 33 is wide, if two magnetic chucks 33 are arranged side by side, the distance between the two driving worm gears 31 is increased, so that the two magnetic chucks 33 are staggered in the circumferential direction of the central shaft 10.
Referring to fig. 2 and 3, since the magnetic chuck 33 has a certain length and width, and the driving worm wheel 31 can only be provided with one magnetic chuck 33 in the width direction, the magnetic chuck 33 is connected with the driving worm wheel 31 through at least two load cells 34 in order to ensure the connection stability of the magnetic chuck 33, and the two magnetic chucks 33 are circumferentially arranged along the driving worm wheel 31.
Further, since the tooth grooves 311 are not circumferentially distributed around the drive worm wheel 31, the present invention provides a stopper mechanism for preventing the drive worm wheel 31 from rotating out of the meshing area with the drive worm 32, as shown in fig. 3, on the center shaft 10 and the drive worm wheel 31. Specifically, pins 13 corresponding to the driving worm gears 31 one by one are protruded from the outer surface of the central shaft 10, and in the present invention, two driving worm gears 31 are provided, so that two pins 13 are provided on the outer surface of the central shaft 10, the two pins 13 are located at the top of the central shaft 10, and are provided corresponding to the middle of the driving worm gears 31. The height of the pin 13 protruding out of the central shaft 10 is smaller than the clearance between the central shaft 10 and the driving worm wheel 31, so that interference between the pin 13 and the driving worm wheel 31 is avoided, and rotation of the driving worm wheel 31 is influenced. Two set screws 312 are protruded from the inner surface of the driving worm wheel 31, and the set screws 312 are located at two sides of the pin 13 along the circumferential direction of the central shaft 10. Therefore, when the driving worm wheel 31 rotates to the limit position to both sides, the set screw 312 abuts against the pin 13, so that the driving worm wheel 31 cannot continue to rotate, and the driving worm wheel 31 is prevented from being separated from the driving worm 32.
Referring to fig. 4, when a set of magnetic attraction assemblies 30 is disposed between two driving wheels 21, the distance between the two driving wheels 21 is smaller, so that the wall climbing robot is easy to roll when turning, and if the distance between the two driving wheels 21 is increased, the set of magnetic attraction assemblies 30 can provide too small magnetic attraction force, so in the second embodiment of the present invention, two sets of magnetic attraction assemblies 30 are disposed between the two driving wheels 21. In order to prevent the central shaft 10 from deforming, an auxiliary wheel 22 is arranged between the two sets of magnetic attraction assemblies 30, the auxiliary wheel 22 separates the two sets of magnetic attraction assemblies 30, and the auxiliary wheel 22 is rotatably connected with the central shaft 10 through a bearing. The auxiliary wheel 22 contacts the crawling wall surface, and along with the rotation of the driving wheel 21, friction between the auxiliary wheel 22 and the crawling wall surface enables the auxiliary wheel 22 to rotate, so that the central shaft 10 is supported, and meanwhile the influence on the movement of the wheel set is avoided as much as possible. Further, since friction between the auxiliary wheel 22 and the crawling wall surface always increases the resistance of the wheel set to move, the outer diameter of the auxiliary wheel 22 is set smaller than the outer diameter of the driving wheel 21 and greater than the distance from the vertex of the magnetic chuck 33 to the axis of the central shaft 10 in this embodiment. Normally, because the outer diameter of the driving wheel 21 is large, when the driving wheel 21 is supported on the crawling wall surface, the auxiliary wheel 22 is not contacted with the crawling wall surface, friction is not generated between the auxiliary wheel 22 and the crawling wall surface, and the movement of the wheel set is not influenced. If the wall climbing robot is heavily loaded, the central shaft 10 is deformed, and at this time, the auxiliary wheel 22 contacts the wall climbing surface to support the central shaft 10, so that the central shaft 10 is prevented from being deformed further.
Referring to fig. 5 and 7, a gel ring round rope 221 is clamped on the side surface of the auxiliary wheel 22, the gel ring round rope 221 is attached to a sealing plate 222, and the sealing plate 222 is fixedly connected with the top plate 12. The cooperation realizes the dynamic seal between the auxiliary wheel 22 and the magnetic attraction assembly 30. Further, referring to fig. 5, for the convenience of modular production and processing, the number of the auxiliary wheels 22 is set corresponding to the number of the magnetic attraction assemblies 30, and specifically, in this embodiment, two auxiliary wheels 22 are provided, and one auxiliary wheel 22 and one set of magnetic attraction assemblies 30 form a module. In order to reduce the space occupied by the auxiliary wheel 22 and the sealing plate 222, the thickness of the sealing plate 222 is small, so that the sealing plate 222 is inconvenient to be locked with the top plate 12 at the top, and in this embodiment, the sealing plate 222 is locked at the side of the bearing seat 321. The bearing seat 321 has a thicker thickness, so that the bearing seat 321 is locked with the bearing seat 321 through the surface of the sealing plate 222 for convenient operation and can ensure the connection stability of the sealing plate 222.
The invention also discloses a transition method of the double-drive magnetic wall climbing robot wheel set, which comprises a first wall surface 41 and a second wall surface 42 which form included angles, wherein the double-drive magnetic wall climbing robot wheel set adopting the active adaptation is shown by referring to fig. 8-11, when the wall climbing robot wheel set moves from the first wall surface 41 to the second wall surface 42, the transition method comprises the following steps:
s1: the force transducer 34 detects the pressure data received by the plurality of magnetic suckers 33 in the magnetic attraction assembly 30 and transmits the pressure data to the main controller;
s2: the main controller controls the steering engine 322 to work according to the pressure data, so that at least one magnetic chuck 33 corresponds to the first wall surface 41 and at least one magnetic chuck 33 corresponds to the second wall surface 42. Referring to fig. 8, in this embodiment, two driving worm gears 31 are provided for each set of magnetic attraction assemblies 30, that is, there are two magnetic attraction discs 33: a first magnetic chuck 33a and a second magnetic chuck 33b. When the wheel set moves on the first wall 41, the first magnetic chuck 33a corresponds to the first wall 41, and the two magnetic chucks 33 are staggered, so that the second magnetic chuck 33b has no adsorption force on the first wall 41. As the wheel set is transferred to the second wall 42, the first magnetic chuck 33a approaches the second wall 42, and the second magnetic chuck 33b cannot pass over the first magnetic chuck 33a to adsorb the second wall 42, so that the two driving worms 32 are simultaneously started to rotate the first magnetic chuck 33a to adsorb the second wall 42, and the second magnetic chuck 33b is rotated to adsorb the first wall 41, in this process, as shown in fig. 9, even if the first magnetic chuck 33a rotates to an included angle corresponding to the two walls, that is, the adsorption force of the first magnetic chuck 33a to the first wall 41 and the second wall 42 is small, at this time, the second magnetic chuck 33b has adsorption force to the first wall 41, so that the stability of the wheel set on the wall can be ensured. The first magnetic chuck 33a and the second magnetic chuck 33b continue to rotate, and referring to fig. 10, at this time, the first magnetic chuck 33a adsorbs the second wall surface 42, the second magnetic chuck 33b adsorbs the first wall surface 41, and the wheelset has adsorption force to both wall surfaces, so that the stability of the wheelset position can be ensured.
S3: since the wheel set is separated from the first wall 41 and the suction force of the second magnetic chuck 33b to the first wall 41 blocks the movement of the wheel set, referring to fig. 11, the main controller controls the magnetic chuck 33 corresponding to the first wall 41 to be separated from the first wall 41, in this embodiment, since the second magnetic chuck 33b cannot be overlapped with the first magnetic chuck 33a, in order to separate from the first wall 41, the second magnetic chuck 33b is controlled to rotate to a side separated from the first magnetic chuck, and the wheel set has no suction force to the first wall 41, so that the wheel set of the wall climbing robot can freely move on the second wall 42.
In the invention, a single wall climbing robot wheel group can realize stable transfer between two wall surfaces, and the uniformity and stability of an air gap between the magnetic chuck 33 and the wall surfaces are always ensured, so that the stability and reliability of magnetic attraction are ensured, and the force can be quickly released, thereby realizing switching between the two wall surfaces.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (10)
1. Actively-adaptive double-drive magnetic wall climbing robot wheel set is characterized by comprising:
the central shaft is a hollow cylinder;
the driving and controlling integrated actuator is inserted into the two ends of the central shaft, and the output end of the driving and controlling integrated actuator is connected with a driving wheel;
the magnetic assembly comprises a driving worm wheel and a driving worm, wherein the driving worm wheel is rotationally connected to the central shaft, the driving worm wheel corresponds to the driving worm wheel, the driving worm wheel is at least provided with two driving worm wheels, tooth grooves are formed in the surface of the driving worm wheel along the circumferential direction, the surface of the driving worm wheel is connected with a magnetic chuck through a force transducer, two ends of the central shaft are connected with side plates, the top ends of the side plates are connected with a top plate, the driving worm is installed on the lower surface of the top plate through a bearing seat, and one end of the driving worm is connected with a steering engine.
2. The actively adaptive double-drive magnetic wall climbing robot wheel set according to claim 1, wherein two drive worm wheels are provided, the width of each magnetic chuck is larger than that of one drive worm wheel, one side of each magnetic chuck is connected with the first drive worm wheel, the other side of each magnetic chuck extends to the direction of the second drive worm wheel, and the two magnetic chucks are staggered in the circumferential direction of the central shaft.
3. The actively adaptive dual-drive magnetic wall climbing robot wheelset of claim 1 wherein the magnetic chuck is coupled to the drive worm gear by at least two load cells.
4. The actively adaptive double-drive magnetic wall climbing robot wheel set according to claim 1, wherein pins corresponding to the drive worm wheels one by one are protruded on the outer surface of the central shaft, two set screws are protruded on the inner surface of the drive worm wheel, and the set screws are located on two sides of the pins along the circumferential direction of the central shaft.
5. The actively adaptive double-drive magnetic wall climbing robot wheel set according to claim 1, wherein two groups of magnetic attraction components are arranged between the two driving wheels, the two groups of magnetic attraction components are separated by an auxiliary wheel, and the auxiliary wheel is rotationally connected with the central shaft through a bearing.
6. The actively adaptive dual-drive magnetic wall climbing robot wheel set according to claim 5, wherein the auxiliary wheel has a width smaller than a width of the driving wheel, and an outer diameter smaller than an outer diameter of the driving wheel and greater than a distance from an apex of the magnetic chuck to an axis of the central shaft.
7. The actively adaptive double-drive magnetic wall climbing robot wheel set according to claim 5, wherein a gel ring round rope is clamped on the side surface of the auxiliary wheel, the gel ring round rope is attached to a sealing plate, and the sealing plate is fixedly connected with the top plate.
8. The actively adaptive double-drive magnetic wall climbing robot wheel set according to claim 7, wherein the number of the auxiliary wheels is corresponding to the number of the magnetic components, and the sealing plate is locked on the side edge of the bearing seat.
9. The actively adaptive dual-drive magnetic wall climbing robot wheelset of claim 1 wherein the magnetic chuck comprises a permanent magnet and a yoke.
10. The transition method of the double-drive magnetic wall climbing robot wheel set is characterized by comprising a first wall surface and a second wall surface which form an included angle, wherein the double-drive magnetic wall climbing robot wheel set which is actively adapted according to any one of claims 1-9 is adopted, and when the wall climbing robot wheel set moves from the first wall surface to the second wall surface, the transition method comprises the following steps:
s1: the force transducer detects pressure data received by a plurality of magnetic suckers in the magnetic attraction assembly and transmits the pressure data to the main controller;
s2: the main controller controls the steering engine to work according to the pressure data, so that at least one magnetic chuck corresponds to the first wall surface and at least one magnetic chuck corresponds to the second wall surface;
s3: the main controller controls the magnetic chuck corresponding to the first wall surface to be far away from the first wall surface, and the wall climbing robot wheel set moves on the second wall surface.
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| CN202310115590.1A CN116279881A (en) | 2023-02-15 | 2023-02-15 | Actively-adaptive double-drive magnetic wall climbing robot wheel set and transition method |
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| CN202310115590.1A CN116279881A (en) | 2023-02-15 | 2023-02-15 | Actively-adaptive double-drive magnetic wall climbing robot wheel set and transition method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117429526A (en) * | 2023-12-22 | 2024-01-23 | 广东工业大学 | High-mobility wheel type climbing robot |
Citations (8)
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| CN110015350A (en) * | 2019-04-19 | 2019-07-16 | 武汉理工大学 | Metallic walls surface self-adaption climbing robot |
| CN115384226A (en) * | 2022-09-29 | 2022-11-25 | 江苏镌极特种设备有限公司 | Self-adaptive magnetic type traveling wheel set |
| CN115534578A (en) * | 2022-10-31 | 2022-12-30 | 江苏镌极特种设备有限公司 | Magnetic wheel and wall-climbing robot capable of controlling magnetic attraction in real time |
| CN115697823A (en) * | 2020-05-30 | 2023-02-03 | 麻省理工学院 | Wall climbing vehicle with self-adaptive magnetic wheels |
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| JPH08216944A (en) * | 1995-02-10 | 1996-08-27 | Ishikawajima Inspection & Instrumentation Co | Magnet wheel unit and truck using the wheel unit |
| WO1997024251A1 (en) * | 1995-12-28 | 1997-07-10 | Honshu-Shikoku Bridge Authority | Mobile wall-surface moving device employing a magnet incorporating type attraction wheel |
| CN206217495U (en) * | 2016-11-25 | 2017-06-06 | 浙江嘉蓝海洋电子有限公司 | The magnetic suck of magnetic adsorption wall climbing robot and driving combination wheel |
| CN107031748A (en) * | 2017-04-25 | 2017-08-11 | 中科新松有限公司 | The universal drive module and its general driving unit of a kind of climbing robot |
| CN110015350A (en) * | 2019-04-19 | 2019-07-16 | 武汉理工大学 | Metallic walls surface self-adaption climbing robot |
| CN115697823A (en) * | 2020-05-30 | 2023-02-03 | 麻省理工学院 | Wall climbing vehicle with self-adaptive magnetic wheels |
| CN115384226A (en) * | 2022-09-29 | 2022-11-25 | 江苏镌极特种设备有限公司 | Self-adaptive magnetic type traveling wheel set |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117429526A (en) * | 2023-12-22 | 2024-01-23 | 广东工业大学 | High-mobility wheel type climbing robot |
| CN117429526B (en) * | 2023-12-22 | 2024-02-20 | 广东工业大学 | High-mobility wheel type climbing robot |
| US12065207B1 (en) | 2023-12-22 | 2024-08-20 | Guangdong University Of Technology | High-mobility wheeled climbing robot |
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