CN116812029A - Magnetic adsorption crawler wall climbing robot and wheel structure thereof - Google Patents
Magnetic adsorption crawler wall climbing robot and wheel structure thereof Download PDFInfo
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- CN116812029A CN116812029A CN202310845053.2A CN202310845053A CN116812029A CN 116812029 A CN116812029 A CN 116812029A CN 202310845053 A CN202310845053 A CN 202310845053A CN 116812029 A CN116812029 A CN 116812029A
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 44
- 230000005540 biological transmission Effects 0.000 claims description 47
- 230000005389 magnetism Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 5
- 230000007547 defect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 241000270290 Gekkota Species 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- 239000003973 paint Substances 0.000 description 1
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Abstract
The invention relates to the technical field of wall climbing robots, in particular to a magnetic adsorption crawler wall climbing robot and a wheel structure thereof.
Description
Technical Field
The invention relates to the technical field of wall climbing robots, in particular to a magnetic adsorption crawler wall climbing robot and a wheel structure thereof.
Background
The robot has wide application prospect in the fields of climbing rescue, spacecraft cabin walking and the like, insects and geckos are always focuses of attention of biologists and mechanical designers in the aspect of wall climbing, but at present , more key technical problems need to be solved, in the aspects of design and application of the wall climbing robot have great defects, and the wall climbing robot put into use at present generally adopts a design thought of vacuum adsorption, so that the energy consumption is very high; in addition, the existing gecko-like climbing robot designs a micro-nano adsorption structure, but the structure is extremely fragile, the repeated utilization rate is low, the automatic robot capable of climbing on a vertical wall and completing the operation is also called a wall surface moving robot, and the wall surface climbing robot is also called a limit operation robot abroad because the vertical wall surface operation exceeds the limit of a person, and the wall climbing robot has two basic functions of adsorption and movement, and the common adsorption mode comprises negative pressure adsorption and permanent magnet adsorption, wherein the negative pressure mode can be adsorbed on the wall surface through negative pressure generated in a sucker and is not limited by the wall surface material; the permanent magnet adsorption mode is provided with a permanent magnet mode and an electromagnet mode, and is only suitable for adsorbing a magnetic permeability wall surface, the wall climbing robot is mainly used for carrying out flaw detection or paint spraying treatment on a cylindrical large tank by petrochemical enterprises or cleaning and spraying buildings, is used for detecting thickness measurement and the like in nuclear industry, can also be used for fire fighting, shipbuilding and other industries, is rapidly developed in the research of the wall climbing robot in Japan, and is similarly researched in China in the 90 th year of 20 th century;
at present, workers willing to engage in high-altitude operation are in short supply, so that the wall climbing robot is urgently needed to fill the gap of the loss of workers in both industrial and civil fields, and the wall climbing robot has strict requirements on the smoothness of the wall surface and forms very strong noise when carrying a vacuum pump. The positive pressure propelling type mainly utilizes a fan to generate rear thrust in a certain direction, so that the robot can be attached to a wall surface, the defects of complex control system, low efficiency, serious energy conversion waste, uneconomical and the like exist, meanwhile, the magnetic force adsorption type robot has large volume and heavy weight, cannot adapt to the crawling of the wall surface of a narrow space, has insufficient adsorption force, does not have obstacle crossing function, and cannot adapt to various uneven complex wall surfaces.
In view of the above, the invention provides a magnetic adsorption crawler wall climbing robot and a wheel structure thereof.
Disclosure of Invention
In order to make up for the defects, the invention provides a magnetic adsorption crawler wall climbing robot and a wheel structure thereof.
The technical scheme of the invention is as follows:
the utility model provides a magnetism adsorbs track wall climbing robot and wheel structure thereof, includes wall climbing robot main part, wall climbing robot main part's inside fixed mounting has the absorption subassembly, the inside fixed mounting of absorption subassembly has the electromagnet, the below fixed mounting of electromagnet has the backup pad, first gear has been seted up to the top of electromagnet, the side meshing of first gear is connected with the lift chain, the mount pad has been seted up to the terminal side of lift chain.
As the preferable technical scheme, auxiliary assembly is fixedly installed to the below of mount pad, first transmission track has been seted up to auxiliary assembly's inside, first mounting panel is fixedly installed on first transmission track's right side, the second mounting panel has been seted up to first mounting panel's side, the front end fixed mounting of second mounting panel has the rotation post, fixing bolt has been seted up on the right side of rotation post, the second transmission track has been seted up in fixing bolt's the outside, the inside fixed mounting of second transmission track has the dwang.
As the preferable technical scheme, the fixed plate has been seted up to the side of dwang, the top fixed mounting of fixed plate has climbs wall subassembly, the inside fixed mounting who climbs wall subassembly has the spliced pole, first drive wheel has been seted up to the side of spliced pole, the right side fixed mounting of first drive wheel has the second drive wheel.
As the preferable technical scheme, the transmission shaft is fixedly arranged above the second transmission wheel, the mounting base is fixedly arranged at the rear end of the transmission shaft, the wheel assembly is arranged on the bottom surface of the mounting base, and the first rubber wheel is fixedly arranged in the wheel assembly.
As the preferable technical scheme, the second rubber wheel is fixedly arranged below the first rubber wheel, and the first groove is formed in the inner side of the second rubber wheel.
As the preferable technical scheme, the side face of the first groove is provided with a second groove, and the inner side of the second groove is provided with a mounting hole.
As the preferable technical scheme, the side face of the mounting hole is fixedly provided with a power assembly, and the inside of the power assembly is provided with a power box body.
As the preferable technical scheme, a first output end is arranged on the left side of the power box body, and a first input end is arranged above the first output end.
As the preferred technical scheme, the right side fixed mounting of first input has the second output, the below fixed mounting of second output has the installer, the second input has been seted up to the top of installer, the side fixed mounting of second input has fixed subassembly, first supporting shoe has been seted up to fixed subassembly's inside, the left side fixed mounting of first supporting shoe has the second supporting shoe, first screw hole has been seted up to the inside of second supporting shoe, the second screw hole has been seted up to the inside of first supporting shoe.
As the preferable technical scheme, the below fixed mounting of second screw hole has first base, the right side fixed mounting of first base has the link, the side fixed mounting of link has the curb plate, the side fixed mounting of curb plate has the second base, the below fixed mounting of second base has first support frame, the right side fixed mounting of first support frame has the magnetism to inhale the board, the second support frame has been seted up to the side of magnetism to inhale the board.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the adsorption assembly is fixedly arranged in the wall climbing robot main body, the electromagnet is fixedly arranged in the adsorption assembly, the supporting plate is fixedly arranged below the electromagnet, the first gear is arranged above the electromagnet, the side surface of the first gear is connected with the lifting chain in a meshed manner, the mounting seat is arranged on the side surface of the tail end of the lifting chain, the magnetic conduction wall surfaces are magnetically adsorbed by a plurality of electromagnets in the adsorption assembly, the supporting plate below the electromagnet is supported, the lifting chain is driven by the first gear to realize the obstacle crossing function, meanwhile, the magnetic adsorption force between the lifting chain and the magnetic conduction wall surfaces is enhanced, the adsorption capacity of the whole robot is improved, the falling phenomenon of the robot caused by insufficient adsorption force is prevented, and the stable and reliable adsorption of the robot can be realized on the magnetic conduction wall surfaces with different roughness.
2. According to the invention, the first transmission crawler belt is arranged in the auxiliary assembly, the first mounting plate is fixedly arranged on the right side of the first transmission crawler belt, the second mounting plate is arranged on the side surface of the first mounting plate, the rotating column is fixedly arranged at the front end of the second mounting plate, the fixing bolt is arranged on the right side of the rotating column, the second transmission crawler belt is arranged on the outer side of the fixing bolt, the rotating rod is fixedly arranged in the second transmission crawler belt, the first transmission crawler belt and the second transmission crawler belt are used for transmission, the first mounting plate and the second mounting plate limit the rotation of the rotation rod, and the tensioning force of the crawler belt is adjusted, so that the device can adapt to the conditions of various complex wall surfaces such as flat wall surfaces or curved wall surfaces, the application range is very wide, and the tensioning force can be adjusted only by rotating the tensioning bolt.
3. According to the invention, the power box body is arranged in the power assembly, the first output end is arranged on the left side of the power box body, the first input end is arranged above the first output end, and the crawler-type moving assembly, the obstacle surmounting magnetic wheel assembly, the crawler tensioning assembly and the like are all independent modularized units through magnetic adsorption, so that when one unit fails, only a single unit is needed to be replaced, and the maintenance is convenient and the cost is saved.
Drawings
FIG. 1 is a schematic diagram of a main body structure of a wall climbing robot according to the present invention;
FIG. 2 is a schematic view of the outline package of the present invention;
FIG. 3 is a schematic view of the auxiliary assembly structure of the present invention;
FIG. 4 is a schematic view of an adsorption module according to the present invention;
FIG. 5 is a schematic view of a wall climbing assembly according to the present invention;
FIG. 6 is a schematic view of a wheel assembly of the present invention;
FIG. 7 is a schematic diagram of a power assembly of the present invention;
fig. 8 is a schematic structural view of a fixing assembly according to the present invention.
In the figure: 1. a wall climbing robot body; 11. a first base; 12. a connecting frame; 13. a first support frame; 14. a magnetic suction plate; 15. a second support frame; 16. a second base; 17. a side plate; 2. an auxiliary component; 21. a first drive track; 22. a first mounting plate; 23. a second mounting plate; 24. a fixing bolt; 25. rotating the column; 26. a second drive track; 27. a rotating lever; 28. a fixing plate; 3. an adsorption assembly; 31. a lifting chain; 32. a mounting base; 33. a first gear; 34. an electromagnet; 35. a support plate; 4. a wall climbing assembly; 41. a first driving wheel; 42. a second driving wheel; 43. a connecting column; 44. a transmission shaft; 45. a mounting base; 5. a wheel assembly; 51. a first groove; 52. a first rubber wheel; 53. a second groove; 54. a mounting hole; 55. a second rubber wheel; 6. a power assembly; 61. a first output terminal; 62. a first input; 63. a second input terminal; 64. a power box body; 65. a second output terminal; 66. a mounting device; 7. a fixing assembly; 71. a first support block; 72. a second support block; 73. a first threaded hole; 74. and a second threaded hole.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 8, the present invention provides a technical solution:
a magnetic adsorption track wall climbing robot and a wheel structure thereof comprise a wall climbing robot main body 1, wherein an adsorption component 3 is fixedly installed in the wall climbing robot main body 1, an electromagnet 34 is fixedly installed in the adsorption component 3, a supporting plate 35 is fixedly installed below the electromagnet 34, a first gear 33 is arranged above the electromagnet 34, a lifting chain 31 is meshed and connected to the side surface of the first gear 33, a mounting seat 32 is arranged on the tail end side surface of the lifting chain 31, an auxiliary component 2 is fixedly installed below the mounting seat 32, a first transmission track 21 is arranged in the auxiliary component 2, a first mounting plate 22 is fixedly installed on the right side of the first transmission track 21, a second mounting plate 23 is arranged on the side surface of the first mounting plate 22, a rotary column 25 is fixedly installed at the front end of the second mounting plate 23, a fixing bolt 24 is arranged on the right side of the rotary column 25, a second transmission track 26 is arranged on the outer side of the fixing bolt 24, a rotary rod 27 is arranged on the side surface of the second transmission rod 27, a mounting plate 28 is fixedly installed above the fixing plate 28, a wall climbing component 4 is arranged on the upper side of the fixing plate 28, a first transmission wheel 43 is fixedly installed on the right side surface of the wall component 4, a first transmission wheel 43 is fixedly installed on the right side surface of the first transmission column 43, and a second transmission wheel 41 is fixedly installed on the right side surface of the transmission column 43 is fixedly installed on the right side of the transmission column 41
It is to be added that through the inside fixed mounting at wall climbing robot main part 1 has adsorption component 3, the inside fixed mounting of adsorption component 3 has electromagnet 34, the below fixed mounting of electromagnet 34 has backup pad 35, first gear 33 has been seted up to the top of electromagnet 34, the side meshing of first gear 33 is connected with lift chain 31, mount pad 32 has been seted up to the terminal side of lift chain 31, carry out magnetic attraction to the magnetic conduction wall through a plurality of electromagnets 34 in adsorption component 3, electromagnet 34 below backup pad 35 supports, first gear 33 drives lift chain 31 and can realize the obstacle crossing function.
As a preference of this embodiment, a transmission shaft 44 is fixedly installed above the second transmission wheel 42, a mounting base 45 is fixedly installed at the rear end of the transmission shaft 44, a wheel assembly 5 is provided on the bottom surface of the mounting base 45, a first rubber wheel 52 is fixedly installed inside the wheel assembly 5, a second rubber wheel 55 is fixedly installed below the first rubber wheel 52, a first groove 51 is provided inside the second rubber wheel 55, a second groove 53 is provided on the side surface of the first groove 51, a mounting hole 54 is provided inside the second groove 53, a power assembly 6 is fixedly installed on the side surface of the mounting hole 54, and a power box 64 is provided inside the power assembly 6.
It is worth noting that, through having seted up first transmission track 21 in auxiliary assembly 2's inside, first mounting panel 22 is fixed mounting on the right side of first transmission track 21, second mounting panel 23 has been seted up to the side of first mounting panel 22, the front end fixed mounting of second mounting panel 23 has pivoted post 25, fixing bolt 24 has been seted up on the right side of pivoted post 25, second transmission track 26 has been seted up in the outside of fixing bolt 24, the inside fixed mounting of second transmission track 26 has dwang 27, it is transmitted through first transmission track 21, second transmission track 26, first mounting panel 22, second mounting panel 23 is spacing it, adjust the tensioning force of track.
As a preference of this embodiment, the left side of the power box body 64 is provided with the first output end 61, the upper side of the first output end 61 is provided with the first input end 62, the right side of the first input end 62 is fixedly provided with the second output end 65, the lower side of the second output end 65 is fixedly provided with the installer 66, the upper side of the installer 66 is provided with the second input end 63, the side surface of the second input end 63 is fixedly provided with the fixing component 7, the inside of the fixing component 7 is provided with the first support block 71, the left side of the first support block 71 is fixedly provided with the second support block 72, the inside of the second support block 72 is provided with the first threaded hole 73, the inside of the first support block 71 is provided with the second threaded hole 74, the lower side of the second threaded hole 74 is fixedly provided with the first base 11, the right side of the first base 11 is fixedly provided with the connecting frame 12, the side surface of the connecting frame 12 is fixedly provided with the side plate 17, the side surface of the side plate 17 is fixedly provided with the second base 16, the lower side surface of the second base 16 is fixedly provided with the first support frame 13, the right side surface of the second support frame 14 is fixedly provided with the second support frame 14, and the right surface of the second support frame 14 is fixedly provided with the second support frame 14.
In the specific use process, the power box body 64 is arranged in the power assembly 6, the first output end 61 is arranged on the left side of the power box body 64, the first input end 62 is arranged above the first output end 61, and the crawler-type power assembly 6, the obstacle surmounting magnetic wheel assembly, the crawler tensioning assembly and the like are all independent modularized units through the magnetic adsorption, so that when one unit fails, only a single unit needs to be replaced.
When the magnetic adsorption crawler climbing robot and the wheel structure thereof are used, firstly, the adsorption assembly 3 is fixedly arranged in the climbing robot main body 1, the electromagnet 34 is fixedly arranged in the adsorption assembly 3, the supporting plate 35 is fixedly arranged below the electromagnet 34, the first gear 33 is arranged above the electromagnet 34, the lifting chain 31 is connected with the side surface of the first gear 33 in a meshed manner, the mounting seat 32 is arranged on the tail end side surface of the lifting chain 31, the magnetic adsorption is carried out on the magnetic conduction wall surface through the electromagnets 34 in the adsorption assembly 3, the supporting plate 35 below the electromagnet 34 is supported, the first gear 33 drives the lifting chain 31 to realize the obstacle crossing function, the first transmission crawler 21 is arranged in the auxiliary assembly 2, the first mounting plate 22 is fixedly arranged on the right side of the first transmission crawler 21, the second mounting plate 23 is fixedly arranged on the side surface of the first mounting plate 22, the rotating column 25 is fixedly arranged at the front end of the second mounting plate 23, the right side of the rotating column 25 is provided with the fixing bolt 24, the second transmission 26 is arranged on the outer side of the fixing bolt 24, the inner fixed mounting rod of the second transmission 26 is used for carrying out magnetic adsorption on the magnetic conduction wall surface, the first transmission crawler unit and the first crawler unit is arranged on the left side of the first crawler unit through the first transmission unit 64, the first crawler unit is arranged on the left side of the first crawler unit 6, the first crawler unit is replaced by the first crawler unit 6, the first crawler unit is arranged on the left crawler unit 6, and when the first crawler unit is required to be replaced by the power unit 64, and the power unit is arranged on the first crawler unit 6, and the power unit is arranged on the power unit, and the power unit 6.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a magnetism adsorbs track wall climbing robot and wheel structure thereof, includes wall climbing robot main part (1), its characterized in that: the wall climbing robot comprises a wall climbing robot body (1), wherein an adsorption component (3) is fixedly arranged in the wall climbing robot body, an electromagnet (34) is fixedly arranged in the adsorption component (3), a supporting plate (35) is fixedly arranged below the electromagnet (34), a first gear (33) is arranged above the electromagnet (34), a lifting chain (31) is connected to the side face of the first gear (33) in a meshed mode, and a mounting seat (32) is arranged on the side face of the tail end of the lifting chain (31).
2. The magnetic adsorption crawler wall climbing robot and its wheel structure according to claim 1, wherein: the auxiliary assembly (2) is fixedly installed below the installation seat (32), a first transmission crawler belt (21) is arranged inside the auxiliary assembly (2), a first installation plate (22) is fixedly installed on the right side of the first transmission crawler belt (21), a second installation plate (23) is arranged on the side face of the first installation plate (22), a rotating column (25) is fixedly installed at the front end of the second installation plate (23), a fixing bolt (24) is arranged on the right side of the rotating column (25), a second transmission crawler belt (26) is arranged on the outer side of the fixing bolt (24), and a rotating rod (27) is fixedly installed inside the second transmission crawler belt (26).
3. The magnetic adsorption crawler wall climbing robot and its wheel structure according to claim 2, wherein: the fixed plate (28) has been seted up to the side of dwang (27), the top fixed mounting of fixed plate (28) has wall climbing subassembly (4), the inside fixed mounting of wall climbing subassembly (4) has spliced pole (43), first drive wheel (41) have been seted up to the side of spliced pole (43), the right side fixed mounting of first drive wheel (41) has second drive wheel (42).
4. A magnetically attractable track wall climbing robot and its wheel structure as claimed in claim 3, wherein: the transmission shaft (44) is fixedly arranged above the second transmission wheel (42), the mounting base (45) is fixedly arranged at the rear end of the transmission shaft (44), the wheel assembly (5) is arranged on the bottom surface of the mounting base (45), and the first rubber wheel (52) is fixedly arranged in the wheel assembly (5).
5. The magnetic adsorption crawler wall climbing robot and its wheel structure according to claim 4, wherein: the lower part of the first rubber wheel (52) is fixedly provided with a second rubber wheel (55), and the inner side of the second rubber wheel (55) is provided with a first groove (51).
6. The magnetic adsorption crawler wall climbing robot and its wheel structure according to claim 5, wherein: the side of first recess (51) has seted up second recess (53), mounting hole (54) have been seted up to the inboard of second recess (53).
7. The magnetic-attraction tracked wall climbing robot and wheel structure thereof according to claim 6, wherein: the side of mounting hole (54) fixed mounting has power component (6), power box (64) have been seted up to the inside of power component (6).
8. The magnetic-attraction tracked wall climbing robot and wheel structure thereof according to claim 7, wherein: the left side of power box (64) has seted up first output (61), first input (62) have been seted up to the top of first output (61).
9. The magnetic-attraction tracked wall climbing robot and wheel structure thereof according to claim 8, wherein: the right side fixed mounting of first input (62) has second output (65), the below fixed mounting of second output (65) has installer (66), second input (63) have been seted up to the top of installer (66), the side fixed mounting of second input (63) has fixed subassembly (7), first supporting shoe (71) have been seted up to the inside of fixed subassembly (7), the left side fixed mounting of first supporting shoe (71) has second supporting shoe (72), first screw hole (73) have been seted up to the inside of second supporting shoe (72), second screw hole (74) have been seted up to the inside of first supporting shoe (71).
10. The magnetic-attraction tracked wall climbing robot and wheel structure thereof according to claim 9, wherein: the utility model discloses a magnetic attraction plate, including first base (11) and second support frame (15), first base (11) is fixed mounting in the below of second screw hole (74), right side fixed mounting of first base (11) has link (12), the side fixed mounting of link (12) has curb plate (17), the side fixed mounting of curb plate (17) has second base (16), the below fixed mounting of second base (16) has first support frame (13), the right side fixed mounting of first support frame (13) has magnetic attraction plate (14), second support frame (15) have been seted up to the side of magnetic attraction plate (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310845053.2A CN116812029A (en) | 2023-07-10 | 2023-07-10 | Magnetic adsorption crawler wall climbing robot and wheel structure thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310845053.2A CN116812029A (en) | 2023-07-10 | 2023-07-10 | Magnetic adsorption crawler wall climbing robot and wheel structure thereof |
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| Publication Number | Publication Date |
|---|---|
| CN116812029A true CN116812029A (en) | 2023-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310845053.2A Pending CN116812029A (en) | 2023-07-10 | 2023-07-10 | Magnetic adsorption crawler wall climbing robot and wheel structure thereof |
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| Country | Link |
|---|---|
| CN (1) | CN116812029A (en) |
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2023
- 2023-07-10 CN CN202310845053.2A patent/CN116812029A/en active Pending
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