CN201856832U - Magnetic disc adsorption type wall-climbing robot - Google Patents
Magnetic disc adsorption type wall-climbing robot Download PDFInfo
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- CN201856832U CN201856832U CN2010202806378U CN201020280637U CN201856832U CN 201856832 U CN201856832 U CN 201856832U CN 2010202806378 U CN2010202806378 U CN 2010202806378U CN 201020280637 U CN201020280637 U CN 201020280637U CN 201856832 U CN201856832 U CN 201856832U
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- disk
- climbing robot
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- slide block
- magnetic disc
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Abstract
The utility model provides a magnetic disc adsorption type wall-climbing robot, comprising: a machine base; a swerving adjusting structure located under the machine base and fixedly connected with the same; a magnetic disc driving mechanism embedded into the machine base; and a magnetic disc angle adjusting structure which is fixedly connected with the magnetic disc driving mechanism and drives the same to move together so as to change an angle between a wall face and the magnetic disc of the magnetic disc driving mechanism. With the magnetic disc adsorption type wall-climbing robot of the utility model, the angle between the wall face and the magnetic disc can be changed based on mechanical linkage relation among each component in the magnetic disc driving mechanism so as to generate changeable magnetic adsorptive power, so that the robot can be absorbed on the wall face all the time, and has certain load capacity.
Description
Technical field
The utility model relates to a kind of robot, relates in particular to a kind of robot based on the disk suction type.
Background technology
Current, pipeline transportation is as a kind of efficient height, load mode that cost is low, in sector applications such as communication, oil, chemical industry, electric power more and more widely.In the use of pipeline,, often cause tube wall the breakage of various degree to occur inevitably because of burn into pressure and the damage of other external force.Thus, occur damaging, need in time be changed, otherwise can lead to major accident in case monitor tube wall.
Consider that most common operating personals of pipeline environment can't direct contact, pipeline operations generally adopts robot to implement.Mode of operation according to pipe robot divides, and a class is a walking robot, and another kind of is climbing robot.Because walking robot complex structure, technical risk are big and comformability and poor stability, and the comformability of climbing robot and stability are stronger, present priority research areas focuses on climbing robot.It can be divided into vacuum suction and disk absorption by adsorption function, is example in the attached mode of magnetic, and magnet can be an electromagnet, also can be permanent magnet, the electromagnet formula is kept absorption need provide electric energy to electromagnet, but controls more convenient, and the influence that permanent magnet type is not cut off the power supply is safe and reliable.
In the prior art, a kind of climbing robot is to adopt the permanent magnet disk as the attached function of magnetic, detects and repair pipeline.This climbing robot uses this disk as drive wheel, and additional again two revolving wheels come the auxiliary adjustment direction, climb the wall operation.Because disk can freely rotate around vertical axis, so that robot can the curved surface operation, in addition, this disk structure also can produce comparatively ideal absorption weight ratio, thereby alleviates the overall weight of structure.The disk and the wall angulation that it is pointed out that this climbing robot are changeless, thereby cause magnetic adsorbability not change, so this climbing robot can't solve the contradiction between wall absorption and the mobile operating.
The utility model content
In existing above-mentioned defective of when design, the utility model provides a kind of adsorbed wall-climbing robot of later-model, variable magnetic adsorbability at climbing robot of the prior art.
According to an aspect of the present utility model, a kind of disk adsorbed wall-climbing robot is provided, comprising:
Support;
Turn to adjustment structure, be positioned at the below of described support, and captive joint with described support;
Disk drive mechanism embeds and is installed on described support; And
The disk angle adjustment mechanism is captiveed joint with described disk drive mechanism, thereby described disk angle adjustment mechanism drives described disk drive mechanism move the together disk that changes described disk drive mechanism and the angle between the wall.
Preferably, described disk is that permanent magnet is made.In one embodiment, when the angle between described disk and the wall changed, the magnetic adsorbability between described disk and the wall changed.In another embodiment, described disk angle adjusting mechanism comprises rotating machine, worm type of reduction gearing, bearing, guide rail, ball-screw, slide block and attaching parts, wherein, rotating machine is installed on the worm type of reduction gearing, worm type of reduction gearing is sleeved on the bearing, and bearing is connected with guide rail, and ball-screw is fixed on the guide rail and with worm type of reduction gearing and is connected, slide block is connected with ball-screw, and attaching parts is fixed on the slide block.In addition, described worm type of reduction gearing slows down to described rotating machine, and rotatablely moving of described rotating machine is converted into the straight-line motion of described ball-screw.Described ball-screw is coaxial with described slide block, and drives described slide block and link along axis direction.One end of described attaching parts is captiveed joint with described slide block, and the other end is installed on the groove of described disk drive mechanism, when described slide block when axis direction moves, described attaching parts moves in the horizontal direction along described groove.
Preferably, described disk drive mechanism also comprises floor, vertical axis, clutch disk and disk, and wherein, described vertical axis is fixed on the described support by described floor, and the lower end of described clutch disk is connected with described disk.
Preferably, describedly turn to regulating mechanism to comprise a pair of revolving wheel and corresponding to the fixed support of each revolving wheel, described revolving wheel is connected with described fixed support by screw.
Adopt magnet-wheel adsorbed wall-climbing robot of the present utility model, utilize the mechanical continuous action relation between each parts in the disk angle adjusting mechanism, thereby the angle that can change between disk and the wall produces variable magnetic adsorbability, so that robot can either be adsorbed on the wall all the time, has certain load-carrying capacity again.In addition, this robot architecture's compactness moves flexibly, can adapt to different pipeline working environments.And the climbing robot with above-mentioned disk angle adjusting mechanism has adopted the deceleration design of worm type of reduction gearing, after the rotating machine horizontal positioned, makes integrally-built outward appearance concisely clean and tidy, and structure is simple relatively.
Description of drawings
The reader will become apparent various aspects of the present utility model after the reference accompanying drawing has been read the specific embodiment of the present utility model.Wherein,
Figure 1A illustrates the integral structure scheme drawing according to a preferred embodiment of disk adsorbed wall-climbing robot of the present utility model;
Figure 1B illustrates the lateral plan of the disk adsorbed wall-climbing robot shown in Figure 1A; And
Fig. 2 illustrates the structural representation of the disk angle adjusting mechanism of the disk adsorbed wall-climbing robot shown in Figure 1A.
The specific embodiment
With reference to the accompanying drawings, the specific embodiment of the present utility model is described in further detail.Those of ordinary skill in the art is to be understood that, embodiment hereinafter just schematically illustrates the technical solution of the utility model, and preferably introduce the operating process of the specific embodiment of the present utility model and climbing robot of the present utility model, but the utility model has more than and is confined to this.
As previously mentioned, press adsorption function and divide, climbing robot roughly comprises vacuum suction and two kinds of forms of disk absorption.The vacuum suction method adopts air cylinder driven, no matter is the single sucking disc structure or multi-sucker structure, all is not subjected to the restriction of wall surface material, yet when wall was rough and uneven in surface, the climbing robot of vacuum adsorption type caused sucker gas leakage easily, adsorption affinity descends, thereby causes load-carrying capacity to reduce.By contrast, magnetically adsorbed wall-climbing robot adopts motor-driven, and is very strong to its comformability of the scraggly situation of wall, and adsorption affinity is much larger than the vacuum suction mode, and the problem that does not exist sucker to leak gas.It mainly is sucked type, wheel formula and crawler type that climbing robot divides by locomotive function.Sucked type can be crossed over very little obstacle; Wheel formula moving velocity is fast, control is flexible, but keeps difficulty of certain adsorption affinity; Crawler type is strong to the wall comformability, and the area that lands is big, but is difficult for turning.
In addition, from the mobile form of climbing robot, climbing robot can comprise sucked type, wheel formula and crawler type.No matter be the climbing robot of the sort of move mode, in operating process, all must realize the basic functions of these two of wall absorption and mobile operatings.In the prior art, though absorbing unit can provide adsorption affinity for climbing robot, make it be adsorbed in wall securely, when robot is carried out operation, but adsorption affinity becomes the main resistance of motion of robot.In view of this, how to design the variable climbing robot of a kind of adsorption affinity, not only make the absorbing unit of robot that enough big adsorption affinity is provided, in when motion and can also overcome adsorption affinity to moving the obstruction that is caused, be a problem in Robotics field, and climbing robot of the present utility model has also carried out considerable technological improvement just aspect above-mentioned.
Figure 1A illustrates the integral structure scheme drawing according to a preferred embodiment of disk adsorbed wall-climbing robot of the present utility model; And Figure 1B illustrates the lateral plan of the disk adsorbed wall-climbing robot shown in Figure 1A.With reference to Fig. 1, disk adsorbed wall-climbing robot of the present utility model comprises support 1, turns to regulating mechanism 2, disk drive mechanism 3 and disk angle adjusting mechanism 4.Wherein, turn to regulating mechanism 2 to be fixedly installed in the bottom of support 1, disk drive mechanism 3 also embeds and is installed in the support 1, and disk angle adjusting mechanism 4 links together with disk drive structure 3.
When the wall-climbing device man-hour of Figure 1A, its disk drive mechanism 3 directly drives entire mechanism and moves.Because disk drive mechanism 3 also not exclusively contacts with wall, but and have a certain degree between wall, thereby robot can waltz through the little obstacle on the wall when motion.In addition, in order to prevent the sense of motion skew projected route of this climbing robot when moving, be provided with in the bottom of support 1 and turn to regulating mechanism 2, when skew takes place the sense of motion of climbing robot, return on the predefined paths by this whole mechanism that turns to regulating mechanism 2 to drive robot.
According to an embodiment of the present utility model, disk drive mechanism 3 also comprises floor, vertical axis, clutch disk and disk, and wherein, vertical axis is fixed on the support 1 by floor, and the lower end of clutch disk is connected with disk.According to another embodiment of the present utility model, turn to regulating mechanism 2 to comprise a pair of revolving wheel and corresponding to the fixed support of each revolving wheel, revolving wheel is connected with fixed support by screw.
In more detail, drive disk drive mechanism 3 by above-mentioned disk angle adjusting mechanism 4, the disk of disk drive mechanism 3 and the angle between the wall can be changed, so, between the disk of disk drive mechanism 3 and wall, just variable magnetic adsorbability can be produced.Meanwhile, the magnetic adsorbability that is produced not only makes climbing robot be adsorbed in wall all the time securely, but also have certain load-carrying capacity, so that when the robot motion, can overcome adsorption affinity, make it adapt to different pipeline working environments to moving the obstruction that is caused.
In order to further specify the operating process that disk adsorbed wall-climbing robot among Figure 1A forms variable magnetic adsorbability, Fig. 2 shows the detailed structural representation of its disk angle adjusting mechanism.
With reference to Fig. 2, disk angle adjusting mechanism 4 comprises rotating machine 5, worm type of reduction gearing 6, bearing 7, guide rail 8, ball-screw 9, slide block 10 and attaching parts 11.Hereinafter, the mechanical connection relation of above-mentioned each assembly of disk angle adjusting mechanism 4 will be described in detail.Rotating machine 5 is installed on the worm type of reduction gearing 6, and worm type of reduction gearing 6 is set in bearing 7, and bearing 7 is fixed together with guide rail 8.In addition, ball-screw 9 is positioned at the below of worm type of reduction gearing 6, and ball-screw 9 is connected with worm type of reduction gearing 6 and is fixed on the guide rail 8.Slide block 10 is connected with ball-screw 9, and attaching parts 11 also is fixedly connected on slide block 10, so that with slide block 10 interlocks.
Be not difficult to find out from above-mentioned mechanical connection relation, when climbing robot of the present utility model when carrying out pipeline operations, at first rotating machine 5 is after worm type of reduction gearing 6 slows down, drive ball-screw 9 straight-line motions by worm type of reduction gearing 6, thus, ball-screw 9 is converted into straight-line motion with rotatablely moving of rotating machine 5.Then, because of ball-screw 9 and slide block 10 keeps coaxial, can drive slide block 10 when ball-screw 9 straight-line motions (as motion up and down) and also move up and down along same axis direction.Because attaching parts 11 is captiveed joint with slide block 10, slide block 10 directly drives attaching parts 11 and also moves up and down.For attaching parts 11, the one end is captiveed joint with slide block 10, and its other end is installed in the groove of disk drive mechanism 3, and moves in the horizontal direction along groove.Hence one can see that, and the angle that the disk angle adjusting mechanism 4 of this climbing robot can drive between disk and the wall changes continuously, to realize variable magnetic adsorbability.
At magnet-wheel adsorbed wall-climbing robot of the present utility model, utilize the mechanical continuous action relation between each parts in the disk angle adjusting mechanism, thereby the angle that can change between disk and the wall produces variable magnetic adsorbability, so that robot can either be adsorbed on the wall all the time, has certain load-carrying capacity again.In addition, this robot architecture's compactness moves flexibly, can adapt to different pipeline working environments.And the climbing robot with above-mentioned disk angle adjusting mechanism has adopted the deceleration design of worm type of reduction gearing, after the rotating machine horizontal positioned, makes integrally-built outward appearance concisely clean and tidy, and structure is simple relatively.
Above, describe the specific embodiment of the present utility model with reference to the accompanying drawings.But those skilled in the art can understand, and under the situation that does not depart from spirit and scope of the present utility model, can also do various changes and replacement to the specific embodiment of the present utility model.These changes and replacement all drop in the utility model claims institute restricted portion.
Claims (8)
1. a disk adsorbed wall-climbing robot is characterized in that, described climbing robot comprises:
Support (1);
Turn to adjustment structure (2), be positioned at the below of described support (1), and captive joint with described support (1);
Disk drive mechanism (3) embeds and is installed on described support (1); And
Disk angle adjustment mechanism (4), captive joint with described disk drive mechanism (3), described disk angle adjustment mechanism (4) drives described disk drive mechanism (3) thereby motion changes the disk of described disk drive mechanism (3) and the angle between the wall together.
2. disk adsorbed wall-climbing robot as claimed in claim 1 is characterized in that, described disk is that permanent magnet is made.
3. disk adsorbed wall-climbing robot as claimed in claim 2, it is characterized in that, described disk angle adjusting mechanism (4) comprises rotating machine (5), worm type of reduction gearing (6), bearing (7), guide rail (8), ball-screw (9), slide block (10) and attaching parts (11), wherein, rotating machine (5) is installed on the worm type of reduction gearing (6), worm type of reduction gearing (6) is sleeved on the bearing (7), bearing (7) is connected with guide rail (8), ball-screw (9) is fixed on guide rail (8) and upward and with worm type of reduction gearing (6) is connected, slide block (10) is connected with ball-screw (9), and attaching parts (11) is fixed on the slide block (10).
4. disk adsorbed wall-climbing robot as claimed in claim 3, it is characterized in that, described worm type of reduction gearing (6) slows down to described rotating machine (5), and rotatablely moving of described rotating machine (5) is converted into the straight-line motion of described ball-screw (9).
5. disk adsorbed wall-climbing robot as claimed in claim 4 is characterized in that, described ball-screw (9) is coaxial with described slide block (10), and drives described slide block (10) and link along axis direction.
6. disk adsorbed wall-climbing robot as claimed in claim 5, it is characterized in that, one end of described attaching parts (11) is captiveed joint with described slide block (10), the other end is installed on the groove of described disk drive mechanism (3), when described slide block (10) when axis direction moves, described attaching parts (11) moves in the horizontal direction along described groove.
7. disk adsorbed wall-climbing robot as claimed in claim 1, it is characterized in that, described disk drive mechanism (3) also comprises floor, vertical axis, clutch disk and disk, wherein, described vertical axis is fixed on the described support (1) by described floor, and the lower end of described clutch disk is connected with described disk.
8. disk adsorbed wall-climbing robot as claimed in claim 1 is characterized in that, the described regulating mechanism that turns to comprises: a pair of revolving wheel and corresponding to the fixed support of each revolving wheel, described revolving wheel is connected with described fixed support by screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202806378U CN201856832U (en) | 2010-08-03 | 2010-08-03 | Magnetic disc adsorption type wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202806378U CN201856832U (en) | 2010-08-03 | 2010-08-03 | Magnetic disc adsorption type wall-climbing robot |
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| Publication Number | Publication Date |
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| CN201856832U true CN201856832U (en) | 2011-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010202806378U Expired - Lifetime CN201856832U (en) | 2010-08-03 | 2010-08-03 | Magnetic disc adsorption type wall-climbing robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102343588A (en) * | 2010-08-03 | 2012-02-08 | 顿向明 | Magnetic-disc-adsorptive wall climbing robot |
| CN105689174A (en) * | 2015-08-20 | 2016-06-22 | 中科新松有限公司 | Automatic ship spraying robot |
| CN106240665A (en) * | 2016-08-17 | 2016-12-21 | 哈尔滨歌瑞得莱机器人制造有限公司 | The three huge steel pipes of magnet-wheel are creeped job platform |
| CN110788690A (en) * | 2019-10-22 | 2020-02-14 | 清华大学 | Wall-climbing robot for large-scale storage tank weld grinding operation |
-
2010
- 2010-08-03 CN CN2010202806378U patent/CN201856832U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102343588A (en) * | 2010-08-03 | 2012-02-08 | 顿向明 | Magnetic-disc-adsorptive wall climbing robot |
| CN102343588B (en) * | 2010-08-03 | 2015-07-15 | 顿向明 | Magnetic-disc-adsorptive wall climbing robot |
| CN105689174A (en) * | 2015-08-20 | 2016-06-22 | 中科新松有限公司 | Automatic ship spraying robot |
| CN106240665A (en) * | 2016-08-17 | 2016-12-21 | 哈尔滨歌瑞得莱机器人制造有限公司 | The three huge steel pipes of magnet-wheel are creeped job platform |
| CN110788690A (en) * | 2019-10-22 | 2020-02-14 | 清华大学 | Wall-climbing robot for large-scale storage tank weld grinding operation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110608 Effective date of abandoning: 20150715 |
|
| RGAV | Abandon patent right to avoid regrant |