CN202400191U - Permanent-magnet attraction wheel type iron-wall crawling robot - Google Patents

Permanent-magnet attraction wheel type iron-wall crawling robot Download PDF

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Publication number
CN202400191U
CN202400191U CN2011204792336U CN201120479233U CN202400191U CN 202400191 U CN202400191 U CN 202400191U CN 2011204792336 U CN2011204792336 U CN 2011204792336U CN 201120479233 U CN201120479233 U CN 201120479233U CN 202400191 U CN202400191 U CN 202400191U
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CN
China
Prior art keywords
iron
permanent
permanent magnet
magnet
robot
Prior art date
Application number
CN2011204792336U
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Chinese (zh)
Inventor
李会勋
Original Assignee
大连鑫铠锐工业技术有限公司
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Application filed by 大连鑫铠锐工业技术有限公司 filed Critical 大连鑫铠锐工业技术有限公司
Priority to CN2011204792336U priority Critical patent/CN202400191U/en
Application granted granted Critical
Publication of CN202400191U publication Critical patent/CN202400191U/en

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Abstract

The utility model relates to a robot device, in particular to a permanent-magnet attraction wheel type iron-wall crawling robot, which realizes attraction to an iron wall through a permanent magnet and can progress, retreat and turns and the like on the large-curvature iron wall through wheels driven by speed reduction motors. The permanent-magnet attraction wheel type iron-wall crawling robot consists of a permanent magnet, a driving mechanism and a detection device. The permanent magnet attracts to the iron wall through a certain gap and do not contact with the iron wall directly. The permanent magnet is provided with a magnet switch which can adjust magnetic direction so that the permanent magnet can be conveniently disposed and taken off the iron wall. The robot can move in various directions by different directions and speed of two speed reduction motors. The permanent-magnet attraction wheel type iron-wall crawling robot has the advantages of large attraction force and simple structure.

Description

The adsorbed iron wall of permanent magnetism climbing robot
Technical field
The utility model relates to a kind of robot device, specifically realizes the absorption to the iron wall with permanent magnet, and reducing motor drives wheel, accomplishes the adsorbed iron wall of the permanent magnetism climbing robot of the motions such as advancing, retreat, turn on deep camber iron wall.
Background technology
Climbing robot is a kind of device that adsorption power can move on vertical walls that has, and place that can the people can't be approaching in industries such as nuclear, chemistry, electric power substitutes the people and fulfils assignment near target.Be with a wide range of applications.The general curvature of iron wall surface of main equipment is all bigger; Such as large-size chemical container, large-scale hull, smokestack, big tower tube etc.; These iron wall surfaces are general relatively evenly; The simple mechanism that waits the operation needs to creep at the iron wall surface is seldom detected in protruding recessed rugged zone on these iron wall surfaces.
The suction type that climbing robot is commonly used has negative-pressure adsorption, magnetic to attach, hang wing power backup etc., greatly, does not need power supply because of permanent magnetism absorption has adsorption affinity, and the climbing robot in the ferromagnetics environment uses permanent magnet as adsorption plant mostly.The kinematic mechanism of climbing robot mainly contains sufficient formula, wheeled and crawler type.Foot formula mechanism more complicated, wheeled and crawler-mounted mode of motion is used more in the wall-climbing device people, but has the little and big shortcoming of magnetic crawler belt travel mechanism cornering resistance of magnetic adsorbability of attaching the magnet-wheel kinematic mechanism that combines with magnetic.
Through the retrieval of prior art is found, one Chinese patent application numbers 20041006429.6 has been put down in writing a kind of " magnet-wheel adsorbed wall-climbing robot " and has been related to magnet-wheel absorption mobile technology.Its deficiency is that wheel and wall area of contact are little, and the magnetic energy utilization rate is low, magnetic adsorbability is little, and the load of satisfying robot more greatly that magnet-wheel often need be done and safety are climbed the requirement of wall, and this has increased the weight and the alerting ability of robot again.The magnetic crawler belt has increased the area of contact with wall, and magnetic adsorbability increases to some extent, the crawler belt section that contacts with the iron wall surface, its magnetic energy has obtained effectively getting profit, but not with crawler belt section that the iron wall surface contacts on magnetic energy then be not used, the magnetic energy utilization rate is not high yet.One Chinese patent application number 02117079.7 has been put down in writing " a kind of crawler for magnetically adsorbed wall-climbing robot ", and its shortcoming is that the motion cornering resistance is big, and it is dumb to move.Existing patent generally all has the function of obstacle detouring, has increased the complexity of device, has reduced reliability.
Summary of the invention
The utility model provides the adsorbed iron wall of a kind of permanent magnetism climbing robot to the above-mentioned deficiency that prior art exists, and utilizes simple mechanism, on the uniform deep camber iron wall of surface, creeps.
The utility model realizes that through following technical scheme the utility model comprises: permanent magnet, driver train, detecting device.Wherein: driver train and detecting device are fixedly mounted on the permanent magnet.
Described permanent magnet is provided with the magnetic switch that the control adsorption affinity has or not, and can regulate magnetic force direction, conveniently picks and places at Tie Bishang.Permanent magnet does not contact with the iron wall, but and has certain clearance between the iron wall.
Described driver train comprises: reducing motor, synchronous band, synchronous pulley, wheel, axle, bearing and bearing seat; Wherein: reducing motor is fixed on the permanent magnet; Reducing motor is on the one hand through output shaft direct drive wheel, and on the other hand through the transmission of band and synchronous pulley synchronously and wheels, the wheel while that is driven by synchronous band is connected with axle; Axle is contained on the bearing in the bearing seat, and bearing seat is fixed on the permanent magnet.
The multiple sense of motion that driver train can be realized robot through the different directions and the speed of two reducing motors rotations.
Described wheel is made up of plastics wheel hub and one deck rubber outer ring, and the deflection behind the pressurized of rubber outer ring is less, and bigger friction coefficient is arranged between rubber outer ring and the wall.The robot of the utility model has big, the simple in structure characteristics of adsorption affinity.
Description of drawings
Accompanying drawing is the scheme drawing of the utility model.
Wherein, 1, permanent magnet, 12, magnetic switch, 21, reducing motor, 211, motor output shaft, 22, synchronous pulley; 23, synchronous pulley, 24, wheel, 25, wheel, 26, band synchronously, 27, axle; 28, bearing, 29, bearing seat, 3, detecting device, 4, cable, 5, Tie Bi.
The specific embodiment
Embodiment: as shown in the figure; Permanent magnet 1 is adsorbed on the iron wall 5 through magnetic force; There is certain clearance between the surface of permanent magnet 1 and iron wall 5; Gap length is suitable, and gap too conference is not enough to firm absorption because of adsorption affinity is too small, and the gap is too little then can to produce excessive adsorption affinity so that dyskinesia and increase the possibility that touches the iron wall.
Reducing motor 21 is captiveed joint with permanent magnet 1.Motor output shaft 211 and synchronous pulley 22 are coaxial captives joint.Synchronous pulley 22 is through be with 26 to be connected with synchronous pulley 23 and to carry out transmission synchronously.Synchronous pulley 22 and wheel 24 are coaxial captives joint, and synchronous pulley 23 and wheel 25 are coaxial captives joint.Synchronous pulley 23 is connected with bearing 28 through axle 27, and bearing 28 is installed on the bearing seat 29 that is fixed in permanent magnet 1.Detecting device 3 is installed on the permanent magnet 1.Permanent magnet 1 is provided with the magnetic switch 12 that the control adsorption affinity has or not, and when magnetic switch 12 was opened, magnetic produced; Attached on the iron wall 5, when magnetic switch 12 cut out, magnetic disappeared permanent magnet 1 through adsorption affinity; Permanent magnet 1 loses the adsorption affinity to iron wall 5, can take off from iron wall 5.
The power supply of detecting device 3 and reducing motor 21 and control part are installed on the ground, receive ground through cable 4.
When two reducing motors rotated with identical speed, robot is straight-line motion on iron wall curved surface, advanced or retreated; When a motor forward rotation; During a motor backward rotation, robot rotates around center of gravity, when a motor does not rotate; During another motor forward rotation, robot is around motionless wheel rotation.When two reducing motors rotated with other different directions and speed, robot was realized different motion conditions.

Claims (5)

1. the adsorbed iron wall of permanent magnetism climbing robot, comprising: permanent magnet, driver train, detecting device is characterized in that driver train and detecting device are fixedly mounted on the permanent magnet.
2. the adsorbed iron wall of permanent magnetism as claimed in claim 1 climbing robot is characterized in that, has the gap between described permanent magnet and the iron wall.
3. the adsorbed iron wall of permanent magnetism as claimed in claim 1 climbing robot is characterized in that, described permanent magnet is provided with the magnetic switch that the control adsorption affinity has or not.
4. the adsorbed iron wall of permanent magnetism as claimed in claim 1 climbing robot; It is characterized in that; Described driver train comprises: reducing motor, synchronous band, synchronous pulley, wheel, axle, bearing and bearing seat, and wherein: reducing motor is fixed on the permanent magnet, and reducing motor is on the one hand through output shaft direct drive wheel; On the other hand through the transmission of synchronously band and synchronous pulley and wheels; The wheel that is driven by synchronous band is connected with axle simultaneously, and axle is contained on the bearing in the bearing seat, and bearing seat is fixed on the permanent magnet.
5. the adsorbed iron wall of permanent magnetism as claimed in claim 4 climbing robot is used driver train, it is characterized in that, described wheel is made up of plastics wheel hub and one deck rubber outer ring.
CN2011204792336U 2011-11-28 2011-11-28 Permanent-magnet attraction wheel type iron-wall crawling robot CN202400191U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011204792336U CN202400191U (en) 2011-11-28 2011-11-28 Permanent-magnet attraction wheel type iron-wall crawling robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011204792336U CN202400191U (en) 2011-11-28 2011-11-28 Permanent-magnet attraction wheel type iron-wall crawling robot

Publications (1)

Publication Number Publication Date
CN202400191U true CN202400191U (en) 2012-08-29

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CN2011204792336U CN202400191U (en) 2011-11-28 2011-11-28 Permanent-magnet attraction wheel type iron-wall crawling robot

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102897242A (en) * 2012-11-09 2013-01-30 哈尔滨工业大学 Suspended magnetic adsorption wheel
CN103267499A (en) * 2013-06-07 2013-08-28 武汉大学 Device for automatically measuring structure parameters of Y-shaped joint of curved plate
CN103639629A (en) * 2013-12-04 2014-03-19 镇江新区汇达机电科技有限公司 Magnetic creeping type cutting machine of tubular structure
CN103659076A (en) * 2013-12-04 2014-03-26 镇江新区汇达机电科技有限公司 Magnetically crawling type welding machine for steel structures
CN103979033A (en) * 2014-05-20 2014-08-13 中科华核电技术研究院有限公司 Steam generator secondary side wall combing vehicle in nuclear power station
CN104443102A (en) * 2014-11-25 2015-03-25 广西大学 Simple robot achieving special surface movement
CN104875807A (en) * 2015-04-14 2015-09-02 浙江工业大学 Running device for wall-climbing robot
CN105835978A (en) * 2016-05-30 2016-08-10 哈工大机器人集团有限公司 Crawler-type magnetic-adsorption wall climbing robot
CN105966485A (en) * 2016-05-30 2016-09-28 哈工大机器人集团有限公司 Wheel type magnetic adsorption wall-climbing robot
CN105973308A (en) * 2016-06-24 2016-09-28 国家电网公司 Automatic closed chamber detection device based on real-time image acquisition technology and method
CN106123956A (en) * 2016-06-24 2016-11-16 国家电网公司 Room automatic detection device and method in a kind of closing based on image real-time acquisition and simulation comparison technology

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102897242A (en) * 2012-11-09 2013-01-30 哈尔滨工业大学 Suspended magnetic adsorption wheel
CN103267499A (en) * 2013-06-07 2013-08-28 武汉大学 Device for automatically measuring structure parameters of Y-shaped joint of curved plate
CN103639629A (en) * 2013-12-04 2014-03-19 镇江新区汇达机电科技有限公司 Magnetic creeping type cutting machine of tubular structure
CN103659076A (en) * 2013-12-04 2014-03-26 镇江新区汇达机电科技有限公司 Magnetically crawling type welding machine for steel structures
CN103979033A (en) * 2014-05-20 2014-08-13 中科华核电技术研究院有限公司 Steam generator secondary side wall combing vehicle in nuclear power station
CN104443102A (en) * 2014-11-25 2015-03-25 广西大学 Simple robot achieving special surface movement
CN104875807A (en) * 2015-04-14 2015-09-02 浙江工业大学 Running device for wall-climbing robot
CN105835978A (en) * 2016-05-30 2016-08-10 哈工大机器人集团有限公司 Crawler-type magnetic-adsorption wall climbing robot
CN105966485A (en) * 2016-05-30 2016-09-28 哈工大机器人集团有限公司 Wheel type magnetic adsorption wall-climbing robot
CN105973308A (en) * 2016-06-24 2016-09-28 国家电网公司 Automatic closed chamber detection device based on real-time image acquisition technology and method
CN106123956A (en) * 2016-06-24 2016-11-16 国家电网公司 Room automatic detection device and method in a kind of closing based on image real-time acquisition and simulation comparison technology

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120829

Termination date: 20141128

EXPY Termination of patent right or utility model