CN202686556U - Novel universal rolling magnetic wheel device for magnetic attraction wall-climbing robot - Google Patents
Novel universal rolling magnetic wheel device for magnetic attraction wall-climbing robot Download PDFInfo
- Publication number
- CN202686556U CN202686556U CN 201220265150 CN201220265150U CN202686556U CN 202686556 U CN202686556 U CN 202686556U CN 201220265150 CN201220265150 CN 201220265150 CN 201220265150 U CN201220265150 U CN 201220265150U CN 202686556 U CN202686556 U CN 202686556U
- Authority
- CN
- China
- Prior art keywords
- wheel
- roller
- wheel hub
- permanent magnet
- annular permanent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000005291 magnetic effect Effects 0.000 title claims abstract description 45
- 238000005096 rolling process Methods 0.000 title claims abstract description 21
- 238000001179 sorption measurement Methods 0.000 claims description 18
- 230000009194 climbing Effects 0.000 claims description 17
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 12
- 229910045601 alloy Inorganic materials 0.000 claims description 12
- 239000000956 alloy Substances 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims description 6
- 229910052742 iron Inorganic materials 0.000 claims description 6
- KCZFLPPCFOHPNI-UHFFFAOYSA-N alumane;iron Chemical class [AlH3].[Fe] KCZFLPPCFOHPNI-UHFFFAOYSA-N 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 229910052759 nickel Inorganic materials 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013332 literature search Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 229920000136 polysorbate Polymers 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model belongs to the technical field of robots, in particular to a novel universal rolling magnetic wheel device for a magnetic attraction wall-climbing robot. The novel universal rolling magnetic wheel device comprises an annular permanent magnet, wherein all-round wheels are arranged on the two sides of the annular permanent magnet and comprise first wheel hubs, rollers, sleeves, roller shafts and second wheel hubs which are sequentially arranged; the structures of the all-round wheels are that the rollers capable of rotating around own axes are arranged on the outer rims of the wheel hubs; the rollers are uniformly distributed around the wheel hubs; the axes of the rollers are orthogonal with those of the wheel hubs; and the all-round wheels on the two sides are staggered from each other, so that the axial projections of the rollers of the all-round wheel on one side is positioned between the two rollers of the all-round wheel on the other side. The novel universal rolling magnetic wheel device has the advantages that when the wheels tend to move along the axial directions of the wheels, the all-round wheels on the two sides and the rollers which are in contact with the ground rotate around the own axes, so that the wheels can still keep pure rolling, and the flexibility of the motion of the wheels is improved.
Description
Technical field
The utility model belongs to the Robotics field, is a kind of novel universal rolling magnet-wheel device for magnetic adsorption wall climbing robot specifically.
Background technology
Magnetic adsorption wall climbing robot is a kind of of specialized robot, be a kind of design be used under abominable, dangerous, limiting case, at a kind of automated machine device that the magnetic conduction wall carries out operations specific such as inspection, detection, welding, polishing etc., more and more be subject to people's attention.Magnetic adsorption wall climbing robot is widely used in the production and construction of the ferromagnetic structures such as nuke industry, petrochemical industry, building industry, fire department, ship building industry at present.
Find by literature search, China Patent Publication No. is CN101612731A, the applying date is on July 23rd, 2009, denomination of invention is: the patent of invention of compact-type active driving wheel device for wall-climbing robots, this technology discloses a kind of climbing robot active drive wheel apparatus, concrete scheme is: rack tube is sleeved on the drive motor, the driving wheel support is packed on the end face of opening end of rack tube, driving wheel is sleeved on the rack tube, be provided with two bearings between the inwall of driving wheel and the outer wall of rack tube, axis is packed on the output shaft of drive motor, and cutting ferrule is sleeved on the axis and is affixed with driving wheel, and driving pulley is fixedly mounted on the cutting ferrule.This apparatus structure is compact, does not turn to and the attached function of magnetic but do not possess.
Existing magnetic adsorption wall climbing robot also has the application of Patents, the applying date is that October 8, application number in 2005 are that 200510086383.X, name are called the patent of invention of " wheeled non-contact magnetically adsorption wall climbing robot ", its technical scheme is: comprise wheel type mobile mechanism and permanent magnetic adhesion device, the drive wheel that wheel type mobile mechanism comprises the chassis, be installed in driver train on the chassis, driven by driver train.Described drive wheel is arranged symmetrically with, and adopts differential type of drive, relies on the differential of drive wheel to be implemented in turning on the magnetic conduction wall; Permanent magnetic adhesion device is installed on the described chassis, is non-contacting between described permanent magnetic adhesion device and magnetic conduction wall, and the magnetic energy utilization rate is high, high adsorption capacity.Above-mentioned patent characteristics are that adsorption affinity is large, but because all drive wheels all are that the cylinder that turns to of car body is taken turns relatively, and cornering resistance is large, steering flexibility is poor.
And for example number of patent application is CN200620021023.1, the applying date is 2006-6-14, name is called the patent of invention of omnibearing servo magnetic wheel type four-wheel drive vehicle, its technical scheme is: 4 wheel driven Operation Van adopts two magnet wheels to be adsorbed on the workpiece, four drive motor and four magnet wheels direct connections are to realize the walking purpose; Be linked togather by servo axis and servo-actuated bearing with the moving magnet wheel carrier, front universal with moving magnet wheel assembly and rear universally be separately fixed on the tailgate with moving magnet wheel part; Steering shaft is linked togather by steering bearing and sweep, with synchronizing wheel and Timing Belt synchronizing wheel on they and the controlled steer motor is linked togather, thereby reaches 360 ° of pivot studs.
Documents only is common universal rolling wheel and the simple combination of magnet, and weak point comprises that volume is large, steering flexibility is poor.In sum, mainly contain in the deficiency of the drive wheel of existing magnetic adsorption wall climbing robot: wheel can only rotate around wheel shaft, namely can only have skidding when wheel has axial motion trend along rolling with the axle orthogonal directions, and kinematic dexterity is relatively poor.
The utility model content
The purpose of this utility model is for overcoming prior art in the weak point of performance aspect the magnetic adsorption wall climbing robot wheel movement alerting ability, designing a kind of universal rolling magnet-wheel device for magnetic adsorption wall climbing robot.
The technical solution of the utility model is:
A kind of universal rolling magnet-wheel device for magnetic adsorption wall climbing robot, comprise annular permanent magnet, it is characterized in that: described annular permanent magnet both sides are provided with directional wheel, and described directional wheel includes first wheel, roller, sleeve, roller axle, the second wheel hub that sets gradually;
The structure of described directional wheel is: being provided with in the outer rim of wheel hub can be around the roller of self axis rotation, roller is uniformly distributed in around the wheel hub, roller axis and hub axis quadrature, the directional wheel alternative arrangement of both sides is so that the axis projection of the roller of a side directional wheel is positioned in the middle of two rollers of opposite side directional wheel;
Described annular permanent magnet is the annular permanent magnet of axial charging, and all wheel hubs of the directional wheel of both sides are the magnetic conduction wheel hub, and described magnetic conduction wheel hub is as the annular permanent magnet formation magnetic circuit of yoke with central authorities.
Described magnetic conduction wheel hub comprises iron Si system alloy wheel hub, iron aluminum series alloy wheel hub, iron Co-based alloy wheel hub, nickel system alloy wheel hub, No. 45 steel wheel hubs or Q235 steel wheel hub.
Described roller is socketed on the roller axle, and roller quantity is a plurality of, is provided with sleeve between each roller.
Described annular permanent magnet and directional wheel are coaxial setting.
The utility model compared with prior art has the following advantages:
1, when wheel have along axletree to movement tendency the time both sides directional wheels roller that contacts with ground rotate around self axis so that wheel still keeps the pure rolling state, improve the alerting ability of wheel movement.So that wheel can under the condition that keeps the pure rolling state, along the wheel axial motion, can not skid.
2, keep pure rolling can reduce friction along the wheel axial motion, conveniently turn to, more flexible when moving toward all directions.
3, added permanent magnet in the middle of the utility model, tween drive shaft is to the special location of both sides cardan wheel.
4, the easier location of assembling of the present utility model is more convenient, and this patent is continous way with contacting of ground.
Description of drawings
Fig. 1 is the utility model constructional drawing.
Fig. 2 is magnetic circuit scheme drawing of the present utility model.
Fig. 3 is the explosive view of directional wheel.
Directional wheel 1 in the accompanying drawing, annular permanent magnet 2, first wheel 3, roller 4, sleeve 5, roller axle 6, the second wheel hubs 7, screw 8.
The specific embodiment
A kind of universal rolling magnet-wheel device for magnetic adsorption wall climbing robot comprises annular permanent magnet, described annular permanent magnet both sides are provided with directional wheel, and described directional wheel includes first wheel, roller, sleeve, roller axle, the second wheel hub that sets gradually; The structure of described directional wheel is: being provided with in the outer rim of wheel hub can be around the roller of self axis rotation, roller is uniformly distributed in around the wheel hub, roller axis and hub axis quadrature, the directional wheel alternative arrangement of both sides is so that the axis projection of the roller of a side directional wheel is positioned in the middle of two rollers of opposite side directional wheel; Described annular permanent magnet is the annular permanent magnet of axial charging, and all wheel hubs of the directional wheel of both sides are the magnetic conduction wheel hub, and described magnetic conduction wheel hub is as the annular permanent magnet formation magnetic circuit of yoke with central authorities.Described magnetic conduction wheel hub comprises iron Si system alloy wheel hub, iron aluminum series alloy wheel hub, iron Co-based alloy wheel hub, nickel system alloy wheel hub, No. 45 steel wheel hubs or Q235 steel wheel hub.Described roller is socketed on the roller axle, and roller quantity is a plurality of, is provided with sleeve between each roller.Described annular permanent magnet and directional wheel are coaxial setting.
As depicted in figs. 1 and 2, a kind of specific embodiment of the universal rolling magnet-wheel device of magnetic adsorption wall climbing robot comprises annular permanent magnet 2 and the directional wheel 1 of both sides, annular permanent magnet 2 and two directional wheel 1 coaxial placements of central authorities.15 millimeters of annular permanent magnet 2 diameter of bores, 75 millimeters of outer bore dias, 30 millimeters of thickness, axial charging.The wheel hub of the directional wheel 1 of both sides adopts dead-soft steel (such as Q235) manufacturing, consists of the part of magnetic circuit as yoke with the annular permanent magnet 2 of central authorities.The magnetic circuit signal is shown in the dotted line loop among Fig. 2.
The concrete structure of directional wheel 1 as shown in Figure 3,98 millimeters of first wheel 3 and the second wheel hub 7 diameters adopt dead-soft steel (such as Q235) manufacturing.Outer rim at first wheel 3 and the second wheel hub 7 evenly is provided with respectively 18 square grooves, and corresponding roller axle 6 two ends are square, can be installed in the square groove.Roller 4 is installed on the roller axle 6, by the shaft shoulder on the roller axle 6 and sleeve 5 location.5 millimeters of roller 4 internal diameters, 16 millimeters of external diameters, 5 millimeters of thickness, structure is the layer of polyurethane that coats one deck 2 millimeters thick in the stainless steel bearing outer rim.Roller 4 has 18, is uniformly distributed in around the wheel hub axis quadrature of roller 4 axis and first wheel 3 and the second wheel hub 7.Finally by screw 8 first wheel 3 and the second wheel hub 7 are fixed.The directional wheel alternative arrangement of both sides is so that the axis projection of the roller of a side directional wheel is positioned in the middle of two rollers of opposite side directional wheel.The roller that the both sides directional wheel contacts with ground when wheel has vertically movement tendency rotates around self axis, so that wheel still keeps the pure rolling state, improves the alerting ability of wheel movement.
Claims (4)
1. novel universal rolling magnet-wheel device that is used for magnetic adsorption wall climbing robot, comprise annular permanent magnet (2), it is characterized in that: described annular permanent magnet (2) both sides are provided with directional wheel (1), and described directional wheel (1) includes first wheel (3), roller (4), sleeve (5), roller axle (6), the second wheel hub (7) that sets gradually;
The structure of described directional wheel (1) is: being provided with in the outer rim of wheel hub can be around the roller (4) of self axis rotation, roller (4) is uniformly distributed in around the wheel hub, roller axle (6) line and hub axis quadrature, the directional wheel of both sides (1) alternative arrangement is so that the axis projection of the roller (4) of a side directional wheel (1) is positioned in the middle of two rollers (4) of opposite side directional wheel (1);
Described annular permanent magnet (2) is the annular permanent magnet (2) of axial charging, and all wheel hubs of the directional wheel of both sides (1) are the magnetic conduction wheel hub, and described magnetic conduction wheel hub is as annular permanent magnet (2) the formation magnetic circuit of yoke with central authorities.
2. a kind of novel universal rolling magnet-wheel device for magnetic adsorption wall climbing robot according to claim 1, it is characterized in that: described magnetic conduction wheel hub comprises iron Si system alloy wheel hub, iron aluminum series alloy wheel hub, iron Co-based alloy wheel hub, nickel system alloy wheel hub, No. 45 steel wheel hubs or Q235 steel wheel hub.
3. a kind of novel universal rolling magnet-wheel device for magnetic adsorption wall climbing robot according to claim 2, it is characterized in that: described roller (4) is socketed on the roller axle (6), roller (4) quantity is a plurality of, is provided with sleeve (5) between each roller (4).
4. a kind of novel universal rolling magnet-wheel device for magnetic adsorption wall climbing robot according to claim 3 is characterized in that: described annular permanent magnet (2) and directional wheel (1) are coaxial setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220265150 CN202686556U (en) | 2012-06-07 | 2012-06-07 | Novel universal rolling magnetic wheel device for magnetic attraction wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220265150 CN202686556U (en) | 2012-06-07 | 2012-06-07 | Novel universal rolling magnetic wheel device for magnetic attraction wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202686556U true CN202686556U (en) | 2013-01-23 |
Family
ID=47542212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220265150 Expired - Lifetime CN202686556U (en) | 2012-06-07 | 2012-06-07 | Novel universal rolling magnetic wheel device for magnetic attraction wall-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202686556U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673673A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Novel universal rolling magnet-wheel device for magnetic adsorption climbing robot |
| CN103847827A (en) * | 2013-08-14 | 2014-06-11 | 中国科学院合肥物质科学研究院 | Spinule type wall climbing robot with bionic vibration absorption structure |
| CN109572845A (en) * | 2019-01-09 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
| CN109720431A (en) * | 2019-03-01 | 2019-05-07 | 天津理工大学 | A kind of climbing robot and its actively adhere to control method |
-
2012
- 2012-06-07 CN CN 201220265150 patent/CN202686556U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673673A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Novel universal rolling magnet-wheel device for magnetic adsorption climbing robot |
| CN103847827A (en) * | 2013-08-14 | 2014-06-11 | 中国科学院合肥物质科学研究院 | Spinule type wall climbing robot with bionic vibration absorption structure |
| CN109572845A (en) * | 2019-01-09 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
| CN109720431A (en) * | 2019-03-01 | 2019-05-07 | 天津理工大学 | A kind of climbing robot and its actively adhere to control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102673673A (en) | Novel universal rolling magnet-wheel device for magnetic adsorption climbing robot | |
| US9849722B2 (en) | Magnetic omni-wheel and method for traversing surface therewith | |
| CN202686558U (en) | Magnetic adsorption universal wheel device for magnetically adsorbing wall-climbing robot | |
| CN102699893B (en) | Differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom | |
| CN202622792U (en) | Novel differential drive composite adsorption type wall-climbing robot | |
| EP3501872A1 (en) | Non-scrubbing vertical drive unit for a trackless or free roaming vehicle with zero turn radius | |
| CN202686556U (en) | Novel universal rolling magnetic wheel device for magnetic attraction wall-climbing robot | |
| CN102689296A (en) | Novel differentially driven composite attraction type wall climbing robot | |
| CN202911836U (en) | Omni-directional moving platform | |
| CN102673670B (en) | Full driving composite adsorption climbing robot | |
| CN102673672A (en) | Driving and steering integrated magnetic wheel device for magnetic adsorption wall-climbing robot | |
| CN202686557U (en) | Integrated driving-steering magnet-wheel device used for magnetic-adsorbing wall-climbing robot | |
| CN109308071A (en) | A kind of floor truck and its control method with lifting rotation mechanism | |
| CN202753150U (en) | Differential driving magnetic adsorption type multifunctional wall-climbing robot with multi-freedom-degree mechanical arm | |
| CN204956550U (en) | Compact structure's electronic helping hand shallow | |
| CN107697180B (en) | Spherical omnidirectional wheel mechanism based on artificial potential field | |
| CN210793396U (en) | Wall-climbing robot | |
| CN202349146U (en) | Differential | |
| CN205131283U (en) | Electric power -assisted trolley | |
| CN203844532U (en) | Easily-assembled and high load bearing all-directional moving wheel | |
| CN103600769A (en) | Electronic steering system of forklift | |
| CN202046361U (en) | Vehicle steering device | |
| CN101628527B (en) | Wheels of mobile robot with non-contact transverse sensory ability | |
| CN204956549U (en) | Electronic helping hand shallow of intelligence | |
| CN111098914B (en) | Universal drive suspension system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180423 Address after: 610000, No. 18, West core road, hi tech West District, Sichuan, Chengdu Patentee after: Dongfang Electric Co., Ltd. Address before: Jinniu District Chengdu City, Sichuan province 610036 Shu Road No. 333 Patentee before: Dongfang Electric Corporation |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130123 |