CN202686558U - Magnetic adsorption universal wheel device for magnetically adsorbing wall-climbing robot - Google Patents
Magnetic adsorption universal wheel device for magnetically adsorbing wall-climbing robot Download PDFInfo
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- CN202686558U CN202686558U CN 201220266198 CN201220266198U CN202686558U CN 202686558 U CN202686558 U CN 202686558U CN 201220266198 CN201220266198 CN 201220266198 CN 201220266198 U CN201220266198 U CN 201220266198U CN 202686558 U CN202686558 U CN 202686558U
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 70
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 27
- 230000009194 climbing Effects 0.000 claims description 20
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 12
- 239000000956 alloy Substances 0.000 claims description 12
- 229910045601 alloy Inorganic materials 0.000 claims description 12
- 229920000136 polysorbate Polymers 0.000 claims description 12
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims description 6
- 229910052742 iron Inorganic materials 0.000 claims description 6
- 229920002635 polyurethane Polymers 0.000 claims description 4
- 239000004814 polyurethane Substances 0.000 claims description 4
- KCZFLPPCFOHPNI-UHFFFAOYSA-N alumane;iron Chemical class [AlH3].[Fe] KCZFLPPCFOHPNI-UHFFFAOYSA-N 0.000 claims description 3
- 229910052759 nickel Inorganic materials 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 description 3
- 241000272165 Charadriidae Species 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004020 conductor Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution 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
- 239000000696 magnetic material Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model belongs to the technical field of robots, and particularly relates to a magnetic adsorption universal wheel device for magnetically adsorbing a wall-climbing robot. The magnetic adsorption universal wheel device comprises an annular permanent magnet, wherein universal wheels are arranged on two sides of the annular permanent magnet; the annular permanent magnet and the universal wheels are placed coaxially; each universal wheel comprises a hub, a roller shaft, a roller and a sleeve, which are successively arranged; the annular permanent magnet is axially magnetized; hubs of the universal wheels on the two sides are magnetic hubs; and the magnetic hubs and the central annular permanent magnet form a magnetic circuit. The magnetic adsorption universal wheel device has the advantages that when the magnetic adsorption universal wheel device is rotated around an axle center of a wheel, the rolling of the universal wheels can be realized through a circular arc envelope line formed by the rollers on the two sides; and when the magnetic adsorption universal wheel device has a motion trend along an axial direction, the rollers of the universal wheels, which are contacted with ground, are rotated around self-axes, so that the wheels keep a pure rolling state.
Description
Technical field
The utility model belongs to the Robotics field, is the attached universal wheel unit of a kind of magnetic for magnetic adsorption wall climbing robot 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 automated machine device that a kind of design is used under abominable, dangerous, limiting case, carries out operations specific such as inspection, detection, welding, polishing etc. at the magnetic conduction wall, 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, name is called: 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 realize 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.
The principle of the universal wheel unit of above-mentioned patent reaches the direction movement purpose for the wheel shaft that uses two quadratures, and weak point is to need the parts of control more, needs at least 2 motors, and causes overall architecture larger.
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.
Summary of the invention
The purpose of this utility model is compact not in structure in the wheeled mobile device of magnetic adsorption wall climbing robot for overcoming prior art, the weak point of the aspect performances such as motion underaction designs the attached universal wheel unit of a kind of magnetic for magnetic adsorption wall climbing robot.
The technical solution of the utility model is:
The attached universal wheel unit of a kind of magnetic for magnetic adsorption wall climbing robot, comprise annular permanent magnet, it is characterized in that: described annular permanent magnet both sides are provided with cardan wheel, described annular permanent magnet and cardan wheel are coaxial placement, and described cardan wheel includes wheel hub, roller axle, roller, the sleeve that sets gradually;
Described annular permanent magnet is the annular permanent magnet of axial charging, and the wheel hub of the cardan wheel of both sides is the magnetic conduction wheel hub, and described magnetic conduction wheel hub consists of magnetic circuit with the annular permanent magnet of central authorities.
The concrete structure of described cardan wheel is: being distributed with around the wheel hub can be around the roller of self axis rotation, roller axle is installed on the wheel hub through mounting hole, roller axle is passed roller, roller is by the shaft shoulder and the sleeve location of both sides, the described shaft shoulder is the position that the roller both sides are scabbled, and roller axis and hub axis quadrature, described roller are non-magnetic roller, described roller is the spindle shape, and the space of the cardan wheel of both sides is arranged needs the location.
Described location refers to that the square of the both sides of tween drive shaft is in drift angle 45 degree, also mutual deflection 45 degree when thereby the cardan wheel of both sides is located by tween drive shaft, when reaching the cardan wheel roller built on stilts when a side, the cardan wheel roller of an other side and the uninterrupted contact state of keeping in touch in ground, the roller of two cardan wheels forms continuous circular-arc intrinsic curve together.
Described roller outer rim also coats one deck layer of polyurethane.
Described roller is socketed on the roller axle, and roller quantity is a plurality of, is provided with sleeve between each roller.
Described magnetic conduction wheel hub is iron Si system alloy wheel hub, iron aluminum series alloy wheel hub, iron Co-based alloy wheel hub or nickel system alloy wheel hub.
The utility model has the advantage of:
1, when the attached universal wheel unit of magnetic when axis wheel rotates, roller molecular circular-arc intrinsic curve in both sides can be realized the rolling of cardan wheel; When the attached universal wheel unit of magnetic has vertically movement tendency, the roller that cardan wheel contacts with ground will rotate around self axle, so that wheel still keeps the pure rolling state.
2, the utility model is some small wheels that evenly distribute on the vertical direction around a larger wheels, larger wheels is by motor-driven, small wheels can freely be rotated, making robot is cliding friction when the larger wheels vertical direction is breakked away, cardan wheel provides one along the moment of torsion of the distribution circle tangential direction at wheel place, realizes the direction movement purpose.
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 utility model keeps pure rolling along the wheel axial motion, can reduce friction, conveniently turns to, and is more flexible when moving toward all directions.
5, (tween drive shaft is used for the location) more easily located in assembling of the present utility model, and be 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 schematic diagram of the present utility model.
Fig. 3 is explosive view of the present utility model.
In the accompanying drawing: annular permanent magnet 1, cardan wheel 2, tween drive shaft 3, wheel hub 4, roller axle 5, roller 6, sleeve 7.
The specific embodiment
The attached universal wheel unit of a kind of magnetic for magnetic adsorption wall climbing robot comprises annular permanent magnet, described annular permanent magnet both sides are provided with cardan wheel, described annular permanent magnet and cardan wheel are coaxial placement, and described cardan wheel includes wheel hub, roller axle, roller, the sleeve that sets gradually; Described annular permanent magnet is the annular permanent magnet of axial charging, and the wheel hub of the cardan wheel of both sides is the magnetic conduction wheel hub, and described magnetic conduction wheel hub consists of magnetic circuit with the annular permanent magnet of central authorities.The concrete structure of described cardan wheel is: being distributed with around the wheel hub can be around the roller of self axis rotation, roller axle is installed on the wheel hub through mounting hole, roller axle is passed roller, roller is by the shaft shoulder and the sleeve location of both sides, the described shaft shoulder is the position that the roller both sides are scabbled, and roller axis and hub axis quadrature, described roller are non-magnetic roller, described roller is the spindle shape, and the space of the cardan wheel of both sides is arranged needs the location.Described location refers to that the square of the both sides of tween drive shaft is in drift angle 45 degree, also mutual deflection 45 degree when thereby the cardan wheel of both sides is located by tween drive shaft, when reaching the cardan wheel roller built on stilts when a side, the cardan wheel roller of an other side and the uninterrupted contact state of keeping in touch in ground, the roller of two cardan wheels forms continuous circular-arc intrinsic curve together.Described roller outer rim also coats one deck layer of polyurethane.Described roller is socketed on the roller axle, and roller quantity is a plurality of, is provided with sleeve between each roller.Described magnetic conduction wheel hub is iron Si system alloy wheel hub, iron aluminum series alloy wheel hub, iron Co-based alloy wheel hub or nickel system alloy wheel hub.
As depicted in figs. 1 and 2, a kind of specific embodiment for the attached universal wheel unit of magnetic of magnetic adsorption wall climbing robot comprises the annular permanent magnet 1 of the central authorities of coaxial placement, cardan wheel 2 and the tween drive shaft 3 of both sides.Annular permanent magnet 1 axial charging, the wheel hub 4 of cardan wheel 2 adopts the magnetic conductive material manufacturing, consists of magnetic loop with annular permanent magnet 1, and the magnetic circuit schematic diagram is shown in the dotted line among Fig. 2.The concrete structure of cardan wheel 2 as shown in Figure 3,4 roller axle 5 are installed on the wheel hub 4 through mounting hole, roller axle 5 is passed roller 6, roller 6 is by the shaft shoulder and sleeve 7 location of both sides.Roller 6 adopts the manufacturing of non-magnetic material, and appearance profile is the spindle shape, also coats the layer of polyurethane of layer in outer rim, the impact that improves load-carrying capacity and slow down harsh environment.The space of the cardan wheel 2 of both sides is arranged needs special location, satisfies the requirement that both sides roller 6 forms continuous circular-arc intrinsic curve together.This special location realized by tween drive shaft 3, and tween drive shaft 3 structures are intermediate cylindrical, and both sides are prisms of square cross-section, then be the axis hole of the square cross-section of correspondence in the middle of the wheel hub 4.The attached universal wheel unit compact overall structure of magnetic can be born than heavy load, and wheel can keep the pure rolling state under the all-around mobile mode.
Claims (6)
1. the attached cardan wheel of magnetic (2) that is used for magnetic adsorption wall climbing robot installs, comprise annular permanent magnet (1), it is characterized in that: described annular permanent magnet (1) both sides are provided with cardan wheel (2), described annular permanent magnet (1) and cardan wheel (2) are coaxial placement, and described cardan wheel (2) includes wheel hub (4), roller axle (5), roller (6), the sleeve (7) that sets gradually;
Described annular permanent magnet (1) is the annular permanent magnet (1) of axial charging, and the wheel hub (4) of the cardan wheel of both sides (2) is magnetic conduction wheel hub (4), and described magnetic conduction wheel hub (4) consists of magnetic circuit with the annular permanent magnet (1) of central authorities.
2. the attached cardan wheel of a kind of magnetic for magnetic adsorption wall climbing robot according to claim 1 (2) installs, it is characterized in that: the concrete structure of described cardan wheel (2) is: wheel hub (4) is distributed with on every side can be around the roller (6) of self axis rotation, roller axle (5) is installed on the wheel hub (4) through mounting hole, roller axle (5) is passed roller (6), roller (6) is by the shaft shoulder and sleeve (7) location of both sides, the described shaft shoulder is the position that roller (6) both sides are scabbled, roller axle (5) line and wheel hub (4) axis quadrature, described roller (6) is non-magnetic roller, described roller (6) is the spindle shape, and the space of the cardan wheel of both sides (2) is arranged needs the location.
3. the attached cardan wheel of a kind of magnetic for magnetic adsorption wall climbing robot according to claim 2 (2) installs, it is characterized in that: described location refers to that the square of the both sides of tween drive shaft (3) is in drift angle 45 degree, also mutual deflection 45 degree when thereby the cardan wheel of both sides (2) is located by tween drive shaft (3), the roller (6) of two cardan wheels (2) forms continuous circular-arc intrinsic curve together.
4. the attached cardan wheel of a kind of magnetic for magnetic adsorption wall climbing robot according to claim 3 (2) installs, and it is characterized in that: described roller (6) outer rim also coats one deck layer of polyurethane.
5. the attached cardan wheel of a kind of magnetic for magnetic adsorption wall climbing robot according to claim 4 (2) installs, it is characterized in that: described roller (6) is socketed on the roller axle (5), roller (6) quantity is a plurality of, is provided with sleeve (7) between each roller (6).
6. the attached cardan wheel of a kind of magnetic for magnetic adsorption wall climbing robot according to claim 5 (2) installs, and it is characterized in that: described magnetic conduction wheel hub (4) is iron Si system alloy wheel hub, iron aluminum series alloy wheel hub, iron Co-based alloy wheel hub or nickel system alloy wheel hub.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220266198 CN202686558U (en) | 2012-06-07 | 2012-06-07 | Magnetic adsorption universal wheel device for magnetically adsorbing wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220266198 CN202686558U (en) | 2012-06-07 | 2012-06-07 | Magnetic adsorption universal wheel device for magnetically adsorbing wall-climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN202686558U true CN202686558U (en) | 2013-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220266198 Expired - Lifetime CN202686558U (en) | 2012-06-07 | 2012-06-07 | Magnetic adsorption universal wheel device for magnetically adsorbing wall-climbing robot |
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| CN (1) | CN202686558U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828648A (en) * | 2017-01-16 | 2017-06-13 | 华中科技大学 | A kind of barrier-crossing wall-climbing robot |
| CN107127770A (en) * | 2017-06-18 | 2017-09-05 | 中国船舶重工集团公司第七六研究所 | A kind of ferromagnetism climbs wall working robot |
| CN109703288A (en) * | 2019-01-02 | 2019-05-03 | 中山市海洋丰裕智能科技有限公司 | Universal caster wheel |
| CN109987165A (en) * | 2019-04-11 | 2019-07-09 | 上海海洋大学 | A kind of chassis structure of the magnetic suck underwater crawling machine people with universal wheel support |
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
| CN113942341A (en) * | 2020-07-15 | 2022-01-18 | Oppo广东移动通信有限公司 | Omnidirectional wheel |
-
2012
- 2012-06-07 CN CN 201220266198 patent/CN202686558U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828648A (en) * | 2017-01-16 | 2017-06-13 | 华中科技大学 | A kind of barrier-crossing wall-climbing robot |
| CN106828648B (en) * | 2017-01-16 | 2018-11-30 | 华中科技大学 | A kind of barrier-crossing wall-climbing robot |
| CN107127770A (en) * | 2017-06-18 | 2017-09-05 | 中国船舶重工集团公司第七六研究所 | A kind of ferromagnetism climbs wall working robot |
| CN109703288A (en) * | 2019-01-02 | 2019-05-03 | 中山市海洋丰裕智能科技有限公司 | Universal caster wheel |
| CN109987165A (en) * | 2019-04-11 | 2019-07-09 | 上海海洋大学 | A kind of chassis structure of the magnetic suck underwater crawling machine people with universal wheel support |
| CN109987165B (en) * | 2019-04-11 | 2023-10-24 | 上海海洋大学 | Chassis structure of magnetic adsorption underwater crawling robot with universal wheel support |
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
| CN113942341A (en) * | 2020-07-15 | 2022-01-18 | Oppo广东移动通信有限公司 | Omnidirectional wheel |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180425 Address after: 610000 18 West core road, hi-tech West District, Chengdu, Sichuan Patentee after: Dongfang Electric Co., Ltd. Address before: 610036 Shu Han Road, Jinniu District, Chengdu, Sichuan Province, No. 333 Patentee before: Dongfang Electric Corporation |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130123 |