CN203793467U - Wall-climbing robot based on the magnetic base principle - Google Patents

Wall-climbing robot based on the magnetic base principle Download PDF

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Publication number
CN203793467U
CN203793467U CN201420201407.6U CN201420201407U CN203793467U CN 203793467 U CN203793467 U CN 203793467U CN 201420201407 U CN201420201407 U CN 201420201407U CN 203793467 U CN203793467 U CN 203793467U
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CN
China
Prior art keywords
magnetic
absorbing unit
leg
steering wheel
magnetic absorbing
Prior art date
Application number
CN201420201407.6U
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Chinese (zh)
Inventor
程帅
许健非
刘云龙
薛志强
刘晓伟
刘娜
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中北大学
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Priority to CN201420201407.6U priority Critical patent/CN203793467U/en
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Publication of CN203793467U publication Critical patent/CN203793467U/en

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Abstract

The utility model discloses a wall-climbing robot based on the magnetic base principle, which comprises an carrier table, a base plate and four climbing legs, wherein each climbing leg comprises a thigh support, a shank support, a magnetic absorption unit of variable magnetic force and a steering gear; the magnetic absorption unit comprises a magnetic absorption unit support, a magnetic base and a magnetic absorption unit steering gear; a foot sensor is installed at an outer side of the magnetic absorption unit support; a central control unit is set on the carrier table; batteries and a steering gear control plate are set on the base plate; the central control unit is used to detect signals of the foot sensor and send corresponding orders to the steering gear control plate; and the steering gear control plate is used to control the steering gear set on the climbing legs so as to control coordinated movements of the climbing legs. The magnetic absorption force of the magnetic absorption unit of the wall-climbing robot is adjustable and the electric energy is not consumed when absorption is carried out motionlessly on the wall; even when power is cut off, the wall-climbing robot will not drop down; the wall-climbing robot can climb the wall with a quadrupedal gait in movable operations and stride over obstacles easily, such as a flange plate, a welded joint, a curved surface and a corner or the like; and the ability of striding over obstacles is good.

Description

Based on the climbing robot of magnet base principle
Technical field
The present invention relates to climbing robot technical field, specifically a kind of all fours type climbing robot based on magnet base principle.
Background technology
The advantages such as magnetically adsorbed wall-climbing robot is simple with its principle, adsorption affinity is large on magnetic material, control is simple, cost is low, in the climbing robot taking magnetic material surface as wall, occupy very large proportion, and technology is comparative maturity, apply to already the multiple occasions such as fire-fighting, shipbuilding, detection.
Climbing robot must possess two basic function: wall adsorption and mobile operating.The suction type of traditional magnetic adsorption type robot is divided into permanent magnet type absorption and electromagnet adsorbs two kinds.Permanent magnet type adsorbing mechanism is to rely on permanent magnet that suction is provided, " crawler-type permanent magnet wall climbing mechanism " that for example the patent No. of Tsing-Hua University's development is ZL00200795.9 just adopted permanent magnet type absorbing unit, the magnetic adsorbability of this kind of absorbing unit generation can not change, in the time that absorbing unit departs from wall, need to consume extra energy, increase resistance of motion; Electromagnet adsorbing mechanism is to provide magnetic attraction by electromagnet, robot is adsorbed on wall, the utility model patent " crawler type electromagnetism adsorbing mechanism " that is ZL97219169.0 as the patent No. is exactly to adopt similar principle, each absorbing unit is under the effect of electric current, produce magnetic adsorbability, the feature of this electromagnetism absorbing unit is that work is to consume electric energy, and safety is poor, in the time of accident power-off robot easily with avoid the crash that comes off.
Aspect mobile operating, traditional magnetically adsorbed wall-climbing robot adopts crawler type more, although this structure adsorption affinity is large, but robot must ensure and the fitting tightly of wall, therefore in the time of mobile operating, obstacle climbing ability is poor, in the local time running into flange, weld seam, curved surface, corner etc., just cannot pass through.
Utility model content
For addressing the above problem, the utility model provides a kind of climbing robot based on magnet base principle, make the magnetic attraction of magnetic absorbing unit of climbing robot adjustable, do not consume electric energy in the static absorption of wall simultaneously, even if power-off is not also dropped, and in the time of mobile operating, adopt four-footed gait to creep, can easily stride across obstacle, there is good obstacle climbing ability.
The technical scheme that the utility model provides is: a kind of climbing robot based on magnet base principle, comprise objective table, base plate and the leg of creeping being all connected with both, base plate is arranged on objective table below, the described leg of creeping is provided with four altogether, magnetic absorbing unit comprises magnetic absorbing unit support, magnet base and magnetic absorbing unit steering wheel, magnetic absorbing unit support outside is also provided with foot sensor, each leg of creeping comprises the thigh support frame connecting successively, the magnetic absorbing unit of little leg support and variable magnetic force, wherein thigh support frame and objective table and back plate connections, thigh support frame and shank support junction and little leg support and magnetic absorbing unit junction are also connected with respectively steering wheel, objective table is provided with Central Processing Unit (CPU), base plate is provided with battery and steering wheel control desk, battery is whole device power supply, the signal that Central Processing Unit (CPU) detects foot sensor also sends command adapted thereto to steering wheel control desk, steering wheel control desk control the creep coordinated movement of various economic factors of leg of the steering wheel that arranges on leg and then control of creeping.
The magnet base of described magnetic absorbing unit comprises casing, half casing that wherein casing is become by two cast iron castings forms, in the middle of two and half casings, separate with non-magnetic brass, in casing, be provided with the cylindrical permanent magnet that can freely rotate, driving lever is embedded in the groove of permanent magnet and fixes with respect to permanent magnet.
In described magnetic absorbing unit, the output shaft of magnetic absorbing unit steering wheel and the driving lever of magnet base are connected, and control the anglec of rotation of permanent magnet in magnet base by controlling the anglec of rotation of magnetic absorbing unit steering wheel, and then control the size of magnet base suction and have or not.
Compared with existing magnetically adsorbed wall-climbing robot, the magnetic attraction of the magnetic absorbing unit of this climbing robot is adjustable, in the time of the static absorption of wall, do not consume electric energy simultaneously, even if power-off is not also dropped, and in the time of mobile operating, adopt four-footed gait to creep, can easily stride across the obstacles such as flange, weld seam, curved surface, corner, there is good obstacle climbing ability.
Brief description of the drawings
Fig. 1 is integral structure schematic diagram of the present utility model;
Fig. 2 is wall adsorption view of the present utility model;
Fig. 3 is the external structure schematic diagram of the utility model magnet base;
Fig. 4 is the utility model magnet base attracting state schematic diagram;
Fig. 5 is that the utility model magnet base is decontroled view;
Fig. 6 is the A-A cutaway view in Fig. 5;
Fig. 7 is the resilience moment of the utility model magnet base and the graph of a relation of the anglec of rotation.
In figure: 1, objective table, 2, base plate, 3, steering wheel, 4, thigh support frame, 5, little leg support, 6, magnetic absorption unit rack, 7, magnet base, 8, magnetic absorbing unit steering wheel, 9, screw rod, 10, battery, 11, left front leg, 12, RAT, 13, right rear leg, 14, left back leg, 15, foot sensor, 16, steering wheel control desk, 17, Central Processing Unit (CPU), 18, driving lever, 19, brass, 20, casing, 21, permanent magnet, 22, steering wheel output shaft.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in further detail.
As depicted in figs. 1 and 2, the invention provides a kind of climbing robot based on magnet base principle, comprise objective table 1, base plate 2 and four legs of creeping that are all connected with both, these four legs of creeping are respectively left front leg 11, left back leg 14, RAT 12 and right rear leg 13, base plate 2 is arranged on objective table 1 below, each leg of creeping comprises the thigh support frame 4 connecting successively by screw rod 9, the magnetic absorbing unit of shank support 5 and variable magnetic force, magnetic absorbing unit comprises magnetic absorbing unit support 6, magnet base 7 and magnetic absorbing unit steering wheel 8, magnetic absorbing unit support 6 outsides are also provided with foot sensor 15, wherein thigh support frame 4 and objective table 1 and base plate 2 junctions, thigh support frame 4 is also connected with respectively steering wheel 3 with shank support 5 junctions and shank support 5 with magnetic absorbing unit junction, each steering wheel 3 is used for carrying the degree of freedom of a direction, three steering wheels are installed on every the leg of creeping, be that every the leg of creeping has three degree of freedom, whole climbing robot has 12 degree of freedom.Objective table 1 is provided with Central Processing Unit (CPU) 17, base plate 2 is provided with battery 10 and steering wheel control desk 16, battery 10 is whole device power supply, Central Processing Unit (CPU) 17 detects the signal of foot sensor 15 and sends command adapted thereto to steering wheel control desk 16, steering wheel control desk 16 is controlled the steering wheel 3 arranging on the leg of creeping and then the coordinated movement of various economic factors of controlling the leg of creeping, coordinate again the cut-offfing of leg vola magnetic absorbing unit magnetic force of creeping, can realize the straight line moving of alternately creeping with triangle gait four-footed on magnetic wall, turn round and the function such as obstacle detouring.
As shown in Figure 3 and Figure 6, in magnetic absorbing unit, magnet base 7 comprises casing 20, half casing that wherein casing is become by two cast iron castings forms, in the middle of two and half casings, separate with non-magnetic brass 19, in casing, be provided with the cylindrical permanent magnet 21 that can freely rotate, driving lever 18 is embedded in the groove of permanent magnet 21 and is fixing with respect to permanent magnet 21.The driving lever 18 of magnet base is connected with the steering wheel output shaft 22 of magnetic absorbing unit steering wheel 8, control the anglec of rotation of magnet base 7 the inside cylindrical permanent magnet 21 by controlling the anglec of rotation of magnetic absorbing unit steering wheel 8, can control magnetic absorbing unit absorption strength size and have or not.As long as the anglec of rotation of magnetic absorbing unit steering wheel 8 is constant, even the in the situation that of power-off, magnetic adsorbability is also changeless.
As shown in Fig. 4, Fig. 5 and Fig. 7, for the fundamental diagram of magnet base and the graph of a relation of resilience moment and the anglec of rotation, as shown in Figure 4, in the time that driving lever 18 forwards 180 ° to, the permanent magnet 21 connected with driving lever 18 is same forwards 180 ° to, permanent magnet 21 produces magnetic force by casing 20, and magnet base 7 is now in attracting state, magnetic force maximum; As shown in Figure 5, in the time that driving lever 18 forwards 90 ° to, the permanent magnet 21 connected with driving lever 18 is same forwards 90 ° to, and brass 19 contains that permanent magnet 21 magnetizes, and magnet base 7 is in relieving state, magnetic force minimum.
When climbing robot is during in wall adsorption state, magnetic absorbing unit steering wheel 8 90-degree rotations of vola magnetic absorbing unit in left front leg 11, RAT 12, left back leg 14 and right rear leg 13, the now magnetic adsorbability maximum of magnet base 7, as shown in Figure 7, in attracting state, therefore, four legs of climbing robot are all firmly adsorbed on wall, facilitate climbing robot to carry out other work.
When climbing robot is during in mobile operating state, magnetic absorbing unit steering wheel 8 Rotate 180s ° of vola magnetic absorbing unit in left front leg 11 and right rear leg 13, now, the adsorption affinity minimum of the magnet base 7 in vola, as shown in Figure 7, in relieving state, now the steering wheel 3 of left front leg 11 and right rear leg 13 joints lifts these two legs of creeping of control forward and takes a step, because RAT 12 and left back leg 14 are still firmly adsorbed on wall, therefore climbing robot can landing.After foot sensor 15 detects that vola contacts with wall, magnetic absorbing unit steering wheel 8 half-twists of the magnetic absorbing unit in left front leg 11 and right rear leg 13 volas, the now magnetic adsorbability maximum of the magnet base 7 in vola, as shown in Figure 7, in attracting state.Then climbing robot will keep the adsorbed state of left front leg 11 and right rear leg 13, disconnects the adsorbed state in RAT 12 and left back leg 14 volas simultaneously, and RAT 12 and left back leg 14 lift forward takes a step, and circulation successively, to realize mobile operating and obstacle crossing function.

Claims (3)

1. the climbing robot based on magnet base principle, comprise objective table, base plate and the leg of creeping being all connected with both, base plate is arranged on objective table below, it is characterized in that: described in the leg of creeping be provided with altogether four, each leg of creeping comprises the thigh support frame connecting successively, the magnetic absorbing unit of little leg support and variable magnetic force, magnetic absorbing unit comprises magnetic absorbing unit support, magnet base and magnetic absorbing unit steering wheel, magnetic absorbing unit support outside is also provided with foot sensor, wherein thigh support frame and objective table and back plate connections, thigh support frame and shank support junction and little leg support and magnetic absorbing unit junction are also connected with respectively steering wheel, objective table is provided with Central Processing Unit (CPU), base plate is provided with battery and steering wheel control desk, battery is whole device power supply, the signal that Central Processing Unit (CPU) detects foot sensor also sends command adapted thereto to steering wheel control desk, steering wheel control desk control the creep coordinated movement of various economic factors of leg of the steering wheel that arranges on leg and then control of creeping.
2. the climbing robot based on magnet base principle according to claim 1, it is characterized in that: the magnet base of described magnetic absorbing unit comprises casing, half casing that wherein casing is become by two cast iron castings forms, in the middle of two and half casings, separate with non-magnetic brass, in casing, be provided with the cylindrical permanent magnet that can freely rotate, driving lever is embedded in the groove of permanent magnet and fixes with respect to permanent magnet.
3. the climbing robot based on magnet base principle according to claim 1 and 2, it is characterized in that: in described magnetic absorbing unit, the output shaft of magnetic absorbing unit steering wheel and the driving lever of magnet base are connected, control the anglec of rotation of permanent magnet in magnet base by controlling the anglec of rotation of magnetic absorbing unit steering wheel, and then control the size of magnet base suction and have or not.
CN201420201407.6U 2014-04-24 2014-04-24 Wall-climbing robot based on the magnetic base principle CN203793467U (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104443107A (en) * 2014-12-26 2015-03-25 浙江工业大学 Cross quadruped robot
CN105151152A (en) * 2015-10-22 2015-12-16 佛山博文机器人自动化科技有限公司 Magnetic adsorption module with magnetic force controllable
CN105459122A (en) * 2015-10-30 2016-04-06 上海交通大学 Container detecting robot system and control method thereof
CN106181959A (en) * 2016-08-24 2016-12-07 黄仕 A kind of carrier robot
CN108296686A (en) * 2018-02-17 2018-07-20 李大德 Shipbuilding Intelligent welding equipment walking robot
CN109895944A (en) * 2019-03-22 2019-06-18 上海海事大学 One kind climbing wall type ship weld seam detection robot
CN110053684A (en) * 2019-04-24 2019-07-26 哈尔滨理工大学 It is a kind of suitable for the climbing robot leg device of slope pavement and control
CN110341826A (en) * 2019-07-05 2019-10-18 广州供电局有限公司 Climbing robot and its longitudinal movement control method, lateral movement control method
CN110053684B (en) * 2019-04-24 2021-06-01 哈尔滨理工大学 Leg device and control of crawling robot suitable for slope road surface

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104443107A (en) * 2014-12-26 2015-03-25 浙江工业大学 Cross quadruped robot
CN105151152A (en) * 2015-10-22 2015-12-16 佛山博文机器人自动化科技有限公司 Magnetic adsorption module with magnetic force controllable
CN105459122A (en) * 2015-10-30 2016-04-06 上海交通大学 Container detecting robot system and control method thereof
CN106181959A (en) * 2016-08-24 2016-12-07 黄仕 A kind of carrier robot
CN106181959B (en) * 2016-08-24 2018-06-29 黄仕 A kind of carrier robot
CN108296686A (en) * 2018-02-17 2018-07-20 李大德 Shipbuilding Intelligent welding equipment walking robot
CN109895944A (en) * 2019-03-22 2019-06-18 上海海事大学 One kind climbing wall type ship weld seam detection robot
CN110053684A (en) * 2019-04-24 2019-07-26 哈尔滨理工大学 It is a kind of suitable for the climbing robot leg device of slope pavement and control
CN110053684B (en) * 2019-04-24 2021-06-01 哈尔滨理工大学 Leg device and control of crawling robot suitable for slope road surface
CN110341826A (en) * 2019-07-05 2019-10-18 广州供电局有限公司 Climbing robot and its longitudinal movement control method, lateral movement control method

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Granted publication date: 20140827

Termination date: 20150424

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