CN204223015U - Magnetically adsorbed wall-climbing robot - Google Patents
Magnetically adsorbed wall-climbing robot Download PDFInfo
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- CN204223015U CN204223015U CN201420667167.9U CN201420667167U CN204223015U CN 204223015 U CN204223015 U CN 204223015U CN 201420667167 U CN201420667167 U CN 201420667167U CN 204223015 U CN204223015 U CN 204223015U
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- magnetic block
- climbing robot
- vehicle frame
- motor
- magnetically adsorbed
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Abstract
The utility model discloses a kind of magnetically adsorbed wall-climbing robot, comprise vehicle frame, wheel, motor, magnetic block group, power supply, upper supporting plate, lower carrier plate and support, motor be arranged on be fixed on vehicle frame bottom surface support on, motor is connected with wheel, magnetic block group is connected to bottom of frame by screw, nut screw connection, and upper supporting plate is provided with drive system, and lower carrier plate is provided with control system, control system is connected with drive system, and drive system is connected with motor.This magnetically adsorbed wall-climbing robot adopts wheeled construction, and kinematic dexterity is good, utilizes magnetic block to carry out magnetic suck, and load-carrying capacity is strong, and the distance in magnetic block group and magnetic conduction face is adjustable, and load range is large.The structure of robot is simple, cost of manufacture is low, can be widely used in the operations such as the cleaning under the operating mode such as pipeline, storage tank, application, detection.
Description
Technical field
The utility model relates to robot field, particularly a kind of magnetically adsorbed wall-climbing robot.
Background technology
Magnetically adsorbed wall-climbing robot is the one of specialized robot, that a kind of design is used under severe, danger, limiting case, magnetic conduction wall carries out a kind of automated machine device of operations specific as welding, polishing, detection, application etc., is more and more subject to people's attention.Current magnetically adsorbed 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.As a kind of, such as pipeline carries that cost is low, efficiency is high, the transportation mode of safety non-pollution, find broad application in industries such as oil, electric power, urban water supplies, but metal tube is by the impact of the factors such as the corrosion attack of surrounding environment and artificial destruction, the hidden danger such as leakage, blast can be produced, cause environmental pollution, economic loss, for ensureing the safe operation of pipeline, regularly must carry out detection to pipeline and safeguarding.
Climbing robot must have two basic function: wall adsorption function and locomotive function.But, both is again contradiction: the load-carrying capacity of robot is stronger, require that the adsorption affinity between climbing robot and magnetic conduction wall is larger, but this to also result in the resistance of climbing robot when motion larger, the adsorption power of climbing robot and travelling performance are contradiction.
Find by literature search, existing magnetically adsorbed wall-climbing robot mainly contains magnetic foot formula climbing robot, magnetic wheel type climbing robot, crawler type magnetic adsorption wall climbing robot.
Magnetic foot formula climbing robot is that the adsorption affinity provided by magnetic foot is adsorbed on wall, due to its walking feature determines its adsorption affinity must be adjustable, the electromagnet that adopts provides adsorption affinity, as eight sufficient magnetic adsorption wall climbing robots of HIT's development more.Magnetic foot formula climbing robot footwork controls more complicated, and kinematic dexterity is bad.In addition, adopt electromagnet to provide adsorption affinity, need to consume electric energy, and there is the potential safety hazard that accident power-off causes.
Magnetic wheel type climbing robot leans on the adsorption affinity of magnet-wheel to be adsorbed on magnetic conduction wall.Feature is that kinematic dexterity is better, but due to effective adsorption area of magnet-wheel little, magnetic energy utilization rate is not high, and load-carrying capacity is poor.
Crawler type magnetic adsorption wall climbing robot is adsorbed on magnetic conduction wall by the suction block be arranged in crawler-type mobile mechanism.Be characterized in that load-carrying capacity is strong, but its kinematic dexterity is poor, particularly when carrying out divertical motion, because area of contact between crawler belt and magnetic conduction wall is large, cornering resistance is large, and Turning radius is large, and steering flexibility is poor.
In sum, better and load-carrying capacity is poor, or load-carrying capacity by force and kinematic dexterity is poor for existing climbing robot or kinematic dexterity, and fail to solve preferably the contradiction that climbing robot moves and adsorbs, Combination property is bad.And complex process, cost of manufacture is high.
Summary of the invention
It is simple that the purpose of this utility model is to provide a kind of structure, and cost is low, the magnetically adsorbed wall-climbing robot that motion activity is good, load-carrying capacity is strong, load range is large.
For achieving the above object, magnetically adsorbed wall-climbing robot of the present utility model, comprise vehicle frame, wheel, motor, magnetic block group, power supply, upper supporting plate, lower carrier plate and support, described motor be arranged on be fixed on vehicle frame bottom surface support on, motor is connected with wheel, described magnetic block group is connected to bottom of frame by screw, nut screw connection, described upper supporting plate one end is fixedly connected on vehicle frame by copper post, the other end is fixedly connected on lower carrier plate by copper post, and described lower carrier plate is fixedly connected on vehicle frame by copper post.
Described magnetic block group comprises two or more magnetic block, and screw, nut are fixed four of magnetic block angles, and magnetic block adjusts the height apart with vehicle frame by screw, nut screw connection.
Described upper supporting plate is provided with drive system, and described lower carrier plate is provided with control system, and control system is connected with drive system, and drive system is connected with motor.
Described power supply is arranged on vehicle frame, is connected respectively with drive system, control system.
The shape of described magnetic block is square or camber.
Substantive distinguishing features of the present utility model and progress are:
The application is for current climbing robot Problems existing: the kinematic dexterity that the good load-carrying capacity of kinematic dexterity is poor, load-carrying capacity is strong is poor, devises this magnetically adsorbed wall-climbing robot.Robot adopts wheeled construction, and kinematic dexterity is good; Utilize magnetic block group to carry out magnetic suck, load-carrying capacity is strong, and the distance in magnetic block and magnetic conduction face is adjustable, and namely magnetic adsorbability is adjustable, then load range is adjustable, so load range is large.The structure of this magnetically adsorbed wall-climbing robot is simple, cost of manufacture is low, can be widely used in the operations such as the cleaning under the operating mode such as pipeline, storage tank, application, detection.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of this magnetically adsorbed wall-climbing robot.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the upward view of Fig. 1.
Component serial number and title in figure:
Drive system 1, upper supporting plate 2, control system 3, lower carrier plate 4, copper post 5, support 6, wheel 7, nut 8, magnetic block 9, screw 10, vehicle frame 11, motor 12, power supply 13.
Detailed description of the invention
Below in conjunction with accompanying drawing, enforcement structure of the present utility model is described.
Shown in Fig. 1-3, magnetically adsorbed wall-climbing robot of the present utility model, comprises vehicle frame 11, wheel 7, motor 12, magnetic block group, power supply 13, upper supporting plate 2 and lower carrier plate 4.Motor 12 be arranged on be fixed on vehicle frame 11 bottom surface support 6 on, motor 12 is connected with wheel 7.Described upper supporting plate 2 one end is fixedly connected on vehicle frame 11 by copper post 5, and the other end is fixedly connected on lower carrier plate 4 by copper post 5, and lower carrier plate 4 is fixedly connected on vehicle frame 11 by copper post 5.Upper supporting plate 2 is provided with drive system 1, and lower carrier plate 4 is provided with control system 3, and control system 3 is connected with drive system 1, and drive system 1 is connected with motor 12.Power supply 13 is arranged on vehicle frame 11, is connected respectively with drive system 1, control system 3.
Magnetic block group is connected bottom vehicle frame 11 by screw 10, nut 8, magnetic block group comprises two or more magnetic block 9, four angles of screw 10, nut 8 pairs of magnetic blocks 9 are fixed, and magnetic block 9 coordinates the height apart of adjustment and vehicle frame 11 by screw 10, nut 8.The shape of magnetic block 9 is square or camber.
Embodiment
According to the needs of actual field operating mode, as: the detection, application etc. in magnetic conduction face, assemble this magnetically adsorbed wall-climbing robot, robot loads relevant check implement or coating equipment.Need the power of load force according to scene, select the quantity of magnetic block 9, by screw 10, nut 8, magnetic block 9 is fastened on bottom vehicle frame 11.By governing screw 10 length, adjust magnetic block 9 and vehicle frame 11 at a distance of height, i.e. the distance in magnetic block 9 and magnetic conduction face, with this also adjustable adsorption affinity.Magnetic block 9 and vehicle frame 11 are at a distance of highly large, and adsorption affinity diminishes, but now robot can cross over less obstacle, and walks in the convenient magnetic conduction face becoming certain arc.Switch on power 13, namely robot carries out operation.
According to structure and the shape in magnetic conduction face, select the magnetic block 9 of appropriate shape.When magnetic conduction face is plane, select smooth square magnetic block 9; When magnetic conduction face is cambered surface, as pipeline etc., be chosen to the magnetic block 9 of corresponding arc.
Above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted; those skilled in the art is to be understood that; do not departing from the purpose and scope of the invention, can modify to technical scheme of the present invention or equivalent replacement, it all should be encompassed in protection scope of the present invention.
Claims (5)
1. a magnetically adsorbed wall-climbing robot, comprise vehicle frame (11), wheel (7), motor (12), magnetic block group, power supply (13), upper supporting plate (2), lower carrier plate (4) and support (6), it is characterized in that: described motor (12) is arranged on and is fixed on the support (6) of vehicle frame (11) bottom surface, motor (12) is connected with wheel (7), described magnetic block group is by screw (10), nut (8) is connected in vehicle frame (11) bottom, described upper supporting plate (2) one end is fixedly connected on vehicle frame (11) by copper post (5), the other end is fixedly connected on lower carrier plate (4) by copper post (5), described lower carrier plate (4) is fixedly connected on vehicle frame (11) by copper post (5).
2. magnetically adsorbed wall-climbing robot according to claim 1, it is characterized in that: described magnetic block group comprises two or more magnetic block (9), screw (10), nut (8) four angles to magnetic block (9) are fixed, and magnetic block (9) coordinates the height apart of adjustment and vehicle frame (11) by screw (10), nut (8).
3. magnetically adsorbed wall-climbing robot according to claim 1, it is characterized in that: described upper supporting plate (2) is provided with drive system (1), described lower carrier plate (4) is provided with control system (3), control system (3) is connected with drive system (1), and drive system (1) is connected with motor (12).
4. magnetically adsorbed wall-climbing robot according to claim 1, is characterized in that: described power supply (13) is arranged on vehicle frame (11), is connected respectively with drive system (1), control system (3).
5. magnetically adsorbed wall-climbing robot according to claim 1, is characterized in that: the shape of described magnetic block (9) is square or camber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420667167.9U CN204223015U (en) | 2014-11-11 | 2014-11-11 | Magnetically adsorbed wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420667167.9U CN204223015U (en) | 2014-11-11 | 2014-11-11 | Magnetically adsorbed wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204223015U true CN204223015U (en) | 2015-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420667167.9U Expired - Fee Related CN204223015U (en) | 2014-11-11 | 2014-11-11 | Magnetically adsorbed wall-climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN204223015U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443096A (en) * | 2014-11-11 | 2015-03-25 | 南宁市第二中学 | Magnetic attraction type wall-climbing robot |
| CN106043484A (en) * | 2016-06-15 | 2016-10-26 | 天津理工大学 | Obstacle-surmounting adsorption type wall-climbing robot on smooth surface |
| CN109973784A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of channel bend inspection machine people |
-
2014
- 2014-11-11 CN CN201420667167.9U patent/CN204223015U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443096A (en) * | 2014-11-11 | 2015-03-25 | 南宁市第二中学 | Magnetic attraction type wall-climbing robot |
| CN106043484A (en) * | 2016-06-15 | 2016-10-26 | 天津理工大学 | Obstacle-surmounting adsorption type wall-climbing robot on smooth surface |
| CN109973784A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of channel bend inspection machine people |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150325 Termination date: 20171111 |
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| CF01 | Termination of patent right due to non-payment of annual fee |