CN205630653U - Magnetic wheel organizes running gear of robot - Google Patents
Magnetic wheel organizes running gear of robot Download PDFInfo
- Publication number
- CN205630653U CN205630653U CN201620505688.3U CN201620505688U CN205630653U CN 205630653 U CN205630653 U CN 205630653U CN 201620505688 U CN201620505688 U CN 201620505688U CN 205630653 U CN205630653 U CN 205630653U
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- China
- Prior art keywords
- magnetic
- group
- electromagnet module
- drive rod
- robot
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- 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.)
- Withdrawn - After Issue
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Abstract
The utility model provides a magnetic wheel organizes running gear of robot, includes that magnetic wheel equipment puts, every magnetic wheel equipment is put wholly for the wheel form, including a plurality of actuating levers, drive arrangement and a plurality of magnetic force absorption unique tuple. Wherein magnetic force absorption unit includes electro -magnet module, reset spring and compresses tightly the switch. According to magnetic wheel organizes running gear of robot, have adsorption component to adsorb in the wall among the the walking process of robot all the time, fully guaranteed the adsorption efficiency, effectively overcome the little problem of adsorption affinity between robot when motion and wall, though the wall that has the seam also can be steady, quick the motion.
Description
Technical field
This utility model relates to a kind of running gear, particularly to a kind of magnet-wheel group robot walking device.
Background technology
Climb wall type industrial robot to can be adsorbed on and move on various wall, be widely used in building industry, chemical industry
Industry, shipbuilding industry etc., replace being accomplished manually the operation under high-risk extreme environment, before having extraordinary application
Scape.
In prior art, wall-climbing robot moving structure mainly has sufficient formula, crawler type, wheeled three classes,
The adsorption structure used mainly has vacuum adsorption type and magnetic adsorption type.But the adsorption structure of prior art is deposited
In the problem that absorption affinity is little, it is impossible to meeting industry needs, or structure is complicated, cost is high.
Utility model content
The purpose of this utility model is that the deficiency existed for prior art provides a kind of magnet-wheel group machine
People's running gear, has absorbent module to be adsorbed in wall all the time, has fully ensured that suction during robot ambulation
Attached ability, when effectively overcoming robot motion and problem that between wall, absorption affinity is little, even if in seam
Wall also can steadily, quickly move.
For achieving the above object, the following technical scheme of this utility model offer:
A kind of magnet-wheel group robot walking device, including magnetic Wheels group arrangement, wherein:
Each magnetic Wheels group arrangement generally wheel shape, including multiple drive rods, driving means and multiple magnetic force
Absorbing unit group；
Wherein magnetic-adsorption unit includes electromagnet module, back-moving spring and clamping switch.
Wherein, be driving means in wheel center position, drive rod be spoke-like and one end be positioned at
The driving means of heart position connects, and the other end at drive rod arranges described electromagnet module, at electric magnet
The bottom centre position of module arranges described clamping switch.
The back-moving spring playing reset response is set between drive rod and electromagnet module.
Wherein, back-moving spring is at least two groups, one group of side connecting electromagnet module and drive rod, separately
One group connects the opposite side of electromagnet module and drive rod, thus back-moving spring can be electromagnet module carries
For both sides reset response of uniform size power.
The plurality of electromagnet module is evenly distributed on rim location, forms one and connects rotund by electromagnetism
The spoke of ferrum module composition.
Further, the quantity of magnetic-adsorption unit group at least should be 10 groups, the quantity of drive rod and magnetic-adsorption
The quantity of unit group is corresponding.
Accompanying drawing explanation
Fig. 1 is the magnetic Wheels group arrangement front view of magnet-wheel group robot walking device of the present utility model.
Fig. 2 is the magnet-wheel group design factors schematic diagram of magnet-wheel group robot walking device of the present utility model.
Fig. 3 is the walking schematic diagram of magnet-wheel group robot walking device of the present utility model.
(note: shown structure in accompanying drawing is simply to illustrate that the signal of this utility model feature, not
It is intended to according to structure shown in accompanying drawing.)
Detailed description of the invention
As it is shown on figure 3, according to a kind of magnet-wheel group robot walking device described in the utility model, including
Magnetic Wheels group arrangement, in order to realize such as at the walking movement on this type of magnetic conductive device surface of heavy steel plate 6.
As it is shown in figure 1, each magnetic Wheels group arrangement generally wheel shape, including drive rod 1, driving means 2
With magnetic-adsorption unit.
Wherein magnetic-adsorption unit includes electromagnet module 3, back-moving spring 4 and clamping switch 5.
Wherein, be driving means 2 in wheel center position, drive rod 1 in spoke-like be positioned at centre bit
The driving means 2 put connects.End at drive rod 1 arranges electromagnet module 3, in electromagnet module 3
Bottom centre position clamping switch 5 is set.
The back-moving spring 4 playing reset response is set between drive rod 1 and electromagnet module 3.Wherein,
Back-moving spring 4 at least two groups, one group of side connecting electromagnet module 3 and drive rod 1, another group
Connect opposite side and the drive rod 1 of electromagnet module 3.Thus, back-moving spring 4 can be electric magnet mould
Block 3 provides both sides reset response of uniform size power.
Thus, multiple electromagnet module 3 are distributed in rim location, form one and connect rotund by electromagnetism
The spoke that swage block 3 is constituted.
Walking effect based on magnet-wheel group robot walking device, the quantity of electromagnet module 3 at least should be
10 groups.
As it is shown on figure 3, during robot ambulation, driving means 2 drives magnetic-adsorption list by drive rod 1
Tuple rotates, and when the 1st group of magnetic-adsorption unit contact surface, the compression of magnetic-adsorption unit bottom is opened
Closing 5 to be triggered immediately, now the electromagnet module 3 of magnetic-adsorption unit is energized, the 1st group of magnetic-adsorption
Unit just absorption is on the surface 6 of contact.
Along with driving means 2 drives magnetic-adsorption unit group to rotate, the 2nd group of magnetic-adsorption cell surface by
Gradually near contact surface, once magnetic-adsorption unit touches surface 6, the clamping switch 5 of bottom immediately by
Triggering, the electromagnet module 3 of magnetic-adsorption unit is energized, and the 2nd group of magnetic-adsorption unit just absorption is connecing
On the surface touched.
While the 2nd group of electromagnet module 3 energising, the electromagnet module 3 of original 1st group is broken immediately
Electricity, the 1st group of magnetic-adsorption unit desorbs state, leaves contact surface.
At least 10 group magnetic-adsorption unit are repeated in said process, can complete robot ambulation action.
As in figure 2 it is shown, when magnetic-adsorption unit group is 10 groups, two magnetic-adsorption unit groups with connect
In the case of contacting surface contact, the drive rod 1 of described magnetic-adsorption unit group is with the angle of vertical direction about
It it is 18 °.
As it is shown on figure 3, when magnetic-adsorption unit group is 10 groups, when magnet-wheel group robot walking device exists
During flat surfaces walking, wheel center slightly floats, and floating distance is expressed as H.
The above, preferred embodiment the most of the present utility model, it is not intended to limit this practicality new
The protection domain of type, all made within spirit of the present utility model and principle any amendment, equivalent replace
Change and improvement etc., within should be included in protection domain of the present utility model.
Claims (2)
1. a magnet-wheel group robot walking device, including magnetic Wheels group arrangement, it is characterised in that:
Each magnetic Wheels group arrangement generally wheel shape, including multiple drive rods (1), driving means (2) and
Multiple magnetic-adsorption unit groups；
Wherein magnetic-adsorption unit includes electromagnet module (3), back-moving spring (4) and clamping switch (5)；
Wherein, being driving means (2) in wheel center position, drive rod (1) is in spoke-like and one end
Being connected with the driving means (2) being positioned at center, the other end at drive rod (1) arranges described electricity
Magnet module (3), the bottom centre position in electromagnet module (3) arranges described clamping switch (5)；
The back-moving spring (4) playing reset response is set between drive rod (1) and electromagnet module (3)；
Wherein, back-moving spring (4) at least two groups, one group of side connecting electromagnet module (3) with
Drive rod (1), another group connects opposite side and the drive rod (1) of electromagnet module (3), thus multiple
Position spring (4) can be that electromagnet module (3) provides both sides reset response of uniform size power；
The plurality of electromagnet module (3) is evenly distributed on rim location, formed one connect rotund by
The spoke that electromagnet module (3) is constituted；
Further, the quantity of magnetic-adsorption unit group at least should be 10 groups, the quantity of drive rod (1) and magnetic
The quantity of power absorbing unit group is corresponding.
2. magnet-wheel group robot walking device as claimed in claim 1, it is characterised in that: magnetic-adsorption
The quantity of unit group is 10 groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620505688.3U CN205630653U (en) | 2016-05-30 | 2016-05-30 | Magnetic wheel organizes running gear of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620505688.3U CN205630653U (en) | 2016-05-30 | 2016-05-30 | Magnetic wheel organizes running gear of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205630653U true CN205630653U (en) | 2016-10-12 |
Family
ID=57051633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620505688.3U Withdrawn - After Issue CN205630653U (en) | 2016-05-30 | 2016-05-30 | Magnetic wheel organizes running gear of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205630653U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835066A (en) * | 2016-05-30 | 2016-08-10 | 哈工大机器人集团有限公司 | Magnetic wheel set robot traveling device |
| CN111301545A (en) * | 2019-11-22 | 2020-06-19 | 广东省智能制造研究所 | Auxiliary device of wall-climbing robot |
-
2016
- 2016-05-30 CN CN201620505688.3U patent/CN205630653U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835066A (en) * | 2016-05-30 | 2016-08-10 | 哈工大机器人集团有限公司 | Magnetic wheel set robot traveling device |
| CN105835066B (en) * | 2016-05-30 | 2018-01-16 | 哈工大机器人集团有限公司 | A kind of magnet-wheel group robot walking device |
| CN111301545A (en) * | 2019-11-22 | 2020-06-19 | 广东省智能制造研究所 | Auxiliary device of wall-climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170106 Address after: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Patentee after: Hagongda robot group (Harbin) Asset Management Co., Ltd. Address before: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Patentee before: HIT ROBOT GROUP CO., LTD. |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20161012 Effective date of abandoning: 20180116 |
|
| AV01 | Patent right actively abandoned |