CN205632714U - Wheeled magnetism adsorbs wall climbing robot - Google Patents
Wheeled magnetism adsorbs wall climbing robot Download PDFInfo
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- CN205632714U CN205632714U CN201620506213.6U CN201620506213U CN205632714U CN 205632714 U CN205632714 U CN 205632714U CN 201620506213 U CN201620506213 U CN 201620506213U CN 205632714 U CN205632714 U CN 205632714U
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- magnetic adsorption
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Abstract
The utility model provides a wheeled magnetism adsorbs wall climbing robot, includes the automobile body, the automobile body adopts the aluminum alloy to make into the cavity of closure, and control system, power and travel drive system are equipped with to inside. According to wheeled magnetism adsorbs wall climbing robot, can be used to the pipeline inside, the exploreing of boats and ships surface, large -scale steel bridge roof beam, oil and natural gas pipeline, go back portability repairing tool, restore to the defect.
Description
Technical field
This utility model relates to industrial robot field, particularly to a kind of wheeled magnetic adsorption wall climbing robot.
Background technology
At present, pipe interior, marine surface, large-scale steel bridge are accomplished by examining at set intervals
Look into, and these surfaces are substantially the plane looked up and large-area side, be manually difficult to arrive
Position, and this type of plane substantially area is relatively big, and workload is bigger.
Pipe interior inspection substantially use endoscope, marine surface and large-scale steel bridge make in the world
Checking by the mode of hanging basket system people, but these modes are very big to artificial dependency, labor intensity is high,
Efficiency is low.
Utility model content
The purpose of this utility model is the drawbacks described above for prior art, the utility model proposes one
Wheeled magnetic adsorption wall climbing robot, is mainly used in pipe interior, marine surface, large-scale steel bridge, stone
Oil natural gas lines etc., can substitute for manually arriving some positions being difficult to arrive and detect.Meanwhile,
Robot also portability has high-resolution camera, after shooting surface and being arrived by realtime video transmission
Side, and carry some fix tools, repair for some defects.
For achieving the above object, the following technical scheme of this utility model offer:
A kind of wheeled magnetic adsorption wall climbing robot, including car body, described car body is cube structure, wherein
The area of upper and lower surfaces is bigger.
Described car body uses aluminium alloy to be fabricated to the cavity of closure, internal equipped with control system, power supply and
Travel driving system.
Car body both sides are used for walking and turning to equipped with four wheels, the center at Vehicular body front, rear portion and top
Position is respectively arranged with photographic head, is used for imaging investigation.
Photographic head side, top is all disposed with two groups of light sources, in the middle of the wheel of both sides equipped with image transmitting antenna and
Control antenna.
Before and after car body, side arranges ultrasonic and laser range sensor, can find range, it is achieved automatic obstacle avoiding.
It is respectively provided with two pieces of magnet arrangements regions, these two pieces of rectangular knots in magnet arrangements region at vehicle bottom
Structure and lay respectively at the front and rear at vehicle bottom, is arranged forever at two pieces of magnet arrangements intra-zones
Magnet.
Preferably, as dynamical system, equipped with two motors inside wheeled magnetic adsorption wall climbing robot,
Two motors lay respectively at the front and rear at vehicle bottom, and every motor drives side wheel, front side
Motor drives right-hand wheel, and rear side motor drives left-hand wheel, and described motor drives wheel by transmission band.
The driving pulley of transmission band, transmission on the right side of driving pulley drive on the right side of the output shaft connection of front side motor
Band rotates, and rotating of right side transmission band drives the passive belt wheel being positioned on the wheel shaft of rear portion, thus realizes right side
The rotation of former and later two wheels.
Same, the driving pulley of transmission band on the left of the output shaft connection of rear side motor, driving pulley drives
Left side transmission band rotates, and rotating of left side transmission band drives the passive belt wheel being positioned on the wheel shaft of rear portion, thus
The rotation of former and later two wheels on the left of realization.
When moving forward and backward, motor steering is identical with rotating speed, is then come by the speed difference of both sides motor during turning
Realize.
Preferably, as control system, 2.4G radio frequency signal is used to be remotely controlled, can be by robot
The data of end pass remote control end back.
The three road images that photographic head obtains all can transfer back to remote controller end by 5.8G radiofrequency signal.
Control system main control chip CPU uses STM32F103VET6, and motor drives and uses TI integrated
Chip DRV8432 drives two Maxon brush direct current motors, supports that motor encoder interface tests the speed
Realize velocity close-loop control, also support that current of electric monitoring realizes closed-loop current control.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of wheeled magnetic adsorption wall climbing robot of the present utility model.
Fig. 2 is the schematic diagram at another visual angle of wheeled magnetic adsorption wall climbing robot of the present utility model.
Fig. 3 is the internal structure schematic diagram of wheeled magnetic adsorption wall climbing robot of the present utility model.
Fig. 4 is the circuit connection diagram of a kind of wheeled magnetic adsorption wall climbing robot of this 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 Figure 1-3, according to wheeled magnetic adsorption wall climbing robot described in the utility model, including car
Body, described car body is cube structure, and wherein the area of upper and lower surfaces is bigger.
Described car body uses aluminium alloy to be fabricated to the cavity of closure, internal equipped with control system, power supply and
Travel driving system.Car body both sides are used for walking and turning to equipped with four wheels 6, Vehicular body front, rear portion
It is respectively arranged with photographic head 4,8,5 with the center at top, is used for imaging investigation.Top photographic head 5 is other
Limit is all disposed with in the middle of two groups of light sources 2, both sides wheel 6 equipped with image transmitting antenna 1 and control antenna 7.
Additionally, also ultrasonic and laser range sensor (not shown) can be arranged in side before and after car body, can carry out
Range finding, it is achieved automatic obstacle avoiding.
As in figure 2 it is shown, the vehicle bottom at wheeled magnetic adsorption wall climbing robot is respectively provided with two pieces of Magnet cloth
Put region 9,10.These two pieces of magnet arrangements regions 9,10 are in rectangular configuration and lay respectively at car body
The front and rear of bottom.Inside two pieces of magnet arrangements regions 9,10, permanent magnet is set.
Thus one, use permanent magnetic suck technology to realize wheeled magnetic adsorption wall climbing robot and pipeline etc. is inhaled
The attachment of attached, owing to permanent magnet is arranged in wheeled magnetic adsorption wall climbing robot vehicle bottom, therefore permanent magnetism
Ferrum and adsorption plane are not directly contacted with thus form outstanding magnetic suck.
As it is shown on figure 3, illustrate according to the internal structure of wheeled magnetic adsorption wall climbing robot of the present utility model
Figure understands, and equipped with two motors 11 inside wheeled magnetic adsorption wall climbing robot, two motors 11 are respectively
Being located at the front and rear of vehicle bottom, every motor 11 drives side wheel 6.Such as front side motor
11 drive right-hand wheel 6, and rear side motor 11 drives left-hand wheel 6.Further, described motor 11
Wheel 6 is driven by transmission band 12.
As it is shown on figure 3, the driving pulley of transmission band 12 on the right side of the output shaft connection of front side motor 11, main
On the right side of movable belt pulley drive, transmission band 12 rotates, and the rotation of right side transmission band 12 drives and is positioned on the wheel shaft of rear portion
Passive belt wheel, thus realize right side former and later two wheels 6 rotation.
Same, the driving pulley of transmission band 12, main belt on the left of the output shaft connection of rear side motor 11
On the left of wheel drive, transmission band 12 rotates, and the drive that rotates of left side transmission band 12 is positioned at the quilt on the wheel shaft of rear portion
Movable belt pulley, thus realize the rotation of former and later two wheels 6 of left side.
When moving forward and backward, motor 11 turns to identical with rotating speed, then by the speed of both sides motor 11 during turning
Degree difference realizes.
As shown in Figure 4, remote-controlled walking side is used according to wheeled magnetic adsorption wall climbing robot of the present utility model
Formula.2.4G radio frequency signal is used to be remotely controlled, and can be by the data of robotic end (such as range finding sensing
The data that device records, robot dump energy) pass remote control end back, for operator's reference.Three road images are equal
Remote controller end can be transferred back to by 5.8G radiofrequency signal.Control system main control chip CPU uses
STM32F103VET6, motor drives and uses TI integrated chip DRV8432 to drive two Maxon
Brush direct current motor, supports that motor encoder interface tests the speed and realizes velocity close-loop control, also support motor electricity
Stream monitoring realizes closed-loop current control.
Concrete, as shown in Figure 4, described control system includes that CPU, described CPU receive encoder
Interface I and the signal of encoder interfaces II, CPU also receives from current detecting I and current detecting simultaneously
The signal of II, and 2.4G wireless remote control, distance measuring sensor, photographic head and the signal of figure transmission module.
Wherein current detecting I and encoder interfaces I receive the information of motor I, current detecting II and encoder
Interface II receives the information of motor II.
Described CPU also with 2.4G wireless remote control and photographic head and figure transmission module interactive signal, and right
Illuminating lamp is controlled.
Additionally, according to wheeled magnetic adsorption wall climbing robot of the present utility model, battery and external electricity can be used
Source powers, and creeps flexibly, do not limited by battery durable ability when external power supply towing cable is powered when battery is powered,
Can work long hours.Battery has two optional, can change flexibly, and Large Copacity room temperature battery can realize 3-4
Hour long-time continuation of the journey；Low temperature battery can be operated in the bitter cold environment of-40 degree, and the working time is not less than 1
Hour.
According to wheeled magnetic adsorption wall climbing robot of the present utility model, there is following practical advantages:
(1) using permanent magnet absorption, attachment is reliable, does not falls out infringement robot car body after power-off.
(2) using bi-motor four-wheel power output transmission arrangments structure, power is powerful, turns to flexibly.
(3) using three photographic head to arrange, front and back advancing all can be with visual operation, and the visual field is broad.
(4) can be at end face, side carries out omnirange walking.
(5) use aluminium alloy total enclosing car body, can use under the conditions of high humidity, high salinity.
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 (7)
1. a wheeled magnetic adsorption wall climbing robot, including car body, described car body is cube structure, its
The area of middle upper and lower surfaces is bigger, it is characterised in that:
Described car body uses aluminium alloy to be fabricated to the cavity of closure, internal equipped with control system, power supply and
Travel driving system；
Car body both sides are used for walking and turning to equipped with four wheels (6), Vehicular body front, rear portion and top
Center is respectively arranged with photographic head (4,8,5), is used for imaging investigation；
Top photographic head (5) side is all disposed with two groups of light sources (2), in the middle of both sides wheel (6) equipped with
Image transmitting antenna (1) and control antenna (7)；
Before and after car body, side arranges ultrasonic and laser range sensor, can find range, it is achieved automatic obstacle avoiding；
It is respectively provided with two pieces of magnet arrangements regions (9,10), these two pieces of magnet arrangements regions at vehicle bottom
(9,10) are in rectangular configuration and lay respectively at the front and rear at vehicle bottom, at two pieces of Magnet cloth
Put inside, region (9,10) and permanent magnet is set.
Wheeled magnetic adsorption wall climbing robot the most according to claim 1, it is characterised in that:
Equipped with two motors (11) inside wheeled magnetic adsorption wall climbing robot, two motors (11) point
Not being located at the front and rear of vehicle bottom, every motor (11) drives side wheel (6), front side
Motor (11) drives right-hand wheel (6), and rear side motor (11) drives left-hand wheel (6), described electricity
Machine (11) drives wheel (6) by transmission band (12).
Wheeled magnetic adsorption wall climbing robot the most according to claim 2, it is characterised in that:
The driving pulley of transmission band (12), driving pulley on the right side of the output shaft connection of front side motor (11)
On the right side of drive, transmission band (12) rotates, and the rotation of right side transmission band (12) drives and is positioned on the wheel shaft of rear portion
Passive belt wheel, thus realize right side former and later two wheels (6) rotation；
Same, the driving pulley of transmission band (12) on the left of the output shaft connection of rear side motor (11),
On the left of driving pulley drive, transmission band (12) rotates, and the rotation of left side transmission band (12) drives after being positioned at
Passive belt wheel on portion's wheel shaft, thus realize the rotation in former and later two wheels of left side (6)；
When moving forward and backward, motor (11) turns to identical with rotating speed, then by both sides motor (11) during turning
Speed difference realize.
Wheeled magnetic adsorption wall climbing robot the most according to claim 1, it is characterised in that:
Use 2.4G radio frequency signal to be remotely controlled, the data of robotic end can be passed back remote control end,
The three road images that photographic head (4,8,5) obtains all can transfer back to distant by 5.8G radiofrequency signal
Control device end；
Control system main control chip CPU uses STM32F103VET6, and motor drives and uses TI integrated
Chip DRV8432 drives two Maxon brush direct current motors, supports that motor encoder interface tests the speed
Realize velocity close-loop control, also support that current of electric monitoring realizes closed-loop current control.
Wheeled magnetic adsorption wall climbing robot the most according to claim 4, it is characterised in that:
The data of described robotic end include data and the robot dump energy that distance measuring sensor records.
Wheeled magnetic adsorption wall climbing robot the most according to claim 1, it is characterised in that:
Described control system includes that CPU, described CPU receive encoder interfaces I and encoder interfaces II
Signal, CPU also receives the signal from current detecting I and current detecting II, and 2.4G simultaneously
Wireless remote control, distance measuring sensor, photographic head and the signal of figure transmission module；
Wherein current detecting I and encoder interfaces I receive the information of motor I, current detecting II and encoder
Interface II receives the information of motor II；
Described CPU also with 2.4G wireless remote control and photographic head and figure transmission module interactive signal, and right
Illuminating lamp is controlled.
Wheeled magnetic adsorption wall climbing robot the most according to claim 1, it is characterised in that:
Described power supply uses battery or external power supply to power, and battery can use Large Copacity room temperature battery or low
Temperature battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620506213.6U CN205632714U (en) | 2016-05-30 | 2016-05-30 | Wheeled magnetism adsorbs wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620506213.6U CN205632714U (en) | 2016-05-30 | 2016-05-30 | Wheeled magnetism adsorbs wall climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN205632714U true CN205632714U (en) | 2016-10-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201620506213.6U Active CN205632714U (en) | 2016-05-30 | 2016-05-30 | Wheeled magnetism adsorbs wall climbing robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966485A (en) * | 2016-05-30 | 2016-09-28 | 哈工大机器人集团有限公司 | Wheel type magnetic adsorption wall-climbing robot |
| CN106428282A (en) * | 2016-11-30 | 2017-02-22 | 西南大学 | Wall-climbing trolley for spraying paint/glue |
| CN107091903A (en) * | 2017-05-28 | 2017-08-25 | 南昌理工学院 | A kind of automatic checkout equipment |
| CN107757746A (en) * | 2017-10-17 | 2018-03-06 | 常州大学 | A kind of water cooling wall-climbing robot guiding Overthrow preventing device |
-
2016
- 2016-05-30 CN CN201620506213.6U patent/CN205632714U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966485A (en) * | 2016-05-30 | 2016-09-28 | 哈工大机器人集团有限公司 | Wheel type magnetic adsorption wall-climbing robot |
| CN106428282A (en) * | 2016-11-30 | 2017-02-22 | 西南大学 | Wall-climbing trolley for spraying paint/glue |
| CN106428282B (en) * | 2016-11-30 | 2019-02-22 | 西南大学 | A kind of spray painting/glue climbs wall trolley |
| CN107091903A (en) * | 2017-05-28 | 2017-08-25 | 南昌理工学院 | A kind of automatic checkout equipment |
| CN107091903B (en) * | 2017-05-28 | 2020-11-24 | 南昌理工学院 | Automatic detection equipment |
| CN107757746A (en) * | 2017-10-17 | 2018-03-06 | 常州大学 | A kind of water cooling wall-climbing robot guiding Overthrow preventing device |
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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: 20170117 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. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee after: Harbin Institute of technology robot group (Harbin) Collaborative Innovation Research Institute Co.,Ltd. Address before: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee before: Hagongda robot group (Harbin) Asset Management Co.,Ltd. |