CN205819364U - A kind of electromagnetic adsorption type climbing robot - Google Patents
A kind of electromagnetic adsorption type climbing robot Download PDFInfo
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- CN205819364U CN205819364U CN201620432583.XU CN201620432583U CN205819364U CN 205819364 U CN205819364 U CN 205819364U CN 201620432583 U CN201620432583 U CN 201620432583U CN 205819364 U CN205819364 U CN 205819364U
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Abstract
This utility model relates to a kind of electromagnetic adsorption type climbing robot, including driving means, electromagnetic absorption device and crawler attachment, two motors of driving means are arranged on the inside of robot shell, connected by shaft coupling and two crawler attachments respectively, four electromagnetic absorption device are arranged on four cradling piece ends of cross frame respectively by nut, coordinated by column and adjusting screw nut between cross frame and robot shell, control device and power supply and be arranged on inside robot shell by baffle plate and screw, trailing wheel is arranged on robot shell and plays a supporting role as auxiliary wheel, control the rotating speed of device two motors of control thus control the advance of robot, retreat and turn to；Control the size of current of solenoid in device four electromagnetic absorption device of control and control the size of electromagnetic adsorption power.This climbing robot can change the size of absorption affinities for different magnetic permeability metallic materials, to ensure absorption reliably, for tank body and the carrying out flaw detection of boats and ships or welding.
Description
Technical field
This utility model relates to robotics, is specifically related to the climbing robot of a kind of electromagnetic adsorption type.
Background technology
For large-scale boats and ships or tank body equipment, need to carry out regularly carrying out flaw detection and maintenance, but at boats and ships
Hull and tube wall surface are the most smooth, and people is difficult to operate under these conditions, and efficiency is low, and work high above the ground simultaneously also has
Certain danger.So a kind of wall-climbing device Man's Demands that can liberate manpower is the most urgent.
Existing varied with the climbing robot of maintenance for carrying out flaw detection, either use crawler type or wheeled
Walking, all uses the mode of permanent magnet absorption.The shortcoming using permanent magnet absorption is to be produced when absorption is on different materials
Raw absorption affinity is change, thus can affect the exercise performance of robot, even can not be able to walk because of absorption affinity is excessive
Or absorption affinity is too small and comes off, so being only used for specific material occasion.
Utility model content
This utility model, for the shortcoming of existing climbing robot, proposes the climbing robot of a kind of electromagnetic adsorption type.
For the mode of existing employing permanent magnet absorption, this utility model uses the mode of electromagnetic adsorption, can be big by changing electric current
Little change electromagnetic adsorption power, so robot absorption has the different materials occasion of different pcrmeability, adds machine
The range of people.Electromagnetic absorption device is contacted with adsorbed surface by universal guide wheel.Athey wheel has automatic tensioning function,
Can prevent robot from falling the phenomenon of Athey wheel when operation.Robot, after performing absorption, uses 2.4G high on the ground
Frequently robot is controlled by wireless technology.This utility model robot can be effectively up at the equipment such as boats and ships or large tank
Sail, can be widely used for flaw detection or welding etc. in the future and be manually difficult to the occasion of operation.
In order to achieve the above object, this utility model employing following technical proposals:
A kind of electromagnetic adsorption type climbing robot, including driving means, electromagnetic absorption device and crawler attachment, described driving
Two motors of device are arranged on the inside of robot shell, are connected by shaft coupling and two crawler attachments respectively, four
Electromagnetic absorption device is arranged on four cradling piece ends of cross frame, described cross frame and robot shell respectively by nut
Between coordinated by column and adjusting screw nut, described control device and power supply are arranged in robot shell by baffle plate and screw
Portion, trailing wheel is arranged on robot shell and plays a supporting role as auxiliary wheel, and described control device controls two motors
Rotating speed thus control the advance of robot, retreat and turn to；Control device and control solenoid in four electromagnetic absorption device
Size of current controls the size of electromagnetic adsorption power.
Described electromagnetic absorption device includes stop sleeve, solenoid, loop sleeve, iron core, Hooks coupling universal coupling, supports
Wheel, the outer sleeve of described stop sleeve matches with loop sleeve, is connected by pillar between inner sleeve with outer sleeve, inner sleeve
Matching with iron core, the winding head of described solenoid is the lug of the coil being enclosed within loop sleeve, is used for being switched to electricity
Source, the existing function adding strong electromagnetic sense line effect of iron core, is matched by Hooks coupling universal coupling with supporting to take turns simultaneously, plays support and make
With；Magnetic induction effect is there is, it is possible to absorption is on the metal material having certain pcrmeability after solenoid energising.
Described crawler attachment includes crawler belt, drivewheel, drivewheel upper shield, Athey wheel support, tensioner, regulating wheel, holds
Roller；Described crawler belt is coated on outside drivewheel, regulating wheel and three BOGEY WHEELs, and described Athey wheel support passes through drivewheel upper shield
Matching with drivewheel, regulating wheel is by tensioner and Athey wheel support assorted, and wherein the spring of tensioner is according to crawler belt
The position of tension change regulating wheel, play tension, regulating wheel also functions to directive wheel effect, it is to avoid crawler belt slips, three
BOGEY WHEEL and Athey wheel support assorted, play the partial weight-bearing effect of robot.
Control device and include host computer, motion controller, wireless communication module, sensor, ground remote controller；On described
Position machine gives motion controller by wireless communication module and instructs, and motion controller controls the rotation of motor again, it is achieved machine
The advance of device people, retreats and turns to.Controller also can control the size of current of solenoid in electromagnetic absorption device and control absorption
The size of power.
Compared with prior art, the beneficial effects of the utility model are as follows:
This climbing robot uses the mode of electromagnetic adsorption, and electromagnetic adsorption power can control, and this robot can be made to have
Effect ground absorption on the metal material that pcrmeability is different, the occasion of such robot application can ratio wide.Crawler attachment and suction
Pressure between attached is can be regulated, with electromagnetic adsorption power by the column between cross and robot shell and assembling nut
Size is unrelated, does not affects the motion of robot.
Accompanying drawing explanation
Fig. 1 is the structural representation of this robot.
Fig. 2 is robot side view.
Fig. 3 is electromagnetic adsorbent equipment structure explosive view.
Fig. 4 is crawler attachment figure.
Detailed description of the invention
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is further described.
As it is shown in figure 1, a kind of electromagnetic adsorption type climbing robot, including driving means, electromagnetic absorption device and crawler belt dress
Put, it is characterised in that two motor 1-A, 1-B of described driving means are arranged on the inside of robot shell 9, pass through respectively
Shaft coupling 3-A, 3-B and two crawler attachment 2-A, 2-B connects, and four electromagnetic absorption device 4-A, 4-B, 4-C, 4-D lead to respectively
Cross nut and be arranged on four cradling piece ends of cross frame 8, by column 11 between described cross frame 8 and robot shell 9
Coordinating with adjusting screw nut 10, it is internal that described control device 6 and power supply 7 are arranged on robot shell 9 by baffle plate and screw, trailing wheel 5-
A, 5-B are arranged on robot shell 9 and play a supporting role as auxiliary wheel, and described control device 6 controls two motor 1-
The rotating speed of A, 1-B thus control the advance of robot, retreat and turn to；Control device 6 and control four electromagnetic absorption device 4-A,
In 4-B, 4-C, 4-D, the size of current of solenoid 13 controls the size of electromagnetic adsorption power.
As in figure 2 it is shown, coordinate with column 11 and adjusting screw nut between cross frame 8 with robot shell 9, crawler attachment and suction
The contact pressure in subordinate list face is by adjusting what the distance between cross frame 8 and robot shell 9 realized.
As it is shown on figure 3, described electromagnetic absorption device includes stop sleeve 12, solenoid 13, loop sleeve 14, iron core
15, Hooks coupling universal coupling 16, support wheel 17, the outer sleeve 12-A of described stop sleeve 12 matches with loop sleeve 14, inner sleeve
Being connected by pillar 12-B between 12-C with outer sleeve 12-A, inner sleeve 12-C matches with iron core 15, described solenoid 13
The lug that winding head 13-B is the coil 13-A being enclosed within loop sleeve 14, be used for being switched to power supply, iron core 15 is existing to be added
The function of forceful electric power magnetic induction line effect, is matched by Hooks coupling universal coupling 16 with support wheel 17-A, 17-B simultaneously, plays support and make
With；Magnetic induction effect is there is, it is possible to absorption is on the metal material having certain pcrmeability after solenoid 13 energising.
As shown in Figure 4, described crawler attachment includes crawler belt 18, drivewheel 19, drivewheel upper shield 20, Athey wheel support 21,
Tensioner 22, regulating wheel 23, BOGEY WHEEL 24；Described crawler belt 18 is coated on drivewheel 19, regulating wheel 23 and three BOGEY WHEELs 24
Outside, described Athey wheel support 21 is matched with drivewheel 19 by drivewheel upper shield 20, and regulating wheel 23 is by tensioner 22
Coordinating with Athey wheel support 21, wherein the spring of tensioner 22 is according to the position of the tension change regulating wheel 23 of crawler belt 18, rises
To tension, regulating wheel 23 also functions to directive wheel effect, it is to avoid crawler belt 18 slips, three BOGEY WHEELs 24 and Athey wheel support 21
Coordinate, play the partial weight-bearing effect of robot.
Use crawler type can increase the frictional force of robot and work surface.Motor passes through shaft coupling and axle, drives
Drivewheel 19 rotates, and the rotating speed controlling two motors respectively just can realize the advance of robot, retreats and turns to.
Claims (3)
1. an electromagnetic adsorption type climbing robot, including driving means, electromagnetic absorption device and crawler attachment, its feature exists
In, two motors (1-A, 1-B) of described driving means are arranged on the inside of robot shell (9), pass through shaft coupling respectively
(3-A, 3-B) connects with two crawler attachments (2-A, 2-B), and four electromagnetic absorption device (4-A, 4-B, 4-C, 4-D) are led to respectively
Cross nut and be arranged on four cradling piece ends of cross frame (8), pass through between described cross frame (8) and robot shell (9)
Column (11) and adjusting screw nut (10) coordinate, and control device (6) and power supply (7) and are arranged on robot shell by baffle plate and screw
(9) internal, trailing wheel (5-A, 5-B) is arranged on robot shell (9) and plays a supporting role as auxiliary wheel, described control device
(6) control the rotating speed of two motors (1-A, 1-B) thus control the advance of robot, retreat and turn to；Control device (6)
Control the size of current of solenoid (13) in four electromagnetic absorption device (4-A, 4-B, 4-C, 4-D) and control electromagnetic adsorption power
Size.
Electromagnetic adsorption type climbing robot the most according to claim 1, it is characterised in that described electromagnetic absorption device includes
Stop sleeve (12), solenoid (13), loop sleeve (14), iron core (15), Hooks coupling universal coupling (16), support wheel (17), institute
The outer sleeve (12-A) stating stop sleeve (12) matches with loop sleeve (14), inner sleeve (12-C) and outer sleeve (12-A) it
Between by pillar (12-B) connect, inner sleeve (12-C) matches with iron core (15), the winding head of described solenoid (13)
(13-B) lug of the coil (13-A) for being enclosed within loop sleeve (14), is used for being switched to power supply, and iron core (15) is existing to be added
The function of forceful electric power magnetic induction line effect, is matched by Hooks coupling universal coupling (16) with support wheel (17-A, 17-B) simultaneously, plays support
Effect；Magnetic induction effect is there is, it is possible to absorption is on the metal material having certain pcrmeability after solenoid (13) energising.
Electromagnetic adsorption type climbing robot the most according to claim 1, it is characterised in that described crawler attachment includes crawler belt
(18), drivewheel (19), drivewheel upper shield (20), Athey wheel support (21), tensioner (22), regulating wheel (23), BOGEY WHEEL
(24)；Described crawler belt (18) is coated on drivewheel (19), regulating wheel (23) and three BOGEY WHEEL (24) outsides, and described Athey wheel props up
Frame (21) is matched with drivewheel (19) by drivewheel upper shield (20), and regulating wheel (23) passes through tensioner (22) and Athey wheel
Support (21) coordinates, and wherein the spring of tensioner (22) is according to the position of the tension change regulating wheel (23) of crawler belt (18), rises
To tension, regulating wheel (23) also functions to directive wheel effect, it is to avoid crawler belt (18) slips, three BOGEY WHEELs (24) and Athey wheel
Support (21) coordinates, and plays the partial weight-bearing effect of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620432583.XU CN205819364U (en) | 2016-05-14 | 2016-05-14 | A kind of electromagnetic adsorption type climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620432583.XU CN205819364U (en) | 2016-05-14 | 2016-05-14 | A kind of electromagnetic adsorption type climbing robot |
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| Publication Number | Publication Date |
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| CN205819364U true CN205819364U (en) | 2016-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620432583.XU Expired - Fee Related CN205819364U (en) | 2016-05-14 | 2016-05-14 | A kind of electromagnetic adsorption type climbing robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106736080A (en) * | 2016-12-29 | 2017-05-31 | 湖北文理学院 | A kind of las er-guidance pipe welding robot |
| CN107443402A (en) * | 2017-10-06 | 2017-12-08 | 南京中高知识产权股份有限公司 | Solar energy climbing robot and its method of work |
| CN107651031A (en) * | 2017-09-10 | 2018-02-02 | 南京中高知识产权股份有限公司 | A kind of method of work of magnetic adsorption wall climbing robot |
| CN107672684A (en) * | 2017-10-06 | 2018-02-09 | 南京中高知识产权股份有限公司 | Multi-functional climbing robot chassis and robot, method of work |
| CN108674511A (en) * | 2018-05-31 | 2018-10-19 | 杭州展翔智能科技有限公司 | It is a kind of can frame carry application device autonomous climbing device |
| CN109129394A (en) * | 2018-08-08 | 2019-01-04 | 国网辽宁省电力有限公司葫芦岛供电公司 | Climb wall type operation in narrow space robot |
| CN109606494A (en) * | 2018-12-05 | 2019-04-12 | 山东大学 | The adaptive wheel hub of working curved surface and underwater cleaning robot |
| CN109649523A (en) * | 2019-01-31 | 2019-04-19 | 北渤智能科技秦皇岛有限公司 | A kind of automatic climbing pole machine |
| WO2019157030A1 (en) * | 2018-02-06 | 2019-08-15 | Saudi Arabian Oil Company | Spring-based magnetic attachment method for crawling vehicle |
| CN112224305A (en) * | 2020-11-09 | 2021-01-15 | 安徽工程大学 | Stair climbing robot based on electromagnetic adsorption steering |
| CN114228857A (en) * | 2021-12-31 | 2022-03-25 | 中国电子科技集团公司第十四研究所 | Magnetic force adjustable electromagnetism adsorbs formula wall climbing robot |
| CN115610545A (en) * | 2022-10-20 | 2023-01-17 | 南京大学 | Foot structure of wall-climbing robot |
| CN116674671A (en) * | 2023-07-28 | 2023-09-01 | 国机传感科技有限公司 | Wind power tower defect sensing and detecting device |
-
2016
- 2016-05-14 CN CN201620432583.XU patent/CN205819364U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106736080B (en) * | 2016-12-29 | 2018-06-12 | 湖北文理学院 | A kind of las er-guidance pipe welding robot |
| CN106736080A (en) * | 2016-12-29 | 2017-05-31 | 湖北文理学院 | A kind of las er-guidance pipe welding robot |
| CN107651031A (en) * | 2017-09-10 | 2018-02-02 | 南京中高知识产权股份有限公司 | A kind of method of work of magnetic adsorption wall climbing robot |
| CN107443402A (en) * | 2017-10-06 | 2017-12-08 | 南京中高知识产权股份有限公司 | Solar energy climbing robot and its method of work |
| CN107672684A (en) * | 2017-10-06 | 2018-02-09 | 南京中高知识产权股份有限公司 | Multi-functional climbing robot chassis and robot, method of work |
| WO2019157030A1 (en) * | 2018-02-06 | 2019-08-15 | Saudi Arabian Oil Company | Spring-based magnetic attachment method for crawling vehicle |
| US10829171B2 (en) | 2018-02-06 | 2020-11-10 | Saudi Arabian Oil Company | Spring-based magnetic attachment method for crawling vehicle |
| CN108674511B (en) * | 2018-05-31 | 2024-04-09 | 杭州展翔智能科技有限公司 | Autonomous climbing device capable of carrying application device |
| CN108674511A (en) * | 2018-05-31 | 2018-10-19 | 杭州展翔智能科技有限公司 | It is a kind of can frame carry application device autonomous climbing device |
| CN109129394A (en) * | 2018-08-08 | 2019-01-04 | 国网辽宁省电力有限公司葫芦岛供电公司 | Climb wall type operation in narrow space robot |
| CN109606494A (en) * | 2018-12-05 | 2019-04-12 | 山东大学 | The adaptive wheel hub of working curved surface and underwater cleaning robot |
| CN109649523A (en) * | 2019-01-31 | 2019-04-19 | 北渤智能科技秦皇岛有限公司 | A kind of automatic climbing pole machine |
| CN112224305A (en) * | 2020-11-09 | 2021-01-15 | 安徽工程大学 | Stair climbing robot based on electromagnetic adsorption steering |
| CN114228857A (en) * | 2021-12-31 | 2022-03-25 | 中国电子科技集团公司第十四研究所 | Magnetic force adjustable electromagnetism adsorbs formula wall climbing robot |
| CN115610545A (en) * | 2022-10-20 | 2023-01-17 | 南京大学 | Foot structure of wall-climbing robot |
| CN116674671A (en) * | 2023-07-28 | 2023-09-01 | 国机传感科技有限公司 | Wind power tower defect sensing and detecting device |
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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: 20161221 Termination date: 20170514 |
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| CF01 | Termination of patent right due to non-payment of annual fee |