CN205837000U - May span across the magnetic adsorption wall climbing robot of right angle wall - Google Patents
May span across the magnetic adsorption wall climbing robot of right angle wall Download PDFInfo
- Publication number
- CN205837000U CN205837000U CN201620742908.4U CN201620742908U CN205837000U CN 205837000 U CN205837000 U CN 205837000U CN 201620742908 U CN201620742908 U CN 201620742908U CN 205837000 U CN205837000 U CN 205837000U
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- China
- Prior art keywords
- nacelle
- lower casing
- connecting rod
- aftercarriage
- right angle
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Abstract
The utility model discloses the magnetic adsorption wall climbing robot that may span across right angle wall, including front vehicle body and aftercarriage, be connected by arch suspension between front vehicle body and aftercarriage；Front vehicle body and aftercarriage all include nacelle lower casing and nacelle upper casing, the two ends, left and right of nacelle lower casing are equipped with magnet pulley, being provided with the driving motor being connected with each magnet pulley in nacelle lower casing, the nacelle lower casing side of front vehicle body and the nacelle upper casing upper surface of aftercarriage are equipped with hinge；Arch suspension includes forward mounting connecting rod and rear-mounted connecting rod, it is connected by rotating shaft between forward mounting connecting rod and rear-mounted connecting rod, forward mounting connecting rod is connected with the hinge on the nacelle lower casing of front vehicle body, and rear-mounted connecting rod is connected with the hinge on the nacelle upper casing of aftercarriage.The beneficial effects of the utility model: achieve the magnetic adsorption wall climbing walking of wheel type mobile, can freely walk at vertical, end face and turn to, the wall of delivery of container of can ascending, cross right angle wall, arrive above container or top.
Description
Technical field
This utility model relates to robotics, it particularly relates to a kind of magnetic suck that may span across right angle wall
Climbing robot.
Background technology
The automatization that climbing robot (wall climbing robot) can be climbed in perpendicular walls and fulfil assignment
Robot.Climbing robot is also called wall-surface mobile robot, because vertical walls operation is beyond the limit of people, the most abroad
It is also called limit operation robot.Climbing robot must possess absorption and move two basic functions, and common suction type
There are negative-pressure adsorption and permanent magnetic suck two kinds.Wherein negative pressure mode can be adsorbed on wall, no by producing negative pressure in sucker
Limited by wall surface material；Magnetic suck mode then has permanent magnet and electric magnet two ways, is only applicable to adsorb magnetic conductivity wall.
Climbing robot is mainly used in petroleum chemical enterprise's tank big to cylinder and carries out defect detecting test or process of spraying paint, or carries out the clear of building
Clean and spraying.Nuclear industry is used for check thickness measuring etc., it is also possible to for the industry such as fire-fighting and shipbuilding.
Climbing robot divides mainly sucked type, wheel type and crawler type by locomotive function.Sucked type can be crossed over the least
Obstacle, but translational speed is slow.Wheel type translational speed is fast, control flexibly, but maintains certain absorption affinity more difficult.Crawler type pair
Wall strong adaptability, the area that lands is big, but is difficult to turn.And the obstacle crossing ability of these three move mode is the most weak, it is impossible to
Adapt to wall and the operation of creeping at top inside and outside container.
For the problem in correlation technique, effective solution is the most not yet proposed.
Utility model content
The purpose of this utility model is to provide the magnetic adsorption wall climbing robot that may span across right angle wall, the most existing to overcome
Technology above shortcomings.
For realizing above-mentioned technical purpose, the technical solution of the utility model is achieved in that
May span across the magnetic adsorption wall climbing robot of right angle wall, including front vehicle body and aftercarriage, described front vehicle body and rear car
It is connected by arch suspension between body；Described front vehicle body and aftercarriage all include nacelle lower casing and nacelle upper casing, described nacelle
Upper casing is fastened on the opening of described nacelle lower casing, is equipped with magnet pulley outside the two ends, left and right of described nacelle lower casing, and
The driving motor being connected with each magnet pulley it is provided with, the nacelle lower casing side of described front vehicle body and described in described nacelle lower casing
The nacelle upper casing upper surface of aftercarriage is equipped with a hinge；Described arch suspension includes forward mounting connecting rod and rear-mounted connecting rod, and
It is connected by rotating shaft between described forward mounting connecting rod and rear-mounted connecting rod, the described forward mounting connecting rod other end and described front vehicle body
The hinge of nacelle lower casing side be connected, the nacelle upper casing upper surface of the described rear-mounted connecting rod other end and described aftercarriage
Hinge is connected.
Further, described magnet pulley includes and the driving wheel driving motor output shaft to be connected, the circle of described driving wheel
The magnet steel being angularly distributed all it is embedded with on side face.
Further, the nacelle upper casing of described front vehicle body is provided with communication antenna.
Further, the nacelle lower casing of described aftercarriage is provided with image antenna.
Further, it is equipped with photographic head on the nacelle upper casing of described front vehicle body and on the nacelle lower casing of described aftercarriage.
Further, the width value of described nacelle lower casing is equal with the width value of described nacelle upper casing, and described magnet pulley
Diameter value more than described nacelle lower casing or the width value of described nacelle upper casing, the diameter value of described magnet pulley is more than described nacelle
The one-tenth-value thickness 1/10 of lower casing and the one-tenth-value thickness 1/10 sum of described nacelle upper casing.
Further, the magnet steel described driving wheel embedded is permanent magnet.
The beneficial effects of the utility model: by using four independent magnet pulleies driven and utilizing arch suspension to connect
Front vehicle body and aftercarriage, it is achieved thereby that the magnetic adsorption wall climbing walking of wheel type mobile, can freely walk at vertical, end face and turn
To, the wall of delivery of container of can ascending, cross right angle wall, arrive above container or top.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
The accompanying drawing used required in is briefly described, it should be apparent that, the accompanying drawing in describing below is the most of the present utility model
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this
A little accompanying drawings obtain other accompanying drawing.
Fig. 1 is the structure according to the magnetic adsorption wall climbing robot that may span across right angle wall described in this utility model embodiment
Schematic diagram；
Fig. 2 is the local according to the magnetic adsorption wall climbing robot that may span across right angle wall described in this utility model embodiment
Structural representation one；
Fig. 3 is the local according to the magnetic adsorption wall climbing robot that may span across right angle wall described in this utility model embodiment
Structural representation two；
Fig. 4 be creep according to the magnetic adsorption wall climbing robot that may span across right angle wall described in this utility model embodiment outside
The schematic diagram at right angle；
Fig. 5 be creep according to the magnetic adsorption wall climbing robot that may span across right angle wall described in this utility model embodiment in
The schematic diagram at right angle.
In figure:
1, front vehicle body；2, aftercarriage；3, arch suspension；4, nacelle lower casing；5, nacelle upper casing；6, magnet pulley；7, electricity is driven
Machine；8, hinge；9, forward mounting connecting rod；10, rear-mounted connecting rod；11, rotating shaft；12, driving wheel；13, magnet steel；14, communication antenna；
15, image antenna；16, photographic head.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole
Embodiment.Based on the embodiment in this utility model, all other embodiments that those of ordinary skill in the art are obtained, all belong to
Scope in this utility model protection.
As shown in Figures 1 to 5, according to the magnetic adsorption wall climbing that may span across right angle wall described in embodiment of the present utility model
Robot, including front vehicle body 1 and aftercarriage 2, is connected by arch suspension 3 between described front vehicle body 1 and aftercarriage 2；Described
Front vehicle body 1 and aftercarriage 2 all include that nacelle lower casing 4 and nacelle upper casing 5, described nacelle upper casing 5 are fastened on described nacelle lower casing 4
Formed on opening and seal structure, outside the two ends, left and right of described nacelle lower casing 4, be equipped with magnet pulley 6, described nacelle lower casing 4
Described magnet pulley 6 outside two ends, left and right forms differential gear train, and is provided with in described nacelle lower casing 4 and each magnet pulley 6 phase
The driving motor 7 connected, nacelle lower casing 4 side of described front vehicle body 1 and nacelle upper casing 5 upper surface of described aftercarriage 2 are all provided with
There is a hinge 8；Described arch suspension 3 includes forward mounting connecting rod 9 and rear-mounted connecting rod 10, and described forward mounting connecting rod 9 and rear overhang
Hang and be connected by rotating shaft 11 between connecting rod 10, described forward mounting connecting rod 9 other end and nacelle lower casing 4 side of described front vehicle body 1
The hinge 8 in face is connected, hinge 8 phase of described rear-mounted connecting rod 10 other end and nacelle upper casing 5 upper surface of described aftercarriage 2
Connect.
Described magnet pulley 6 includes and the driving wheel 12 driving motor 7 output shaft to be connected, the periphery of described driving wheel 12
On be all embedded with the magnet steel 13 being angularly distributed.
The nacelle upper casing 5 of described front vehicle body 1 is provided with communication antenna 14.
The nacelle lower casing 4 of described aftercarriage 2 is provided with image antenna 15.
It is equipped with photographic head 16 on the nacelle upper casing 5 of described front vehicle body 2 and on the nacelle lower casing 4 of described aftercarriage 2.
The width value of described nacelle lower casing 4 is equal with the width value of described nacelle upper casing 5, and the diameter of described magnet pulley 6
Value is more than described nacelle lower casing 4 or the width value of described nacelle upper casing 5, and the diameter value of described magnet pulley 6 is more than under described nacelle
The one-tenth-value thickness 1/10 of shell 4 and the one-tenth-value thickness 1/10 sum of described nacelle upper casing 5.
The magnet steel 13 embedded on described driving wheel 12 is permanent magnet.
Understand technique scheme of the present utility model for convenience, below by way of new to this practicality in specifically used mode
The technique scheme of type is described in detail.
When specifically used, described arch suspension 3 has axle swing and vehicle body waist rotates two degree of freedom, described bow
Shape suspension 3 is made up of described forward mounting connecting rod 9 and described rear-mounted connecting rod 10, and described forward mounting connecting rod 9 and described rear-mounted are even
Bar 10 is connected by described rotating shaft 11, constitutes one " arch ", the most described forward mounting connecting rod 9 and described rear-mounted connecting rod 10
The other end is connected by described hinge 8 and described front vehicle body 2, described aftercarriage 2, one of them described hinge 8 as required by
Locking, described aftercarriage 2 and described front vehicle body 2 can opposing oscillatory, thus ensure four described magnet pulleies 6 and container iron sheet table
Fitting in face, each described magnet pulley 6 is evenly distributed with the described magnet steel 13 that material is permanent magnet, and then can ensure that robot
Well absorption is on irregular container iron sheet surface in the process of walking, and the most described arch suspension 3 can bend in centre,
Can ready-made described aftercarriage 2 and described front vehicle body 2 turn to drift angle, thus realize turning to.When ascending outside wall surface, described front truck
Body 2 first climbs up top, and the collision with right angle avoided by described arch suspension 3, and car body 2 and described front vehicle body 2 push away simultaneously in the rear
Under entering, top can be climbed up by robot.
In sum, by means of technique scheme of the present utility model, by using four independent magnet pulleies 6 driven
And utilize arch suspension 3 to connect front vehicle body 1 and aftercarriage 2, it is achieved thereby that the magnetic adsorption wall climbing walking of wheel type mobile, can be
Vertical, end face are freely walked and turn to, the wall of delivery of container of can ascending, and cross right angle wall, arrive on container
Face or top.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Within the spirit of utility model and principle, any modification, equivalent substitution and improvement etc. made, should be included in this utility model
Protection domain within.
Claims (7)
1. may span across the magnetic adsorption wall climbing robot of right angle wall, it is characterised in that: it includes being connected by arch suspension
Front vehicle body and aftercarriage, described front vehicle body and aftercarriage all include that nacelle lower casing and nacelle upper casing, described nacelle upper casing are fastened on
On the opening of described nacelle lower casing, outside the two ends, left and right of described nacelle lower casing, it is equipped with magnet pulley, and under described nacelle
The driving motor being connected with each magnet pulley it is provided with, the nacelle lower casing side of described front vehicle body and the cabin of described aftercarriage in shell
Body upper casing upper surface is equipped with a hinge；Described arch suspension includes forward mounting connecting rod and rear-mounted connecting rod, and described forward mounting is even
Be connected by rotating shaft between one end and one end of described rear-mounted connecting rod of bar, the described forward mounting connecting rod other end with described before
The hinge of the nacelle lower casing side of car body is connected, the described rear-mounted connecting rod other end and the nacelle upper casing upper end of described aftercarriage
The hinge in face is connected.
The magnetic adsorption wall climbing robot that may span across right angle wall the most according to claim 1, it is characterised in that described magnetic
Wheel includes and the driving driving wheel that is connected of motor output shaft, the periphery of described driving wheel is all embedded with and is angularly distributed
Magnet steel.
The magnetic adsorption wall climbing robot that may span across right angle wall the most according to claim 1, it is characterised in that described front truck
The nacelle upper casing of body is provided with communication antenna.
The magnetic adsorption wall climbing robot that may span across right angle wall the most according to claim 1, it is characterised in that described rear car
The nacelle lower casing of body is provided with image antenna.
The magnetic adsorption wall climbing robot that may span across right angle wall the most according to claim 1, it is characterised in that described front truck
It is equipped with photographic head on the nacelle upper casing of body and on the nacelle lower casing of described aftercarriage.
The magnetic adsorption wall climbing robot that may span across right angle wall the most according to claim 1, it is characterised in that described nacelle
The width value of lower casing is equal with the width value of described nacelle upper casing, and the diameter value of described magnet pulley more than described nacelle lower casing or
The width value of described nacelle upper casing, the diameter value of described magnet pulley is more than the one-tenth-value thickness 1/10 of described nacelle lower casing and described nacelle upper casing
One-tenth-value thickness 1/10 sum.
The magnetic adsorption wall climbing robot that may span across right angle wall the most according to claim 2, it is characterised in that described driving
The magnet steel embedded on wheel is permanent magnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620742908.4U CN205837000U (en) | 2016-07-14 | 2016-07-14 | May span across the magnetic adsorption wall climbing robot of right angle wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620742908.4U CN205837000U (en) | 2016-07-14 | 2016-07-14 | May span across the magnetic adsorption wall climbing robot of right angle wall |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205837000U true CN205837000U (en) | 2016-12-28 |
Family
ID=57618943
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620742908.4U Withdrawn - After Issue CN205837000U (en) | 2016-07-14 | 2016-07-14 | May span across the magnetic adsorption wall climbing robot of right angle wall |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205837000U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005085A (en) * | 2016-07-14 | 2016-10-12 | 西藏长源动力科技有限公司 | Magnetic adsorption wall-climbing robot capable of striding over right-angle wall surface |
| CN107867344A (en) * | 2017-08-25 | 2018-04-03 | 中国计量大学 | A kind of permanent magnetic suck climbing robot of achievable right angle wall transition |
| CN110422244A (en) * | 2019-09-03 | 2019-11-08 | 北京邮电大学 | A kind of new structural climbing robot |
| CN110723229A (en) * | 2019-10-22 | 2020-01-24 | 北京邮电大学 | Wall-climbing robot with adhesion and desorption mechanism |
| CN111270608A (en) * | 2020-03-09 | 2020-06-12 | 浙江大学 | Wall-climbing robot for detection in steel box girder of large-span bridge |
| CN111791966A (en) * | 2020-08-25 | 2020-10-20 | 合肥工业大学 | A moving platform for patrolling and examining, maintaining cylindrical steel construction |
| CN112757317A (en) * | 2020-12-30 | 2021-05-07 | 北京信息科技大学 | Large-scale aerogenerator wall climbing detection robot |
-
2016
- 2016-07-14 CN CN201620742908.4U patent/CN205837000U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005085A (en) * | 2016-07-14 | 2016-10-12 | 西藏长源动力科技有限公司 | Magnetic adsorption wall-climbing robot capable of striding over right-angle wall surface |
| CN106005085B (en) * | 2016-07-14 | 2018-04-06 | 西藏长源动力科技有限公司 | It may span across the magnetic adsorption wall climbing robot of right angle wall |
| CN107867344A (en) * | 2017-08-25 | 2018-04-03 | 中国计量大学 | A kind of permanent magnetic suck climbing robot of achievable right angle wall transition |
| CN110422244A (en) * | 2019-09-03 | 2019-11-08 | 北京邮电大学 | A kind of new structural climbing robot |
| CN110723229A (en) * | 2019-10-22 | 2020-01-24 | 北京邮电大学 | Wall-climbing robot with adhesion and desorption mechanism |
| CN111270608A (en) * | 2020-03-09 | 2020-06-12 | 浙江大学 | Wall-climbing robot for detection in steel box girder of large-span bridge |
| CN111791966A (en) * | 2020-08-25 | 2020-10-20 | 合肥工业大学 | A moving platform for patrolling and examining, maintaining cylindrical steel construction |
| CN111791966B (en) * | 2020-08-25 | 2021-11-30 | 合肥工业大学 | A moving platform for patrolling and examining, maintaining cylindrical steel construction |
| CN112757317A (en) * | 2020-12-30 | 2021-05-07 | 北京信息科技大学 | Large-scale aerogenerator wall climbing detection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161228 Effective date of abandoning: 20180406 |