CN206202480U - Magnetic adsorption wall climbing robot - Google Patents
Magnetic adsorption wall climbing robot Download PDFInfo
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- CN206202480U CN206202480U CN201621272718.7U CN201621272718U CN206202480U CN 206202480 U CN206202480 U CN 206202480U CN 201621272718 U CN201621272718 U CN 201621272718U CN 206202480 U CN206202480 U CN 206202480U
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Abstract
The utility model discloses a kind of magnetic adsorption wall climbing robot, versatility and adaptability for improving magnetic adsorption wall climbing robot, it is suitable for various work requirements, including underframe, be fixed with front axle on the underframe, the front axle two ends respectively install one group can each speed regulation drive wheel assemblies, a magnetic absorbing unit is set in the drive wheel assemblies, guide wheel assemblies are installed in the middle of the underframe rear portion, No. two magnetic absorbing units are set in the guide wheel assemblies；The drive wheel assemblies set cylinder wheel, and at least two contact sites are kept with working face.The utility model has preferable combination property, realizes turning to by the speed difference of left and right sidesing driving wheel component, strong operability；A magnetic absorbing unit and No. two magnetic absorbing units are respectively equipped with drive wheel assemblies and guide wheel assemblies, the two combination can ensure good absorption property；Other drive wheel assemblies set cylinder wheel, and at least two contact sites are kept with working face, similar with crawler belt, with good obstacle climbing ability.
Description
Technical field
The utility model is related to robotics, and in particular to a kind of magnetic adsorption wall climbing robot.
Background technology
Magnetic adsorption wall climbing robot belongs to specialized robot, is used under severe, dangerous, limiting condition, in magnetic conduction wall
On carry out such as detect, maintenance, welding or polishing operations specific.Current magnetic adsorption wall climbing robot is in nuclear industry, petrochemical industry work
Industry, building industry, fire department, shipbuilding industry etc. are widely used in the production and construction based on steel construction.
Magnetic adsorption wall climbing robot needs to solve absorption, driving, steering, obstacle detouring, the small curvature song of adaptation in engineer applied
Face, workpiece load or even a series of problems, such as automatically control, being directed at present, people more above mentioned problem a certain item or certain
A little items are made to optimize to climbing robot, to adapt to specific operation, specific work post, i.e., lack a kind of versatility at this stage and fit
The stronger magnetic adsorption wall climbing robot carrier of answering property.
Utility model content
In order to improve the versatility and adaptability of magnetic adsorption wall climbing robot, it is suitable for various work requirements, this practicality is new
Type provides that a kind of absorption affinity is big, obstacle climbing ability strong, operate flexible magnetic adsorption wall climbing robot.
The technical solution adopted in the utility model is as follows：
A kind of magnetic adsorption wall climbing robot, including underframe, are fixed with front axle on the underframe, the front axle two ends are respectively installed
One group can each speed regulation drive wheel assemblies, a magnetic absorbing unit is set in the drive wheel assemblies, in the middle of the underframe rear portion
Guide wheel assemblies are installed, No. two magnetic absorbing units are set in the guide wheel assemblies；The drive wheel assemblies set cylinder wheel, with work
Make plane and keep at least two contact sites.
The two ends of the front axle are provided with flexible element, and the drive wheel assemblies are arranged on flexible element.
The flexible element is elastic shaft or flexible coupling.
The guide wheel assemblies include the wheel carrier being rotatably mounted on underframe, and a rotating shaft, No. two magnetic are set on wheel carrier
Absorbing unit is arranged on a middle part for rotating shaft, and the both sides of No. two magnetic absorbing units are provided with directive wheel, two guiding
Wheel separate can rotate.
No. two magnetic absorbing units include No. two permanent magnets, and No. two permanent magnets are annular magnet, the annular magnetic
The outside of iron sets guard circle.
The drive wheel assemblies include frame, and the frame rear and front end is respectively equipped with No. two rotating shafts, No. three rotating shafts, described
No. two rotating shaft two ends are provided with driving wheel, a belt wheel, two ends are set in No. three rotating shafts and sets No. two belt wheels, are equipped with the central rack
Motor, sets a belt between the output shaft of the motor and a belt wheel, described No. two set No. two between belt wheel and driving wheel
Belt；The frame sets installation axle, and the installation axle is detachably installed with front axle.
No. two belts are the whole piece wide belt for covering all driving wheels, and the frame, motor are arranged in No. two skins
The inner side of band.
A number magnetic absorbing unit is arranged in No. two rotating shafts, between being provided between a magnetic absorbing unit and No. two rotating shafts
Gap a, magnetic absorbing unit includes a permanent magnet in centre position, and two end faces of a permanent magnet are magnetic pole,
Two magnetic pole end faces of a number permanent magnet are close to be provided with the yoke of annular, and the external diameter of the yoke is more than a permanent magnet
External diameter.
The driving wheel, belt wheel, No. two belt wheels are gear, and a belt corresponds to synchronous with No. two belts
Band；The Timing Belt part that No. two belts are engaged including both sides with driving wheel, and middle number magnetic absorbing unit of correspondence
Flat belt part.
The motor is stepper motor or servomotor, and equipped with harmonic speed reducer.
The beneficial effects of the utility model are：
The utility model has preferable combination property, the structure being oriented to using front-wheel drive, trailing wheel, is driven by left and right
The speed difference of wheel assembly come realize turn to, strong operability；A magnetic suck is respectively equipped with drive wheel assemblies and guide wheel assemblies
Unit and No. two magnetic absorbing units, the two combination can ensure good absorption property；Other drive wheel assemblies set cylinder wheel, with work
Make plane and keep at least two contact sites, it is similar with crawler belt, with good obstacle climbing ability.
Brief description of the drawings
Fig. 1 is the top view of the utility model embodiment.
Fig. 2 is the front view of the utility model embodiment.
Fig. 3 is the top view of drive wheel assemblies in the utility model embodiment.
Fig. 4 is the front view of drive wheel assemblies in the utility model embodiment.
Fig. 5 is the schematic diagram of guide wheel assemblies in the utility model embodiment.
Fig. 6 is the enlarged drawing at A in the utility model embodiment.
Underframe 1, front axle 2,3, magnetic absorbing unit 4 of drive wheel assemblies, 5, No. two magnetic absorbing units 6 of guide wheel assemblies,
Flexible element 7,8, rotating shaft 9 of wheel carrier, 10, No. two permanent magnets 11 of directive wheel, guard circle 12, the rotating shaft 14, three of frame 13, two
Rotating shaft 15, the belt wheel 17, two of a driving wheel 16, belt wheel 18, the belt 20, two of a motor 19, belt 21, installation axle 22,
Number permanent magnet 23, yoke 24, Timing Belt part 25, a flat belt part 26.
Specific embodiment
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.
In embodiment, as shown in Figure 1 and Figure 2, a kind of magnetic adsorption wall climbing robot, including underframe 1, it is fixed on the underframe 1
Have a front axle 2, the two ends of the front axle 2 respectively install one group can each speed regulation drive wheel assemblies 3, sets one in the drive wheel assemblies 3
Number magnetic absorbing unit 4, is provided with guide wheel assemblies 5, the guide wheel assemblies 5 in the middle of the rear portion of the underframe 1 and sets No. two magnetic
Coupon unit 6；The drive wheel assemblies 4 set cylinder wheel, and at least two contact sites are kept with working face.The present embodiment has preferable
Combination property, using front-wheel drive, trailing wheel be oriented to structure, realized by the speed difference of left and right sidesing driving wheel component 3 turn to,
Strong operability；A magnetic absorbing unit 4 and No. two magnetic absorbing units 6 are respectively equipped with drive wheel assemblies 3 and guide wheel assemblies 5,
The two combination can ensure good absorption property；Other drive wheel assemblies 4 set cylinder wheel, keep at least two to connect with working face
Contact portion, it is similar with crawler belt, with good obstacle climbing ability.The present embodiment, can basis on its underframe 1 used as a kind of robot carrier
Demand installs different work packages, such as welding, detection device, for realizing different functions.
In embodiment, as shown in figure 1, the two ends of the front axle 2 are provided with flexible element 7, the drive wheel assemblies 4 are arranged on and scratch
On property part 7；The flexible element 7 is elastic shaft or flexible coupling.The present embodiment around property part 7 cause two groups of drive wheel assemblies 3
Can shape it is at a certain angle, to strengthen adaptability of the robot to curved surface, different flexible elements 7 are changed, to the adaptation energy of curved surface
Power also changes therewith.
In embodiment, as shown in figure 5, the guide wheel assemblies 5 include the wheel carrier 8 being rotatably mounted on underframe 1, wheel carrier 8
On set a rotating shaft 9, No. two magnetic absorbing units 6 are arranged on a middle part for rotating shaft 9, No. two magnetic absorbing units 6
Both sides are provided with directive wheel 10, and two directive wheels 10 separate can rotate.Two directive wheels 10 of the present embodiment are mutually solely
Vertical, when turning to, two rotating speeds of directive wheel 10 are different, it is to avoid directive wheel 10 occur and skid or sliding friction, increase the stabilization of operation
Property.
In embodiment, as shown in figure 5, No. two magnetic absorbing units 6 include No. two permanent magnets 11, No. two permanent magnets
11 is annular magnet, and the outside of the annular magnet sets guard circle 12.The guard circle 12 of the present embodiment is arranged on No. two permanent magnets
Outside 11, protection, dust-proof effect can be played.
In embodiment, as shown in Figure 3, Figure 4, the drive wheel assemblies 4 include frame 13, the rear and front end of the frame 13 point
14, No. three rotating shafts 15 of No. two rotating shafts are not provided with, and No. two rotating shafts 14 two ends are provided with driving wheel 16, No. one is set in No. three rotating shafts 15
Belt wheel 17, two ends sets No. two belt wheels 18, and the frame 13 is equipped with motor 19, the output shaft of the motor 19 and a band on middle part
A belt 20 is set between wheel 17, No. two belts 21 are set between No. two belt wheels 18 and driving wheel 16；The frame 13 sets peace
Dress axle 22, the installation axle 22 is detachably installed with front axle 2.The present embodiment structure, motor 19 is arranged on the inside of frame 13, makes
The more compact structure of whole module, performance is more stable.
In embodiment, as shown in Figure 3, Figure 4, No. two belts 21 are the whole piece wide belt of all driving wheels 16 of covering,
The frame 13, motor 19 are arranged in No. two inner sides of belt 21.No. two belts 21 of the present embodiment can not only play transmission,
The effect of driving, moreover it is possible to play protection internal mechanism, dust-proof effect.
In embodiment, as shown in figure 3, a magnetic absorbing unit 4 is arranged in No. two rotating shafts 14, a magnetic coupon
Gap is provided between unit 4 and No. two rotating shafts 14, a magnetic absorbing unit 4 includes a permanent magnet 23 in centre position, institute
The two of permanent magnet 23 end faces are stated for magnetic pole, two magnetic pole end faces of a permanent magnet 23 are close to be provided with annular
Yoke 24, the external diameter of the yoke 24 is more than an external diameter for permanent magnet 23.A number magnetic absorbing unit 4 of the present embodiment is by centre
A permanent magnet 23 and the yoke 24 of both sides combine, because the external diameter of yoke 24 is more than an external diameter for permanent magnet 23,
The distance of yoke 13 and work adsorption plane is closer to a magnetic line of force for permanent magnet 23 can enter work and adsorb by the yoke 24 of side
Face, then returns to a permanent magnet 23 and forms loop by opposite side yoke 24, significantly increases a permanent magnet 23 and work
Make the absorption affinity of adsorption plane.
In embodiment, as shown in figure 3, the belt wheel 17, two of a driving wheel 16, belt wheel 18 is gear, described No. one
Belt 20 and No. two belts 21 correspond to Timing Belt；No. two belts 21 include the Timing Belt portion that both sides are engaged with driving wheel 16
Divide 25, and a number flat belt part 26 for magnetic absorbing unit 4 of middle correspondence.No. two belts 18 in the present embodiment are special
Composite Skin band, is made up of the Timing Belt part 25 of both sides and the flat belt part 26 of centre, and this structure makes a magnetic coupon
Gap between unit 4 and No. two belts 21 is smaller, and magnetic adsorbability is improved as far as possible.
In embodiment, the motor 4 is stepper motor or servomotor, and equipped with harmonic speed reducer.In the present embodiment, electricity
17, No. two belt wheels 18 of the output shaft of machine 4 and a belt wheel constitute two grades of V belt translation deceleration devices together with driving wheel 16, but its
Speed reducing ratio, slewing range are all limited, the characteristics of harmonic speed reducer has speed reducing ratio big, high precision, small volume, with two grades of V belt translations
Deceleration device is combined, and constitutes complete reducing gear；In addition stepper motor or servomotor are easy to accurate speed governing, also allow for reality
The steering of existing robot.
Obviously, above-described embodiment of the present utility model is merely to illustrate that the utility model example, and not
Restriction to implementation method of the present utility model.For those of ordinary skill in the field, on the basis of described above
On can also make the change or variation of other multi-forms.There is no need and unable to give poor example to all of implementation method.
And these belong to obvious change that connotation of the present utility model amplifies out or variation still falls within the utility model
Protection domain.
Claims (10)
1. a kind of magnetic adsorption wall climbing robot, it is characterised in that：Including underframe（1）, the underframe（1）On be fixed with front axle（2）,
The front axle（2）Two ends respectively install one group can each speed regulation drive wheel assemblies（3）, the drive wheel assemblies（3）Inside set No. one
Magnetic absorbing unit（4）, the underframe（1）Guide wheel assemblies are installed in the middle of rear portion（5）, the guide wheel assemblies（5）Inside set two
Number magnetic absorbing unit（6）；The drive wheel assemblies（4）If cylinder wheel, at least two contact sites are kept with working face.
2. magnetic adsorption wall climbing robot according to claim 1, it is characterised in that：The front axle（2）Two ends be provided with and scratch
Property part（7）, the drive wheel assemblies（4）Installed in flexible element（7）On.
3. magnetic adsorption wall climbing robot according to claim 2, it is characterised in that：The flexible element（7）For elastic shaft or
Flexible coupling.
4. magnetic adsorption wall climbing robot according to claim 1, it is characterised in that：The guide wheel assemblies（5）Including rotation
Turn to be arranged on underframe（1）On wheel carrier（8）, wheel carrier（8）On set a rotating shaft（9）, No. two magnetic absorbing units（6）It is arranged on
A number rotating shaft（9）Middle part, No. two magnetic absorbing units（6）Both sides be provided with directive wheel（10）, two directive wheels
（10）Separate can rotate.
5. magnetic adsorption wall climbing robot according to claim 4, it is characterised in that：No. two magnetic absorbing units（6）Bag
Include No. two permanent magnets（11）, No. two permanent magnets（11）It is annular magnet, the outside of the annular magnet sets guard circle（12）.
6. magnetic adsorption wall climbing robot according to claim 1, it is characterised in that：The drive wheel assemblies（4）Including machine
Frame（13）, the frame（13）Rear and front end is respectively equipped with No. two rotating shafts（14）, No. three rotating shafts（15）, No. two rotating shafts（14）
Two ends are provided with driving wheel（16）, No. three rotating shafts（15）On set a belt wheel（17）, two ends set No. two belt wheels（18）, the frame
（13）Motor is housed on middle part（19）, the motor（19）Output shaft and a belt wheel（17）Between set a belt（20）,
No. two belt wheels（18）With driving wheel（16）Between set No. two belts（21）；The frame（13）If installation axle（22）, it is described
Installation axle（22）With front axle（2）It is detachable to install.
7. magnetic adsorption wall climbing robot according to claim 6, it is characterised in that：No. two belts（21）It is covering institute
There is driving wheel（16）Whole piece wide belt, with driving wheel（16）Cylinder wheel, the frame are constituted together（13）, motor（19）Uniformly
Put in No. two belts（21）Inner side.
8. magnetic adsorption wall climbing robot according to claim 6, it is characterised in that：A number magnetic absorbing unit（4）Peace
Mounted in No. two rotating shafts（14）On, a magnetic absorbing unit（4）With No. two rotating shafts（14）Between be provided with gap, a magnetic suck
Unit（4）A permanent magnet including centre position（23）, a permanent magnet（23）Two end faces be magnetic pole, described one
Number permanent magnet（23）Two magnetic pole end faces be close to be provided with the yoke of annular（24）, the yoke（24）External diameter be more than No. one
Permanent magnet（23）External diameter.
9. magnetic adsorption wall climbing robot according to claim 6, it is characterised in that：The driving wheel（16）, a belt wheel
（17）, No. two belt wheels（18）It is gear, a belt（20）With No. two belts（21）Correspond to Timing Belt；No. two skins
Band（21）Including both sides and driving wheel（16）The Timing Belt part of engagement（25）, and a number magnetic absorbing unit of middle correspondence（4）
Flat belt part（26）.
10. magnetic adsorption wall climbing robot according to claim 6, it is characterised in that：The motor（4）For stepper motor or
Servomotor, and equipped with harmonic speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621272718.7U CN206202480U (en) | 2016-11-25 | 2016-11-25 | Magnetic adsorption wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621272718.7U CN206202480U (en) | 2016-11-25 | 2016-11-25 | Magnetic adsorption wall climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN206202480U true CN206202480U (en) | 2017-05-31 |
Family
ID=58747365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621272718.7U Active CN206202480U (en) | 2016-11-25 | 2016-11-25 | Magnetic adsorption wall climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN206202480U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428281A (en) * | 2016-11-25 | 2017-02-22 | 浙江嘉蓝海洋电子有限公司 | Magnetic-absorption wall-climbing robot |
| CN107458491A (en) * | 2017-06-28 | 2017-12-12 | 成都圭目机器人有限公司 | A kind of light-weighted climbing robot and its detection method |
| CN108791555A (en) * | 2018-04-28 | 2018-11-13 | 李晓 | A kind of magnetic wheel shoe formula climbing robot barrier getting over mechanism |
-
2016
- 2016-11-25 CN CN201621272718.7U patent/CN206202480U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428281A (en) * | 2016-11-25 | 2017-02-22 | 浙江嘉蓝海洋电子有限公司 | Magnetic-absorption wall-climbing robot |
| CN106428281B (en) * | 2016-11-25 | 2018-09-11 | 浙江嘉蓝海洋电子有限公司 | Magnetic adsorption wall climbing robot |
| CN107458491A (en) * | 2017-06-28 | 2017-12-12 | 成都圭目机器人有限公司 | A kind of light-weighted climbing robot and its detection method |
| CN108791555A (en) * | 2018-04-28 | 2018-11-13 | 李晓 | A kind of magnetic wheel shoe formula climbing robot barrier getting over mechanism |
| CN108791555B (en) * | 2018-04-28 | 2020-08-04 | 泰州市津专知识产权服务有限公司 | Magnetic wheel-track type obstacle crossing mechanism of wall climbing robot |
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