CN206384065U - A kind of transfer of wheeled magnetic adsorption wall climbing robot - Google Patents
A kind of transfer of wheeled magnetic adsorption wall climbing robot Download PDFInfo
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- CN206384065U CN206384065U CN201621314170.8U CN201621314170U CN206384065U CN 206384065 U CN206384065 U CN 206384065U CN 201621314170 U CN201621314170 U CN 201621314170U CN 206384065 U CN206384065 U CN 206384065U
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Abstract
The utility model discloses a kind of transfer of wheeled magnetic adsorption wall climbing robot, it includes wheeled combination mobile device and permanent magnetic adhesion device, the wheeled combination mobile device includes chassis and a center drive being respectively arranged on the chassis and four passive universal wheels, the passive universal wheel can carry out 360 ° and rotate freely, and turn to flexible；The permanent magnetic adhesion device being installed on the chassis uses permanent magnet material, and magnetic conduction wall is adsorbed by cordless.So, wheeled combination mobile device and permanent magnetic adhesion device are combined, while making robot by permanent magnetic adhesion device absorption on wall, while center drive wheel drives robot ambulation, the universal wheel that 360 degree can freely be rotated adds steering flexibility, make steering quick, turn-around zone is small.
Description
Technical field
The utility model is related to magnetic suck technical field, and in particular to a kind of steering dress of wheeled magnetic adsorption wall climbing robot
Put.
Background technology
Climbing robot can replace people tilting, keeping away face vertically, and huge component, or even container inner top are flexibly moved
It is dynamic, and complete certain Mission Operations.In field climbing robots such as petrochemical industry, building cleaning, Ship Building and Repairing, fire-fighting fire extinguishings
Have a wide range of applications.
Magnetic adsorption wall climbing robot belongs to a branch of climbing robot, although it is only limitted to the application of magnetic conduction wall,
But it is not concavo-convex or crack is limited, safety by wall because strong with absorption affinity, it is stable, reliable advantage and carried out extensively
Research and application.
The move mode of current magnetic adsorption wall climbing robot mainly has a crawler type, leg foot formula and wheeled, and wheeled magnetic suck is climbed
Wall robot relative to other Liang Zhong robots, can keep certain load again can flexible motion, mobile system mechanism is simple,
Light weight, small power consumption is easy to control.
But the speed discrepancy more than wheeled magnetic adsorption wall climbing robot by both sides realizes steering at present, is needed during steering larger
Turn to space, it is impossible to flexibly rapidly carry out very much small range steering, and easily the skidding of wheel occur, in smaller space
Or when having the space progress operation of region limitation, and it is inconvenient.
In view of drawbacks described above, it is new that the utility model creator obtains this practicality finally by prolonged research and practice
Type.
The content of the invention
To solve above-mentioned technological deficiency, the technical solution adopted in the utility model is to climb there is provided a kind of wheeled magnetic suck
The transfer of wall robot, it is characterised in that it includes wheeled combination mobile device and permanent magnetic adhesion device, described wheeled group
Closing mobile device includes chassis and a center drive being respectively arranged on the chassis and four passive universal wheels, described
Passive universal wheel can carry out 360 ° and rotate freely, and turn to flexible；The permanent magnetic adhesion device being installed on the chassis is adopted
With permanent magnet material, magnetic conduction wall is adsorbed by cordless.
Preferably, the center drive includes drive gear and wheel, motor passes through chain structure or gear
Drive gear described in actuator drives is rotated, and the wheel of the coaxial center drive also turns therewith with the drive gear
It is dynamic.
Preferably, the center drive also includes direction controlling gear, chain structure or gear drive driving
The direction controlling pinion rotation, changes the wheel movement direction of the center drive.
Preferably, the hub for vehicle wheel of the center drive uses permanent magnet material, increase the absorption affinity of robot, it is described
Center drive is fully contacted with magnetic conduction wall, is easy to control direction.
Preferably, four passive universal wheels use nonmagnetic substance, freedom and flexibility when it is turned to.
Preferably, the wheel surface of the center drive and the passive universal wheel adds one layer of rubber tyre, increase
Frictional force between extra bus wheel and magnetic conduction wall, prevents occurring skidding in moving process.
Preferably, the passive universal wheel is made up of two wheels that can carry out independent rotation respectively, wheel is added
The steering flexibility of son, is easy to turn to and moves.
The beneficial effects of the utility model are compared with the prior art：Wheeled combination mobile device and permanent magnetic adhesion device
It is combined, while making robot by permanent magnetic adhesion device absorption on wall, center drive wheel band mobile robot row
While walking, the universal wheel that can freely rotate 360 degree adds steering flexibility, makes steering quick, turn-around zone is small.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in each embodiment of the utility model, institute in being described below to embodiment
The accompanying drawing needed to use is briefly described.
Fig. 1 is a kind of structure chart of the transfer of wheeled magnetic adsorption wall climbing robot of the utility model embodiment one；
Fig. 2 is a kind of top view of the transfer of wheeled magnetic adsorption wall climbing robot of the utility model embodiment one；
Fig. 3 is a kind of centre-driven of the transfer of wheeled magnetic adsorption wall climbing robot of the utility model embodiment one
The structure chart of wheel；
Fig. 4 is a kind of centre-driven of the transfer of wheeled magnetic adsorption wall climbing robot of the utility model embodiment one
Take turns the structure chart on chassis；
Fig. 5 is a kind of universal wheel of the transfer of wheeled magnetic adsorption wall climbing robot of the utility model embodiment one
Side view；
Fig. 6 is a kind of universal wheel of the transfer of wheeled magnetic adsorption wall climbing robot of the utility model embodiment one
Front view.
Embodiment
Below in conjunction with accompanying drawing, and other technical characteristic above-mentioned to the utility model and advantage are described in more detail.
Embodiment one
Fig. 1 is a kind of structure chart of the transfer of wheeled magnetic adsorption wall climbing robot, and it includes the mobile dress of wheeled combination
Put 1 and permanent magnetic adhesion device 2；
Described wheeled combination mobile device 1 includes chassis 11, and is respectively arranged in a center drive on chassis 11
12 and four passive universal wheels 13, center drive 12 can be driven by motor by chain structure or geared system
It is dynamic, direction is adjusted by the top gear of center of rotation driving wheel 12；Four passive universal wheels 13 are connected with chassis 11,
360 ° can be carried out to rotate freely, wheeled magnetic adsorption wall climbing robot is turned to being moved under the effect of center drive 12,
Four passive universal wheels 13 coordinate center drive to make steering flexible.
Described permanent magnetic adhesion device 2, is installed on chassis 11, it uses permanent magnet material, passes through cordless pair
Magnetic conduction wall is adsorbed, and the increase and decrease of magnet can be carried out according to actual needs, is improved magnetic energy utilization rate, is facilitated controllable.Permanent magnetism
Adsorbent equipment 2 is to be connected by hole 21 thereon with chassis 11, as shown in Figure 2.
Fig. 3 is the structure chart of the center drive of the transfer of wheeled magnetic adsorption wall climbing robot, and it includes wheel
121, wheel carrier 122, drive gear 123, steady pin 124, spacing ring 125, direction controlling gear 126, axletree 127 and direction controlling
Axle 128；
Wheel 121 is arranged on axletree 127, and wheel carrier 122 is socketed on axletree 127, and drive gear 123 leads to axletree 127
Keyway link is crossed, motor drives drive gear 123 to rotate by chain structure or gear drive, drive gear
123 drive axletrees 127 are rotated, and wheel 121 is arranged on axletree 127, and wheel 121 is rotated together also with axletree 127；Spacing ring
125 are integrated with direction controlling axle 128 or are interference fitted with direction controlling axle 128, and direction controlling axle 128 passes through hole on chassis
111 are socketed with chassis 11, as shown in figure 4, spacing ring 125 is used to limit position of the chassis 11 on direction controlling axle 128, direction
Control gear 126 is connected by keyway or interference fit with direction controlling axle 128, and certain direction controlling gear 126 is on chassis 11
Top, facilitate direction controlling gear 126 to be connected with chain structure or gear drive, driving direction control gear 126
It is the chain structure being connected with direction controlling gear 126 to rotate the annulus 113 on the direction of motion for changing wheel 121, chassis 11
Or gear drive provides space.
Fig. 5 and Fig. 6 is the structure chart of the universal wheel of the transfer of wheeled magnetic adsorption wall climbing robot, and it includes wheel
131st, 132, support floor 133, deflecting plate 134, the axletree 136 of steering column 135, steady pin 137,138；Wheel 131, wheel 132
On axletree 136, position is fixed by steady pin 137,138 respectively, wheel 131 and wheel 132 are respectively around car
Axle 136 is rotated；Axletree 136 is connected with support floor 133, and support floor 133 and deflecting plate 134 are connected, and deflecting plate 134 can be around
Steering column 135 and rotate freely 360 degree；Steering column 135 is connected by the hole 112 on Fig. 4 chassis with chassis.
Wheeled combination mobile device and permanent magnetic adhesion device are combined, and robot is adsorbed by permanent magnetic adhesion device in wall
While on face, while center drive wheel drives robot ambulation, the universal wheel that can freely rotate 360 degree is added
Steering flexibility, makes steering quick, turn-around zone is small.
Embodiment two
The transfer of wheeled magnetic adsorption wall climbing robot as described above, the present embodiment is different from part and is center
The hub for vehicle wheel of driving wheel uses permanent magnet material, adds the absorption affinity of robot and wall, it is ensured that center drive and wall
Face is fully contacted, control direction.
Embodiment three
The transfer of wheeled magnetic adsorption wall climbing robot as described above, the present embodiment is universal in place of being different from
The hub for vehicle wheel of wheel uses nonmagnetic substance, it is had more flexibility in steering procedure.
Example IV
The transfer of wheeled magnetic adsorption wall climbing robot as described above, the present embodiment is different from part and is center
One layer of rubber tyre is added in the wheel outer surface of driving wheel and universal wheel, to increase the frictional force of wheel and wall.
Preferred embodiment of the present utility model is the foregoing is only, is merely illustrative for the utility model, and
It is nonrestrictive.Those skilled in the art understanding, can be to it in the spirit and scope that the utility model claim is limited
Many changes are carried out, are changed, in addition it is equivalent, but fall within protection domain of the present utility model.
Claims (7)
1. a kind of transfer of wheeled magnetic adsorption wall climbing robot, it is characterised in that it include wheeled combination mobile device and
Permanent magnetic adhesion device, the wheeled combination mobile device includes chassis and a centre-driven being respectively arranged on the chassis
Wheel and four passive universal wheels, the passive universal wheel can carry out 360 ° and rotate freely, and turn to flexible；It is installed on the chassis
On the permanent magnetic adhesion device use permanent magnet material, magnetic conduction wall is adsorbed by cordless.
2. the transfer of wheeled magnetic adsorption wall climbing robot according to claim 1, it is characterised in that drive at the center
Driving wheel includes drive gear and wheel, and motor drives the sliding tooth to rotate by chain structure or gear drive
It is dynamic, the wheel of the coaxial center drive also concomitant rotation with the drive gear.
3. the transfer of wheeled magnetic adsorption wall climbing robot according to claim 2, it is characterised in that drive at the center
Driving wheel also includes direction controlling gear, and chain structure or gear drive drive the direction controlling pinion rotation, changed
The wheel movement direction of the center drive.
4. the transfer of wheeled magnetic adsorption wall climbing robot according to claim 3, it is characterised in that drive at the center
The hub for vehicle wheel of driving wheel uses permanent magnet material, increases the absorption affinity of robot, the center drive and magnetic conduction wall are abundant
Contact, is easy to control direction.
5. the transfer of wheeled magnetic adsorption wall climbing robot according to claim 4, it is characterised in that four quilts
Dynamic universal wheel uses nonmagnetic substance, freedom and flexibility when it is turned to.
6. the transfer of wheeled magnetic adsorption wall climbing robot according to claim 5, it is characterised in that drive at the center
The wheel surface of driving wheel and the passive universal wheel adds one layer of rubber tyre, the friction between increase wheel and magnetic conduction wall
Power, prevents occurring skidding in moving process.
7. the transfer of the wheeled magnetic adsorption wall climbing robot according to claim 5 or 6, it is characterised in that the quilt
Dynamic universal wheel is made up of two wheels that can carry out independent rotation respectively, adds the steering flexibility of wheel, is easy to turn
To and it is mobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621314170.8U CN206384065U (en) | 2016-12-02 | 2016-12-02 | A kind of transfer of wheeled magnetic adsorption wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621314170.8U CN206384065U (en) | 2016-12-02 | 2016-12-02 | A kind of transfer of wheeled magnetic adsorption wall climbing robot |
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| Publication Number | Publication Date |
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| CN206384065U true CN206384065U (en) | 2017-08-08 |
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| CN201621314170.8U Active CN206384065U (en) | 2016-12-02 | 2016-12-02 | A kind of transfer of wheeled magnetic adsorption wall climbing robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741268A (en) * | 2016-12-02 | 2017-05-31 | 广东省智能制造研究所 | A kind of transfer of wheeled magnetic adsorption wall climbing robot |
| CN108770483A (en) * | 2018-07-27 | 2018-11-09 | 梧州学院 | Overhead strawberry picks collection machine |
| CN111409736A (en) * | 2020-03-18 | 2020-07-14 | 北京全路通信信号研究设计院集团有限公司 | Robot chassis with single-drive center |
| CN113993771A (en) * | 2019-05-30 | 2022-01-28 | 东京计器株式会社 | Mobile device |
| CN114906245A (en) * | 2021-02-07 | 2022-08-16 | 郑州迅布智能科技有限公司 | Wall-climbing robot |
-
2016
- 2016-12-02 CN CN201621314170.8U patent/CN206384065U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741268A (en) * | 2016-12-02 | 2017-05-31 | 广东省智能制造研究所 | A kind of transfer of wheeled magnetic adsorption wall climbing robot |
| CN108770483A (en) * | 2018-07-27 | 2018-11-09 | 梧州学院 | Overhead strawberry picks collection machine |
| CN113993771A (en) * | 2019-05-30 | 2022-01-28 | 东京计器株式会社 | Mobile device |
| CN113993771B (en) * | 2019-05-30 | 2023-11-07 | 东京计器株式会社 | mobile device |
| CN111409736A (en) * | 2020-03-18 | 2020-07-14 | 北京全路通信信号研究设计院集团有限公司 | Robot chassis with single-drive center |
| CN111409736B (en) * | 2020-03-18 | 2021-05-14 | 北京全路通信信号研究设计院集团有限公司 | Robot chassis with single-drive center |
| CN114906245A (en) * | 2021-02-07 | 2022-08-16 | 郑州迅布智能科技有限公司 | Wall-climbing robot |
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Address after: 510000 building 13, 100 martyrs Road, Yuexiu District, Guangzhou, Guangdong. Patentee after: Institute of intelligent manufacturing, Guangdong Academy of Sciences Address before: 510070 building 13, 100 martyrs Road, Yuexiu District, Guangzhou, Guangdong. Patentee before: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING |
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