CN207015471U - A kind of lightweight magnetic roller adsorption type wall climbing robot - Google Patents
A kind of lightweight magnetic roller adsorption type wall climbing robot Download PDFInfo
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- CN207015471U CN207015471U CN201720409148.XU CN201720409148U CN207015471U CN 207015471 U CN207015471 U CN 207015471U CN 201720409148 U CN201720409148 U CN 201720409148U CN 207015471 U CN207015471 U CN 207015471U
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- climbing robot
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Abstract
The utility model discloses a kind of lightweight magnetic roller adsorption type wall climbing robot, including main body of vehicle frame, drive mechanism is installed on main body of vehicle frame, drive mechanism includes magnetic front-wheel, equally distributed permanent magnet is inlaid with the rubbing surface of magnetic front-wheel；Also include magnetic trailing wheel, Rear frame and compliant mechanism, Rear frame is connected by compliant mechanism with the main body of vehicle frame, and magnetic trailing wheel is arranged in Rear frame.The utility model is using two magnet pulleies independently driven and the Rear frame servo magnetic wheel connected by flexible hinge, so as to realize that wall movement is climbed in the magnetic suction of wheel type mobile.Robot can be walked and turned in magnetic conduction wall free walker.Due to the magnetic drive front-wheel using specific structure, it can be ensured that magnetic conduction wall structure can be followed in climbing barrier, it is ensured that stable absorption affinity.The Rear frame of flexible hinge connection, can follow agent structure to move, it is ensured that the stability of agent structure, and the control difficulty of robot can be reduced.
Description
Technical field
A kind of lightweight magnetic roller adsorption type wall climbing robot is the utility model is related to, belongs to robotic technology field.
Background technology
Magnetic adsorption wall climbing robot is that a kind of design carries out operations specific as welded on magnetic conduction wall, polishing, detection etc.
A kind of automated machine device.Lightweight magnet-wheel absorption type video detection climbing robot can be large-scale in ship, container
Video or image around flexible movement and captured in real-time on the magnetic conduction face of structural member etc., and local control terminal is transmitted back to, make
Atmospheric reference information is provided for relevant work.
Climbing robot must have absorption and mobile two basic functions.Common suction type has negative-pressure adsorption, magnetic
Absorption and surfacing absorption etc..Wherein negative pressure mode can produce negative pressure by device and adsorb mechanical device in wall, no
Limited by wall surface material；Magnetic suck mode requires that absorption surface must be the surface for having certain magnetic conductivity；Surfacing adsorbs
Mode mainly controls certain material to be bonded and separate by modes such as electricity, chemistry, physics with absorption surface.
Magnetic adsorption wall climbing robot mainly has the modes such as magnetic foot, magnet-wheel, gap absorption by adsorption function point.Magnetic suck mode
Climbing robot point is mainly had that magnetic is sufficient, wheeled and crawler type by locomotive function.Magnetic foot formula, more complicated barrier can be crossed over,
But translational speed is slow and mechanical structure and control mode are complicated；Wheel type mobile speed is fast, and control is relatively flexible, but is crossing over
Wall is easily separated from when barrier, it is difficult to maintain stable absorption affinity；Crawler type, the area that lands is big, and loading capacity is big, but not
The surface of complexity is adapted to, and is not easy to turn to.
Utility model content
The purpose of this utility model is, there is provided a kind of lightweight magnetic roller adsorption type wall climbing robot, translational speed is fast, turns
To wall structure that is flexible, and can adapt to relative complex, it is not susceptible to fall.
In order to solve the above technical problems, the utility model adopts the following technical scheme that：
A kind of lightweight magnetic roller adsorption type wall climbing robot, including main body of vehicle frame, drive mechanism is installed on main body of vehicle frame,
Drive mechanism includes magnetic front-wheel, and equally distributed permanent magnet is inlaid with the rubbing surface of magnetic front-wheel；Also include magnetic trailing wheel,
Rear frame and compliant mechanism, Rear frame are connected by compliant mechanism with the main body of vehicle frame, and magnetic trailing wheel is arranged in Rear frame.
Magnetic front-wheel can also select the magnet-wheel of other forms, as long as can be adsorbed climbing robot in wall by magnetic force.
The rubbing surface refers to the focusing surface of front-wheel.
Specifically, in a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, the magnetic front-wheel is elastomeric material,
There are some hole positions on magnetic front-wheel.The weight of magnetic front-wheel is mitigated by the form of hole position, it is often more important that, by magnetic
Hole position is set on front-wheel, more permanent magnets can be made to be bonded with wall.Particularly, the deformation of magnetic front-wheel can be increased
Amount, increase the fitting area of magnetic front-wheel and wall, so that more permanent magnets are bonded with wall, so as to improve magnetic front-wheel
Adsorption capacity.
As one of which embodiment, in a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, the magnetic
Property trailing wheel is universal wheel.Overall flexibility and stability when being turned to improving.
In a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, the compliant mechanism is articulated structure, Rear frame
It is hinged on main body of vehicle frame.
In a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, head, head are installed on the main body of vehicle frame
On image collecting device is installed, head and image collecting device electrically connect with the control system of climbing robot.
In a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, the head includes the first motor, second
Motor and support frame, support frame l-shaped；First motor is arranged on main body of vehicle frame, and support frame one end is fixed on the
On the drive end of one motor, the second motor is arranged on the other end of support frame, and image collecting device is arranged on second
On the drive end of motor.
In a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, main body of vehicle frame is provided with and control system electricity
The three-axis gyroscope of connection, accelerometer and multiple ultrasonic radar distance measuring sensors and telecommunication devices.Main part
Three-axis gyroscope, the spatial attitude and speed of the real-time recorder people of accelerometer energy, ultrasonic distance-measuring sensor can be to surrounding
Distance measures, and under known surrounding space situation, can judge that robot exists by spatial attitude and range measurement
The position of known spatial.
In a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, the drive mechanism also includes power motor, connection
Axle device, wheel shaft, bearing and preceding drive module housing；The output shaft of power motor is connected by shaft coupling with wheel shaft, and wheel shaft passes through
Bearing is connected with magnetic front-wheel, and shaft coupling and wheel shaft are located in preceding drive module housing.
In a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, first motor and the second motor
It is brushless DC servomotor.The head photographing module that brushless DC servomotor drives can be according to robot body's posture
Adjust head angle, it is ensured that the stabilization of shooting picture, and special angle shooting.
In a kind of foregoing lightweight magnetic roller adsorption type wall climbing robot, the magnetic front-wheel is hollow structure, hollow knot
Structure is charging portion, and permanent magnet is inlaid with the tyre wall of magnetic front-wheel.
Compared with prior art, the utility model is connected using two magnet pulleies independently driven and by flexible hinge
Rear frame servo magnetic wheel, so as to realize the magnetic suction of wheel type mobile climb wall movement.Robot can in vertical, top surface or
Magnetic conduction wall free walker with certain obstacle face is walked and turned to., can be true due to the magnetic drive front-wheel using specific structure
Guarantor can follow magnetic conduction wall structure in climbing barrier, it is ensured that stable absorption affinity.The Rear frame of flexible hinge connection, can
Agent structure is followed to move, it is ensured that the stability of agent structure, and each driving wheel of conventional climbing robot is required to match somebody with somebody
A standby motor, and trailing wheel is using servo-actuated form in this patent, without being equipped with the motor of offer power, because the quantity of motor subtracts
It is few, so this patent can reduce the control difficulty of robot.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment of the present utility model；
Fig. 2 is a kind of internal structure schematic diagram of embodiment of the present utility model；
Fig. 3 is a kind of structural representation of embodiment of drive mechanism；
Fig. 4 is a kind of structural representation of embodiment of head；
Fig. 5 is a kind of structural representation of embodiment of Rear frame；
Fig. 6 is a kind of structural representation of embodiment of magnetic trailing wheel.
Reference：1- main body of vehicle frame；2- magnetic front-wheels；3- telecommunication devices；4- compliant mechanisms；5- Rear frames；6-
Magnetic trailing wheel；7- drive mechanisms；The motors of 8- first；9- heads；10- image collecting devices；11- power motors；12- shaft couplings
Device；13- wheel shafts；14- bearings；Drive module housing before 15-；The motors of 16- second；Magnet-wheel after 17-；18- second bearings；
19- roller pins；20- rotating shafts；21- permanent magnets；22- wheel bodys；23- hole positions；24- accelerometers；The ranging of 25- ultrasonic radars senses
Device, 26- support frames.
The utility model is further described with reference to the accompanying drawings and detailed description.
Embodiment
Embodiment 1 of the present utility model：As shown in Figures 1 to 6, a kind of lightweight magnetic roller adsorption type wall climbing robot, use
Welded in carrying, polishing, a kind of automated machine device in detecting etc., specifically include main body of vehicle frame 1, on main body of vehicle frame 1
Drive mechanism 7 is installed, drive mechanism 7 is used to drive magnetic front-wheel 2 to rotate, and is the mobile offer power of main body of vehicle frame 1.Driving
Mechanism 7 includes magnetic front-wheel 2, is inlaid with equally distributed permanent magnet 21 on the rubbing surface of the wheel body 22 of magnetic front-wheel 2, before magnetic
Wheel 2 is smaller from density and has the material of certain flexibility, magnetic front-wheel 2 to produce certain deformation after adsorbing on wall, from
And the fitting area of magnetic front-wheel 2 and wall is improved, to improve absorption affinity, also, if wall structure is not very smooth, magnetic
Property front-wheel 2 also can by itself deformation be bonded wall it is irregular, so as to improve the adaptability of robot.
Climbing robot of the present utility model also includes magnetic trailing wheel 6, Rear frame 5 and compliant mechanism 4, and Rear frame 5 passes through
Compliant mechanism 4 is connected with the main body of vehicle frame 1, and magnetic trailing wheel 6 is arranged in Rear frame 5.Rotating shaft 20 is fixed by roller pin 19
In Rear frame 5, rear magnet-wheel 17 is arranged in rotating shaft 20 by second bearing 18.
When climbing robot turns to, carry out differential motion by two magnetic front-wheels 2 and realize preliminary steering, then drive
Rear frame 5 turns to, and due to the presence of compliant mechanism 4, can be decomposed go to action, overall stabilization when being turned to improving
Property, in the present embodiment, the magnetic front-wheel 2 is elastomeric material, has some hole positions 23 on magnetic front-wheel 2.Using hole position 23
Form reduces the weight of magnetic front-wheel 2, improves overall load capacity.In the present embodiment, the magnetic trailing wheel 6 is universal wheel.
The compliant mechanism 4 is articulated structure, and Rear frame 5 is hinged on main body of vehicle frame 1.
Head 9 is installed on the main body of vehicle frame 1, image collecting device 10 is installed on head 9, head 9 and image are adopted
Acquisition means 10 are equal and the control system of climbing robot electrically connects.Head 9 can drive image collecting device 10 orthogonal two
Individual direction freely rotates, and to realize multi-angled shooting, and head angle can be adjusted according to robot pose ensures shooting surely
It is qualitative.Freely rotating for head 9 is realized by following structure.The head 9 drives including the first motor 8, second
Motor 16 and support frame 26, the l-shaped of support frame 26；First motor 8 is arranged on main body of vehicle frame 1, and the one end of support frame 26 is consolidated
It is scheduled on the drive end of the first motor 8, the second motor 16 is arranged on the other end of support frame 26, image collecting device
10 are arranged on the drive end of the second motor 16.The motor 16 of first motor 8 and second is brushless straight
Flow servo motor.
Main body of vehicle frame 1 is provided with three-axis gyroscope, accelerometer 24 and the multiple ultrasounds electrically connected with the control system
Ripple radar range finding sensor 25 and telecommunication devices 3.Gyroscope, accelerometer can in real time the spatial attitude of recorder people and
Speed, ultrasonic distance-measuring sensor can measure to distance around, under known surrounding space situation, can pass through sky
Between posture and range measurement judge robot in the position of known spatial.
The drive mechanism 7 also includes power motor 11, shaft coupling 12, wheel shaft 13, bearing 14 and preceding drive module housing
15；The output shaft of power motor 11 is connected by shaft coupling 12 with wheel shaft 13, and wheel shaft 13 passes through bearing 14 and the phase of magnetic front-wheel 2
Even, shaft coupling 12 and wheel shaft 13 are located in preceding drive module housing 15.
Embodiment 2：As shown in Figures 1 to 6, a kind of lightweight magnetic roller adsorption type wall climbing robot, including main body of vehicle frame 1,
Drive mechanism 7 is installed, drive mechanism 7 includes magnetic front-wheel 2, is inlaid with the rubbing surface of magnetic front-wheel 2 on main body of vehicle frame 1
The permanent magnet 21 of even distribution；Magnetic front-wheel 2 is smaller from density and has the material of certain flexibility, and magnetic front-wheel 2 is adsorbed in wall
Certain deformation can be produced after upper, so as to improve the fitting area of magnetic front-wheel 2 and wall, to improve absorption affinity, also, if
Wall structure is not very smooth, and magnetic front-wheel 2 also can be bonded the irregular of wall by the deformation of itself, so as to improve this
The adaptability of robot.
In the present embodiment, the magnetic front-wheel 2 is hollow structure, and hollow structure is charging portion, the tyre wall of magnetic front-wheel 2
On be inlaid with permanent magnet 21.I.e.：Magnetic front-wheel 2 is identical with the tire construction of routine, is only embedded on the rubbing surface of tire
There is permanent magnet, the rubbing surface refers to the surface that magnetic front-wheel 2 is in contact with wall.Can be by reducing the pressure of charging portion
Power improves the contact area of magnetic front-wheel 2 and wall, more permanent magnets is contacted wall, so as to improve overall absorption
Power.
Also include magnetic trailing wheel 6, Rear frame 5 and compliant mechanism 4, Rear frame 5 passes through compliant mechanism 4 and the main body of vehicle frame
1 is connected, and magnetic trailing wheel 6 is arranged in Rear frame 5.When climbing robot turns to, differential fortune is carried out by two magnetic front-wheels 2
It is dynamic to realize preliminary steering, then drive Rear frame 5 to turn to, due to the presence of compliant mechanism 4, go to action can be divided
Solve, overall stability when being turned to improving, in the present embodiment, the magnetic front-wheel 2 is elastomeric material, is had on magnetic front-wheel 2
There are some hole positions 23.The weight of magnetic front-wheel 2 is reduced in the form of hole position 23, improves overall load capacity.The present embodiment
In, the magnetic trailing wheel 6 is universal wheel.The compliant mechanism 4 is articulated structure, and Rear frame 5 is hinged on main body of vehicle frame 1.Hinge
Chain structure has stronger rigidity in one direction, is unlikely to deform, and rigidity is weaker on another direction, is easily deformed, in energy
Enough improve on the premise of climbing robot moves integrally stability and realize that trailing wheel is servo-actuated.
Head 9 is installed on the main body of vehicle frame 1, image collecting device 10 is installed on head 9, head 9 and image are adopted
Acquisition means 10 are equal and the control system of climbing robot electrically connects.Head 9 can drive image collecting device 10 orthogonal two
Individual direction freely rotates, to realize multi-angled shooting.Freely rotating for head 9 is realized by following structure.The head 9
Including the first motor 8, the second motor 16 and support frame 26, the l-shaped of support frame 26；First motor 8 is arranged on
On main body of vehicle frame 1, the one end of support frame 26 is fixed on the drive end of the first motor 8, and the second motor 16 is arranged on branch
The other end of support 26, image collecting device 10 are arranged on the drive end of the second motor 16.First motor 8
It is brushless DC servomotor with the second motor 16.
Main body of vehicle frame 1 is provided with three-axis gyroscope, accelerometer 24 and the multiple ultrasounds electrically connected with the control system
Ripple radar range finding sensor 25 and telecommunication devices 3.Gyroscope, accelerometer can in real time the spatial attitude of recorder people and
Speed, ultrasonic distance-measuring sensor can measure to distance around, under known surrounding space situation, can pass through sky
Between posture and range measurement judge robot in the position of known spatial.
The drive mechanism 7 also includes power motor 11, shaft coupling 12, wheel shaft 13, bearing 14 and preceding drive module housing
15；The output shaft of power motor 11 is connected by shaft coupling 12 with wheel shaft 13, and wheel shaft 13 passes through bearing 14 and the phase of magnetic front-wheel 2
Even, shaft coupling 12 and wheel shaft 13 are located in preceding drive module housing 15.
Claims (10)
1. a kind of lightweight magnetic roller adsorption type wall climbing robot, it is characterised in that including main body of vehicle frame (1), on main body of vehicle frame (1)
Drive mechanism (7) is installed, drive mechanism (7) includes magnetic front-wheel (2), is inlaid with the rubbing surface of magnetic front-wheel (2) uniformly
The permanent magnet (21) of distribution；Also include magnetic trailing wheel (6), Rear frame (5) and compliant mechanism (4), Rear frame (5) passes through flexible machine
Structure (4) is connected with the main body of vehicle frame (1), and magnetic trailing wheel (6) is arranged in Rear frame (5).
2. a kind of lightweight magnetic roller adsorption type wall climbing robot according to claim 1, it is characterised in that before the magnetic
It is elastomeric material to take turns (2), has some hole positions (23) on magnetic front-wheel (2).
3. a kind of lightweight magnetic roller adsorption type wall climbing robot according to claim 1, it is characterised in that after the magnetic
It is universal wheel to take turns (6).
A kind of 4. lightweight magnetic roller adsorption type wall climbing robot according to claim 1, it is characterised in that the flexible machine
Structure (4) is articulated structure, and Rear frame (5) is hinged on main body of vehicle frame (1).
A kind of 5. lightweight magnetic roller adsorption type wall climbing robot according to claim 1, it is characterised in that the vehicle frame master
Head (9) is installed on body (1), image collecting device (10), head (9) and image collecting device are installed on head (9)
(10) equal and climbing robot control system electrical connection.
A kind of 6. lightweight magnetic roller adsorption type wall climbing robot according to claim 5, it is characterised in that the head
(9) the first motor (8), the second motor (16) and support frame (26), support frame (26) l-shaped are included；First driving
Motor (8) is arranged on main body of vehicle frame (1), and support frame (26) one end is fixed on the drive end of the first motor (8), and second
Motor (16) is arranged on the other end of support frame (26), and image collecting device (10) is arranged on the second motor (16)
On drive end.
A kind of 7. lightweight magnetic roller adsorption type wall climbing robot according to claim 6, it is characterised in that main body of vehicle frame
(1) three-axis gyroscope electrically connected with the control system, accelerometer (24) and multiple ultrasonic radar rangings is provided with to pass
Sensor (25) and telecommunication devices (3).
A kind of 8. lightweight magnetic roller adsorption type wall climbing robot according to claim 1, it is characterised in that the driving machine
Structure (7) also includes power motor (11), shaft coupling (12), wheel shaft (13), bearing (14) and preceding drive module housing (15)；Power
The output shaft of motor (11) is connected by shaft coupling (12) with wheel shaft (13), and wheel shaft (13) passes through bearing (14) and magnetic front-wheel
(2) it is connected, shaft coupling (12) and wheel shaft (13) are located in preceding drive module housing (15).
9. a kind of lightweight magnetic roller adsorption type wall climbing robot according to claim 6, it is characterised in that described first drives
Dynamic motor (8) and the second motor (16) are brushless DC servomotors.
A kind of 10. lightweight magnetic roller adsorption type wall climbing robot according to claim 1, it is characterised in that the magnetic
Front-wheel (2) is hollow structure, and hollow structure is charging portion, and permanent magnet (21) is inlaid with the tyre wall of magnetic front-wheel (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720409148.XU CN207015471U (en) | 2017-04-18 | 2017-04-18 | A kind of lightweight magnetic roller adsorption type wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720409148.XU CN207015471U (en) | 2017-04-18 | 2017-04-18 | A kind of lightweight magnetic roller adsorption type wall climbing robot |
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| Publication Number | Publication Date |
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| CN207015471U true CN207015471U (en) | 2018-02-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201720409148.XU Active CN207015471U (en) | 2017-04-18 | 2017-04-18 | A kind of lightweight magnetic roller adsorption type wall climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976491A (en) * | 2017-04-18 | 2017-07-25 | 成都圭目机器人有限公司 | A kind of lightweight magnetic roller adsorption type wall climbing robot |
| CN110767028A (en) * | 2019-11-11 | 2020-02-07 | 中国人民解放军第四军医大学 | Pilot space hearing ability training system |
-
2017
- 2017-04-18 CN CN201720409148.XU patent/CN207015471U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976491A (en) * | 2017-04-18 | 2017-07-25 | 成都圭目机器人有限公司 | A kind of lightweight magnetic roller adsorption type wall climbing robot |
| CN110767028A (en) * | 2019-11-11 | 2020-02-07 | 中国人民解放军第四军医大学 | Pilot space hearing ability training system |
| CN110767028B (en) * | 2019-11-11 | 2022-02-01 | 中国人民解放军第四军医大学 | Pilot space hearing ability training system |
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