CN208198621U - A kind of climbing robot based on electromagnetic adsorption - Google Patents
A kind of climbing robot based on electromagnetic adsorption Download PDFInfo
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- CN208198621U CN208198621U CN201820739057.7U CN201820739057U CN208198621U CN 208198621 U CN208198621 U CN 208198621U CN 201820739057 U CN201820739057 U CN 201820739057U CN 208198621 U CN208198621 U CN 208198621U
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- frame
- circular orbit
- climbing robot
- connecting plate
- guide rod
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Abstract
The utility model relates to a kind of climbing robot based on electromagnetic adsorption, including frame, two synchronous belts and several electromagnet, the two sides of frame are respectively arranged with one group of circular orbit, and the lower half inner wall of circular orbit sticks the conductive layer connected to power supply；Sliding is provided with several turning sets in circular orbit, and the shaft of turning set is fixedly connected to a connecting plate, is provided with pilot hole on connecting plate；Two synchronous belts are set to the two sides of frame under the connection of driving mechanism respectively, several electromagnet are distributed on two synchronous belts, each magnet spool the two poles of the earth are connected separately with a guide rod, the guide rod of same electromagnet the two poles of the earth connection is slided respectively in the pilot hole for the connecting plate being located on two different circular orbits on one group of circular orbit, and turning set, connecting plate and guide rod are all made of conductive material and are made.The utility model makes the adsorptivity of robot and flexibility preferable.
Description
Technical field
The present invention relates to a kind of climbing robot, especially a kind of climbing robot that can be adsorbed on steel wall surface belongs to
In industrial technical field.
Background technique
Mobile robot mainly by mobile platform (walking mechanism), executing agency and associated drives power, information Perception with
Control system etc. is constituted.Walking mechanism can be divided into the forms such as wheeled (including crawler type) and sufficient formula (leg formula).Flat, solid
Ground, wheel type movement is higher than leg formula sport efficiency, and structure is simple, activity flexibly.General mobile robot is usual
Using wheel type motion mechanism.The movement of leg formula is suitable for coarse and unstructured landform, and mechanism freedom is more, and control is complicated.Leg formula
Movement is characterized by a series of point contact between robots and ground.Its major advantage include on bold relief it is good from
Adaptability and mobility.
Currently, carrying out climbing robot research extensively both at home and abroad.The suction type of climbing robot mainly have negative-pressure adsorption,
Bionical dry adhesive absorption and magnetic-adsorption etc..Negative-pressure adsorption is not limited by operating condition and working media, but when absorption
When wall surface has crackle or bumps, sucker is easy gas leakage.Dry adhesive absorption is to utilize the molecule between various object contact surfaces
Power is adsorbed, can be in any applications.Magnetic-adsorption mode is only applicable to the wall surface of permeability magnetic material.Magnetic-adsorption can be with
It is divided into electromagnet absorption, permanent magnet absorption, electromagnetism and permanent magnetism mixing and absorption.
Retrieval discovery, the Chinese patent of application number 2010102893277 propose " wheel type barrier-crossing wall-climbing robot ", permanent magnetism
Iron is mounted under robot chassis, forms planar non-contact adhesion with the face that is adsorbed.Since magnetic force is constant, so this magnetic
Power is both adsorption capacity, also becomes the resistance of movement.Magnetic force is bigger, and adsorptivity is better, but mobility is poorer.Magnetic force is smaller, machine
Dynamic property is better, but adsorptivity is poorer.The Chinese patent of application number 2015106680094 proposes " climbing robot ", becomes magnetic
Absorbing unit in turn with wind-power tower adsorption and be detached from.But used change magnetic absorbing unit volume is heavy, and should
Patent controls the magnetic force of absorbing unit using mechanical driving lever, and reliability is low.The Chinese patent of application number 2017107659155 proposes
" a kind of wheeled magnetic adsorption wall climbing robot ", adsorption module is made of permanent magnetic strip, by adjusting the bolt on adsorption module
To adjust the gap (5-10mm) between permanent magnetic strip and operation wall surface.When robot is mobile, adsorption capacity decline, safety drop
It is low.Application No. is 2017100147777 Chinese patents to propose " a kind of climbing robot for being adsorbed on steel wall surface ", electromagnetism
Power loss when invocation point is connected with energization plate, is detached from for brush is crossed by Tie Tong.That is, the wheel flow-thru electrode of electromagnet ensure that wall-climbing device
The adsorptivity of people and preferable flexibility.Compressed spring (lead for connecting electromagnet) is fixed above electromagnet, spring
Other end connects brush contact, and contact obtains electric with logical electric plate contact.
Summary of the invention
The object of the present invention is to provide a kind of adsorptivity and flexibility are preferable, can steel wall surface it is mobile climb wall machine
Device people, is specifically realized by the following technical scheme:
A kind of climbing robot based on electromagnetic adsorption, including frame, two synchronous belts and several electromagnet, the frame
The two sides of frame are respectively arranged with one group of circular orbit, and there are two one group of circular orbits；Circular orbit, which is adopted, to be made from an insulative material, and
And the lower half inner wall of circular orbit sticks the conductive layer connected to power supply；Sliding is provided with several in the circular orbit
Turning set, the shaft of the turning set are fixedly connected to a connecting plate, are provided with pilot hole on the connecting plate；The frame
Two sides can be rotatably set several synchronous pulleys respectively, synchronous belt of the two synchronous belts difference cuff in frame two sides
On wheel, when the synchronous pulley rotates under the action of the driving mechanism, synchronous belt drives frame walking, several electromagnet point
It is distributed on two synchronous belts, each magnet spool the two poles of the earth are connected separately with a guide rod, the guide rod of same electromagnet the two poles of the earth connection
In the pilot hole for sliding the connecting plate being located on two different circular orbits on one group of circular orbit respectively, the turning set, company
Fishplate bar and guide rod are all made of conductive material and are made；When the synchronous belt drives frame walking, turning set connecting plate, guide rod with
And drawing under along circular orbit walk, when turning set is located at the following side of circular orbit, magnet spool be powered production
Magnetisation field.
The climbing robot based on electromagnetic adsorption, further design is that there are four the synchronous pulleys, right
Claim the two sides for being distributed in frame；The driving mechanism is stepper motor, which is set to the inside of the frame, stepping
The output shaft of motor is connected with corresponding synchronous pulley.
The climbing robot based on electromagnetic adsorption, further design is, there are two steps for the frame connection
Into motor, wherein a stepper motor is set on the inside of frame front, another stepper motor is connected on the inside of frame rear portion.
The climbing robot based on electromagnetic adsorption, further design is that the side of the frame is provided with
Mounting hole, the main shaft of the stepper motor pass through the mounting hole and the end of main shaft are made to be located at the outside of frame, thus,
Respective synchronization belt wheel is connected to the end of the main shaft.
The climbing robot based on electromagnetic adsorption, further design is that the mounting hole is built-in with bearing
A set of cups, it is longitudinally disposed there are two bearing along main shaft in the bearing a set of cups, the main shaft of the motor via two bearings with it is described
The connection of bearing a set of cups.
The climbing robot based on electromagnetic adsorption, further design is that the middle part of sliding channel of the main shaft is set
It is equipped with the annular slot opposite with the inside bead of bearing a set of cups, the inside bead of the bearing a set of cups, which is connected with, is placed in the ring
Retainer ring in shape card slot.
The utility model beneficial effect is:
The utility model is using circular orbit, conductive layer, connecting plate and guide rod connection power supply and electromagnet, so that machine
The adsorptivity of people and flexibility are preferable.
Detailed description of the invention
Fig. 1 is the schematic three dimensional views of the utility model embodiment.
Fig. 2 is the side view of embodiment.
Fig. 3 electromagnet partial schematic diagram.
Fig. 4 is the structural relation schematic diagram between electric machine main shaft and bearing a set of cups.
Specific embodiment
The utility model is further described below in conjunction with Figure of description and embodiment:
A kind of climbing robot based on electromagnetic adsorption as shown in Figure 1 and Figure 2, including 4, two synchronous belts 1 of frame and
Several electromagnet 2, the two sides of the frame are respectively arranged with one group of circular orbit, and there are two one group of circular orbits 7；Circular orbit
It adopts and is made from an insulative material, be fixed in frame 4 via fixed frame 8；And the lower half inner wall of circular orbit sticks
There is the conductive layer connected to power supply, specifically, as shown in figure 3, the conductive layer on same group of circular orbit is copper sheet 9, copper sheet
12；Sliding is provided with several turning set 6-2 in the circular orbit, and the shaft 6-1 of the turning set is fixedly connected to a company
Fishplate bar 6-3 is provided with pilot hole on the connecting plate；Two synchronous belts are set to institute under the connection of driving mechanism respectively
It states on the synchronous pulley 3 of the two sides of frame, several electromagnet are distributed on two synchronous belts, each magnet spool the two poles of the earth
It is connected separately with a guide rod, i.e. guide rod 11 and guide rod 14 is connected to magnet spool the two poles of the earth via guide bar support 13；Same electricity
The guide rod of magnet the two poles of the earth connection slides the guiding for the connecting plate being located on two different circular orbits on one group of circular orbit respectively
In hole, the turning set, connecting plate and guide rod are all made of conductive material and are made；The conduction synchronous belt drives frame walking
When, turning set connecting plate, guide rod and drawing under along circular orbit walk, when turning set is located at the downside of circular orbit
When portion, magnet spool, which is powered, generates magnetic field.
Also, in practice to ensuring conductive contact effect, every circular orbit has two orbital planes opposing upper and lower,
Copper sheet as conductive layer attaches in upper and lower two orbital planes, from regardless of turning set contacts to play with which copper sheet leads
Electric effect.
In addition, the stepper motor is set to the side of the frame specifically, driving mechanism is stepper motor 5, and
It is drivingly connected via the synchronous pulley 3 for being rotatably set to frame two sides with corresponding synchronous belt.The side of the frame is arranged
There is mounting hole, the main shaft 16 of the stepper motor is connected in the mounting hole.
Blind flange 21 is fixedly connected on the outside of mounting hole, the mounting hole is built-in with bearing a set of cups 17, bearing a set of cups warp
Blind flange is fixedly connected on by screw 20, longitudinally disposed there are two bearing, that is, bearings 19, bearing along main shaft in the bearing a set of cups
20, the main shaft of the motor is connect via two bearings with the bearing a set of cups.
The middle part of sliding channel of the main shaft is provided with the annular slot opposite with the inside bead of bearing a set of cups, the bearing holder (housing, cover)
The inside bead of cup is connected with the retainer ring 15 being placed in the annular slot.Retainer ring can prevent the axial motion of main shaft 16.
Claims (6)
1. a kind of climbing robot based on electromagnetic adsorption, it is characterised in that including frame, two synchronous belts and several electromagnetism
Iron, the two sides of the frame are respectively arranged with one group of circular orbit, and there are two one group of circular orbits；Circular orbit uses insulation material
Material is made, and the lower half inner wall of circular orbit sticks the conductive layer connected to power supply；Sliding in the circular orbit
Several turning sets are provided with, the shaft of the turning set is fixedly connected to a connecting plate, guiding is provided on the connecting plate
Hole；The two sides of the frame can be rotatably set several synchronous pulleys respectively, and two synchronous belts difference cuff is in frame
On the synchronous pulley of two sides, when the synchronous pulley rotates under the action of the driving mechanism, synchronous belt drives frame walking, described
Several electromagnet are distributed on two synchronous belts, and each magnet spool the two poles of the earth are connected separately with a guide rod, same electromagnet two
The guide rod of pole connection is slided respectively in the pilot hole for the connecting plate being located on two different circular orbits on one group of circular orbit, institute
It states turning set, connecting plate and guide rod and is all made of conductive material and be made；When the synchronous belt drives frame walking, turning set is even
Fishplate bar, guide rod and drawing under along circular orbit walk, when turning set is located at the following side of circular orbit, electromagnet
Coil, which is powered, generates magnetic field.
2. the climbing robot according to claim 1 based on electromagnetic adsorption, which is characterized in that the synchronous pulley has four
It is a, it is symmetrically distributed in the two sides of frame；The driving mechanism is stepper motor, which is set to the interior of the frame
Portion, the output shaft of stepper motor are connected with corresponding synchronous pulley.
3. the climbing robot according to claim 2 based on electromagnetic adsorption, which is characterized in that the frame is connected with two
A stepper motor, wherein a stepper motor is set on the inside of frame front, another stepper motor is connected on the inside of frame rear portion.
4. the climbing robot according to claim 2 based on electromagnetic adsorption, which is characterized in that the side of the frame is set
It is equipped with mounting hole, the main shaft of the stepper motor passes through the mounting hole and the end of main shaft is made to be located at the outside of frame,
To which respective synchronization belt wheel is connected to the end of the main shaft.
5. the climbing robot according to claim 4 based on electromagnetic adsorption, which is characterized in that the mounting hole is built-in with
Bearing a set of cups, it is longitudinally disposed there are two bearing along main shaft in the bearing a set of cups, the main shaft of the motor via two bearings with
The bearing a set of cups connection.
6. the climbing robot according to claim 5 based on electromagnetic adsorption, which is characterized in that the medial side of the main shaft
Wall is provided with the annular slot opposite with the inside bead of bearing a set of cups, and the inside bead of the bearing a set of cups, which is connected with, is placed in institute
State the retainer ring in annular slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820739057.7U CN208198621U (en) | 2018-05-18 | 2018-05-18 | A kind of climbing robot based on electromagnetic adsorption |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820739057.7U CN208198621U (en) | 2018-05-18 | 2018-05-18 | A kind of climbing robot based on electromagnetic adsorption |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208198621U true CN208198621U (en) | 2018-12-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820739057.7U Expired - Fee Related CN208198621U (en) | 2018-05-18 | 2018-05-18 | A kind of climbing robot based on electromagnetic adsorption |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208198621U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657298A (en) * | 2018-05-18 | 2018-10-16 | 江苏省特种设备安全监督检验研究院 | A kind of climbing robot based on electromagnetic adsorption |
| CN112429103A (en) * | 2020-12-10 | 2021-03-02 | 北方工业大学 | Compound passive climbing of absorbent crawler-type constructs |
-
2018
- 2018-05-18 CN CN201820739057.7U patent/CN208198621U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657298A (en) * | 2018-05-18 | 2018-10-16 | 江苏省特种设备安全监督检验研究院 | A kind of climbing robot based on electromagnetic adsorption |
| CN108657298B (en) * | 2018-05-18 | 2023-06-16 | 江苏省特种设备安全监督检验研究院 | Wall climbing robot based on electromagnetic adsorption |
| CN112429103A (en) * | 2020-12-10 | 2021-03-02 | 北方工业大学 | Compound passive climbing of absorbent crawler-type constructs |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181207 Termination date: 20200518 |
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| CF01 | Termination of patent right due to non-payment of annual fee |