CN208880694U - A kind of non-contact magnetically absorption wheel leg composite structure for climbing robot - Google Patents
A kind of non-contact magnetically absorption wheel leg composite structure for climbing robot Download PDFInfo
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- CN208880694U CN208880694U CN201821336330.8U CN201821336330U CN208880694U CN 208880694 U CN208880694 U CN 208880694U CN 201821336330 U CN201821336330 U CN 201821336330U CN 208880694 U CN208880694 U CN 208880694U
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Abstract
A kind of non-contact magnetically absorption wheel leg composite structure for climbing robot, including Liang Ge in-wheel driving mechanism, leg rotating mechanism, non-contact magnetically adsorbing mechanism, two connecting flanges and two connecting brackets；Liang Ge in-wheel driving mechanism passes through the two sides that connecting flange is installed in leg rotating mechanism respectively, non-contact magnetically adsorbing mechanism is placed in below the rotating mechanism of leg and is installed between Liang Ge in-wheel driving mechanism, in-wheel driving mechanism and non-contact magnetically adsorbing mechanism can be realized by driving leg rotating mechanism to be swung, and two connecting brackets are installed in leg rotating mechanism two sides respectively.The utility model not only ensure that flexible, the steady feature of the original movement of ratcheting mechanism, but also the obstacle climbing ability for making mechanism have leg foot formula walking mechanism；The adjusting for realizing magnetic adsorbability improves the mobile flexibility of mechanism；It realizes mechanism to adsorb stablizing for small radius of curvature wall surface, improves mechanism to the adaptability of different wall surfaces.
Description
Technical field
The utility model belongs to robotic technology field.
Background technique
Climbing robot be it is a kind of can carrying operation tool operations specific function is realized on miscellaneous wall surface
Specialized robot can substitute people's operation under the environment such as danger, the limit, in building cleaning, Ship Welding, the detection of core storage tank etc.
Field has broad application prospects.
Adsorbing mechanism and walking mechanism are the key components that climbing robot realizes the safe and efficient operation of wall surface.Often
Suction type mainly has negative-pressure adsorption and magnetic suck, wherein permanent magnetic suck due to, adsorption capacity small with structure is big, without mentioning
The features such as the energy, is widely used by the climbing robot to work under ferromagnetic environment.Common walking mechanism mainly have leg foot formula,
Crawler type and wheeled, wherein running on wheels mode is flexible, steady due to having the characteristics that movement, is engaged in detection, welding etc. and made
The climbing robot of industry is used.
The generally existing magnetic adsorbability of the existing wheeled climbing robot of permanent magnetic suck is unadjustable, do not have obstacle climbing ability or
Obstacle climbing ability is limited, the problem of adaptive capability on wall surface difference.
Chinese Patent Application No. 201620441879.8 describes " a kind of novel wheel-type permanent magnetic suck climbing robot ", relates to
And the absorption and mobile technology of magnetically adsorbed wall climbing robot, it is matched using permanent magnetic wheels and non-contact magnetically adsorbing mechanism
Mode improves robot adaptive capability on wall surface.
Although the patent improves the adaptive capability on wall surface of robot to a certain extent, robot chassis height is determined
Its obstacle climbing ability, obstacle climbing ability are extremely limited；The orientation of magnetic suck mechanism opposed robots is fixed, and magnetic adsorbability is non-adjustable
Section, in obstacle detouring or curved wall operation, magnetic adsorbability will decay, and increase the operating risk of robot.
Chinese Patent Application No. 201010289541.2 describes a kind of " adjustable climbing robot wheel of magnetic adsorbability
Formula barrier getting over mechanism ", mechanism is adsorbed using non-contact permanent magnetic, and realizes magnetic suck by screw body using differential screw principle
The adjusting of power and the obstacle detouring of mechanism.
Although the patent can be realized the adjusting of magnetic adsorbability and the obstacle detouring of mechanism, but its magnetic suck mechanism can only be opposite
Robot frame lifting, changes the height between magnetic suck mechanism and wall surface, and can not change its angle between wall surface,
The lesser curved wall of radius of curvature, magnetic adsorbability, which will will appear, significantly decays, using the wall-climbing device of the mechanism
People will be unable to the safety work on the lesser curved wall of radius of curvature.
Utility model content
The utility model In view of the above shortcomings of the prior art, adaptive capability on wall surface is good, obstacle climbing ability is strong leg
It is compound to propose a kind of non-contact magnetically absorption wheel leg in conjunction with flexible, the stable running on wheels mode of movement for sufficient formula walking manner
Mechanism.The mechanism can flexibly, smoothly move on wall surface as wheeled locomotion mechanism, moreover it is possible to be got over by the movement realization of leg
The adjusting of barrier and magnetic adsorbability, to improve climbing robot to the adaptability of wall surface.
The utility model is achieved through the following technical solutions.
A kind of non-contact magnetically for climbing robot described in the utility model adsorbs wheel leg composite structure, including two
In-wheel driving mechanism, leg rotating mechanism, non-contact magnetically adsorbing mechanism, two connecting flanges and two connecting brackets.Two
In-wheel driving mechanism passes through the two sides that connecting flange is installed in leg rotating mechanism respectively, and non-contact magnetically adsorbing mechanism is placed in leg
It below portion's rotating mechanism and is installed between Liang Ge in-wheel driving mechanism, in-wheel driving mechanism and non-contact magnetically adsorbing mechanism can lead to
Leg rotating mechanism of overdriving, which is realized, to be swung, and two connecting brackets are installed in leg rotating mechanism two sides respectively.
The in-wheel driving mechanism includes: driving wheel, worm type of reduction gearing, motor cabinet I and driving motor I.It drives
Driving wheel is packed in worm type of reduction gearing side, and driving motor I is packed at the top of worm type of reduction gearing by motor cabinet I.
The leg rotating mechanism includes: two connecting rods, rotation axis, worm gear mechanism, motor cabinet II and drives
Dynamic motor II.Two connecting rods are installed in rotation axis both ends respectively, are installed in worm gear mechanism in the middle part of rotation axis, driving electricity
Machine II is packed on worm gear mechanism by motor cabinet II.
The non-contact magnetically adsorbing mechanism includes: two narrow permanent magnets, two wide permanent magnets, yoke, three every magnetic aluminium
Block, two limit aluminium blocks and two limit aluminium sheets.Two narrow permanent magnets are respectively placed in yoke bottom surface both side, two wide permanent magnetism
Body is placed in the middle part of yoke bottom surface, and three are individually positioned between aforementioned four permanent magnet every magnetic aluminium block and fix company with yoke
It connects, two limit aluminium blocks are individually positioned on the outside of two narrow permanent magnet and are fixedly connected with yoke, and two limit aluminium sheets are installed in
Yoke rear and front end face.
The working principle of the utility model is: the rotation of leg rotating mechanism realization rotation axis is driven by driving motor,
Make connecting rod that in-wheel driving mechanism and non-contact magnetically adsorbing mechanism be driven to relatively rotate axis axis swing, realizes in-wheel driving mechanism
It lifting and putting down with adsorbing mechanism, to achieve the purpose that mechanism obstacle detouring；In addition, passing through control non-contact magnetically adsorbing mechanism
Swing angle, can adjust the distance and angle of the relatively ferromagnetic wall surface of adsorbing mechanism, to realize the adjusting of magnetic adsorbability and right
The adaptation of wall surface.
The utility model has the advantages that compared with prior art
The utility model combines leg foot formula walking manner with running on wheels mode, proposes non-contact magnetically absorption wheel leg
Composite structure not only ensure that flexible, the steady feature of the original movement of ratcheting mechanism, but also mechanism made to have leg foot formula walking mechanism
Obstacle climbing ability；By changing the distance between non-contact magnetically adsorbing mechanism and wall surface and angle, the tune of magnetic adsorbability is realized
Section, improves the mobile flexibility of mechanism；By controlling the angle of magnetic suck mechanism relative wall, mechanism is realized to small curvature
Radius wall surface stablizes absorption, improves mechanism to the adaptability of different wall surfaces.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the front view of the utility model.
Fig. 3 is the bottom view of the utility model.
Fig. 4 is that the smooth wall surface of the utility model works normally schematic diagram.
Fig. 5 is the obstacle detouring schematic illustration of the utility model.
Fig. 6 is the utility model magnetic adsorbability Principles of Regulation schematic diagram.
Fig. 7 is the small radius of curvature wall surface operation schematic diagram of the utility model.
Wherein, 1 be in-wheel driving mechanism, 2 be leg rotating mechanism, 3 be non-contact magnetically adsorbing mechanism, 4 be connecting flange,
5 it is connecting bracket, 6 be driving wheel, 7 be worm type of reduction gearing, 8 be motor cabinet I, 9 be driving motor I, 10 is rotation axis, 11
It is connecting rod for worm gear mechanism, 12,13 be motor cabinet II, 14 is that driving motor II, 15 is narrow permanent magnet, 16 is wide permanent magnetism
Body, 17 be yoke, 18 for every magnetic aluminium block, 19 be limit aluminium block, 20 be limit aluminium sheet.
Specific embodiment
Below in conjunction with attached drawing, the utility model is described in further detail.
As shown in Figure 1, non-contact magnetically absorption wheel leg composite structure includes: Liang Ge in-wheel driving mechanism 1, leg rotating mechanism
2,3, two connecting flanges 4 of non-contact magnetically adsorbing mechanism and two connecting brackets 5, Liang Ge in-wheel driving mechanism 1 pass through respectively
Connecting flange 4 is installed in the two sides of leg rotating mechanism 2, and non-contact magnetically adsorbing mechanism 3 is placed under leg rotating mechanism 3
Side, and be installed between Liang Ge in-wheel driving mechanism 1, two connecting brackets 5 are installed in the two sides of leg rotating mechanism 2 respectively,
It is full symmetric at left and right sides of entire mechanism, by driving leg rotating mechanism 2 to can be realized Liang Ge in-wheel driving mechanism 1 and non-connecing
Touch the swing of magnetic suck mechanism 3.
As shown in Fig.1 and Fig.2, described two 1 structure compositions of in-wheel driving mechanism are identical, include: driving wheel 6, snail
Worm and gear retarder 7, motor cabinet I 8 and driving motor I 9, the driving wheel 6 are installed in 7 side of worm type of reduction gearing, institute
It states driving motor I 9 and 7 top of worm type of reduction gearing is installed in by motor cabinet I 8, driving motor I 9 is slowed down by worm and gear
Device 7 realizes the driving to driving wheel 6, and worm type of reduction gearing 7 has self-locking function, can effectively prevent robot due to power-off
Generate downslide.
Such as Fig. 1, Fig. 2, shown in Fig. 3, the leg rotating mechanism 2 includes: rotation axis 10, worm gear mechanism 11, two
The middle part of connecting rod 12, motor cabinet II 13 and driving motor II 14, the rotation axis 10 is installed in worm gear mechanism 11
Inside, one end of described two connecting rods 12 are installed in the both ends of rotation axis 10, the other end and the fixed company of connecting flange respectively
It connects, the driving motor II 14 is installed in 11 rear side of worm gear mechanism by motor cabinet II 13, and driving motor II 14 passes through drive
Dynamic worm gear mechanism 11 drives the rotation of rotation axis 10, to realize the swing of two connecting rods 12, worm gear mechanism 11
With self-locking function, it can guarantee the integrally-built stabilization of mechanism.
Such as Fig. 1, Fig. 2, shown in Fig. 3, the non-contact magnetically adsorbing mechanism 3 includes: two narrow permanent magnet, 15, two wide permanent magnetism
Body 16, yoke 17, three every 18, two limit aluminium blocks 19 of magnetic aluminium block and two limit aluminium sheets 20, described two narrow permanent magnets
15 are respectively placed in 17 bottom surface both side of yoke, and two wide permanent magnet 16 is respectively placed in the middle part of 17 bottom surface of yoke, described three every
Magnetic aluminium block 18 is respectively placed between aforementioned four permanent magnet, and is fixedly connected with yoke 17, to play the role of every magnetic, institute
It states two limit aluminium blocks 19 to be respectively placed in the outside of two narrow permanent magnet 15 and be fixedly connected with yoke 17,17 bottom of yoke
Face setting is fluted, convenient for limiting the location and installation of aluminium block 19, to realize narrow permanent magnet 15, wide permanent magnet 16, every magnetic aluminium block
The determination of 18 width positions, described two limit aluminium sheets 20 are installed in former and later two end faces of yoke 17 respectively, for limiting
The position of 16 length direction of narrow permanent magnet 15 and wide permanent magnet.
Described two a body magnet 15 and two wide permanent magnets 16 forever are all made of neodymium iron boron N45SH and are made, and along thickness side
To magnetizing, two adjacent permanent magnets placement polarity on the contrary, shown yoke 17 is made of common carbon structural steel Q235, divide by both ends
It is not fixedly connected with the deceleration 7 in in-wheel driving mechanism 1.
As shown in figure 3, non-contact magnetically adsorbing mechanism 3 is not symmetrically installed about the axle center of driving wheel 6, but opposite axle center
It is preposition, when lifting leg obstacle detouring so as to mechanism, magnetic suck mechanism adsorption capacity energy rapid decay, to reduce lift leg process leg rotating machine
Driving moment needed for structure 2.
As shown in Fig.1 and Fig.2, described two connecting brackets 5 are installed in leg rotating mechanism two sides, for man-machine with machine
Frame is connected, and realizes the fixed installation of non-contact magnetically absorption wheel leg composite structure and robot frame.
It is illustrated in figure 4 the smooth wall surface of the utility model and works normally schematic diagram, driving motor I 9 drives retarder 7 to drive
Driving wheel 6 rotates, and mechanism is moved with running on wheels mode, and 3 bottom surface of non-contact magnetically adsorbing mechanism is parallel with wall surface at this time, forever
Magnet 15 and the distance between permanent magnet 16 and wall surface are 7mm, and through simulation calculation, the adsorption capacity that magnetic suck mechanism generates at this time is
1720N。
It is illustrated in figure 5 the obstacle detouring schematic diagram of the utility model, when wall surface is there are when obstacle, driving motor II 14 drives snail
Worm and gear mechanism 11 drives rotation axis 10 to rotate, make connecting rod 12 drive in-wheel driving mechanism 1 and non-contact magnetically adsorbing mechanism 3 to
It is swung in front of mechanism, to surmount obstacles；After surmounting obstacles, driving motor II 14 drives worm gear mechanism 11 to make in-wheel driving
Mechanism 1 and non-contact magnetically adsorbing mechanism 3 are rearward swung, and mechanism is made to return to state shown in Fig. 4.
It is illustrated in figure 6 the utility model magnetic adsorbability and adjusts schematic diagram, driving motor II 14 drives worm gear mechanism
11 make rotation axis rotate an angle, θ, under the drive of connecting rod 12,3 phase of in-wheel driving mechanism 1 and non-contact magnetically adsorbing mechanism
The angle swung to rotation axis is also θ, at this point, state shown in opposite Fig. 4, the distance of 3 relative wall of non-contact magnetically adsorbing mechanism
Being changed with angle, generated magnetic adsorbability will also change, through simulation calculation, non-contact magnetically adsorbing mechanism 3 and wall
When angle between face is changed to 20 degree by 0 degree, magnetic adsorbability will be changed to 745N from 1720N, to realize magnetic adsorbability
It adjusts.
The utility model is illustrated in figure 7 in small radius of curvature wall surface operation schematic diagram, climbing robot is in small curvature half
When diameter wall general work, the opposed flattened wall surface of air gap height between magnetic suck mechanism and wall surface can change, magnetic adsorbability
Also will change therewith, especially for Non-contact Magnetic adsorbing mechanism, adsorption area is larger, and magnetic adsorbability can occur very big
The decaying of degree, to increase the operating risk of robot.The utility model can drive worm gear by driving motor II 14
Worm mechanism 11 controls the swing angle of wheeled driving mechanism 1 and non-contact magnetically adsorbing mechanism 3, makes non-contact magnetically adsorbing mechanism 3
Relative wall is in optimal adsorption state always, so that the variation of air gap is reached minimum, by simulation calculation, is in radius of curvature
When the external arc wall surface operation of 0.5m, adsorption capacity of the non-contact magnetically adsorbing mechanism 3 in optimal adsorption state still has
1600N, to improve robot to the adaptability of different wall surfaces.
Claims (1)
1. a kind of non-contact magnetically for climbing robot adsorbs wheel leg composite structure, it is characterized in that including two in-wheel driving machines
Structure, leg rotating mechanism, non-contact magnetically adsorbing mechanism, two connecting flanges and two connecting brackets；Two in-wheel driving machines
Structure passes through the two sides that connecting flange is installed in leg rotating mechanism respectively, and non-contact magnetically adsorbing mechanism is placed in leg rotating mechanism
Lower section is simultaneously installed between Liang Ge in-wheel driving mechanism, and in-wheel driving mechanism and non-contact magnetically adsorbing mechanism can be by driving leg
Rotating mechanism, which is realized, to be swung, and two connecting brackets are installed in leg rotating mechanism two sides respectively；
The in-wheel driving mechanism includes driving wheel, worm type of reduction gearing, motor cabinet I and driving motor I；Driving wheel is solid
Mounted in worm type of reduction gearing side, driving motor I is packed at the top of worm type of reduction gearing by motor cabinet I；
The leg rotating mechanism includes two connecting rods, rotation axis, worm gear mechanism, motor cabinet II and driving motor
Ⅱ；Two connecting rods are installed in rotation axis both ends respectively, are installed in worm gear mechanism in the middle part of rotation axis, and driving motor II is logical
Motor cabinet II is crossed to be packed on worm gear mechanism；
The non-contact magnetically adsorbing mechanism is including two narrow permanent magnets, two wide permanent magnets, yoke, three every magnetic aluminium block, two
A limit aluminium block and two limit aluminium sheets；Two narrow permanent magnets are respectively placed in yoke bottom surface both side, and two wide permanent magnets are put
It is placed in the middle part of yoke bottom surface, three are individually positioned between aforementioned four permanent magnet every magnetic aluminium block and are fixedly connected with yoke, and two
A limit aluminium block is individually positioned on the outside of two narrow permanent magnet and is fixedly connected with yoke, before two limit aluminium sheets are installed in yoke
Both ends of the surface afterwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821336330.8U CN208880694U (en) | 2018-08-20 | 2018-08-20 | A kind of non-contact magnetically absorption wheel leg composite structure for climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821336330.8U CN208880694U (en) | 2018-08-20 | 2018-08-20 | A kind of non-contact magnetically absorption wheel leg composite structure for climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN208880694U true CN208880694U (en) | 2019-05-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821336330.8U Expired - Fee Related CN208880694U (en) | 2018-08-20 | 2018-08-20 | A kind of non-contact magnetically absorption wheel leg composite structure for climbing robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890612A (en) * | 2018-08-20 | 2018-11-27 | 南昌大学 | A kind of non-contact magnetically absorption wheel leg composite structure for climbing robot |
| CN110434896A (en) * | 2019-09-10 | 2019-11-12 | 河北工业大学 | Barrier-crossing wall-climbing robot combined type variable magnetic force adsorption module |
| CN111661192A (en) * | 2020-07-13 | 2020-09-15 | 上海工程技术大学 | Permanent-magnet adsorption wheel-leg composite wall-climbing robot |
| CN111746680A (en) * | 2020-07-13 | 2020-10-09 | 上海工程技术大学 | Wheel-leg composite wall-climbing robot for welding operation |
-
2018
- 2018-08-20 CN CN201821336330.8U patent/CN208880694U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890612A (en) * | 2018-08-20 | 2018-11-27 | 南昌大学 | A kind of non-contact magnetically absorption wheel leg composite structure for climbing robot |
| CN110434896A (en) * | 2019-09-10 | 2019-11-12 | 河北工业大学 | Barrier-crossing wall-climbing robot combined type variable magnetic force adsorption module |
| CN110434896B (en) * | 2019-09-10 | 2024-02-02 | 河北工业大学 | Combined type variable magnetic force adsorption module of obstacle-surmounting wall-climbing robot |
| CN111661192A (en) * | 2020-07-13 | 2020-09-15 | 上海工程技术大学 | Permanent-magnet adsorption wheel-leg composite wall-climbing robot |
| CN111746680A (en) * | 2020-07-13 | 2020-10-09 | 上海工程技术大学 | Wheel-leg composite wall-climbing robot for welding operation |
| CN111746680B (en) * | 2020-07-13 | 2021-11-12 | 上海工程技术大学 | Wheel-leg composite wall-climbing robot for welding operation |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190521 Termination date: 20190820 |