CN209617309U - Overturn-preventing climbing robot - Google Patents
Overturn-preventing climbing robot Download PDFInfo
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- CN209617309U CN209617309U CN201822182736.1U CN201822182736U CN209617309U CN 209617309 U CN209617309 U CN 209617309U CN 201822182736 U CN201822182736 U CN 201822182736U CN 209617309 U CN209617309 U CN 209617309U
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Abstract
The utility model discloses a kind of overturn-preventing climbing robots.The overturn-preventing climbing robot includes: rack；First track drive module and the second track drive module, the first track drive module and the second track drive module are located in the rack at interval along first direction；Detection module, the detection module are located in the rack；With the first magnetic suck module, the first magnetic suck module is rotatably arranged in the rack, the first magnetic suck module is located in said first direction between the first track drive module and the second track drive module, wherein there is the first magnetic suck module the symmetry axis of nonaxisymmetric structure or the first magnetic suck module to be spaced apart with the pivot center of the first magnetic suck module.
Description
Technical field
The utility model relates to robot fields, and in particular, to overturn-preventing climbing robot.
Background technique
For overturn-preventing climbing robot, guarantee that overturn-preventing climbing robot under a load can be steadily vertical
It adsorbs and creeps on wall surface, do not have downslide, meet the barrier failure modes such as topple and generate, be to guarantee overturn-preventing climbing robot
Complete the primary and most basic requirement of its task.When overturn-preventing climbing robot, which topples, to be occurred, overturn-preventing climbing robot
Not only normally it can not be adsorbed and be walked, when not having safety line, overturn-preventing climbing robot can fall on ground, lead
Cause the damage of overturn-preventing climbing robot.
Utility model content
The utility model is intended to solve at least some of the technical problems in related technologies.For this purpose, this reality
A kind of overturn-preventing climbing robot is proposed with novel.
Overturn-preventing climbing robot according to the present utility model includes: rack；First track drive module and the second crawler belt
Drive module, the first track drive module and the second track drive module are located at described at interval along first direction
In rack；Detection module, the detection module are located in the rack；With the first magnetic suck module, the first magnetic suck mould
Block is rotatably arranged in the rack, and the first magnetic suck module is located at first crawler belt in said first direction and drives
Between dynamic model block and the second track drive module, wherein the first magnetic suck module has nonaxisymmetric structure or institute
The symmetry axis for stating the first magnetic suck module is spaced apart with the pivot center of the first magnetic suck module.
Overturn-preventing climbing robot according to the present utility model have be not easy to topple, not easily to fall off, kinetic stability is high
Advantage.
In addition, can also have following additional technology special according to the above-mentioned overturn-preventing climbing robot of the utility model
Sign:
Preferably, the overturn-preventing climbing robot further comprises the second magnetic suck module, the second magnetic suck mould
Block is located in the rack, and the first magnetic suck module is set at interval in a second direction with the second magnetic suck module
It sets, each of the first track drive module and the second track drive module extend along the second direction,
Described in second direction perpendicular to the first direction.
Preferably, the first magnetic suck module is in this second direction adjacent to the first track drive module and institute
State the end of each of second track drive module.
Preferably, the second magnetic suck module includes: the first yoke and the second yoke, first yoke and described
Two yokes are arranged at interval along the first direction；First every magnetic part and second every magnetic part, described first every magnetic part and described
Second is located between first yoke and second yoke in said first direction every magnetic part, described first every magnetic part and
Described second is spaced apart every magnetic part along third direction, and the third direction is perpendicular in the first direction and the second direction
Each, wherein first yoke, second yoke, described first being limited between magnetic part every magnetic part and described second
Installation cavity out；With the first permanent magnet, first permanent magnet magnetize be rotatably arranged between position and demagnetization position it is described
In installation cavity, it is preferable that it is located on the first preset direction positioned at the pole N of first permanent magnet of the position of magnetizing and the pole S,
It is located on the second preset direction positioned at the pole N of first permanent magnet of the demagnetization position and the pole S, first preset direction
Perpendicular to second preset direction.
Preferably, the installation cavity is cylindric, and first permanent magnet is cylindric, the axial direction of first permanent magnet
It is consistent with the second direction, wherein the end face of first permanent magnet is equipped with handle.
Preferably, the first magnetic suck module is equipped with first lug, and the rack is equipped with the second lug, described anti-
The climbing robot that topples further comprises installation axle, and the installation axle extends along the first direction, wherein the installation axle is set
In each of the first lug and second lug, the relatively described first lug of the installation axle and described second
At least one of lug is rotatable.
Preferably, it is further provided with third lug in the first magnetic suck module, is further provided in the rack
Four lugs, the first lug and the third lug are located at second lug and the described 4th convex in said first direction
Between ear, the relatively described first lug of the installation axle and the third lug are rotatable, wherein the overturn-preventing wall-climbing device
People further comprises the first nut and the second nut, and each of first nut and second nut are threadedly engaged
In the installation axle, second lug and the 4th lug be located in said first direction first nut with it is described
Between second nut, first nut is resisted against on second lug, and second nut is resisted against the 4th lug
On.
Preferably, the first magnetic suck module includes: third yoke, and the third yoke is equipped with the first lug
With second lug；And second permanent magnet and third permanent magnet, one of the pole N and the pole S of second permanent magnet it is adjacent
The nearly third yoke, the neighbouring third yoke in the other of the pole N and the pole S of the third permanent magnet, the third yoke
Iron on third direction between the installation axle and second permanent magnet and the third permanent magnet, wherein described second
First section of each of permanent magnet and the third permanent magnet includes arch portion, and the arch portion is first section relatively described
The rest part in face is far from the third yoke, and the length direction of the installation axle is perpendicular to first section.
Preferably, the detection module includes: bracket, and the bracket is rotatably arranged in the rack；Motor, it is described
Motor is located in the rack, and the motor is connected to drive the holder pivots with the bracket；And camera, it is described to take the photograph
As head is set on the bracket.
Preferably, the detection module further comprises: cylinder, and the cylinder is located in the rack；It is switched with close,
It is described to be connected close to switch with the cylinder.
Detailed description of the invention
Fig. 1 is the structural schematic diagram according to the overturn-preventing climbing robot of the utility model embodiment；
Fig. 2 is the structural representation according to the first magnetic suck module of the overturn-preventing climbing robot of the utility model embodiment
Figure；
Fig. 3 is the structural representation according to the second magnetic suck module of the overturn-preventing climbing robot of the utility model embodiment
Figure；
Fig. 4 be according to the cross-sectional view of the second magnetic suck module of the overturn-preventing climbing robot of the utility model embodiment,
Wherein the first permanent magnet is located at position of magnetizing；
Fig. 5 be according to the cross-sectional view of the second magnetic suck module of the overturn-preventing climbing robot of the utility model embodiment,
Wherein the first permanent magnet is located at demagnetization position；
Fig. 6 is the structural schematic diagram according to the detection module of the overturn-preventing climbing robot of the utility model embodiment.
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings.Below by
The embodiment being described with reference to the drawings is exemplary, it is intended to for explaining the utility model, and should not be understood as practical new to this
The limitation of type.
Below with reference to the accompanying drawings overturn-preventing climbing robot 1 according to the utility model embodiment is described.Such as Fig. 1-Fig. 6 institute
Show, includes rack 10, the first track drive module 210, second according to the overturn-preventing climbing robot 1 of the utility model embodiment
Track drive module 220, detection module 30 and the first magnetic suck module 410.
First track drive module 210 and the second track drive module 220 are located at rack 10 along first direction at interval
On, detection module 30 is located in rack 10.First magnetic suck module 410 is rotatably arranged in rack 10, the first magnetic suck mould
Block 410 is in the first direction between the first track drive module 210 and the second track drive module 220.Wherein, first
Magnetic suck module 410 has the symmetry axis and the first magnetic suck module of nonaxisymmetric structure or the first magnetic suck module 410
410 pivot center is spaced apart.
In order to keep the technical solution of the application easier to understand, below with reference to Fig. 1-Fig. 6, with overturn-preventing climbing robot
1 direction of advance is preceding for, describes the course of work of the overturn-preventing climbing robot 1 according to the utility model embodiment.
Overturn-preventing climbing robot 1 can creep on the wall surface 2 made of ferrimagnet.Wherein, the first magnetic suck
Magnetic attraction is generated between module 410 and wall surface 2, overturn-preventing climbing robot 1 is firmly attached under the action of the magnetic attraction
On wall surface 2.
When the first track drive module 210 and the second track drive module 220 encounter barrier (such as weld seam), first
The front end of track drive module 210 and/or the front end of the second track drive module 220 can be stuck up to the direction far from wall surface 2
It rises, if not using preventive measures against overturning, will lead to overturn-preventing climbing robot 1 and toppled backward and/or downwards (especially when wall surface 2
When for vertical wall surface).
When the front end of the first track drive module 210 and/or the front end of the second track drive module 220 are to far from wall
When the direction in face 2 tilts, the first track drive module 210 and/or the second track drive module 220 can be driven by rack 10
First magnetic suck module 410 is tilted to the direction far from wall surface 2.
Since the first magnetic suck module 410 is rotatably arranged in rack 10, when rack 10 drives the first magnetic suck
After module 410 is tilted to the direction far from wall surface 2, the first magnetic suck module 410 can rotate under the action of the magnetic attraction.When
When first magnetic suck module 410 is upturned, i.e., the direction far from wall surface 2 is upwardly direction, and the first magnetic suck module 410 can
To be rotated under the action of its own gravity and the magnetic attraction.
Moreover, because the first magnetic suck module 410 has the symmetrical of nonaxisymmetric structure or the first magnetic suck module 410
Axis is spaced apart with the pivot center (such as rotation axis) of the first magnetic suck module 410, therefore the first magnetic suck module 410 is at this
After rotating (certain angle) under the action of magnetic attraction, the first magnetic suck module 410 becomes smaller at a distance from wall surface 2, it is possible thereby to increase
The big magnetic attraction.In other words, the first magnetic suck module 410 can be mobile to the direction of adjacent wall surface 2.
Wherein, the first magnetic suck module 410 includes: a. any point in the first magnetic suck module 410 at a distance from wall surface 2
Become smaller at a distance from wall surface 2；B. any point becomes smaller at a distance from wall surface 2 in a part of the first magnetic suck module 410.
That is, when the front end of the first track drive module 210 and/or the front end of the second track drive module 220
When portion is tilted to the direction far from wall surface 2, the first magnetic suck module 410 can be held essentially constant at a distance from wall surface 2.Thus
The magnetic attraction between the first magnetic suck module 410 and wall surface 2 can be made to be held essentially constant, it can overturn-preventing is made to climb wall machine
The magnetic attraction that device people 1 is subject to is held essentially constant, so as to avoid the overturn-preventing climbing robot from toppling.
If the first magnetic suck module 410 has the symmetry axis and first of axially symmetric structure and the first magnetic suck module 410
The pivot center of magnetic suck module 410 is overlapped, then before the first magnetic suck module 410 rotates and after rotation, the first magnetic suck mould
Block 410 remains unchanged at a distance from wall surface 2.
After overturn-preventing climbing robot 1 clears the jumps, the first magnetic suck module 410, which can restPose, (is met
To before barrier, the state of the first magnetic suck module 410).
According to the overturn-preventing climbing robot 1 of the utility model embodiment by the way that rotatable first magnetic suck module is arranged
410 and make the first magnetic suck module 410 that there is the symmetry axis and first of nonaxisymmetric structure or the first magnetic suck module 410
The pivot center of magnetic suck module 410 is spaced apart, so as to make first when overturn-preventing climbing robot 1 encounters barrier
Magnetic suck module 410 generally maintains constant at a distance from wall surface 2.It is possible thereby to the magnetic for being subject to overturn-preventing climbing robot 1
Power is held essentially constant, so as to avoid the overturn-preventing climbing robot from toppling.
Therefore, had according to the overturn-preventing climbing robot 1 of the utility model embodiment and be not easy to topple, be not easily to fall off, transporting
The advantages that dynamic stability is high, no setting is required safety line.
As shown in Fig. 2, the first magnetic suck module 410 is equipped with first lug 414, rack 10 is equipped with the second lug 110.
Overturn-preventing climbing robot 1 further comprises installation axle 50, and installation axle 50 extends along the first direction.Wherein, installation axle 50 is set
In each of first lug 414 and the second lug 110, installation axle 50 is with respect in first lug 414 and the second lug 110
At least one is rotatable.It is possible thereby to keep the structure of overturn-preventing climbing robot 1 more reasonable.
Preferably, it is further provided with third lug 415 in the first magnetic suck module 410, is further provided in rack 10
Four lugs 120.That is, the first magnetic suck module 410 is equipped with first lug 414 and third lug 415, set in rack 10
There are the second lug 110 and the 4th lug 120, first lug 414 and third lug 415 are located at the second lug in the first direction
110 and the 4th between lug 120.
Overturn-preventing climbing robot 1 further comprises the first nut 610 and the second nut 620, the first nut 610 and second
Each of nut 620 is threadedly engaged in installation axle 50.For example, the first end and the second end of installation axle 50 are spiral shell
Line portion, the first nut 610 are threadedly engaged on the first end of installation axle 50, and the second nut 620 is threadedly engaged in installation axle
On 50 the second end.
Second lug 110 and the 4th lug 120 be located in the first direction the first nut 610 and the second nut 620 it
Between, the first nut 610 is resisted against on the second lug 110, and the second nut 620 is resisted against on the 4th lug 120.It is possible thereby to utilize
Installation axle 50 is mounted on the second lug 110 and the 4th lug 120 by the first nut 610 and the second nut 620, that is, utilizes first
Installation axle 50 is mounted in rack 10 by nut 610 and the second nut 620.
Installation axle 50 is rotatable with respect to first lug 414 and third lug 415.When the rotation of the first magnetic suck module 410,
The center axis thereof of first lug 414, third lug 415 and the first magnetic suck module 410 around installation axle 50.It is possible thereby to make
The structure of overturn-preventing climbing robot 1 is more reasonable.
As depicted in figs. 1 and 2, in one embodiment of the utility model, the first magnetic suck module 410 includes third yoke
Iron 411, the second permanent magnet 412 and third permanent magnet 413.First lug 414 and third lug 415 are located on third yoke 411.
The neighbouring third yoke 411 in one of the pole N and the pole S of second permanent magnet 412, the pole N of third permanent magnet 413 and S extremely in it is another
One is adjacent to third yoke 411.
Third yoke 411 be located on third direction installation axle 50 and the second permanent magnet 412 and third permanent magnet 413 it
Between.When using overturn-preventing climbing robot 1, the magnetic line of force returns to S from the pole N by one of third yoke 411 and wall surface 2
Pole, the magnetic line of force returns to the pole S from the pole N by the other of third yoke 411 and wall surface 2, to form closed circuit.
Wherein, the third direction is perpendicular to the first direction and second direction, and the second direction is perpendicular to the first direction.
Shown in the arrow A of the first direction as shown in figure 1, as indicated by arrow b in fig. 1, the third direction is as shown in figure 1 for the second direction
Shown in arrow C.
It will be appreciated by persons skilled in the art that the second permanent magnet 412 is equipped with magnetic isolation plate with third permanent magnet 413.
First section of each of the second permanent magnet 412 and third permanent magnet 413 includes arch portion, the arch portion phase
To the rest part in first section far from third yoke 411.In other words, on the third direction, first section this its
Remaining part quartile is between the arch portion and third yoke 411.The rest part in first section refers to: removing in first section
Part except the arch portion.Wherein, the length direction of installation axle 50 is perpendicular to first section.Specifically, the first party
To perpendicular to first section.
Preferably, the first magnetic suck module 410 is carried out in the second party upwardly adjacent to the first track drive module 210 and second
End with each of drive module 220.
It is possible thereby to by the end of each of the first track drive module 210 and the second track drive module 220
As their front end, thus front end and/or the second track drive module 220 when the first track drive module 210
When front end is just tilted to the direction far from wall surface 2, the first magnetic suck module 410 begins to rotate, to make the first magnetic
Attached module 410 becomes smaller at a distance from wall surface 2 and then increases the magnetic attraction.It is possible thereby to make overturn-preventing climbing robot 1 more not
Easily topple, be more not easily to fall off, kinetic stability it is higher.
As shown in Figure 1, overturn-preventing climbing robot 1 further comprises the second magnetic suck module 420, the second magnetic suck module
420 are located in rack 10, and the first magnetic suck module 410 is arranged with the second magnetic suck module 420 along the second direction at interval,
Each of first track drive module 210 and the second track drive module 220 extend along the second direction.It is possible thereby to make
The structure of overturn-preventing climbing robot 1 is more reasonable.
The structure of each of first track drive module 210 and the second track drive module 220 can be it is known,
And it is unrelated with present invention point, therefore no longer describe in detail.
As shown in Figure 3-Figure 5, in some examples of the utility model, the second magnetic suck module 420 includes the first yoke
421, the second yoke 422, first is every magnetic part 423, second every magnetic part 424 and the first permanent magnet 425.First yoke 421 and second
Yoke 422 is arranged at interval along the first direction.
First is located at the first yoke 421 and the second yoke every magnetic part 424 every magnetic part 423 and second in the first direction
Between 422, first every magnetic part 423 and second every magnetic part 424 along the third direction be spaced apart, the third direction perpendicular to this first
Each of direction and the second direction.
Wherein, the first yoke 421, the second yoke 422, first limit peace every magnetic part 423 and second between magnetic part 424
It behave affectedly.First permanent magnet 425 is rotatably arranged between position of magnetizing (as shown in Figure 4) and demagnetization position (as shown in Figure 5)
In installation cavity.
Specifically, the first permanent magnet 425 can be rotated (rotation) when overturn-preventing climbing robot 1 works and extremely should
It magnetizes position, the magnetic line of force of the first permanent magnet 425 passes sequentially through the first yoke 421, wall surface 2 and the second yoke from the pole N at this time
Iron 422 reaches the pole S, to form the magnetic line of force (as shown in Figure 4) of closure, i.e., at this time the second magnetic suck module 420 in magnetizing
State.
After overturn-preventing climbing robot 1 completes work, the first permanent magnet 425 can be rotated to (rotation) to the demagnetization position
It sets, the magnetic line of force of the first permanent magnet 425 reaches S by the first yoke 421 and the second yoke 422 respectively from the pole N at this time
Pole, to form two closed circuits (as shown in Figure 5), i.e., the second magnetic suck module 420 is in erasing state at this time.Due to this
When flux loop without wall surface 2, therefore the second magnetic suck module 420 does not generate adsorption capacity to wall surface 2, it is possible thereby to easily
Ground easily takes off overturn-preventing climbing robot 1 from wall surface 2.
Existing overturn-preventing climbing robot is adsorbed on wall surface by powering on, by cutting off the power come from wall surface
On take off.This causes not only to need to be arranged additional power supply, once but also power supply generate failure, overturn-preventing wall-climbing device can be made
People falls down from wall surface, even damages.
It can be disappeared in the position of magnetizing with this according to the overturn-preventing climbing robot 1 of the utility model embodiment by setting
The first permanent magnet 425 rotated between magnetic potential, thus not only no setting is required additional power supply, but also will not fall from wall surface 2
It falls (especially at work).Therefore, knot is had according to the overturn-preventing climbing robot 1 of the utility model embodiment
Structure is simple, manufacturing cost is low, the operation is stable, the advantages that being hardly damaged.
The pole N and the pole S for being preferably located at first permanent magnet of the position of magnetizing are located on the first preset direction, position
Be located on the second preset direction in the pole N of the first permanent magnet 425 of the demagnetization position and the pole S, first preset direction perpendicular to
Second preset direction.It is possible thereby to keep the structure of overturn-preventing climbing robot 1 more reasonable.Wherein, first preset direction
It can be parallel to wall surface 2, which can be perpendicular to wall surface 2.
As shown in Figure 3-Figure 5, in an example of the utility model, which is cylindric, the first permanent magnet 425
To be cylindric, the axial direction of the first permanent magnet 425 is consistent with the second direction.It is possible thereby to make the knot of overturn-preventing climbing robot 1
Structure is more reasonable.The end face of first permanent magnet 425 is equipped with handle 526, it is possible thereby to more easily, more easily rotate
First permanent magnet 425.
As shown in figures 1 to 6, detection module 30 includes bracket 310, motor (not shown) and camera 320.Bracket
310 are rotatably arranged in rack 10, which is located in rack 10, which is connected with bracket 310 so as to driving arm 310
Rotation.Camera 320 is located on bracket 310, so that bracket 310 drives camera 320 to rotate.
Due to the motor can by bracket 310 drive camera 320 rotate, camera 320 can to wall surface 2 with
And the device being located on wall surface 2 carries out comprehensive detection observation.Wherein, which can be disc type electric machine.
Disc type motor driven support 310 can be controlled by control cabinet to rotate.Camera 320 can pass through WLAN mould
Block is transferred on mobile phone or in display device, for capturing the working environment information and prison in 1 front of overturn-preventing climbing robot
The defects of surveying the crackle on surface.Camera 320 can realize wireless remote control anamorphosis function, realize multichannel function by RS485 communication protocol
It can control, can detecte the subtle narrow portion of wall surface.
Detection module 30 further comprises cylinder (not shown) and close switch 330.The cylinder is located in rack 10,
It is connected close to switch 330 with the cylinder.By being positioned proximate to switch 330, so as to detect between camera 320 and wall surface 2
Distance, so as to prevent camera 320 from causing the camera lens of camera 320 to damage because touching wall surface 2 when rotating.
Wherein it is possible to be driven by the cylinder close to the movement of switch 330, so as to change close to switch 330 and wall surface 2
The distance between.
In addition, in order to further increase the safety of overturn-preventing climbing robot 1, it can be in overturn-preventing climbing robot 1
Upper setting safety rope.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " suitable
The orientation or positional relationship of the instructions such as hour hands ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " is orientation based on the figure
Or positional relationship, be merely for convenience of describing the present invention and simplifying the description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as the limit to the utility model
System.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.The meaning of " plurality " is at least two, such as two in the description of the present invention,
It is a, three etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be
Mechanical connection is also possible to be electrically connected or can communicate each other；It can be directly connected, the indirect phase of intermediary can also be passed through
Even, the connection inside two elements or the interaction relationship of two elements be can be, unless otherwise restricted clearly.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention unless specifically defined or limited otherwise, fisrt feature is in the second feature " on " or " down "
It can be that the first and second features directly contact or the first and second features are by intermediary mediate contact.Moreover, first is special
Sign can be fisrt feature above the second feature " above ", " above " and " above " and be directly above or diagonally above the second feature, or only
Indicate that first feature horizontal height is higher than second feature.Fisrt feature under the second feature " below ", " below " and " below " can be with
It is that fisrt feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term
It states and is necessarily directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be with
It can be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this field
Technical staff can by the feature of different embodiments or examples described in this specification and different embodiments or examples into
Row combination and combination.
Although the embodiments of the present invention have been shown and described above, it is to be understood that above-described embodiment is
Illustratively, it should not be understood as limiting the present invention, those skilled in the art are in the scope of the utility model
Inside it can make changes, modifications, alterations, and variations to the above described embodiments.
Claims (11)
1. a kind of overturn-preventing climbing robot characterized by comprising
Rack；
First track drive module and the second track drive module, the first track drive module and second track drive
Module is located in the rack at interval along first direction；
Detection module, the detection module are located in the rack；With
First magnetic suck module, the first magnetic suck module are rotatably arranged in the rack, the first magnetic suck mould
Block is located in said first direction between the first track drive module and the second track drive module, wherein described
First magnetic suck module has the symmetry axis and first magnetic suck of nonaxisymmetric structure or the first magnetic suck module
The pivot center of module is spaced apart.
2. overturn-preventing climbing robot according to claim 1, which is characterized in that further comprise the second magnetic suck mould
Block, the second magnetic suck module are located in the rack, the first magnetic suck module and the second magnetic suck module edge
Second direction is arranged at interval, and each of the first track drive module and the second track drive module are along institute
Second direction extension is stated, wherein the second direction is perpendicular to the first direction.
3. overturn-preventing climbing robot according to claim 2, which is characterized in that the first magnetic suck module is described
End of the second party upwardly adjacent to each of the first track drive module and the second track drive module.
4. overturn-preventing climbing robot according to claim 2, which is characterized in that the second magnetic suck module includes:
First yoke and the second yoke, first yoke and second yoke are arranged at interval along the first direction；
First is located at every magnetic part and described second every magnetic part every magnetic part and second every magnetic part, described first in said first direction
Between first yoke and second yoke, described first every magnetic part and described second every magnetic part along third direction interval
It opens, the third direction is perpendicular to each of the first direction and the second direction, wherein first yoke, institute
It states the second yoke, described first limit installation cavity between magnetic part every magnetic part and described second；With
First permanent magnet, first permanent magnet are rotatably arranged at the installation cavity magnetizing between position and demagnetization position
It is interior.
5. overturn-preventing climbing robot according to claim 4, which is characterized in that the installation cavity be it is cylindric, it is described
First permanent magnet be it is cylindric, the axial direction of first permanent magnet is consistent with the second direction, wherein first permanent magnet
End face be equipped with handle.
6. overturn-preventing climbing robot according to claim 1, which is characterized in that the first magnetic suck module is equipped with
First lug, the rack are equipped with the second lug, and the overturn-preventing climbing robot further comprises installation axle, the installation
Axis extends along the first direction, wherein the installation axle is located at each of the first lug and second lug
On, at least one of the relatively described first lug of the installation axle and second lug are rotatable.
7. overturn-preventing climbing robot according to claim 6, which is characterized in that the first magnetic suck module enterprising one
Step is equipped with third lug, is further provided with the 4th lug in the rack, the first lug and the third lug are described
On first direction between second lug and the 4th lug, the relatively described first lug of the installation axle and described
Third lug is rotatable, wherein the overturn-preventing climbing robot further comprises the first nut and the second nut, described first
Each of nut and second nut are threadedly engaged in the installation axle, second lug and the 4th lug
In said first direction between first nut and second nut, first nut is resisted against described second
On lug, second nut is resisted against on the 4th lug.
8. overturn-preventing climbing robot according to claim 6, which is characterized in that the first magnetic suck module includes:
Third yoke, the third yoke are equipped with the first lug and second lug；And
Second permanent magnet and third permanent magnet, the neighbouring third yoke in one of the pole N and the pole S of second permanent magnet,
The neighbouring third yoke in the other of the pole N and the pole S of the third permanent magnet,
The third yoke be located on third direction the installation axle and second permanent magnet and the third permanent magnet it
Between, wherein first section of each of second permanent magnet and described third permanent magnet includes arch portion, the arch
The rest part in relatively described first section in portion is far from the third yoke, and the length direction of the installation axle is perpendicular to described
One section.
9. overturn-preventing climbing robot according to claim 1, which is characterized in that the detection module includes:
Bracket, the bracket are rotatably arranged in the rack；
Motor, the motor are located in the rack, and the motor is connected to drive the holder pivots with the bracket；With
Camera, the camera are set on the bracket.
10. overturn-preventing climbing robot according to claim 9, which is characterized in that the detection module further comprises:
Cylinder, the cylinder are located in the rack；With
It is described to be connected close to switch with the cylinder close to switch.
11. overturn-preventing climbing robot according to claim 4, which is characterized in that magnetize described in position positioned at described
The pole N and the pole S of first permanent magnet are located on the first preset direction, positioned at the pole N of first permanent magnet of the demagnetization position
It is located on the second preset direction with the pole S, first preset direction is perpendicular to second preset direction.
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| CN201822182736.1U CN209617309U (en) | 2018-12-25 | 2018-12-25 | Overturn-preventing climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111361654A (en) * | 2018-12-25 | 2020-07-03 | 河北工业大学 | Anti-overturning wall-climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111361654A (en) * | 2018-12-25 | 2020-07-03 | 河北工业大学 | Anti-overturning wall-climbing robot |
| CN111361654B (en) * | 2018-12-25 | 2024-02-02 | 河北工业大学 | Anti-overturning wall climbing robot |
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Effective date of registration: 20210427 Address after: 300401 2-1 Yougu Xinke Park, east of Jingfu Road, medical and medical equipment Industrial Park, Beichen economic and Technological Development Zone, Tianjin Patentee after: BHP robot (Tianjin) Co.,Ltd. Address before: 300130 No. 330, East Institute, Hebei University of technology, No. 8, Guangrong Road, Dingzi, Hongqiao District, Tianjin Patentee before: Hebei University of Technology |
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