CN210060204U - Magnetic adsorption wall-climbing robot system - Google Patents
Magnetic adsorption wall-climbing robot system Download PDFInfo
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- CN210060204U CN210060204U CN201920216790.5U CN201920216790U CN210060204U CN 210060204 U CN210060204 U CN 210060204U CN 201920216790 U CN201920216790 U CN 201920216790U CN 210060204 U CN210060204 U CN 210060204U
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Abstract
The utility model discloses a magnetism adsorbs wall climbing robot system belongs to the technical field of automation equipment, including magnetic conduction wheel, automobile body and magnetic control device, the magnetic conduction wheel sets up the automobile body below, magnetic control device sets up in the magnetic conduction wheel, be used for control magnetic field intensity around the magnetic conduction wheel changes. The utility model discloses utilize the magnetic field stack principle, through the size and the direction of control electromagnet coil electric current to the size and the direction of control electromagnet magnetic field intensity realize the addition and the cancellation of magnetic field intensity on the magnetic pole face, realize the absorption of magnetic conduction wheel magnetic force and the purpose of uninstallation effectively, make things convenient for in dismouting uninstallation wall climbing robot.
Description
Technical Field
The utility model belongs to the technical field of automation equipment, in particular to magnetism adsorbs wall climbing robot system.
Background
At present, two ways are available for welding or other operations of the inner wall of a pipeline, the surface of a ship and a steel structure bridge, wherein one way is that the inner wall of the pipeline, the surface of the ship and the steel structure bridge move along the circumferential direction of the pipe wall of a boiler to carry out second welding operation after one-time welding is completed along the axial direction of a small-caliber pipeline, and the second welding operation is carried out in a circulating mode, so that the welding operation of the whole pipeline-shaped boiler pipe wall is completed, but the labor intensity is too high by utilizing manual welding, the welding accuracy cannot be guaranteed, and; the other type is to adopt the welding robot to carry out welding operation, when carrying out welding operation with the welding robot, need the welding robot to have along the function of pipeline shape boiler pipe wall circumference tangential direction and pipeline axis direction both way movement, when the welding robot welds the side by side small-bore pipeline promptly, at first need accomplish along pipeline axis direction linear motion, then move one section distance along pipeline shape boiler pipe wall circumference tangential direction and accomplish the weldment work of another small-bore pipeline, the circulation goes on, thereby accomplish the weldment work of whole pipeline shape boiler pipe wall. But most magnetic adsorption wall climbing robots are not adjustable in magnetic force, and have great difficulty in dismounting and mounting.
In view of the above-mentioned defects, the inventor of the present invention has proposed the present invention through long-time research and practice.
SUMMERY OF THE UTILITY MODEL
For solving the technical defect, the utility model discloses a technical scheme lie in, provide a magnetism adsorbs wall climbing robot, magnetism adsorbs wall climbing robot includes magnetic conduction wheel, automobile body and magnetic control device, the magnetic conduction wheel sets up the automobile body below, magnetic control device sets up in the magnetic conduction wheel, be used for control magnetic field intensity around the magnetic conduction wheel changes.
Further, the automobile body includes mounting panel and cavity, the cavity links in the mounting panel below.
Further, magnetic control device with mounting panel fixed connection, magnetic control device includes electro-magnet, casing and iron core, the inside permanent magnet that is provided with of casing, the electro-magnet is installed the casing top, the both sides of casing are provided with the hole, the iron core passes the hole with the permanent magnet is connected.
Further, a mounting seat is arranged below the mounting plate, and the shell is arranged on the mounting seat.
Further, the below of mounting panel is provided with the wheel base, the wheel base is located the both sides of mount pad, magnetic conduction wheel fixed connection is in on the wheel base.
Further, the mounting panel below is provided with the motor cabinet, be provided with the motor on the motor cabinet, the motor includes interconnect's first motor and second motor, first motor with second motor shaft output with the motor cabinet is connected.
Further, the motor with the magnetic conduction wheel passes through transmission and connects, transmission sets up in the cavity, transmission includes driving pulley, passive band pulley and hold-in range, driving pulley with passive band pulley passes through the hold-in range and connects, driving pulley with the pivot of motor is connected, passive band pulley with the pivot of magnetic conduction wheel is connected.
Further, be provided with the harmonic reduction gear on the magnetic conduction wheel, harmonic reduction gear one end with wheel base fixed connection, the other end of harmonic reduction gear with the magnetic conduction wheel is connected, the harmonic reduction gear includes internal tooth rigid wheel, flexbile gear and wave generator, the wave generator the flexbile gear with the internal tooth rigid wheel cup joints in proper order, the internal tooth steel wheel with the wheel base is connected, the wave generator with the magnetic conduction wheel is connected.
The utility model discloses a another technical scheme lie in, provide a wall robot system is climbed in magnetism adsorption, include wall robot and switch board are climbed in magnetism adsorption, the switch board with wall robot signal connection is climbed in magnetism adsorption, is used for control wall robot is climbed in magnetism adsorption.
Furthermore, the switch board includes host computer, driver, controller and switching power supply, switching power supply is used for the control host computer to start, the host computer is used for controlling the driver with the controller, the driver is used for driving the motor, the controller is used for controlling magnetic control device.
Compared with the prior art, the beneficial effects of the utility model reside in that:
1. the switch board with the robot adopts the separation design, can alleviate the weight of robot, increases flexibility and load capacity.
2. After the robot is additionally provided with the magnetic force control device, the magnetic force of the magnetic conduction wheel can be changed, the purposes of adsorption and unloading of the magnetic force of the magnetic conduction wheel are effectively achieved, and the robot is convenient to disassemble, assemble and unload.
3. The magnetic control device adopts an electric control mode, utilizes the characteristics of the electromagnet, can directly adjust the magnitude and the direction of current in the electromagnet coil in the control cabinet, realizes the cancellation and the addition of a magnetic field, and is more in line with the requirement of rapid disassembly of the robot compared with the traditional pure mechanical device.
4. The robot is added with a harmonic reducer, and the transmission ratio of the harmonic reducer can reach 1: 100, namely the output torque of the motor is 0.4N.m, the output torque of the magnetic conduction wheel output by the harmonic reducer reaches 40N.m, the robot is provided with 4 harmonic reducers, the total output torque reaches 160N.m, and the carrying capacity is improved.
Drawings
Fig. 1 is an overall schematic view of the magnetic adsorption wall-climbing robot with controllable magnetic force;
FIG. 2 is a schematic view of the internal structure of the magnetic adsorption wall-climbing robot with controllable magnetic force;
FIG. 3 is a cross-sectional view of FIG. 2;
fig. 4 is a schematic structural view of the magnetic force control device of the present invention;
fig. 5 is a front view of the control cabinet of the present invention;
fig. 6 is a rear view of the control cabinet of the present invention;
fig. 7 is a system block diagram of the magnetic adsorption wall-climbing robot with controllable magnetic force.
Description of reference numerals:
1-magnetic conductive wheel; 2-a vehicle body; 21-mounting a plate; 22-a cavity; 3-a magnetic control device; 31-an electromagnet; 32-a housing; 33-a core; 4-magnetic conductive wheel base; 5-a motor base; 51-a first motor mount; 52-a second motor mount; 6, a motor; 61-a first motor; 62-a second motor; 7-a driving pulley; 8-synchronous belt; 9-a passive pulley; 10-harmonic reducers; 11-a host; 12-a driver; 13-a controller; 14-a power switch; 15-mounting seat.
Detailed Description
Example 1
The embodiments of the invention will be described in detail below with reference to the accompanying fig. 1-6, but the invention can be implemented in many different ways as defined and covered by the claims.
The utility model provides a magnetism adsorbs wall climbing robot includes automobile body 2, magnetic conduction wheel 1 and magnetic control device 3, the magnetic conduction wheel sets up 3 automobile body 2 below, magnetic control device 3 sets up in the magnetic conduction wheel 1, be used for control magnetic field intensity around the magnetic conduction wheel 1 changes. Can effectual realization the absorption and the uninstallation of magnetic conduction wheel 1 are convenient for the dismouting uninstallation the robot. The automobile body 2 adopts aluminum alloy material to make, the automobile body 2 includes mounting panel 21 and two cavities 22, the cavity 22 welding is in the left and right sides of mounting panel 21 lower surface, cavity 22 is inside to have two wheel bases 4, and wheel base 4 with mounting panel 21 below fixed connection, magnetic conduction wheel 1 is installed on the wheel base 4. The mounting panel 21 below is provided with motor cabinet 5, motor cabinet 5 includes first motor cabinet 51 and second motor cabinet 52, first motor cabinet 51 with second motor cabinet 52 is installed side by side the mounting panel 21 below, install motor 6 on the motor cabinet 5, motor 6 includes first motor 61 and second motor 62, the terminal surface of the output shaft of first motor 61 and second motor 62 with motor cabinet 5 is connected, first motor 61 with the back fixed connection of second motor 62. Motor 6 with magnetic conduction wheel 1 passes through transmission and connects, transmission sets up in the cavity 22, transmission includes driving pulley 7, passive band pulley 9 and hold-in range 8, driving pulley 7 with passive band pulley 9 passes through hold-in range 8 and connects, driving pulley 7 with motor 6's pivot is connected, passive band pulley 9 with magnetic conduction wheel 1's pivot is connected. The driving belt wheel 7 drives the driven belt wheel 9 to rotate through the synchronous belt 8, and then drives the magnetic conduction wheel 1 to rotate. The four motors 6 respectively control one magnetic conduction wheel 1 to move.
The working principle is as follows:
when the first motor 61 and the second motor 62 rotate forward and rotate at the same speed, the magnetic conductive wheel 1 rotates forward, that is, the robot moves forward; when the first motor 61 and the second motor 62 rotate reversely and at the same speed, the magnetic conductive wheel 1 rotates backwards, that is, the robot moves backwards. When the rotation directions of the first motor 61 and the second motor 62 are positive rotation and the rotation speed of the first motor 61 is greater than that of the second motor 62, the robot turns left and front; when the rotation speed of the first motor 61 is less than the rotation speed of the second motor 62, the robot turns to the right front. When the rotation directions of the first motor 61 and the second motor 62 are reverse, and the rotation speed of the first motor 61 is greater than that of the second motor 62, the robot turns left and back; when the rotation speed of the first motor 61 is less than the rotation speed of the second motor 62, the robot turns to the right rear.
The magnetic conduction wheel 1 is of a hollow circular structure, the magnetic control device 3 is installed below the installation plate 21, and the magnetic control device 3 is arranged in the hollow circular structure. The magnetic force control device 3 includes: the electromagnetic iron comprises an electromagnet 31, a shell 32 and an iron core 33, wherein the electromagnet 31 is installed above the shell 32 through bolts, a permanent magnet is arranged inside the shell 32, and the iron core 33 penetrates through holes in two sides of the shell 32 and is connected with the permanent magnet. Magnetic control device 3 adopts automatically controlled mode, utilizes the characteristics of electro-magnet can be directly be in adjust the size and the direction of electric current in the electromagnet coil in the switch board, realize the cancellation and the addition in magnetic field, compare with traditional pure mechanical device, more accord with the demand of the swift dismantlement of magnetism absorption wall climbing robot.
The working principle is as follows:
when the electromagnetic coil in the electromagnet is not electrified, only the permanent magnet acts. The permanent magnet passes through iron core 33 transmits magnetic attraction for the outside magnetic conduction wheel 1, magnetic conduction wheel 1 produces magnetic force and adsorbs the robot on the wall. Each set of device is divided into two magnetic conduction wheels 1, so that magnetic induction lines generated by the N pole and the S pole can be respectively closed on the adsorbed wall surface through the two magnetic conduction wheels 1 by magnetic conduction materials such as carbon steel to form a loop.
When the load of the robot is increased, the host 11 obtains the required magnetic attraction force according to the calculation, the controller 13 controls the electromagnetic coil to start to be electrified, and the electromagnet 31 generates the magnetic attraction force. At this moment the S utmost point of electro-magnet 31 with the N utmost point of permanent magnet is relative, the N utmost point of electro-magnet 31 with the S utmost point of permanent magnet 32 is relative, through iron core 33 exports in the magnetic conduction wheel 1, the reinforcing of magnetic attraction of magnetic conduction wheel 1, the stable absorption of robot is on the wall.
Similarly, when the robot needs to be unloaded from the adsorbed wall surface, at this time, the N pole of the electromagnet 31 and the N pole of the permanent magnet repel each other, the S pole of the electromagnet 31 and the S pole of the permanent magnet repel each other, and the magnets are output to the magnetic conductive wheel 1 through the iron core 33, so that the magnetic adsorption force of the magnetic conductive wheel 1 is reduced until the magnetic adsorption force disappears, and the robot can be easily unloaded from the wall surface.
The utility model discloses an adopt permanent magnetism to adsorb the structure that form and four-wheel drive transmission combined together, realize the flexibility of robot on the magnetic conduction face is crawled to according to the operation module of different task needs different grade type, develop corresponding operation on the magnetic conduction face of complicacy.
Example 2
The robot in embodiment 1 has a four-wheel drive structure and a three-wheel drive structure, so that the weight of the robot can be further reduced, the flexibility is improved, and the load capacity is increased.
The utility model provides a magnetic adsorption wall climbing robot, which comprises a robot body 2 and magnetic conductive wheels 1, wherein a magnetic control device 3 is arranged below the robot body 2, the robot body 2 comprises a mounting plate 21 and two cavities 22, the cavities 22 are welded at the left side and the right side of the lower surface of the mounting plate 21, the cavities 22 are used for protecting equipment with two exposed sides, a wheel base 4 is arranged below the mounting plate 21, the wheel base 4 comprises a first wheel base, a second wheel base and a third wheel base, the first wheel base is arranged at the front end below the mounting plate 21, the second wheel base and the third wheel base are arranged at the rear end below the mounting plate 21 side by side, the first wheel base, the second wheel base and the third wheel base are respectively provided with the magnetic conductive wheels 1, the magnetic conductive wheels 1 are of a hollow circular structure, the magnetic control means 3 are arranged below the mounting plate 21 and within the hollow circular structure. The below of mounting panel 21 is provided with motor base 5, be provided with motor 6 on the motor base 5, the axle head of motor 6 is provided with driving pulley 7, be provided with hold-in range 8 on the driving pulley 7, driven pulley 9 is connected to hold-in range 8, driven pulley 9 with the axle head of magnetic conduction wheel 1 is connected. The motor 6 comprises a first motor 61, a second motor 62 and a third motor, the motor base 5 comprises a first motor base 51 and a second motor base 52, the first motor 61 is installed on the first motor base 51, the second motor 62 and the third motor are installed on the second motor base 52, the second motor 62 and the third motor are connected at the back, the end face of an output shaft of the second motor 62 and the third motor is connected with the second motor base 52, and the first motor 61, the second motor 62 and the third motor respectively control one magnetic conduction wheel 1. When the first motor 61, the second motor 62 and the third motor have the same rotating speed and the direction is forward, the robot moves forward; when the first motor 61, the second motor 62 and the third motor have the same rotating speed and the direction is backward, the robot moves backward. When the rotating speed of the second motor 62 is greater than the rotating speed of the third motor, the robot turns to the left, and when the rotating speed of the second motor 62 is less than the rotating speed of the third motor, the robot turns to the right.
Example 3
The embodiment 1 is further modified with reference to fig. 1-7, and a harmonic reducer 10 is added to increase the torque of the robot and improve the carrying capacity. The robot includes automobile body 2, harmonic speed reducer ware 10, magnetic conduction wheel 1 and magnetic control device 3, automobile body 2 adopts aluminum alloy material to make, automobile body 2 includes mounting panel 21 and two cavities 22, the cavity 22 welding is in the left and right sides of mounting panel 21 lower surface, cavity 22 is used for protecting the naked equipment in both sides, mounting panel 21 lower surface is equipped with two wheel bases 4, magnetic conduction wheel 1 is installed on the wheel base 4. The harmonic reducer 10 is arranged on a rotating shaft of the magnetic conduction wheel 1, one side of the harmonic reducer 10 is fixedly connected with the wheel base 4, and the other end of the harmonic reducer 10 is connected with the magnetic conduction wheel 1. Harmonic speed reducer ware 10 includes internal gear rigid wheel, flexbile gear and wave generator, wave generator with the flexbile gear cup joints, the flexbile gear with the internal gear rigid wheel cup joints the setting, wave generator with 1 connection of magnetic conduction wheel, the internal gear rigid wheel with wheel base 4 is connected. The harmonic reducer 10 utilizes a flexible gear to generate controllable elastic deformation waves to cause relative staggered teeth between the teeth of the internal gear and the flexible gear to transmit power and movement. The transmission ratio of the harmonic reducer 10 can reach 1: 100, that is to say, the output torque of the motor 6 is 0.4n.m, the output torque of the magnetic wheel 1 output by the harmonic reducer 10 reaches 40n.m, the robot is equipped with 4 harmonic reducers 10, and the total output torque reaches 160n.m, so that the motion requirement is completely met.
The working principle is as follows:
before the flexible gear is assembled, the flexible gear and the inner hole of the flexible gear are circular, after the wave generator is installed in the inner hole of the flexible gear, the flexible gear is supported into an oval shape due to the fact that the length of the wave generator is slightly larger than the diameter of the inner hole of the flexible gear, the flexible gear is forced to be completely meshed with the fixed internal gear in the long axis direction of the oval shape and completely separated in the short axis direction, and the rotation positions of the flexible gear in other places are different, or are in a 'meshing-in' state or a 'meshing-out' state. Because the internal gear is fixed, when the wave generator anticlockwise rotates, the flexible wheel rotates clockwise. The harmonic reducer 10 is simple in structure, small in mass, small in size, high in transmission precision, high in transmission efficiency, stable in movement and capable of greatly improving carrying capacity of the robot.
Example 4
The embodiments of the invention will be described in detail below with reference to the accompanying fig. 1-7, but the invention can be implemented in many different ways as defined and covered by the claims.
The utility model provides a magnetism adsorbs wall climbing robot system, including robot and switch board, the switch board with robot signal connects, the switch board is used for control the robot. The switch board with the robot adopts the separation design, can alleviate the weight of robot increases flexibility and load capacity. The control cabinet comprises a power switch 14, a host 11, a driver 12 and a controller 13, the power switch 14 is turned on to start the host 11, parameters of the robot are set, the host 11 is used for controlling the driver 12 and the controller 13, the driver 12 is used for controlling the motion of the robot, and the controller 13 is used for controlling the magnetic force change of the robot.
The foregoing is only a preferred embodiment of the present invention, which is illustrative, not limiting. Those skilled in the art will appreciate that many variations, modifications, and equivalents may be made thereto without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. The utility model provides a magnetic adsorption wall climbing robot, a serial communication port, magnetic adsorption wall climbing robot includes magnetic conduction wheel (1), automobile body (2) and magnetic control device (3), magnetic conduction wheel (1) sets up automobile body (2) below, magnetic control device (3) set up in magnetic conduction wheel (1), be used for control magnetic field intensity around magnetic conduction wheel (1) changes, automobile body (2) are including mounting panel (21) and cavity (22), cavity (22) are connected mounting panel (21) below, magnetic control device (3) with mounting panel (21) fixed connection, magnetic control device (3) are including electro-magnet (31), casing (32) and iron core (33), casing (32) inside is provided with the permanent magnet, install electro-magnet (31) casing (32) top, holes are formed in two sides of the shell (32), and the iron core (33) penetrates through the holes to be connected with the permanent magnet.
2. The magnetic adsorption wall-climbing robot according to claim 1, characterized in that a mounting seat (15) is provided below the mounting plate (21), and the housing (32) is provided on the mounting seat (15).
3. The magnetic adsorption wall-climbing robot according to claim 2, characterized in that a wheel base (4) is arranged below the mounting plate (21), the wheel base (4) is located at two sides of the mounting seat (15), and the magnetic conductive wheel (1) is fixedly connected to the wheel base (4).
4. The magnetic adsorption wall-climbing robot according to claim 3, characterized in that a motor base (5) is arranged below the mounting plate (21), a motor (6) is arranged on the motor base (5), the motor (6) comprises a first motor (61) and a second motor (62) which are connected with each other, and the shaft output ends of the first motor (61) and the second motor (62) are connected with the motor base (5).
5. The magnetic adsorption wall-climbing robot according to claim 4, characterized in that the motor (6) is connected with the magnetic conductive wheel (1) through a transmission device, the transmission device is arranged in the cavity (22), the transmission device comprises a driving pulley (7), a driven pulley (9) and a synchronous belt (8), the driving pulley (7) and the driven pulley (9) are connected through the synchronous belt (8), the driving pulley (7) is connected with a rotating shaft of the motor (6), and the driven pulley (9) is connected with the rotating shaft of the magnetic conductive wheel (1).
6. The magnetic adsorption wall-climbing robot according to claim 5, characterized in that a harmonic reducer (10) is arranged on the magnetic conduction wheel (1), one end of the harmonic reducer (10) is fixedly connected with the wheel base (4), and the other end of the harmonic reducer (10) is connected with the magnetic conduction wheel (1).
7. A magnetic adsorption wall-climbing robot system is characterized by comprising the magnetic adsorption wall-climbing robot and a control cabinet according to any one of claims 1 to 6, wherein the control cabinet is in signal connection with the magnetic adsorption wall-climbing robot and is used for controlling the magnetic adsorption wall-climbing robot.
8. The magnetic adsorption wall-climbing robot system according to claim 7, characterized in that the control cabinet comprises a host (11), a driver (12), a controller (13) and a switching power supply (14), wherein the switching power supply (14) is used for controlling the host (11) to be started, the host (11) is used for controlling the driver (12) and the controller (13), the driver (12) is used for driving the motor (6), and the controller (13) is used for controlling the magnetic control device (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920216790.5U CN210060204U (en) | 2019-02-20 | 2019-02-20 | Magnetic adsorption wall-climbing robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920216790.5U CN210060204U (en) | 2019-02-20 | 2019-02-20 | Magnetic adsorption wall-climbing robot system |
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| CN210060204U true CN210060204U (en) | 2020-02-14 |
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| CN201920216790.5U Active CN210060204U (en) | 2019-02-20 | 2019-02-20 | Magnetic adsorption wall-climbing robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648232A (en) * | 2019-02-20 | 2019-04-19 | 广东省智能制造研究所 | A kind of magnetic adsorption wall climbing robot system |
| CN114852203A (en) * | 2022-04-28 | 2022-08-05 | 马辰宇 | Pipeline outer wall magnetic force adsorbs robot |
-
2019
- 2019-02-20 CN CN201920216790.5U patent/CN210060204U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648232A (en) * | 2019-02-20 | 2019-04-19 | 广东省智能制造研究所 | A kind of magnetic adsorption wall climbing robot system |
| CN114852203A (en) * | 2022-04-28 | 2022-08-05 | 马辰宇 | Pipeline outer wall magnetic force adsorbs robot |
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Address after: 510070 604, building 13, No. 100, Xianlie Middle Road, Yuexiu District, Guangzhou City, Guangdong Province Patentee after: Institute of intelligent manufacturing, Guangdong Academy of Sciences Address before: 510070 604, building 13, No. 100, Xianlie Middle Road, Yuexiu District, Guangzhou City, Guangdong Province Patentee before: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING |
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