CN210063189U - Walking chassis device of transition surface wall-climbing magnetic adsorption robot - Google Patents
Walking chassis device of transition surface wall-climbing magnetic adsorption robot Download PDFInfo
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- CN210063189U CN210063189U CN201920825573.6U CN201920825573U CN210063189U CN 210063189 U CN210063189 U CN 210063189U CN 201920825573 U CN201920825573 U CN 201920825573U CN 210063189 U CN210063189 U CN 210063189U
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Abstract
The utility model provides a transition surface wall climbing magnetism adsorbs walking chassis device of robot, characterized by which belongs to the technical field of wall climbing robot: comprises a vehicle body, a driving device and a magnetic adsorption device; the vehicle body is a hollow box body, the driving device comprises two groups of driving motors and speed reducers which are symmetrically arranged at two sides of an inner cavity of the vehicle body, and two groups of driving wheels which are symmetrically arranged at two sides outside the vehicle body, the driving motors, the speed reducers and the driving wheels at the same side of the vehicle body are correspondingly in transmission connection, a bulge which surrounds a rim surface is arranged at the middle position of the rim surface of the driving wheels, an inflatable rubber wheel is arranged at the rim surface of the driving wheels, which corresponds to two sides of the bulge, and the outer edge surface of the inflatable rubber wheel is higher than the outer edge surface of the; the middle position of the end face of one end of the vehicle body is provided with a mounting rack, and the bottom face of the mounting rack is provided with universal wheels for keeping the vehicle body balanced; the utility model discloses the problem of the unable reply complicated operating mode of traditional wall climbing robot has effectively been solved.
Description
Technical Field
The utility model belongs to the technical field of the wall climbing robot technique and specifically relates to a transition surface wall climbing magnetism adsorbs walking chassis device of robot.
Background
The wall climbing robot is known as a mobile robot, has the characteristics of being capable of flexibly climbing on a magnetic conductive wall surface and carrying a tool to complete a certain task, is accelerating the industrial process by the characteristics of high efficiency, low cost, stable quality, capability of replacing the manual execution of tasks with simple repetition, high danger, high labor intensity and the like, can carry out large-area steel surface pretreatment, promotes the design of a special wall climbing robot by the requirements of bridge rigid box body rust removal, ship surface rust removal, large-scale storage tank surface paint removal and the like, and particularly plays a great role in daily maintenance operation in the fields of ships, petrochemicals and the like; however, the walking chassis device of the wall-climbing robot in the prior art has a large volume, the working condition is applicable to a single type, one machine is tightly applicable to a single working condition, and the wall-climbing robot generally has the defects of poor stability, poor motion flexibility and the like; therefore, a walking chassis device of the wall-climbing robot, which is used for carrying different functional modules for operation and can also walk on different working condition transition surfaces, is urgently needed;
chinese patent (publication number: CN 206704338U) discloses a walking chassis device of a wall-climbing magnetic adsorption robot, the whole vehicle of the patent has certain stability by adopting a three-wheel structural layout, but the structure of the whole vehicle is complex enough, the assembly is difficult, the disassembly and the maintenance are difficult in the later period, and the whole vehicle is only arranged on one side of a driving wheel, and the whole vehicle is only suitable for working under the working condition environment of a single plane and cannot be operated under the working condition environment of a transition surface formed by combining multiple planes;
chinese patent (publication No. CN 206579730U) discloses a wall-climbing robot chassis with a follow-up universal wheel, in which a magnetic adsorption unit is provided in the universal wheel, so that although the ability of the entire vehicle to cope with complex working conditions is improved to a certain extent, the magnetic adsorption unit in the universal wheel can easily adsorb magnetic impurities on the rim surface of the universal wheel, and the universal wheel can be lifted or stuck by the magnetic impurities, thereby increasing the risk of accidental falling of the entire vehicle.
Disclosure of Invention
In order to overcome the not enough among the background art, the utility model discloses a transition surface climbs wall magnetism and adsorbs walking chassis device of robot.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a walking chassis device of a transition surface wall-climbing magnetic adsorption robot comprises a vehicle body, a driving device and a magnetic adsorption device; the vehicle body is a hollow box body, the driving device comprises two groups of driving motors and speed reducers which are symmetrically arranged at two sides of an inner cavity of the vehicle body, and two groups of driving wheels which are symmetrically arranged at two sides outside the vehicle body, the driving motors, the speed reducers and the driving wheels at the same side of the vehicle body are correspondingly in transmission connection, a bulge which surrounds a rim surface is arranged at the middle position of the rim surface of the driving wheels, an inflatable rubber wheel is arranged at the rim surface of the driving wheels, which corresponds to two sides of the bulge, and the outer edge surface of the inflatable rubber wheel is higher than the outer edge surface of the; the middle position of the end face of one end of the vehicle body is provided with a mounting rack, and the bottom face of the mounting rack is provided with universal wheels for keeping the vehicle body balanced;
the magnetic adsorption device comprises two magnetic adsorption units I symmetrically arranged on two sides of the universal wheel and two magnetic adsorption units II symmetrically arranged at the bottoms of two sides of the inner cavity of the vehicle body, wherein the magnetic adsorption units I and the magnetic adsorption units II are fan rings with 120 +/-10-degree central angles, the circle centers of the magnetic adsorption units I and the circle centers of the universal wheel are correspondingly positioned on the same axis, the ratio of the arc radius of the outermost end of the magnetic adsorption unit I to the wheel radius of the universal wheel is 1: 1.1-1.2, the central angle bisector of the magnetic adsorption unit I and the axis of the vehicle body axis form an included angle of 60-75 degrees, and the tip of the included angle faces towards the driving wheel; the circle center of the magnetic adsorption unit II and the circle center of the driving wheel are correspondingly located on the same axis, the ratio of the arc radius of the outermost end of the magnetic adsorption unit II to the wheel radius of the driving wheel is 1: 1.1-1.2, the angular bisector of the circle center of the magnetic adsorption unit II and the axis of the vehicle body form an included angle of 60-75 degrees, and the tip of the included angle faces the universal wheel.
Preferably, the vehicle body and the mounting frame are provided with bumpers for protecting the universal wheels and the two driving wheels through connecting pieces.
Preferably, the speed reducer is correspondingly in transmission connection with the corresponding driving wheel through a mounting flange.
Preferably, the magnetic adsorption unit I is correspondingly and tightly connected with a wheel carrier of the universal wheel through a connecting plate I.
Preferably, the magnetic adsorption unit II is correspondingly and fixedly connected with the side wall of the inner cavity of the vehicle body through a connecting plate II.
Preferably, the top surface of the vehicle body is provided with a reserved hole for mounting other components.
Preferably, the axis of the driving motor and the axis of the driving wheel are distributed at right angles.
Preferably, the two side walls of the vehicle body are provided with openings for heat dissipation and weight reduction.
Preferably, the magnetic adsorption unit I and the magnetic adsorption unit II are fan rings with 120-degree central angles.
Preferably, I central angle bisector of magnetism adsorption unit is 60 contained angles with the automobile body axis, and II central angle bisectors of magnetism adsorption unit are 60 contained angles with the automobile body axis.
Due to the adoption of the technical scheme, the utility model discloses following beneficial effect has:
the utility model discloses a transition surface wall climbing magnetic adsorption robot's walking chassis device, simple structure is compact, easily assembly, and manufacturing cost is lower, and working space is big, and the load is big, and its whole car structure is based on the modularization design thought, and the equipment and dismantle and maintain simple high-efficient, and whole car adopts tricycle structural layout reliable and stable, magnetic adsorption device contains two symmetries and sets up the magnetic adsorption unit I in the universal wheel both sides to and two symmetries set up the magnetic adsorption unit II in 1 inner chamber both sides bottom of automobile body, change traditional magnetic adsorption mode of arranging completely, prevent to lead to whole car accident to fall because of magnetic impurity bed hedgehopping universal wheel or drive wheel, magnetic adsorption unit I and magnetic adsorption unit II are the fan ring at 120 heart angles, effectively increase magnetic adsorption angle, thereby reach whole car and can become the inclined plane at the facade, the inclined plane becomes negative side, The operation is carried out under the special working conditions of wider field transition surfaces such as negative variable inclined surfaces, the top surface of the vehicle body is provided with a preformed hole for mounting other components, mechanical arms and other mechanisms required by work can be carried, and the adaptability of the whole vehicle is effectively increased; in addition, automobile body both sides wall is equipped with and is used for the heat dissipation and subtract heavy opening, can make driving motor keep good heat-sinking capability, alleviates the weight of automobile body self simultaneously, and then effectively improves the load-carrying capacity of whole car, magnetism adsorbs unit I and magnetism adsorbs unit II to be the fan ring of 120 central angles, has reduced the weight of magnetism adsorption equipment self when guaranteeing to possess good adsorption affinity to the load-carrying capacity of whole car has further been improved.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic perspective view of the present invention;
FIG. 3 is a schematic view of the present invention operating on a horizontal working surface;
FIG. 4 is a schematic view of the present invention operating on a vertical working surface;
FIG. 5 is a schematic view of the present invention operating on a vertical and inward sloping transition working surface;
FIG. 6 is a schematic view of the present invention operating on a negative horizontal working surface;
fig. 7 is a schematic view of the operation of the present invention on the negative level and the inner inclined transition working surface.
In the figure: 1. a vehicle body; 2. a drive motor; 3. a speed reducer; 4. a drive wheel; 5. a mounting frame; 6. a universal wheel; 7. a magnetic adsorption unit I; 8. a magnetic adsorption unit II; 9. inflating rubber wheels; 10. a connecting member; 11. a bumper; 12. installing a flange; 13. a connecting plate I; 14. a connecting plate II; 15. and (4) opening.
Detailed Description
The invention will be explained in more detail by the following examples, which disclose the invention and are intended to protect all technical improvements within the scope of the invention.
With reference to the attached drawings 1-2, the walking chassis device of the transition surface wall-climbing magnetic adsorption robot comprises a vehicle body 1, a driving device and a magnetic adsorption device; the vehicle body 1 is a hollow box body, the driving device comprises two groups of driving motors 2 and speed reducers 3 which are symmetrically arranged on two sides of an inner cavity of the vehicle body 1 and two groups of driving wheels 4 which are symmetrically arranged on two sides outside the vehicle body 1, the driving motors 2, the speed reducers 3 and the driving wheels 4 on the same side of the vehicle body 1 are correspondingly in transmission connection, the driving motors 2 can be servo motors, and the two groups of driving motors 2 can be respectively and independently controlled and can be simultaneously controlled to carry out driving operation, namely, the differential speed of the two driving wheels 4 can be realized by respectively and independently controlling the two groups of driving motors 2, so that the turning of the whole vehicle is controlled, and the synchronous operation of the two driving wheels 4 is realized by simultaneously controlling the two groups of driving motors 2; according to the requirement, the axis of the driving motor 2 and the axis of the driving wheel 4 are distributed in a right angle, so that the distribution space is effectively reduced, the volume of the vehicle body 1 is further reduced, the speed reducer 3 is correspondingly in transmission connection with the corresponding driving wheel 4 through the mounting flange 12, the distance between the driving wheel 4 and the vehicle body 1 can be more compact, and the reduction of the volume of the whole vehicle is facilitated; in addition, the two side walls of the vehicle body 1 are provided with openings 15 for heat dissipation and weight reduction, so that the driving motor 2 can keep good heat dissipation capability, the weight of the vehicle body 1 is reduced, and the load capacity of the whole vehicle is further effectively improved; the middle position of the rim surface of the driving wheel 4 is provided with a bulge which surrounds the rim surface for one circle, the rim surface of the driving wheel 4 is provided with an inflatable rubber wheel 9 corresponding to the two sides of the bulge, the outer edge surface of the inflatable rubber wheel 9 is higher than the outer edge surface of the bulge, and the inflatable rubber wheel 9 can effectively increase the motion friction force and avoid the phenomenon of skidding of the driving wheel 4; a mounting frame 5 is arranged in the middle of the end face of one end of the vehicle body 1, and universal wheels 6 for keeping the vehicle body 1 balanced are arranged on the bottom face of the mounting frame 5; according to the requirements, the bumper 11 for protecting the universal wheel 6 and the two driving wheels 4 is installed on the vehicle body 1 and the mounting frame 5 through the connecting piece 10, so that the safety performance of the whole vehicle can be effectively guaranteed, a safety rope can be bolted to the bumper 11 in the actual operation process, the whole vehicle is prevented from accidentally falling off in the complex working condition operation, and the top surface of the vehicle body 1 is provided with a reserved hole for installing other components, so that the other components can be conveniently installed;
the magnetic adsorption device comprises two magnetic adsorption units I7 symmetrically arranged on two sides of the universal wheel 6 and two magnetic adsorption units II 8 symmetrically arranged at the bottoms of two sides of the inner cavity of the vehicle body 1; according to the requirement, the magnetic adsorption unit I7 is correspondingly and tightly connected with the wheel carrier of the universal wheel 6 through the connecting plate I13, the magnetic adsorption unit II 8 is correspondingly and tightly connected with the side wall of the inner cavity of the vehicle body 1 through the connecting plate II 14, the installation strength of the magnetic adsorption device is effectively improved, meanwhile, magnetic impurities accidentally adsorbed by the magnetic adsorption device cannot interfere with the normal operation of the universal wheel 6 and the driving wheel 4, the phenomenon that the whole vehicle accidentally falls off due to the fact that the magnetic impurities block up the universal wheel 6 or the driving wheel 4 is avoided, and compared with the traditional mode that the magnetic adsorption device is arranged inside a wheel set, the safety performance is effectively improved; the magnetic adsorption unit I7 and the magnetic adsorption unit II 8 are fan rings with central angles of 120 +/-10 degrees; according to the requirement, the magnetic adsorption units I7 and II 8 are fan rings with 120-degree central angles, so that the weight of the magnetic adsorption device is reduced while good adsorption force is ensured, and the load capacity of the whole vehicle is further improved; the circle center of the magnetic adsorption unit I7 and the circle center of the universal wheel 6 are correspondingly located on the same axis, the ratio of the arc radius of the outermost end of the magnetic adsorption unit I7 to the wheel radius of the universal wheel 6 is 1: 1.1-1.2, the included angle between the bisector of the central angle of the magnetic adsorption unit I7 and the axis of the vehicle body 1 is 60-75 degrees, and the tip of the included angle faces the driving wheel 4; the circle center of the magnetic adsorption unit II 8 and the circle center of the driving wheel 4 are correspondingly positioned on the same axis, the ratio of the arc radius of the outermost end of the magnetic adsorption unit II 8 to the wheel radius of the driving wheel 4 is 1: 1.1-1.2, the included angle between the bisector of the central angle of the magnetic adsorption unit II 8 and the axis of the vehicle body 1 is 60-75 degrees, and the tip of the included angle faces the universal wheel 6; according to the requirements, the central angle bisector of the magnetic adsorption unit I7 forms an included angle of 60 degrees with the axis of the vehicle body 1, and the central angle bisector of the magnetic adsorption unit II 8 forms an included angle of 60 degrees with the axis of the vehicle body 1, so that the magnetic adsorption device can be guaranteed to keep good adsorption force in various working conditions;
in the first embodiment, with reference to fig. 3, the magnetic adsorption device always maintains good adsorption force in the process that the whole vehicle works on a horizontal working surface;
in the second embodiment, with reference to fig. 4-5, the magnetic adsorption device can always maintain good adsorption force when the whole vehicle travels from the vertical working surface a to the inclined inner transition working surface B, and the working surface a and the inclined inner transition working surface B form an included angle of 135-180 degrees, or the whole vehicle travels from the inclined inner transition working surface B to the vertical working surface a;
in the third embodiment, with reference to the attached drawings 6 to 7, the magnetic adsorption device can keep good adsorption force all the time when the whole vehicle travels from the negative horizontal working surface A to the inclined inner transition working surface B, and the negative horizontal working surface A and the inclined inner transition working surface B form an included angle of 135-180 degrees, or the negative horizontal working surface A travels from the inclined inner transition working surface B to the negative horizontal working surface A.
Implement the utility model discloses a walking chassis device of transition surface wall-climbing magnetic adsorption robot assembles each module of whole car according to corresponding structure during the use, magnetic adsorption device can provide sufficient adsorption affinity for whole car, make whole car can become the inclined plane at the facade, the inclined plane becomes negative, negative special operating mode of wider domain transition surface such as inclined plane, two sets of driving motor 2 can be separately controlled respectively, can be controlled simultaneously and drive the operation, can realize the differential of two drive wheels 4 through separately controlling two sets of driving motor 2 respectively alone, and then control the turn of whole car, through controlling two sets of driving motor 2 simultaneously, realize the synchronous operation of two drive wheels 4, and then realize advancing or retreating of whole car; magnetic adsorption device contains two symmetries and sets up the magnetic adsorption unit I7 in the 6 both sides of universal wheel to and two symmetries set up the magnetic adsorption unit II 8 in 1 inner chamber both sides bottom of automobile body, and the unexpected adsorbed magnetic impurity of magnetic adsorption device can not disturb the normal operating of universal wheel 6 and drive wheel 4 promptly, prevents to lead to whole car accident to fall because of magnetic impurity bed hedgehopping universal wheel 6 or drive wheel 4, compares with the mode that the tradition set up magnetic adsorption device in wheel group inside, has effectively improved the security performance.
The part of the utility model not detailed is prior art.
Claims (10)
1. The utility model provides a transition face wall climbing magnetism adsorbs walking chassis device of robot which characterized by: comprises a vehicle body (1), a driving device and a magnetic adsorption device; the bicycle is characterized in that the bicycle body (1) is a hollow box body, the driving device comprises two groups of driving motors (2) and speed reducers (3) which are symmetrically arranged on two sides of an inner cavity of the bicycle body (1) and two groups of driving wheels (4) which are symmetrically arranged on two sides of the outside of the bicycle body (1), the driving motors (2), the speed reducers (3) and the driving wheels (4) on the same side of the bicycle body (1) are correspondingly in transmission connection, a bulge which surrounds a rim surface for one circle is arranged in the middle position of the rim surface of the driving wheels (4), an inflatable rubber wheel (9) is arranged on each side, facing the bulge, of the rim surface of the driving wheels (4), and the outer edge surface of the inflatable rubber wheel; a mounting rack (5) is arranged in the middle of the end face of one end of the vehicle body (1), and universal wheels (6) used for keeping the vehicle body (1) balanced are arranged on the bottom face of the mounting rack (5);
the magnetic adsorption device comprises two magnetic adsorption units I (7) which are symmetrically arranged on two sides of the universal wheel (6) and two magnetic adsorption units II (8) which are symmetrically arranged at the bottoms of two sides of an inner cavity of the vehicle body (1), wherein the magnetic adsorption units I (7) and the magnetic adsorption units II (8) are fan rings with 120 +/-10-degree central angles, the circle center of the magnetic adsorption unit I (7) and the circle center of the universal wheel (6) are correspondingly positioned on the same axis, the ratio of the arc radius of the outermost end of the magnetic adsorption unit I (7) to the wheel radius of the universal wheel (6) is 1: 1.1-1.2, the bisector of the central angle of the magnetic adsorption unit I (7) and the axis of the vehicle body (1) form an included angle of 60-75 degrees, and the tip of the included angle faces towards the driving wheel (4); the circle center of the magnetic adsorption unit II (8) and the circle center of the driving wheel (4) are correspondingly located on the same axis, the ratio of the arc radius of the outermost end of the magnetic adsorption unit II (8) to the wheel radius of the driving wheel (4) is 1: 1.1-1.2, the angular bisector of the circle center of the magnetic adsorption unit II (8) and the axis of the vehicle body (1) form an included angle of 60-75 degrees, and the tip of the included angle faces the universal wheel (6).
2. The walking chassis device of the transition surface wall-climbing magnetic adsorption robot as claimed in claim 1, characterized in that: bumpers (11) used for protecting universal wheels (6) and two driving wheels (4) are installed on the vehicle body (1) and the mounting rack (5) through connecting pieces (10).
3. The walking chassis device of the transition surface wall-climbing magnetic adsorption robot as claimed in claim 1, characterized in that: the speed reducer (3) is correspondingly in transmission connection with the corresponding driving wheel (4) through the mounting flange (12).
4. The walking chassis device of the transition surface wall-climbing magnetic adsorption robot as claimed in claim 1, characterized in that: the magnetic adsorption unit I (7) is correspondingly and fixedly connected with a wheel carrier of the universal wheel (6) through a connecting plate I (13).
5. The walking chassis device of the transition surface wall-climbing magnetic adsorption robot as claimed in claim 1, characterized in that: and the magnetic adsorption unit II (8) is correspondingly and fixedly connected with the side wall of the inner cavity of the vehicle body (1) through a connecting plate II (14).
6. The walking chassis device of the transition surface wall-climbing magnetic adsorption robot as claimed in claim 1, characterized in that: the top surface of the vehicle body (1) is provided with a reserved hole for mounting other components.
7. The walking chassis device of the transition surface wall-climbing magnetic adsorption robot as claimed in claim 1, characterized in that: the axis of the driving motor (2) and the axis of the driving wheel (4) are distributed in a right angle.
8. The walking chassis device of the transition surface wall-climbing magnetic adsorption robot as claimed in claim 1, characterized in that: and openings (15) for heat dissipation and weight reduction are arranged on two side walls of the vehicle body (1).
9. The walking chassis device of the transition surface wall-climbing magnetic adsorption robot as claimed in claim 1, characterized in that: the magnetic adsorption unit I (7) and the magnetic adsorption unit II (8) are fan rings with 120-degree central angles.
10. The walking chassis device of the transition surface wall-climbing magnetic adsorption robot as claimed in claim 1, characterized in that: magnetic adsorption unit I (7) central angle bisector and automobile body (1) axis 60 contained angles, magnetic adsorption unit II (8) central angle bisector and automobile body (1) axis are 60 contained angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201920825573.6U CN210063189U (en) | 2019-06-03 | 2019-06-03 | Walking chassis device of transition surface wall-climbing magnetic adsorption robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920825573.6U CN210063189U (en) | 2019-06-03 | 2019-06-03 | Walking chassis device of transition surface wall-climbing magnetic adsorption robot |
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| CN210063189U true CN210063189U (en) | 2020-02-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155202A (en) * | 2019-06-03 | 2019-08-23 | 洛阳圣瑞智能机器人有限公司 | A kind of walking chassis device of transition face Pa Bi magnetic suck robot |
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2019
- 2019-06-03 CN CN201920825573.6U patent/CN210063189U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155202A (en) * | 2019-06-03 | 2019-08-23 | 洛阳圣瑞智能机器人有限公司 | A kind of walking chassis device of transition face Pa Bi magnetic suck robot |
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