CN210500350U - Combined variable magnetic force adsorption module of obstacle-crossing wall-climbing robot - Google Patents
Combined variable magnetic force adsorption module of obstacle-crossing wall-climbing robot Download PDFInfo
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- CN210500350U CN210500350U CN201921494329.2U CN201921494329U CN210500350U CN 210500350 U CN210500350 U CN 210500350U CN 201921494329 U CN201921494329 U CN 201921494329U CN 210500350 U CN210500350 U CN 210500350U
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Abstract
The utility model discloses obstacle-surmounting wall-climbing robot combined type becomes magnetic force and adsorbs module, including screw assembly and adsorption component, screw assembly adopts the power transmission mode of motor-band pulley-area-band pulley-screw nut-lead screw to drive the lead screw by screw nut and reciprocates, and then drives adsorption component and reciprocates outside the frame. The utility model provides a current permanent magnetism wall climbing robot the unchangeable problem of magnetic force that exists when large-scale metal facade operation, through the application of screw mechanism reverse motion, improved permanent magnetism wall climbing robot's in the past permanent magnetism adsorption mechanism, make the robot in the in-process of hindering more, magnet magnetic force can change along with wall obstacle shape change, and all terrain adaptability is more excellent. The magnetic induction line distribution of the combined variable magnetic force adsorption module is improved, and the stability and the safety of the robot during the operation are improved. By applying the electromagnet, the adsorption force generated by the combined variable magnetic force adsorption module can be easily adjusted.
Description
Technical Field
The utility model relates to an adsorption equipment technical field that wall climbing robot used specifically is a hinder wall climbing robot combined type variable magnetic force adsorbs module more.
Background
At present, the requirements of maintenance and construction operations such as rust removal, paint spraying, detection and the like for large metal facades such as petrochemical storage tanks, ships and the like at home and abroad on environmental protection, personal safety, low cost and high efficiency are increasingly strict, so that the obstacle-surmounting and wall-climbing robot is taken as an automatic device capable of being adsorbed and moved on the metal facade, and has wide application prospect.
Because permanent magnetism adsorbs has the stable and great advantage of adsorption affinity, the wall climbing robot that is applied to on the metal facade adopts the permanent magnet as main adsorption apparatus in many cases to ensure that the robot can move on the wall. Permanent magnetism type wall climbing robot in the market is mostly fixed magnetic force, and no matter how the wall environment is, the produced adsorption affinity of magnet module is basically fixed, though this kind of mode security is comparatively reliable, can't adapt to the obstacle crossing process of robot. If the overall rigidity of the robot is large, the distance between the magnet and the wall surface in the obstacle crossing process can be increased along with the increase of the height of the mass center of the robot, the adsorption force is reduced, and the robot is overturned. If the robot has a large flexibility as a whole, it is difficult to adapt the fixed magnet shape to both the obstacle shape and the wall surface plane curved surface, and it is difficult to provide a sufficient effective attracting force.
The search of the prior art shows that Chinese patent application No. 201010289327.7 designs a wheel type obstacle-crossing wall-climbing robot, which relates to the magnetic adsorption technology of a permanent magnet type wall-climbing robot. The design is that the permanent magnet-yoke iron-permanent magnet combination mode is adopted, the width of the magnets at two ends is half of that of the middle magnet, the adsorption force of the magnet module is improved, the whole magnet module is combined with chassis modules such as a driving wheel, and the displacement of the magnet module relative to the wall surface is changed through the movement of a lead screw. The magnetic adsorption module of the robot can perform 60-70mm relative displacement relative to the vehicle body through the lead screw, and can also perform 10mm or so smaller relative displacement relative to the wheel, but because the wheel is positioned under the vehicle body and the magnetic adsorption module is connected with the chassis, the magnet still has insufficient displacement distance relative to the wall surface, the robot is difficult to adapt to a higher wall surface obstacle crossing environment, meanwhile, due to the design of the permanent magnet, the magnetic field in the magnetic adsorption module can not be changed, and the process of lifting the magnet module is difficult.
SUMMERY OF THE UTILITY MODEL
The utility model discloses weak point to prior art exists provides a combined type variable magnetic force adsorption module of wall climbing robot hinders more, solves the problem that the magnet adsorption affinity that current permanent magnetism wall climbing robot exists when large-scale metal facade operation adjusted not enough. The adsorption component in the adsorption module adopts a structural design mode of permanent magnet-yoke iron-permanent magnet-electromagnet, the adsorption force of the adsorption component relative to the wall surface is further improved, the strong adsorption force required by the wall-climbing robot can be met, the safety of the wall-climbing robot is improved, two groups of electromagnets are attached to the adsorption component, the magnetic field inside the adsorption component can be adjusted, and the adsorption force of the adsorption component relative to the wall surface is changed under the condition that a screw rod component is not used. Adopt lead screw assembly, can promote decline adsorption component to change the distance and the adsorption affinity of adsorption module for the wall, and then adapt to the process of hindering more of robot better.
The technical proposal adopted by the utility model for solving the technical problems is that,
the utility model provides a hinder climbing wall robot combined type becomes magnetic force and adsorbs module more, includes lead screw assembly and adsorption component, its characterized in that: the lead screw subassembly include: the device comprises a screw motor, a screw motor reduction gear box, a screw motor brake, a screw motor flange plate, an A-type belt wheel, a belt, a B-type belt wheel tapered roller bearing, a screw nut tapered roller bearing, a lever nut positioning frame and a screw;
the robot comprises a lead screw motor brake, a lead screw motor and a lead screw motor reduction gear box, wherein the lead screw motor brake, the lead screw motor and the lead screw motor reduction gear box are sequentially connected, the output end of the lead screw motor reduction gear box penetrates through a lead screw motor flange, the end part of the lead screw motor reduction gear box is fixed with the lead screw motor flange, and the side wall of the lead screw motor flange is fixedly connected to a frame of a robot to be installed; an A-type belt wheel is arranged at the output end of the reduction gear box of the screw motor, and the A-type belt wheel and the B-type belt wheel are connected and driven through a belt; the lower end of the B-type belt wheel is provided with a B-type belt wheel lower end boss, a B-type belt wheel conical roller bearing is sleeved on the outer ring of the B-type belt wheel lower end boss, and the B-type belt wheel lower end boss is matched and fixed with the inner ring of the B-type belt wheel conical roller bearing; the lead screw penetrates through the B-shaped belt wheel, and the lower part of the lead screw is fixed with the adsorption component; the lower end of the B-type belt wheel tapered roller bearing is contacted with the bottom of a frame of the robot to be installed;
a lead screw nut is arranged on a lead screw positioned at the upper part of the B-type belt wheel, the lead screw nut comprises an upper cylindrical part and a lower supporting plate, a boss at the upper end of the lead screw nut is arranged at the upper end of the cylindrical part, a threaded hole at the lower end of the lead screw nut is arranged on the supporting plate, and the upper end of the B-type belt wheel is fixedly connected with the supporting plate through the threaded hole at the lower end of the lead screw nut;
a lead screw nut tapered roller bearing is arranged on the upper part of a boss at the upper end of the lead screw nut, and the boss at the upper end of the lead screw nut is matched with the inner diameter of the lead screw nut tapered roller bearing; a lead screw nut positioning frame is integrally sleeved outside the lead screw nut, the lead screw nut tapered roller bearing, the B-type belt pulley tapered roller bearing and the B-type belt pulley, and the lead screw nut can rotate relative to the lead screw nut positioning frame; the lower end of the lead screw nut positioning frame is fixed with the bottom surface of a frame of the robot to be installed;
the adsorption assembly includes: the permanent magnet device comprises a yoke iron, an even number of first-class permanent magnets, a second-class permanent magnet, two groups of electromagnets and a guide rail; the lower surface of the yoke is provided with a groove for mounting a first-class permanent magnet, a second-class permanent magnet and an electromagnet, and the center of the yoke is provided with a central threaded hole at the upper end of the yoke, which is connected with the lower end thread of the screw rod; the second type of permanent magnet is positioned in the center of the yoke, and a hole for accommodating the screw thread at the lower end of the screw rod is formed in the center of the second type of permanent magnet; the first-class permanent magnets are symmetrically arranged along two sides of the length direction of the yoke by taking the second-class magnets as symmetrical axes; two groups of electromagnets are symmetrically arranged along two sides of the width direction of the yoke by taking the second type of permanent magnet as an axis; the lower surfaces of the first-class permanent magnet, the second-class permanent magnet and the electromagnet are equal in height; the lower end of the guide rail is fixedly arranged on the upper surface of the yoke, and the guide rail is matched with a guide rail seat on a frame of the robot to be installed.
The upper end of a lead screw nut positioning frame of the lead screw nut positioning frame is provided with a round hole for a lead screw to penetrate out, the lower part of the lead screw nut positioning frame is provided with a lead screw nut positioning frame supporting leg, a B-shaped belt pulley is contained in the lead screw nut positioning frame, the inner wall of the upper end of the lead screw nut positioning frame is matched with the outer diameter of a lead screw nut tapered roller bearing, and the lower surface of the upper end of the lead screw nut positioning frame is in contact with the upper surface of the lead screw.
The number of the first-class permanent magnets is ten, and the ten first-class permanent magnets and the two second-class permanent magnets are completely the same in material property and different in size and are attached to the yoke iron.
The yoke iron is made of high magnetic conductive material, the first-class permanent magnet and the second-class permanent magnet are made of neodymium iron boron material, and the magnetization direction is vertical; the size of a single permanent magnet is 30 × 25 × 30(mm), the size of a second permanent magnet is 60 × 50 × 30(mm), and the radius of the electromagnet is 25mm and the height of the electromagnet is 27 mm.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses an application of the contrary motion of screw mechanism has improved the permanent magnetism adsorption mechanism of permanent magnetism formula wall climbing robot in the past, makes the robot in the in-process of crossing obstacles, and the magnetic force size can change along with wall obstacle shape change, and full topography adaptability is more excellent. By the distribution arrangement mode of the permanent magnets, the yokes, the permanent magnets and the electromagnets and the design of the size of each permanent magnet, the distribution of magnetic induction lines of the adsorption assembly is improved, the magnetic field intensity of the magnets in unit volume is enhanced, and the stability and the safety of the robot during operation are improved. Through the electromagnet, the adsorption force generated by the adsorption component is easier to adjust, especially when the adsorption component needs to be lifted, the counter sound of the electromagnet magnetizes to reduce the output power of a required screw motor, the type of the screw motor with a relatively smaller size can be selected, so that the robot is lighter, meanwhile, the electromagnet in the combined variable magnetic force adsorption module of the non-obstacle vehicle body part is positively magnetized, and the stability and the safety of the robot in the operation process are more optimized.
The utility model discloses combined type becomes magnetic force adsorption module, the adsorption component can reciprocate under lead screw assembly's effect, magnet can in time be adjusted for the adsorption affinity of avoiding, and select middle big permanent magnet, distribute little permanent magnet on every side, the mode of electro-magnet is arranged at both ends, can improve unit volume's magnet intensity utilization ratio, make the module lighter-weight more under the prerequisite that realizes corresponding function, satisfy the obstacle-crossing requirement of robot take the altitude, can cross 10cm ~ 12 cm's obstacle (generally only be about 2cm, the highest also only 6 cm).
Drawings
Fig. 1 is the overall structure schematic diagram of the combined type variable magnetic force adsorption module of the obstacle-crossing wall-climbing robot of the utility model.
Fig. 2 is the utility model discloses the overall structure schematic diagram of the lead screw assembly of combined type variable magnetic force adsorption module of obstacle-surmounting wall-climbing robot.
Fig. 3 is the utility model discloses the combined type variable magnetic force of obstacle climbing wall robot adsorbs the module along the sectional structure sketch of lead screw assembly's axis.
Fig. 4 is the three-dimensional structure diagram of the screw nut 4111 of the combined variable magnetic force adsorption module of the obstacle-crossing wall-climbing robot.
Fig. 5 is the utility model discloses the half section structure sketch of lead screw nut locating rack 4117 of the combined type variable magnetic force adsorption module of the obstacle-surmounting wall-climbing robot.
Fig. 6 is a schematic view of the upward-looking structure of the combined variable magnetic force adsorption module of the obstacle-crossing wall-climbing robot of the present invention.
Fig. 7 is the structural schematic diagram of the combined type variable magnetic force adsorption module of the obstacle-crossing wall-climbing robot of the utility model installed in the frame of the robot.
Fig. 8 is an installation the utility model discloses obstacle-surmounting wall-climbing robot of obstacle-surmounting wall-climbing robot combined type variable magnetic force adsorption module is in the robot normal driving lower elevation.
Fig. 9 is an installation the utility model discloses obstacle-surmounting wall-climbing robot of obstacle-surmounting wall-climbing robot combined type variable magnetic force adsorption module is in the robot obstacle-surmounting in-process elevation.
Fig. 10 is an overall structure schematic diagram of the obstacle-crossing wall-climbing robot with the combined type variable magnetic force adsorption module of the obstacle-crossing wall-climbing robot.
In the figure: a screw assembly 41, a suction assembly 42, 4102-screw motor, 4101-screw motor reduction gear box, 4103-screw motor brake, 4104-screw motor flange, 4105-a type pulley, 4106-belt, 4107-B type pulley, 4108-B type pulley lower end boss, 4109-B type pulley conical roller bearing, 4110-B type pulley conical roller bearing lower end, 4111-screw nut, 4112-screw nut upper end boss, 4113-screw nut lower end threaded hole, 4114-screw nut conical roller bearing, 4115-screw nut conical roller bearing upper end, 4116-screw, 4117-screw nut positioning frame, 4118-screw nut positioning frame upper end, 4119-screw nut positioning frame support leg, 4120-screw, 4201-screw lower end thread, 4202-central threaded hole at upper end of yoke, 4203-yoke, 4204-first-class permanent magnet, 4205-second-class permanent magnet, 4206-electromagnet, 4207-guide rail, 11-guide rail seat.
The system comprises a frame 1, a wheel-foot composite driving module 2, a frame connecting module 3, a composite variable magnetic force adsorption module 4 and a high-pressure water gun module 5.
Detailed Description
The present invention will be described in more detail with reference to the following embodiments and the accompanying drawings, which are not intended to limit the scope of the present invention.
The utility model discloses obstacle-surmounting wall-climbing robot combined type becomes magnetic force and adsorbs module (refer to fig. 2-9) including lead screw assembly 41 and adsorption component 42, lead screw assembly 41 include: a screw motor 4102, a screw motor reduction gear box 4101, a screw motor brake 4103, a screw motor flange 4104, an A-type belt pulley 4105, a belt 4106, a B-type belt pulley 4107, a B-type belt pulley conical roller bearing 4109, a screw nut 4111, a screw nut conical roller bearing 4114, a screw 4116, a screw nut positioning frame 4117 and a screw 4120.
The lead screw motor brake 4103, the lead screw motor 4102 and the lead screw motor reduction gear box 4101 are sequentially connected, the output end of the lead screw motor reduction gear box 4101 penetrates through a lead screw motor flange 4104, the end part of the lead screw motor reduction gear box 4101 is fixed with the lead screw motor flange, and the side wall of the lead screw motor flange is fixedly connected to a frame of a robot to be installed and is fixed by screws; an A-type belt pulley 4105 is arranged on the output end of the lead screw motor reduction gear box 4101, and the A-type belt pulley 4105 and the B-type belt pulley 4107 are connected and driven through a belt 4106; the A-type belt wheel 4105 is connected with an output shaft of the lead screw motor reduction gear box 4101 in a matched mode through a key to provide power for belt transmission, and one end of a belt is connected to the A-type belt wheel 4105 to play a transmission role.
The lower end of the B-type belt pulley 4107 is provided with a B-type belt pulley lower end boss 4108, a B-type belt pulley conical roller bearing 4109 is sleeved on the outer ring of the B-type belt pulley lower end boss 4108, and the B-type belt pulley lower end boss 4108 is matched and fixed with the inner ring of the B-type belt pulley conical roller bearing 4109; the lead screw 4120 passes through the B-type belt pulley 4107, and the lower part of the lead screw is fixed with the adsorption assembly 42; the lower end of the B-type pulley tapered roller bearing 4109 is in contact with the bottom of the frame of the robot to be installed;
a lead screw nut 4111 is arranged on a lead screw positioned at the upper part of a B-type belt pulley 4107, the lead screw nut comprises an upper cylindrical part and a lower supporting plate, a boss 4112 at the upper end of the lead screw nut is arranged at the upper end of the cylindrical part, a threaded hole 4113 at the lower end of the lead screw nut is arranged on the supporting plate, the upper end of the B-type belt pulley and the supporting plate are fixedly connected together through the threaded hole 4113 at the lower end of the lead screw nut and a screw, and the consistency of the circumferential movement of the B;
a lead screw nut tapered roller bearing 4114 is arranged on the upper part of a lead screw nut upper end boss 4112, and the lead screw nut upper end boss is matched with the inner diameter of the lead screw nut tapered roller bearing; a lead screw nut positioning frame 4117 is integrally sleeved outside a lead screw nut, a lead screw nut conical roller bearing, a B-type belt pulley conical roller bearing 4109 and a B-type belt pulley, the upper end and the lower end of the lead screw adjacent to the lead screw nut positioning frame 4117 are respectively fixed together through the upper end 4115 of the lead screw nut conical roller bearing and the B-type belt pulley conical roller bearing 4109, the lead screw nut can rotate relative to the lead screw nut positioning frame, and the inner space of the lead screw nut positioning frame can only accommodate the size of the assembled components of the lead screw nut, the B-type belt pulley conical roller bearing and the lead screw nut conical roller bearing; the lower end of the lead screw nut positioning frame is fixed with the bottom surface of a frame of the robot to be installed;
the lead screw nut locating rack upper end 4118 of the lead screw nut locating rack 4117 (see fig. 5) is provided with a round hole through which a lead screw passes, the lower part of the lead screw nut locating rack 4117 is provided with lead screw nut locating rack support legs 4119, the inside of the lead screw nut locating rack 4117 contains a B-type belt pulley, the inner wall of the lead screw nut locating rack 4117 is matched with the outer diameter of a lead screw nut conical roller bearing, the upper end of the lead screw nut locating rack is in contact with the upper surface of the lead screw nut conical roller bearing, namely, the upper end of the lead screw nut locating rack is pressed on the upper surface of the lead screw nut conical roller bearing, the lower end of the lead.
The lead screw nut locating rack support leg is fixedly connected with the bottom of a frame of the robot to be installed through a screw, so that circumferential movement of the B-type belt wheel and the lead screw nut is guaranteed, and other movement modes of the lead screw assembly relative to the frame are limited.
The adsorption component 42 is positioned at the outer side of the bottom of the frame of the robot to be installed, and in a normal running state, the adsorption component is at a certain distance from the bottom of the frame; the adsorption assembly 42 includes: yoke 4203, ten first-class permanent magnets 4204, one second-class permanent magnet 4205, two groups of electromagnets 4206, and guide rails 4207; the lower surface of the yoke is provided with a groove for mounting a first-class permanent magnet 4204, a second-class permanent magnet 4205 and an electromagnet, and the center of the yoke is provided with a yoke upper end center threaded hole 4202 connected with a lead screw lower end thread; the second type of permanent magnet is positioned in the center of the yoke, and the center of the second type of permanent magnet is provided with a hole for accommodating a thread 4201 at the lower end of the screw rod; ten first-class permanent magnets are symmetrically arranged along two sides of the length direction of the yoke by taking the second-class magnets as symmetry axes; two groups of electromagnets are symmetrically arranged along two sides of the width direction of the yoke by taking the second-class permanent magnets as axes, and the electromagnets are connected with corresponding fixing screws on the yoke through self-provided central threaded holes to realize the fixed connection; the first-class permanent magnet 4204, the second-class permanent magnet 4205 and the lower surfaces of the electromagnets are equal in height; the lower end of the guide rail is fixedly arranged on the upper surface of the yoke, and the guide rail is matched with a guide rail seat on a robot frame to be mounted so as to ensure the determination of the motion direction of the guide rail, further ensure the accurate motion direction of the adsorption component and realize the up-and-down movement along the guide rail seat.
The lower end of the screw rod is in threaded connection with the upper end of the yoke, so that the adsorption assembly and the screw rod assembly form a whole, the ten first-class permanent magnets and the ten second-class permanent magnets are completely the same in material property and different in size, and are attached to the yoke to provide main adsorption force for the robot, and the two groups of electromagnets 4206 are matched with the fixing screw on the yoke 4203 through the central threaded holes of the electromagnets to form fixed connection so as to provide auxiliary adsorption force for the robot.
The yoke iron is made of high magnetic conductive material, the first-class permanent magnet and the second-class permanent magnet are made of neodymium iron boron material, and the magnetization direction is vertical. The size of a single permanent magnet is 30 × 25 × 30(mm), the size of a second permanent magnet is 60 × 50 × 30(mm), and the radius of the electromagnet is 25mm and the height of the electromagnet is 27 mm. The like magnetic poles of the two types of permanent magnets face downwards or both face upwards.
The operation principle of the combined variable magnetic force adsorption module of the obstacle-crossing wall-climbing robot is as follows: this application adsorption module installs the multiunit in the robot when using, and the robot normally traveles the in-process, and lead screw assembly is in the brake state, and adsorption component is in the decline state, and is less with the wall clearance, provides reliable wall adsorption affinity for the robot. When the robot meets an obstacle, a screw component on a corresponding frame starts to operate, a screw motor drives an A-type belt wheel to rotate, a belt is driven to operate, and then a B-type belt wheel is driven to rotate, the B-type belt wheel and a screw nut move relatively in the circumferential direction, the screw nut performs the same rotating motion, the axial direction of the screw nut is fixed, the screw is driven to lift, after the adsorption component is driven by the screw to lift to a certain height, the screw motor brakes, meanwhile, the adsorption component driven by the screw is reversely magnetized by an electromagnet inside the adsorption component driven by the electromagnet, the adsorption force of a part of first-class permanent magnet and a part of second-class permanent magnet relative to the wall surface is offset, the electromagnet inside the adsorption component not driven is positively magnetized, the required wall surface adsorption force during the operation of the robot is ensured, and a plurality of groups of adsorption. When the frame that a set of absorption module corresponds passes through the obstacle after, lead screw motor reverse operation drives the absorption subassembly and descends to appointed height, and the electro-magnet stops to move, accomplishes this group's frame and hinders the process more.
Examples
The combined variable magnetic force adsorption module of the obstacle-crossing and wall-climbing robot is applied to the obstacle-crossing and wall-climbing robot used on large metal facades such as ships and oil storage tanks. The maximum height of the obstacle on the vertical surface is 100mm, and the friction coefficient is 0.4. Introduction of technical index of robot: the load (additional body) is 50kg, the obstacle crossing height can be 100mm, the device can adapt to a certain wall curvature, and the large metal facade rust removal operation can be completed. Fig. 8-9 are the installation the utility model discloses hinder the working process sketch of climbing wall robot more of an example of climbing wall robot combined type variable magnetic force adsorption module more, the robot in fig. 10 includes three group's frames 1, six group's wheel foot combined type drive module 2, frame connection module 3, three group's combined type variable magnetic force adsorption module 4, a set of high-pressure squirt module 5 that carries on, a set of combined type variable magnetic force adsorption module 4 of installation in every group frame.
The combined variable magnetic force adsorption module comprises an adsorption component and a screw rod component, wherein the screw rod component 41 is fixedly connected with the frame 1 through a flange 4104 and a screw nut positioning frame 4116, the adsorption component 42 is fixedly connected with the screw rod component 41 through the connection of a yoke and a screw 4120, and the adsorption component is connected with the robot frame through the matching of a guide rail 4207 and a guide rail seat 11.
The adsorption assembly includes: yoke 4203, ten first-class permanent magnets 4204, one second-class permanent magnet 4205, two groups of electromagnets 4206, and guide rails 4207; the lower surface of the yoke is provided with a groove for mounting a first-class permanent magnet 4204, a second-class permanent magnet 4205 and an electromagnet, and the center of the yoke is provided with a yoke upper end center threaded hole 4202 connected with a lead screw lower end thread; the second type of permanent magnet is positioned in the center of the yoke, and the center of the second type of permanent magnet is provided with a hole for accommodating a thread 4201 at the lower end of the screw rod; ten first-class permanent magnets are symmetrically arranged along two sides of the length direction of the yoke by taking the second-class magnets as symmetry axes; two groups of electromagnets are symmetrically arranged along two sides of the width direction of the yoke by taking the second type of permanent magnet as an axis; the first-class permanent magnet 4204, the second-class permanent magnet 4205 and the lower surfaces of the electromagnets are equal in height; the lower end of the guide rail is fixedly arranged on the upper surface of the yoke, the guide rail is matched with a guide rail seat at the upper end of the frame of the robot to be installed,
the yoke iron is made of high magnetic conductive material, the first-class permanent magnet and the second-class permanent magnet are made of neodymium iron boron material, and the magnetization direction is vertical, namely vertical to the wall surface. The permanent magnets of one type are 30 × 25 × 30(mm), the permanent magnets of the second type are 60 × 50 × 30(mm), the thickness of a yoke iron between the permanent magnets is 5mm, the electromagnets are suction disc type electromagnets, the radius is 25mm, the height is 27mm, the voltage is 24VDC, the power is 10w, the diameter of an adsorption surface is 22mm, each electromagnet can provide 400N adsorption force according to the maximum distance between the electromagnet and the wall surface, and the weight is only 0.27 kg. The lead screw motor in the lead screw assembly is a graphite brush type servo motor, and can overcome the influence of a magnetic force environment, wherein the rated torque is 0.1 N.m, and the power is 90 w. When the two types of permanent magnets are magnetized, the N poles of all the permanent magnets face the ground, and the S poles of the permanent magnets face the frame.
When the robot walks on a normal vertical plane, the electromagnets are in a stop working state, and each group of permanent magnet combination (namely all permanent magnets on each group of adsorption components, including ten first-class permanent magnets and one second-class permanent magnet) can provide 800N safe adsorption force required by each part of the frame; when the first group of frames cross the obstacle, the two electromagnets on the first group of frames are reversely magnetized so as to reduce the adsorption force of the adsorption component of the whole combined variable magnetic force adsorption module of the first group of frames relative to the wall surface, and meanwhile, in order to prevent the robot from overturning on the wall surface, the two electromagnets on the second group of frames are positively magnetized so as to increase the safety adsorption force required to be provided by the combined variable magnetic force adsorption module to 1500N, and when the robot returns to normal walking, the electromagnets stop working; when the robot is positioned on the wall surface with a larger curvature, the adsorption force of the adsorption component of each group of combined variable magnetic force adsorption modules relative to the wall surface can be adjusted by adjusting the magnetization of the electromagnet according to the distance of each frame relative to the wall surface measured by the sensor, so that the normal operation of the robot is kept; when the distance between the adsorption component of the combined variable magnetic force adsorption module and the wall surface is too large, and the adsorption force index form of the permanent magnet relative to the wall surface is reduced, the screw rod can be adjusted by the screw rod motor to ascend and descend so as to meet the distance between the adsorption component of the combined variable magnetic force adsorption module and the wall surface, and the adsorption force required by the operation of the robot is met.
As shown in fig. 8-9, which are schematic diagrams of the obstacle crossing process of the combined type variable magnetic force adsorption module in this embodiment, in the normal driving process of the robot and the operation process of the water gun, the screw assembly is in a braking state, the adsorption assembly is in a descending state (see fig. 8), and the gap between the adsorption assembly and the wall surface is small, so that reliable wall surface adsorption force is provided for the robot. When the robot meets an obstacle, a screw component on a corresponding frame starts to operate, a screw motor drives an A-type belt wheel to rotate, a belt is driven to operate, and then a B-type belt wheel is driven to rotate, the B-type belt wheel and a screw nut move relatively in the circumferential direction, the screw nut performs the same rotating motion, the axial direction of the screw nut is fixed, the screw is driven to lift, the adsorption component is driven by the screw to lift to a certain height (see figure 9), the screw motor brakes, meanwhile, electromagnets inside the adsorption component driven by the screw are reversely magnetized, the adsorption force of one type of magnets and two types of magnets relative to the wall surface is offset, and electromagnets inside the other two groups of adsorption components are positively magnetized, so that the required wall surface adsorption force during the operation of the robot is ensured. When the vehicle frame of the group passes through the obstacle, the screw motor reversely runs to drive the adsorption assembly to descend to a specified height, and the electromagnet stops running to complete the obstacle crossing process of the vehicle frame of the group. The robot equipped with the adsorption module of the present embodiment can cross an obstacle of 10cm or more.
The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The utility model discloses the nothing is mentioned the part and is applicable to prior art.
Claims (4)
1. The utility model provides a hinder climbing wall robot combined type becomes magnetic force and adsorbs module more, includes lead screw assembly and adsorption component, its characterized in that: the lead screw subassembly include: the device comprises a screw motor, a screw motor reduction gear box, a screw motor brake, a screw motor flange plate, an A-type belt wheel, a belt, a B-type belt wheel tapered roller bearing, a screw nut tapered roller bearing, a lever nut positioning frame and a screw;
the robot comprises a lead screw motor brake, a lead screw motor and a lead screw motor reduction gear box, wherein the lead screw motor brake, the lead screw motor and the lead screw motor reduction gear box are sequentially connected, the output end of the lead screw motor reduction gear box penetrates through a lead screw motor flange, the end part of the lead screw motor reduction gear box is fixed with the lead screw motor flange, and the side wall of the lead screw motor flange is fixedly connected to a frame of a robot to be installed; an A-type belt wheel is arranged at the output end of the reduction gear box of the screw motor, and the A-type belt wheel and the B-type belt wheel are connected and driven through a belt; the lower end of the B-type belt wheel is provided with a B-type belt wheel lower end boss, a B-type belt wheel conical roller bearing is sleeved on the outer ring of the B-type belt wheel lower end boss, and the B-type belt wheel lower end boss is matched and fixed with the inner ring of the B-type belt wheel conical roller bearing; the lead screw penetrates through the B-shaped belt wheel, and the lower part of the lead screw is fixed with the adsorption component; the lower end of the B-type belt wheel tapered roller bearing is contacted with the bottom of a frame of the robot to be installed;
a lead screw nut is arranged on a lead screw positioned at the upper part of the B-type belt wheel, the lead screw nut comprises an upper cylindrical part and a lower supporting plate, a boss at the upper end of the lead screw nut is arranged at the upper end of the cylindrical part, a threaded hole at the lower end of the lead screw nut is arranged on the supporting plate, and the upper end of the B-type belt wheel is fixedly connected with the supporting plate through the threaded hole at the lower end of the lead screw nut;
a lead screw nut tapered roller bearing is arranged on the upper part of a boss at the upper end of the lead screw nut, and the boss at the upper end of the lead screw nut is matched with the inner diameter of the lead screw nut tapered roller bearing; a lead screw nut positioning frame is integrally sleeved outside the lead screw nut, the lead screw nut tapered roller bearing, the B-type belt pulley tapered roller bearing and the B-type belt pulley, and the lead screw nut can rotate relative to the lead screw nut positioning frame; the lower end of the lead screw nut positioning frame is fixed with the bottom surface of a frame of the robot to be installed;
the adsorption assembly includes: the permanent magnet device comprises a yoke iron, an even number of first-class permanent magnets, a second-class permanent magnet, two groups of electromagnets and a guide rail; the lower surface of the yoke is provided with a groove for mounting a first-class permanent magnet, a second-class permanent magnet and an electromagnet, and the center of the yoke is provided with a central threaded hole at the upper end of the yoke, which is connected with the lower end thread of the screw rod; the second type of permanent magnet is positioned at the center of the yoke iron; the first-class permanent magnets are symmetrically arranged along two sides of the length direction of the yoke by taking the second-class magnets as symmetrical axes; two groups of electromagnets are symmetrically arranged along two sides of the width direction of the yoke by taking the second type of permanent magnet as an axis; the lower surfaces of the first-class permanent magnet, the second-class permanent magnet and the electromagnet are equal in height; the lower end of the guide rail is fixedly arranged on the upper surface of the yoke.
2. The combined type variable magnetic force adsorption module according to claim 1, wherein a round hole for a lead screw to penetrate through is formed in the upper end of a lead screw nut positioning frame of the lead screw nut positioning frame, a lead screw nut positioning frame supporting leg is arranged on the lower portion of the lead screw nut positioning frame, a B-type belt wheel is accommodated in the lead screw nut positioning frame, the inner wall of the upper end of the lead screw nut positioning frame is matched with the outer diameter of a lead screw nut tapered roller bearing, and the lower surface of the upper end of the lead screw nut positioning frame is in contact with the upper surface of the lead screw nut tapered.
3. The compound type variable magnetic force adsorption module of claim 1, wherein the number of the first-type permanent magnets is ten, and the ten first-type permanent magnets and the two second-type permanent magnets have the same material property and different size and are attached to the yoke.
4. The compound variable magnetic force adsorption module of claim 1, wherein the yoke is made of high magnetic conductive material, the first and second permanent magnets are made of neodymium iron boron material, and the magnetization direction is vertical; the size of a single permanent magnet is 30 × 25 × 30mm, the size of a second permanent magnet is 60 × 50 × 30mm, and the radius of the electromagnet is 25mm and the height of the electromagnet is 27 mm.
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| CN201921494329.2U CN210500350U (en) | 2019-09-10 | 2019-09-10 | Combined variable magnetic force adsorption module of obstacle-crossing wall-climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434896A (en) * | 2019-09-10 | 2019-11-12 | 河北工业大学 | Barrier-crossing wall-climbing robot combined type variable magnetic force adsorption module |
| CN111530861A (en) * | 2020-05-27 | 2020-08-14 | 厦门佰欧环境智能科技有限公司 | Cleaning robot capable of automatically jumping obstacles |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434896A (en) * | 2019-09-10 | 2019-11-12 | 河北工业大学 | Barrier-crossing wall-climbing robot combined type variable magnetic force adsorption module |
| CN110434896B (en) * | 2019-09-10 | 2024-02-02 | 河北工业大学 | Combined type variable magnetic force adsorption module of obstacle-surmounting wall-climbing robot |
| CN111530861A (en) * | 2020-05-27 | 2020-08-14 | 厦门佰欧环境智能科技有限公司 | Cleaning robot capable of automatically jumping obstacles |
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