CN212500720U - Modular foot type magnetic adsorption wall-climbing robot and safety mechanism - Google Patents
Modular foot type magnetic adsorption wall-climbing robot and safety mechanism Download PDFInfo
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- CN212500720U CN212500720U CN202021252306.3U CN202021252306U CN212500720U CN 212500720 U CN212500720 U CN 212500720U CN 202021252306 U CN202021252306 U CN 202021252306U CN 212500720 U CN212500720 U CN 212500720U
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Abstract
The utility model relates to a sufficient formula magnetism of modularization adsorbs wall climbing robot and safety mechanism belongs to industrial robot technical field. The robot comprises a main frame, a control cabin and a storage battery are installed in the middle of the main frame, third steering gears are installed on the left side and the right side, the third steering gears are connected with first connecting pieces, the front ends of the first connecting pieces are fixedly connected with second connecting pieces which are rotatably connected with output shafts of second steering gears, fifth connecting pieces are connected with the front ends of third connecting pieces connected with the left side and the right side of the second steering gears, output shafts of the first steering gears connected with the fifth connecting pieces are rotatably connected with sixth connecting pieces, safety mechanisms are installed on the bottom surfaces of the sixth connecting pieces, first fixing blocks connected with the sides of the safety mechanisms are rotatably connected with second fixing blocks through connecting arms, the second fixing blocks are rotatably connected with supporting legs on the top ends of electromagnets, the electromagnets can rotate to overturn obstacles with multiple degrees of freedom, and adapt to planes with different curvatures.
Description
Technical Field
The utility model belongs to the technical field of industrial robot, concretely relates to sufficient formula magnetism of modularization adsorbs wall climbing robot.
Background
Petrochemical industry, shipping and oil gas transportation are taken as national economy pillar industry in China, the high-speed development of the economy in China is directly restricted, petrochemical storage tanks, large ships and oil gas pipelines are taken as key equipment of the industry, detection and anticorrosion operation needs to be carried out on the surfaces of the petrochemical storage tanks, the large ships and the oil gas pipelines regularly to ensure the safe operation of the petrochemical storage tanks, the large ships and the oil gas pipelines, at present, the daily maintenance operation is carried out by adopting the traditional manual operation mode at home and abroad, the operation period is long, the economic investment is huge, the life safety of operating personnel is greatly threatened, safety accidents happen frequently, along with the high-speed development of the robot technology, the application of a robot to replace manual work to realize automatic detection and anticorrosion operation becomes the urgent need and development trend of the industry, and therefore, systematic deep research is carried out for wall climbing robots for detection and anticorrosion operation, a plurality of breakthrough achievements are obtained, however, the existing wall climbing robot generally has the problems of poor curvature adaptability, insufficient movement flexibility, incapability of realizing all-dimensional flexible movement and obstacle crossing of a complex variable-curvature working surface and the like, and in addition, when the wall climbing robot has unexpected power loss due to circuit failure or power exhaustion in the climbing process, high-altitude falling possibly occurs, so that property loss and safety risks are caused.
SUMMERY OF THE UTILITY MODEL
To solve the problems set forth in the background art described above. The utility model provides a sufficient formula magnetism of modularization adsorbs wall climbing robot, but the rotatory obstacle that turns over of electro-magnet multi freedom adapts to the plane of different curvatures, and insurance mechanism can make this robot adsorb the climbing face under the power-off state.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a sufficient formula magnetism of modularization adsorbs wall climbing robot, includes the body frame and installs a plurality of modules on the body frame sufficient, its characterized in that: a control cabin (2) and a storage battery (3) are fixedly arranged in the middle of the main frame (1); each module foot comprises a third steering engine (4), a first connecting piece (5), a second connecting piece (6), a second steering engine (7), a third connecting piece (8), a fifth connecting piece (10), a first steering engine (11), a sixth connecting piece (12), a second fixed block (16) and an electromagnet (18),
a third steering engine (4) is fixedly arranged on the main frame (1), an output shaft of the third steering engine (4) is fixedly connected with a first connecting piece (5), the front end of the first connecting piece (5) is fixedly connected with a second connecting piece (6) which is rotatably connected with an output shaft of a second steering engine (7), the left side and the right side of the second steering engine (7) are fixedly connected with a third connecting piece (8), the front end of the third connecting piece (8) is fixedly connected with a fifth connecting piece (10), the fifth connecting piece (10) is fixedly connected with the left side and the right side of a first steering engine (11), and the output shaft of the first steering engine (11) is rotatably connected with a sixth connecting piece (12); the bottom surface fixed mounting of sixth connecting piece (12) has insurance mechanism (13), the side fixedly connected with of insurance mechanism (13) at least one first fixed block (14), first fixed block (14) are rotated through linking arm (15) and are connected second fixed block (16), second fixed block (16) are rotated and are connected supporting leg (17) of fixing on electro-magnet (18) top.
A Bluetooth module and a single chip microcomputer development board are fixedly installed inside the control cabin (2), the single chip microcomputer development board is electrically connected with the third steering engine (4), the second steering engine (7), the first steering engine (11), the electromagnet (18) and the safety mechanism, and the Bluetooth module is electrically connected with the single chip microcomputer development board and is wirelessly connected with a PC end; the storage battery (3) is electrically connected with the electromagnet (18), the third steering engine (4), the second steering engine (7) and the first steering engine (11). The storage battery can be used for electrifying the electromagnet to generate a magnetic field, so that the magnetic force of the electromagnet is adsorbed on the working surface, when the electromagnet is powered off, the magnetic field disappears, and the electromagnet can be easily lifted up to move.
The Bluetooth module is used for wireless network communication between singlechip development board and the PC end, and the user of service sends the instruction of advancing, retreating, turning to from the PC end, transmits to singlechip development board through Bluetooth module, and rethread singlechip development board sends pulse width modulation signal, controls the operation of third steering wheel, second steering wheel, first steering wheel, electro-magnet, insurance mechanism to the realization is to the remote control of the wall climbing motion of robot.
The connecting arm (15) comprises two rectangular boards, one end of each of the two rectangular boards is sleeved on a first rotating shaft, two ends of each first rotating shaft are fixed on first fixing blocks (14), a first torsion spring is installed on the first rotating shaft between the two rectangular boards, a first upper baffle and a first lower baffle are arranged at the upper end and the lower end of each first torsion spring, and the first upper baffles are fixed on the upper surfaces of the opposite surfaces of the two rectangular boards. The first lower baffle is fixed on a first fixed block below the first torsion spring;
a second upper baffle (161), a second torsion spring (162) and a second rotating shaft (163) are arranged on the second fixed block (16), and the second fixed block (16) is rotatably connected with the supporting legs (17) through the second rotating shaft (163);
baffle (171) under the inside wall fixedly connected with second of supporting leg (17), second overhead gage (161) fixed mounting be in on the medial surface of second fixed block (16), second torsional spring (162) fixed suit is on second pivot (163) between second fixed block and supporting leg, and the both ends of second torsional spring support and be in on second overhead gage (161), the second overhead gage (171).
The first fixed block is rotatably connected with the connecting arm through a first rotating shaft; when the electromagnet contacts the curved surface, the first fixing block and the connecting arm can rotate slightly to achieve the purpose of adapting to planes with different curvatures. The second fixed block is rotatably connected with the supporting leg through a second rotating shaft; when the electromagnet contacts the curved surface, the second fixing block and the supporting legs can rotate slightly to achieve the purpose of adapting to different curvature planes.
By adopting the mode that the first torsion spring and the second torsion spring are combined with the first rotating shaft and the second rotating shaft, when the power-off suction force of the adsorption device (electromagnet) on the moving foot which needs to move disappears, the force of the first torsion spring and the second torsion spring can enable the first fixing block and the connecting arm to be naturally opened at a certain angle between the second fixing block and the supporting leg, and the follow-up adsorption and curved surface adaptation are facilitated.
Preferably, the safety mechanism comprises a shell, a safety electromagnet, a spring, a permanent magnet and a limit groove, the limit groove penetrates through the bottom end of the shell, the permanent magnet is slidably mounted inside the shell, the cross section of the permanent magnet is a cylinder with a T-shaped structure, the spring is fixedly mounted on the upper side of the permanent magnet, the safety electromagnet is fixedly mounted above the spring, and the safety electromagnet is electrically connected with the storage battery; when the robot runs, the safety electromagnet always keeps working, the adsorption permanent magnet enables the spring to be extruded to generate elastic energy storage, after the safety electromagnet loses power, the magnetic field of the safety electromagnet disappears, the spring elastically resets and pushes the permanent magnet to move towards the direction of the limiting groove, the T-shaped head of the permanent magnet moves to the outer side of the limiting groove, and the safety and the stability of the robot are guaranteed through the magnetic adsorption climbing surface of the permanent magnet.
Preferably, the first connecting piece, the second connecting piece, the third connecting piece, the fourth connecting piece, the fifth connecting piece and the sixth connecting piece are of U-shaped structures with the same structure size. In the embodiment, the number of the module feet is four, so that the number of the third steering engine, the second steering engine, the first connecting piece, the second connecting piece, the third connecting piece, the fourth connecting piece, the fifth connecting piece and the sixth connecting piece is four. Three electromagnets are uniformly distributed on one safety mechanism along the circumferential direction, and the rotation with multiple degrees of freedom can be realized through the cooperation rotation of the third steering engine, the second steering engine and the first steering engine, and the robot can complete the actions of rotation, translation and the like through the cooperation.
The first connecting piece is perpendicular to the second connecting piece, the third connecting piece (8) and the fifth connecting piece are parallel to the second connecting piece (6), the axis of an output shaft of the third steering engine (4) is perpendicular to the axis of an output shaft of the second steering engine (7), and the output shaft of the first steering engine (11) faces downwards.
The utility model discloses still protect a magnetic adsorption wall climbing robot and use insurance mechanism, insurance mechanism (13) include casing (131), insurance electro-magnet (132), spring (133), permanent magnet (134), and the casing bottom is seted up and is enabled the spacing groove (135) that link up the casing that the permanent magnet front end stretches out, permanent magnet (134) slidable mounting is in the inside of casing (131), permanent magnet (134) upper portion slides and can block in the spacing groove position in the casing, and the lower part can stretch out the spacing groove of casing; the safety electromagnet (132) is fixedly arranged above the inner part of the shell, a spring is fixedly arranged in a shell space between the safety electromagnet and the permanent magnet, and the spring is compressed or extended in a space of the shell space between the safety electromagnet and the permanent magnet; the safety electromagnet (132) is connected with an external power supply.
The permanent magnet (134) is a cylinder with a T-shaped cross section, the safety electromagnet is cylindrical, the size of the safety electromagnet is consistent with that of the inner wall of the shell, the maximum diameter of the permanent magnet is also consistent with that of the inner wall of the shell, and the minimum diameter of the permanent magnet is not larger than that of the limiting groove.
Compared with the prior art, the beneficial effects of the utility model are that:
1) the robot of the utility model adopts a mode of multi-module feet, and each module foot can independently control the corresponding steering engine to work; each foot is provided with a plurality of rotatable joints, the second steering engine and the second connecting piece rotate 7 to realize the up-and-down large-amplitude rotation of the lower part of the module foot, and the third connecting piece is fixedly connected with the second steering engine to enable the part at the lower part of the module foot to integrally rotate along with the rotation of the steering engine; the sixth connecting piece is rotationally connected with the first steering engine, so that the part connected with the safety mechanism can integrally rotate around the axis of the output shaft of the first steering engine; between first fixed block and the linking arm, can rotate relatively between second fixed block and the supporting leg, and then improved the adaptability of robot to the camber, and improved the flexibility of robot.
2) The utility model discloses realize climbing wall control with electro-magnet contact working surface, the battery can produce magnetic field for the electro-magnet circular telegram, makes electro-magnet magnetic force adsorb on working surface, and during the electro-magnet outage, magnetic field disappears, and the electro-magnet can easily lift up the removal. When the electromagnet contacts the curved surface, the first fixing block and the connecting arm can slightly rotate so as to achieve the purpose of adapting to planes with different curvatures; when the electromagnet contacts the curved surface, the second fixing block and the supporting legs can rotate slightly to achieve the purpose of adapting to different curvature planes.
3) The utility model discloses in combine the mode of first pivot, second pivot through adopting first torsional spring, second torsional spring, make the robot remove in needs, adsorption equipment reduces when suction, the power of first torsional spring, second torsional spring can make first fixed block and linking arm, opens certain angle naturally between second fixed block and the supporting leg, more is favorable to follow-up adsorbing and the curved surface adaptation.
4) The utility model discloses the robot is provided with insurance mechanism, and insurance mechanism can be in the same place with the work surface absorption under the electro-magnet loses the electricity condition, prevents that the robot is unexpected after losing the electricity and fall.
5) The utility model discloses in set up insurance mechanism of insurance electro-magnet and permanent magnet form, when this robot moves, insurance electro-magnet remains work throughout, adsorb the permanent magnet and make the spring receive the extrusion and produce the elasticity energy storage, after the insurance electro-magnet loses the electricity, the magnetic field of insurance electro-magnet disappears, spring elasticity resets and promotes the permanent magnet and remove to the direction of spacing groove, the T type head of permanent magnet removes to the outside of spacing groove, through the magnetism adsorption climbing face of self, has guaranteed the security and the stability of robot.
6) The third steering engines, the second steering engines and the first steering engines on the plurality of module feet are matched to rotate, so that the rotation of multiple degrees of freedom can be realized, and the robot can complete the actions of rotation, translation and the like in a matching manner; the Bluetooth module is used for wireless network communication between singlechip and the PC end, and the user of service sends the instruction of advancing, retreating, turning to from the PC end, transmits to the singlechip through Bluetooth module, and the rethread singlechip sends pulse width modulation signal, controls the operation of third steering wheel, second steering wheel, first steering wheel, electro-magnet, insurance electro-magnet to the realization is to the remote control of the wall climbing motion of robot.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the first fixing block, the connecting arm, the second fixing block and the supporting leg of the present invention;
fig. 3 is a schematic sectional view of the safety mechanism of the present invention;
FIG. 4 is a movement flow chart of the present invention;
in the figure: 1. a main frame; 2. a control cabin; 3. a storage battery; 4. a third steering engine; 5. a first connecting member; 6. a second connecting member; 7. a second steering engine; 8. a third connecting member; 9. a fourth connecting member; 10. a fifth connecting member; 11. a first steering engine; 12. a sixth connecting member; 13. a safety mechanism; 14. a first fixed block; 15. a connecting arm; 16. a second fixed block; 17. supporting legs; 18. an electromagnet; 131. a housing; 132. a safety electromagnet; 133. a spring; 134. a permanent magnet; 135. a limiting groove; 141. a first lower baffle; 142. a first rotating shaft; 143. a first torsion spring; 151. a first upper baffle; 161. a second upper baffle; 162. a second torsion spring; 163. a second rotating shaft; 171. a second lower baffle.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
Referring to fig. 1-4, the present invention provides the following technical solutions: a modularized foot type magnetic adsorption wall climbing robot comprises a main frame 1, wherein a control bin 2 and a storage battery 3 are fixedly mounted in the middle of the main frame 1, four module feet are shared in the embodiment, and each module foot comprises a third steering engine (4), a first connecting piece (5), a second connecting piece (6), a second steering engine (7), a third connecting piece (8), a fifth connecting piece (10), a first steering engine (11), a sixth connecting piece (12), a second fixing block (16) and an electromagnet (18); the four module feet are arranged symmetrically left and right;
the third steering engine 4 is fixed on the main frame, an output shaft of the third steering engine 4 is fixedly connected with a first connecting piece 5, the first connecting piece 5 is U-shaped, the U-shaped closed end of the first connecting piece 5 is fixedly connected with a second connecting piece 6 which is rotatably connected with an output shaft of a second steering engine 7, and the U-shaped open end of the first connecting piece 5 is fixedly connected with an output shaft of the third steering engine;
the left side surface and the right side surface of the second steering engine 7 are fixedly connected with a third connecting piece 8, the front end of the third connecting piece 8 is fixedly connected with a fifth connecting piece 10, the fifth connecting piece 10 is also U-shaped, the U-shaped open end of the fifth connecting piece 10 is fixedly connected with the left side surface and the right side surface of the first steering engine 11, and the U-shaped closed end of the fifth connecting piece 10 is fixedly connected with the U-shaped closed end of the third connecting piece 8; an output shaft of the first steering engine 11 is rotatably connected with a U-shaped open end of a sixth connecting piece 12, the output shaft of the first steering engine faces downwards, and a safety mechanism 13 used for being adsorbed to a working surface when power is lost is fixedly arranged on the lower surface of a U-shaped closed end of the sixth connecting piece 12;
the side of the safety mechanism 13 is fixedly connected with a plurality of first fixed blocks 14, three first fixed blocks are arranged in the figure, the first fixed blocks 14 are rotatably connected with a second fixed block 16 through connecting arms 15, and the second fixed block 16 is rotatably connected with supporting legs 17 at the top ends of electromagnets 18. The distance from the safety mechanism to the working face is larger than the distance from the electromagnet to the working face, and when the electromagnet is adsorbed on the wall face, the safety mechanism does not adsorb the working face. When the electromagnet is powered off, the extending distance of the permanent magnet in the safety mechanism can be just fixed with the working surface in an adsorption manner.
In this embodiment: the model of the singlechip is STM32F4 series.
In this embodiment: the model of the Bluetooth module is an HM-10 module.
In this embodiment: the model of all steering engines is RDS 3115.
Specifically, the storage battery 3 is electrically connected to the electromagnet 18; the storage battery 3 can be used for electrifying the electromagnet 18 to generate a magnetic field, so that the magnetic force of the electromagnet 18 is absorbed on the working surface, when the electromagnet 18 is powered off, the magnetic field disappears, and the electromagnet 18 can be easily lifted and moved.
Specifically, a groove for installing the connecting arm is formed in the first fixing block 14, a first rotating shaft is fixed to two side walls of the groove through holes, a first lower baffle 141 is fixed to the bottom of the groove, the connecting arm is composed of two strip-shaped plates, one end of each of the two strip-shaped plates is provided with a hole, the connecting arm penetrates through the first rotating shaft and is limited in the groove, a first torsion spring 143 is sleeved on the first rotating shaft 142 located between the two strip-shaped plates, the lower free end of the first torsion spring abuts against the first lower baffle 141, the upper free end of the first torsion spring abuts against a first upper baffle 151 on the first torsion spring, and the first upper baffle 151 is fixed to the inner sides of.
The first fixed block 14 is rotatably connected with the connecting arm 15 through a first rotating shaft 142; when the electromagnet 18 contacts the curved surface, the first fixed block 14 and the connecting arm 15 can slightly rotate so as to adapt to planes with different curvatures.
Specifically, the other ends of the two strip-shaped plates are connected together in a closed manner and fixed with the second fixing block 16.
The first lower baffle 141 is fixedly mounted on the inner side surface of the first fixed block 14, the second fixed block 16 is provided with a second upper baffle 161, a second torsion spring 162 and a second rotating shaft 163, and the second fixed block 16 is rotatably connected with the support legs 17 through the second rotating shaft 163; when the electromagnet 18 contacts with the curved surface, the second fixing block 16 and the supporting leg 17 can slightly rotate so as to achieve the purpose of adapting to planes with different curvatures.
Specifically, the inner side wall of the support leg 17 is fixedly connected with a second lower baffle 171, the second upper baffle 161 is fixedly mounted on the inner side surface of the second fixed block 16, and the second torsion spring 162 is fixedly mounted between the second upper baffle 161 and the second lower baffle 171 and outside the second rotating shaft 163; by adopting the first torsion spring 143 and the second torsion spring 162 in combination with the first rotating shaft 142 and the second rotating shaft 163, when the robot needs to move and the suction force of the adsorption device is reduced, the force of the first torsion spring 143 and the second torsion spring 162 can enable the first fixing block 14 and the connecting arm 15 to be naturally opened at a certain angle between the second fixing block 16 and the supporting leg 17, thereby being beneficial to subsequent adsorption and curved surface adaptation.
Specifically, the safety mechanism 13 includes a housing 131, a safety electromagnet 132, a spring 133, a permanent magnet 134, and a limit groove 135, the limit groove 135 penetrates through the bottom end of the housing 131, the permanent magnet 134 is slidably mounted inside the housing 131, the permanent magnet 134 is a cylinder with a T-shaped cross section, the spring 133 is fixedly mounted on the upper side of the permanent magnet 134, the safety electromagnet 132 is fixedly mounted above the spring 133, and the safety electromagnet 132 is electrically connected to the battery 3; when the robot runs, the safety electromagnet 132 always works, the adsorption permanent magnet 134 enables the spring 133 to be extruded to generate elastic energy storage, after the safety electromagnet 132 loses power, the magnetic field of the safety electromagnet 132 disappears, the spring 133 elastically resets and pushes the permanent magnet 134 to move towards the direction of the limiting groove 135, the T-shaped head of the permanent magnet 134 moves to the outer side of the limiting groove 135, and the safety and the stability of the robot are guaranteed through the magnetic adsorption climbing surface of the permanent magnet 134.
Specifically, battery 3 electric connection third steering wheel 4, second steering wheel 7, first steering wheel 11, first connecting piece 5, second connecting piece 6, third connecting piece 8, fourth connecting piece 9, fifth connecting piece 10, sixth connecting piece 12 are the same U type structure of structure size. In the process of moving the robot, firstly, the electromagnet 18 is lifted by a certain distance through the first steering engine 11 and the second steering engine 7 to cross the obstacle, and then the first connecting piece 5, the second connecting piece 6, the second steering engine 7, the third connecting piece 8, the fourth connecting piece 9, the fifth connecting piece 10, the first steering engine 11, the sixth connecting piece 12, the safety mechanism 13 and the electromagnet 18 are integrally rotated through the third steering engine 4, so that the obstacle turning displacement is realized.
Specifically, a bluetooth module and a development board based on a single chip microcomputer are fixedly installed inside the control cabin 2, the development board installed inside the control cabin 2 is electrically connected with the third steering engine 4, the second steering engine 7, the first steering engine 11, the electromagnet 18 and the safety electromagnet 132, and the bluetooth module installed inside the control cabin 2 is electrically connected with the development board and wirelessly connected with a PC (personal computer) end; the Bluetooth module is used for wireless network communication between singlechip and the PC end, and the user of service sends the instruction of advancing, retreating, turning to from the PC end, transmits to the singlechip through Bluetooth module, and the rethread singlechip sends pulse width modulation signal, controls the operation of third steering wheel 4, second steering wheel 7, first steering wheel 11, electro-magnet 18, insurance electro-magnet 132 to the realization is to the remote control of the wall climbing motion of robot.
The utility model discloses a theory of operation and use flow: the user passes through PC end to bluetooth module output motion instruction in the control storehouse 2, and bluetooth module transmits control signal to the singlechip, and the rethread singlechip sends pulse width modulation signal, and the singlechip outputs motion control signal and changes the electric current of electro-magnet 18, controls the operation of third steering wheel 4, second steering wheel 7, first steering wheel 11, insurance electro-magnet 132 simultaneously, and insurance electro-magnet 132 keeps working all the time this moment, adsorbs permanent magnet 134 and makes spring 133 receive the extrusion and produce the elasticity energy storage. The extension distance of the permanent magnet is related to factors such as the attraction force of the permanent magnet, the elastic force of the spring, the distance from the permanent magnet to the working surface and the like, and is set according to actual conditions.
When the obstacle crossing is carried out, the single chip microcomputer outputs a motion control signal to change the current of three electromagnets 18 on the right side of the front end of the robot, so that connecting pieces and steering gears on the electromagnets 18 can move, then the single chip microcomputer continuously controls a first steering gear 11 and a second steering gear 7 on the electromagnets 18 to operate, so that the electromagnets 18 are lifted by a large angle, and the motion state of the robot is shown in a graph 4-II; then a third steering gear 4 connected with the electromagnet 18 operates to enable a first connecting piece 5 connected with the front end of the third steering gear 4 to drive a second connecting piece 6, a second steering gear 7, a third connecting piece 8, a fourth connecting piece 9, a fifth connecting piece 10, a first steering gear 11, a sixth connecting piece 12, a safety mechanism 13, the electromagnet 18 and the like to rotate for a certain angle, obstacle crossing is completed forwards, and the motion state of the robot is shown in fig. 4-third; then the second steering engine 7 and the first steering engine 11 rotate reversely in sequence, so that the bottom surface of the electromagnet 18 contacts with the climbing surface and is electrically adsorbed, and the motion state of the robot is shown in a figure 4-a; when the electromagnet 18 contacts the curved surface, the first fixing block 14 and the connecting arm 15, and the second fixing block 16 and the supporting leg 17 slightly rotate, so that the bottom surface of the electromagnet 18 can better fit the curved surface, and after the electromagnet 18 is lifted, the force of the first torsion spring 143 and the second torsion spring 162 can enable the first fixing block 14 and the connecting arm 15, and the force of the second torsion spring 162 to naturally open a certain angle between the second fixing block 16 and the supporting leg 17, which is beneficial to subsequent adsorption and curved surface adaptation; then the electromagnet 18 on the right side of the rear end of the robot, connecting pieces on the electromagnet 18 and a steering engine continue to sequentially operate, and the motion state is shown in fig. 4-sixthly; then a first steering engine 11 and a second steering engine 7 on the electromagnet 18 on the left side of the rear end of the robot operate to lift the electromagnet 18 by a large angle, and the motion state of the robot is shown as 4-c; then the third steering engine 4 at the front end of the robot and the third steering engine 4 at the right side of the rear end rotate reversely, so that the main frame 1 moves forwards, and the motion state of the robot is shown as fig. 4-b; finally, the second steering engine 7 and the first steering engine 11 on the electromagnet 18 on the left side of the rear end of the robot rotate reversely in sequence, so that the bottom surface of the electromagnet 18 contacts with the climbing surface and is electrically adsorbed, and the motion state of the robot is shown in a figure 4-first; so make this robot remove on climbing the face, after insurance electro-magnet 132 loses the electricity, insurance electro-magnet 132's magnetic field disappears, spring 133 elasticity resets and promotes permanent magnet 134 and remove to spacing groove 135's direction, and permanent magnet 134's T type head removes to spacing groove 135's the outside, through the magnetism adsorption climbing face of self, has guaranteed robot's security and stability.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
The utility model discloses the nothing is mentioned the part and is applicable to prior art.
Claims (9)
1. The utility model provides a sufficient formula magnetism of modularization adsorbs wall climbing robot, includes the body frame and installs a plurality of modules on the body frame sufficient, its characterized in that: a control cabin (2) and a storage battery (3) are fixedly arranged in the middle of the main frame (1); each module foot comprises a third steering engine (4), a first connecting piece (5), a second connecting piece (6), a second steering engine (7), a third connecting piece (8), a fifth connecting piece (10), a first steering engine (11), a sixth connecting piece (12), a second fixed block (16) and an electromagnet (18),
a third steering engine (4) is fixedly arranged on the main frame (1), an output shaft of the third steering engine (4) is fixedly connected with a first connecting piece (5), the front end of the first connecting piece (5) is fixedly connected with a second connecting piece (6) which is rotatably connected with an output shaft of a second steering engine (7), the left side and the right side of the second steering engine (7) are fixedly connected with a third connecting piece (8), the front end of the third connecting piece (8) is fixedly connected with a fifth connecting piece (10), the fifth connecting piece (10) is fixedly connected with the left side and the right side of a first steering engine (11), and the output shaft of the first steering engine (11) is rotatably connected with a sixth connecting piece (12); the bottom surface fixed mounting of sixth connecting piece (12) has insurance mechanism (13), the side fixedly connected with of insurance mechanism (13) at least one first fixed block (14), first fixed block (14) are rotated through linking arm (15) and are connected second fixed block (16), second fixed block (16) are rotated and are connected supporting leg (17) of fixing on electro-magnet (18) top.
2. The modular foot-type magnetic adsorption wall-climbing robot of claim 1, wherein: a Bluetooth module and a single chip microcomputer development board are fixedly installed inside the control cabin (2), the single chip microcomputer development board is electrically connected with the third steering engine (4), the second steering engine (7), the first steering engine (11), the electromagnet (18) and the safety mechanism, and the Bluetooth module is electrically connected with the single chip microcomputer development board and is wirelessly connected with a PC end; the storage battery (3) is electrically connected with the electromagnet (18), the third steering engine (4), the second steering engine (7) and the first steering engine (11).
3. The modular foot-type magnetic adsorption wall-climbing robot of claim 1, wherein: the connecting arm (15) is composed of two strip plates, one end of each strip plate is sleeved on a first rotating shaft, two ends of each first rotating shaft are fixed on first fixing blocks (14), a first torsion spring is installed on the first rotating shaft between the two strip plates, a first upper baffle and a first lower baffle are arranged at the upper end and the lower end of each first torsion spring, the first upper baffles are fixed on the upper surfaces of the opposite surfaces of the two strip plates, and the first lower baffles are fixed on the first fixing blocks below the first torsion springs;
a second upper baffle (161), a second torsion spring (162) and a second rotating shaft (163) are arranged on the second fixed block (16), and the second fixed block (16) is rotatably connected with the supporting legs (17) through the second rotating shaft (163);
baffle (171) under the inside wall fixedly connected with second of supporting leg (17), second overhead gage (161) fixed mounting be in on the medial surface of second fixed block (16), second torsional spring (162) fixed suit is on second pivot (163) between second fixed block and supporting leg, and the both ends of second torsional spring support and be in on second overhead gage (161), the second overhead gage (171).
4. The modular foot-type magnetic adsorption wall-climbing robot of claim 1, wherein: the safety mechanism (13) comprises a shell (131), a safety electromagnet (132), a spring (133) and a permanent magnet (134), a limiting groove (135) penetrating through the shell is formed in the bottom end of the shell, the permanent magnet (134) is slidably mounted inside the shell (131), the permanent magnet (134) is a cylinder with a T-shaped cross section, and the spring (133) is fixedly mounted on the upper side of the permanent magnet (134); the safety electromagnet (132) is fixedly arranged above the spring (133), and the safety electromagnet (132) is electrically connected with the storage battery (3).
5. The modular foot-type magnetic adsorption wall-climbing robot of claim 4, wherein: the safety electromagnet is cylindrical, the size of the safety electromagnet is consistent with that of the inner wall of the shell, the maximum diameter of the permanent magnet is also consistent with that of the inner wall of the shell, and the minimum diameter of the permanent magnet is not larger than that of the limiting groove.
6. The modular foot-type magnetic adsorption wall-climbing robot of claim 1, wherein: the first connecting piece (5), the second connecting piece (6), the third connecting piece (8), the fourth connecting piece (9), the fifth connecting piece (10) and the sixth connecting piece (12) are of U-shaped structures with the same structure and size.
7. The modular foot-type magnetic adsorption wall-climbing robot of claim 1, wherein: the first connecting piece is perpendicular to the second connecting piece, the third connecting piece (8) and the fifth connecting piece are parallel to the second connecting piece (6), the axis of an output shaft of the third steering engine (4) is perpendicular to the axis of an output shaft of the second steering engine (7), and the output shaft of the first steering engine (11) faces downwards.
8. The safety mechanism for the magnetic adsorption wall-climbing robot is characterized in that the safety mechanism (13) comprises a shell (131), a safety electromagnet (132), a spring (133) and a permanent magnet (134), wherein a limiting groove (135) which penetrates through the shell and enables the front end of the permanent magnet to extend out is formed in the bottom end of the shell, the permanent magnet (134) is slidably mounted inside the shell (131), the upper part of the permanent magnet (134) slides in the shell and can be clamped in the position of the limiting groove, and the lower part of the permanent magnet can extend out of the limiting groove of the shell; the safety electromagnet (132) is fixedly arranged above the inner part of the shell, a spring is fixedly arranged in a shell space between the safety electromagnet and the permanent magnet, and the spring is compressed or extended in a space of the shell space between the safety electromagnet and the permanent magnet; the safety electromagnet (132) is connected with an external power supply.
9. The safety mechanism according to claim 8, characterized in that the permanent magnet (134) is a cylinder with a T-shaped cross section, the safety electromagnet is a cylinder with a size consistent with the size of the inner wall of the housing, the maximum diameter of the permanent magnet is consistent with the size of the inner wall of the housing, and the minimum diameter of the permanent magnet is not larger than the minimum diameter of the limiting groove.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460187A (en) * | 2021-07-20 | 2021-10-01 | 河海大学常州校区 | Climbing detection robot |
| CN113517651A (en) * | 2021-09-14 | 2021-10-19 | 国网山东省电力公司莒县供电公司 | Wireless sensor type cable trench comprehensive early warning device and method |
| CN114670945A (en) * | 2022-03-28 | 2022-06-28 | 中国铁建重工集团股份有限公司 | Wall-climbing robot and wall-climbing robot walking method |
| CN115285248A (en) * | 2022-08-25 | 2022-11-04 | 东北电力大学 | Automatic inspection robot for wind power plant |
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2020
- 2020-07-01 CN CN202021252306.3U patent/CN212500720U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460187A (en) * | 2021-07-20 | 2021-10-01 | 河海大学常州校区 | Climbing detection robot |
| CN113517651A (en) * | 2021-09-14 | 2021-10-19 | 国网山东省电力公司莒县供电公司 | Wireless sensor type cable trench comprehensive early warning device and method |
| CN114670945A (en) * | 2022-03-28 | 2022-06-28 | 中国铁建重工集团股份有限公司 | Wall-climbing robot and wall-climbing robot walking method |
| CN114670945B (en) * | 2022-03-28 | 2023-08-18 | 中国铁建重工集团股份有限公司 | Wall climbing robot and wall climbing robot walking method |
| CN115285248A (en) * | 2022-08-25 | 2022-11-04 | 东北电力大学 | Automatic inspection robot for wind power plant |
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