CN213442829U

CN213442829U - Wheel type wall-climbing robot with adjustable adsorption force

Info

Publication number: CN213442829U
Application number: CN202022024058.3U
Authority: CN
Inventors: 董承儒
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-09-16
Filing date: 2020-09-16
Publication date: 2021-06-15
Anticipated expiration: 2030-09-16

Abstract

The utility model belongs to the technical field of wall climbing robot and specifically relates to a wheeled wall climbing robot of adsorption affinity adjustable, including two walking units, walking unit both ends are equipped with walking magnetic wheel, walking unit middle part is equipped with the connecting rod, and the connecting rod on two walking units is articulated to link to each other be equipped with the walking motor in walking unit's the casing, and the walking magnetic wheel rotates through the walking motor drive that corresponds the side, be equipped with adjusting motor, cam and tile shape magnetic path in the walking unit, just the cam install in on adjusting motor's the output shaft, tile shape magnetic path with the cam links firmly, walking unit casing downside is equipped with the opening, just tile shape magnetic path swing to the below by the adsorption affinity is the biggest when the opening exposes, tile shape magnetic path is upwards swung and is minimum when getting into walking unit casing completely. The utility model discloses utilize the swing of tile shape magnetic path to change its adsorption area, and then realize that the adsorption affinity is adjusted.

Description

Wheel type wall-climbing robot with adjustable adsorption force

Technical Field

The utility model relates to a wall climbing robot, specifically speaking are wheeled wall climbing robot of adsorption affinity adjustable.

Background

The wall climbing robot can climb on perpendicular wall and accomplish relevant operation, and the adsorption mode that the wall climbing robot was used often mainly includes negative pressure adsorption and magnetic adsorption, because permanent magnetism adsorbs has that adsorption affinity is big, does not need characteristics such as power drive, and the wall climbing robot in ferromagnetic material environment uses the permanent magnet as adsorption equipment mostly. The moving mechanism of the wall climbing robot mainly comprises wheels, feet and a crawler type, wherein the wheel type robot is convenient to adjust, the application is wide, the magnetic wheels are mainly used for realizing adsorption as wheels, if the Chinese utility model with the publication number of CN209274759U is disclosed, the wall climbing robot comprises two walking units which are hinged and connected through connecting rods, the walking wheels on two sides of each walking unit are in contact with a working surface, adsorption units are arranged on the walking wheels, the wall climbing robot can walk on the working surface by rolling the walking wheels on the working surface, and the adsorption units are arranged on the walking wheels, so that the adsorption units are closer to the working surface, the adsorption force is favorably increased, but the wall climbing robot only depends on the walking wheels to realize adsorption at present, once the load is too large, the adsorption force can not be adjusted according to actual needs, and the load can only be reduced.

The common adsorption force adjusting mechanism in the prior art is mainly realized by changing the distance between a magnetic block and a wall surface, for example, a wheel type obstacle crossing mechanism for a wall climbing robot with adjustable magnetic adsorption force is disclosed in the Chinese invention patent with the publication number of CN101947778B, the size of the adsorption force is adjusted by mainly changing the distance between the adsorption mechanism and the wall surface through lifting and lowering, in addition, a robot with the adsorption force adjusted by changing a resistance mode is also used, for example, a crawler type wall climbing robot with adjustable adsorption force is disclosed in the Chinese invention patent with the application publication number of CN107487391A, the size of the resistance connected into a series circuit is changed through a self-designed sliding rheostat structure, and the purpose of adjusting the adsorption force is further realized.

At present, the magnetic adsorption type wall climbing robot usually adopts an integral annular strong magnet as a wheel or utilizes magnets in shapes of column, strip and the like to be uniformly distributed on the wheel body or a track according to the circumferential direction for realizing adsorption, but along with the technical development, a structure for increasing the adsorption force by utilizing tile-shaped or fan-shaped magnetic blocks also appears in the prior art, for example, a novel magnetic adsorption type wall climbing wheel and a wall climbing robot are disclosed in the Chinese utility model with the granted publication number of CN205800646U, a driving wheel of the wall climbing robot is arranged on a power shaft, a tile-shaped magnet is arranged below the power shaft, the tile-shaped magnet is arranged inside a synchronous track, the driving wheel, a transmission belt gear and an external synchronous track on the left side and the right side of the wall climbing robot are all in synchronous rotation, the tile-shaped magnet inside the wall climbing robot is not rotated in relative rest, but the tile-shaped magnet in the patent is fixedly arranged below the power shaft, the effect is only in order to increase the adsorption power, although this patent can realize that the adsorption power is adjusted, its regulation mode is realized through inside and outside half length, width or material etc. that changes tile shape magnet, also realizes through changing the tile shape magnet of different shapes materials promptly, need install again, and the operation is more loaded down with trivial details. If also disclose a transition surface wall climbing magnetism in the chinese utility model patent of grant notice No. CN210063189U and inhale walking chassis device of robot, it is equipped with magnetism adsorption unit I in the universal wheel both sides, is equipped with magnetism adsorption unit ii in the internal cavity of car bottom symmetry, and wherein magnetism adsorption unit I passes through the connecting plate and corresponds with the wheel carrier of universal wheel and links firmly, and magnetism adsorption unit ii corresponds with the internal cavity of car side wall and links firmly, and magnetism adsorption unit I and magnetism adsorption unit ii are the sector ring of 120 ± 10 central angle, but the sector magnetic path among the above-mentioned wall climbing robot is adorned on wheel carrier or automobile body admittedly, and its effect is only for realizing the transition surface wall climbing to do not have the adjustment adsorption affinity function.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a wheel-type wall climbing robot of adsorption affinity adjustable utilizes the swing of tile-shaped magnetic path to change its adsorption area, and then realizes that the adsorption affinity is adjusted.

The purpose of the utility model is realized through the following technical scheme:

the utility model provides an adsorption affinity adjustable wheeled wall climbing robot, includes two walking units, the walking unit both ends are equipped with walking magnetic wheel, walking unit middle part is equipped with the connecting rod, and the connecting rod on two walking units is articulated links to each other be equipped with the walking motor in the casing of walking unit, and the walking magnetic wheel rotates through the walking motor drive that corresponds the side, be equipped with adjusting motor, cam and tile-shaped magnetic path in the walking unit, just the cam install in on adjusting motor's the output shaft, tile-shaped magnetic path with the cam links firmly, walking unit casing downside is equipped with the opening, just tile-shaped magnetic path swing to the undermost by adsorption affinity is the biggest when the opening exposes, tile-shaped magnetic path luffing motion is minimum when getting into walking unit casing completely.

The adjusting motor is arranged in the middle of the shell of the walking unit and is arranged between the two walking motors.

The length of one side of the tile-shaped magnetic block is greater than that of the other side of the tile-shaped magnetic block.

The long end one side of tile shape magnetic path is close to walking unit casing downside opening, the scraper blade subassembly includes scraper blade, scraper blade seat and spring, wherein the scraper blade seat is adorned admittedly on walking unit casing inner wall, just be equipped with the scraper blade slide in the scraper blade seat, the scraper blade rear portion and the spring is all located in the scraper blade slide, just the spring passes through the scraper blade rear end is supported and is in compression state all the time, the scraper blade front end stretch out outside the scraper blade seat and with all the time tile shape magnetic path surface offsets.

One end of the tile-shaped magnetic block, which is close to the scraper component, is provided with a transition cambered surface.

The tile-shaped magnetic blocks in the two walking units are symmetrically arranged, and the outer ends of the tile-shaped magnetic blocks are long ends.

The utility model discloses an advantage does with positive effect:

1. the utility model discloses an all be equipped with wobbling tile-shaped magnetic path in every walking unit, can drive the swing of tile-shaped magnetic path and change its adsorption area according to actual need, and then realize that the adsorption affinity is adjusted, use more in a flexible way, avoid the robot to break away from the wall because of the adsorption affinity is not enough.

2. The utility model discloses be equipped with the scraper blade subassembly in walking unit casing and be used for scraping tile shape magnetic path surface adsorption's impurity, guarantee the normal operating of robot.

Drawings

Figure 1 is a perspective view of the present invention,

figure 2 is an exploded view of the walking unit of figure 1,

figure 3 is a cross-sectional view of the walking unit of figure 1,

figure 4 is a view a-a of figure 3,

figure 5 is an enlarged view at B in figure 4,

FIG. 6 is a schematic diagram showing the first oscillating state of the tile-shaped magnetic block in FIG. 4,

figure 7 is an enlarged view at C of figure 6,

FIG. 8 is a schematic diagram of a second oscillating state of the tile-shaped magnetic block in FIG. 4,

figure 9 is an enlarged view at D of figure 8,

fig. 10 is an internal sectional view of two walking units of fig. 1.

The device comprises a walking unit 1, a cover plate 101, an opening 102, a walking magnetic wheel 2, a connecting rod 3, a hinge shaft 4, a walking motor 5, an adjusting motor 6, a cam 7, a tile-shaped magnetic block 8, a transition arc surface 801, a scraper seat 9, a spring 10 and a scraper 11.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1-10, the utility model discloses a two

walking units

1, 1 both ends of walking unit are equipped with walking

magnetic wheel

2, 1 middle part of walking unit is equipped with the curved connecting rod 3 of arc, and the connecting rod 3 on two walking units 1 realizes articulated linking to each other through hinge 4, as shown in fig. 2 it drives respectively to correspond the walking magnetic wheel 2 rotation realization walking that inclines to be equipped with walking motor 5 in walking unit 1's the casing. The above structure is well known in the art, and the structure of the present invention is the same as that of the patent with the publication number CN 209274759U.

As shown in fig. 3 to 10, an adjusting motor 6, a cam 7 and a tile-shaped magnetic block 8 are arranged in the traveling unit 1, the cam 7 is mounted on an output shaft of the adjusting motor 6, the tile-shaped magnetic block 8 is fixedly connected with the cam 7, the adjusting motor 6 drives the tile-shaped magnetic block 8 to swing through the cam 7, an opening 102 is arranged at the lower side of a casing of the traveling unit 1, the tile-shaped magnetic block 8 is exposed from the opening 102 when swinging to the lowest position, an adsorption force is generated between the tile-shaped magnetic block 8 and a creeping wall surface at the time, and the generated adsorption force is also the largest because the adsorption area of the tile-shaped magnetic block 8 is the largest at the time, as shown in fig. 8, when the tile-shaped magnetic block 8 swings upwards and completely enters the casing of the traveling unit 1 in an approximately vertical state, the lower end of the tile-shaped magnetic block 8 is relatively far from the creeping wall surface and has, therefore as shown in fig. 4, fig. 6 and fig. 8, the utility model discloses utilize the drive of adjusting motor 6 the swing of tile-shaped magnetic path 8, and then change 8 adsorption areas of tile-shaped magnetic path, realize that the adsorption affinity is adjusted. The tile-shaped magnetic block 8 is a known technology in the art, and the adjusting motor 6 is a deceleration servo motor, so that the purpose of controlling the rotation angle can be achieved through a control system of the robot, which is also a known technology in the art. In addition, the distance between the tile-shaped magnetic block 8 and the wall surface when the tile-shaped magnetic block swings needs to be ensured not to influence the normal moving operation of the walking unit.

As shown in fig. 3, the adjusting motor 6 is arranged in the middle of the shell of the walking unit 1 and between the two walking motors 5, as shown in fig. 2, a cover plate 101 is arranged on the upper side of the shell of the walking unit 1, and the cover plate 101 is covered after all the motors and related components are installed in sequence during installation to realize the sealing of the walking unit 1.

As shown in fig. 3 to 10, the length of one side of the tile-shaped magnetic block 8 is greater than the length of the other side, that is, the tile-shaped magnetic block 8 is eccentrically arranged, so that the maximum adsorption area (maximum adsorption force) of the tile-shaped magnetic block 8 at the lowest position can be ensured, and the tile-shaped magnetic block 8 can completely enter the walking unit 1.

As shown in fig. 3-9, a scraper component is arranged on one side of the long end of the tile-shaped magnetic block 8, close to the opening 102 on the lower side of the shell of the walking unit 1, and used for scraping impurities adsorbed on the surface of the tile-shaped magnetic block 8, the scraper component comprises a scraper 11, a scraper seat 9 and a spring 10, wherein the scraper seat 9 is fixedly installed on the inner wall of the shell of the walking unit 1, a scraper slideway is arranged in the scraper seat 9, the rear portion of the scraper 11 and the spring 10 are all arranged in the scraper slideway, the spring 10 is in a compressed state all the time through the abutment of the rear end of the scraper 11, and the front end of the scraper 11 extends out of the scraper seat 9 and is always abutted against the surface of the tile. As shown in fig. 5, 7 and 9, the tile-shaped magnetic block 8 always abuts against the scraper 11 in the swing process to scrape off impurities adsorbed on the surface of the tile-shaped magnetic block 8, the scraper 11 is stretched to adapt to the surface of the tile-shaped magnetic block 8 by compressing the spring 10, and is guaranteed not to be separated from the tile-shaped magnetic block 8, in addition, the spring 10 needs to guarantee enough compression elasticity to abut against the scraper 20, and the scraper 20 is guaranteed to scrape off and separate the impurities, and as the scraper 11 is plate-shaped, a plurality of groups of springs 10 can be arranged in the scraper slide way.

As shown in fig. 5, in order to ensure that the front end of the scraper 11 always abuts against the surface of the tile-shaped magnetic block 8, an edge of one end of the tile-shaped magnetic block 8, which is close to the scraper assembly, is ground to form a transition arc surface 801, so as to prevent the edge of the tile-shaped magnetic block 8 from being clamped with the scraper 11.

As shown in fig. 10, the tile-shaped magnetic blocks 8 in the two walking units 1 are symmetrically arranged, the outer ends of the tile-shaped magnetic blocks 8 are both longer ends, and the tile-shaped magnetic block 8 of each walking unit 1 can swing according to actual needs, so that the adsorption force adjustment is realized.

The utility model discloses a theory of operation does:

the utility model discloses utilize walking magnetic wheel 2 to realize adsorbing the walking during walking, nevertheless can compensate the adsorption affinity not enough according to the 8 angles of the tile shape magnetic path in every walking unit 1 of actual conditions adjustment.

As shown in fig. 3-10, the utility model discloses all be equipped with wobbling tile-shaped magnetic path 8 in each walking unit 1, accommodate motor 6 passes through the drive of cam 7 the swing of tile-shaped magnetic path 8 is realized the adsorption affinity and is adjusted, wherein tile-shaped magnetic path 8 swing to below and by when walking unit 1 casing downside's opening 102 exposes completely, this moment tile-shaped magnetic path 8 adsorption area is the biggest, and the adsorption affinity of production is also the biggest, works as when tile-shaped magnetic path 8 upswing is approximate vertical state and gets into walking unit 1 casing completely, 8 lower extreme distances of tile-shaped magnetic path crawl the wall far away and adsorption area is the minimum this moment, and the adsorption affinity of production is also the minimum, the utility model discloses utilize accommodate motor 6 drive tile-shaped magnetic path 8 swings, and then changes tile-shaped magnetic path 8 adsorption area, realizes that the adsorption affinity is adjusted.

In this embodiment, the tile-shaped magnetic block 8 is made of a permanent magnetic material, the casing of the walking unit 1 and the scraper component can be made of a magnetic insensitive material, such as aluminum, carbon fiber, alloy and other materials, elements such as a control board in the walking unit 1 and motors can be wrapped by a cover body made of the magnetic insensitive material or separated by a partition board made of the magnetic insensitive material to avoid being influenced by the tile-shaped magnetic block 8, so that the tile-shaped magnetic block 8 is ensured to only act on a wall surface to climb.

Claims

1. The utility model provides a wheeled wall climbing robot of adsorption affinity adjustable, includes two walking units, the walking unit both ends are equipped with walking magnetic wheel, walking unit middle part is equipped with the connecting rod, and the connecting rod on two walking units is articulated to link to each other be equipped with the walking motor in walking unit's the casing, and the walking magnetic wheel rotates its characterized in that through the walking motor drive that corresponds the side: be equipped with adjusting motor (6), cam (7) and tile shape magnetic path (8) in walking unit (1), just cam (7) install in on the output shaft of adjusting motor (6), tile shape magnetic path (8) with cam (7) link firmly, walking unit (1) casing downside is equipped with opening (102), just tile shape magnetic path (8) swing to the below by adsorption affinity is the biggest when opening (102) expose, adsorption affinity is the minimum when tile shape magnetic path (8) upswing completely gets into walking unit (1) casing.

2. The wheel-type wall-climbing robot with adjustable adsorption force according to claim 1, wherein: the adjusting motor (6) is arranged in the middle of the shell of the walking unit (1) and is arranged between the two walking motors (5).

3. The wheel-type wall-climbing robot with adjustable adsorption force according to claim 1, wherein: the length of one side of the tile-shaped magnetic block (8) is greater than that of the other side.

4. The wheel-type wall-climbing robot with adjustable adsorption force according to claim 3, wherein: walking unit (1) casing downside opening (102) are close to long end one side of tile shape magnetic path (8) is equipped with the scraper blade subassembly, the scraper blade subassembly includes scraper blade (11), scraper blade seat (9) and spring (10), wherein scraper blade seat (9) are adorned admittedly on walking unit (1) shells inner wall, just be equipped with the scraper blade slide in scraper blade seat (9), scraper blade (11) rear portion and spring (10) are all located in the scraper blade slide, just spring (10) pass through scraper blade (11) rear end is supported and is in compression state all the time, scraper blade (11) front end stretch out outside scraper blade seat (9) and all the time with tile shape magnetic path (8) surface offsets.

5. The wheel-type wall-climbing robot with adjustable adsorption force according to claim 4, wherein: one end of the tile-shaped magnetic block (8) close to the scraper component is provided with a transition cambered surface (801).

6. The wheel-type wall-climbing robot with adjustable adsorption force according to claim 3, wherein: the tile-shaped magnetic blocks (8) in the two walking units (1) are symmetrically arranged, and the outer ends of the tile-shaped magnetic blocks (8) are long ends.