WO2022236704A1 - 一种磁力可控的永磁履带轮及具有其的机器人 - Google Patents

一种磁力可控的永磁履带轮及具有其的机器人 Download PDF

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Publication number
WO2022236704A1
WO2022236704A1 PCT/CN2021/093120 CN2021093120W WO2022236704A1 WO 2022236704 A1 WO2022236704 A1 WO 2022236704A1 CN 2021093120 W CN2021093120 W CN 2021093120W WO 2022236704 A1 WO2022236704 A1 WO 2022236704A1
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WIPO (PCT)
Prior art keywords
magnet unit
magnet
track
magnetic
crawler
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Ceased
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PCT/CN2021/093120
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English (en)
French (fr)
Inventor
朱海飞
林梓栋
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Guangdong University of Technology
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Guangdong University of Technology
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Publication of WO2022236704A1 publication Critical patent/WO2022236704A1/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/26—Ground engaging parts or elements
    • B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces

Definitions

  • the invention relates to the technical field of magnetic components, in particular to a magnetically controllable permanent magnet track wheel and a robot with the same.
  • Chinese patent CN110254541A discloses a permanent magnet crawler and a climbing robot.
  • the permanent magnet crawler includes a wheel set and a crawler chain wound on the wheel set.
  • the wheel set includes a first runner, an intermediate runner and The second running wheel;
  • the track chain includes a track shoe and a permanent magnet arranged in the track shoe, and the permanent magnet is configured to be able to be adsorbed on the working surface; wherein, the permanent magnet can be on the first
  • the running wheel moves to the bottom of the track shoe in the direction close to the working surface in the track shoe; the permanent magnet can be kept at the bottom of the track shoe at the middle runner;
  • a magnet is movable within the track shoe at the second runner in a direction away from the working surface.
  • the above solution can realize the adsorption between the permanent magnet and the working surface, the magnetic adsorption force cannot be actively controlled or adjusted. Therefore, when the permanent magnet crawler or its climbing robot is desorbed from the working surface, the robot can only be controlled to gradually climb away along the non-magnetic medium; since the in-situ desorption of fast and low power cannot be achieved, the above permanent magnet crawler cannot be used as a leg The foot of the legged climbing robot; in addition, the above-mentioned permanent magnet crawler or its climbing robot cannot realize the contradictory coordination between motion and magnetic attraction.
  • the purpose of the present invention is to overcome the deficiencies in the prior art, to provide a magnetically controllable permanent magnet track wheel and a robot with it, using the mutual limitation of the magnetic circuit and the guidance of the magnetic circuit to make the magnetic force of the permanent magnet track wheel Controllable and adjustable, so as to provide a way to coordinate the contradiction between the movement and adsorption of the permanent magnet track wheel; in view of the fact that the adsorption force between the permanent magnet track wheel and the adsorbed wall can be adjusted to eliminate, that is, the desorption state, the permanent magnet track wheel can be As the foot of a legged climbing robot.
  • a magnetically controllable permanent magnet track wheel comprising a base, a first pulley, a second pulley and a first track, the first track is sheathed on the first pulley and the second pulley, the The first pulley or the second pulley is connected with a drive assembly, and the drive assembly, the first pulley and the second pulley are all installed on the base; a second magnet unit is also included, and the first track is embedded with a second pulley.
  • a magnet unit, the second magnet unit is arranged adjacent to the first magnet unit and the second magnet unit can change the magnetic circuit between the first magnet unit, the second magnet unit and the attracted wall when the second magnet unit rotates relative to the first magnet unit;
  • a magnetic circuit is formed between the first magnet unit and the second magnet unit;
  • the magnetic poles of the first magnet unit and the second magnet unit are not opposite, the first magnet unit 1.
  • a magnetic circuit is formed between the second magnet unit and the wall to be adsorbed.
  • the driving assembly drives the first pulley or the second pulley to rotate, and under the action of the first pulley and the second pulley, the first crawler belt winds around the first pulley and the second pulley
  • the magnetic force adjustment assembly can adjust the magnetic pole direction of the second magnet unit.
  • the invention utilizes the mutual limitation of the first magnet unit and the second magnet unit and the guidance of the magnetic circuit, so that the magnetic force of the permanent magnet track wheel is controllable and adjustable, and the control is convenient, safe and efficient; in addition, the permanent magnet track wheel and the wall surface to be adsorbed
  • the adsorption force can be adjusted to eliminate, that is, the desorption state.
  • the present invention also provides a crawler-type crawling robot, which includes two sets of magnetically controllable permanent magnet track wheels as mentioned above, and the two sets of permanent magnet track wheels are symmetrically distributed in the center.
  • the crawler crawler robot of the present invention two sets of permanent magnet crawler wheels are respectively driven by a drive assembly, and when the speeds between the two sets of permanent magnet crawler wheels are different, the crawler crawler robot can realize differential steering. Because the magnetic force of the permanent magnet track wheel is controllable and adjustable, the crawler crawler robot of the present invention can coordinate the magnitude of the magnetic force of adsorption according to the movement situation, so that the movement is more flexible.
  • the present invention also provides a crawler crawler compound biped climbing robot, including the aforementioned crawler crawling robot and a torso, the torso includes a first link and a second link connected in rotation and the first link One end of the first connecting rod and one end of the second connecting rod are connected with a first torso motor, and the other end of the first connecting rod and the other end of the second connecting rod are respectively connected with two groups of crawler crawler robots, and the first connecting rod A second torso motor is provided at the connection between the other end of the rod and a set of crawler crawler robots, and a third torso motor is provided at the connection between the other end of the second connecting rod and another set of crawler crawler robots.
  • the leg-tracking compound biped climbing robot of the present invention controls the presence or absence of the external magnetic force of the permanent magnet track wheel and completes climbing in combination with the movement of the trunk.
  • the multi-degree-of-freedom trunk gives the robot better freedom of movement, making the robot more flexible.
  • the movement form and higher obstacle and wall transition capabilities; and the working mode of the leg-tracking compound biped climbing robot of the present invention can be freely switched between the track mode and the biped mode, and has a wide range of applications.
  • the magnetically controllable permanent magnet track wheel of the present invention uses the mutual restriction of the first magnet unit and the second magnet unit and the guidance of the magnetic circuit, so that the magnetic force of the permanent magnet track wheel is controllable and adjustable, and the control is convenient, safe and efficient; In addition, it can also eliminate the adsorption force on the adsorbed wall surface, realize the convenient desorption of the track wheel, and can be used as a foot in legged climbing robots;
  • the magnetically controllable permanent magnet track wheel of the present invention can realize local demagnetization by using the first magnet unit and the third magnet unit to guide the magnetic circuit, thereby reducing the driving resistance of the permanent magnet track wheel; making the permanent magnet track wheel of the present invention Wheels can save energy when used in crawler crawling robots or biped robots;
  • the crawler crawler robot of the present invention two sets of permanent magnet track wheels are respectively driven by a drive assembly, and when the speeds between the two sets of permanent magnet crawler wheels are different, the crawler crawler robot can realize differential steering;
  • the magnetic force of the wheel is controllable and adjustable, and the crawler crawler robot of the present invention can coordinate the magnetic force of adsorption according to the movement situation, making the movement more flexible;
  • the leg-tracking composite biped climbing robot of the present invention adopts a multi-degree-of-freedom torso and permanent magnet track wheel feet; by controlling the external magnetic force of the permanent magnet track wheel, the working mode of the leg-tracking composite biped climbing robot is crawler mode or double
  • the foot mode can realize efficient driving on the surface of the steel structure to be climbed in the crawler mode, or complete obstacle surmounting and wall transition when climbing in the biped mode combined with the multi-degree-of-freedom torso, which solves the problem of crawling in the field of climbing robots. Conundrums of efficiency and obstacle clearance.
  • Fig. 1 is the structural representation of the permanent magnetic track wheel of magnetically controllable in embodiment one;
  • Fig. 2 is the structural representation of the first crawler belt in embodiment one;
  • Fig. 3 is the structural representation of first belt pulley, second belt pulley in embodiment one;
  • Figure 4 is a schematic structural view of the base in Embodiment 1;
  • FIG. 5 is a schematic structural view of the first magnet unit in Embodiment 1;
  • Fig. 6 is a schematic structural view of the second magnet unit and the magnetic force adjustment assembly in the first embodiment
  • Fig. 7 is the working principle diagram of the permanent magnet track wheel in the loose state in the first embodiment
  • Fig. 8 is the working principle diagram of the permanent magnet track wheel in the adsorption state in the first embodiment
  • Embodiment 9 is a schematic diagram of the principle of magnetic force adjustment in Embodiment 1;
  • FIG. 10 is a schematic structural view of a third magnet unit in Embodiment 1;
  • Fig. 11 is a working principle diagram of the permanent magnet track wheel when the third magnet unit is close to the first magnet unit in the first embodiment
  • Figure 12 is a schematic structural view of the tensioning assembly in Embodiment 1;
  • Fig. 13 is a schematic diagram of the principle of permanent magnet track wheel driving in Embodiment 1;
  • Fig. 14 is the schematic diagram of the first track and the second track of the permanent magnet track wheel in the second embodiment
  • Fig. 15 is a working principle diagram of the permanent magnet track wheel in the adsorption state in the second embodiment
  • Fig. 16 is the working principle diagram of the permanent magnet track wheel in the loose state in the second embodiment
  • Fig. 17 is a schematic structural view of a crawler crawler robot in Embodiment 3.
  • Fig. 18 is a schematic structural view of the leg-tracking compound biped climbing robot in Embodiment 4.
  • Fig. 19 is a schematic structural view of a walking-legged composite biped climbing robot in Embodiment 5.
  • 100 the base; 101, the central plate; 102, the pulley support; 103, the fixed frame; 104, the connecting hole; 200, the first pulley; 210, the connecting shaft; 220, the first runner; 230, second runner; 300, second pulley; 400, first track; 410, track shoe; 411, square groove; 412, through hole; 413, opening; 420, pin hole; 430, track pin; 440 , concave position; 450, the first magnet unit; 451, the first magnet; 452, the first magnetic steel block; 500, the drive assembly; 600, the second magnet unit; 610, the second magnet; 620, the second magnetic Steel block; 630, first gear; 700, magnetic adjustment assembly; 710, fixed seat; 720, magnetic drive motor; 730, second gear; 800, tensioning assembly; 810, bottom plate; 820, needle guide rail; 830, Adjusting part; 900, limit assembly; 910, belt; 920, pulley; 110, magnetic
  • the permanent magnetic track wheel with controllable magnetic force of the present invention including base 100, first pulley 200, second pulley 300 and first crawler belt 400, described first crawler belt 400 sets Set on the first pulley 200 and the second pulley 300, the first pulley 200 or the second pulley 300 is connected with a drive assembly 500, the drive assembly 500, the first pulley 200 and the second pulley 300 Both are installed on the base 100; also include a second magnet unit 600 and a magnetic force adjustment assembly 700 that can adjust the magnetic pole direction of the second magnet unit 600, the first track 400 is embedded with the first magnet unit 450, and the second magnet
  • the unit 600 is arranged adjacent to the first magnet unit 450; when the magnetic poles of the first magnet unit 450 and the second magnet unit 600 are opposite, a magnetic circuit is formed between the first magnet unit 450 and the second magnet unit 600; when the first magnet unit 450.
  • a magnetic circuit is formed between the
  • the driving assembly 500 drives the first pulley 200 or the second pulley 300 to rotate, and under the action of the first pulley 200 and the second pulley 300, the first track winds around the first pulley 200 and the second pulley 300.
  • the second pulley 300 rotates; the magnetic force adjustment assembly 700 can adjust the magnetic pole direction of the second magnet unit 600.
  • the first magnet unit 450 and the second magnet unit 600 have opposite magnetic poles, the first magnet unit 450 and the second magnet unit 600 A magnetic circuit is formed between them; when the magnetic poles of the first magnet unit 450 and the second magnet unit 600 are not opposite, a magnetic circuit is formed between the first magnet unit 450, the second magnet unit 600 and the adsorbed wall; and the permanent magnet track wheel and The magnitude of the force between the attracted wall surfaces changes with the operation of the magnetic force adjustment assembly 700 .
  • the present invention makes use of the mutual restriction of the first magnet unit 450 and the second magnet unit 600 and the guidance of the magnetic circuit, so that the magnetic force of the permanent magnet track wheel is controllable and adjustable, and has a wide range of applications.
  • the first track 400 includes several track shoes 410, the head and tail ends of the track shoes 410 are provided with pin holes 420, and several track shoes 410 pass through the pin holes 420 and pass through the pin holes 420.
  • the track pins 430 are connected end to end to form the first track 400.
  • the first magnet unit 450 is embedded in the track shoe 410. The upper and lower ends of the first magnet unit 450 are flush with the two sides of the first track 400 to ensure smooth movement. sex.
  • the first pulley 200 and the second pulley 300 both adopt a split design, as shown in FIG.
  • both sides of the first track 400 are provided with a number of concave positions 440 meshed with the first runner 220 and the second runner 230, when the first pulley 200 is used as a driving pulley and the driving assembly 500 is a driving motor At this time, the first runner 220 or the second runner 230 of the first pulley 200 is connected to the rotor end of the driving motor, and the stator end of the driving motor is fixedly connected to the base 100 .
  • the base 100 of the present invention includes a central plate 101, a pulley bracket 102 and a fixed frame 103, the pulley bracket 102 and the fixed frame 103 are fixed on the central plate 101; the connecting shaft 210 is connected to the pulley bracket 102 and the first rotating wheel 220 and the second rotating wheel 230 are respectively located on both sides of the connecting shaft 210, and the driving assembly 500 is installed on the fixed frame 103, as shown in FIG. 4 .
  • the pulley bracket 102 is fixed on the outer side of the center plate 101
  • the fixing frame 103 is fixed on the center plate 101
  • the fixing frame 103 is located in the corner space between the center plate 101 and the pulley bracket 102 .
  • two ends of the pulley bracket 102 are provided with connecting holes 104 , the connecting holes 104 allow the connecting shaft 210 to pass through, and the connecting shaft 210 can rotate in the connecting holes 104 .
  • this embodiment also includes a tensioning assembly 800 installed on the base 100, the tensioning assembly 800 includes a bottom plate 810, a needle guide rail 820 rotatably mounted on the bottom plate 810, a movable The adjustment member 830 connected between the bottom plate 810 and the base 100, the needle guide rail 820 partially protrudes from the surface of the bottom plate 810, and the inner surface of the first track 400 can be arranged in contact with the needle roller guide rail 820, as shown in FIG. 12 Show.
  • the adjusting member 830 is a tensioning screw, which adjusts the length of the tensioning screw screwed into the bottom plate 810, thereby adjusting the height of the bottom plate 810 relative to the base 100, thereby controlling the upward movement of the needle guide rail 820 and tightening the track, so that the track Tight, not loose and deformed.
  • the present invention is provided with a square groove on the central plate 101, the bottom plate 810 is at least partly located in the square groove, and the tensioning screws are distributed on both sides of the track to avoid affecting the movement of the track.
  • the first magnet unit 450 includes a first magnet 451 and a first magnetic steel block 452, the first magnetic steel block 452 is two groups, and two groups of first magnetic steel blocks 452 are set At both ends of the first magnet 451 , the magnetization direction of the first magnet 451 is perpendicular to the contact surface between the first magnetically conductive steel block 452 and the first magnet 451 .
  • the track shoe 410 is provided with a square groove 411 and a through hole 412 located on one side of the square groove 411, the first magnet unit 450 is embedded in the square groove 411 and one end of the first magnetically conductive steel block 452 is passed through.
  • the surface passing through the through hole 412 to the first magnetic steel block 452 is flush with the outer surface of the track shoe 410 .
  • one end of the two groups of first magnetically conductive steel blocks 452 is flush with the surface of the first magnet 451, and the other end of the two groups of first magnetically conductive steel blocks 452 protrudes from the surface of the first magnet 451.
  • the protruding part of the block 452 is embedded in the through hole 412 to be flush with the outer surface of the track shoe 410 , and the two sides of the first magnetic steel block 452 and the surface of the first magnet 451 are flush with the inner surface of the track shoe 410 .
  • openings 413 are communicated on both sides of the square groove 411 .
  • the second magnet unit 600 of this embodiment is fixed on the base 100, specifically, it is installed on the base 100 through a fixing seat 710, and the second magnet unit 600 is located on the second The inner side of a track 400 is close to the inner side of the first track 400 near the wall to be adsorbed.
  • the second magnet unit 600 includes a second magnet 610 and a second magnetically conductive steel block 620, the second magnet 610 is a radially magnetized cylindrical magnet, and the second magnetically conductive steel block 620 is two groups, and a circular through hole 412 matching with the second magnet 610 is formed between the two groups of second magnetic steel blocks 620, and the second magnetic steel blocks 620 are installed on the base 100, as shown in FIG. 6 Show.
  • the second magnetically conductive steel block 620 is symmetrically fixed on both sides of the fixed seat 710, the inner side of the second magnetically conductive steel block 620 is a concave circle, and the concave circle is opposite to form a circular through hole 412;
  • the second magnet 610 It is designed in a central cylindrical shape, and the direction of magnetization is radial. It is erected on the fixing seat 710 through a support shaft and is rotatably connected with the fixing seat 710 .
  • the second magnet unit 600 is connected with a magnetic force adjustment assembly 700 that can adjust the magnetic pole direction of the second magnet unit 600.
  • the magnetic force adjustment assembly 700 includes a fixed seat 710 installed on the base 100 and a magnetic drive motor 720.
  • the second Both ends of the magnet 610 are rotatably connected to the fixed seat 710 and the middle part of the second magnet 610 is connected with the first gear 630.
  • the fixed seat 710 is provided with an opening for allowing the first gear 630 to partially pass through, and the magnetic force drives
  • the output end of the motor 720 is connected with a second gear 730 meshing with the first gear 630 , as shown in FIG. 6 .
  • the magnetic drive motor 720 drives the second gear 730 to rotate, and the second gear 730 meshes with the first gear 630 to drive the first gear 630 to rotate, so that the second magnet 610 rotates thereupon, and the magnetic poles and magnetic force of the second magnet unit 600 changes happened.
  • the working principle of the second magnet unit 600 is as shown in FIGS.
  • the direction of the magnetic pole is opposite to that of the first magnet 451 of the first magnet 451.
  • the first magnet 451 and the second magnet 610 pass through the first magnetic steel block 452 and the second magnetic steel block 620 to form a complete magnetic circuit, and the magnetic circuit does not pass through
  • the wall is adsorbed, so there is no magnetic attraction to the wall being adsorbed, and the track wheel 920 is in a loose state;
  • the rotation of the motor 720 is driven by controlling the magnetic force, and the second magnet is driven by the meshing transmission between the first gear 630 and the second gear 730 610 rotates 180° around the axis, as shown in Figure 8, at this time, the magnetic pole directions of the first magnet 451 and the second magnet 610 are the same, and a complete magnetic circuit cannot be formed between the first magnet 451 and the second magnet 610, but through
  • the first magnetically conductive steel block 452 and the second magnetically conductive steel block 620 form a complete
  • the permanent magnet track wheel of this embodiment is used for a biped robot, the magnetic circuit between the first magnet unit and the second magnet unit is used to guide the demagnetization between one foot and the attracted wall, and then the biped robot can lift Responsive enough.
  • the permanent magnet track wheel of this embodiment further includes a limit assembly 900 for limiting the distance between the first magnet unit 450 and the second magnet unit 600 .
  • the limit assembly 900 is fixed on the fixed seat 710, the second magnet unit 600 is located inside the fixed seat 710, and the first magnet unit 450 is located below the fixed seat 710, so that it is convenient to act on the first track 400 through the limit assembly 900 to adjust The distance between the first magnet unit 450 and the second magnet unit 600 .
  • the limit assembly 900 includes a belt 910 and a number of pulleys 920 arranged side by side. The side contact is arranged to avoid friction between the first crawler belt 400 and the components inside the first crawler belt 400 , as shown in FIG. 1 .
  • the pulley 920 in this embodiment can be replaced by a grooved bearing.
  • this embodiment also includes two sets of magnetism canceling assemblies 110, two sets of magnetism canceling assemblies 110 are respectively mounted on both ends of the base 100, and two sets of magnetism canceling assemblies 110 are located on both sides of the second magnet unit 600
  • the two groups of magnetic force elimination components 110 are specifically installed at both ends of the pulley bracket 102 .
  • Described magnetic force eliminating assembly 110 is the 3rd magnet unit, and described 3rd magnet unit comprises the 3rd magnet 111 and the 3rd magnetic conduction steel block 112 that is located at the 3rd magnet 111 both sides, the magnetization of described 3rd magnet 111
  • the direction is perpendicular to the contact surface between the third magnet 111 and the third magnetically conductive steel block 112 , and is opposite to the magnetization direction of the first magnet 451 , as shown in FIG. 10 .
  • the working principle of the magnetic force elimination assembly 110 is similar to the magnetic force adjustment assembly 700 in the loose state.
  • the relationship between the third magnet unit and its adjacent first magnet unit 450 is shown in Figure 11.
  • the magnetic pole direction of the third magnet 111 is in line with the The magnetic pole direction of the first magnet 451 is opposite.
  • the first magnet 451 and the third magnet 111 form a complete magnetic circuit through the first magnetic steel block 452 and the third magnetic steel block 112.
  • the adsorption wall does not generate magnetic attraction force, so the first magnet unit 450 close to the third magnet unit does not generate attraction force to the adsorbed steel plate.
  • the distribution of the first magnet unit 450, the second magnet unit 600 and the third magnet unit is shown in Figure 13 (illustrated with the end face of the permanent magnet track wheel), and the end face of the first track wheel 400 is square in the middle , both ends are semicircular waist-shaped holes, the track rotates counterclockwise, the two ends of the track and the section of the adsorption surface of the adsorbed wall are marked as point B and point C, points A and D are respectively the first magnet unit 450 and The third magnet unit is close to the point of degaussing, and point A and point D are located beside point B and point C respectively.
  • the overall working principle of the permanent magnet track wheel is as follows: by controlling the magnetic force adjustment component 700 to control the adsorption component to be in a state of constant suction, a certain suction force is always generated on the wall surface to be absorbed, and the driving component 500 drives the first crawler belt 400 to rotate to complete the suction on the wall surface.
  • the first crawler belt 400 drives the first magnet unit 450 to rotate counterclockwise, at this moment, there is relative motion between the first magnet unit 450, the second magnet unit 600 and the third magnet unit, when the first magnet unit When 450 moves to point A, it is close to the third magnet unit on the left side, and the direction of the magnetic pole is opposite, and there is no attraction to the outside; when the first magnet unit 450 moves to point B, it starts to break away from the third magnet unit, and the second magnet unit The magnet unit 600 is close, and the first magnet unit 450 is in the same direction as the second magnet unit 600, showing a strong attraction to the outside; when the first magnet unit 450 moves to point C, it starts to break away from the second magnet unit 600, and the second magnet unit 450 is separated from the second magnet unit 600 on the right side.
  • the three magnet units are close to each other, and the first magnet unit 450 is in the opposite direction to the third magnet unit, which does not generate external attraction, and the magnets are easy to be lifted from the wall.
  • the first crawler belt 400 appears to move efficiently to the left as a whole; similarly, the permanent magnet track wheel of this embodiment can also move efficiently to the other direction as a whole.
  • the two ends of the first magnet unit 450 in contact with the wall surface to be adsorbed are demagnetized and easy to peel off, thereby reducing the permanent magnet.
  • the driving resistance of track wheels saves energy consumption.
  • the second embodiment of the magnetically controllable permanent magnet track wheel of the present invention includes a base 100, a first pulley 200, a second pulley 300 and a first crawler 400, and the first crawler 400 is sleeved on the first
  • the pulley 200 and the second pulley 300, the first pulley 200 or the second pulley 300 are connected with a drive assembly 500, and the drive assembly 500, the first pulley 200 and the second pulley 300 are all installed on the base Seat 100; also includes a second magnet unit 600, the first crawler belt 400 is embedded with a first magnet unit 450, the second magnet unit 600 is adjacent to the first magnet unit 450 and the second magnet unit 600 and the first magnet
  • the unit 450 rotates relative to each other, the magnetic circuit between the first magnet unit 450, the second magnet unit 600 and the attracted wall can be changed; when the first magnet unit 450 and the second magnet unit 600 have opposite magnetic poles, the first magnet unit A magnetic circuit is formed between 450 and the second magnet unit 600;
  • the magnetically controllable permanent magnet track wheel in this embodiment also includes a second track 120 that is similar in structure to the first track 400 but different in size, and the second track 120 is located on the inner side of the first track 400; 120 also includes a number of track shoes 410 connected end to end, part of the track shoes 410 are embedded with the fourth magnet unit 121, and the rest of the track shoes 410 are embedded with the fifth magnet unit 122, the fourth magnet unit 121 and the fifth magnet unit 122
  • the magnetization directions are opposite, and the magnetization directions of the fourth magnet unit 121 and the fifth magnet unit 122 are the same as or opposite to the magnetization directions of the first magnet unit 450 , as shown in FIG. 14 .
  • the fourth magnet unit 121 and the fifth magnet unit 122 together form the second magnet unit 600, and the driving assembly 500 of the second crawler 120 constitutes the magnetic force adjustment assembly 700, through the relative movement between the first crawler 400 and the second crawler 120. Movement to adjust the size of the magnetic field and external magnetic force.
  • the function of the second crawler belt 120 is equivalent to the magnetic force adjusting assembly 700 in the first embodiment.
  • all the first magnet units 450 are magnetized in the forward direction
  • some of the second magnet units 600 ie the fourth magnet unit 121 are magnetized in the forward direction
  • the rest of the second magnet units 600 ie the fifth magnet unit 121 are magnetized in the forward direction.
  • the unit 122) is reversely magnetized, and the length of the fourth magnet unit 121 in the direction of crawler travel is approximately equal to the length of the contact surface between the first magnet unit 450 and the attracted wall surface in the direction of travel of the crawler.
  • FIG. 15 and 16 The working principle of this embodiment is shown in Figures 15 and 16, specifically: as shown in Figure 15, in the initial state, the second crawler 120 and the first crawler 400 rotate relative to each other until the fourth magnet unit 121 rotates close to the wall to be adsorbed On one side, the magnetic poles of the first magnet unit 450 and the fourth magnet unit 121 have the same magnetic pole direction, which produces a huge suction force on the adsorbed wall surface, because the magnetic pole direction of the remaining part of the fifth magnet unit 122 is opposite to that of the first magnet unit 450, and has the effect of eliminating the magnetic force.
  • the number of the first magnet unit 450 arranged on each track shoe 410 of the first crawler belt 400 and the number of the second magnet units 600 arranged on each track shoe 410 of the second crawler belt 120 may be greater than One group, to improve the maximum suction force of the permanent magnet crawler wheel to the adsorbed wall surface, thereby improving the load capacity of the present invention.
  • an embodiment of the crawler crawler robot of the present invention includes magnetically controllable permanent magnet track wheels as in Embodiment 1 or Embodiment 2, and two sets of permanent magnet track wheels are symmetrically distributed about the center.
  • the central plate 101 of the two sets of permanent magnet track wheels in this embodiment can be obtained by fastening and connecting the two sets of plates, or the two sets of central plates 101 can be provided as an integrated structure.
  • two sets of permanent magnet track wheels are respectively driven by a drive assembly 500.
  • the crawler crawler robot can realize differential steering;
  • the magnetic force of the wheel is controllable and adjustable, and the crawler crawler robot of the present invention can coordinate the magnetic force of adsorption according to the movement situation, so that the crawler crawler robot can move more flexibly on the wall surface;
  • the crawling robot is compact.
  • FIG. 18 it is an embodiment of the leg-tracking compound biped climbing robot of the present invention, which includes two groups of crawler crawling robots and a trunk 130 as claimed in claim 14 , and the trunk 130 includes a first link connected by rotation.
  • Rod 131 and the second connecting rod 132 and one end of the first connecting rod 131, the junction of one end of the second connecting rod 132 are provided with the first trunk motor 133, the other end of the first connecting rod 131, the second connecting rod
  • the other end of 132 is respectively connected with two groups of crawler crawler robots, and the other end of the first connecting rod 131 is provided with the second trunk motor 134 at the joint of a group of crawler crawler robots, and the other end of the second connecting rod 132
  • a third torso motor 135 is provided at the connection between one end and another group of crawler crawler robots.
  • the second torso motor 134 and the third torso motor 135 are respectively connected with two groups of crawler-type crawling robots through the end connecting frame 136; the bipedal climbing robot's bipeds are marked as the first and second feet.
  • the crawling and switching methods of the crawler mode and the biped mode are as follows:
  • crawler mode control the permanent magnet track wheel to be in a state of constant suction to the adsorbed wall, always generate a certain suction force on the adsorbed wall, drive the first crawler 400 to rotate, and complete the driving on the adsorbed wall; in crawler mode, the third The setting of the magnet unit 600 makes the two ends of the first magnet unit 450 in contact with the adsorbed wall surface demagnetized and easy to peel off, thereby reducing the driving resistance of the permanent magnet track wheel and saving energy consumption; the working principle of the permanent magnet track wheel during driving is as follows: Described in embodiment one to embodiment three.
  • the leg-tracking compound biped climbing robot of this embodiment adopts a three-degree-of-freedom torso, and uses permanent magnet track wheels as the robot feet; the working mode of the leg-tracking compound biped climbing robot is switched by controlling the external magnetic force of the permanent magnet track wheels.
  • the crawler mode or bipedal mode can realize efficient driving on the surface of the steel structure to be climbed in the crawler mode, or combine the multi-degree-of-freedom torso with the bipedal mode to complete obstacles and wall transitions during climbing, which solves the problem of climbing robots. It is difficult to take into account the problem of crawling efficiency and obstacle surmounting ability in the field.
  • FIG. 19 it is another embodiment of the leg-tracking compound biped climbing robot of the present invention.
  • a first rotary motor 137 is connected between the crawling robots, a second rotary motor 138 is connected between the third trunk motor 135 and another group of crawler crawler robots, and the rotation of the second trunk motor 134 and the first rotary motor 137
  • the axis, third torso motor 135 is perpendicular to the axis of rotation of the second swing motor 138 .
  • Embodiment 4 the three-degree-of-freedom torso 130 in Embodiment 4 is improved to the five-degree-of-freedom torso 130 of this embodiment, thereby improving the freedom of robot movement, and making it have a more flexible movement form and a higher Obstacle surmounting, wall transition and other abilities.
  • each technical feature can be combined in any non-contradictory manner.
  • all possible combinations of the above-mentioned technical features are not described. However, as long as there is no combination of these technical features Any contradiction should be regarded as within the scope of the description in this specification.

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Abstract

一种磁力可控的永磁履带轮及具有其的机器人，包括第二磁铁单元(600)，第一履带(400)嵌设有第一磁铁单元(450)，第二磁铁单元(600)临近第一磁铁单元(450)设置；当第一磁铁单元(450)、第二磁铁单元(600)磁极相反时，第一磁铁单元(450)与第二磁铁单元(600)之间形成磁回路；当第一磁铁单元(450)、第二磁铁单元(600)磁极不相反时，第一磁铁单元(450)、第二磁铁单元(600)及被吸附壁面之间形成磁回路；利用第一磁铁单元(450)、第二磁铁单元(600)的相互限制和对磁路的引导，使得永磁履带轮的磁力可控可调；另外，履带式爬行机器人根据运动情况来协调吸附磁力大小，运动灵活；履腿复合双足攀爬机器人，兼顾效率和越障能力。

Description

一种磁力可控的永磁履带轮及具有其的机器人 技术领域
本发明涉及磁性构件的技术领域，更具体地，涉及一种磁力可控的永磁履带轮及具有其的机器人。
背景技术
高空或密闭环境等特种作业，如铁塔/储罐检修、船舱检查和船体焊接等，目前主要依赖人工完成，因而一直是业界面临的一大挑战。这些场景工作条件恶劣，对工人而言存在危险性高、效率低和劳动强度大等问题。攀爬机器人是替代或辅助人工实施上述作业的理想载体。因此，永磁履带攀爬机器人在大型钢结构件相关作业场景中具有良好的应用前景。
中国专利CN110254541A公开了一种永磁履带及攀爬机器人，永磁履带包括轮组和缠绕在所述轮组上的履带链条，所述轮组包括依次设置的第一转轮、中间转轮和第二转轮；所述履带链条包括履带板和设置在所述履带板内的永磁体，所述永磁体被配置为能够吸附在作业面上；其中，所述永磁体能够在所述第一转轮处在所述履带板内沿靠近所述作业面的方向移动至所述履带板的底部；所述永磁体能够在所述中间转轮处保持在所述履带板的底部；所述永磁体能够在所述第二转轮处在所述履带板内沿远离所述作业面的方向移动。上述方案虽能实现永磁体与作业面之间的吸附，但磁吸附力不可主动控制或调整。因此，当永磁履带或其攀爬机器人与作业面脱吸附时，只能控制机器人沿非导磁介质逐步爬离；由于不能实现快速低功率的原位脱吸附，上述永磁履带不能充当腿足式攀爬机器人的足部；此外，上述永磁履带或其攀爬机器人也不能实现运动与吸附磁力之间矛盾的协调。
发明内容
本发明的目的在于克服现有技术中的不足，提供一种磁力可控的永磁履带轮及具有其的机器人，利用磁路的相互限制和对磁路的引导，使永磁履带轮的磁力可控可调，从而为协调永磁履带轮运动与吸附之间的矛盾提供途径；鉴于永磁履带轮与被吸附壁面的吸附力可调整至消除，即脱吸附状态，因此永磁履带轮可作为腿足式攀爬机器人的足部。
为解决上述技术问题，本发明采用的技术方案是：
提供一种磁力可控的永磁履带轮，包括基座、第一带轮、第二带轮及第一履带，所述第一履带套设于第一带轮和第二带轮，所述第一带轮或第二带轮连接有驱动组件，所述驱动组件、第一带轮及第二带轮均安装于基座；还包括第二磁铁单元，所述第一履带嵌设有第一磁铁单元，所述第二磁铁单元临近第一磁铁单元设置且第二磁铁单元与第一磁铁单元相对转动时可改变第一磁铁单元、第二磁铁单元及被吸附壁面之间的磁回路；当所述第一磁铁单元、第二磁铁单元磁极相反时，第一磁铁单元与第二磁铁单元之间形成磁回路；当第一磁铁单元、第二磁铁单元磁极不相反时，第一磁铁单元、第二磁铁单元及被吸附壁面之间形成磁回路。
本发明的磁力可控的永磁履带轮，驱动组件驱动第一带轮或第二带轮转动，在第一带轮、第二带轮的作用下，第一履带绕第一带轮和第二带轮转动；磁力调节组件可调节第二磁铁单元的磁极方向，当第一磁铁单元、第二磁铁单元磁极相反时，第一磁铁单元与第二磁铁单元之间形成磁回路；当第一磁铁单元、第二磁铁单元磁极不相反时，第一磁铁单元、第二磁铁单元及被吸附壁面之间形成磁回路；且永磁履带轮与被吸附壁面之间的作用力的大小随着磁力调节组件的工作而有所改变。本发明利用第一磁铁单元、第二磁铁单元的相互限制和对磁路的引导，使得永磁履带轮的磁力可控可调，控制方便、安全高效；另外，永磁履带轮与被吸附壁面的吸附力可调整至消除，即脱吸附状态。
本发明还提供了一种履带式爬行机器人，包括两组如前所述的磁力可控的永磁履带轮，两组永磁履带轮呈中心对称分布。
本发明的履带式爬行机器人，两组永磁履带轮分别采用一个驱动组件进行驱动，当两组永磁履带轮间速度不同时，即可使得履带式爬行机器人实现差速转向。由于永磁履带轮的磁力可控可调，本发明的履带式爬行机器人可根据运动情况来协调吸附磁力大小，使得运动更灵活。
本发明还提供了一种履腿复合双足攀爬机器人，包括如前所述的履带式爬行机器人以及躯干，所述躯干包括转动连接的第一连杆和第二连杆且第一连杆的一端、第二连杆的一端的连接处设有第一躯干电机，所述第一连杆的另一端、第二连杆的另一端分别与两组履带式爬行机器人连接，且第一连杆的另一端与一组履带式爬行机器人的连接处设有第二躯干电机，所述第二连杆的另一端与另一组履带式爬行机器人的连接处设有第三躯干电机。
本发明的履腿复合双足攀爬机器人，通过控制永磁履带轮对外磁力的有无， 结合躯干的运动完成攀爬，多自由度躯干赋予机器人较好的运动自由度，使机器人具有更加灵活的运动形式与更高的越障、壁面过渡能力；且本发明的履腿复合双足攀爬机器人的工作模式可在履带模式和双足模式之间自由切换，具有广泛的应用范围。
与现有技术相比，本发明的有益效果是：
本发明的磁力可控的永磁履带轮，利用第一磁铁单元、第二磁铁单元的相互限制和对磁路的引导，使得永磁履带轮的磁力可控可调，控制方便、安全高效；另外，还可消除对被吸附壁面的吸附力，实现履带轮便捷脱吸附，可作为足部应用于腿足式攀爬机器人中；
本发明的磁力可控的永磁履带轮，利用第一磁铁单元、第三磁铁单元对磁路的引导可实现局部消磁，从而减小永磁履带轮的驱动阻力；使得本发明的永磁履带轮用于履带式爬行机器人或双足机器人时均可节省能耗；
本发明的履带式爬行机器人，两组永磁履带轮分别采用一个驱动组件进行驱动，当两组永磁履带轮间速度不同时，即可使得履带式爬行机器人实现差速转向；由于永磁履带轮的磁力可控可调，本发明的履带式爬行机器人可根据运动情况来协调吸附磁力大小，使得运动更灵活；
本发明的履腿复合双足攀爬机器人，采用多自由度躯干和永磁履带轮足部；通过控制永磁履带轮对外磁力切换履腿复合双足攀爬机器人的工作模式为履带模式或双足模式，可实现以履带模式在被攀爬钢结构表面高效行驶，或结合多自由度躯干以双足模式完成攀爬时的越障、壁面过渡等动作，解决了攀爬机器人领域难以兼顾爬行效率和越障能力的难题。
附图说明
图1为实施例一中磁力可控的永磁履带轮的结构示意图；
图2为实施例一中第一履带的结构示意图；
图3为实施例一中第一带轮、第二带轮的结构示意图；
图4为实施例一中基座的结构示意图；
图5为实施例一中第一磁铁单元的结构示意图；
图6为实施例一中第二磁铁单元和磁力调节组件的结构示意图；
图7为实施例一中松脱状态时永磁履带轮的工作原理图；
图8为实施例一中吸附状态时永磁履带轮的工作原理图；
图9为实施例一中磁力调节的原理示意图；
图10为实施例一中第三磁铁单元的结构示意图；
图11为实施例一中第三磁铁单元近靠第一磁铁单元时永磁履带轮的工作原理图；
图12为实施例一中张紧组件的结构示意图；
图13为实施例一中永磁履带轮行驶的原理示意图；
图14为实施例二中永磁履带轮的第一履带和第二履带的示意图；
图15为实施例二中吸附状态时永磁履带轮的工作原理图；
图16为实施例二中松脱状态时永磁履带轮的工作原理图；
图17为实施例三中履带式爬行机器人的结构示意图；
图18为实施例四中履腿复合双足攀爬机器人的结构示意图；
图19为实施例五中履腿复合双足攀爬机器人的结构示意图；
附图中：100、基座；101、中心板件；102、带轮支架；103、固定架；104、连接孔；200、第一带轮；210、连接轴；220、第一转轮；230、第二转轮；300、第二带轮；400、第一履带；410、履带板；411、方形槽；412、通孔；413、开口；420、销孔；430、履带销；440、凹位；450、第一磁铁单元；451、第一磁铁；452、第一导磁钢块；500、驱动组件；600、第二磁铁单元；610、第二磁铁；620、第二导磁钢块；630、第一齿轮；700、磁力调节组件；710、固定座；720、磁力驱动电机；730、第二齿轮；800、张紧组件；810、底板；820、滚针导轨；830、调节件；900、限位组件；910、皮带；920、带轮；110、磁力消除组件；111、第三磁铁；112、第三导磁钢块；120、第二履带；121、第四磁铁单元；122、第五磁铁单元；130、躯干；131、第一连杆；132、第二连杆；133、第一躯干电机；134、第二躯干电机；135、第三躯干电机；136、末端连接架；137、第一回转电机；138、第二回转电机。
具体实施方式
下面结合具体实施方式对本发明作进一步的说明。其中，附图仅用于示例性说明，表示的仅是示意图，而非实物图，不能理解为对本专利的限制；为了更好地说明本发明的实施例，附图某些部件会有省略、放大或缩小，并不代表实际产品的尺寸；对本领域技术人员来说，附图中某些公知结构及其说明可能省略是可以理解的。
本发明实施例的附图中相同或相似的标号对应相同或相似的部件；在本发明的描述中，需要理解的是，若有术语“上”、“下”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此附图中描述位置关系的用语仅用于示例性说明，不能理解为对本专利的限制，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。
实施例一
如图1所示为本发明的磁力可控的永磁履带轮的实施例，包括基座100、第一带轮200、第二带轮300及第一履带400，所述第一履带400套设于第一带轮200和第二带轮300，所述第一带轮200或第二带轮300连接有驱动组件500，所述驱动组件500、第一带轮200及第二带轮300均安装于基座100；还包括第二磁铁单元600以及可调节第二磁铁单元600磁极方向的磁力调节组件700，所述第一履带400嵌设有第一磁铁单元450，所述第二磁铁单元600临近第一磁铁单元450设置；当所述第一磁铁单元450、第二磁铁单元600磁极相反时，第一磁铁单元450与第二磁铁单元600之间形成磁回路；当第一磁铁单元450、第二磁铁单元600磁极不相反时，第一磁铁单元450、第二磁铁单元600及被吸附壁面之间形成磁回路。
本实施例在实施时，驱动组件500驱动第一带轮200或第二带轮300转动，在第一带轮200、第二带轮300的作用下，第一履带绕第一带轮200和第二带轮300转动；磁力调节组件700可调节第二磁铁单元600的磁极方向，当述第一磁铁单元450、第二磁铁单元600磁极相反时，第一磁铁单元450与第二磁铁单元600之间形成磁回路；当第一磁铁单元450、第二磁铁单元600磁极不相反时，第一磁铁单元450、第二磁铁单元600及被吸附壁面之间形成磁回路；且永磁履带轮与被吸附壁面之间的作用力的大小随着磁力调节组件700的工作而有所改变。本发明利用第一磁铁单元450、第二磁铁单元600的相互限制和对磁路的引导，使得永磁履带轮的磁力可控可调，具有广泛的应用范围。
如图2所示，所述第一履带400包括若干履带板410，所述履带板410的首尾端均设有销孔420，若干履带板410通过销孔420和穿接于销孔420内的履带销430首尾相接连成第一履带400，所述第一磁铁单元450嵌设于履带板410， 第一磁铁单元450的上下两端面与第一履带400的两侧面平齐以保证运动的顺畅性。其中，所述第一带轮200、第二带轮300均采用分体式设计，如图3所示，均包括连接轴210以及固定连接于连接轴210两端的第一转轮220和第二转轮230，所述第一履带400的两侧均设有若干与第一转轮220、第二转轮230啮合的凹位440，当第一带轮200作为主动轮、驱动组件500为驱动电机时，第一带轮200的第一转轮220或第二转轮230连接于驱动电机的转子端，驱动电机的定子端与基座100固定连接。
本发明的基座100包括中心板件101、带轮支架102以及固定架103，所述带轮支架102及固定架103均固定于中心板件101；所述连接轴210穿接于带轮支架102且第一转轮220、第二转轮230分别位于连接轴210的两侧，所述驱动组件500安装于固定架103，如图4所示。具体地，带轮支架102固定于中心板件101的外侧，固定架103固定于中心板件101上且固定架103位于中心板件101与带轮支架102的转角空间内。具体地，带轮支架102的两端设置有连接孔104，该连接孔104容连接轴210穿过、且连接轴210可在该连接孔104内转动。
为了使得张紧履带使得履带不松垮变形，本实施例还包括安装于基座100的张紧组件800，所述张紧组件800包括底板810、转动安装于底板810的滚针导轨820、活动连接于底板810与基座100之间的调节件830，所述滚针导轨820部分突出于底板810的表面，所述第一履带400内侧面可与滚针导轨820接触设置，如图12所示。本实施例中，调节件830为张紧螺钉，调节张紧螺钉旋进底板810的长度，从而调整底板810相对基座100的高度，从而控制滚针导轨820上移，涨紧履带，使得履带绷紧、不松垮变形。为了使得本发明的结构紧凑，本发明在中心板件101上设置有方槽，底板810至少部分位于方槽内，涨紧螺钉分布在履带两侧避免对履带的行进产生影响。
如图5所示，所述第一磁铁单元450包括第一磁铁451和第一导磁钢块452，所述第一导磁钢块452为两组，两组第一导磁钢块452设于第一磁铁451的两端，所述第一磁铁451的充磁方向垂直于第一导磁钢块452与第一磁铁451的接触面。其中，所述履带板410设有方形槽411及位于方形槽411一侧的通孔412，所述第一磁铁单元450嵌设于方形槽411且所述第一导磁钢块452的一端穿过所述通孔412至第一导磁钢块452的表面与履带板410的外表面平齐。具体地，两组第一导磁钢块452的一端与第一磁铁451的表面平齐，两组第一导磁钢块452 的另一端突出于第一磁铁451的表面，第一导磁钢块452的突出部分嵌入通孔412至与履带板410的外侧面平齐，第一导磁钢块452的两侧面及第一磁铁451的表面与履带板410的内侧面平齐。为便于第一磁铁单元450的取放，本实施例在方形槽411两侧连通设有开口413。
如图1所示，本实施例的所述第二磁铁单元600固装于所述基座100，具体地，是通过固定座710安装于基座100，且所述第二磁铁单元600位于第一履带400内侧、靠近第一履带400近被吸附壁面的内侧面。本实施例中，所述第二磁铁单元600包括第二磁铁610及第二导磁钢块620，所述第二磁铁610为径向充磁的圆柱状磁铁，所述第二导磁钢块620为两组且两组第二导磁钢块620之间形成有与第二磁铁610配合的圆形通孔412且所述第二导磁钢块620安装于基座100，如图6所示。其中，第二导磁钢块620对称固定于固定座710内部的两侧面，第二导磁钢块620内侧为内凹圆形，内凹圆形相对构成圆形通孔412；第二磁铁610为中通圆柱状设计，充磁方向为径向，通过支撑轴架设于固定座710且与固定座710转动连接。
所述第二磁铁单元600连接有可调节第二磁铁单元600磁极方向的磁力调节组件700，所述磁力调节组件700包括安装于基座100的固定座710和磁力驱动电机720，所述第二磁铁610的两端部与固定座710转动连接且所述第二磁铁610的中部连接有第一齿轮630，所述固定座710设有容第一齿轮630部分穿出的开口，所述磁力驱动电机720的输出端连接有与第一齿轮630啮合的第二齿轮730，如图6所示。实施时，磁力驱动电机720驱动第二齿轮730转动，第二齿轮730与第一齿轮630啮合带动第一齿轮630转动，从而第二磁铁610随之转动，第二磁铁单元600的磁极和磁力大小发生改变。
第二磁铁单元600的工作原理如图7至图9所示，在初始情况下，第二磁铁单元600与第一磁铁单元450间的关系如图7所示，此时，第二磁铁610的磁极方向与第一磁铁451的第一磁铁451相反，第一磁铁451、第二磁铁610间通过第一导磁钢块452、第二导磁钢块620形成完整的磁回路，磁回路不通过被吸附壁面，故对被吸附壁面不产生磁吸力，履带轮920处于松脱状态；通过控制磁力驱动电机720旋转，通过第一齿轮630、第二齿轮730之间的啮合传动，驱动第二磁铁610绕轴转动180°，如图8所示，此时，第一磁铁451与第二磁铁610的磁极方向相同，第一磁铁451和第二磁铁610间无法形成完整的磁回路，而是 通过第一导磁钢块452和第二导磁钢块620，与被吸附壁面形成完整的磁回路，被吸附壁面受到较大的吸力。在第二磁铁610转动的过程中，磁力逐渐非线性增加，如图9所示，利用这个原理，可以调节对被吸附壁面的磁吸力大小。当本实施例的永磁履带轮用于双足机器人时，利用第一磁铁单元和第二磁铁单元之间的磁路引导使得其中一足与被吸附壁面之间消磁，进而双足机器人即可抬起相应足。为了限制第一磁铁单元450和第二磁铁单元600之间的距离，本实施例的永磁履带轮还包括用于限制第一磁铁单元450和第二磁铁单元600之间距离的限位组件900。其中，限位组件900固装于固定座710，第二磁铁单元600位于固定座710内侧、第一磁铁单元450位于固定座710下方，如此便于通过限位组件900作用于第一履带400以调整第一磁铁单元450和第二磁铁单元600之间的距离。具体地，限位组件900包括皮带910以及若干并排设置的带轮920，带轮920均安装于固定座710，皮带910绕设于带轮920外周，皮带910外缘与第一履带400的内侧面接触设置，避免第一履带400及第一履带400内侧的部件发生摩擦，如图1所示。需要说明的是，本实施例中的带轮920可用带槽轴承替换。
另外，本实施例还包括两组磁力消除组件110，两组所述磁力消除组件110分别安装于基座100的两端，且两组所述磁力消除组件110位于第二磁铁单元600的两侧；两组所述磁力消除组件110具体是安装在带轮支架102的两端。所述磁力消除组件110为第三磁铁单元，所述第三磁铁单元包括第三磁铁111以及设于第三磁铁111两侧的第三导磁钢块112，所述第三磁铁111的充磁方向垂直于第三磁铁111与第三导磁钢块112的接触面，且与第一磁铁451的充磁方向相反，如图10所示。磁力消除组件110的工作原理与松脱状态的磁力调节组件700类似，第三磁铁单元与其近靠的第一磁铁单元450间的关系如图11所示，此时，第三磁铁111磁极方向与第一磁铁451磁极方向相反，第一磁铁451、第三磁铁111通过第一导磁钢块452、第三导磁钢块112形成完整的磁回路，磁回路不通过被吸附壁面，故对被吸附壁面不产生磁吸力，故与第三磁铁单元近靠的第一磁铁单元450间不对被吸附钢板产生吸力。
本实施例中，第一磁铁单元450、第二磁铁单元600及第三磁铁单元的分布如图13所示(以永磁履带轮的端面进行说明)，第一履带400的端面呈中部为方形、两端为半圆的腰形孔状，履带以逆时针方向转动，履带与被吸附壁面吸附面截面的两端点记为B点和C点，A点、D点分别为第一磁铁单元450与第三磁 铁单元近靠消磁的点，A点、D点分别位于B点和C点的旁侧。则永磁履带轮的整体工作原理如下：通过控制磁力调节组件700控制吸附组件处于常吸状态，始终对被吸附壁面产生一定吸力，通过驱动组件500带动第一履带400转动，完成在壁面上的行驶，如图13所示，第一履带400带动第一磁铁单元450逆时针转动，此时，第一磁铁单元450与第二磁铁单元600、第三磁铁单元存在相对运动，当第一磁铁单元450运动至A点时，其与左侧第三磁铁单元近靠，且磁极方向相反，对外不产生吸力；当第一磁铁单元450运动到B点时，开始脱离第三磁铁单元，与第二磁铁单元600近靠，第一磁铁单元450与第二磁铁单元600方向相同，对外表现出强大吸力；当第一磁铁单元450运动到C点时，开始脱离第二磁铁单元600，与右侧第三磁铁单元近靠，第一磁铁单元450与第三磁铁单元方向相反，对外不产生吸力，易于磁铁从壁面上抬起。此时，第一履带400对外表现为整体向左高效运动；同理，本实施例的永磁履带轮也可整体向另一方向高效运动。本实施例在履带转动的过程中，由于第三磁铁单元和第一磁铁单元对磁路的引导，使得第一磁铁单元450与被吸附壁面接触的两端点消磁而易于剥离，从而减小永磁履带轮的驱动阻力，节省能耗。
实施例二
本发明的磁力可控的永磁履带轮的第二实施例，包括基座100、第一带轮200、第二带轮300及第一履带400，所述第一履带400套设于第一带轮200和第二带轮300，所述第一带轮200或第二带轮300连接有驱动组件500，所述驱动组件500、第一带轮200及第二带轮300均安装于基座100；还包括第二磁铁单元600，所述第一履带400嵌设有第一磁铁单元450，所述第二磁铁单元600临近第一磁铁单元450设置且第二磁铁单元600与第一磁铁单元450相对转动时可改变第一磁铁单元450、第二磁铁单元600及被吸附壁面之间的磁回路；当所述第一磁铁单元450、第二磁铁单元600磁极相反时，第一磁铁单元450与第二磁铁单元600之间形成磁回路；当第一磁铁单元450、第二磁铁单元600磁极不相反时，第一磁铁单元450、第二磁铁单元600及被吸附壁面之间形成磁回路。
本实施例中的磁力可控的永磁履带轮还包括与第一履带400结构相似、尺寸不同的第二履带120，所述第二履带120位于第一履带400的内侧；所述第二履带120也包括若干首尾相接的履带板410，部分履带板410嵌设有第四磁铁单元121，其余部分履带板410嵌设有第五磁铁单元122，第四磁铁单元121与第五 磁铁单元122充磁方向相反，第四磁铁单元121、第五磁铁单元122充磁方向与第一磁铁单元450充磁方向相同或相反，如图14所示。其中，第四磁铁单元121、第五磁铁单元122共同组成第二磁铁单元600，第二履带120的驱动组件500则构成磁力调节组件700，通过第一履带400和第二履带120之间的相对运动来调整磁场和对外磁力大小。其中，第二履带120的作用相当于实施例一中的磁力调节组件700。
如图14所示，所有的第一磁铁单元450正向充磁，部分第二磁铁单元600(即第四磁铁单元121)为正向充磁，其余部分第二磁铁单元600(即第五磁铁单元122)为逆向充磁，第四磁铁单元121在履带行进方向上的长度与第一磁铁单元450与被吸附壁面接触面在履带行进方向上的长度近似相等。
本实施例的工作原理如图15、16所示，具体地：如图15所示，在初始状态下，第二履带120和第一履带400相对旋转至第四磁铁单元121转动至近被吸附壁面一侧，第一磁铁单元450和第四磁铁单元121的磁极方向一致，对被吸附壁面产生巨大吸力，因其余部分第五磁铁单元122与第一磁铁单元450的磁极方向相反，具有消除磁力的作用；通过旋转第二履带120至第五磁铁单元122转动至近被吸附壁面一侧，第一磁铁单元450和第五磁铁单元122的磁极方向相反，对外不产生吸力，如图16所示。当第一磁铁单元450与第五磁铁单元122部分重合时，对被吸附壁面产生的吸附力大小也会发生变化。
需要说明的是，本实施例中第一履带400的每个履带板410上设置的第一磁铁单元450和第二履带120的每个履带板410上设置的第二磁铁单元600的数目可大于一组，以提高永磁履带轮对被吸附壁面的最大吸力，从而提高本发明的负载能力。
实施例三
如图17所示为本发明的履带式爬行机器人的实施例，包括如实施例一或实施例二中的磁力可控的永磁履带轮，两组永磁履带轮呈中心对称分布。本实施例两组永磁履带轮的中心板件101可为两个板件进行紧固连接得到，也可将两组中心板件101设置为一体成型结构。本实施例在实施时，两组永磁履带轮分别采用一个驱动组件500进行驱动，当两组永磁履带轮间速度不同时，即可使得履带式爬行机器人实现差速转向；由于永磁履带轮的磁力可控可调，本发明的履带式爬行机器人可根据运动情况来协调吸附磁力大小，使得履带式爬行机器人在壁面上 运动更灵活；两组永磁履带轮呈中心对称分布使得履带式爬行机器人结构紧凑。
实施例四
如图18所示为本发明的履腿复合双足攀爬机器人的实施例，包括两组如权利要求14所述的履带式爬行机器人以及躯干130，所述躯干130包括转动连接的第一连杆131和第二连杆132且第一连杆131的一端、第二连杆132的一端的连接处设有第一躯干电机133，所述第一连杆131的另一端、第二连杆132的另一端分别与两组履带式爬行机器人连接，且第一连杆131的另一端与一组履带式爬行机器人的连接处设有第二躯干电机134，所述第二连杆132的另一端与另一组履带式爬行机器人的连接处设有第三躯干电机135。其中，第二躯干电机134、第三躯干电机135分别与两组履带式爬行机器人通过末端连接架136连接；双足攀爬机器人的双足记为第一足和第二足。
本实施例在实施时，履带模式与双足模式的爬行及切换方法如下：
在双足模式下，控制永磁履带轮对外磁力的有无，结合躯干130的运动完成攀爬，如控制双足中第一足的吸附组件为吸附状态，第二足的吸附组件为松脱状态，以第一足作为机器人运动的支点，随着躯干130运动完成越障、壁面过渡等动作，继而控制第二足的吸附组件处于吸附状态，松开第一足的吸附组件，以第二足作为机器人运动的支点，完成下一步的运动，以此类推；双足模式下，在第二磁铁单元600与第一磁铁单元450的磁极方向相反时，第一磁铁单元450与被吸附壁面之间吸附力减小到零，所以双足机器人可直接抬起第一足或第二足。在履带模式下，控制永磁履带轮对被吸附壁面处于常吸状态，始终对被吸附壁面产生一定吸力，驱动第一履带400转动，完成在被吸附壁面上的行驶；履带模式下，第三磁铁单元600的设置使得第一磁铁单元450与被吸附壁面接触的两端点消磁而易于剥离，从而减小永磁履带轮的驱动阻力，节省能耗；行驶过程中永磁履带轮的工作原理如实施例一至实施例三中描述。
本实施例的履腿复合双足攀爬机器人采用三自由度躯干，并采用永磁履带轮作为机器人足部；通过控制永磁履带轮对外磁力切换履腿复合双足攀爬机器人的工作模式为履带模式或双足模式，可实现以履带模式在被攀爬钢结构表面高效行驶，或结合多自由度躯干以双足模式完成攀爬时的越障、壁面过渡等动作，解决了攀爬机器人领域难以兼顾爬行效率和越障能力的难题。
实施例五
如图19所示为本发明的履腿复合双足攀爬机器人的另一实施例，本实施例与实施例四相似，所不同之处在于，所述第二躯干电机134与一组履带式爬行机器人之间连接有第一回转电机137，所述第三躯干电机135与另一组履带式爬行机器人之间连接有第二回转电机138，第二躯干电机134与第一回转电机137的旋转轴线、第三躯干电机135与第二回转电机138的旋转轴线垂直。如此将实施例四中三自由度躯干130改进为本实施例的五自由度躯干130，从而提升机器人运动的自由度，在兼顾爬行效率的基础上，使其具有更加灵活的运动形式与更高的越障、壁面过渡等能力。
在上述具体实施方式的具体内容中，各技术特征可以进行任意不矛盾的组合，为使描述简洁，未对上述各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
显然，本发明的上述实施例仅仅是为清楚地说明本发明所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明权利要求的保护范围之内。

Claims (17)

  1. 一种磁力可控的永磁履带轮，包括基座(100)、第一带轮(200)、第二带轮(300)及第一履带(400)，所述第一履带(400)套设于第一带轮(200)和第二带轮(300)，所述第一带轮(200)或第二带轮(300)连接有驱动组件(500)，所述驱动组件(500)、第一带轮(200)及第二带轮(300)均安装于基座(100)；其特征在于，还包括第二磁铁单元(600)，所述第一履带(400)嵌设有第一磁铁单元(450)，所述第二磁铁单元(600)临近第一磁铁单元(450)设置且第二磁铁单元(600)与第一磁铁单元(450)相对转动时可改变第一磁铁单元(450)、第二磁铁单元(600)及被吸附壁面之间的磁回路；当所述第一磁铁单元(450)、第二磁铁单元(600)磁极相反时，第一磁铁单元(450)与第二磁铁单元(600)之间形成磁回路；当第一磁铁单元(450)、第二磁铁单元(600)磁极不相反时，第一磁铁单元(450)、第二磁铁单元(600)及被吸附壁面之间形成磁回路。
  2. 根据权利要求1所述的磁力可控的永磁履带轮，其特征在于，所述第一履带(400)包括若干履带板(410)，所述履带板(410)的首尾端均设有销孔(420)，若干履带板(410)通过销孔(420)和穿接于销孔(420)内的履带销(430)首尾相接连成第一履带(400)，所述第一磁铁单元(450)嵌设于履带板(410)。
  3. 根据权利要求2所述的磁力可控的永磁履带轮，其特征在于，所述第一带轮(200)、第二带轮(300)均包括连接轴(210)以及连接于连接轴(210)两端的第一转轮(220)和第二转轮(230)，所述第一转轮(220)、第二转轮(230)外缘均匀环绕设有若干齿位，所述第一履带(400)的两侧均设有若干与所述齿位啮合的凹位(440)。
  4. 根据权利要求3所述的磁力可控的永磁履带轮，其特征在于，所述基座(100)包括中心板件(101)、带轮支架(102)以及固定架(103)，所述带轮支架(102)及固定架(103)均固定于中心板件(101)；所述连接轴(210)穿接于带轮支架(102)且第一转轮(220)、第二转轮(230)分别位于连接轴(210)的两侧，所述驱动组件(500)安装于固定架(103)。
  5. 根据权利要求2所述的磁力可控的永磁履带轮，其特征在于，所述第一磁铁单元(450)包括第一磁铁(451)和第一导磁钢块(452)，所述第一导磁钢块(452)为两组，两组第一导磁钢块(452)设于第一磁铁(451)的两端，所述第一磁铁(451)的充磁方向垂直于第一导磁钢块(452)与第一磁铁(451)的接触面。
  6. 根据权利要求5所述的磁力可控的永磁履带轮，其特征在于，所述履带 板(410)设有方形槽(411)及位于方形槽(411)一侧的通孔(412)，所述第一磁铁单元(450)嵌设于方形槽(411)且所述第一导磁钢块(452)的一端穿过所述通孔(412)至第一导磁钢块(452)的表面与履带板(410)的外表面平齐。
  7. 根据权利要求1所述的磁力可控的永磁履带轮，其特征在于，所述第二磁铁单元(600)固装于所述基座(100)，且所述第二磁铁单元(600)位于第一履带(400)内侧、靠近第一履带(400)近被吸附壁面的内侧面。
  8. 根据权利要求7所述的磁力可控的永磁履带轮，其特征在于，所述第二磁铁单元(600)包括第二磁铁(610)及第二导磁钢块(620)，所述第二磁铁(610)为径向充磁的圆柱状磁铁，所述第二导磁钢块(620)为两组且两组第二导磁钢块(620)之间形成有与第二磁铁(610)配合的圆形通孔(412)且所述第二导磁钢块(620)安装于基座(100)。
  9. 根据权利要求8所述的磁力可控的永磁履带轮，其特征在于，所述第二磁铁单元(600)连接有可调节第二磁铁单元(600)磁极方向的磁力调节组件(700)，所述磁力调节组件(700)包括安装于基座(100)的固定座(710)和磁力驱动电机(720)，所述第二磁铁(610)的两端部与固定座(710)转动连接且所述第二磁铁(610)的中部连接有第一齿轮(630)，所述固定座(710)设有容第一齿轮(630)部分穿出的开口，所述磁力驱动电机(720)的输出端连接有与第一齿轮(630)啮合的第二齿轮(730)。
  10. 根据权利要求7至9任一项所述的磁力可控的永磁履带轮，其特征在于，还包括两组磁力消除组件(110)，两组所述磁力消除组件(110)分别安装于基座(100)的两端，且两组所述磁力消除组件(110)位于第二磁铁单元(600)的两侧。
  11. 根据权利要求10所述的磁力可控的永磁履带轮，其特征在于，所述磁力消除组件(110)为第三磁铁单元，所述第三磁铁单元包括第三磁铁(111)以及设于第三磁铁(111)两侧的第三导磁钢块(112)，所述第三磁铁(111)的充磁方向垂直于第三磁铁(111)与第三导磁钢块(112)的接触面，且与第一磁铁(451)的充磁方向相反。
  12. 根据权利要求1所述的磁力可控的永磁履带轮，其特征在于，还包括与第一履带(400)结构相似、尺寸不同的第二履带(120)，所述第二履带(120)位于第一履带(400)的内侧；第二磁铁单元(600)包括第四磁铁单元(121)及第五磁铁单元(122)，所述第二履带(120)也包括若干首尾相接的履带板(410)，部分履带板(410) 嵌设有第四磁铁单元(121)，其余部分履带板(410)嵌设有第五磁铁单元(122)，第四磁铁单元(121)与第五磁铁单元(122)充磁方向相反，第四磁铁单元(121)、第五磁铁单元(122)充磁方向与第一磁铁单元(450)充磁方向相同或相反。
  13. 根据权利要求1所述的磁力可控的永磁履带轮，其特征在于，还包括安装于基座(100)的张紧组件(800)，所述张紧组件(800)包括底板(810)、转动安装于底板(810)的滚针导轨(820)、活动连接于底板(810)与基座(100)之间的调节件(830)，所述滚针导轨(820)部分突出于底板(810)的表面，所述第一履带(400)内侧面可与滚针导轨(820)接触设置。
  14. 根据权利要求1所述的磁力可控的永磁履带轮，其特征在于，还包括用于限制第一磁铁单元(450)与第二磁铁单元(600)之间距离的限位组件(900)。
  15. 一种履带式爬行机器人，其特征在于，包括两组如权利要求1至14任一项所述的磁力可控的永磁履带轮，两组永磁履带轮呈中心对称分布。
  16. 一种履腿复合双足攀爬机器人，其特征在于，包括两组如权利要求15所述的履带式爬行机器人以及躯干(130)，所述躯干(130)包括转动连接的第一连杆(131)和第二连杆(132)且第一连杆(131)的一端、第二连杆(132)的一端的连接处设有第一躯干电机(133)，所述第一连杆(131)的另一端、第二连杆(132)的另一端分别与两组履带式爬行机器人连接，且第一连杆(131)的另一端与一组履带式爬行机器人的连接处设有第二躯干电机(134)，所述第二连杆(132)的另一端与另一组履带式爬行机器人的连接处设有第三躯干电机(135)。
  17. 根据权利要求16所述的履腿复合双足攀爬机器人，其特征在于，所述第二躯干电机(134)与一组履带式爬行机器人之间连接有第一回转电机(137)，所述第三躯干电机(135)与另一组履带式爬行机器人之间连接有第二回转电机(138)，第二躯干电机(134)与第一回转电机(137)的旋转轴线、第三躯干电机(135)与第二回转电机(138)的旋转轴线垂直。
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