WO2023245808A1 - 一种可主动调整磁吸附力的爬壁移动机器人 - Google Patents

一种可主动调整磁吸附力的爬壁移动机器人 Download PDF

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Publication number
WO2023245808A1
WO2023245808A1 PCT/CN2022/108520 CN2022108520W WO2023245808A1 WO 2023245808 A1 WO2023245808 A1 WO 2023245808A1 CN 2022108520 W CN2022108520 W CN 2022108520W WO 2023245808 A1 WO2023245808 A1 WO 2023245808A1
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Prior art keywords
magnet assembly
wall
mobile robot
wheel
magnetic adsorption
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PCT/CN2022/108520
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English (en)
French (fr)
Inventor
周云海
王宝玉
李建伟
皇甫立波
周建帮
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江苏镌极特种设备有限公司
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Publication of WO2023245808A1 publication Critical patent/WO2023245808A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the invention relates to the technical field of wall-climbing robots, and in particular, to a wall-climbing mobile robot that can actively adjust its magnetic adsorption force.
  • the magnetic adsorption wall-climbing mobile robot is an automated equipment with moving and adsorption functions that can move on vertical walls. It can replace workers to complete specific tasks in harsh, dangerous or extreme environments; the magnetic adsorption wall-climbing mobile robot mainly relies on The magnetic attraction force is generated between the magnet group and the adsorbed surface, so that the wall-climbing robot can be adsorbed on the wall.
  • the magnet set of the traditional magnetic wall-climbing mobile robot is fixedly installed on the robot body, and the distance between the magnet and the adsorbed surface is fixed.
  • This kind of robot is relatively reliable when crawling on a flat wall, but when this kind of robot crawls When it is on a concave and convex curved surface, the distance between the magnet and the wall will change. The distance between the concave surface and the magnet will become larger, and the magnetic attraction will decrease, causing the wall-climbing robot to easily slip or fall. The distance between the convex surface and the magnet will It will become smaller and cause interference.
  • the existing magnetic adsorption wall-climbing mobile robot has poor wall-climbing reliability and cannot meet the needs of use.
  • the technical problem to be solved by the present invention is to overcome the defect of poor wall climbing reliability of the magnetic adsorption wall climbing mobile robot in the prior art.
  • the present invention provides a wall-climbing mobile robot that can actively adjust the magnetic adsorption force, including a first driving wheel, a second driving wheel and a follower wheel.
  • the first driving wheel and the second driving wheel both It is driven to rotate by a motor.
  • the motor is fixed on the frame.
  • the follower wheel is connected in front of the frame.
  • a lifting magnet assembly is connected to the frame.
  • the lifting magnet assembly includes a movable magnet assembly and a lifting drive device.
  • the lifting driving device is connected to the frame, the movable magnet assembly is driven to rise and fall by the lifting driving device, a distance sensor is connected to the movable magnet assembly, and the movable magnet assembly is connected to the bottom of the frame .
  • a plurality of first fixed magnet assemblies are also connected to the bottom of the vehicle frame, and the first fixed magnet assemblies are located between the first driving wheel and the second driving wheel.
  • both the first driving wheel and the second driving wheel include a driving shaft, and both ends of the driving shaft are connected with driving wheel bodies.
  • the driving shaft passes through a first bearing and a first The bearing seats are connected, and the bottoms of the first bearing seats are connected with second fixed magnet assemblies, and the second fixed magnet assemblies are located between the drive wheel bodies at both ends of the drive shaft.
  • the first bearing is a rolling bearing or a sliding bearing.
  • the following wheel includes a rotating shaft, both ends of the rotating shaft are connected with a following wheel body, the rotating shaft is connected through a second bearing and a second bearing seat, and the second bearing seat
  • the bottoms of the rotating shafts are connected with third fixed magnet assemblies, and the third fixed magnet assemblies are located between the follower wheel bodies at both ends of the rotating shaft.
  • a fourth fixed magnet assembly is connected to both sides of the bottom of the frame.
  • the fourth fixed magnet assembly includes a magnetic conductive plate and a permanent magnet.
  • the magnetic conductive part of the fourth fixed magnet assembly is A plug-in interface is provided on the board, and the bottoms of the magnetic conductive plates on both sides of the plug-in interface are connected with permanent magnets.
  • the first driving wheel is plugged into the plug-in interface of the fourth fixed magnet assembly on one side of the frame.
  • the second driving wheel is plugged into the insertion port of the fourth fixed magnet assembly on the other side of the frame.
  • an auxiliary wheel is connected to the rear of the frame, and the auxiliary wheel is connected to an auxiliary support.
  • An auxiliary top plate is connected to the upper part of the frame. The auxiliary top plate and the auxiliary support are connected to There are elastic parts connected between them.
  • a sliding sleeve is connected to the auxiliary top plate, a sliding rod is connected to the upper part of the auxiliary support, and the sliding rod is slidably connected in the sliding sleeve.
  • both ends of the movable magnet assembly are connected with the lifting drive device.
  • the lifting drive device adopts a pneumatic cylinder, a hydraulic cylinder or an electric push rod.
  • the wall-climbing mobile robot that actively adjusts the magnetic adsorption force of the present invention can effectively improve the wall-climbing reliability of the magnetic adsorption wall-climbing mobile robot, so that the wall-climbing mobile robot can operate stably.
  • Figure 1 is a three-dimensional schematic diagram of the lifting magnet assembly in the present invention
  • Figure 2 is a front view of the lifting magnet assembly in Figure 1;
  • Figure 3 is a left side view of the lifting magnet assembly in Figure 2;
  • Figure 4 is a schematic structural diagram of Embodiment 1 of the wall-climbing mobile robot that can actively adjust the magnetic adsorption force of the present invention
  • Figure 5 is a schematic structural diagram of the wall-climbing mobile robot shown in Figure 4 from a second angle;
  • Figure 6 is a schematic structural diagram of the wall-climbing mobile robot shown in Figure 4 from a third angle;
  • Figure 7 is a front view of the wall-climbing mobile robot shown in Figure 4.
  • Figure 8 is a top view of the wall-climbing mobile robot shown in Figure 7;
  • Figure 9 is a schematic structural diagram of Embodiment 2 of the wall-climbing mobile robot that can actively adjust the magnetic adsorption force of the present invention
  • Figure 10 is a schematic structural diagram of the wall-climbing mobile robot shown in Figure 9 from a second angle;
  • Figure 11 is a front view of the wall-climbing mobile robot shown in Figure 9;
  • Figure 12 is a top view of the wall-climbing mobile robot shown in Figure 9;
  • Figure 13 is a schematic structural diagram of Embodiment 3 of the wall-climbing mobile robot that can actively adjust the magnetic adsorption force of the present invention
  • Figure 14 is a schematic structural diagram of the wall-climbing mobile robot shown in Figure 13 from a second angle;
  • Figure 15 is a front view of the wall-climbing mobile robot shown in Figure 13;
  • Figure 16 is a top view of the wall-climbing mobile robot shown in Figure 13;
  • Figure 17 is a schematic structural diagram of Embodiment 3 of the wall-climbing mobile robot that can actively adjust the magnetic adsorption force of the present invention
  • Figure 18 is a schematic structural diagram of the wall-climbing mobile robot shown in Figure 17 from a second angle;
  • Figure 19 is a front view of the wall-climbing mobile robot shown in Figure 17;
  • Figure 20 is a top view of the wall-climbing mobile robot shown in Figure 17;
  • this embodiment discloses a wall-climbing mobile robot that can actively adjust the magnetic adsorption force, including a first driving wheel 2, a second driving wheel 3 and a follower wheel 4.
  • the first driving wheel 2 and the second driving wheel 3 are driven to rotate by a motor, the motor is fixed on the frame 1, and the follower wheel 4 is rotatably connected in front of the frame 1;
  • the lifting magnet assembly 5 is connected to the frame 1. Refer to Figures 1 to 3.
  • the lifting magnet assembly 5 includes a movable magnet assembly 51 and a lifting drive device 52.
  • the lifting drive device 52 is connected to the frame 1.
  • the movable magnet assembly 51 is lifted by The driving device 52 drives up and down.
  • the distance sensor 53 is connected to the movable magnet assembly 51 , and the movable magnet assembly 51 is connected to the bottom of the vehicle frame 1 .
  • the above structure can detect the distance between the movable magnet assembly 51 and the crawling wall in real time through the distance sensor 53, and can control the lifting and lowering of the movable magnet assembly 51 based on this distance. For example, when the distance between the movable magnet assembly 51 and the wall increases, the movable magnet is controlled. The assembly 51 descends, shortening the distance between the movable magnet assembly 51 and the wall, and increasing the magnet adsorption force. On the contrary, when the distance between the movable magnet assembly 51 and the wall is too small, the movable magnet assembly 51 is controlled to rise, and the distance between the movable magnet assembly 51 and the wall is appropriately increased. to avoid interference. Through the above process, a suitable distance can always be maintained between the movable magnet assembly 51 and the crawling wall surface, thereby always ensuring sufficient magnetic adsorption force when crawling, thereby effectively improving the wall climbing reliability of the wall-climbing mobile robot.
  • the wall-climbing principle of the above-mentioned wall-climbing mobile robot is as follows: place the robot on the crawling wall, and make the first driving wheel 2, the second driving wheel 3 and the follower wheel 4 all contact the crawling wall, and drive the first driving wheel 2 and the second driving wheel. Wheel 3 rotates, causing the follower wheel 4 to rotate accordingly, thereby causing the entire robot to move on the crawling wall. At the same time, due to the magnetic adsorption force generated between each magnet assembly and the crawling wall, the reliability of the robot's movement can be effectively guaranteed. , no falling will occur.
  • first fixed magnet assemblies 6 are connected to the bottom of the frame 1 of the wall-climbing mobile robot.
  • the first fixed magnet assemblies 6 are located between the first driving wheel 2 and the second driving wheel 3 . Since the first driving wheel 2 , the second driving wheel 3 and the following wheel 4 are all in contact with the crawling wall, setting the first fixed magnet assembly 6 at the above position can be closer to the wheel contact point, so that the magnet assembly is further away from the crawling wall. The smaller the change in distance, the smaller the change in magnetic adsorption force, thereby better ensuring the operational stability of the robot.
  • both the first driving wheel 2 and the second driving wheel 3 include a driving shaft, and both ends of the driving shaft are connected to a driving wheel body 21.
  • the driving shaft is connected to the first bearing seat 22 through a first bearing.
  • the first bearing The bottoms of the seats 22 are connected with second fixed magnet assemblies 7, and the second fixed magnet assemblies 7 are located between the drive wheel bodies 21 at both ends of the drive shaft.
  • the first bearing is a rolling bearing or a sliding bearing.
  • an auxiliary wheel 10 is also connected to the rear of the frame 1.
  • the auxiliary wheel 10 is rotatably connected to the auxiliary support 11.
  • An auxiliary top plate 12 is connected to the upper part of the frame 1.
  • An elastic member 13 is connected between 12 and the auxiliary support 11 .
  • the auxiliary wheel 10 plays an auxiliary supporting role. Through the action of the elastic member 13, the auxiliary wheel 10 and the wall are always in contact, thereby increasing the overall operational stability of the robot; especially when the magnetic adsorption force of the lifting magnet assembly 5 becomes When the weak and front follower wheel 4 does not contact the wall due to its own weight, the force on the rear auxiliary wheel 10 will increase, and the auxiliary wheel 10 will contact the wall more closely under the elastic force of the elastic member 13, thereby effectively preventing the robot from falling. A drop occurs.
  • a sliding sleeve 14 is fixed on the auxiliary top plate 12 , and a sliding rod 15 is connected to the upper part of the auxiliary support 11 .
  • the sliding rod 15 is slidably connected in the sliding sleeve 14 to pass the sliding rod 15
  • the whole body formed by the auxiliary support 11 and the auxiliary wheel 10 is driven to move up and down.
  • the elastic member 13 adopts a spring, and the spring passes through the sliding rod 15 .
  • both ends of the movable magnet assembly 51 are connected with lifting driving devices 52 , and the lifting driving devices 52 at both ends can be arranged symmetrically to better ensure the lifting stability of the movable magnet assembly 51 .
  • the lifting drive device 52 adopts a pneumatic cylinder, a hydraulic cylinder or an electric push rod.
  • the following wheel 4 adopts a universal wheel.
  • a connecting plate 16 is installed on the frame 1, a vertical shaft 17 is rotatably connected to the connecting plate 16, a support base 18 is connected to the vertical shaft 17, and the follower wheel 4 is rotatably connected to the support. on the seat 18, so that the support wheel can realize horizontal 360-degree rotation.
  • the magnetic adsorption structure in the first embodiment is a combination of the lifting magnet assembly 5 , the first fixed magnet assembly 6 and the second fixed magnet assembly 7 .
  • the following wheel 4 includes a rotating shaft, and both ends of the rotating shaft are connected to the following wheel 4 body.
  • the rotating shaft is connected through the second bearing and the second bearing seat 42.
  • the bottoms of the second bearing seats 42 are connected with third fixed magnet assemblies 8, and the third fixed magnet assemblies 8 are located between the follower wheels 4 at both ends of the rotating shaft.
  • the third fixed magnet assembly 8 By arranging the third fixed magnet assembly 8 on the follower wheel 4, it can better ensure that the magnetic attraction at the follower wheel 4 has minimal impact on various wall surfaces, making the robot's operation more stable.
  • the second bearing is a rolling bearing or a sliding bearing.
  • the magnetic adsorption structure in the second embodiment is a combination of the lifting magnet assembly 5 , the first fixed magnet assembly 6 , the second fixed magnet assembly 7 and the third fixed magnet assembly 8 .
  • both the first driving wheel 2 and the second driving wheel 3 adopt the form of a single wheel body, and fourth fixed magnets are connected to both sides of the bottom of the frame 1 Component 9, the fourth fixed magnet assembly 9 includes a magnetic conductive plate 91 and a permanent magnet 92.
  • the magnetic conductive plate 91 of the fourth fixed magnet assembly 9 is provided with a plug-in interface 911, and the bottoms of the magnetic conductive plates 91 on both sides of the plug-in interface 911 are connected There is a permanent magnet 92, the first driving wheel 2 is plugged into the insertion port 911 of the fourth fixed magnet assembly 9 on one side of the frame 1, and the second driving wheel 3 is plugged into the fourth fixed magnet on the other side of the frame 1 into the plug-in interface 911 of component 9.
  • both the inner and outer sides of the first driving wheel 2 and the second driving wheel 3 have magnetic adsorption effects, and the inner and outer magnetic adsorption effects can be complementary.
  • the robot travels along the axial direction in the tube, The gap between the permanent magnets on the outside of the wheel and the wall is small, and the magnetic adsorption force is large.
  • the gap between the total magnets between the wheels and the wall is large, and the magnetic adsorption force is small.
  • the gap between the permanent magnets on the outside of the wheel and the wall is large, and the magnetic adsorption force is small.
  • the gap between the permanent magnet between the wheels and the wall is small, and the magnetic adsorption force is large.
  • the permanent magnet 92 between the first driving wheel 2 and the second driving wheel 3 plays an adsorbing role for the first fixed magnet assembly 6 .
  • the magnetic adsorption structure in the third embodiment is a combination of the lifting magnet assembly 5 and the fourth fixed magnet assembly 9 .
  • the following wheel 4 includes a rotating shaft, and both ends of the rotating shaft are connected to the following wheel 4 body.
  • the rotating shaft is connected through the second bearing and the second bearing seat 42.
  • the bottoms of the second bearing seats 42 are connected with third fixed magnet assemblies 8, and the third fixed magnet assemblies 8 are located between the follower wheels 4 at both ends of the rotating shaft.
  • the third fixed magnet assembly 8 By arranging the third fixed magnet assembly 8 on the follower wheel 4, it can better ensure that the magnetic attraction at the follower wheel 4 has minimal impact on various wall surfaces, making the robot's operation more stable.
  • the second bearing is a rolling bearing or a sliding bearing.
  • the magnetic adsorption structure in the fourth embodiment is a combination of the lifting magnet assembly 5 , the fourth fixed magnet assembly 9 and the third fixed magnet assembly 8 .
  • the movable magnet assembly 51, the first fixed magnet assembly 6, the second fixed magnet assembly 7, the third fixed magnet assembly 8 and the fourth fixed magnet assembly 9 each include a magnetic permeable plate 91 and a permanent magnet 92.
  • the magnets 92 are all fixed on the bottom of the magnetically conductive plate 91, but the shape and structure of the magnetically conductive plate 91 in each magnet assembly are different and can be manufactured according to actual conditions.
  • first fixed magnet group 6, second fixed magnet assembly 7, third fixed magnet assembly 8 and fourth fixed magnet assembly 9 are all fixed, and only the movable magnet assembly 51 can perform lifting movement.
  • the wall-climbing mobile robots that actively adjust the magnetic adsorption force in the above embodiments can effectively improve the wall-climbing reliability of the magnetic adsorption wall-climbing mobile robot, so that the wall-climbing mobile robot can operate stably.

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  • Combustion & Propulsion (AREA)
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Abstract

本发明涉及一种可主动调整磁吸附力的爬壁移动机器人，包括第一驱动轮、第二驱动轮和随动轮，第一驱动轮和第二驱动轮均由电机驱动旋转，电机固定在车架上，随动轮可转动地连接在车架前方；车架上连接有升降磁铁组件，升降磁铁组件包括活动磁铁组件和升降驱动装置，升降驱动装置连接在所述车架上，活动磁铁组件由升降驱动装置驱动升降，活动磁铁组件上连接有距离传感器，活动磁铁组件连接在车架的底部。本发明可以有效提升磁吸附爬壁移动机器人的爬壁可靠性。

Description

一种可主动调整磁吸附力的爬壁移动机器人 技术领域
本发明涉及爬壁机器人技术领域，尤其是指一种可主动调整磁吸附力的爬壁移动机器人。
背景技术
磁吸附爬壁移动机器人，是一种具有移动和吸附功能，可以在垂直壁面上运动的自动化设备，可以在恶劣、危险或极限环境下代替工人完成特定作业；磁吸附爬壁移动机器人主要是依靠磁铁组与被吸附面之间产生磁吸力，使得爬壁机器人可以被吸附于壁面上。
传统的磁吸附爬壁移动机器人的磁铁组是固定安装于机器人本体上，磁铁与被吸附平面之间距离固定不变，这种机器人在平整壁面上爬行是相对可靠的，但是当这种机器人爬行于凹凸曲面时，其磁铁与壁面之间距离会发生变化，凹面会与磁铁之间距离会变大，磁吸力下降，导致爬壁机器人易发生滑移或掉落现象，凸面与磁铁之间距离则会变小从而产生干涉现象。
因此，现有的磁吸附爬壁移动机器人的爬壁可靠性不佳，无法满足使用需求。
发明内容
为此，本发明所要解决的技术问题在于克服现有技术中磁吸附爬壁移动机器人的爬壁可靠性不佳的缺陷。
为解决上述技术问题，本发明提供了一种可主动调整磁吸附力的爬壁移动机器人，包括第一驱动轮、第二驱动轮和随动轮，所述第一驱动轮和第二驱动轮均由电机驱动旋转，所述电机固定在车架上，所述随动轮连接在车架 前方，所述车架上连接有升降磁铁组件，所述升降磁铁组件包括活动磁铁组件和升降驱动装置，所述升降驱动装置连接在所述车架上，所述活动磁铁组件由所述升降驱动装置驱动升降，所述活动磁铁组件上连接有距离传感器，所述活动磁铁组件连接在所述车架的底部。
在本发明的一个实施例中，所述车架底部还连接有多个第一固定磁铁组件，所述第一固定磁铁组件位于所述第一驱动轮和第二驱动轮之间。
在本发明的一个实施例中，所述第一驱动轮和第二驱动轮均包括驱动轴，所述驱动轴的两端均连接有驱动轮体，所述驱动轴通过第一轴承和第一轴承座相连接，所述第一轴承座的底部均连接有第二固定磁铁组件，所述第二固定磁铁组件均位于驱动轴两端的驱动轮体之间。
在本发明的一个实施例中，所述第一轴承为滚动轴承或滑动轴承。
在本发明的一个实施例中，所述随动轮包括转轴，所述转轴的两端均连接有随动轮体，所述转轴通过第二轴承和第二轴承座相连接，所述第二轴承座的底部均连接有第三固定磁铁组件，所述第三固定磁铁组件均位于转轴两端的随动轮体之间。
在本发明的一个实施例中，所述车架底部两侧均连接有第四固定磁铁组件，所述第四固定磁铁组件包括导磁板和永磁铁，所述第四固定磁铁组件的导磁板上设置有插接口，所述插接口两侧的导磁板底部均连接有永磁铁，所述第一驱动轮插接在车架一侧的第四固定磁铁组件的插接口中，所述第二驱动轮插接在车架另一侧的第四固定磁铁组件的插接口中。
在本发明的一个实施例中，所述车架后方还连接有辅助轮，所述辅助轮连接在辅助支座上，所述车架上部连接有辅助顶板，所述辅助顶板和辅助支座之间连接有弹性件。
在本发明的一个实施例中，所述辅助顶板上连接有滑套，所述辅助支座上部连接有滑移杆，所述滑移杆可滑移地连接在所述滑套中。
在本发明的一个实施例中，所述活动磁铁组件的两端均连接有所述升降 驱动装置。
在本发明的一个实施例中，所述升降驱动装置采用气缸、液压缸或电动推杆。
本发明的上述技术方案相比现有技术具有以下优点：
本发明所述的主动调整磁吸附力的爬壁移动机器人，可以有效提升磁吸附爬壁移动机器人的爬壁可靠性，使得爬壁移动机器人可以稳定运行。
附图说明
为了使本发明的内容更容易被清楚的理解，下面根据本发明的具体实施例并结合附图，对本发明作进一步详细的说明。
图1是本发明中升降磁铁组件的三维示意图；
图2是图1中升降磁铁组件的主视图；
图3是图2中升降磁铁组件的左视图；
图4是本发明的可主动调整磁吸附力的爬壁移动机器人的实施例一的结构示意图；
图5是图4所示的爬壁移动机器人的第二种角度的结构示意图；
图6是图4所示的爬壁移动机器人的第三种角度的结构示意图；
图7是图4所示的爬壁移动机器人的主视图；
图8是图7所示的爬壁移动机器人的俯视图；
图9是本发明的可主动调整磁吸附力的爬壁移动机器人的实施例二的结构示意图；
图10是图9所示的爬壁移动机器人的第二种角度的结构示意图；
图11是图9所示的爬壁移动机器人的主视图；
图12是图9所示的爬壁移动机器人的俯视图；
图13是本发明的可主动调整磁吸附力的爬壁移动机器人的实施例三的 结构示意图；
图14是图13所示的爬壁移动机器人的第二种角度的结构示意图；
图15是图13所示的爬壁移动机器人的主视图；
图16是图13所示的爬壁移动机器人的俯视图；
图17是本发明的可主动调整磁吸附力的爬壁移动机器人的实施例三的结构示意图；
图18是图17所示的爬壁移动机器人的第二种角度的结构示意图；
图19是图17所示的爬壁移动机器人的主视图；
图20是图17所示的爬壁移动机器人的俯视图；
说明书附图标记说明：1、车架；2、第一驱动轮；21、驱动轮体；22、第一轴承座；3、第二驱动轮；4、随动轮；41、随动轮体；42、第二轴承座；5、升降磁铁组件；51、活动磁铁组件；52、升降驱动装置；53、距离传感器；6、第一固定磁铁组件；7、第二固定磁铁组件；8、第三固定磁铁组件；9、第四固定磁铁组件；91、导磁板；911、插接口；92、永磁铁；10、辅助轮；11、辅助支座；12、辅助顶板；13、弹性件；14、滑套；15、滑移杆；16、连接板；17、立轴；18、支撑座。
具体实施方式
下面结合附图和具体实施例对本发明作进一步说明，以使本领域的技术人员可以更好地理解本发明并能予以实施，但所举实施例不作为对本发明的限定。
实施例一
参照图4-图8所示，本实施例公开了一种可主动调整磁吸附力的爬壁移动机器人，包括第一驱动轮2、第二驱动轮3和随动轮4，第一驱动轮2和第二驱动轮3均由电机驱动旋转，电机固定在车架1上，随动轮4可转动地连接在车架1前方；
车架1上连接有升降磁铁组件5，参阅图1-图3，升降磁铁组件5包括活动磁铁组件51和升降驱动装置52，升降驱动装置52连接在车架1上，活动磁铁组件51由升降驱动装置52驱动升降，活动磁铁组件51上连接有距离传感器53，活动磁铁组件51连接在车架1的底部。
上述结构通过距离传感器53可以实时检测活动磁铁组件51和爬行壁面之间的距离，根据该距离可以控制活动磁铁组件51的升降，例如，当活动磁铁组件51与壁面间距增大时，控制活动磁铁组件51下降，缩短活动磁铁组件51与壁面距离，增加磁铁吸附力，反之，当活动磁铁组件51与壁面间距过小时，控制活动磁铁组件51上升，适当增大活动磁铁组件51与壁面的距离，以避免干涉发生。通过上述过程使得活动磁铁组件51和爬行壁面之间可以始终保持合适的距离，从而始终保证爬行时具备足够的磁吸附力，进而有效提高了爬壁移动机器人的爬壁可靠性。
上述爬壁移动机器人爬壁原理为：将机器人置于爬行壁面上，并使得第一驱动轮2、第二驱动轮3和随动轮4均接触爬行壁面，驱动第一驱动轮2和第二驱动轮3发生转动，从而使得随动轮4随之转动，进而使得整体机器人在爬行壁面上发生移动，同时，由于各磁铁组件和爬行壁面之间产生有磁吸附力，可以有效保证机器人移动的可靠性，不会发生掉落现象。
其中，爬壁移动机器人的车架1底部还连接有多个第一固定磁铁组件6，参阅图6，第一固定磁铁组件6位于第一驱动轮2和第二驱动轮3之间。由于第一驱动轮2、第二驱动轮3和随动轮4均是和爬行壁面相接触的，在上述位置设置第一固定磁铁组件6，可以更接近轮子接触点，从而使得磁铁组件距离爬行壁面的距离变化越小，磁吸附力变化越小，从而更好的保证机器人的运行稳定性。
进一步的，第一驱动轮2和第二驱动轮3均包括驱动轴，驱动轴的两端均连接有驱动轮体21，驱动轴通过第一轴承和第一轴承座22相连接，第一轴承座22的底部均连接有第二固定磁铁组件7，第二固定磁铁组件7均位于驱动轴两端的驱动轮体21之间。上述驱动轮结构以及第二固定磁铁组件 7的设置位置可以更好地保证驱动轮处的磁吸力在各种壁面上产生的变化影响最小，使得机器人的运行更加稳定。
在其中一个实施方式中，第一轴承为滚动轴承或滑动轴承。
在其中一个实施方式中，参阅4和图7，车架1后方还连接有辅助轮10，辅助轮10可转动的连接在辅助支座11上，车架1上部连接有辅助顶板12，辅助顶板12和辅助支座11之间连接有弹性件13。
辅助轮10起到辅助支撑作用，通过弹性件13的作用，使得辅助轮10和壁面之间始终保持接触，从而增加了机器人的整体运行稳定性；尤其是当升降磁铁组件5的磁吸附力变弱而前方的随动轮4受自重不接触壁面时，后方辅助轮10受到的作用力就会增大，辅助轮10会在弹性件13的弹力作用下更加紧密地接触壁面，从而可有效防止机器人发生掉落。
在其中一个实施方式中，辅助顶板12上固定有滑套14，辅助支座11上部连接有滑移杆15，滑移杆15可滑移地连接在滑套14中，以通过滑移杆15带动辅助支座11和辅助轮10构成的整体进行上下移动。
进一步地，弹性件13采用弹簧，弹簧穿设在滑移杆15上。
在其中一个实施方式中，活动磁铁组件51的两端均连接有升降驱动装置52，两端的升降驱动装置52可呈对称布置，以更好的保证活动磁铁组件51的升降稳定性。
在其中一个实施方式中，升降驱动装置52采用气缸、液压缸或电动推杆。
在其中一个实施方式中，随动轮4采用万向轮。
进一步地，参阅图4和图7，车架1上安装有连接板16，连接板16上可转动地连接有立轴17，立轴17上连接有支撑座18，随动轮4可转动地连接在支撑座18上，从而使得撑轮可以实现水平360度旋转。
实施例一中的磁吸附结构为升降磁铁组件5、第一固定磁铁组件6和第二固定磁铁组件7的组合。
实施例二
参阅图9-图12，本实施例和实施一的主要区别在于：随动轮4包括转轴，转轴的两端均连接有随动轮4体，转轴通过第二轴承和第二轴承座42相连接，第二轴承座42的底部均连接有第三固定磁铁组件8，第三固定磁铁组件8均位于转轴两端的随动轮4体之间。
通过在随动轮4上设置第三固定磁铁组件8，可以更好地保证随动轮4处的磁吸力在各种壁面上产生的变化影响最小，使得机器人的运行更加稳定。
在其中一个实施方式中，第二轴承为滚动轴承或滑动轴承。
实施例二中的磁吸附结构为升降磁铁组件5、第一固定磁铁组件6、第二固定磁铁组件7和第三固定磁铁组件8的组合。
实施例三
参阅图13-图16，本实施例和实施一的主要区别在于：第一驱动轮2和第二驱动轮3均采用单轮体形式，且车架1底部两侧均连接有第四固定磁铁组件9，第四固定磁铁组件9包括导磁板91和永磁铁92，第四固定磁铁组件9的导磁板91上设置有插接口911，插接口911两侧的导磁板91底部均连接有永磁铁92，第一驱动轮2插接在车架1一侧的第四固定磁铁组件9的插接口911中，第二驱动轮3插接在车架1另一侧的第四固定磁铁组件9的插接口911中。
可以理解地，插接口911和第一驱动轮2(或第二驱动轮3)的轮体之间留有缝隙，不会影响轮体的转动。
通过第四固定磁铁组件9的设置，使得第一驱动轮2和第二驱动轮3的内外侧均具有磁吸附作用，内外侧磁吸附作用可以互补，例如，机器人在管 内沿轴向行驶时，轮外侧永磁体与壁面间隙小，磁吸附力大，轮间总磁体与壁面间隙大，磁吸附力小；在管外沿轴向行驶时，轮外侧永磁体与壁面间隙大，磁吸附力小，轮间永磁体与壁面间隙小，磁吸附力大。
可以理解地，上述第一驱动轮2和第二驱动轮3之间的永磁铁92起到了第一固定磁铁组件6的吸附作用。
实施例三中的磁吸附结构为升降磁铁组件5和第四固定磁铁组件9的组合。
实施例四
参阅图17-图20，本实施例和实施三的主要区别在于：随动轮4包括转轴，转轴的两端均连接有随动轮4体，转轴通过第二轴承和第二轴承座42相连接，第二轴承座42的底部均连接有第三固定磁铁组件8，第三固定磁铁组件8均位于转轴两端的随动轮4体之间。
通过在随动轮4上设置第三固定磁铁组件8，可以更好地保证随动轮4处的磁吸力在各种壁面上产生的变化影响最小，使得机器人的运行更加稳定。
在其中一个实施方式中，第二轴承为滚动轴承或滑动轴承。
实施例四中的磁吸附结构为升降磁铁组件5、第四固定磁铁组件9和第三固定磁铁组件8的组合。
在上述实施例中，活动磁铁组件51、第一固定磁铁组件6、第二固定磁铁组件7、第三固定磁铁组件8和第四固定磁铁组件9均包括导磁板91和永磁铁92，永磁铁92均固定在导磁板91的底部，只是各磁铁组件中导磁板91的形状和构造不同，可根据实际情况进行制造。
需要说明是，上述第一固定磁铁组,6、第二固定磁铁组件7、第三固定磁铁组件8和第四固定磁铁组件9均是固定不动的，只有活动磁铁组件51可以进行升降运动。
上述实施例的主动调整磁吸附力的爬壁移动机器人，均可以有效提升磁吸附爬壁移动机器人的爬壁可靠性，使得爬壁移动机器人可以稳定运行。
显然，上述实施例仅仅是为清楚地说明所作的举例，并非对实施方式的限定。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变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引申出的显而易见的变化或变动仍处于本发明创造的保护范围之中。

Claims (10)

  1. 一种可主动调整磁吸附力的爬壁移动机器人，其特征在于:包括第一驱动轮、第二驱动轮和随动轮，所述第一驱动轮和第二驱动轮均由电机驱动旋转，所述电机固定在车架上，所述随动轮连接在车架前方，所述车架上连接有升降磁铁组件，所述升降磁铁组件包括活动磁铁组件和升降驱动装置，所述升降驱动装置连接在所述车架上，所述活动磁铁组件由所述升降驱动装置驱动升降，所述活动磁铁组件上连接有距离传感器，所述活动磁铁组件连接在所述车架的底部。
  2. 根据权利要求1所述的可主动调整磁吸附力的爬壁移动机器人，其特征在于：所述车架底部还连接有多个第一固定磁铁组件，所述第一固定磁铁组件位于所述第一驱动轮和第二驱动轮之间。
  3. 根据权利要求2所述的可主动调整磁吸附力的爬壁移动机器人，其特征在于：所述第一驱动轮和第二驱动轮均包括驱动轴，所述驱动轴的两端均连接有驱动轮体，所述驱动轴通过第一轴承和第一轴承座相连接，所述第一轴承座的底部均连接有第二固定磁铁组件，所述第二固定磁铁组件均位于驱动轴两端的驱动轮体之间。
  4. 根据权利要求3所述的可主动调整磁吸附力的爬壁移动机器人，其特征在于：所述第一轴承为滚动轴承或滑动轴承。
  5. 根据权利要求1所述的可主动调整磁吸附力的爬壁移动机器人，其特征在于：所述随动轮包括转轴，所述转轴的两端均连接有随动轮体，所述转轴通过第二轴承和第二轴承座相连接，所述第二轴承座的底部均连接有第三固定磁铁组件，所述第三固定磁铁组件均位于转轴两端的随动轮体之间。
  6. 根据权利要求1所述的可主动调整磁吸附力的爬壁移动机器人，其特征在于：所述车架底部两侧均连接有第四固定磁铁组件，所述第四固定磁铁 组件包括导磁板和永磁铁，所述第四固定磁铁组件的导磁板上设置有插接口，所述插接口两侧的导磁板底部均连接有永磁铁，所述第一驱动轮插接在车架一侧的第四固定磁铁组件的插接口中，所述第二驱动轮插接在车架另一侧的第四固定磁铁组件的插接口中。
  7. 根据权利要求1所述的可主动调整磁吸附力的爬壁移动机器人，其特征在于：所述车架后方还连接有辅助轮，所述辅助轮连接在辅助支座上，所述车架上部连接有辅助顶板，所述辅助顶板和辅助支座之间连接有弹性件。
  8. 根据权利要求7所述的可主动调整磁吸附力的爬壁移动机器人，其特征在于：所述辅助顶板上连接有滑套，所述辅助支座上部连接有滑移杆，所述滑移杆可滑移地连接在所述滑套中。
  9. 根据权利要求1所述的可主动调整磁吸附力的爬壁移动机器人，其特征在于：所述活动磁铁组件的两端均连接有所述升降驱动装置。
  10. 根据权利要求1所述的可主动调整磁吸附力的爬壁移动机器人，其特征在于：所述升降驱动装置采用气缸、液压缸或电动推杆。
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