CN108438079B - Wall-climbing robot - Google Patents

Abstract

The invention relates to a wall-climbing robot, which includes a frame, two synchronous belts and several electromagnets. A group of circular tracks are arranged on both sides of the frame, and each group of circular tracks has two. The track plane of the circular track is vertical The two synchronous belts are respectively arranged on both sides of the frame under the connection of the drive mechanism, the plurality of electromagnets are distributed on the two synchronous belts, and the coil poles of each electromagnet slide on the corresponding two In the circular track; the corresponding undersides of the two circular tracks and the bottom side of the frame are made of conductive material and the lower sides of the two circular tracks are respectively connected to the two poles of the power supply, and the electromagnet moves to the bottom of the circular track. When the lower side, its coil conducts electricity to generate a magnetic field. The invention can ensure the required adsorption force during the wall climbing process of the robot and at the same time does not generate the traveling resistance caused by the adsorption force.

Description

A wall-climbing robot

technical field

The invention relates to a wall-climbing robot, in particular to a wall-climbing robot capable of being adsorbed on a steel wall, and belongs to the technical field of industry.

Background technique

The mobile robot is mainly composed of a mobile platform (walking mechanism), an actuator and related driving power, information perception and control system, etc. The walking mechanism can be divided into wheel type (including crawler type) and foot type (leg type) and other forms. On a flat, firm ground, wheel-based exercise is more efficient than leg-based exercise, and has a simple structure and flexible movement. A general mobile robot usually adopts a wheeled motion mechanism. Leg movement is suitable for rough and unstructured terrain, with many degrees of freedom and complex control. Legged locomotion is characterized by a series of point contacts between the robot and the ground. Its main advantages include good adaptability and maneuverability on rough terrain.

At present, extensive research on wall-climbing robots has been carried out at home and abroad. The adsorption methods of wall-climbing robots mainly include negative pressure adsorption, bionic dry adhesive adsorption and magnetic adsorption. Negative pressure adsorption is not limited by working conditions and working media, but when there are cracks or unevenness on the adsorption wall, the suction cup is prone to air leakage. Dry adhesive adsorption is to use the molecular force between the contact surfaces of various objects for adsorption, and can be applied in any occasion. The magnetic adsorption method is only applicable to the wall surface of the magnetic permeable material. Magnetic adsorption can be divided into electromagnet adsorption, permanent magnet adsorption, electromagnetic and permanent magnet hybrid adsorption.

The search found that the Chinese patent application number 2010102893277 proposed a "wheeled obstacle-climbing robot". Permanent magnets are installed under the chassis of the robot to form a planar non-contact adsorption with the adsorbed surface. Since the magnetic force is constant, this magnetic force is both an adsorption force and a resistance to movement. The stronger the magnetic force, the better the adsorption, but the worse the mobility. The smaller the magnetic force, the better the mobility, but the worse the adsorption. The Chinese patent application number 2015106680094 proposes a "wall-climbing robot", in which the variable magnetic adsorption unit is adsorbed and detached from the surface of the wind power tower in turn. However, the adopted magnetic variable adsorption unit is bulky, and the patent uses a mechanical lever to control the magnetic force of the adsorption unit, which has low reliability. The Chinese patent application number 2017107659155 proposes "a wheeled magnetic adsorption wall-climbing robot". The adsorption module is composed of a permanent magnetic strip, and the gap between the permanent magnetic strip and the working wall is adjusted by adjusting the bolts on the adsorption module (5- 10mm). When the robot moves, the suction force decreases and the safety decreases. The Chinese patent with the application number 2017100147777 proposes "a wall-climbing robot adsorbed on a steel wall". The electromagnet is electrically connected to the energized plate through the brush, and loses power when it is detached. That is to say, the alternating current flow of the electromagnet ensures the adsorption and better flexibility of the wall-climbing robot. A compression spring is fixed on the electromagnet (a lead wire connected to the electromagnet), and the other end of the spring is connected to a brush contact, and the contact contacts with the current-carrying plate to get electricity.

Contents of the invention

The purpose of the present invention is to provide a wall-climbing robot that has good adsorption and flexibility and can move on the steel wall, which is specifically realized by the following technical solutions:

A wall-climbing robot comprising a frame, two synchronous belts and several electromagnets, a group of circular tracks are respectively arranged on both sides of the frame, each group of circular tracks has two, and the track plane of the circular tracks is vertically arranged; The two synchronous belts are respectively arranged on both sides of the frame under the connection of the driving mechanism, the plurality of electromagnets are distributed on the two synchronous belts, and the two poles of the coils of the electromagnets slide in the corresponding two circular tracks The corresponding undersides of the two annular tracks and the frame bottom are made of conductive material and the undersides of the two annular tracks are respectively connected to the two poles of the power supply, and the electromagnet moves to the underside of the annular track When its coil conducts electricity, it generates a magnetic field.

The wall-climbing robot is further designed in that the drive mechanism is an in-wheel motor, which is arranged on the side of the frame and connected to the corresponding synchronous belt drive.

The wall-climbing robot is further designed in that the frame is connected with two hub motors and two synchronous pulleys, wherein the hub motor is connected to the front part of one side of the frame, and the rear part of the side is rotatably connected to There is a synchronous pulley, correspondingly a synchronous belt is set on the outer side of the hub motor and the synchronous pulley on this side; the other hub motor is connected to the rear part of the other side of the frame, and the front part of this side is rotatably connected There is another synchronous pulley. Correspondingly, another synchronous belt hoop is placed on the outer side of the wheel hub of the hub motor on this side and on the synchronous pulley on this side.

The wall-climbing robot is further designed in that a mounting hole is provided on the side of the frame, and the main shaft of the in-wheel motor is connected in the mounting hole.

The wall-climbing robot is further designed in that a sleeve is built in the mounting hole, the main shaft of the in-wheel motor is arranged in the sleeve, and a tension connector is connected between the sleeve and the frame , so that the timing belt is tensioned in its driving direction.

The wall-climbing robot is further designed in that the tension connector is a U-shaped hoop.

The wall-climbing robot is further designed in that one side of the main shaft of the hub motor has a limiting plane, the side wall of the sleeve is provided with several threaded holes opposite to the limiting plane, and several fastening bolts While being screwed to the side wall of the sleeve through the threaded hole, the end of the fastening bolt collides with the limiting plane.

The wall-climbing robot is further designed in that the two poles of the coil of the electromagnet are respectively connected with brush ball heads, and the brush ball heads slide in the circular track.

The wall-climbing robot is further designed in that the two poles of the coil of the electromagnet are connected to the brush ball head via a spring.

The wall-climbing robot is further designed in that the upper sides of the two circular tracks are made of insulating materials.

The beneficial effects of the present invention are:

1. The ring track is a closed ring structure, which is fixed on the robot frame by screws. The circular track is composed of two parts, the upper half circle is made of insulating material, and the second half circle is made of conductive material. The brush ball part is placed in the round tube of the circular track and can move along the inner hole. When the electromagnet moves with the timing belt, the brush slides along the circular track. When the brush moves to the upper half circle of the circular track, the electromagnet loses power and does not generate suction to the steel wall. When the brush moves to the lower half of the circular track, the electromagnet is energized and generates suction to the steel wall.

2. The hub motor is adopted, and the structure is compact.

3. The unique brush structure enables the robot to crawl on vertical walls and even be attached to the ceiling.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of an embodiment of the present invention.

Figure 2 is a side view of the embodiment.

Figure 3. Partial schematic diagram of the electromagnet.

Figure 4 is a schematic diagram of the structure of the brush ball head connected to the circular track.

Fig. 5 is a structural schematic diagram of the connection relationship between the in-wheel motor and the frame.

Fig. 6 is a schematic structural diagram of a U-shaped hoop and a sleeve.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing of description and embodiment:

A wall-climbing robot as shown in the figure includes a frame 4, two synchronous belts 1 and a number of electromagnets 2. A group of circular tracks are respectively arranged on both sides of the frame, and each group of circular tracks has two, that is, a total of 4 An annular track; the track plane of the annular track is vertically arranged; the two synchronous belts 1 are respectively arranged on both sides of the frame under the connection of the drive mechanism, and the synchronous belt and the rotatably arranged on the frame The synchronous belt pulley 3 is connected, and the synchronous belt is the crawler belt of the wall-climbing robot. The middle part of the synchronous belt is in contact with the fixed frame 8; the plurality of electromagnets are distributed on the two synchronous belts, and the coil poles of each electromagnet 2 slide on the corresponding In the two ring-shaped tracks; the corresponding undersides of the two ring-shaped tracks and the bottom side of the frame are made of conductive material and the lower sides of the two ring-shaped tracks are respectively connected to the two poles of the power supply, and the electromagnet moves to the When the lower side of the circular track conducts electricity, its coil generates a magnetic field.

The two poles of the coil of the electromagnet are respectively connected with a brush ball head 6-1, and the brush ball head slides in the ring track. The two poles of the coil of the electromagnet are connected with the ball head of the electric brush via a spring. The upper side parts of the two circular tracks are made of insulating material.

Specifically, as shown in FIG. 4 , the brushes 6 and the ring track 7 are one set; the brushes 11 and the ring track 10 are another set. The brush ball head 6-1 is fixed with the screw 6-2 and the spring 6-3, the spring 6-3 is fixed with the insulating connecting plate 6-5, the connecting plate is fixed with the electromagnet through the screw 6-4, and the positive and negative lead wires of the electromagnet Connect with two brush ball heads respectively.

The ring track is a closed ring structure, which is fixed on the robot frame by screws. The cross section of the circular track is in the shape of a circular tube with slots on the sides. The lower part of the brush ball head 6-1 is cylindrical, and the cylinder is positioned at the notch of the circular track, and there is a gap between the cylinder and the notch to ensure that the cylinder can move along the notch. The circular track is composed of two parts, the upper half circle is made of insulating material, and the second half circle is made of conductive material. The brush ball part is placed in the round tube of the circular track and can move along the inner hole. When the electromagnet 2 moves with the synchronous belt 1, the brush slides along the circular track. When the brush moves to the upper half circle of the circular track, since the upper half circle of the circular track is made of insulating material, when the brush slides to the upper half circle of the circular track, the electromagnet loses power and does not generate suction to the steel wall. However, when the brush moves to the lower half of the ring track, because the lower half of the ring track is made of conductive material, when the brush slides to the second half of the ring track, the electromagnet is energized, which generates suction to the steel wall. In this embodiment, 5 electromagnets on the synchronous belt on one side can be electrically adsorbed on the steel wall at the same time, plus the synchronous belt on the other side, a total of 10 electromagnets can be adsorbed on the steel wall at the same time, sufficient adsorption The force ensures that the entire robot and associated load can be safely attached to the wall.

Since only the lower half of the circular track conducts electricity, only when the brush slides to the lower half of the circular track, the electromagnet can generate adsorption force. With the movement of the timing belt, the electromagnets enter the conductive area sequentially and leave the conductive area sequentially. In this way, during the movement of the robot, while ensuring sufficient adsorption force, the adsorption force will not become a resistance to the movement of the robot.

The driving mechanism is an in-wheel motor 5, which is arranged on the side of the frame and connected with the corresponding synchronous belt drive. The frame is connected with two hub motors and two timing pulleys, wherein the hub motor is connected to the front part of one side of the frame, and the rear part of the side is rotatably connected to a timing pulley 3, correspondingly a timing belt hoop Set on the outer side of the hub motor and the synchronous pulley on this side; the other hub motor is connected to the rear of the other side of the frame, and the front of this side is rotatably connected to another synchronous pulley 3, correspondingly, Another synchronous belt hoop is placed on the outer side of the wheel hub of the hub motor on this side and on the synchronous pulley on this side. A mounting hole is provided on the side of the frame, and the main shaft of the hub motor is connected in the mounting hole.

A sleeve is built into the mounting hole, and the sleeve is fixedly connected to the frame 4 via a screw rod 14 and a nut 15; the main shaft of the hub motor is arranged in the sleeve, and the sleeve and the frame are connected with a Tension the connection so that the timing belt is tensioned in its drive direction. The tensioning connector is specifically a U-shaped hoop 9, and the fastening nut 12 is threadedly connected to the end of the U-shaped hoop 9 while touching the end plate 13. When the fastening nut 12 is tightened, the sleeve is in the frame. Tension the timing belt.

One side of the main shaft of the in-wheel motor has a limit plane, and the side wall of the sleeve is provided with several threaded holes opposite to the limit plane, and several fastening bolts are threaded to the side wall of the sleeve through the threaded holes. The ends of the fastening bolts 16 are in contact with the limiting plane.

Claims (10)

1. A wall-climbing robot is characterized in that comprising frame, two synchronous belts and some electromagnets, the both sides of described frame are respectively provided with a group of circular tracks, every group of circular tracks has two, the track of described circular track The plane is vertically arranged; the two synchronous belts are respectively arranged on both sides of the frame under the connection of the drive mechanism, the plurality of electromagnets are distributed on the two synchronous belts, and the coil poles of each electromagnet slide on the corresponding In the two circular tracks; the corresponding undersides of the two circular tracks and the bottom side of the frame are made of conductive material and the lower sides of the two circular tracks are respectively connected to the two poles of the power supply, and the electromagnet moves to the circular When the lower side of the track is conductive, the coil generates a magnetic field; the brush and the ring track are set; The plate is fixed to the electromagnet by screws, and the positive and negative leads of the electromagnet are respectively connected to the two brush ball heads; the ring track is a closed ring structure, which is fixed on the robot frame by screws; the ring track section is in the shape of a round tube with slots on the side ;The lower part of the brush ball head is cylindrical, and the cylinder is located in the notch of the circular track. There is a gap between the cylinder and the notch to ensure that the cylinder can move along the notch; the circular track is composed of two parts, and the upper half is made of insulating material. The lower half circle is made of conductive material; the ball part of the brush is placed in the circular tube of the circular track and can move along the inner hole; when the electromagnet moves with the synchronous belt, the brush slides along the circular track; when the electric When the brush moves to the upper half circle of the circular track, since the upper half circle of the circular track is made of insulating material, when the brush slides to the upper half circle of the circular track, the electromagnet will lose power, and there will be no suction on the steel wall; when the brush moves under the circular track In the half cycle, because the lower half of the circular track is made of conductive materials, when the brush slides to the lower half of the circular track, the electromagnet will be energized and generate suction to the steel wall; 5 electromagnets can be energized and adsorbed at the same time on the synchronous belt on one side On the steel wall, plus the timing belt on the other side, a total of 10 electromagnets are adsorbed on the steel wall at the same time. The sufficient adsorption force ensures that the entire robot and related loads can be safely adsorbed on the wall. 2 . The wall-climbing robot according to claim 1 , wherein the driving mechanism is an in-wheel motor, which is arranged on the side of the frame and is driven and connected to a corresponding synchronous belt. 3 . 3. The wall-climbing robot according to claim 2, wherein the frame is connected with two hub motors and two synchronous pulleys, wherein the hub motor is connected to the front of one side of the frame, and the rear of the side is The part is rotatably connected with a synchronous pulley, and correspondingly a synchronous belt hoop is set on the outer side of the hub motor and the synchronous pulley on this side; the other hub motor is connected to the rear of the other side of the frame, and the front of the side Another synchronous pulley is rotatably connected to the upper part, and correspondingly, another synchronous belt hoop is sleeved on the outer side of the wheel hub of the hub motor on this side and on the synchronous pulley on this side. 4. The wall-climbing robot according to claim 2, wherein a mounting hole is provided on a side of the frame, and the main shaft of the in-wheel motor is connected in the mounting hole. 5. The wall-climbing robot according to claim 4, wherein a sleeve is built into the mounting hole, the main shaft of the in-wheel motor is arranged in the sleeve, and the sleeve is connected to the frame. There is a tension connection so that the timing belt is tensioned in its direction of drive. 6. The wall-climbing robot according to claim 5, characterized in that, the tension connector is a U-shaped hoop. 7. The wall-climbing robot according to claim 5, wherein one side of the main shaft of the hub motor has a limiting plane, and the side wall of the sleeve is provided with several threaded holes opposite to the limiting plane A plurality of fastening bolts are threadedly connected to the side wall of the sleeve through the threaded holes, and at the same time, the ends of the fastening bolts interfere with the limiting plane. 8. The wall-climbing robot according to claim 1, characterized in that, the two poles of the coil of the electromagnet are respectively connected with brush ball heads, and the brush ball heads slide in the circular track. 9. The wall-climbing robot according to claim 8, characterized in that, the two poles of the coil of the electromagnet are connected to the brush ball head via a spring. 10. The wall-climbing robot according to claim 1, characterized in that, the upper sides of the two circular tracks are made of insulating materials.

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