CN204605990U - Magnetic force variable duct boosting climbing robot - Google Patents

Abstract

The utility model discloses a kind of magnetic force variable duct boosting climbing robot, comprise ducted fan, rubber wheel, push-rod electric machine, magnetometric sensor, DC machine, car body, push-rod electric machine stay bearing plate, optical axis sleeve, Timing Belt, magnet chassis, owing to devising push-rod electric machine position-force control system, therefore promote magnet chassis by push-rod electric machine, the distance of setting permanent magnet and iron metope changes magnetic force, be convenient to robot transition between three-dimensional iron metope, improve the alerting ability of climbing robot; Owing to devising ducted fan boost installation, when robot is changed at wall, ducted fan can provide thrust, the magnetic force reduced when compensating wall conversion, and being convenient to robot can stably transition between three-dimensional iron metope, enhances wall-climbing device human reriability; Because matching design permanent magnetism gap adsorption plant is taken turns by permanent magnet and buphthalmos in robot magnet chassis, while ensure that climbing robot has stronger load-carrying capacity, magnet chassis seamless applyingly can not arrive iron metope to such an extent as to the excessive climbing robot of magnetic force cannot transition between three-dimensional iron metope.

Description

Magnetic variable duct assists wall-climbing robot

technical field

The utility model relates to the technical field of special robots, in particular to a wall-climbing robot aided by a variable magnetic duct.

Background technique

In the field of robots, especially special robots are widely used in military, scientific research, industry, civilian and other fields. Wall-climbing robots are widely used because they can replace human beings in various high-risk operations on the outer wall. Among them, in the field of shipbuilding and nuclear industry, the use of magnetic adsorption wall-climbing robots can derust, polish, and paint the hull or large oil tanks. , flaw detection, etc. have been significantly improved, saving labor and reducing the danger of workers' operations.

For example, the application number is 200710022762.1, and the invention patent named "power plant boiler water-cooled wall climbing robot" discloses a power plant boiler water-cooled wall climbing robot. It includes: a lifting platform, two permanent magnet adsorption walking operation devices with symmetrical devices on the left and right sides of the lifting platform, and the permanent magnet adsorption walking operation device includes a car body and several permanent magnet adsorption walking wheel sets. Its advantages are that the wall-climbing robot is adsorbed on the iron wall by the permanent magnetic wheel, with stable performance, strong adsorption, large friction, stable walking, overloaded, and can carry various heavy equipment, but the magnetic wheel is directly In contact with the iron wall, the magnetic force is constant and cannot be adjusted, which is not conducive to the transition of the robot between three-dimensional iron walls, and can only be applied to ordinary planes.

Another example is that the application number is 201310222443.0, and the invention patent named "steel plate wall climbing robot" discloses a steel plate wall climbing robot, including a chassis and a walking device installed on the chassis. The crawler is composed of a winding and an iron core in the range surrounded by the crawler. The winding is parallel to the crawler and placed in the iron core, and the magnetic force is generated by a self-made electromagnet. Its advantage is that it is easy to assemble and has strong adsorption force, but the magnetic force is generated through the principle of electromagnetism, which consumes more electric energy. The track and its own electromagnetic winding will increase the gravity of the robot itself, which is not conducive to its carrying load, and the track is used as a walking device Inflexible when transitioning between 3D iron walls.

Therefore, in order to solve the disadvantages of the existing technology, it is necessary to design a magnetic variable duct-assisted wall-climbing robot. Through the optimized design of the push rod motor, duct fan, and magnet chassis, it can solve the problem of the robot moving between three-dimensional iron walls. Transition, strong load, flexible control and other difficult problems.

Utility model content

The technical problem to be solved by the utility model is to overcome the lack of comprehensive performance of existing robots in three aspects: single wall movement, poor three-dimensional wall transition reliability, and small load capacity, and to design a magnetic variable duct booster The wall-climbing robot enables it to transition flexibly and stably between three-dimensional iron walls while having a large load capacity.

The technical solution adopted by the utility model to solve the above-mentioned technical problems is: a magnetically variable duct-assisted wall-climbing robot, including a duct fan, rubber wheels, a push rod motor, a magnetic sensor, a DC motor, a car body, and a push rod Motor support plate, optical axis sleeve, timing belt, and magnet chassis, characterized in that: the ducted fan is symmetrically fixed on both sides of the car body through angle aluminum, and the push rod motor is fixed on the support of the push rod motor On the plate, one end of the magnetic sensor is connected to the car body, and the other end is connected to the support plate of the push rod motor. The DC motor is connected to the rubber wheel through a coupling, and the DC motor is installed on the The two sides of the car body are center-symmetrical, adopting a differential drive method, the rubber wheels are symmetrically distributed on both sides of the car body, and the wheels on the same side of the rubber wheel are connected by the timing belt, and the car body is 8mm Thick aluminum alloy material.

The magnet chassis includes an optical axis, a bull's-eye wheel, a permanent magnet, a chassis connector, and an optical axis fixing frame. The push rod of the push rod motor is connected to the magnet chassis through the chassis connector, and the permanent magnet Installed on the magnet chassis, the four permanent magnets are cuboids with the same length, width and thickness, the magnetic poles of the adjacent permanent magnets are different from each other, and the four bull's-eye wheels are evenly distributed and installed on the magnet chassis, The diameter of the bull's-eye wheel is greater than the thickness of the permanent magnet.

The optical axis passes through the optical axis sleeve to the upper surface of the vehicle body. The optical axis is to ensure that the magnet chassis does not deviate. When the push rod motor pushes the magnet chassis away from the vehicle body Movement, the permanent magnet is close to the iron wall, the magnetic force between the robot and the iron wall increases, when the push rod motor pulls the magnet chassis to move close to the car body, the permanent magnet moves away from the iron wall For the iron wall, the magnetic force between the robot and the iron wall decreases.

When the wall-climbing robot transitions from the horizontal ground to the iron wall, the magnet chassis is farther away from the iron wall, and the magnetic force is weaker. Start the ducted fan to provide thrust to compensate for the reduced magnetic force. When climbing When the wall robot transitions from the iron wall to the horizontal iron wall, the magnet chassis is far away from the iron wall and the horizontal iron wall, and the magnetic force is weak, so start the ducted fan to provide thrust , to compensate for the reduced magnetic force and to overcome a part of its own gravity.

Compared with the prior art, the utility model has the advantages of: due to the design of the push rod motor position closed-loop control system, the magnet chassis can be pushed by the push rod motor, and the magnetic force can be changed by setting the distance between the permanent magnet and the iron wall, which is convenient The robot transitions between the three-dimensional iron walls, which improves the flexibility of the wall-climbing robot; due to the design of the ducted fan booster, when the robot transitions on the wall, the ducted fan can provide thrust to compensate for the reduced wall transition. The magnetic force facilitates the stable transition of the robot between the three-dimensional iron walls, which enhances the reliability of the wall-climbing robot; the permanent magnet gap adsorption device is designed with the robot magnet chassis through the permanent magnet and the bull's-eye wheel, which ensures that the wall-climbing robot has At the same time as the strong load capacity, the magnet chassis will not be seamlessly attached to the iron wall so that the wall-climbing robot cannot transition between the three-dimensional iron walls due to the excessive magnetic force.

Description of drawings

Fig. 1 is a three-dimensional model diagram of the utility model.

Fig. 2 is a schematic diagram of the adsorption state of the iron wall of the robot of the present invention.

Fig. 3 is a structural diagram of the magnet chassis of the present invention.

Fig. 4 is a schematic diagram of the three-dimensional wall transition of the robot of the present invention.

Explanation of reference numbers: 1. Ducted fan 2. Rubber wheel 3. Push rod motor 4. Magnetic sensor 5. DC motor 6. Car body 7. Push rod motor support plate 8. Optical shaft sleeve 9. Optical shaft 10. Timing belt 11. Iron wall 12. Magnet chassis 13. Bullseye wheel 14. Permanent magnet 15 Chassis connector 16. Optical axis fixing frame 17. Level ground 18. Level iron wall

Detailed ways

The utility model is described in further detail below in conjunction with the accompanying drawings.

Referring to Fig. 1, a magnetically variable duct-assisted wall-climbing robot includes a duct fan 1, rubber wheels 2, a push rod motor 3, a magnetic sensor 4, a DC motor 5, a car body 6, and a push rod motor support plate 7 , an optical shaft sleeve 8, a timing belt 10, and a magnet chassis 12, which are characterized in that: the ducted fan 1 is symmetrically fixed on both sides of the vehicle body 6 through angle aluminum, and the push rod motor 3 is fixed on the push rod On the rod motor support plate 7, one end of the magnetic sensor 4 is connected to the vehicle body 6, and the other end is connected to the push rod motor support plate 7, and the DC motor 5 is connected to the rubber wheel through a coupling 2 connection, the DC motor 5 is installed on both sides of the vehicle body 6 and is center-symmetrical, and adopts a differential drive mode. The rubber wheels 2 are symmetrically distributed on both sides of the vehicle body 6, and the same side of the rubber wheel 2 The wheels are connected through the synchronous belt 10, and the vehicle body 6 is made of an 8mm thick aluminum alloy material.

Referring to Fig. 2 and Fig. 3, it is the schematic diagram of the iron wall surface adsorption state of the utility model robot and the structural diagram of the magnet chassis, the magnet chassis 12 includes an optical axis 9, a bull's-eye wheel 13, a permanent magnet 14, a chassis connector 15, an optical Shaft holder 16, the push rod of described push rod motor 3 is connected with described magnet chassis 12 by described chassis connector 15, and described permanent magnet 14 is installed on the magnet chassis 12, and four described permanent magnets 14 are A cuboid with the same length, width and thickness, the magnetic poles of the adjacent permanent magnets 14 are different, and the four bullseye wheels 13 are evenly distributed on the magnet chassis 11, and the diameter of the bullseye wheels 13 is larger than that of the magnet chassis. The thickness of the permanent magnet 14.

The optical axis 9 passes through the optical axis sleeve 8 to the upper surface of the car body 6. The optical axis 9 is to ensure that the magnet chassis 12 does not deviate. When the push rod motor 3 pushes the magnet The chassis 12 moves away from the car body 6, the permanent magnet 14 approaches the iron wall 11, and the magnetic force between the robot and the iron wall 11 increases, when the push rod motor 3 pulls the magnet chassis 12 moves close to the car body 6, the permanent magnet 14 moves away from the iron wall 11, and the magnetic force between the robot and the iron wall 11 decreases.

Referring to Fig. 4, it is a schematic diagram of the three-dimensional wall transition of the robot of the present invention. When the wall-climbing robot transitions from the horizontal ground 17 to the iron wall 11, the magnet chassis 12 is far away from the iron wall 11, and the magnetic force is weak , start the ducted fan 1 to provide push, compensate for the reduced magnetic force, when the wall-climbing robot transitions from the iron wall 11 to the horizontal iron wall 18, the magnet chassis 12 is at a distance from the iron wall The surface 11 is far away from the horizontal iron wall surface 18, and the magnetic force is weak, and the ducted fan 1 is activated to provide a thrust to compensate for the reduced magnetic force and overcome a part of its own gravity.

During the wall climbing process, the DC motor 5 is remotely controlled by the remote controller, and the differential control method is adopted to control the attitude of the car body 6 on the iron wall 11. When moving in a straight line, the DC motor is controlled. 5 rotate in the same direction at the same speed, and when turning is required, control the DC motor 5 to rotate in the same direction at different speeds or in the opposite direction.

The push rod motor 3 is controlled by a remote controller, and the position closed-loop control method is adopted to remotely set the moving distance of the push rod motor 3 by the remote controller, thereby controlling the distance between the magnet chassis 12 and the iron wall surface 11 The distance is used to adjust the adsorption force of the wall-climbing robot on the iron wall 11.

During the three-dimensional wall surface transition process, while remotely controlling the DC motor 5 and the push rod motor 3 through the remote controller, the speed of the ducted fan 1 must also be controlled. The faster the ducted fan 1 is, the faster the ducted fan 1 will be. The greater the thrust provided, when the wall-climbing robot needs to transition from the horizontal ground 17 to the iron wall 11, the reduced magnetic force can be compensated, so that the wall-climbing robot can transition to the iron wall 11 stably and quickly , when the wall-climbing robot needs to transition from the iron wall 11 to the horizontal iron wall 18, it can compensate for the reduced magnetic force, and overcome a part of its own gravity, so that the wall-climbing robot can smoothly transition to the horizontal iron wall Face 11.

Claims (1)

1. A magnetically variable duct-assisted wall-climbing robot, including a duct fan (1), rubber wheels (2), push rod motors (3), magnetic sensors (4), DC motors (5), and a car body (6), push rod motor support plate (7), optical axis sleeve (8), timing belt (10), magnet chassis (12), characterized in that: the ducted fan (1) is symmetrically fixed by angle aluminum On both sides of the car body (6), the push rod motor (3) is fixed on the push rod motor support plate (7), and one end of the magnetic sensor (4) is connected to the car body (6) ), the other end is connected with the push rod motor support plate (7), the DC motor (5) is connected with the rubber wheel (2) through a coupling, and the DC motor (5) is installed on the The two sides of the car body (6) are center-symmetrical, adopting a differential drive mode, the rubber wheels (2) are symmetrically distributed on both sides of the car body (6), and the wheels on the same side of the rubber wheels (2) pass through the Timing belt (10) is connected, and described car body (6) is the aluminum alloy material of 8mm thickness; Described magnet chassis (12), comprises optical axis (9), bull's-eye wheel (13), permanent magnet (14), chassis connector (15), optical axis fixed mount (16), described push rod motor (3 ) push rod is connected with the magnet chassis (12) through the chassis connector (15), the permanent magnets (14) are installed on the magnet chassis (12), and the four permanent magnets (14) are Cuboids with the same length, width and thickness, the magnetic poles of adjacent permanent magnets (14) are different, and the four bull’s-eye wheels (13) are evenly distributed and installed on the magnet chassis (12), and the bull’s-eye wheels (13) has a diameter greater than the thickness of the permanent magnet (14); The optical axis (9) passes through the optical axis sleeve (8) to the upper surface of the vehicle body (6), and the optical axis (9) is to ensure that the magnet chassis (12) does not deviate. The push rod motor (3) promotes the magnet chassis (12) to move away from the car body (6), the permanent magnet (14) is close to the iron wall (11), and the robot is connected to the iron wall (11). ) between the magnetic force increases, when the push rod motor (3) pulls the magnet chassis (12) to move close to the car body (6), the permanent magnet (14) is away from the iron wall (11 ), the magnetic force between the robot and the iron wall (11) decreases; When the wall-climbing robot transitions from the horizontal ground (17) to the iron wall (11), the magnet chassis (12) is farther away from the iron wall (11), and the magnetic force is weaker, so start the duct The fan (1) provides thrust to compensate for the reduced magnetic force. When the wall-climbing robot transitions from the iron wall (11) to the horizontal iron wall (18), the magnet chassis (12) is at a distance from the iron wall (11) is far away from the horizontal iron wall (18), and the magnetic force is weak. Start the ducted fan (1) to provide thrust, compensate for the reduced magnetic force and overcome a part of its own gravity.