CN206384065U - A kind of transfer of wheeled magnetic adsorption wall climbing robot - Google Patents

Abstract

The utility model discloses a steering device of a wheeled magnetic adsorption wall-climbing robot, which comprises a wheeled combined moving device and a permanent magnetic adsorption device. The wheeled combined moving device includes a chassis and a center mounted on the chassis respectively. The driving wheel and four passive universal wheels, the passive universal wheels can rotate 360° freely, and the steering is flexible; the permanent magnetic adsorption device installed on the chassis adopts permanent magnet materials, and the guides are guided in a non-contact manner. Magnetic wall surface for adsorption. In this way, the combination of the wheel-type combined mobile device and the permanent magnetic adsorption device makes the robot adsorb on the wall through the permanent magnetic adsorption device. While the central drive wheel drives the robot to walk, the universal wheel that can freely rotate 360 degrees increases the Steering flexibility makes the steering fast and the steering area is small.

Description

A steering device for a wheeled magnetic adsorption wall-climbing robot

technical field

The utility model relates to the technical field of magnetic adsorption, in particular to a steering device of a wheeled magnetic adsorption wall-climbing robot.

Background technique

The wall-climbing robot can replace humans to move flexibly on inclined and vertical surfaces, giant components, and even the top of the container, and complete certain tasks. Wall-climbing robots have broad application prospects in petrochemical, building cleaning, shipbuilding, fire fighting and other fields.

The magnetic adsorption wall climbing robot is a branch of the wall climbing robot. Although it is limited to the application of the magnetic wall surface, it has the advantages of strong adsorption force, not limited by the unevenness or cracks of the wall surface, safety, stability and reliability. Extensive research and application.

At present, the mobile modes of magnetic adsorption wall-climbing robots mainly include crawler type, leg-foot type and wheel type. Compared with the other two types of robots, the wheel type magnetic adsorption wall-climbing robot can maintain a certain load and move flexibly. The mobile system mechanism is simple. , light weight, low power consumption, easy to control.

However, at present, wheeled magnetic adsorption wall-climbing robots mostly rely on the speed difference between the two sides to achieve steering. When steering, a large steering space is required, and it cannot be very flexible and fast to perform small-scale steering, and it is prone to wheel slippage. It is not convenient when working in a space with regional restrictions.

In view of the above-mentioned defects, the creator of the utility model has finally obtained the utility model through long-time research and practice.

Contents of the invention

In order to solve the above-mentioned technical defects, the technical solution adopted by the utility model is to provide a steering device for a wheeled magnetic adsorption wall-climbing robot, which is characterized in that it includes a wheeled combined moving device and a permanent magnetic adsorption device. The combined mobile device includes a chassis and a central drive wheel and four passive universal wheels respectively mounted on the chassis, and the passive universal wheels can rotate 360° freely and turn flexibly; all the wheels mounted on the chassis The above-mentioned permanent magnetic adsorption device adopts permanent magnet material to adsorb the magnetically permeable wall surface in a non-contact manner.

Preferably, the central driving wheel includes a driving gear and a wheel, and the driving motor drives the driving gear to rotate through a chain structure or a gear transmission device, and the wheel of the central driving wheel coaxial with the driving gear also follows turn.

Preferably, the central drive wheel further includes a direction control gear, and a chain structure or a gear transmission device drives the direction control gear to rotate to change the wheel movement direction of the central drive wheel.

Preferably, the wheel hub of the central driving wheel is made of permanent magnet material to increase the adsorption force of the robot, and the central driving wheel is in full contact with the magnetically conductive wall surface to facilitate direction control.

Preferably, the four passive universal wheels are made of non-magnetic material, which can be turned freely and flexibly.

Preferably, a layer of rubber tires is added to the surface of the central driving wheel and the passive universal wheel to increase the friction between the wheel and the magnetically conductive wall surface and prevent slipping during the movement.

Preferably, the passive universal wheel is composed of two wheels that can rotate independently, which increases the steering flexibility of the wheels and facilitates steering and movement.

Compared with the prior art, the utility model has the beneficial effects that: the combination of the wheeled combined moving device and the permanent magnetic adsorption device makes the robot adsorb on the wall through the permanent magnetic adsorption device, while the central drive wheel drives the robot to walk, The universal wheels that can be freely rotated 360 degrees increase the steering flexibility, making the steering fast and the steering area small.

Description of drawings

In order to illustrate the technical solutions in the various embodiments of the present utility model more clearly, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

Fig. 1 is a structural diagram of a steering device of a wheeled magnetic adsorption wall-climbing robot according to Embodiment 1 of the present invention;

Fig. 2 is a top view of the steering device of a wheeled magnetic adsorption wall-climbing robot according to Embodiment 1 of the present utility model;

Fig. 3 is a structural diagram of the central drive wheel of the steering device of a wheeled magnetic adsorption wall-climbing robot according to Embodiment 1 of the utility model;

Fig. 4 is a structural diagram of the central drive wheel chassis of the steering device of a wheeled magnetic adsorption wall-climbing robot according to Embodiment 1 of the present invention;

Fig. 5 is a side view of the universal wheel of the steering device of a wheeled magnetic adsorption wall-climbing robot according to Embodiment 1 of the present invention;

Fig. 6 is a front view of the universal wheels of the steering device of a wheeled magnetic adsorption wall-climbing robot according to Embodiment 1 of the present utility model.

detailed description

The above-mentioned and other technical features and advantages of the present utility model will be described in more detail below in conjunction with the accompanying drawings.

Embodiment one

Fig. 1 is a structural diagram of a steering device of a wheeled magnetic adsorption wall-climbing robot, which includes a wheeled combined mobile device 1 and a permanent magnetic adsorption device 2;

The wheeled combined mobile device 1 includes a chassis 11, and a central driving wheel 12 and four passive universal wheels 13 respectively mounted on the chassis 11. The central driving wheel 12 can be driven by a driving motor through a chain structure or a gear device. Drive, adjust the direction by turning the top gear of the central driving wheel 12; Steering and moving, four passive universal wheels 13 cooperate with the central drive wheel to make the steering flexible.

The permanent magnetic adsorption device 2 is installed on the chassis 11. It uses permanent magnet materials to adsorb the magnetically conductive wall surface in a non-contact manner. The magnet can be increased or decreased according to actual needs, and the utilization rate of magnetic energy can be improved. It is convenient and controllable . The permanent magnetic adsorption device 2 is connected with the chassis 11 through a hole 21 thereon, as shown in FIG. 2 .

Fig. 3 is the structural diagram of the central drive wheel of the steering device of the wheeled magnetic adsorption wall-climbing robot, which includes a wheel 121, a wheel frame 122, a drive gear 123, a fixed pin 124, a limit ring 125, a direction control gear 126, and an axle 127 and direction control axis 128;

The wheel 121 is installed on the axle 127, the wheel frame 122 is sleeved on the axle 127, the driving gear 123 is connected with the axle 127 through a keyway, the driving motor drives the driving gear 123 to rotate through a chain structure or a gear transmission, and the driving gear 123 drives the axle 127 Rotate, the wheel 121 is installed on the axle shaft 127, and the wheel 121 also rotates with the axle shaft 127; the limit ring 125 is integrated with the direction control shaft 128 or is interference fit with the direction control shaft 128, and the direction control shaft 128 passes through the hole on the chassis 111 is socketed with the chassis 11, as shown in Figure 4, the limit ring 125 is used to limit the position of the chassis 11 on the direction control shaft 128, the direction control gear 126 is connected with the direction control shaft 128 through a keyway or interference fit, of course the direction The control gear 126 is on the top of the chassis 11, so that the direction control gear 126 is connected with the chain structure or the gear transmission, and the driving direction control gear 126 rotates to change the direction of motion of the wheels 121. A linked chain or gear drive provides space.

Fig. 5 and Fig. 6 are the structural diagrams of the universal wheels of the steering gear of the wheeled magnetic adsorption wall-climbing robot, which include wheels 131, 132, supporting ribs 133, steering plates 134, steering columns 135 axles 136, fixed pins 137, 138; wheel 131, wheel 132 are installed on the axle shaft 136, carry out fixed position by fixed pin 137,138 respectively, and wheel 131 and wheel 132 rotate around axle shaft 136 respectively; The steering plate 134 is fixedly connected, and the steering plate 134 can freely rotate 360 degrees around the steering column 135; the steering column 135 is connected with the chassis through the hole 112 on the chassis of FIG. 4 .

The combination of the wheeled combined moving device and the permanent magnetic adsorption device makes the robot adsorb on the wall through the permanent magnetic adsorption device. At the same time, the central drive wheel drives the robot to walk, and the universal wheel that can rotate 360 degrees freely increases the steering flexibility. High performance, so that the steering is quick and the steering area is small.

Embodiment two

The steering device of the above-mentioned wheeled magnetic adsorption wall-climbing robot is different from this embodiment in that the wheel hub of the central drive wheel is made of permanent magnet material, which increases the adsorption force between the robot and the wall and ensures that the central drive wheel and the wall are fully connected. Contact, control direction.

Embodiment three

The difference between the steering device of the above-mentioned wheeled magnetic adsorption wall-climbing robot in this embodiment is that the wheel hub of the universal wheel is made of non-magnetic material, which makes it more flexible during the steering process.

Embodiment Four

The steering device of the above-mentioned wheeled magnetic adsorption wall-climbing robot differs from this embodiment in that a layer of rubber tires are added to the outer surfaces of the central drive wheel and the universal wheel to increase the friction between the wheels and the wall.

The above descriptions are only preferred embodiments of the present utility model, and are only illustrative, not restrictive, of the present utility model. Those skilled in the art understand that many changes, modifications, and even equivalents can be made within the spirit and scope defined by the claims of the utility model, but all will fall within the protection scope of the utility model.

Claims (7)

1. a kind of transfer of wheeled magnetic adsorption wall climbing robot, it is characterised in that it include wheeled combination mobile device and Permanent magnetic adhesion device, the wheeled combination mobile device includes chassis and a centre-driven being respectively arranged on the chassis Wheel and four passive universal wheels, the passive universal wheel can carry out 360 ° and rotate freely, and turn to flexible；It is installed on the chassis On the permanent magnetic adhesion device use permanent magnet material, magnetic conduction wall is adsorbed by cordless.

2. the transfer of wheeled magnetic adsorption wall climbing robot according to claim 1, it is characterised in that drive at the center Driving wheel includes drive gear and wheel, and motor drives the sliding tooth to rotate by chain structure or gear drive It is dynamic, the wheel of the coaxial center drive also concomitant rotation with the drive gear.

3. the transfer of wheeled magnetic adsorption wall climbing robot according to claim 2, it is characterised in that drive at the center Driving wheel also includes direction controlling gear, and chain structure or gear drive drive the direction controlling pinion rotation, changed The wheel movement direction of the center drive.

4. the transfer of wheeled magnetic adsorption wall climbing robot according to claim 3, it is characterised in that drive at the center The hub for vehicle wheel of driving wheel uses permanent magnet material, increases the absorption affinity of robot, the center drive and magnetic conduction wall are abundant Contact, is easy to control direction.

5. the transfer of wheeled magnetic adsorption wall climbing robot according to claim 4, it is characterised in that four quilts Dynamic universal wheel uses nonmagnetic substance, freedom and flexibility when it is turned to.

6. the transfer of wheeled magnetic adsorption wall climbing robot according to claim 5, it is characterised in that drive at the center The wheel surface of driving wheel and the passive universal wheel adds one layer of rubber tyre, the friction between increase wheel and magnetic conduction wall Power, prevents occurring skidding in moving process.

7. the transfer of the wheeled magnetic adsorption wall climbing robot according to claim 5 or 6, it is characterised in that the quilt Dynamic universal wheel is made up of two wheels that can carry out independent rotation respectively, adds the steering flexibility of wheel, is easy to turn To and it is mobile.