CN104925157A - Magnetic track walking device for wall-climbing robot - Google Patents
Magnetic track walking device for wall-climbing robot Download PDFInfo
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- CN104925157A CN104925157A CN201410849006.6A CN201410849006A CN104925157A CN 104925157 A CN104925157 A CN 104925157A CN 201410849006 A CN201410849006 A CN 201410849006A CN 104925157 A CN104925157 A CN 104925157A
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- climbing robot
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Abstract
The invention discloses a magnetic track walking device for a wall-climbing robot. The magnetic track walking device for the wall-climbing robot comprises a car body, four driving units and four tracks. The left and right side of the car body are each provided with two driving units. The four driving units are connected with the four tracks respectively. Each track is provided with a plurality of track plates connected to be a ring. Each track plate comprises a magnetic conductive installation plate, a magnetic partition plate and permanent magnets, wherein the magnetic partition plate is arranged on the magnetic conductive installation plate; the two permanent magnets of opposite magnetic properties are embedded in the symmetric positions in the transverse direction of the magnetic partition plate, and spaced through the magnetic partition plate. The adjacent two permanent magnets on every two adjacent track plates are opposite in magnetic property. By the adoption of the four tracks, the wall-climbing robot can steer more flexibly and can step over barriers easily. The attraction force of adsorption units of the permanent magnets of special design is increased. The magnetic track walking device for the wall-climbing robot has the advantages of being flexible, stable, high in loading capacity and magnetic attraction efficiency, and applicable to ships and large tanks.
Description
Technical field
The invention belongs to climbing robot technical field, especially relate to a kind of magnetic track running gear for climbing robot.
Background technology
Along with the progress of science and technology, industrial robot obtains in every field and uses widely, and wherein, climbing robot more and more receives the concern of people at the outstanding advantages of the industries such as nuke industry, building, fire-fighting with it.Along with controlling and the development of mechanical & electrical technology, people frees by the appearance that can substitute manual wall surface cleaning robot of working from heavy, dangerous cleaning.But crawler belt design plan of the prior art is generally following several: one, and drive wheel and track adjusting wheel double as support wheel, therefore increase Area of bearing, improve stability, but the performance of penetrate is more weak, is not suitable for and has gap or rough surface; Two, for the drive wheel and track adjusting wheel position not making support wheel is above the ground level, angle when chain is introduced reaches 50 degree, and its benefit is suitable for penetrate, but when using, crawler belt wearing and tearing are large, service life is low; Three, adopt wheel type movement mode, permanent magnetic adhesion device is arranged on chassis, chassis is connected to the curved surface adaptive mechanism with one to three rotational freedom, its motion flexibly, have certain curved surface adaptive ability, but the adsorption efficiency of permanent magnetic adhesion device is low, carrying load ability is poor, and obstacle climbing ability is also poor; Four, adopt two crawler belt differential to drive, pin broke of chain and fall chain when can effectively avoid turning, carrying load ability is strong simultaneously, but this robot is from great, and Driving Torque is large, and curved surface adaptive ability is poor, can not utilize permanent magnetic adhesion device efficiently.
Summary of the invention
The problem to be solved in the present invention be to provide a kind of flexibly, steadily, load-carrying capacity is high, magnetic suck efficiency is high, be applicable to the magnetic track running gear for climbing robot of hull and large tank.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of magnetic track running gear for climbing robot, comprise car body, four driver elements and four crawler belts, described car body is each side provided with two driver elements, and described four driver elements are connected with four crawler belts respectively; Crawler belt described in every bar includes some caterpillar blocks connected circlewise, each described caterpillar block comprises magnetic conduction adapter plate, magnetic isolation plate and permanent magnet, described magnetic isolation plate is arranged on magnetic conduction adapter plate, on this magnetic isolation plate, lateral symmetry position embeds two pieces of contrary permanent magnets of magnetic, is separated between described two pieces of permanent magnets by magnetic isolation plate; The magnetic of two pieces of permanent magnets adjacent on two adjacent track plates is contrary.
Described car body is square or oblong.
Described caterpillar block is rectangle like, and this caterpillar block transverse center position is all protruding to a side.
Described permanent magnet is rectangular-shaped block.
Owing to adopting technique scheme, four-part form crawler belt is adopted to compare relative to of the prior art pair of crawler belt, turn to more flexible, and can be relatively easy go beyond obstacle, as gap, thrust etc., climbing robot is steadily moved rapidly on wall, thus substantially increases the degree of stability of walking; Described magnetic isolation plate is arranged on magnetic conduction adapter plate, and on this magnetic isolation plate, lateral symmetry position embeds two pieces of contrary permanent magnets of magnetic, is separated between described two pieces of permanent magnets by magnetic isolation plate; The magnetic of two pieces of permanent magnets adjacent on two adjacent track plates is contrary, and the permanent magnet absorbing unit of above-mentioned particular design is more suitable for for hull and large tank surface, and suction increases, and magnetic suck efficiency is high, improves load-carrying capacity and reliability.The scientific research of this technology will produce huge economic value and social value with innovation.
The invention has the beneficial effects as follows: have flexibly, steadily, load-carrying capacity is high, magnetic suck efficiency is high, be applicable to the advantage of hull and large tank.
Accompanying drawing explanation
Below by with reference to accompanying drawing describe the present invention particularly in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in accompanying drawing is only for explanation of the present invention, and does not form restriction of going up in all senses of the present invention, in the accompanying drawings:
Fig. 1 is integral structure schematic diagram of the present invention
Fig. 2 is integral structure lateral plan of the present invention
Fig. 3 is track plate structure schematic diagram
Fig. 4 is track plate structure lateral plan
In figure:
1, car body, 2, driver element 3, crawler belt
4, caterpillar block 5, magnetic conduction adapter plate 6, magnetic isolation plate
7, permanent magnet
Detailed description of the invention
As shown in Figures 1 to 4, a kind of magnetic track running gear for climbing robot of the present invention, comprise car body 1, four driver elements 2 and four crawler belts 3, described car body 1 is each side provided with two driver elements 2, and described four driver elements 2 are connected with four crawler belts 3 respectively; Crawler belt 3 described in every bar includes some caterpillar blocks 4 connected circlewise, each described caterpillar block 4 comprises magnetic conduction adapter plate 5, magnetic isolation plate 6 and permanent magnet 7, described magnetic isolation plate 6 is arranged on magnetic conduction adapter plate 5, on this magnetic isolation plate 6, lateral symmetry position embeds two pieces of contrary permanent magnets 7 of magnetic, is separated between described two pieces of permanent magnets 7 by magnetic isolation plate 6; The magnetic of two pieces of permanent magnets 7 adjacent on two adjacent track plates 4 is contrary; Described car body 1 is square or oblong; Described caterpillar block 4 is in rectangle like, and this caterpillar block 4 transverse center position is all protruding to a side; Described permanent magnet 7 is rectangular-shaped block.
The working process of this example: adopt four-part form crawler belt 3 to turn to more flexible, and can be relatively easy go beyond obstacle, as gap, thrust etc., climbing robot is steadily moved rapidly on wall, thus substantially increases the degree of stability of walking; Described magnetic isolation plate 6 is arranged on magnetic conduction adapter plate 5, and on this magnetic isolation plate 6, lateral symmetry position embeds two pieces of contrary permanent magnets 7 of magnetic, is separated between described two pieces of permanent magnets 7 by magnetic isolation plate 6; The magnetic of two pieces of permanent magnets 7 adjacent on two adjacent track plates 4 is contrary, and the permanent magnet 7 of above-mentioned particular design is more suitable for for hull and large tank surface, and suction increases, and magnetic suck efficiency is high, improves load-carrying capacity and reliability.
Above embodiments of the invention have been described in detail, but described content being only preferred embodiment of the present invention, can not being considered to for limiting practical range of the present invention.All equalizations done according to the scope of the invention change and improve, and all should still belong within this patent covering scope.
Claims (4)
1. for a magnetic track running gear for climbing robot, it is characterized in that: comprise car body, four driver elements and four crawler belts, described car body is each side provided with two driver elements, described four driver elements are connected with four crawler belts respectively; Crawler belt described in every bar includes some caterpillar blocks connected circlewise, each described caterpillar block comprises magnetic conduction adapter plate, magnetic isolation plate and permanent magnet, described magnetic isolation plate is arranged on magnetic conduction adapter plate, on this magnetic isolation plate, lateral symmetry position embeds two pieces of contrary permanent magnets of magnetic, is separated between described two pieces of permanent magnets by magnetic isolation plate; The magnetic of two pieces of permanent magnets adjacent on two adjacent track plates is contrary.
2. the magnetic track running gear for climbing robot according to claim 1, is characterized in that: described car body is square or oblong.
3. the magnetic track running gear for climbing robot according to claim 1, is characterized in that: described caterpillar block is rectangle like, and this caterpillar block transverse center position is all protruding to a side.
4. the magnetic track running gear for climbing robot according to claim 1, is characterized in that: described permanent magnet is rectangular-shaped block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410849006.6A CN104925157A (en) | 2014-12-31 | 2014-12-31 | Magnetic track walking device for wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410849006.6A CN104925157A (en) | 2014-12-31 | 2014-12-31 | Magnetic track walking device for wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104925157A true CN104925157A (en) | 2015-09-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410849006.6A Pending CN104925157A (en) | 2014-12-31 | 2014-12-31 | Magnetic track walking device for wall-climbing robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018121080A1 (en) * | 2016-12-26 | 2018-07-05 | 同方威视技术股份有限公司 | Wall climbing robot |
| CN108995730A (en) * | 2018-07-25 | 2018-12-14 | 浙江工业大学 | Magnetic adsorption type transverse direction barrier-crossing wall-climbing robot |
| CN110723260A (en) * | 2019-08-27 | 2020-01-24 | 浙江省海洋开发研究院 | Walking type ship crack plugging device |
| CN110988121A (en) * | 2019-11-28 | 2020-04-10 | 合肥通用机械研究院有限公司 | Electromagnetic sound detection robot for storage tank |
| CN111017053A (en) * | 2019-11-15 | 2020-04-17 | 上海江南长兴造船有限责任公司 | Wall-climbing robot base |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000221178A (en) * | 1999-01-29 | 2000-08-11 | Hitachi Ltd | Magnet crawler running apparatus |
| CN1736668A (en) * | 2005-09-09 | 2006-02-22 | 清华大学 | Magnetic adsorption wall climbing robot with curved surface adaptive ability |
| JP2009035238A (en) * | 2007-07-31 | 2009-02-19 | Kosuke Nagaya | Magnetic attraction conveying vehicle and in-pipe inspection vehicle |
| CN102219033A (en) * | 2011-05-05 | 2011-10-19 | 北京理工大学 | Wall surface mobile robot based on gecko motion organism structural form bionics |
| CN102556196A (en) * | 2011-12-22 | 2012-07-11 | 北京理工大学 | Magnetic absorption type wall climbing robot |
-
2014
- 2014-12-31 CN CN201410849006.6A patent/CN104925157A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000221178A (en) * | 1999-01-29 | 2000-08-11 | Hitachi Ltd | Magnet crawler running apparatus |
| CN1736668A (en) * | 2005-09-09 | 2006-02-22 | 清华大学 | Magnetic adsorption wall climbing robot with curved surface adaptive ability |
| JP2009035238A (en) * | 2007-07-31 | 2009-02-19 | Kosuke Nagaya | Magnetic attraction conveying vehicle and in-pipe inspection vehicle |
| CN102219033A (en) * | 2011-05-05 | 2011-10-19 | 北京理工大学 | Wall surface mobile robot based on gecko motion organism structural form bionics |
| CN102556196A (en) * | 2011-12-22 | 2012-07-11 | 北京理工大学 | Magnetic absorption type wall climbing robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018121080A1 (en) * | 2016-12-26 | 2018-07-05 | 同方威视技术股份有限公司 | Wall climbing robot |
| CN108995730A (en) * | 2018-07-25 | 2018-12-14 | 浙江工业大学 | Magnetic adsorption type transverse direction barrier-crossing wall-climbing robot |
| CN108995730B (en) * | 2018-07-25 | 2023-10-20 | 浙江工业大学 | Magnetic adsorption type transverse obstacle-surmounting wall-climbing robot |
| CN110723260A (en) * | 2019-08-27 | 2020-01-24 | 浙江省海洋开发研究院 | Walking type ship crack plugging device |
| CN110723260B (en) * | 2019-08-27 | 2020-09-15 | 浙江省海洋开发研究院 | Walking type ship crack plugging device |
| CN111017053A (en) * | 2019-11-15 | 2020-04-17 | 上海江南长兴造船有限责任公司 | Wall-climbing robot base |
| CN111017053B (en) * | 2019-11-15 | 2024-04-02 | 上海江南长兴造船有限责任公司 | Wall climbing type robot base |
| CN110988121A (en) * | 2019-11-28 | 2020-04-10 | 合肥通用机械研究院有限公司 | Electromagnetic sound detection robot for storage tank |
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Application publication date: 20150923 |
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| RJ01 | Rejection of invention patent application after publication |