CN105966485A - Wheel type magnetic adsorption wall-climbing robot - Google Patents
Wheel type magnetic adsorption wall-climbing robot Download PDFInfo
- Publication number
- CN105966485A CN105966485A CN201610364096.9A CN201610364096A CN105966485A CN 105966485 A CN105966485 A CN 105966485A CN 201610364096 A CN201610364096 A CN 201610364096A CN 105966485 A CN105966485 A CN 105966485A
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- Prior art keywords
- magnetic adsorption
- climbing robot
- motor
- adsorption wall
- drives
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Classifications
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a wheel type magnetic adsorption wall-climbing robot. The wheel type magnetic adsorption wall-climbing robot comprises a vehicle body which is made into a sealed cavity with aluminum alloy. A control system, a power source and a walking driving system are installed inside the vehicle body. The wheel type magnetic adsorption wall-climbing robot can be used for exploration of pipeline interiors, ship surfaces, large-size steel structure bridges and petroleum and natural gas pipelines and also can repair defects by carrying repair tools.
Description
Technical field
The present invention relates to industrial robot field, particularly to a kind of wheeled magnetic adsorption wall climbing robot.
Background technology
At present, pipe interior, marine surface, large-scale steel bridge are accomplished by examining at set intervals
Look into, and these surfaces are substantially the plane looked up and large-area side, be manually difficult to arrive
Position, and this type of plane substantially area is relatively big, and workload is bigger.
Pipe interior inspection substantially use endoscope, marine surface and large-scale steel bridge make in the world
Checking by the mode of hanging basket system people, but these modes are very big to artificial dependency, labor intensity is high,
Efficiency is low.
Summary of the invention
Present invention aims to the drawbacks described above of prior art, the present invention proposes a kind of wheeled magnetic
Attached climbing robot, is mainly used in pipe interior, marine surface, large-scale steel bridge, petroleum gas
Pipelines etc., can substitute for manually arriving some positions being difficult to arrive and detect.Meanwhile, robot is also
Portability has high-resolution camera, shoots surface and by realtime video transmission to rear, and
Carry some fix tools, repair for some defects.
For achieving the above object, the present invention provides following technical scheme:
A kind of wheeled magnetic adsorption wall climbing robot, including car body, described car body is cube structure, wherein
The area of upper and lower surfaces is bigger.
Described car body uses aluminium alloy to be fabricated to the cavity of closure, internal equipped with control system, power supply and
Travel driving system.
Car body both sides are used for walking and turning to equipped with four wheels, the center at Vehicular body front, rear portion and top
Position is respectively arranged with photographic head, is used for imaging investigation.
Photographic head side, top is all disposed with two groups of light sources, in the middle of the wheel of both sides equipped with image transmitting antenna and
Control antenna.
Before and after car body, side arranges ultrasonic and laser range sensor, can find range, it is achieved automatic obstacle avoiding.
It is respectively provided with two pieces of magnet arrangements regions, these two pieces of rectangular knots in magnet arrangements region at vehicle bottom
Structure and lay respectively at the front and rear at vehicle bottom, is arranged forever at two pieces of magnet arrangements intra-zones
Magnet.
Preferably, as dynamical system, equipped with two motors inside wheeled magnetic adsorption wall climbing robot,
Two motors lay respectively at the front and rear at vehicle bottom, and every motor drives side wheel, front side
Motor drives right-hand wheel, and rear side motor drives left-hand wheel, and described motor drives wheel by transmission band.
The driving pulley of transmission band, transmission on the right side of driving pulley drive on the right side of the output shaft connection of front side motor
Band rotates, and rotating of right side transmission band drives the passive belt wheel being positioned on the wheel shaft of rear portion, thus realizes right side
The rotation of former and later two wheels.
Same, the driving pulley of transmission band on the left of the output shaft connection of rear side motor, driving pulley drives
Left side transmission band rotates, and rotating of left side transmission band drives the passive belt wheel being positioned on the wheel shaft of rear portion, thus
The rotation of former and later two wheels on the left of realization.
When moving forward and backward, motor steering is identical with rotating speed, is then come by the speed difference of both sides motor during turning
Realize.
Preferably, as control system, 2.4G radio frequency signal is used to be remotely controlled, can be by robot
The data of end pass remote control end back.
The three road images that photographic head obtains all can transfer back to remote controller end by 5.8G radiofrequency signal.
Control system main control chip CPU uses STM32F103VET6, and motor drives and uses TI integrated
Chip DRV8432 drives two Maxon brush direct current motors, supports that motor encoder interface tests the speed
Realize velocity close-loop control, also support that current of electric monitoring realizes closed-loop current control.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the wheeled magnetic adsorption wall climbing robot of the present invention.
Fig. 2 is the schematic diagram at another visual angle of the wheeled magnetic adsorption wall climbing robot of the present invention.
Fig. 3 is the internal structure schematic diagram of the wheeled magnetic adsorption wall climbing robot of the present invention.
Fig. 4 is the circuit connection diagram of a kind of wheeled magnetic adsorption wall climbing robot of the present invention.
(note: the shown structure in accompanying drawing, simply to illustrate that the signal of feature of present invention, is not intended to
According to structure shown in accompanying drawing.)
Detailed description of the invention
As Figure 1-3, according to wheeled magnetic adsorption wall climbing robot of the present invention, including car body,
Described car body is cube structure, and wherein the area of upper and lower surfaces is bigger.
Described car body uses aluminium alloy to be fabricated to the cavity of closure, internal equipped with control system, power supply and
Travel driving system.Car body both sides are used for walking and turning to equipped with four wheels 6, Vehicular body front, rear portion
It is respectively arranged with photographic head 4,8,5 with the center at top, is used for imaging investigation.Top photographic head 5 is other
Limit is all disposed with in the middle of two groups of light sources 2, both sides wheel 6 equipped with image transmitting antenna 1 and control antenna 7.
Additionally, also ultrasonic and laser range sensor (not shown) can be arranged in side before and after car body, can carry out
Range finding, it is achieved automatic obstacle avoiding.
As in figure 2 it is shown, the vehicle bottom at wheeled magnetic adsorption wall climbing robot is respectively provided with two pieces of Magnet cloth
Put region 9,10.These two pieces of magnet arrangements regions 9,10 are in rectangular configuration and lay respectively at car body
The front and rear of bottom.Inside two pieces of magnet arrangements regions 9,10, permanent magnet is set.
Thus one, use permanent magnetic suck technology to realize wheeled magnetic adsorption wall climbing robot and pipeline etc. is inhaled
The attachment of attached, owing to permanent magnet is arranged in wheeled magnetic adsorption wall climbing robot vehicle bottom, therefore permanent magnetism
Ferrum and adsorption plane are not directly contacted with thus form outstanding magnetic suck.
As it is shown on figure 3, the internal structure schematic diagram according to the wheeled magnetic adsorption wall climbing robot of the present invention can
Knowing, equipped with two motors 11 inside wheeled magnetic adsorption wall climbing robot, two motors 11 lay respectively at
At the front and rear of vehicle bottom, every motor 11 drives side wheel 6.As front side motor 11 drives
Dynamic right-hand wheel 6, rear side motor 11 drives left-hand wheel 6.Further, described motor 11 passes through
Transmission band 12 drives wheel 6.
As it is shown on figure 3, the driving pulley of transmission band 12 on the right side of the output shaft connection of front side motor 11, main
On the right side of movable belt pulley drive, transmission band 12 rotates, and the rotation of right side transmission band 12 drives and is positioned on the wheel shaft of rear portion
Passive belt wheel, thus realize right side former and later two wheels 6 rotation.
Same, the driving pulley of transmission band 12, main belt on the left of the output shaft connection of rear side motor 11
On the left of wheel drive, transmission band 12 rotates, and the drive that rotates of left side transmission band 12 is positioned at the quilt on the wheel shaft of rear portion
Movable belt pulley, thus realize the rotation of former and later two wheels 6 of left side.
When moving forward and backward, motor 11 turns to identical with rotating speed, then by the speed of both sides motor 11 during turning
Degree difference realizes.
As shown in Figure 4, remote-controlled walking mode is used according to the wheeled magnetic adsorption wall climbing robot of the present invention.
2.4G radio frequency signal is used to be remotely controlled, and can be by the data of robotic end (as distance measuring sensor is surveyed
The data obtained, robot dump energy) pass remote control end back, for operator's reference.Three road images are the most permissible
Remote controller end is transferred back to by 5.8G radiofrequency signal.Control system main control chip CPU uses
STM32F103VET6, motor drives and uses TI integrated chip DRV8432 to drive two Maxon
Brush direct current motor, supports that motor encoder interface tests the speed and realizes velocity close-loop control, also support motor electricity
Stream monitoring realizes closed-loop current control.
Concrete, as shown in Figure 4, described control system includes that CPU, described CPU receive encoder
Interface I and the signal of encoder interfaces II, CPU also receives from current detecting I and current detecting simultaneously
The signal of II, and 2.4G wireless remote control, distance measuring sensor, photographic head and the signal of figure transmission module.
Wherein current detecting I and encoder interfaces I receive the information of motor I, current detecting II and encoder
Interface II receives the information of motor II.
Described CPU also with 2.4G wireless remote control and photographic head and figure transmission module interactive signal, and right
Illuminating lamp is controlled.
Additionally, according to the wheeled magnetic adsorption wall climbing robot of the present invention, battery and external power supply can be used to supply
Electricity, creeps when battery is powered flexibly, is not limited by battery durable ability when external power supply towing cable is powered, can
Work long hours.Battery has two optional, can change flexibly, and it is little that Large Copacity room temperature battery can realize 3-4
Time continue a journey for a long time；Low temperature battery can be operated in the bitter cold environment of-40 degree, and the working time is little not less than 1
Time.
According to the wheeled magnetic adsorption wall climbing robot of the present invention, there is following practical advantages:
(1) using permanent magnet absorption, attachment is reliable, does not falls out infringement robot car body after power-off.
(2) using bi-motor four-wheel power output transmission arrangments structure, power is powerful, turns to flexibly.
(3) using three photographic head to arrange, front and back advancing all can be with visual operation, and the visual field is broad.
(4) can be at end face, side carries out omnirange walking.
(5) use aluminium alloy total enclosing car body, can use under the conditions of high humidity, high salinity.
The above, only presently preferred embodiments of the present invention, it is not intended to limit the protection of the present invention
Scope, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention,
Should be included within the scope of the present invention.
Claims (7)
1. a wheeled magnetic adsorption wall climbing robot, including car body, described car body is cube structure, its
The area of middle upper and lower surfaces is bigger, it is characterised in that:
Described car body uses aluminium alloy to be fabricated to the cavity of closure, internal equipped with control system, power supply and
Travel driving system；
Car body both sides are used for walking and turning to equipped with four wheels (6), Vehicular body front, rear portion and top
Center is respectively arranged with photographic head (4,8,5), is used for imaging investigation；
Top photographic head (5) side is all disposed with two groups of light sources (2), in the middle of both sides wheel (6) equipped with
Image transmitting antenna (1) and control antenna (7)；
Before and after car body, side arranges ultrasonic and laser range sensor, can find range, it is achieved automatic obstacle avoiding；
It is respectively provided with two pieces of magnet arrangements regions (9,10), these two pieces of magnet arrangements regions at vehicle bottom
(9,10) are in rectangular configuration and lay respectively at the front and rear at vehicle bottom, at two pieces of Magnet cloth
Put inside, region (9,10) and permanent magnet is set.
Wheeled magnetic adsorption wall climbing robot the most according to claim 1, it is characterised in that:
Equipped with two motors (11) inside wheeled magnetic adsorption wall climbing robot, two motors (11) point
Not being located at the front and rear of vehicle bottom, every motor (11) drives side wheel (6), front side
Motor (11) drives right-hand wheel (6), and rear side motor (11) drives left-hand wheel (6), described electricity
Machine (11) drives wheel (6) by transmission band (12).
Wheeled magnetic adsorption wall climbing robot the most according to claim 2, it is characterised in that:
The driving pulley of transmission band (12), driving pulley on the right side of the output shaft connection of front side motor (11)
On the right side of drive, transmission band (12) rotates, and the rotation of right side transmission band (12) drives and is positioned on the wheel shaft of rear portion
Passive belt wheel, thus realize right side former and later two wheels (6) rotation；
Same, the driving pulley of transmission band (12) on the left of the output shaft connection of rear side motor (11),
On the left of driving pulley drive, transmission band (12) rotates, and the rotation of left side transmission band (12) drives after being positioned at
Passive belt wheel on portion's wheel shaft, thus realize the rotation in former and later two wheels of left side (6)；
When moving forward and backward, motor (11) turns to identical with rotating speed, then by both sides motor (11) during turning
Speed difference realize.
Wheeled magnetic adsorption wall climbing robot the most according to claim 1, it is characterised in that:
Use 2.4G radio frequency signal to be remotely controlled, the data of robotic end can be passed back remote control end,
The three road images that photographic head (4,8,5) obtains all can transfer back to distant by 5.8G radiofrequency signal
Control device end；
Control system main control chip CPU uses STM32F103VET6, and motor drives and uses TI integrated
Chip DRV8432 drives two Maxon brush direct current motors, supports that motor encoder interface tests the speed
Realize velocity close-loop control, also support that current of electric monitoring realizes closed-loop current control.
Wheeled magnetic adsorption wall climbing robot the most according to claim 4, it is characterised in that:
The data of described robotic end include data and the robot dump energy that distance measuring sensor records.
Wheeled magnetic adsorption wall climbing robot the most according to claim 1, it is characterised in that:
Described control system includes that CPU, described CPU receive encoder interfaces I and encoder interfaces II
Signal, CPU also receives the signal from current detecting I and current detecting II, and 2.4G simultaneously
Wireless remote control, distance measuring sensor, photographic head and the signal of figure transmission module；
Wherein current detecting I and encoder interfaces I receive the information of motor I, current detecting II and encoder
Interface II receives the information of motor II；
Described CPU also with 2.4G wireless remote control and photographic head and figure transmission module interactive signal, and right
Illuminating lamp is controlled.
Wheeled magnetic adsorption wall climbing robot the most according to claim 1, it is characterised in that:
Described power supply uses battery or external power supply to power, and battery can use Large Copacity room temperature battery or low
Temperature battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610364096.9A CN105966485A (en) | 2016-05-30 | 2016-05-30 | Wheel type magnetic adsorption wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610364096.9A CN105966485A (en) | 2016-05-30 | 2016-05-30 | Wheel type magnetic adsorption wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105966485A true CN105966485A (en) | 2016-09-28 |
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ID=56956802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610364096.9A Pending CN105966485A (en) | 2016-05-30 | 2016-05-30 | Wheel type magnetic adsorption wall-climbing robot |
Country Status (1)
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106703783A (en) * | 2016-12-30 | 2017-05-24 | 中国矿业大学 | Video detecting device capable of passing through gas extraction well casing broken and deformed areas |
| CN107010139A (en) * | 2017-05-18 | 2017-08-04 | 广东电网有限责任公司电力科学研究院 | Can any angle walking ferromagnetic material robot vehicle |
| CN107345809A (en) * | 2017-07-31 | 2017-11-14 | 上海圭目机器人有限公司 | A kind of wheel-type container detects robot |
| CN107631123A (en) * | 2017-09-05 | 2018-01-26 | 黑龙江龙唐电力投资有限公司 | A kind of heat distribution pipeline sniffing robot and its control system and control method |
| CN107748203A (en) * | 2017-11-16 | 2018-03-02 | 西安石油大学 | It is a kind of intelligent from tracking seam inspection robot |
| CN108297957A (en) * | 2018-02-08 | 2018-07-20 | 深圳市行知行机器人技术有限公司 | The wheeled climbing robot of magnetic gap |
| CN108536133A (en) * | 2018-03-30 | 2018-09-14 | 创物秦皇岛科技有限公司 | A kind of miniature vision measurement robot of magnetic suck and its control system |
| CN109018071A (en) * | 2018-06-21 | 2018-12-18 | 宁波介量机器人技术有限公司 | A kind of intelligent ceiling robot based on magnetic suck |
| CN109210318A (en) * | 2018-11-09 | 2019-01-15 | 国电锅炉压力容器检验有限公司 | A kind of inner wall of the pipe inspection crawl device |
| CN110271654A (en) * | 2019-04-11 | 2019-09-24 | 邓冰冰 | A kind of hull bottom descaling machine |
| CN111301544A (en) * | 2019-11-22 | 2020-06-19 | 广东省智能制造研究所 | Control system and control method of wall-climbing robot with scanning function |
| CN111355903A (en) * | 2018-12-20 | 2020-06-30 | 核动力运行研究所 | Distributed camera structure based on linear array |
| CN112123364A (en) * | 2020-08-28 | 2020-12-25 | 广西壮族自治区特种设备检验研究院 | Cambered surface self-interacting magnetism adsorbs robot |
| CN113120107A (en) * | 2021-04-25 | 2021-07-16 | 贵州电网有限责任公司 | Wheel type permanent magnet adsorption double-information channel transformer climbing robot |
| CN114348030A (en) * | 2022-01-11 | 2022-04-15 | 中铁第四勘察设计院集团有限公司 | Charging rail car suitable for high-speed magnetic levitation |
| CN115195960A (en) * | 2022-06-21 | 2022-10-18 | 西北工业大学 | Automatic robot for cleaning attachments on surface of ship body |
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| CN205632714U (en) * | 2016-05-30 | 2016-10-12 | 哈工大机器人集团有限公司 | Wheeled magnetism adsorbs wall climbing robot |
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| CN1739925A (en) * | 2005-09-09 | 2006-03-01 | 清华大学 | Non-contact magnetically adsorbed wall climbing robot |
| CN202400191U (en) * | 2011-11-28 | 2012-08-29 | 大连鑫铠锐工业技术有限公司 | Permanent-magnet attraction wheel type iron-wall crawling robot |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106703783B (en) * | 2016-12-30 | 2019-10-25 | 中国矿业大学 | A kind of tube video detecting device may pass through drilling well for gas drainage casing-broken deformed region |
| CN106703783A (en) * | 2016-12-30 | 2017-05-24 | 中国矿业大学 | Video detecting device capable of passing through gas extraction well casing broken and deformed areas |
| CN107010139A (en) * | 2017-05-18 | 2017-08-04 | 广东电网有限责任公司电力科学研究院 | Can any angle walking ferromagnetic material robot vehicle |
| CN107345809A (en) * | 2017-07-31 | 2017-11-14 | 上海圭目机器人有限公司 | A kind of wheel-type container detects robot |
| CN107631123A (en) * | 2017-09-05 | 2018-01-26 | 黑龙江龙唐电力投资有限公司 | A kind of heat distribution pipeline sniffing robot and its control system and control method |
| CN107748203A (en) * | 2017-11-16 | 2018-03-02 | 西安石油大学 | It is a kind of intelligent from tracking seam inspection robot |
| CN107748203B (en) * | 2017-11-16 | 2024-01-26 | 西安石油大学 | Intelligent self-tracking weld joint flaw detection robot |
| CN108297957A (en) * | 2018-02-08 | 2018-07-20 | 深圳市行知行机器人技术有限公司 | The wheeled climbing robot of magnetic gap |
| CN108297957B (en) * | 2018-02-08 | 2024-07-05 | 深圳市行知行机器人技术有限公司 | Magnetic gap wheel type wall climbing robot |
| CN108536133A (en) * | 2018-03-30 | 2018-09-14 | 创物秦皇岛科技有限公司 | A kind of miniature vision measurement robot of magnetic suck and its control system |
| CN109018071A (en) * | 2018-06-21 | 2018-12-18 | 宁波介量机器人技术有限公司 | A kind of intelligent ceiling robot based on magnetic suck |
| CN109018071B (en) * | 2018-06-21 | 2021-05-28 | 宁波介量机器人技术有限公司 | Intelligent ceiling robot based on magnetic adsorption |
| CN109210318A (en) * | 2018-11-09 | 2019-01-15 | 国电锅炉压力容器检验有限公司 | A kind of inner wall of the pipe inspection crawl device |
| CN111355903A (en) * | 2018-12-20 | 2020-06-30 | 核动力运行研究所 | Distributed camera structure based on linear array |
| CN110271654A (en) * | 2019-04-11 | 2019-09-24 | 邓冰冰 | A kind of hull bottom descaling machine |
| CN111301544A (en) * | 2019-11-22 | 2020-06-19 | 广东省智能制造研究所 | Control system and control method of wall-climbing robot with scanning function |
| CN112123364B (en) * | 2020-08-28 | 2022-03-18 | 广西壮族自治区特种设备检验研究院 | Cambered surface self-interacting magnetism adsorbs robot |
| CN112123364A (en) * | 2020-08-28 | 2020-12-25 | 广西壮族自治区特种设备检验研究院 | Cambered surface self-interacting magnetism adsorbs robot |
| CN113120107A (en) * | 2021-04-25 | 2021-07-16 | 贵州电网有限责任公司 | Wheel type permanent magnet adsorption double-information channel transformer climbing robot |
| CN114348030A (en) * | 2022-01-11 | 2022-04-15 | 中铁第四勘察设计院集团有限公司 | Charging rail car suitable for high-speed magnetic levitation |
| CN115195960A (en) * | 2022-06-21 | 2022-10-18 | 西北工业大学 | Automatic robot for cleaning attachments on surface of ship body |
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| C06 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20160928 |