CN106347514A - Magnet wheel for permanent magnetic adsorption wall-climbing robot - Google Patents
Magnet wheel for permanent magnetic adsorption wall-climbing robot Download PDFInfo
- Publication number
- CN106347514A CN106347514A CN201510684366.XA CN201510684366A CN106347514A CN 106347514 A CN106347514 A CN 106347514A CN 201510684366 A CN201510684366 A CN 201510684366A CN 106347514 A CN106347514 A CN 106347514A
- Authority
- CN
- China
- Prior art keywords
- magnet
- fixed
- permanent magnetic
- wheel
- climbing robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
A magnet wheel for permanent magnetic adsorption wall-climbing robot consists of a driving shaft, a synchronizing belt, a synchronizing wheel, a first transmission shaft, a first gear, a second gear, a second transmission shaft, a magnet, a magnet fixing block, a driving wheel, a clutch and a driving device. The clutch and driving device are mounted on the driving shaft, and are connected with the synchronizing wheel through the synchronizing belt; the synchronizing wheel is fixed to one end of the first transmission shaft, the first gear is fixed to the other end of the first transmission shaft, and the first gear meshes with the second gear fixed to the second transmission shaft; the magnet is fixed to the magnet fixing block, and the magnet fixing block is fixed to the second transmission shaft; one end of the driving wheel is connected with the magnet fixing block, and the other end of the driving wheel is fixed to the clutch and driving device. The device has a simple structure. When the permanent magnetic adsorption wall-climbing robot meets with an obstacle, the device works automatically. The device plays a significant role in improving the obstacle clearing capability of the permanent magnetic adsorption wall-climbing robot.
Description
Technical field
The present invention relates to a kind of magnet-wheel for permanent magnetic suck climbing robot.
Background technology
Magnetic adsorption wall climbing robot is the specialized robot that a kind of absorption is operated in vertical iron and steel wall，Application prospect is extensive，Magnetic suck robot can be divided into permanent magnetism and electromagnetic type two class，Electromagnetic adsorption climbing robot needs to consume electric energy，And the deadweight of self electromagnetism ferrum is larger、Safety is general，Permanent magnetic suck climbing robot need not consume outside energy、Safety is good，But permanent magnetic suck climbing robot requires wall flat smooth，When such as running into wall in practical work process there is gully or projection obstacle，Magnet-wheel easily absorption is on the surface of obstacle，So that robot cannot be advanced，For example existing permanent magnetic suck climbing robot is when Concha Arcae iron surface lateral line is walked，Magnet-wheel is often inhaled in the gully of two Concha Arcaes，Lead to the robot cannot normal work，It is thus desirable to researching and developing new magnet-wheel，Improve the obstacle climbing ability of permanent magnetic suck climbing robot，Make permanent magnetic suck climbing robot purposes more extensive.
Content of the invention
It is an object of the invention to overcoming disadvantages mentioned above, a kind of magnet-wheel for permanent magnetic suck climbing robot is provided, it is by driving shaft, Timing Belt, synchronizing wheel, first power transmission shaft, first gear, second gear, second driving shaft, Magnet, Magnet fixed block, driving wheel, clutch and actuating device are constituted, clutch and actuating device are arranged on driving shaft, and be connected with synchronizing wheel by Timing Belt, synchronizing wheel is fixed on one end of the first power transmission shaft, first gear is fixed on the first power transmission shaft other end, first gear is engaged with the second gear being fixed on second driving shaft, Magnet is fixed on Magnet fixed block, Magnet fixed block is fixed on second driving shaft, driving wheel side is connected with Magnet fixed block, opposite side is fixed on clutch and actuating device.Clutch and actuating device it by terminal pad, compression spring, mobile dish, tooth form terminal pad and locking nut are constituted, and terminal pad is arranged on driving shaft, and compression spring is fixed in terminal pad through driving shaft one end, the other end is fixed in mobile dish, tooth form terminal pad side is engaged with mobile dish by tooth form face, and opposite side is fixed on driving wheel side, and locking nut is fixed on driving shaft and is connected with terminal pad.This apparatus structure is simple, and when permanent magnetic suck climbing robot runs into obstacle, device works automatically, to the obstacle climbing ability effect is significant improving permanent magnetic suck climbing robot.
Brief description
Fig. 1 is the magnet-wheel structural representation for permanent magnetic suck climbing robot.
Fig. 2 is clutch and transmission structures schematic diagram.
Fig. 3 is the magnet-wheel Obstacle Negotiation schematic diagram for permanent magnetic suck climbing robot.
In figure description of symbols: 1 driving shaft, 2 Timing Belts, 3 synchronizing wheels, 4 first power transmission shafts, 5 first gears, 6 second gears, 7 second driving shafts, 8 Magnet, 9 Magnet fixed blocks, 10 driving wheels, 11 clutches and actuating device, 11-1 terminal pad, 11-2 compression spring, 11-3 mobile dish, 11-4 tooth form terminal pad, 11-5 locking nut.
Specific embodiment
Describe highly preferred embodiment of the present invention below in conjunction with the accompanying drawings in detail，Magnet-wheel for permanent magnetic suck climbing robot，It is by driving shaft (1)，Timing Belt (2)，Synchronizing wheel (3)，First power transmission shaft (4)，First gear (5)，Second gear (6)，Second driving shaft (7)，Magnet (8)，Magnet fixed block (9)，Driving wheel (10)，Clutch and actuating device (11) are constituted，Clutch and actuating device (11) are arranged on driving shaft (1)，And be connected with synchronizing wheel (3) by Timing Belt (2)，Synchronizing wheel (3) is fixed on one end of the first power transmission shaft (4)，First gear (5) is fixed on the first power transmission shaft (4) other end，First gear (5) is engaged with the second gear (6) being fixed on second driving shaft (7)，Magnet (8) is fixed on Magnet fixed block (9)，Magnet fixed block (9) is fixed on second driving shaft (7)，Driving wheel (10) side is connected with Magnet fixed block (9)，Opposite side is fixed on clutch and actuating device (11).Clutch and actuating device (11) it by terminal pad (11-1), compression spring (11-2), mobile dish (11-3), tooth form terminal pad (11-4) and locking nut (11-5) are constituted, terminal pad (11-1) is arranged on driving shaft (1), compression spring (11-2) is fixed in terminal pad (11-1) through driving shaft (1) one end, the other end is fixed in mobile dish (11-3), tooth form terminal pad (11-4) side is engaged with mobile dish (11-3) by tooth form face, opposite side is fixed on driving wheel (10) side, locking nut (11-5) is fixed on driving shaft (1) above and is connected with terminal pad (11-1).During use, driving shaft (1) is connected with the wheel drive motor of permanent magnetic suck climbing robot，During permanent magnetic suck climbing robot normal work，Magnet (8) remains vertical with wall，Absorption affinity on vertical plane is provided，The tooth form terminal pad (11-4) that driving shaft (1) passes through to be interlocked drives driving wheel (10) rotation with mobile dish (11-3)，The driving force of permanent magnetic suck climbing robot is provided，When running into obstacle，The born normal pressure of driving wheel (10) becomes big，Tooth form terminal pad (11-4) is gradually disengaged with mobile dish (11-3)，Compression spring (11-2) is compressed，It is simultaneously connected with disk (11-1) to contact with mobile dish (11-3)，Further driving shaft (1) drives terminal pad (11-1) rotation by mobile dish (11-3)，It is further advanced by Timing Belt (2) and the first power transmission shaft (4) drives first gear (5) rotation，First gear (5) changes direction of rotation with second gear (6) engaged transmission，Moving magnet (8) is finally carried to rotate by second driving shaft (7) and Magnet fixed block (9)，And it is contrary with driving wheel (10) direction of rotation，After Magnet (8) reversely rotates an angle，The axial thrust load that permanent magnetic suck climbing robot direction of advance can be provided coordinates driving wheel (10) to rotate simultaneously，Permanent magnetic suck climbing robot is made to surmount obstacles，While permanent magnetic suck climbing robot crossing over blockage, compression spring (11-2) resets provides thrust so that terminal pad (11-1) is separated with mobile dish (11-3)，Magnet (8) recovers and keeps vertical state，Permanent magnetic suck climbing robot is made normally to advance.
Claims (3)
1. it is used for the magnet-wheel of permanent magnetic suck climbing robot，By driving shaft (1)，Timing Belt (2)，Synchronizing wheel (3)，First power transmission shaft (4)，First gear (5)，Second gear (6)，Second driving shaft (7)，Magnet (8)，Magnet fixed block (9)，Driving wheel (10)，Clutch and actuating device (11) are constituted，It is characterized in that: clutch and actuating device (11) are arranged on driving shaft (1)，And be connected with synchronizing wheel (3) by Timing Belt (2)，Synchronizing wheel (3) is fixed on one end of the first power transmission shaft (4)，First gear (5) is fixed on the first power transmission shaft (4) other end，First gear (5) is engaged with the second gear (6) being fixed on second driving shaft (7)，Magnet (8) is fixed on Magnet fixed block (9)，Magnet fixed block (9) is fixed on second driving shaft (7)，Driving wheel (10) side is connected with Magnet fixed block (9)，Opposite side is fixed on clutch and actuating device (11).
2. clutch according to claim 1 and actuating device, it is by terminal pad (11-1), compression spring (11-2), mobile dish (11-3), tooth form terminal pad (11-4) and locking nut (11-5) are constituted, it is characterized in that: terminal pad (11-1) is arranged on driving shaft (1), compression spring (11-2) is fixed in terminal pad (11-1) through driving shaft (1) one end, the other end is fixed in mobile dish (11-3), tooth form terminal pad (11-4) side is engaged with mobile dish (11-3) by tooth form face, opposite side is fixed on driving wheel (10) side, locking nut (11-5) is fixed on driving shaft (1) above and is connected with terminal pad (11-1).
3. the magnet-wheel for permanent magnetic suck climbing robot according to claim 1 and 2，It is characterized in that: during use, driving shaft (1) is connected with the wheel drive motor of permanent magnetic suck climbing robot，During permanent magnetic suck climbing robot normal work，Magnet (8) remains vertical with wall，Absorption affinity on vertical plane is provided，The tooth form terminal pad (11-4) that driving shaft (1) passes through to be interlocked drives driving wheel (10) rotation with mobile dish (11-3)，The driving force of permanent magnetic suck climbing robot is provided，When running into obstacle，The born normal pressure of driving wheel (10) becomes big，Tooth form terminal pad (11-4) is gradually disengaged with mobile dish (11-3)，Compression spring (11-2) is compressed，It is simultaneously connected with disk (11-1) to contact with mobile dish (11-3)，Further driving shaft (1) drives terminal pad (11-1) rotation by mobile dish (11-3)，It is further advanced by Timing Belt (2) and the first power transmission shaft (4) drives first gear (5) rotation，First gear (5) changes direction of rotation with second gear (6) engaged transmission，Moving magnet (8) is finally carried to rotate by second driving shaft (7) and Magnet fixed block (9)，And it is contrary with driving wheel (10) direction of rotation，After Magnet (8) reversely rotates an angle，The axial thrust load that permanent magnetic suck climbing robot direction of advance can be provided coordinates driving wheel (10) to rotate simultaneously，Permanent magnetic suck climbing robot is made to surmount obstacles，While permanent magnetic suck climbing robot crossing over blockage, compression spring (11-2) resets provides thrust so that terminal pad (11-1) is separated with mobile dish (11-3)，Magnet (8) recovers and keeps vertical state，Permanent magnetic suck climbing robot is made normally to advance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510684366.XA CN106347514B (en) | 2015-10-22 | 2015-10-22 | Magnet-wheel for permanent magnetic suck climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510684366.XA CN106347514B (en) | 2015-10-22 | 2015-10-22 | Magnet-wheel for permanent magnetic suck climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106347514A true CN106347514A (en) | 2017-01-25 |
| CN106347514B CN106347514B (en) | 2018-10-30 |
Family
ID=57842879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510684366.XA Active CN106347514B (en) | 2015-10-22 | 2015-10-22 | Magnet-wheel for permanent magnetic suck climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106347514B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436122A (en) * | 2018-12-29 | 2019-03-08 | 衡昇科技有限公司 | A kind of climbing robot of ellipse magnet-wheel |
| CN109484507A (en) * | 2018-12-29 | 2019-03-19 | 衡昇科技有限公司 | Oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot for complicated magnetic conduction wall surface |
| CN111252160A (en) * | 2020-03-31 | 2020-06-09 | 北京博清科技有限公司 | Wall-climbing robot |
| WO2023137934A1 (en) * | 2022-01-21 | 2023-07-27 | 北京史河科技有限公司 | Design method for magnet swing device |
| WO2023137935A1 (en) * | 2022-01-21 | 2023-07-27 | 北京史河科技有限公司 | Reversible dust removal robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101426664A (en) * | 2006-03-13 | 2009-05-06 | 磁转换技术全球控股有限公司 | Magnetic wheel |
| US20110174565A1 (en) * | 2009-11-27 | 2011-07-21 | Alstom Technology Ltd | Vehicle and method for the independent inspection of hard-to-reach inner spaces |
| CN202243767U (en) * | 2011-10-26 | 2012-05-30 | 宁波力匠机械制造有限公司 | Magnetic adsorption type wall-climbing robot |
| CN104144845A (en) * | 2011-12-02 | 2014-11-12 | 螺旋机器人有限责任公司 | Mobile robot |
| CN104369788A (en) * | 2014-10-08 | 2015-02-25 | 顿向明 | Permanent magnetic adsorption wall-climbing robot |
-
2015
- 2015-10-22 CN CN201510684366.XA patent/CN106347514B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101426664A (en) * | 2006-03-13 | 2009-05-06 | 磁转换技术全球控股有限公司 | Magnetic wheel |
| US20110174565A1 (en) * | 2009-11-27 | 2011-07-21 | Alstom Technology Ltd | Vehicle and method for the independent inspection of hard-to-reach inner spaces |
| CN202243767U (en) * | 2011-10-26 | 2012-05-30 | 宁波力匠机械制造有限公司 | Magnetic adsorption type wall-climbing robot |
| CN104144845A (en) * | 2011-12-02 | 2014-11-12 | 螺旋机器人有限责任公司 | Mobile robot |
| CN104369788A (en) * | 2014-10-08 | 2015-02-25 | 顿向明 | Permanent magnetic adsorption wall-climbing robot |
Non-Patent Citations (1)
| Title |
|---|
| 罗玉福等: "《机械设计基础》", 30 June 2015, 北京航空航天大学出版社 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436122A (en) * | 2018-12-29 | 2019-03-08 | 衡昇科技有限公司 | A kind of climbing robot of ellipse magnet-wheel |
| CN109484507A (en) * | 2018-12-29 | 2019-03-19 | 衡昇科技有限公司 | Oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot for complicated magnetic conduction wall surface |
| CN111252160A (en) * | 2020-03-31 | 2020-06-09 | 北京博清科技有限公司 | Wall-climbing robot |
| WO2023137934A1 (en) * | 2022-01-21 | 2023-07-27 | 北京史河科技有限公司 | Design method for magnet swing device |
| WO2023137935A1 (en) * | 2022-01-21 | 2023-07-27 | 北京史河科技有限公司 | Reversible dust removal robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106347514B (en) | 2018-10-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106347514A (en) | Magnet wheel for permanent magnetic adsorption wall-climbing robot | |
| CN202400191U (en) | Permanent-magnet attraction wheel type iron-wall crawling robot | |
| ATE539225T1 (en) | FRICTION BRAKE DEVICE | |
| CN203998755U (en) | A kind of chain-type chain block | |
| CN203743733U (en) | Composite crawler pipe robot device | |
| CN203939952U (en) | Transmission device and pass gates | |
| CN203257933U (en) | Clutch device | |
| CN204127246U (en) | Friction disk type limited-slip differential | |
| CN203010109U (en) | Transmission system of walking device in electrically driven pipeline | |
| CN105508802A (en) | Wheel type pipeline detection robot asynchronous origin displacement steering mechanism | |
| CN202550720U (en) | Coupling structure of iron core and rotating shaft | |
| CN101886674A (en) | Wet type mechanical pressing friction clutch with rolling bearing | |
| CN201810692U (en) | Wet-type rolling bearing mechanical compaction friction clutch | |
| CN103784275A (en) | Combined wheelchair wheel for walking upstairs and downstairs | |
| CN204821147U (en) | Hoist rely on oneself walking transmission | |
| CN204546549U (en) | Grabbing device | |
| CN204384235U (en) | Wet method horizontal chain equipment transmission device | |
| CN203159056U (en) | Crane transmission device | |
| CN216138921U (en) | Arm transfer device easy and simple to handle | |
| CN102996974A (en) | Traveling device transmission system in electric drive pipeline | |
| CN103612559A (en) | Route inspection robot and walking mechanism thereof | |
| CN203947825U (en) | Can make the device of mobile box driving stability | |
| CN203585147U (en) | Clutch on motor for electric curtain | |
| CN214823732U (en) | Multi-joint sucker type bionic walking mechanism | |
| CN203784121U (en) | Double-drive ball universal coupling |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190613 Address after: Room B701, Shenzhen Institute of Space Science and Technology Innovation Building, No. 6 Nanshi Road, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province, 518000 Patentee after: Shenzhen Aerospace Longhaite Intelligent Equipment Co., Ltd. Address before: 150060 Room 509, 5th floor, China Yungu Software Park, No. 9 Songhua Road, Jingkai District, Harbin, Heilongjiang Province Patentee before: HARBIN LONGHIT ROBOT TECHNOLOGY CO., LTD. |