CN109436122A - A kind of climbing robot of ellipse magnet-wheel - Google Patents
A kind of climbing robot of ellipse magnet-wheel Download PDFInfo
- Publication number
- CN109436122A CN109436122A CN201811638589.2A CN201811638589A CN109436122A CN 109436122 A CN109436122 A CN 109436122A CN 201811638589 A CN201811638589 A CN 201811638589A CN 109436122 A CN109436122 A CN 109436122A
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- China
- Prior art keywords
- wheel
- oval
- magnetic conduction
- magnet
- shaft
- Prior art date
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- Pending
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 18
- 230000010287 polarization Effects 0.000 claims description 5
- 230000001052 transient effect Effects 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 14
- 229910052742 iron Inorganic materials 0.000 description 7
- 238000001179 sorption measurement Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of climbing robot of oval magnet-wheel, it travels on magnetic conduction wall surface, climbing robot includes rack and the oval magnet-wheel set on bottom of the frame, rack is equipped with the driving motor for driving oval magnet-wheel movement, oval magnet-wheel includes cylinder-shaped magnet, round foreign steamer and interval are set to the first oval magnetic conduction wheel and the second oval magnetic conduction wheel of both ends of the surface on the inside of round foreign steamer, inner hole at the center of the shaft of driving motor and round foreign steamer is rotatablely connected, the rotating torque of shaft is transmitted to the first oval magnetic conduction wheel and the second oval magnetic conduction wheel by key respectively, first oval magnetic conduction wheel and the second oval magnetic conduction wheel rotate synchronously, cylinder-shaped magnet is set in shaft and overhead is between the first oval magnetic conduction wheel and the second oval magnetic conduction wheel.The present invention realizes the submissive transient motion in interconnecting interior walls face using oval magnetic conduction wheel.
Description
Technical field
The present invention relates to special equipment technical field more particularly to a kind of climbing robots of oval magnet-wheel.
Background technique
Existing climbing robot is typically employed in the operation of simple wall surface, and the wall surface for encountering interior intersection can not independently commutate absorption
Continue to move ahead perpendicular to the wall surface of former traveling plane.
Summary of the invention
The purpose of the present invention is to provide a kind of climbing robots of oval magnet-wheel.
The technical solution adopted by the present invention is that:
A kind of climbing robot of ellipse magnet-wheel, travels on magnetic conduction wall surface, and climbing robot includes rack and is set to rack
The oval magnet-wheel of bottom, rack are equipped with the driving motor for driving oval magnet-wheel movement, and oval magnet-wheel includes cylinder
Magnet, round foreign steamer and interval are set to the first oval magnetic conduction wheel and the second oval magnetic conduction of both ends of the surface on the inside of round foreign steamer
Inner hole at the center of wheel, the shaft of driving motor and round foreign steamer is rotatablely connected, and the rotating torque of shaft is passed respectively by key
It is delivered to the first oval magnetic conduction wheel and the second oval magnetic conduction wheel, the first oval magnetic conduction wheel and the second oval magnetic conduction wheel are synchronous
Rotation, cylinder-shaped magnet is set in shaft and overhead is between the first oval magnetic conduction wheel and the second oval magnetic conduction wheel.
Further, shaft is connect with the inner hole at the center of round foreign steamer by bearing fit.I.e. circle foreign steamer is interior
Hole and bearing outer ring cooperate, and shaft and bearing inner race cooperate.
Further, cylinder-shaped magnet is set on cylindrical rubber set outer ring, and cylindrical rubber set is set in shaft
On, the outer ring tight fit of inner hole and the cylindrical rubber set of cylinder-shaped magnet, cylindrical rubber covers inner ring and shaft tight fit.
Further, the magnetic field of cylinder-shaped magnet radial polarization, cylinder-shaped magnet passes through the first oval magnetic conduction wheel, sky
Gas, round foreign steamer, magnetic conduction wall surface and the second oval magnetic conduction wheel closure.
The invention adopts the above technical scheme, and the shaft of driving motor is led with the first oval magnetic conduction wheel, the second ellipse
Magnet-wheel is interacted by key, and the rotating torque of shaft is transmitted to the first oval magnetic conduction wheel and the second oval magnetic conduction by key
Wheel.Cylinder-shaped magnet is set in shaft and overhead is between the first oval magnetic conduction wheel and the second oval magnetic conduction wheel, and circle
Cylindrical magnetic iron radial polarization, the magnetic field of cylinder-shaped magnet by the first oval magnetic conduction iron, the second oval magnetic conduction iron, air,
Round foreign steamer and magnetic conduction wall surface closure.Spindle outer diameter and round foreign steamer inner hole are rotatablely connected, and the rotating torque of shaft cannot be transmitted
To round foreign steamer.Since the second oval magnetic conduction wheel is under suction, oval magnetizer major diameter substantially remains in and magnetic conduction
The position of wall surface minimum range.When foreign steamer movement is in plane magnetic conduction wall surface, shaft output torque, the fixed ellipse with shaft
Magnetizer deflects an angle, generates the torque for driving round foreign steamer movement, so that round foreign steamer is smoothly on wall surface
Movement.When wheel contacts are to interior intersection wall surface, outer wheel is motionless, and internal sector electromagnet rotates, since mechanism is in ellipse
Shape, therefore the adsorption capacity in major diameter direction is maximum, as the rotation of internal mechanism is, it can be achieved that the submissive mistake of inner wall is shipped
It is dynamic, the flexible obstacle detouring suitable for obstacle on complicated magnetic conduction wall surface.The compact two-wheeled mechanism of climbing robot, magnet are axial fill
Magnetic, oval magnetic conduction iron provides adsorption capacity, it can be achieved that the absorption on wall surface is moved with flexible.
Detailed description of the invention
The present invention is described in further details below in conjunction with the drawings and specific embodiments；
Fig. 1 is oval magnet-wheel structural schematic diagram of the invention；
Fig. 2 is the side structure schematic view of oval magnet-wheel of the invention；
Fig. 3 is status diagram when starting to switch wall surface of the invention；
Status diagram when Fig. 4 is completion switching wall surface of the invention.
Specific embodiment
Shown in one of picture 1-4, the invention discloses a kind of climbing robots of oval magnet-wheel, travel on magnetic conducting wall
Face, climbing robot include rack (not shown) and the oval magnet-wheel 1 set on bottom of the frame, and rack is equipped with driving
The driving motor that oval magnet-wheel 1 moves, oval magnet-wheel 1 include that cylinder-shaped magnet 2, round foreign steamer 3 and interval are set to circle
The oval magnetic conduction wheel 4 of the first of 3 inside both ends of the surface of shape foreign steamer and the second oval magnetic conduction wheel 5, the shaft 6 and circle of driving motor
The rotating torque of inner hole rotation connection at the center of foreign steamer 3, shaft 6 is transmitted to the first oval magnetic conduction wheel 4 by key respectively
With the second oval magnetic conduction wheel 5, the first oval magnetic conduction wheel 4 and the second oval magnetic conduction wheel 5 are rotated synchronously, cylinder-shaped magnet 2
It is set in shaft 6 and overhead is between the first oval magnetic conduction wheel 4 and the second oval magnetic conduction wheel 5
Further, shaft 6 is connect with the inner hole at the center of round foreign steamer 3 by bearing fit.The inner hole of i.e. round foreign steamer 3
Cooperate with bearing outer ring, shaft 6 and bearing inner race cooperate.
Further, cylinder-shaped magnet 2 is set in a cylindrical rubber and covers on 7 outer rings, and cylindrical rubber set 7, which is set in, to be turned
On axis 6, the outer ring tight fit of inner hole and the cylindrical rubber set 7 of cylinder-shaped magnet 2, cylindrical rubber covers 7 inner rings and shaft 6 is tight
Cooperation.
Further, 2 radial polarization of cylinder-shaped magnet, the magnetic field of cylinder-shaped magnet 2 by the first oval magnetic conduction wheel 4,
Air, round foreign steamer 3, magnetic conduction wall surface and the second oval magnetic conduction wheel 5 are closed.
The invention adopts the above technical scheme, the shaft 6 of driving motor and first oval the 4, second ellipse of magnetic conduction wheel
Magnetic conduction wheel 5 is interacted by key, and the rotating torque of shaft is transmitted to the first oval magnetic conduction wheel 4 and the second ellipse by key
Magnetic conduction wheel 5.Cylinder-shaped magnet 2 is set in shaft 6 and overhead is in the first oval magnetic conduction wheel 4 and the second oval magnetic conduction wheel 5
Between, and 2 radial polarization of cylinder-shaped magnet, the magnetic field of cylinder-shaped magnet 2 are led by the first oval magnetic conduction iron, the second ellipse
Magnet, air, round foreign steamer 3 and magnetic conduction wall surface closure.Spindle outer diameter and round 3 inner hole of foreign steamer are rotatablely connected, the rotation of shaft
Torque cannot be transmitted to round foreign steamer 3.Since the second oval magnetic conduction wheel 5 is under suction, oval magnetizer major diameter base
Originally it is maintained at the position with magnetic conduction wall surface minimum range.When foreign steamer movement in plane magnetic conduction wall surface, shaft output torque, with turn
The fixed oval magnetizer of axis deflects an angle, generates the torque for driving round foreign steamer 3 to move, so that round foreign steamer
3 smoothly move on wall surface.When wheel contacts are to interior intersection wall surface, outer wheel is motionless, and internal sector electromagnet rotates,
Since mechanism is oval, the adsorption capacity in major diameter direction is maximum, as the rotation of internal mechanism is, it can be achieved that inner wall
Submissive transient motion, the flexible obstacle detouring suitable for obstacle on complicated magnetic conduction wall surface.The compact two-wheeled mechanism of climbing robot, magnetic
Iron is axial charging, and oval magnetic conduction iron provides adsorption capacity, it can be achieved that the absorption on wall surface is moved with flexible.
Claims (4)
1. a kind of climbing robot of ellipse magnet-wheel, travels on magnetic conduction wall surface, it is characterised in that: climbing robot includes rack
And the oval magnet-wheel set on bottom of the frame, rack are equipped with the driving motor for driving oval magnet-wheel movement, oval magnetic
Wheel includes the first oval magnetic conduction wheel and that cylinder-shaped magnet, round foreign steamer and interval are set to both ends of the surface on the inside of round foreign steamer
Inner hole at the center of two oval magnetic conduction wheels, the shaft of driving motor and round foreign steamer is rotatablely connected, the rotating torque of shaft
It is transmitted to the first oval magnetic conduction wheel and the second oval magnetic conduction wheel, the first oval magnetic conduction wheel and the second ellipse respectively by key
Shape magnetic conduction wheel rotates synchronously, and cylinder-shaped magnet is set in shaft and overhead is led in the first oval magnetic conduction wheel and the second ellipse
Between magnet-wheel.
2. a kind of climbing robot of oval magnet-wheel according to claim 1, it is characterised in that: the shaft and circle
Inner hole at the center of foreign steamer is connected by bearing fit,
The inner hole and bearing outer ring of i.e. round foreign steamer cooperate, and shaft and bearing inner race cooperate.
3. a kind of climbing robot of oval magnet-wheel according to claim 1, it is characterised in that: the cylinder-shaped magnet
It is set on cylindrical rubber set outer ring, cylindrical rubber set is set in shaft, the inner hole and cylinder of cylinder-shaped magnet
The outer ring tight fit of rubber sleeve, cylindrical rubber cover inner ring and shaft tight fit.
4. a kind of climbing robot of oval magnet-wheel according to claim 1, it is characterised in that: the cylinder-shaped magnet
The magnetic field of radial polarization, cylinder-shaped magnet is ellipse by the first oval magnetic conduction wheel, air, round foreign steamer, magnetic conduction wall surface and second
Round magnetic conduction wheel closure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811638589.2A CN109436122A (en) | 2018-12-29 | 2018-12-29 | A kind of climbing robot of ellipse magnet-wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811638589.2A CN109436122A (en) | 2018-12-29 | 2018-12-29 | A kind of climbing robot of ellipse magnet-wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109436122A true CN109436122A (en) | 2019-03-08 |
Family
ID=65540142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811638589.2A Pending CN109436122A (en) | 2018-12-29 | 2018-12-29 | A kind of climbing robot of ellipse magnet-wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109436122A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005052626A1 (en) * | 2005-11-02 | 2007-05-16 | Lsp Innovative Automotive Sys | Electrical linear drive, has inner stator actuated by coil, and outer stator provided for carrying out magnetic interference and arranged parallel and/or coaxial and at distance to wall of rotor, where wall is connected with operating unit |
| CN101817180A (en) * | 2010-04-21 | 2010-09-01 | 上海交通大学 | Wall-climbing wheel type mechanism based on MEMS (Micro-Electro Mechanical System) |
| US20110253470A1 (en) * | 2010-04-14 | 2011-10-20 | Alstom Technology Ltd | Drive unit for a vehicle for use as a robot in pipe systems, cavities or the like and a vehicle having same |
| CN105398504A (en) * | 2015-12-23 | 2016-03-16 | 苏州哈工众志自动化科技有限公司 | Wall climbing robot motion platform and method |
| CN106347514A (en) * | 2015-10-22 | 2017-01-25 | 哈尔滨龙海特机器人科技有限公司 | Magnet wheel for permanent magnetic adsorption wall-climbing robot |
| CN206765701U (en) * | 2017-05-24 | 2017-12-19 | 徐州华顺测控技术有限公司 | A kind of climbing robot sorption wheel |
| CN209366311U (en) * | 2018-12-29 | 2019-09-10 | 衡昇科技有限公司 | A kind of climbing robot of ellipse magnet-wheel |
-
2018
- 2018-12-29 CN CN201811638589.2A patent/CN109436122A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005052626A1 (en) * | 2005-11-02 | 2007-05-16 | Lsp Innovative Automotive Sys | Electrical linear drive, has inner stator actuated by coil, and outer stator provided for carrying out magnetic interference and arranged parallel and/or coaxial and at distance to wall of rotor, where wall is connected with operating unit |
| US20110253470A1 (en) * | 2010-04-14 | 2011-10-20 | Alstom Technology Ltd | Drive unit for a vehicle for use as a robot in pipe systems, cavities or the like and a vehicle having same |
| CN102267500A (en) * | 2010-04-14 | 2011-12-07 | 阿尔斯托姆科技有限公司 | Drive unit and propulsion unit having same |
| CN101817180A (en) * | 2010-04-21 | 2010-09-01 | 上海交通大学 | Wall-climbing wheel type mechanism based on MEMS (Micro-Electro Mechanical System) |
| CN106347514A (en) * | 2015-10-22 | 2017-01-25 | 哈尔滨龙海特机器人科技有限公司 | Magnet wheel for permanent magnetic adsorption wall-climbing robot |
| CN105398504A (en) * | 2015-12-23 | 2016-03-16 | 苏州哈工众志自动化科技有限公司 | Wall climbing robot motion platform and method |
| CN206765701U (en) * | 2017-05-24 | 2017-12-19 | 徐州华顺测控技术有限公司 | A kind of climbing robot sorption wheel |
| CN209366311U (en) * | 2018-12-29 | 2019-09-10 | 衡昇科技有限公司 | A kind of climbing robot of ellipse magnet-wheel |
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