CN112896356A - Controllable wall climbing adsorption device of magnetic force constructs and wall climbing robot - Google Patents
Controllable wall climbing adsorption device of magnetic force constructs and wall climbing robot Download PDFInfo
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- CN112896356A CN112896356A CN202110430737.7A CN202110430737A CN112896356A CN 112896356 A CN112896356 A CN 112896356A CN 202110430737 A CN202110430737 A CN 202110430737A CN 112896356 A CN112896356 A CN 112896356A
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 54
- 230000009194 climbing Effects 0.000 title description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 238000002955 isolation Methods 0.000 claims description 10
- 238000010521 absorption reaction Methods 0.000 claims description 8
- 230000006978 adaptation Effects 0.000 claims description 5
- 238000007667 floating Methods 0.000 claims description 5
- 244000309464 bull Species 0.000 claims description 4
- 230000005389 magnetism Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000834287 Cookeolus japonicus Species 0.000 description 1
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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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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Abstract
The invention discloses a magnetic force controllable wall-climbing adsorption mechanism and a wall-climbing robot, and relates to the technical field of robots. The soft magnet has the characteristic of being capable of being charged and demagnetized, the soft magnet has a first magnetic field, the electromagnetic coil generates a second magnetic field, and the first magnetic field is transmitted to the wall surface through the left magnetic yoke and the right magnetic yoke; the direction of the second magnetic field is the same as that of the first magnetic field, the second magnetic field magnetizes the soft magnet, and the adsorption force of the first magnetic field is increased; when the second magnetic field is opposite to the first magnetic field, the soft magnet is demagnetized, and the attraction force of the first magnetic field is reduced, so that the attraction force of the first magnetic field can be adjusted by adjusting the current magnitude and the current direction of the electromagnetic coil.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a magnetic force controllable wall-climbing adsorption mechanism and a wall-climbing robot.
Background
The wall-climbing robot is used as a wall-surface mobile robot, combines the moving mode and the wall-surface attachment capacity of a ground robot, and expands the movement and application range into a vertical facade space.
At present, the wall climbing robot is widely applied to application requirements of anti-terrorism reconnaissance, building wall cleaning, thermal power station boiler detection and the like. Therefore, the structural characteristics thereof require integration of wall adsorption capability, plane movement capability, and obstacle crossing capability. Because the adsorption component of this kind of robot at present adopts permanent magnet absorption mostly, the difficult adsorption effort between control robot and the work wall for the obstacle crossing ability of robot is relatively poor, and in the face of some complicated work wall, this kind of robot can't provide stable motion performance.
The Chinese patent with the application number of 201420356750.8, namely 'a magnetic force controllable magnetic wheel assembly for a TOFD scanning frame', provides a controllable magnetic wheel assembly, and solves the safety problem of high-altitude operation caused by too large or too small magnetic wheel adsorption force by controlling the magnetic force of the magnetic wheel assembly through the change of a magnetic circuit inside the magnetic wheel, but the magnetic force control of the magnetic wheel is realized by manually rotating a knob, so that the practicability of the high-altitude operation of a robot is not strong.
The chinese patent with application number 201610350077.0, entitled "obstacle-crossing and wall-climbing robot", proposes an obstacle-crossing and wall-climbing robot, which is similar to a legged robot, and realizes the attraction of one frame through the magnetic control and the motion control of the magnetic attraction units of the upper and lower frames, and the logic action relationship of the motion of the other frame, so as to realize stronger obstacle-crossing capability, but the overall control action is complex, and the motion efficiency is low.
The chinese patent 'combined type variable magnetic force adsorption module of obstacle-crossing wall-climbing robot' with the application number of 201910850161.2 provides a variable magnetic force adsorption module for wall-climbing robot, and the module realizes the distance change between magnet and the working wall surface through the up-and-down motion of lead screw to control the magnetic force size, this kind of structure has certain requirement to the space of robot body, and the control action is more loaded down with trivial details in practical application.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides the wall-climbing adsorption mechanism with controllable magnetic force and the wall-climbing robot, which have simple structures, are convenient to control the magnitude of the magnetic force and the magnitude of the adsorption force.
The invention discloses a wall climbing adsorption mechanism which comprises a magnetic adsorption assembly, wherein the magnetic adsorption assembly comprises a soft magnet, a left magnetic yoke and a right magnetic yoke are respectively arranged on two sides of the soft magnet, and an electromagnetic coil is further arranged on the soft magnet.
Preferably, the magnetic adsorption assembly further comprises an upper magnetic isolating block and a lower magnetic isolating block which are arranged between the left magnetic yoke and the right magnetic yoke, the soft magnet is clamped between the upper magnetic isolating block and the lower magnetic isolating block, and cow-eye universal wheels are arranged on one sides of the left magnetic yoke and one side of the right magnetic yoke respectively.
Preferably, climb wall adsorption apparatus and construct still including setting up the adaptation subassembly that floats of magnetism adsorption assembly upside, the adaptation subassembly that floats is equipped with connecting spring including setting up the fixed plate in left yoke and right yoke one side on the fixed plate.
The invention also provides a wall-climbing robot provided with the wall-climbing adsorption mechanism, which comprises a frame, wherein the wall-climbing adsorption mechanism is arranged on one side of the frame, and the frame is also provided with a traveling mechanism.
Preferably, the frame includes preceding frame and back frame, and preceding frame and the wall adsorption apparatus that climbs that back frame was equipped with respectively construct, be equipped with before preceding frame and the back frame and hinder the mechanism more, hinder the mechanism more and include first connecting rod, first connecting rod both ends are rotatably installed in preceding frame outside and back frame outside respectively.
Preferably, the obstacle crossing mechanism further comprises a front joint fixing seat and a rear joint fixing seat, the front joint fixing seat is installed on one side of the front frame, the rear joint fixing seat is installed on one side of the rear frame,
a first rotating pin is fixed on one side of the first connecting rod and can be rotatably arranged on the outer side of the front joint fixing seat, and a front joint motor arranged on one side of the front joint fixing seat drives the first rotating pin;
and a third rotating pin is fixed on the other side of the first connecting rod, the third rotating pin is rotatably arranged on the outer side of the rear joint fixing seat, and a rear joint motor arranged on one side of the rear joint fixing seat drives the third rotating pin.
Preferably, the obstacle crossing mechanism further comprises a second connecting rod, a front connecting groove is formed in the front joint fixing seat, a rear connecting groove is formed in the rear joint fixing seat, the front connecting groove and the rear connecting groove face oppositely, and two ends of the second connecting rod are rotatably mounted on the side walls of the front connecting groove and the rear connecting groove respectively.
Preferably, the walking mechanism comprises a driving wheel component arranged on the rear frame and a follow-up wheel component arranged on the front frame,
the driving wheel assembly comprises a motor connecting plate arranged on the rear frame, one side of the motor connecting plate is provided with a driving wheel, the other side of the motor connecting plate is provided with a driving motor, and the driving motor drives the driving wheel;
the follow-up wheel assembly comprises a follow-up wheel fixing plate arranged on the front frame, a follow-up wheel rotating shaft is arranged on the follow-up wheel fixing plate, and omnidirectional wheels are respectively arranged on two sides of the follow-up wheel rotating shaft.
Preferably, the front frame and the rear frame are respectively provided with an adsorption groove on one side, the adsorption grooves are provided with linear guide pillars, one end of the connecting spring is mounted on the linear guide pillars, the other end of the connecting spring is mounted on the fixing plate, and the fixing plate is mounted on one side of the left magnetic yoke and one side of the right magnetic yoke.
Preferably, the wall-climbing robot further comprises a handle and an electric control box which are arranged on the frame.
Compared with the prior art, the invention has the beneficial effects that: the soft magnet has the characteristic of being capable of being charged and demagnetized, the soft magnet has a first magnetic field, the electromagnetic coil generates a second magnetic field, and the first magnetic field is transmitted to the wall surface through the left magnetic yoke and the right magnetic yoke; the direction of the second magnetic field is the same as that of the first magnetic field, the second magnetic field magnetizes the soft magnet, and the adsorption force of the first magnetic field is increased; when the second magnetic field is opposite to the first magnetic field, the soft magnet is demagnetized, and the attraction force of the first magnetic field is reduced, so that the attraction force of the first magnetic field can be adjusted by adjusting the current magnitude and the current direction of the electromagnetic coil.
Drawings
FIG. 1 is a schematic view of the construction of a wall climbing robot of the present invention;
FIG. 2 is a schematic structural view of a climbing wall adsorption mechanism of the present invention;
FIG. 3 is a schematic structural view of a magnetic attachment assembly;
FIG. 4 is a functional schematic diagram of the magnetic attachment assembly;
FIG. 5 is a schematic view of the structure of the traveling mechanism;
FIG. 6 is a schematic view of the structure of the obstacle crossing mechanism;
FIG. 7 is a schematic view of an obstacle crossing motion of the wall climbing robot;
fig. 8 is a schematic view of the attachment structure of the wall-climbing robot.
Reference numerals: 1 frame, 11 front frames, 12 rear frames, 15 handles, 16 electric control boxes, 17 wall surfaces,
2 a wall-climbing adsorption mechanism is arranged,
21 floating adaptation component, 2101 straight guide post, 2102 connecting spring, 2103 fixing plate,
22 magnetic adsorption component, 2201 left magnetic yoke, 2202 soft magnetic body, 2203 right magnetic yoke, 2204 upper magnetic isolation block, 2205 lower magnetic isolation block, 2206 electromagnetic coil, 2104 bull's eye universal wheel, 2105 universal wheel mounting plate, 2106 fixing nut,
3 obstacle crossing mechanism, 31 front joint fixing seat, 32 rear joint fixing seat, 33 first rotating pin, 34 second rotating pin, 35 third rotating pin, 36 fourth rotating pin, 37 first connecting rod, 38 second connecting rod, 39 front joint motor, 310 rear joint motor, 311 locking nut, 312 front connecting groove, 313 rear connecting groove,
4 a traveling mechanism is arranged on the frame,
a 41 drive wheel assembly, a 4101 left drive wheel, a 4102 left motor connecting plate, a 4103 left motor, a 4104 right drive wheel, a 4105 right motor connecting plate, a 4106 right motor,
42 follower wheel assembly, 4201 omni wheel, 4202 follower wheel fixed plate, 4204 follower wheel rotating shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention is described in further detail below with reference to the attached drawing figures:
a climbing wall adsorption mechanism is shown in figures 1-3 and comprises a magnetic adsorption component 21, wherein the magnetic adsorption component 21 comprises a soft magnetic body 2202, a left magnetic yoke 2201 and a right magnetic yoke 2203 are arranged on two sides of the soft magnetic body 2202 respectively, and an electromagnetic coil 2206 is further arranged on the soft magnetic body 2202.
The soft-magnetic body 2202 has the property of being magnetisable or demagnetizable, as shown in FIG. 4, the left hand representation showing the soft-magnetic body itself having a first magnetic field S1-N1The right figure shows that the electromagnetic coil 2206 generates the second magnetic field S2-N2The first magnetic field is transmitted to the wall surface 17 through the left and right yokes 2201 and 2203; the direction of the second magnetic field is the same as that of the first magnetic field, and the second magnetic field magnetizes the soft magnetic body 2202, so that the adsorption force of the first magnetic field is increased; when the direction of the second magnetic field is opposite to the direction of the first magnetic field, the soft magnetic body 2202 is demagnetized, and the attractive force of the first magnetic field is reduced, so that the magnitude of the attractive force of the first magnetic field can be adjusted by adjusting the magnitude and direction of the current of the electromagnetic coil; on the other hand, when the wall-climbing attraction mechanism 2 is attracted to the wall surface 17, the soft magnet maintains the first magnetic field without falling off due to the power outage even if the electromagnetic coil is powered off.
As shown in fig. 3, the magnetic attraction component 21 further includes an upper magnetic isolation block 2204 and a lower magnetic isolation block 2205 disposed between the left magnetic yoke 2201 and the right magnetic yoke 2203, the soft magnetic body 2202 is clamped between the upper magnetic isolation block 2204 and the lower magnetic isolation block 2205, and the bull's eye universal wheels 2104 are disposed on one sides of the left magnetic yoke 2201 and the right magnetic yoke 2203, respectively. Wherein gaps may be provided between the soft magnet 2202 and the upper magnetic shield, and between the soft magnet and the lower magnetic shield. During suction, the bull's eye castor wheel 2104 contacts the wall surface facilitating the movement of the magnetic attraction assembly 21 and the wall surface 17 relative to each other. In one embodiment, the left and right yokes 2201 and 2203 are respectively provided with a universal wheel mounting plate 2105 at one side, and the bull-eye universal wheel 2104 is mounted on the universal wheel mounting plate 2104 via a fixing nut 2106.
As shown in fig. 2, the wall climbing absorption mechanism 2 may further include a floating adaptive assembly 21 disposed on the upper side of the magnetic absorption assembly, the floating adaptive assembly 21 includes a fixed plate 2101 disposed on one side of the left and right yokes 2201 and 2203, and a connection spring 2102 is disposed on the fixed plate 2101. The link spring 2102 is mounted on the frame 1 of the wall-climbing robot, and the link spring 2102 performs a buffering function. In a specific embodiment, the front frame 11 and the rear frame 12 are respectively provided with an adsorption groove on one side, the adsorption groove is provided with a linear guide post 2101, one end of a connecting spring 2102 is installed on the linear guide post 2101, the other end of the connecting spring 2103 is installed on a fixing plate 2101, and the fixing plate 2101 is installed on one side of a left magnetic yoke 2201 and a right magnetic yoke 2203. The linear guide post 2101 is arranged inside the connecting spring 2103 to play a guiding role and prevent the adsorption mechanism from deviating from the position.
As shown in fig. 1 and 8, the wall-climbing robot of the present invention includes a frame 11, a wall-climbing suction mechanism 2 disposed on one side of the frame 11, and a traveling mechanism 4 disposed on one side of the frame 11. The wall-climbing robot is adsorbed 2 on the wall surface through the adsorption mechanism, and the walking mechanism 4 provides power for the movement of the wall-climbing robot.
As shown in fig. 6, the vehicle frame 11 includes a front vehicle frame 11 and a rear vehicle frame 12, the obstacle crossing mechanism 3 is provided in front of the front vehicle frame 11 and the rear vehicle frame 12, the wall climbing adsorption mechanism 2 is provided in each of the front vehicle frame 11 and the rear vehicle frame 12, and the obstacle crossing mechanism 3 includes a first link 37, and both ends of the first link 37 are rotatably mounted on the outer side of the front vehicle frame 11 and the outer side of the rear vehicle frame 12.
Fig. 7 shows a process of crossing obstacles, and A diagram shows, and wall climbing robot meets the obstacle, can't directly pass through, is close to obstacle one side in the picture and is preceding frame, keeps away from obstacle one side and is the back frame, adjusts the magnetism of the magnetism absorption subassembly 22 that is connected with preceding frame 11 this moment and to the biggest, makes preceding frame 11 firmly adsorb on the wall, adjusts the magnetism size of the magnetism absorption subassembly of back frame 12 and is zero. Fig. B shows the rear frame 12 being rotated about the front frame 11 by the first link 37 to turn the rear frame 12 to the other side of the obstacle. And the diagram C shows that the magnetic force of the magnetic adsorption component for adjusting the rear frame 12 is maximum, so that the rear frame is firmly adsorbed on the wall surface, and the magnetic force of the magnetic adsorption component for adjusting the front frame 11 is zero. D shows that the front frame 11 is rotated around the rear frame 12 by the first link to turn the front frame to the other side of the rear frame. And E, showing that the front frame keeps adsorption with the wall surface after being overturned, at the moment, the adsorption force between the front frame and the wall surface and the splitting surface can be adjusted, and the adsorption force enables the walking mechanism to form friction force with the wall surface so as to enable the walking mechanism to move on the wall surface. Therefore, the obstacle crossing mechanism 3 provides the wall-climbing robot with strong obstacle crossing capability, and can adapt to various complex working wall surface environments.
As shown in fig. 6, the first link may be driven by a motor. For example: the obstacle crossing mechanism 3 further comprises a front joint fixing seat 31 and a rear joint fixing seat 32, the front joint fixing seat 31 is installed on one side of the front frame 11, the rear joint fixing seat is installed on one side of the rear frame 11, a first rotating pin 33 is fixed on one side of a first connecting rod 37, the first rotating pin 33 is rotatably installed on the outer side of the front joint fixing seat 31, and a front joint motor 39 installed on one side of the front joint fixing seat 31 drives the first rotating pin 33; the third rotating pin 35 is fixed to the other side of the first link 37, the third rotating pin 35 is rotatably installed outside the rear joint fixing seat 32, and the rear joint motor 310 installed on one side of the rear joint fixing seat 32 drives the third rotating pin 35, thereby driving both ends of the first link 37 to rotate. But is not limited thereto, other means of driving the first link to rotate on both sides may be used.
In a specific embodiment, the obstacle crossing mechanism 3 further includes a second link 38, the front joint fixing seat 31 is provided with a front connecting slot 312, the rear joint fixing seat 32 is provided with a rear connecting slot 313, the openings of the front connecting slot 312 and the rear connecting slot 313 face opposite directions, and two ends of the second link 38 are rotatably mounted on the side walls of the front connecting slot 312 and the rear connecting slot 313, respectively. The second connecting rod 38 makes the wall climbing robot more stable when turning over, but also limits the turning space of the robot, as shown in fig. 8, the left and right sides of the wall climbing robot can be respectively provided with a first connecting rod 37 and a second connecting rod 38. Wherein the first link 37 may be fixed on the first rotation pin 33 or the third rotation pin 35 by a locking nut 311; the drive shaft of the front joint motor 39 is connected to the first rotating pin 33 through a flat key, thereby driving the first rotating pin 33; a driving shaft of the rear joint motor 310 is connected to the third rotation pin 35 through a flat key, thereby driving the third rotation pin 35; the second link 38 is rotatably mounted to the front joint holder 31 by a second pivot pin 34, and the second link 38 is rotatably mounted to the rear joint holder 32 by a fourth pivot pin 36.
Fig. 5 shows a specific traveling mechanism 4, which includes a driving wheel assembly 41 mounted on the rear frame 12 and a driven wheel assembly 42 mounted on the front frame 11, the driving wheel assembly 41 including a motor connecting plate mounted on the rear frame 12, the motor connecting plate having a driving wheel on one side and a driving motor on the other side, the driving motor driving the driving wheel; specifically, a left motor connecting plate 4102 and a right motor connecting plate 4105 may be respectively disposed on two sides of the rear frame 12, one side of the left motor connecting plate 4102 is provided with a left driving wheel 4101, the other side is provided with a left motor 4103, the left motor 4103 drives the left driving wheel 4101, one side of the right motor connecting plate 4105 is provided with a right driving wheel 4104, the other side is provided with a right motor 4106, and the right motor drives the right driving wheel. The follower wheel assembly 42 includes a follower wheel fixing plate 4202 mounted on the front frame 11, a follower wheel rotating shaft 4204 is provided on the follower wheel fixing plate 4202, and omni wheels 4201 are respectively provided on both sides of the follower wheel rotating shaft 4204. However, the front frame 11 may be provided with a driving wheel assembly, the frame may be driven to travel by two sets of driving wheel assemblies, and the traveling direction may be adjusted by setting a differential speed between the driving wheels.
In a specific embodiment, a rotating shaft is arranged on the motor connecting plate, one end of the rotating shaft is fixedly connected with the driving wheel, the other end of the rotating shaft is connected with an output shaft of a driving motor, and the driving motor drives the driving wheel through the rotating shaft. However, the motor-driven running wheel is a common technology, and is not repeated in the application.
The wall climbing robot has the characteristics of wheel-foot compound motion through the matching of the wall climbing adsorption mechanism 2, the obstacle crossing mechanism 3 and the travelling mechanism 4, when the robot moves on a common magnetic conduction plane, the robot completes the motion function through the travelling mechanism, when encountering barriers with high bulges such as welding seams, rivets and the like, the robot adjusts the magnetic adsorption force of the front and rear wall climbing adsorption mechanisms and adopts the obstacle crossing mechanism 3 to cross the barriers. The wall-climbing robot has two motion modes, and has higher speed performance and simpler and more convenient control requirements compared with a single foot type motion mode.
As shown in fig. 8, a handle 15 and an electronic control box 16 may be mounted on the frame 1. But not limited to this, can also carry other modules according to the work demand, expand the robot function.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The magnetic force controllable wall-climbing adsorption mechanism is characterized by comprising a magnetic adsorption assembly, wherein the magnetic adsorption assembly comprises a soft magnet, a left magnetic yoke and a right magnetic yoke are arranged on two sides of the soft magnet respectively, and an electromagnetic coil is further arranged on the soft magnet.
2. The wall-climbing adsorption mechanism of claim 1, wherein the magnetic adsorption assembly further comprises an upper magnetic isolation block and a lower magnetic isolation block arranged between the left magnetic yoke and the right magnetic yoke, the soft magnet is clamped between the upper magnetic isolation block and the lower magnetic isolation block, and bull's-eye universal wheels are respectively arranged on one sides of the left magnetic yoke and the right magnetic yoke.
3. The wall-climbing adsorption mechanism of claim 1, further comprising a floating adaptation assembly disposed on the upper side of the magnetic adsorption assembly, wherein the floating adaptation assembly comprises a fixing plate disposed on one side of the left and right magnetic yokes, and a connection spring is disposed on the fixing plate.
4. A wall-climbing robot provided with the wall-climbing adsorption mechanism according to any one of claims 1-3, characterized by comprising a frame, wherein the wall-climbing adsorption mechanism is arranged on one side of the frame, and the frame is further provided with a walking mechanism.
5. A wall-climbing robot as claimed in claim 4, wherein the frame comprises a front frame and a rear frame, the front frame and the rear frame are respectively provided with a wall-climbing absorption mechanism,
the front frame and the rear frame are provided with obstacle crossing mechanisms in front,
the obstacle crossing mechanism comprises a first connecting rod, and two ends of the first connecting rod are rotatably arranged on the outer side of the front frame and the outer side of the rear frame respectively.
6. The wall-climbing robot as claimed in claim 5, wherein the obstacle crossing mechanism further comprises a front joint fixing seat and a rear joint fixing seat, the front joint fixing seat is installed at one side of the front frame, the rear joint fixing seat is installed at one side of the rear frame,
a first rotating pin is fixed on one side of the first connecting rod and can be rotatably arranged on the outer side of the front joint fixing seat, and a front joint motor arranged on one side of the front joint fixing seat drives the first rotating pin;
and a third rotating pin is fixed on the other side of the first connecting rod, the third rotating pin is rotatably arranged on the outer side of the rear joint fixing seat, and a rear joint motor arranged on one side of the rear joint fixing seat drives the third rotating pin.
7. The wall-climbing robot as recited in claim 6, wherein the obstacle crossing mechanism further includes a second link,
the front joint fixing seat is provided with a front connecting groove, the rear joint fixing seat is provided with a rear connecting groove, the front connecting groove and the rear connecting groove are opposite in direction,
and two ends of the second connecting rod are respectively and rotatably arranged on the side walls of the front connecting groove and the rear connecting groove.
8. A wall-climbing robot as claimed in claim 5, wherein the travelling mechanism comprises a drive wheel assembly mounted on the rear frame and a follower wheel assembly mounted on the front frame,
the driving wheel assembly comprises a motor connecting plate arranged on the rear frame, one side of the motor connecting plate is provided with a driving wheel, the other side of the motor connecting plate is provided with a driving motor, and the driving motor drives the driving wheel;
the follow-up wheel assembly comprises a follow-up wheel fixing plate arranged on the front frame, a follow-up wheel rotating shaft is arranged on the follow-up wheel fixing plate, and omnidirectional wheels are respectively arranged on two sides of the follow-up wheel rotating shaft.
9. The wall-climbing robot as claimed in claim 5, wherein the front frame and the rear frame are respectively provided with an absorption groove on one side, the absorption groove is provided with a linear guide post, one end of the connecting spring is mounted on the linear guide post, the other end of the connecting spring is mounted on a fixing plate, and the fixing plate is mounted on one side of the left magnetic yoke and the right magnetic yoke.
10. A wall-climbing robot as claimed in claim 4, further comprising a handle and an electrical control box mounted on the frame.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110430737.7A CN112896356A (en) | 2021-04-21 | 2021-04-21 | Controllable wall climbing adsorption device of magnetic force constructs and wall climbing robot |
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| CN202110430737.7A CN112896356A (en) | 2021-04-21 | 2021-04-21 | Controllable wall climbing adsorption device of magnetic force constructs and wall climbing robot |
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| CN112896356A true CN112896356A (en) | 2021-06-04 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799889A (en) * | 2021-10-20 | 2021-12-17 | 中信重工机械股份有限公司 | Ship cleaning magnetic wall-climbing robot suitable for complex curved surface |
| CN113844565A (en) * | 2021-11-01 | 2021-12-28 | 成都熊谷加世电器有限公司 | Magnetic adsorption device for climbing trolley |
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| CN205499107U (en) * | 2016-04-12 | 2016-08-24 | 山东国兴智能科技有限公司 | Intelligence shaft alternating robot that climbs |
| CN206528544U (en) * | 2016-12-26 | 2017-09-29 | 哈尔滨科能熔敷科技有限公司 | A kind of obstacle crossing type climbing robot of crawler belt embedded magnet |
| CN207139783U (en) * | 2017-08-09 | 2018-03-27 | 科沃斯机器人股份有限公司 | Self-movement robot |
| CN110871856A (en) * | 2018-08-31 | 2020-03-10 | 中国科学院宁波材料技术与工程研究所 | Magnetic wall-climbing robot and wall-climbing robot system |
| CN109367638A (en) * | 2018-10-30 | 2019-02-22 | 贵州航天天马机电科技有限公司 | In one kind go downstairs handling device |
| CN209667253U (en) * | 2019-03-12 | 2019-11-22 | 中国计量大学 | A kind of variable magnetic force adsorbent equipment based on magnetic adsorption wall climbing robot |
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| CN113844565A (en) * | 2021-11-01 | 2021-12-28 | 成都熊谷加世电器有限公司 | Magnetic adsorption device for climbing trolley |
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Application publication date: 20210604 |