CN209366312U - Oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot for complicated magnetic conduction wall surface - Google Patents
Oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot for complicated magnetic conduction wall surface Download PDFInfo
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- CN209366312U CN209366312U CN201822257756.0U CN201822257756U CN209366312U CN 209366312 U CN209366312 U CN 209366312U CN 201822257756 U CN201822257756 U CN 201822257756U CN 209366312 U CN209366312 U CN 209366312U
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Abstract
The utility model discloses the oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot for complicated magnetic conduction wall surface, it includes rack and two magnet-wheels, rack upper surface is set there are two mutually opposing driving motor, each driving motor connects a magnet-wheel, first gear is fixed on the output shaft of driving motor, magnet-wheel includes foreign steamer, jackshaft and sector electromagnet, the center point of foreign steamer is fixed with second gear, gear cooperates between first gear and second gear, the center of circle of second gear and one end of jackshaft are rotatablely connected, the machine frame hole clearance fit that the other end and rack corresponding end surface of jackshaft are equipped with, sector electromagnet is fixed on the lower surface that rack corresponds to one end, and the radius of sector electromagnet is less than foreign steamer internal bore radius.When wheel contacts are to interior intersection wall surface, the motionless internal sector electromagnet of foreign steamer rotates the utility model, realizes the submissive transient motion of inner wall.The adsorbing mechanism of the utility model can offset the tilting moment of gravity, realize the equalising torque on wall surface, simple and compact for structure.
Description
Technical field
The utility model relates to robot device's technical field, the oriented attachment of more particularly, to complicated magnetic conduction wall surface is forever
Magnetic magnet-wheel two-wheel climbing robot.
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 utility model is to overcome the deficiencies in the prior art, the oriented attachment for complicated magnetic conduction wall surface is provided
Permanent magnetism magnet-wheel two-wheel climbing robot.
The technical solution adopted in the utility model is:
Oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot for complicated magnetic conduction wall surface comprising rack and two magnetic
Wheel, rack upper surface are set there are two mutually opposing driving motor, and each driving motor connects a magnet-wheel, driving motor it is defeated
First gear is fixed on shaft, magnet-wheel includes foreign steamer, jackshaft and sector electromagnet, and the center point of foreign steamer is fixed with the second tooth
Wheel, gear cooperates between first gear and second gear, and the center of circle of second gear and one end of jackshaft are rotatablely connected, jackshaft
The other end and the machine frame hole clearance fit that is equipped with of rack corresponding end surface, sector electromagnet be fixed on the following table that rack corresponds to one end
Face, and the radius of sector electromagnet is less than foreign steamer internal bore radius.
Further, the center of circle of second gear and one end of jackshaft are connected by bearing fit.I.e. second gear is interior
Hole and bearing outer ring cooperate, and jackshaft and bearing inner race cooperate, and jackshaft and machine frame hole cooperate.
Further, machine frame hole is strip, and machine frame hole one end is corresponding with the center of foreign steamer, and the other end of machine frame hole is along outer
The radial direction of wheel extends to edge.The machine frame hole of strip and in condition rack with respect to foreign steamer center position, and then adjust
Sector electromagnet is at a distance from magnetic conduction wall surface, to change the adsorption capacity of sector electromagnet Yu magnetic conduction wall surface.
Further, the termination point casing of the other end of jackshaft is equipped with limit film.
Further, the pole N of sector electromagnet and the pole S being arranged radially along foreign steamer, such as the pole N and the pole S are arranged from inside to outside
Or the pole N and the pole S are arranged from outside to inside.
The utility model uses above technical scheme, and driving motor drives first gear rotation, and first gear drives second
Gear rotation, second gear are fixedly connected with foreign steamer.By bearing fit, jackshaft is matched with machine frame hole for second gear and jackshaft
It closes.Sector electromagnet is fixedly connected with rack, and sector electromagnet diameter is less than foreign steamer diameter of bore, and the two does not contact directly.It is fan-shaped
The non-radial magnetizing in magnetic field of magnets direction, sector electromagnet can provide adsorption capacity.Due to sector electromagnet and magnetic conduction wall action, sector magnet
For iron under suction, sector electromagnet substantially remains in the position with magnetic conduction wall surface minimum range.It is led when foreign steamer is moved in plane
When magnetic wall surface, first gear drives the foreign steamer even running fixed with second gear on wall surface.When foreign steamer moves to intersection
When magnetic conduction wall surface, foreign steamer is not able to rotate under the frictional force effect between sector electromagnet suction and foreign steamer and two hangnail wall surfaces,
The second gear being fixedly connected with foreign steamer can not rotate.First gear turns around the second magnet-wheel under driving motor effect at this time
It is dynamic, and then related motor, rack and sector electromagnet are rotated around jackshaft, sector electromagnet goes to vertical walls B from horizontal wall surface A,
Realize the process of switching wall surface.Completely after switching wall surface, sector electromagnet is adsorbed in vertical walls B at this time, in driving motor
Effect is lower to be continued to advance along vertical walls B.
For the climbing robot of the utility model when wheel contacts are to interior intersection wall surface, outer wheel is motionless, internal sector magnet
Iron rotate, it can be achieved that inner wall submissive transient motion, the flexible obstacle detouring suitable for obstacle on complicated magnetic conduction wall surface.Climb wall
Compact two-wheeled mechanism, robot is, it can be achieved that the absorption on wall surface is moved with flexible.The adsorbing mechanism of the utility model can support
Disappear the tilting moment of gravity, realizes equalising torque of the two-wheel climbing robot on wall surface, simple and compact for structure.
Detailed description of the invention
The utility model is described in further details below in conjunction with the drawings and specific embodiments；
Fig. 1 is the structural schematic diagram of the utility model two-wheel climbing robot；
Fig. 2 is the magnet-wheel enlarged schematic partial view of the utility model；
Fig. 3 be the utility model start switch wall surface when status diagram；
Status diagram when Fig. 4 is the completion switching wall surface of the utility model.
Specific embodiment
As shown in one of Fig. 1-3, the utility model discloses the oriented attachment permanent magnetism magnet-wheel for complicated magnetic conduction wall surface is double
Take turns climbing robot comprising rack 1 and two magnet-wheels 2,1 upper surface of rack are set there are two mutually opposing driving motor 3, often
A driving motor 3 connects a magnet-wheel 2, is fixed with first gear 4 on the output shaft of driving motor 3, magnet-wheel 2 include foreign steamer 5, in
Between axis 6 and sector electromagnet 7, the center point of foreign steamer 5 is fixed with second gear 8, and gear is matched between first gear 4 and second gear 8
It closes, the center of circle of second gear 8 and one end of jackshaft 6 are rotatablely connected, and are set on the other end and 1 corresponding end surface of rack of jackshaft 6
Some 9 clearance fits of machine frame hole, sector electromagnet 7 is fixed on the lower surface of the corresponding one end of rack 1, and the radius of sector electromagnet 7 is small
In 5 internal bore radius of foreign steamer.
Further, the center of circle of second gear 8 is connect with one end of jackshaft 6 by bearing fit.That is second gear 8
Inner hole and bearing outer ring tight fit, jackshaft 6 and bearing inner race tight fit, jackshaft 6 and 9 clearance fit of machine frame hole.
Further, machine frame hole 9 is strip, and 9 one end of machine frame hole is corresponding with the center of foreign steamer 5, the other end of machine frame hole 9
Radial direction along foreign steamer 5 extends to edge.The machine frame hole 9 of strip and in condition rack 1 with respect to 5 center of foreign steamer position,
And then sector electromagnet 7 is adjusted at a distance from magnetic conduction wall surface, to change the adsorption capacity of sector electromagnet 7 Yu magnetic conduction wall surface.
Further, the termination point casing of the other end of jackshaft 6 is equipped with limit film 10, to limit axis of the rack 1 with respect to foreign steamer 5
To deviation.
Further, the pole N of sector electromagnet 7 and the pole S being arranged radially along foreign steamer 5, such as the pole N and the pole S are set from inside to outside
It sets or the pole N and the pole S is arranged from outside to inside.
Further, the necessary electrical component such as battery, control circuit board is additionally provided in the rack 1.
The specific working principle of the utility model is as follows:
As shown in the figures 1 and 2, driving motor 3 drives first gear 4 to rotate, and first gear 4 drives second gear 8 to rotate, the
Two gears 8 are fixedly connected with foreign steamer 5.Second gear 8 and jackshaft 6 are cooperated by bearing fit, jackshaft 6 and machine frame hole 9.Fan
Shape magnet 7 is fixedly connected with rack 1, and 7 diameter of sector electromagnet is less than 5 diameter of bore of foreign steamer, and the two does not contact directly.Sector magnet
The non-radial magnetizing of 7 magnetic direction of iron, sector electromagnet 7 can provide adsorption capacity.It is fan-shaped due to sector electromagnet 7 and magnetic conduction wall action
For magnet 7 under suction, sector electromagnet 7 substantially remains in the position with magnetic conduction wall surface minimum range.As shown in figure 3, when outer
For 5 movement of wheel in plane magnetic conduction wall surface, first gear 4 drives foreign steamer 5 even running fixed with second gear 8 on wall surface.
Friction when foreign steamer 5 moves to the magnetic conduction wall surface of intersection, between 7 suction of sector electromagnet and foreign steamer 5 and two hangnail wall surfaces
Power acts on lower foreign steamer 5 and is not able to rotate, and the second gear 8 being fixedly connected with foreign steamer 5 can not rotate.Make at this time in driving motor 3
It is rotated with lower first gear 4 around the second magnet-wheel 2, and then related motor, rack 1 and sector electromagnet 7 are rotated around jackshaft 6, such as
Shown in Fig. 4, sector electromagnet 7 goes to vertical walls B from horizontal wall surface A, realizes the process of switching wall surface.Switching wall surface completely
Afterwards, sector electromagnet 7 is adsorbed in vertical walls B at this time, continues to advance along vertical walls B under the action of driving motor 3.
The climbing robot of the utility model is when wheel contacts are to interior intersection wall surface, sub motionless, the internal sector magnet of foreign steamer 5
Iron 7 rotate, it can be achieved that inner wall submissive transient motion, the flexible obstacle detouring suitable for obstacle on complicated magnetic conduction wall surface.It climbs
Compact two-wheeled mechanism, wall robot is, it can be achieved that the absorption on wall surface is moved with flexible.The adsorbing mechanism of the utility model can
The tilting moment of gravity is offset, realizes equalising torque of the two-wheel climbing robot on wall surface, it is simple and compact for structure.
Claims (5)
1. the oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot for complicated magnetic conduction wall surface, it is characterised in that: it includes rack
With two magnet-wheels, rack upper surface is set there are two mutually opposing driving motor, and each driving motor connects a magnet-wheel, driving
First gear is fixed on the output shaft of motor, magnet-wheel includes foreign steamer, jackshaft and sector electromagnet, and the center point of foreign steamer is fixed with
Second gear, gear cooperates between first gear and second gear, and the center of circle of second gear and one end of jackshaft are rotatablely connected,
The machine frame hole clearance fit that the other end and rack corresponding end surface of jackshaft are equipped with, sector electromagnet are fixed on rack and correspond to one end
Lower surface, and the radius of sector electromagnet be less than foreign steamer internal bore radius.
2. the oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot according to claim 1 for complicated magnetic conduction wall surface,
Be characterized in that: the center of circle of the second gear and one end of jackshaft are connected by bearing fit.
3. the oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot according to claim 1 for complicated magnetic conduction wall surface,
Be characterized in that: the machine frame hole is strip, and machine frame hole one end is corresponding with the center of foreign steamer, and the other end of machine frame hole is along foreign steamer
Radial direction extends to edge.
4. the oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot according to claim 1 for complicated magnetic conduction wall surface,
Be characterized in that: the termination point casing of the other end of the jackshaft is equipped with limit film.
5. the oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot according to claim 1 for complicated magnetic conduction wall surface,
It is characterized in that: the pole N and the pole S being arranged radially along foreign steamer of the sector electromagnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822257756.0U CN209366312U (en) | 2018-12-29 | 2018-12-29 | Oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot for complicated magnetic conduction wall surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822257756.0U CN209366312U (en) | 2018-12-29 | 2018-12-29 | Oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot for complicated magnetic conduction wall surface |
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| Publication Number | Publication Date |
|---|---|
| CN209366312U true CN209366312U (en) | 2019-09-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822257756.0U Active CN209366312U (en) | 2018-12-29 | 2018-12-29 | Oriented attachment permanent magnetism magnet-wheel two-wheel climbing robot for complicated magnetic conduction wall surface |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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2018
- 2018-12-29 CN CN201822257756.0U patent/CN209366312U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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