CN212709719U - Crawler-type magnetic adsorption wall-climbing robot - Google Patents
Crawler-type magnetic adsorption wall-climbing robot Download PDFInfo
- Publication number
- CN212709719U CN212709719U CN202021643886.9U CN202021643886U CN212709719U CN 212709719 U CN212709719 U CN 212709719U CN 202021643886 U CN202021643886 U CN 202021643886U CN 212709719 U CN212709719 U CN 212709719U
- Authority
- CN
- China
- Prior art keywords
- crawler
- climbing robot
- wall
- magnetic adsorption
- vehicle
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a crawler-type magnetism adsorbs wall climbing robot, include: two sets of crawler-type motion 1, magnetism adsorb component 2, automobile body 3, car-mounted device 4, camera mechanism 5, motor drive 6, chassis 7, drive control device 8, magnetism adsorbs component 2 for permanent magnet 21, or electromagnet 22, and magnetism adsorbs component 2 and sets up on track 11, or chassis 7, car-mounted device 4 includes: the drive control device 8 controls the motor transmission device 6, the vehicle-mounted device 4 and the camera mechanism 5.
Description
Technical Field
The utility model relates to an industrial robot technical field, it is concrete to relate to a wall climbing robot, more specifically relates to a crawler-type magnetism adsorbs wall climbing robot.
Background
The prior traditional solution is that spiders, scaffolds, hanging basket operation and overhead working trucks are used to finish the work finally, and workers are used in the scenes of high-altitude operation such as cleaning, rust removing and spraying of large ships, detection, flaw detection and maintenance of thermal power boilers and the like in industrial production and daily life.
The high-altitude operation has the characteristics of high risk, low efficiency, high cost and low quality, particularly the high risk, the number of people dying from the high-altitude operation in China is nearly thousands of people every year, and fewer workers are expected to engage in the high-altitude operation, so that the operation is necessarily performed by replacing people with the high-altitude operation robot.
The wall-climbing robot is a robot capable of operating on a vertical steep wall, is a large class of high-altitude operation robots, is an important branch of the field of mobile robots, combines the ground mobile robot technology with the adsorption technology, and greatly expands the application range of the robot.
The adsorption mode of the wall-climbing robot mainly comprises: the device is characterized by comprising a negative pressure adsorption type, a positive pressure propulsion type, a gecko bionic type, a mechanical force grasping type and the like, but the types are complex in technology and difficult to adapt to ship application scenes such as cabin washing, rust removal and the like.
Negative pressure adsorption type: the air in the bin body is exhausted, so that the inside and the outside generate atmospheric pressure difference, and the robot can be pressed by the outside atmospheric pressure to be adsorbed on the wall surface. The device is easy to miniaturize and integrate, but has the defects of high requirements on the smoothness and the air permeability of the wall surface, need of a vacuum pump, noise and the like;
positive pressure propulsion type: the propeller or the ducted fan is used for generating proper thrust, so that the robot can be stably and reliably attached to the wall surface; but has the defects of complex control, large noise, large volume, low efficiency, immature technology and the like;
gecko bionic type: the size of the robot is not suitable to be too large, the robot can only be used for a micro wall-climbing robot at present, the production and processing requirements are high, the robot is easy to wear, and the technology is not mature;
mechanical force grasping type: can only be adsorbed on a wall surface with a grip, and is only suitable for a specific scene.
In conclusion, the technical implementation manners of the wall climbing robots generally have the defects of miniaturization, immature technology and the like, are difficult to adapt to the large loads of large ships such as cleaning and derusting, and have the working requirements of convenient control, strong obstacle crossing capability and the like.
The utility model provides a crawler-type magnetism adsorbs wall climbing robot is applicable to the washing of heavy loads such as large-scale boats and ships, thermal power boiler, rust cleaning, high altitude construction such as detecting a flaw to control conveniently, obstacle crossing ability reinforce.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a crawler-type magnetism adsorbs wall climbing robot is applicable to the cleaning of heavy loads such as large-scale boats and ships, thermal power boiler, rust cleaning, high altitude construction such as detecting a flaw to control conveniently, obstacle crossing ability reinforce.
A tracked magnetic-adsorption wall-climbing robot comprising: two sets of crawler-type motion 1, magnetism adsorb component 2, automobile body 3, car-mounted device 4, camera mechanism 5, motor drive 6, chassis 7, drive control device 8, magnetism adsorbs component 2 for permanent magnet 21, or electromagnet 22, and magnetism adsorbs component 2 and sets up on track 11, or chassis 7, car-mounted device 4 includes: the drive control device 8 controls the motor transmission device 6, the vehicle-mounted device 4 and the camera mechanism 5.
Further preferably, the magnetic attraction member 2 is a permanent magnet 21 and an electromagnet 22.
Further, a permanent magnet 21 is provided on the crawler belt 11, and an electromagnet 22 is provided on the chassis 7.
Further, the permanent magnet 21 includes one of a ferrite permanent magnet and a neodymium iron boron permanent magnet.
In some embodiments, the tracked magnetic adsorption wall-climbing robot can climb a horizontal wall surface, a slope wall surface or an arc wall surface and has obstacle crossing capability.
Further, the range of the inclination angle of the inclined plane wall surface is as follows: 0-150 °, preferably, the slope angle of the sloped wall surface ranges from: 0 to 120 degrees.
Further, crawler-type magnetism adsorbs climbing load of climbing wall robot is adjustable, and the load scope is: 10-200kg, preferably, the load range is: 10-100 kg.
Further, the walking speed of the crawler-type magnetic adsorption wall-climbing robot is adjustable, and the walking speed range is as follows: 0-15km/h, preferably, the range of the deformation speed is as follows: 2-10 km/h.
Further, the smaller the angle of inclination of the sloped wall surface, the greater the load and deformation speed can be.
In some embodiments, the onboard device 4 and the camera mechanism 5 may be rotated by an angle of 0-360 °.
Further, the camera mechanism 5 is used to check the working effect of the in-vehicle apparatus 4.
In some embodiments, the driving control device 8 is a wireless driving control device, and controls the trajectory of the motor transmission device 6, that is, controls the turning, the forward movement, and the backward movement of the motor transmission device 6, controls the in-vehicle device 4 to perform operations such as rust removal, paint spraying, and flaw detection, and rotation, and controls the rotation of the camera mechanism 5.
In some embodiments, the in-vehicle device 4, the camera mechanism 5 are provided at an upper portion of the vehicle body 3, and the motor transmission 6, and the drive control device 8 are provided inside the vehicle body 3.
Furthermore, two sets of crawler-type motion mechanisms 1 are positioned on two sides of the vehicle body 3, two motor transmission devices 6 are arranged and respectively control one set of crawler-type motion mechanism 1, and the motor transmission devices 6 control the steering, advancing and reversing track of the crawler-type magnetic adsorption wall-climbing robot.
The crawler-type magnetic adsorption wall-climbing robot has the advantages that the applicable inclined plane wall surface has large inclination angle, heavy load and high deformation speed, the permanent magnet 21 and/or the electromagnet 22 are/is arranged on the crawler and/or the chassis, the magnetic adsorption strength is high, the obstacle crossing capability is high, and the crawler-type magnetic adsorption wall-climbing robot is suitable for high-altitude operations such as cleaning, derusting, flaw detection and the like of large loads such as large ships, thermal power boilers and the like; and the wireless drive control device is adopted to control the motor transmission device 6, the vehicle-mounted device 4 and the camera mechanism 5, so that the control is convenient.
Drawings
Fig. 1 is the utility model discloses a crawler-type magnetism adsorbs wall climbing robot's a schematic structure.
Fig. 2 is a schematic structural diagram of the inside of the vehicle body of the present invention.
Description of the main element symbols: the crawler-type vehicle comprises two sets of crawler-type motion mechanisms 1, a crawler 11, a magnetic adsorption component 2, a permanent magnet 21, an electromagnet 22, a vehicle body 3, a vehicle-mounted device 4, a camera mechanism 5, a motor transmission device 6, a chassis 7 and a drive control device 8.
Detailed Description
The following examples are described to aid in the understanding of the present invention and are not, and should not be construed to limit the scope of the invention in any way.
In the following description, those skilled in the art will recognize that components may be described throughout this discussion as separate functional units (which may include sub-units), but those skilled in the art will recognize that various components or portions thereof may be divided into separate components or may be integrated together (including being integrated within a single system or component).
Example 1:
a tracked magnetic-adsorption wall-climbing robot, as shown in fig. 1 and 2, comprising: two sets of crawler-type motion 1, magnetism adsorb component 2, automobile body 3, car-mounted device 4, camera mechanism 5, motor drive 6, chassis 7, drive control device 8, magnetism adsorbs component 2 for permanent magnet 21, or electromagnet 22, and magnetism adsorbs component 2 and sets up on track 11, or chassis 7, car-mounted device 4 includes: the drive control device 8 controls the motor transmission device 6, the vehicle-mounted device 4 and the camera mechanism 5.
Permanent magnet 21 sets up on track 11, and electro-magnet 22 sets up on chassis 7, and permanent magnet 21 is the ferrite permanent magnet, horizontal wall, inclined plane wall or arc wall can be scrambleed to crawler-type magnetism absorption wall climbing robot, has the ability of hindering more, and the inclination angle scope of inclined plane wall is: 0-120 DEG, the load range is: 10-100kg, the range of the deformation speed is as follows: 2-10km/h, the smaller the inclination angle of the inclined plane wall surface, the larger the load and the deformation speed can be.
The vehicle-mounted device 4 and the camera mechanism 5 can rotate, the rotating angle is 0-360 degrees, the camera mechanism 5 is used for checking the operation effect of the vehicle-mounted device 4, the driving control device 8 is a wireless driving control device and is used for controlling the deformation track of the motor transmission device 6, namely, the rotation, the forward movement and the backward movement of the motor transmission device 6, the vehicle-mounted device 4 is controlled to perform the operations of rust removal, paint spraying, flaw detection and the like and the rotation, the camera mechanism 5 is controlled to rotate, the vehicle-mounted device 4 and the camera mechanism 5 are arranged on the upper portion of the vehicle body 3, the motor transmission device 6 and the driving control device 8 are arranged inside the vehicle body 3, two sets of crawler-type motion mechanisms 1 are arranged on two sides of the vehicle body 3, the two sets of the motor transmission devices 6 are used for respectively controlling one set of the crawler-type motion mechanisms 1, and the motor transmission, Forward and reverse winding trajectories.
While various aspects and embodiments have been disclosed herein, it will be apparent to those skilled in the art that other aspects and embodiments can be made without departing from the spirit of the disclosure, and that several modifications and improvements can be made without departing from the spirit of the disclosure. The various aspects and embodiments disclosed herein are presented by way of example only and are not intended to limit the present disclosure, which is to be controlled in the spirit and scope of the appended claims.
Claims (8)
1. The utility model provides a crawler-type magnetism adsorbs wall climbing robot which characterized in that includes: two sets of crawler-type motion (1), magnetism adsorb component (2), automobile body (3), car-mounted device (4), camera mechanism (5), motor drive (6), chassis (7), drive control device (8), magnetism adsorbs component (2) and is permanent magnet (21), or electromagnet (22), and magnetism adsorbs component (2) to set up on track (11), or chassis (7), car-mounted device (4) include: the driving control device (8) controls the motor transmission device (6), the vehicle-mounted device (4) and the camera mechanism (5).
2. The crawler-type magnetic adsorption wall-climbing robot according to claim 1, characterized in that the magnetic adsorption members (2) are permanent magnets (21) and electromagnets (22).
3. The crawler-type magnetic adsorption wall-climbing robot according to claim 2, wherein the permanent magnets (21) are provided on the crawler (11) and the electromagnets (22) are provided on the chassis (7).
4. The crawler-type magnetic adsorption wall-climbing robot of claim 1, wherein the crawler-type magnetic adsorption wall-climbing robot can climb a horizontal wall surface, a slope wall surface or an arc wall surface, and the range of the inclination angle of the slope wall surface is as follows: 0 to 150 degrees.
5. The tracked magnetic adsorption wall-climbing robot according to claim 1, wherein the climbing load of the tracked magnetic adsorption wall-climbing robot is adjustable, and the load range is as follows: 10-200kg, the deformation speed is adjustable, and the deformation speed range is as follows: 0-15 km/h.
6. The tracked magnetic-adsorption wall-climbing robot according to claim 1, characterized in that the vehicle-mounted device (4) and the camera mechanism (5) can rotate by an angle of 0-360 °.
7. The crawler-type magnetic adsorption wall-climbing robot as claimed in claim 1, characterized in that the drive control device (8) is a wireless drive control device, controls the motor transmission device (6) to turn, advance and reverse, controls the vehicle-mounted device (4) to perform operations such as rust removal, paint spraying, flaw detection and rotation, and controls the rotation of the camera mechanism (5).
8. The crawler-type magnetic adsorption wall-climbing robot according to claim 1, wherein the vehicle-mounted device (4), the camera mechanism (5) are provided on an upper portion of the vehicle body (3), and the motor transmission device (6) and the drive control device (8) are provided inside the vehicle body (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021643886.9U CN212709719U (en) | 2020-08-10 | 2020-08-10 | Crawler-type magnetic adsorption wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021643886.9U CN212709719U (en) | 2020-08-10 | 2020-08-10 | Crawler-type magnetic adsorption wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212709719U true CN212709719U (en) | 2021-03-16 |
Family
ID=74913993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021643886.9U Expired - Fee Related CN212709719U (en) | 2020-08-10 | 2020-08-10 | Crawler-type magnetic adsorption wall-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212709719U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460182A (en) * | 2021-07-27 | 2021-10-01 | 北方工业大学 | Flexible crawler-type magnetic adsorption mechanism for wall-climbing robot |
-
2020
- 2020-08-10 CN CN202021643886.9U patent/CN212709719U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460182A (en) * | 2021-07-27 | 2021-10-01 | 北方工业大学 | Flexible crawler-type magnetic adsorption mechanism for wall-climbing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108655077B (en) | Wall climbing rust removing robot and double adsorption method thereof | |
| CN106976002B (en) | Wall-climbing cleaning robot for ship and naval vessel wall surface | |
| CN108500997B (en) | Curved surface wall climbing robot for surface cleaning | |
| CN106428276B (en) | A kind of polar coordinates type metal wall surface work climbing robot | |
| CN202400191U (en) | Permanent-magnet attraction wheel type iron-wall crawling robot | |
| CN107128389B (en) | Curved surface self-adaptive magnetic adsorption wall-climbing paint spraying robot | |
| US6792335B2 (en) | Robotic apparatuses, systems and methods | |
| CN101704241A (en) | Wall-climbing robot for removing rust on wall surfaces of ships and working method thereof | |
| CN212709719U (en) | Crawler-type magnetic adsorption wall-climbing robot | |
| CN207058300U (en) | A kind of ship naval vessels wall wall-climbing cleaning robot | |
| CN202243767U (en) | Magnetic adsorption type wall-climbing robot | |
| CN209757468U (en) | Special derusting wall-climbing robot for large ship | |
| CN205971575U (en) | But magnetism sorption wheel formula wall climbing robot that right angle wall independently passed through | |
| CN107140153B (en) | Adaptive strain born of the same parents crawler belt traveling mechanism | |
| CN111661186B (en) | Eccentric universal translation magnetic wall-climbing robot and working mode thereof | |
| CN107585271A (en) | The big seam wall-climbing robot for removing rust of hull wall | |
| CN107310645B (en) | Wall climbing robot with adjustable shock absorption | |
| CN105945894A (en) | Track type wall climbing robot capable of randomly steering | |
| WO2023184801A1 (en) | Wall-climbing cleaning robot | |
| CN103770011A (en) | Sand blasting rust removal device | |
| CN105923061A (en) | Crawler type wall climbing robot capable of moving horizontally and freely | |
| CN209600671U (en) | A kind of sorption wheel group of self-adapting changeable suction | |
| CN2780580Y (en) | Magnetic wheel engineering vehicle | |
| CN111674484B (en) | Translation magnetic attraction wall-climbing robot suitable for large-curvature steel plate and working mode of translation magnetic attraction wall-climbing robot | |
| CN113401239A (en) | Wheel-track combined wall-climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210316 Termination date: 20210810 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |