CN214396239U - Electromagnetic wheel type wall climbing actuating mechanism - Google Patents
Electromagnetic wheel type wall climbing actuating mechanism Download PDFInfo
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- CN214396239U CN214396239U CN202120178892.XU CN202120178892U CN214396239U CN 214396239 U CN214396239 U CN 214396239U CN 202120178892 U CN202120178892 U CN 202120178892U CN 214396239 U CN214396239 U CN 214396239U
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Abstract
The application provides an electromagnetism wheel type wall climbing actuating mechanism, including wheel hub, integrated component and shaft wheel hub, wheel hub sets up the outside at integrated component, integrated component's inboard is provided with the shaft, the outer lane of shaft is provided with wheel profile body, be provided with the brush on the wheel profile body, this wheeled structure comprises wheel hub and tire, and the position between the spoke is fixed with coil winding in the wheel hub, and these windings can be along with the shaft rotation, and at the rotatory in-process of wheeled structure, the coil winding that is in same one side with the brush can have magnetism, and the winding that is in the heterophase with the brush then does not have magnetism to in the wall climbing robot removes the in-process, make it adsorb on the hull. Utilize wheeled structure to replace the structure of track, adopt integrated component to replace traditional isolating construction, utilize coil winding and brush to replace the adsorbed structure of permanent magnetism, integrated adsorb and remove these two kinds of functions, both alleviateed weight, reduced the people's degree of difficulty of assembly and dismantlement, can make the robot flexibility increase.
Description
Technical Field
The application relates to the field of ship body wall climbing robots, in particular to an electromagnetic wheel type wall climbing actuating mechanism.
Background
The wall climbing robot is an automatic robot capable of climbing on a vertical wall and completing operation. The wall-climbing robot is also called a wall-surface moving robot, and is mainly used for flaw detection or paint spraying treatment of cylindrical large tanks or cleaning and spraying of buildings in petrochemical enterprises. The device is used for thickness measurement in nuclear industry, and can also be used in fire fighting, shipbuilding and other industries. Japan developed rapidly on the research of wall-climbing robots, and china also conducted similar research since the 90 s of the 20 th century.
Since vertical wall face work exceeds the limit of people, it is also called a limit work robot abroad. In actual work, the wall-climbing robot has to have two basic functions of adsorption and movement, and the common adsorption modes include negative pressure adsorption and permanent magnet adsorption. The negative pressure mode can be absorbed on the wall surface by generating negative pressure in the sucking disc and is not limited by the wall surface material; the permanent magnet adsorption mode has two modes of a permanent magnet and an electromagnet and is only suitable for adsorbing the magnetic conductivity wall surface.
The existing wall-climbing robot is of a crawler wheel type structure and is adsorbed on a ship body by two permanent magnets. The two permanent magnets in the structure have overlarge weight, so that the weight of the robot is increased, the magnet adsorption force is overlarge, the assembly and the disassembly are inconvenient, and certain dangerousness is realized. The crawler-type structure is relatively heavy and inflexible with respect to movements such as cornering. Therefore, a more flexible robot travel actuator integrating the functions of adsorption and movement is sought, and a problem to be solved is urgently needed.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the application provides an electromagnetism wheeled wall climbing actuating mechanism, including wheel hub, integrated component and shaft wheel hub sets up the outside at integrated component, integrated component's inboard is provided with the shaft, the outer lane of shaft is provided with wheel profile body, be provided with the brush on the wheel profile body.
Preferably, the integrated assembly includes a base, spokes and a coil winding, the base is of a circumferential closed structure, the base is disposed on the outer side of the wheel outline body, the number of the spokes is 12, one end of each spoke is fixedly disposed on the base, the other end of each spoke is fixedly disposed on the wheel hub, and the coil winding is disposed on the spokes.
Preferably, the brushes are in two groups.
Preferably, the number of the coil windings is 12, and the coil windings are in a parallel connection structure.
Preferably, a tire is disposed outside the hub.
The beneficial effect of this application: in the above overall technical scheme, the electromagnetic wheel type wall climbing actuator provided by the invention comprises a wheel hub, an integrated component and a wheel axle, wherein the wheel hub is arranged at the outer side of the integrated component, the wheel axle is arranged at the inner side of the integrated component, a wheel contour body is arranged at the outer ring of the wheel axle, and an electric brush is arranged on the wheel contour body. The mechanism is applied to the ship body wall-climbing robot. The aim is to ensure that the wall-climbing robot is adsorbed on a ship body all the time in the moving process; the wheel type structure consists of a wheel hub and a tire, coil windings are fixed between spokes in the wheel hub, the windings can rotate along with a wheel shaft, two groups of electric brushes are arranged below the wheel hub (close to one side of a ship body in actual work), the coil windings on the same side with the electric brushes can have magnetism in the rotating process of the wheel type structure, and the windings on the opposite side with the electric brushes do not have magnetism, so that the wheel type structure can be adsorbed on the ship body in the moving process of the wall climbing robot. This application utilizes wheeled structure to replace the structure of track, adopts integrated subassembly to replace traditional isolating construction, utilizes coil winding and brush to replace the adsorbed structure of permanent magnetism, has integrateed adsorb and remove these two kinds of functions, has both alleviateed weight, has reduced the people's degree of difficulty of assembly and dismantlement, can make the robot flexibility increase again.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any creative effort.
Fig. 1 is a schematic structural diagram of an electromagnetic wheel type wall climbing actuator provided by the present application.
Fig. 2 is a positional relationship diagram of a tire and a hub of the electromagnetic wheel type wall-climbing actuator structure provided by the present application.
Wherein 1-hub, 2-integrated component, 3-hub, 4-hub profile, 5-brush, 6-tire, 21-base, 22-spoke, 23-coil winding.
Detailed Description
Referring to fig. 1, the present application provides a schematic structural diagram of an electromagnetic wheel type wall-climbing actuator.
The electromagnetic wheel type wall climbing actuating mechanism comprises a wheel hub 1, an integrated assembly 2 and a wheel shaft 3, wherein the wheel hub 1 is arranged on the outer side of the integrated assembly 2, the wheel shaft 3 is arranged on the inner side of the integrated assembly 2, a wheel contour body 4 is arranged on the outer ring of the wheel shaft 3, and an electric brush 5 is arranged on the wheel contour body 4. In practical applications, a plurality of actuators are mounted on the robot.
Preferably, the integrated assembly 2 includes a base 21, spokes 22 and coil windings 23, wherein the base 21 is a circumferential closed structure, the base 21 is disposed outside the wheel contour 4, the number of the spokes 22 is 12, one end of the spokes 22 is fixedly disposed on the base 21, the other end of the spokes 22 is fixedly disposed on the hub 1, and the coil windings 23 are disposed on the spokes 22. When the wheel type structure rotates, the coil winding 23 is externally connected to a power line of the robot, the coil winding 23 rotates along with a wheel shaft, the energized winding on the same side with the electric brush is magnetic, and the winding on the opposite side with the electric brush is not magnetic. So that the wall-climbing robot is adsorbed on the ship body in the moving process.
Preferably, the brushes 5 are in two groups.
Preferably, the number of the coil windings 23 is 12, and the coil windings 23 are in a parallel structure.
Referring to fig. 2, a position relationship diagram of a tire and a hub of the electromagnetic wheel type wall-climbing actuator structure provided by the present application is shown.
Preferably, a tire 6 is arranged outside the hub 1. The smooth progress of the actuating mechanism in the advancing process is ensured.
The beneficial effect of this application: in the above overall technical scheme, the electromagnetic wheel type wall climbing actuator provided by the invention comprises a wheel hub, an integrated component and a wheel axle, wherein the wheel hub is arranged at the outer side of the integrated component, the wheel axle is arranged at the inner side of the integrated component, a wheel contour body is arranged at the outer ring of the wheel axle, and an electric brush is arranged on the wheel contour body. The mechanism is applied to the ship body wall-climbing robot. The aim is to ensure that the wall-climbing robot is adsorbed on a ship body all the time in the moving process; the wheel type structure consists of a wheel hub and a tire, coil windings are fixed between spokes in the wheel hub, the windings can rotate along with a wheel shaft, two groups of electric brushes are arranged below the wheel hub (close to one side of a ship body in actual work), and in the rotating process of the wheel type structure, the coil windings on the same side with the electric brushes can have magnetism, and the windings on the opposite side with the electric brushes do not have magnetism. So that the wall-climbing robot is adsorbed on the ship body in the moving process. This application utilizes wheeled structure to replace the structure of track, adopts integrated subassembly to replace traditional isolating construction, utilizes coil winding and brush to replace the adsorbed structure of permanent magnetism, has integrateed adsorb and remove these two kinds of functions, has both alleviateed weight, has reduced the people's degree of difficulty of assembly and dismantlement, can make the robot flexibility increase again.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.
Claims (5)
1. The electromagnetic wheel type wall climbing actuating mechanism is characterized by comprising a wheel hub (1), an integrated assembly (2) and a wheel shaft (3), wherein the wheel hub (1) is arranged on the outer side of the integrated assembly (2), the wheel shaft (3) is arranged on the inner side of the integrated assembly (2), a wheel contour body (4) is arranged on the outer ring of the wheel shaft (3), and an electric brush (5) is arranged on the wheel contour body (4).
2. An electromagnetic wheel type wall climbing actuator according to claim 1, characterized in that the integrated assembly (2) comprises a base (21), spokes (22) and coil windings (23), wherein the base (21) is a circumferential closed structure, the base (21) is arranged outside the wheel contour body (4), the number of the spokes (22) is 12, one end of the spokes (22) is fixedly arranged on the base (21), the other end of the spokes (22) is fixedly arranged on the wheel hub (1), and the coil windings (23) are arranged on the spokes (22).
3. An electromagnetic wheel type wall climbing actuator according to claim 1, characterized in that the brushes (5) are in two groups.
4. The electromagnetic wheel type wall climbing actuator according to claim 2, wherein the number of the coil windings (23) is 12, and the coil windings (23) are in a parallel structure.
5. An electromagnetic wheel type wall climbing actuator according to claim 2, characterized in that a tire (6) is arranged outside the hub (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120178892.XU CN214396239U (en) | 2021-01-22 | 2021-01-22 | Electromagnetic wheel type wall climbing actuating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120178892.XU CN214396239U (en) | 2021-01-22 | 2021-01-22 | Electromagnetic wheel type wall climbing actuating mechanism |
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| CN214396239U true CN214396239U (en) | 2021-10-15 |
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| CN202120178892.XU Active CN214396239U (en) | 2021-01-22 | 2021-01-22 | Electromagnetic wheel type wall climbing actuating mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114644096A (en) * | 2022-03-21 | 2022-06-21 | 南通理工学院 | Underwater detection device for offshore wind turbine tower |
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2021
- 2021-01-22 CN CN202120178892.XU patent/CN214396239U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114644096A (en) * | 2022-03-21 | 2022-06-21 | 南通理工学院 | Underwater detection device for offshore wind turbine tower |
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