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A motion mechanism and motion method of a magnetically driven wall climbing device

A motion mechanism and magnetic drive technology, applied in the field of robots, can solve the problems of complicated walking control, uncoordinated adsorption mode and driving mode, and complicated structure of wall climbing device.

Inactive Publication Date: 2018-06-22
NORTH CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to solve the technical problems of the existing wall-climbing device with complex structure, uncoordinated adsorption mode and driving mode, and complicated walking control

Method used

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  • A motion mechanism and motion method of a magnetically driven wall climbing device
  • A motion mechanism and motion method of a magnetically driven wall climbing device
  • A motion mechanism and motion method of a magnetically driven wall climbing device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] The first embodiment is a schematic diagram of the movement mechanism of a magnetically driven wall climbing device, such as figure 1 As shown,

[0024] Including: the body, the magnetic unit A, the magnetic unit B; the magnetic unit A 1 and the magnetic unit B 2 are completely the same module; the magnetic unit A 1 and the magnetic unit B 2 are installed in the body 3, and climb along The front and rear ends of the wall device are symmetrically arranged in the walking direction; and the two magnetic units are installed in the body according to the positions where the two driving electromagnets are adjacent, and there is a gap Δ between the two magnetic units.

Embodiment 2

[0025] The second embodiment is a schematic diagram of the structure of the magnetic unit of the movement mechanism of the magnetically driven wall climbing device, such as figure 2 As shown,

[0026] On the basis of Embodiment 1, it further includes:

[0027] The magnetic unit includes the adsorption electromagnet 11, the driving electromagnet 12, the adsorption electromagnet power controller 112 and the driving electromagnet power controller 122; the adsorption electromagnet 11 provides adsorption force during the crawling process, and the driving electromagnet 12 provides The driving force for walking; the adsorption electromagnet and the driving electromagnet are structured as a rigid whole.

[0028] The adsorption electromagnet power supply controller 112 supplies power to the adsorption electromagnet 11, which can realize the on-off control of the adsorption electromagnet current; the driving electromagnet power supply controller 122 supplies power to the driving electromagnet...

Embodiment 3

[0029] The third embodiment is a schematic diagram of the connection structure between the magnetic unit and the body of the movement mechanism of the magnetic drive wall climbing device, such as image 3 As shown,

[0030] On the basis of the first and second embodiments, it further includes:

[0031] There are grooves on both sides of the body that are in contact with the magnetic unit, and flanges on both sides of the magnetic unit. The flanges of the magnetic unit are installed in the groove of the body to play the role of positioning and limiting, and the size of the groove is larger than the convex The size of the flange ensures that the flange has a certain amount of movement in the groove.

[0032] On the side where the body and the wall of the tank are in contact, a number of elastic units are evenly distributed, including springs 31 and rolling balls 32. The elastic units ensure that the body reduces friction during walking and has the ability to overcome obstacles.

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PUM

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Abstract

The invention discloses a movement mechanism and movement method of a magnetic-drive wall climbing device and relates to the technical field of robots. The movement device and the movement method can meet the traveling requirements of operation of magnetic material tanks, a magnetic-drive mode is adopted, and the technical problems that a driving structure of an existing wall climbing structure is complex, the adsorption force and driving force are inharmonious, and traveling control is complex are solved. According to the technical scheme, the movement mechanism comprises a mechanism body, a magnetic unit A and a magnetic unit B; the magnetic unit A and the magnetic unit B are identical modules; and the magnetic unit A and the magnetic unit B are installed in the mechanism body and symmetrically arranged at the front end and the rear end of the wall climbing device in the traveling direction of the wall climbing device.

Description

Technical field [0001] The invention relates to the technical field of robots, in particular to a movement mechanism and a movement method of a magnetically driven wall climbing device. Background technique [0002] With the continuous development of robot technology, traditional manual operations, such as high-rise building inspection, wall cleaning, welding, polishing, painting, inspection and other high-altitude operations on the walls of containers and hulls, are due to poor safety, high labor intensity, and low efficiency. , Poor working environment and other practical problems, the use of robot operations instead of manual operations has made wall-climbing robots more widely used in more fields and more and more attention. [0003] For the operation of magnetic materials, such as tank bodies, it is necessary to develop a wall climbing device to realize walking on the tank body and complete comprehensive high-altitude operations. [0004] Regarding the wall climbing device on t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 霍平霍柯言
Owner NORTH CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY