A Magnetic Adsorption Lifting System for Wall Climbing Robots on Metal Surfaces
A wall-climbing robot and lifting system technology, applied in the field of magnetic adsorption lifting system, can solve the problems of weak ability to cross obstacles, large landing area, difficult adsorption force, etc., to reduce the magnetic adsorption force, facilitate unloading, and ensure rotation stability. and rapidity
Active Publication Date: 2019-06-18
SOUTHEAST UNIV
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Problems solved by technology
The suction cup type can cross small obstacles, but the moving speed is slow; the wheel type has fast moving speed and flexible control, but it is difficult to maintain a certain adsorption force; the crawler type has strong adaptability to the wall and has a large landing area, but it is not easy to turn
However, the ability to cross obstacles in these three modes of movement is very weak.
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[0028] The present invention will be further described below in conjunction with embodiment and accompanying drawing.
[0029] like Figure 5 As shown, the magnetic adsorption lifting system for metal surface wall-climbing robots of the present invention includes four lifting sub-mechanisms, two lifting sub-mechanisms form a group, and two groups of lifting sub-mechanisms are arranged on the two sides facing the robot, each The lifting sub-mechanism includes two support frames 9, a magnet rotating frame 7 connected to the bottom ends of the two support frames 9 through bearings, a rotating frame fixing seat 6 fixed on the magnet rotating frame 7, and a rotating frame fixed seat 6 installed on the magnet rotating frame 7. The magnet 8 on the magnet rotating frame 7, the lifting rod 5 connected with the rotating frame fixed seat 6 bearings, the H-type intermediate rod 3 and the link rod 4 connected with the lifting rod 5, and the H-shaped intermediate rod 3 connected active rod...
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The invention discloses a magnetic adsorption lifting system for a metal-surface wall-climbing robot. The magnetic adsorption lifting system for a metal-surface wall-climbing robot comprises four groups of lifting sub-mechanisms, wherein two groups of the lifting sub-mechanisms are located on two symmetrical sides of the robot; and each lifting sub-mechanism comprises two supporting frames, a magnet rotating frame connected with the bottom ends of the corresponding two supporting frames through a bearing, a rotating frame fixing base fixed on the corresponding magnet rotating frame, a magnet mounted on the corresponding magnet rotating frame, a lifting rod connected with a bearing of the corresponding rotating frame fixing base, an H-shaped intermediate rod and a frame connecting rod which are connected with the corresponding lifting rod, and an active rod connected with the corresponding H-shaped intermediate rod. The lifting device can meet the magnetic adsorption stability of the metal-surface wall-climbing robot, guarantee rotating stability and rapidity between connecting rods, realize rapid switching between a magnetic adsorption state and a magnetic force release state of the metal-surface wall-climbing robot, and achieve adsorption stability in the adsorption state and elimination of magnetic adsorption during the release state.
Description
technical field [0001] The invention belongs to the field of robot and vehicle engineering, and relates to a magnetic adsorption lifting system for a wall-climbing robot. Background technique [0002] The crawling robot is a kind of mobile robot, including pipeline crawling robot, wall crawling robot and spherical crawling robot. The walking mode of the robot can be divided into wheeled. Crawler type, cave stone, etc. According to different driving methods and functions, crawling robots with different structures and uses can be designed, such as pneumatic tube detection crawling robots, electromagnetic adsorption multi-legged crawling robots, electric drive wall arc welding crawling robots, etc., each form of crawling robot Each has its own application characteristics. [0003] Since Professor Nishi Ryo of Japan developed the first wall-climbing robot in 1966, wall-climbing robots have flourished in Japan. After that, countries such as Britain, Spain, the United States, G...
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IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 王兴松李杰
Owner SOUTHEAST UNIV