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Electromagnetically driven wall climbing robot module, wall climbing robot and moving method thereof

A wall-climbing robot and electromagnetic drive technology, applied in the field of wall-climbing robots, can solve the problems of robot quality, large volume, limited adaptability to working environment, limited application scope, etc. Effect

Active Publication Date: 2019-03-19
TSINGHUA UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, its series connection method limits the robot to be reconfigured in only one direction, which limits its application range.
[0005] The current modular wall-climbing robot is still mostly driven by a motor, and the module is a rigid structure. Although it can be reconstructed and deformed, the quality and volume of the robot are still relatively large, and its adaptability to the working environment is limited, so there is still a lot to do. research space

Method used

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  • Electromagnetically driven wall climbing robot module, wall climbing robot and moving method thereof
  • Electromagnetically driven wall climbing robot module, wall climbing robot and moving method thereof
  • Electromagnetically driven wall climbing robot module, wall climbing robot and moving method thereof

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Experimental program
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Effect test

Embodiment A

[0046] Its structural exploded view is as follows figure 1 As shown, the main view is as figure 2As shown, it includes the module main body 1, the adsorption electromagnet 2, the first drive electromagnet 31, the first elastic connector 41, the first adsorption iron sheet 51, the first active connection permanent magnet 61 and three passive connection permanent magnets. Wherein, the module main body 1 is a cuboid. The first passive connection permanent magnet 71 is installed on the rear side of the module body 1 , the second passive connection permanent magnet 72 is installed on the left side of the module body 1 , and the third passive connection permanent magnet 73 is installed on the right side of the module body 1 . The adsorption electromagnet 2 is installed on the bottom of the module body 1 to provide the adsorption force between the module and the surface of the ferromagnetic medium.

[0047] The first driving electromagnet 31 is installed on the front of the module...

Embodiment B

[0050] Its structural exploded view is as follows image 3 As shown, it includes a module main body 1, an adsorption electromagnet 2, three sets of driving electromagnets, an elastic connector, an adsorption iron sheet, an active connection permanent magnet and a first passive connection permanent magnet 71. Among them, the three sets of driving electromagnets, elastic connectors, absorbing iron sheets, and active connection permanent magnets represent three driving electromagnets, three elastic connectors, three adsorption iron sheets, and three actively connecting permanent magnets. The first driving electromagnet 31, the first elastic connecting body 41, the first adsorption iron sheet 51, and the first actively connecting permanent magnet 61 are located on the same axis and are installed on the front of the module main body 1; the second driving electromagnet 32, the first The second elastic connecting body 42, the second absorbing iron piece 52, and the second actively co...

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PUM

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Abstract

The invention discloses an electromagnetically driven wall climbing robot module, a wall climbing robot and a moving method thereof. The wall climbing robot module comprises a module body, an adsorption electromagnet, a driving electromagnet, an elastic connecting body, an adsorption iron piece, an active connecting permanent magnet and a passive connecting permanent magnet. The wall climbing robot is formed by combining a plurality of robot modules, and can be decomposed and reconstructed according to different task requirements and working environment. The wall climbing robot is simple in structure, easy to control, light in weight and small in size, can achieve movements such as wall creeping, translation, deflection and in-situ rotation and the like. The working efficiency and environmental adaptability of the robot are greatly improved.

Description

technical field [0001] The invention relates to an electromagnetically driven wall-climbing robot module, a wall-climbing robot and a movement method thereof, belonging to the field of wall-climbing robots. Background technique [0002] With the continuous development of science and technology, robots have been widely used in various fields. Wall-climbing robots have strong application prospects because they can overcome the gravity limit and crawl on the wall to complete tasks. However, with more and more types of tasks being performed and the working environment of robots becoming more and more complex, wall-climbing robots with fixed structures have gradually been unable to meet the diverse task requirements. Therefore, reconfigurable modular wall-climbing robots have become more and more popular. attention. [0003] The Chinese patent with publication number CN105667621B proposes a modular reconfigurable wall-climbing robot and its wall-climbing method. The robot module...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 张文东孙振国张文陈强
Owner TSINGHUA UNIV