Obstacle-crossing wall-climbing robot combined variable magnetic force attraction module

A magnetic adsorption, composite technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problem of insufficient adjustment of magnet adsorption force, and achieve the effect of improving the utilization rate of magnet strength, improving the distribution of magnetic induction lines, and improving stability and safety.

Pending Publication Date: 2019-11-12
HEBEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Aiming at the deficiencies of the prior art, the present invention provides a composite variable magnetic force adsorption module for an obstacle-climbing robot, which solves the problem of insufficient adjustment of the magnet adsorption force existing when the existing permanent magnet wall-climbing robot works on a large metal facade. question

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  • Obstacle-crossing wall-climbing robot combined variable magnetic force attraction module
  • Obstacle-crossing wall-climbing robot combined variable magnetic force attraction module
  • Obstacle-crossing wall-climbing robot combined variable magnetic force attraction module

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Embodiment

[0043] The composite variable magnetic adsorption module of the obstacle-climbing robot in this embodiment is applied to the obstacle-climbing robot used on large metal facades such as ships and oil storage tanks. The maximum height of obstacles on the facade is 100mm, and the friction coefficient is 0.4. Introduction to the technical indicators of the robot: the load (additional body) is 50kg, the obstacle height can be surmounted by 100mm, it can adapt to a certain wall curvature, and it can complete the derusting operation of large metal facades. Figure 8-9 It is a schematic diagram of the working process of an obstacle-climbing robot robot that installs an example of the compound variable magnetic force adsorption module of the obstacle-climbing robot of the present invention, Figure 10 The robot in the robot includes three sets of frames 1, six sets of wheel-foot composite drive modules 2, frame connection modules 3, three sets of composite magnetic variable adsorption ...

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Abstract

The invention discloses an obstacle-crossing wall-climbing robot combined variable magnetic force attraction module. The obstacle-crossing wall-climbing robot combined variable magnetic force attraction module comprises a screw assembly and an attraction assembly; the screw assembly adopts a motor-belt wheel-belt-belt wheel-screw nut-screw power transmission mode so that a screw nut can drive a screw to move up and down, and accordingly, the attraction assembly is driven to move outside a vehicle frame up and down. The problem that when an existing permanent-magnetic wall-climbing robot operates on a large-size metal vertical face, the magnetic force cannot be changed is solved; through application of reverse motion of a screw mechanism, a permanent-magnetic attraction mechanism of the previous permanent-magnetic wall-climbing robot is perfected, thus, the magnetic force of a magnet can be changed along with changing of the shape of a wall obstacle in the robot obstacle crossing process, and the all-terrain adaptability is more excellent; magnetic induction line distribution of the combined variable magnetic force attraction module is improved, and the stability and safety of the robot in the operating process are improved; and by applying an electromagnet, the attraction force generated by the combined variable magnetic force attraction module can be adjusted more easily.

Description

technical field [0001] The invention relates to the technical field of an adsorption device for a wall-climbing robot, in particular to a composite variable magnetic force adsorption module for an obstacle-climbing robot. Background technique [0002] At present, the maintenance and construction operations of large metal facades such as petrochemical storage tanks and ships at home and abroad have increasingly stringent requirements for environmental protection, personal safety, and low cost and high efficiency. The automatic equipment that absorbs and moves on the metal facade has wide application prospects. [0003] Because permanent magnet adsorption has the advantages of stable and large adsorption force, wall-climbing robots applied to metal facades mostly use permanent magnets as the main adsorption mechanism to ensure that the robot can run on the wall. Most of the permanent-magnet wall-climbing robots on the market use fixed magnetism. No matter what the wall enviro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J5/00
CPCB25J5/007B25J19/00
Inventor 张小俊马秋实王志鹏万媛
Owner HEBEI UNIV OF TECH
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