Magnetic adsorption wall-climbing walking mechanism for robot

Abstract

A magnetic adsorption wall-climbing walking mechanism for a robot comprises a main frame, a first mounting base, a first permanent magnet adsorption set, a round pipe and a driving wheel set, the first mounting base is fixed to the main frame, the first permanent magnet adsorption set is mounted on the first mounting base, the magnetic adsorption face of the first permanent magnet adsorption set faces the wall-climbing face, and the round pipe is fixed to the main frame; the two driving wheel sets are installed at the two ends of the circular pipe through fixing components respectively, and the width between the two driving wheel sets can be adjusted. Each driving wheel group comprises a connecting base, a driving wheel, a motor seat, a driving motor, a second mounting seat and a second permanent magnet adsorption group, the second permanent magnet adsorption group is mounted on the motor seat between the two driving wheels through the second mounting seat, and the permanent magnet adsorption group comprises a yoke and a plurality of permanent magnets arranged in a Halbach array. The weight and the size of the magnetic adsorption group can be reduced, the loading capacity and the adsorption reliability of the robot are improved, the chassis strength is prevented from being influenced and the motor power is prevented from being consumed due to excessive residual magnetic adsorption force, and the adaptability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a magnetic adsorption wall-climbing walking mechanism for a ship rust removal robot. Background Art

[0002] Robots can be used in various fields, such as robots for household cleaning or municipal road cleaning, robots for high-altitude live-line operations in the power field, robots for walking and inspecting in pipelines, robots for cleaning and rust removal and maintenance of ship outer walls, and so on. Ship rust removal robots can replace manual rust removal operations on the outer walls of ships, as well as clean and maintain mosses, shells, etc. on the outer walls of ships, eliminate the safety hazards of manual handheld spray guns and other tools, and reduce labor intensity. Since the outer wall of the ship can be magnetically adsorbed, the ship rust removal robot can use the principle of magnetic adsorption to establish an adsorption force between the metal pipe and the outer wall of the ship, so that the robot can climb the wall on the vertical plane. However, existing wall-climbing robots often have problems such as insufficient adsorption capacity, slipping, equipment falling, poor load capacity and weak obstacle crossing ability. Especially when the robot is working underwater, these problems are more prominent. For the layout of the magnetic suction components on the robot, there are also problems such as the magnet is too wide and too thick, resulting in the magnet weight accounting for too large a proportion of the equipment, the load becomes weak and the processing is difficult. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a magnetic adsorption wall-climbing walking mechanism for a ship rust removal robot with reliable robot adsorption, stronger adaptability and stronger load capacity.

[0004] The utility model is realized by the following technical solutions:

[0005] A magnetic adsorption wall-climbing walking mechanism for a robot comprises a main frame, a first mounting seat, a first permanent magnetic adsorption group, a circular tube and a driving wheel group, wherein the main frame is used for structural support and is connected to a robot body, the first mounting seat is fixed on the main frame, the first permanent magnetic adsorption group is installed on the first mounting seat, and the magnetic adsorption surface of the first permanent magnetic adsorption group faces a climbing surface, i.e., a walking surface of the robot, the circular tube is fixed on the main frame and extends to both sides of the main frame, two groups of driving wheel groups are respectively installed at both ends of the circular tube by fixing components, and the width adjustment between the two driving wheel groups is achieved by adjusting the installation position of the driving wheel groups on the circular tube, and the first permanent magnetic adsorption group is located in the middle of the two driving wheel groups.

[0006] Furthermore, each set of the driving wheel assembly includes a connecting base, a driving wheel, a motor base and a driving motor. Each set of the driving wheel assembly includes two driving wheels, the two driving wheels are respectively installed on both sides of the motor base, the driving motor is installed on the motor base, the driving motor is connected to the two driving wheels to drive the two driving wheels to rotate synchronously, and the connecting base is connected to the motor base, and the connecting base is used to connect to the round tube. Specifically, the connecting base is sleeved on the round tube and then fixed by a fixing member. In this way, the two sets of driving wheel assemblies correspond to two sets of driving wheels, each set of driving wheel assemblies has an independent driving motor, and each set of driving wheels is driven by a separate motor.

[0007] Furthermore, each group of the driving wheel group also includes a second mounting seat and a second permanent magnetic adsorption group, the second mounting seat is fixed on the motor seat, the second permanent magnetic adsorption group is installed on the second mounting seat, and the magnetic surface of the second permanent magnetic adsorption group faces the wall climbing surface (i.e. the walking surface of the robot).

[0008] Furthermore, the second permanent magnetic adsorption group includes a yoke and a plurality of permanent magnetic blocks arranged on the yoke, wherein the plurality of permanent magnetic blocks are arranged in a Halbach array, and the magnetization in the thickness direction and the magnetization in the radial direction are arranged in combination, and this magnetization method can greatly enhance the magnetic attraction.

[0009] Furthermore, there are two groups of the first mounting seats and the first permanent magnetic adsorption groups respectively, and the two first mounting seats are installed side by side on the main frame along the connection direction of the two driving wheel groups. A group of first permanent magnetic adsorption groups is installed on each first mounting seat, and the two groups of first permanent magnetic adsorption groups are located in the middle of the two driving wheel groups.

[0010] Furthermore, the first permanent magnetic adsorption group includes a yoke and a plurality of permanent magnetic blocks arranged and fixed on the yoke, and the plurality of permanent magnetic blocks are arranged in a Halbach array.

[0011] Furthermore, the yoke is arc-shaped, and there are seven permanent magnet blocks, which are arranged in an arc shape that matches the yoke.

[0012] Furthermore, the two ends of the yoke are provided with fixing holes, and the first mounting seat is provided with mounting holes at positions opposite to the fixing holes, and the yoke is connected to the first mounting seat by bolts passing through the fixing holes and the mounting holes, and a spring is sleeved on the bolt, and the spring is located between the yoke and the first mounting seat. The gap between the permanent magnet block and the climbing wall surface can be adjusted by tightening the bolts to prevent the residual magnetic adsorption force from being too large to affect the chassis strength and consume the motor power.

[0013] Furthermore, the permanent magnet block is made of hard magnetic material NdFeB N52, the minimum ground clearance of the permanent magnet block is 5-10 mm, and the magnetic attraction of the permanent magnet block array reaches 600-1000 kg. The above technical solution is also applicable to the second permanent magnet adsorption group.

[0014] Furthermore, the fixing member is a fixing ring, and the fixing ring is a clamp structure, which is a circular ring with a gap, and fastening holes are arranged at both ends of the gap. The fixing ring realizes the fixing function by bolts passing through the fastening holes.

[0015] The utility model arranges several groups of magnetic adsorption groups on the robot chassis, two of which are respectively located between the two groups of driving wheels, so that the adsorption forces of the left and right groups of driving wheels are consistent, avoiding slipping, falling and the like, and maintaining a continuous and stable adsorption force. Multiple groups of magnetic adsorption groups can improve the adsorption force and improve the adsorption reliability of the rust removal robot; the magnetic adsorption group is composed of a number of magnet blocks arranged in an array by Halbach, which reduces the weight and volume of the magnetic adsorption group as much as possible, improves the load capacity and adsorption force of the robot, and has a good obstacle crossing ability; the magnetic adsorption group is designed to be arc-shaped, which can avoid obstacles and is conducive to the walking of the robot; the ground clearance of the magnetic adsorption group can be adjusted by screwing the bolts, thereby adjusting the adsorption force and preventing the residual magnetic adsorption force from being too large to affect the chassis strength and consume the motor power; the distance between the two groups of driving wheels is adjustable, which can adapt to climbing walls of different curvatures, realize the walking of the robot on different curved surfaces, adapt to the actual different curvatures of the outer wall of the ship, and has stronger adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front structural schematic diagram of an embodiment of the utility model.

[0017] Figure 2 It is a three-dimensional structural schematic diagram of an embodiment of the utility model.

[0018] Figure 3 It is a schematic structural diagram of the first permanent magnetic adsorption group in an embodiment of the utility model.

[0019] Figure 4 This is a structural schematic diagram of the first permanent magnetic adsorption group from another perspective in an embodiment of the utility model.

[0020] Figure 5 It is a schematic diagram of the arrangement of the first permanent magnetic adsorption group in an embodiment of the utility model.

[0021] Figure 6 It is a schematic structural diagram of a fixing ring in an embodiment of the utility model.

[0022] Figure markings: 1-main frame; 2-first mounting seat; 3-first permanent magnetic adsorption group; 4-circular tube; 5-fixing ring; 6-driving wheel; 7-driving motor seat; 8-second permanent magnetic adsorption group; 9-first bolt; 10-spring; 11-second mounting seat; 31-yoke; 32-permanent magnet block; 33-fixing hole; 51-notch; 52-second bolt. DETAILED DESCRIPTION

[0023] A magnetic adsorption wall-climbing walking mechanism for a robot, such as Figure 1 , Figure 2 As shown, it includes a main frame 1, a first mounting seat 2, a first permanent magnetic adsorption group 3, a round tube 4 and a driving wheel group. The main frame 1 is used for structural support and is connected to the robot body. The first mounting seat 2 is fixed on the main frame 1. The first permanent magnetic adsorption group 3 is installed on the first mounting seat 2, and the magnetic adsorption surface of the first permanent magnetic adsorption group 3 faces the climbing wall surface, that is, the walking surface of the robot (the outer wall of the ship). The round tube 4 is fixed on the main frame 1 and extends to both sides of the main frame 1. The two groups of driving wheel groups are respectively installed at the two ends of the round tube 4 through fixing components, and the width adjustment between the two driving wheel groups is achieved by adjusting the installation position of the driving wheel group on the round tube 4, so that the robot can adapt to the outer wall of the ship with different curvatures. In this embodiment, four parallel round tubes 4 are provided.

[0024] There are two groups of the first mounting seats 2 and the first permanent magnetic adsorption groups 3 respectively. The two first mounting seats 2 are installed side by side on the main frame 1 along the connection direction of the two driving wheel groups (i.e., the extension direction of the circular tube 4). A group of first permanent magnetic adsorption groups 3 is installed on each first mounting seat 2, and the two groups of first permanent magnetic adsorption groups 3 are located in the middle of the two driving wheel groups.

[0025] As one of the implementation modes, in this embodiment, each group of the driving wheel group includes a connecting base, a driving wheel 6, a driving motor base 7, a driving motor, a second mounting base 11 and a second permanent magnetic adsorption group 8, each group of the driving wheel group includes two driving wheels 6, the two driving wheels 6 are respectively mounted on both sides of the driving motor base 7, the driving motor is mounted on the driving motor base 7, that is, the driving motor is located between the two driving wheels 6, the driving motor is connected to the two driving wheels 6 to drive the two driving wheels 6 to rotate synchronously, the connecting base is connected to the driving motor base 7, and the connecting base is used to connect to the circular tube 4. Specifically, the connecting base is sleeved on the circular tube 4 and then fixed by a fixing member. In this way, the two groups of driving wheel groups correspond to the two groups of driving wheels 6, each group of driving wheel groups has an independent driving motor, and each group of driving wheels 6 is driven by a separate motor. The four driving wheels 6 can be the rear drive wheels of the robot, and the rear drive part is fastened and overlapped with the robot host through the main frame 1.

[0026] The second mounting seat 11 is fixed on the drive motor seat 7, and the second permanent magnetic adsorption group 8 is mounted on the second mounting seat 11, and the magnetic surface of the second permanent magnetic adsorption group 8 faces the climbing wall surface (i.e., the walking surface of the robot). In this way, the second permanent magnetic adsorption group 8 is arranged between the left and right drive wheels 6, so that the two drive wheels 6 are evenly stressed and the slippage phenomenon is reduced. Together with the two groups distributed on the lower side of the main frame 1, there are a total of four permanent magnetic adsorption groups. The advantage of this design is that the permanent magnetic adsorption group is always close to the climbing wall surface, and will not change position with the circular motion of the drive wheel 6, which improves the walking stability of the robot on the vertical plane and improves the obstacle crossing ability.

[0027] The first permanent magnetic adsorption group 3 and the second permanent magnetic adsorption group 8 can be existing structures or forms, such as a structure using a whole permanent magnet. In this embodiment, the first permanent magnetic adsorption group 3 and the second permanent magnetic adsorption group 8 have the same structure. Taking the first permanent magnetic adsorption group 3 as an example, Figures 3 to 5 , each includes a yoke 31 and a plurality of permanent magnet blocks 32 arranged on the yoke 31, wherein the plurality of permanent magnet blocks 32 are arranged in a Halbach array, and the magnetization in the thickness direction is combined with the magnetization in the radial direction. This magnetization method can greatly enhance the magnetic attraction. The number and arrangement of the permanent magnet blocks 32 can be set according to actual conditions. In this embodiment, there are seven permanent magnet blocks 32, and the Halbach array arranged therein can be as shown. Seven small permanent magnets are closely arranged in a group in a specific magnetization direction. This arrangement can minimize the weight of the magnets and enhance the magnetic attraction.

[0028] The robot adopts a wheeled walking mode, and the yoke 31 is distributed under the robot chassis. The existence of the yoke 31 can ensure the magnetic attraction to the ship. In this embodiment, the yoke 31 is arc-shaped, and the seven permanent magnet blocks 32 are also arranged in an arc shape that matches the yoke 31.

[0029] In order to ensure the stability of the permanent magnetic adsorption group installed on the robot chassis and not affect the normal wall climbing and walking of the robot, in this embodiment, the two ends of the yoke 31 are provided with fixing holes 33, and the first mounting seat 2 is provided with mounting holes at positions opposite to the fixing holes 33. The yoke 31 is fixed by bolts ( Figure 1 The first bolt 9 in the yoke 31 passes through the fixing hole 33 and the mounting hole to connect with the first mounting seat 2. The first bolt 9 is sleeved with a spring 10, and the spring 10 is located between the yoke 31 and the first mounting seat 2, which can play a role in buffering and adjustment. By tightening the bolt, the gap between the permanent magnet block 32 and the climbing wall surface can be adjusted to prevent the residual magnetic adsorption force from being too large, which affects the chassis strength and consumes the motor power.

[0030] The permanent magnet block 32 is made of hard magnetic material NdFeB N52. The minimum ground clearance of the permanent magnet block 32 is 5-10mm, and the magnetic attraction of the permanent magnet block 32 array reaches 600-1000kg. The hard magnetic material NdFeB N52 is used as the magnet material. N52 has strong residual magnetic induction intensity Br, good coercive force HC, high maximum magnetic energy product BH, good stability and corrosion resistance. This material is easy to process and convenient for machining. Using thinner NdFeB, the combination arranged in this way is lighter in weight.

[0031] The function of the fixing member is to fix the driving wheel set on the round tube 4, specifically, to fix the connecting base on the round tube 4, which can be in the form of bolts or ferrules. As one implementation, in this embodiment, Figure 6 The fixing member is a fixing ring 5, which is a hoop structure, and is a circular ring with a notch 51. Fastening holes are arranged at both ends of the notch 51. The fixing ring 5 is fastened by bolts passing through the fastening holes ( Figure 6 Specifically, through fastening holes are provided at the positions on both sides of the notch 51 on the ring body, which can further reduce the volume of the fixing ring 5 and facilitate installation. Loosening the bolts on the fixing ring 5 can pull the driving wheel set along the direction of the round tube 4 to achieve arbitrary width adjustment.

[0032] The above detailed description is a specific description of a feasible embodiment of the utility model. The embodiment is not intended to limit the patent scope of the utility model. Any equivalent implementation or modification that does not deviate from the utility model should be included in the patent scope of this case.

Claims

1. A magnetic adsorption wall-climbing walking mechanism for a robot, characterized in that: It includes a main frame, a first mounting seat, a first permanent magnetic adsorption group, a circular tube and a driving wheel group. The main frame is used for structural support and is connected to the robot body. The first mounting seat is fixed on the main frame. The first permanent magnetic adsorption group is installed on the first mounting seat, and the magnetic surface of the first permanent magnetic adsorption group faces the climbing wall surface. The circular tube is fixed on the main frame and extends to both sides of the main frame. The two groups of driving wheel groups are respectively installed at both ends of the circular tube through fixing components, and the width adjustment between the two driving wheel groups is achieved by adjusting the installation position of the driving wheel group on the circular tube. The first permanent magnetic adsorption group is located in the middle of the two groups of driving wheel groups.

2. The magnetic adsorption wall-climbing walking mechanism for a robot according to claim 1, characterized in that: Each set of the driving wheel group includes a connecting base, a driving wheel, a motor base and a driving motor. Each set of the driving wheel group includes two driving wheels, and the two driving wheels are respectively installed on both sides of the motor base. The driving motor is installed on the motor base. The driving motor is connected to the two driving wheels to drive the two driving wheels to rotate synchronously. The connecting base is connected to the motor base, and the connecting base is used to connect to the round tube.

3. The magnetic adsorption wall-climbing walking mechanism for a robot according to claim 2, characterized in that: Each group of the driving wheel groups also includes a second mounting seat and a second permanent magnetic adsorption group, the second mounting seat is fixed on the motor seat, the second permanent magnetic adsorption group is installed on the second mounting seat, and the magnetic attraction surface of the second permanent magnetic adsorption group faces the climbing wall surface.

4. The magnetic adsorption wall-climbing walking mechanism for a robot according to claim 3, characterized in that: The second permanent magnetic adsorption group includes a yoke and a plurality of permanent magnetic blocks arranged on the yoke, and the plurality of permanent magnetic blocks are arranged in a Halbach array.

5. The magnetic adsorption wall-climbing walking mechanism for a robot according to claim 1, characterized in that: There are two groups of the first mounting seats and the first permanent magnetic adsorption groups respectively. The two first mounting seats are installed side by side on the main frame along the connection direction of the two driving wheel groups. A group of first permanent magnetic adsorption groups is installed on each first mounting seat, and the two groups of first permanent magnetic adsorption groups are located in the middle of the two driving wheel groups.

6. The magnetic adsorption wall-climbing walking mechanism for a robot according to claim 1, characterized in that: The first permanent magnetic adsorption group includes a yoke and a plurality of permanent magnetic blocks arranged and fixed on the yoke, and the plurality of permanent magnetic blocks are arranged in a Halbach array.

7. The magnetic adsorption wall-climbing walking mechanism for a robot according to claim 6, characterized in that: The yoke is in an arc shape, and there are seven permanent magnet blocks, which are arranged in an arc shape that matches the yoke.

8. The magnetic adsorption wall-climbing walking mechanism for a robot according to claim 6, characterized in that: The yoke is provided with fixing holes at both ends, and a mounting hole is provided on the first mounting seat at a position opposite to the fixing hole. The yoke is connected to the first mounting seat by bolts passing through the fixing holes and the mounting holes. A spring is sleeved on the bolt, and the spring is located between the yoke and the first mounting seat.

9. The magnetic adsorption wall-climbing walking mechanism for a robot according to claim 6, characterized in that: The permanent magnet block is made of hard magnetic material NdFeB N52, the minimum ground clearance of the permanent magnet block is 5-10mm, and the magnetic attraction force of the permanent magnet block array is 600-1000kg.

10. The magnetic adsorption wall-climbing walking mechanism for a robot according to claim 1, characterized in that: The fixing member is a fixing ring, and the fixing ring is a hoop structure, which is a circular ring with a notch. Fastening holes are arranged at both ends of the notch, and the fixing ring realizes the fixing function by means of bolts passing through the fastening holes.

Images