A magnetic pole-climbing robot

Abstract

The utility model discloses a magnetic pole climbing robot relates to pole climbing robot technical field, including the main body of climbing, one side of main body of climbing is equipped with non -steering wheel and steering wheel, non -steering wheel and steering wheel adopt magnetic attraction wheel, and one end of main body of climbing is equipped with operation module away from steering wheel. Non -steering wheel and steering wheel are stably attached to the surface of ferromagnetic structure pole through magnetic adsorption force, when turning, the rotation center of magnetic pole climbing robot is the intersection point of steering wheel axis and non -steering wheel axis or the center point of non -steering wheel, and the distance between operation module and rotation center is torsional arm, and the wheel group far from operation module is used as steering wheel to reduce torsional arm, under the condition that the weight of operation module is invariable, make the torque of operation module to magnetic pole climbing robot in vertical direction reduce, reduce the possibility that non -steering wheel appears to hang in the air, and the equipment falling problem caused by the wheel body to separate ferromagnetic structure pole will not appear, especially suitable for the climbing operation demand of small diameter pole piece.

Description

Technical Field

[0001] This utility model relates to the field of pole climbing robot technology, and in particular to a magnetic pole climbing robot. Background Technology

[0002] Magnetic climbing robots are a new type of special robot developed based on the principle of magnetic adsorption, enabling autonomous movement on the surface of ferromagnetic structural rods. Their core advantage lies in overcoming the limitations of high altitudes, narrow spaces, and complex working conditions, stably performing tasks such as manufacturing assembly, defect detection, and condition monitoring. They demonstrate significant application value, particularly in areas such as building steel structure maintenance and industrial pipeline repair, providing safe and efficient solutions for high-risk work scenarios.

[0003] The steering mechanism of existing magnetic climbing robots is mostly located on the upper part of the equipment. If the working module is arranged at the upper end, when the equipment turns on the surface of a small-diameter rod, the suction force of the front steering wheel decreases due to the curvature of the rod, which can easily cause it to become suspended. At this time, the shift of the center of gravity of the working module will further aggravate the imbalance of the equipment, eventually causing the upper wheel to detach from the rod and causing the equipment to fall, posing a safety risk.

[0004] Therefore, there is an urgent need for a magnetic climbing robot designed for small-diameter rods. Utility Model Content

[0005] To solve the above technical problems, this utility model provides a magnetic climbing robot for small-diameter rods.

[0006] To achieve the above objectives, this utility model provides the following solution:

[0007] This utility model provides a magnetic climbing robot, including a climbing body, on one side of which a non-steering wheel and a steering wheel are arranged in sequence;

[0008] The non-steering wheel and the steering wheel are magnetically attached wheels.

[0009] The climbing body is equipped with a working module at the end away from the steering wheel.

[0010] Optionally, a floating wheel is also provided on one side of the climbing body between the non-steering wheel and the steering wheel. The floating wheel is a magnetic wheel, and the floating wheel is connected to the climbing body through a swing arm. The two ends of the swing arm are rotatably connected to the climbing body and the floating wheel, respectively.

[0011] Optionally, a rebound mechanism is provided between the climbing body and the floating wheel, the rebound mechanism being used to apply a rebound force to the floating wheel, the rebound force being directed from the floating wheel toward the climbing body.

[0012] Optionally, the rebound mechanism reuses the swing arm, which is made of an elastic material.

[0013] Optionally, a first elastic element is provided between the swing arm and the climbing body, the first elastic element being used to rotate the floating wheel toward the climbing body.

[0014] Optionally, at least one of the non-steering wheel, the floating wheel, and the steering wheel is a driving wheel.

[0015] Optionally, the climbing body is provided with a steering mechanism, which is connected to the steering wheel via a transmission.

[0016] Optionally, the steering mechanism includes a drive unit, a gyroscope, and an angle controller. The angle controller is electrically connected to the gyroscope and the drive unit, respectively, and the drive unit is drive-connected to the steering wheel.

[0017] Optionally, the steering mechanism controls the steering wheel to rotate 0-10 degrees.

[0018] Optionally, the operation module includes a camera and a gimbal, the gimbal being disposed between the camera and the end of the climbing body.

[0019] The present invention achieves the following technical advantages over the prior art:

[0020] When using the magnetic climbing robot provided by this utility model, the non-steering wheels and the steering wheels are stably attached to the surface of the ferromagnetic structural rod through magnetic attraction, forming an initial adsorption and positioning. When turning during forward movement, the rotation center of the magnetic climbing robot is the intersection of the axis of the steering wheel and the axis of the non-steering wheel. When turning while stationary, the rotation center of the magnetic climbing robot is the center point of the non-steering wheel. The distance between the working module and the rotation center is the torsional arm. Using the wheel set farther from the working module as the steering wheel can reduce the torsional arm. With the weight of the working module remaining unchanged, the torque of the working module on the magnetic climbing robot in the vertical direction is reduced, reducing the possibility of the non-steering wheels becoming suspended. This eliminates the safety risk of equipment falling due to the wheels detaching from the ferromagnetic structural rod, making it particularly suitable for climbing operations on small-diameter rods. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the climbing body in the magnetic climbing robot of this utility model;

[0023] Figure 2 This is a schematic diagram of the structure of the magnetic climbing robot of this utility model;

[0024] Figure 3 This is a schematic diagram of the lever arm with the lower wheel as the steering wheel;

[0025] Figure 4 A schematic diagram of the lever arm with the non-steering wheel as the steering wheel;

[0026] Figure 5 This is a schematic diagram of the structure of the magnetic climbing robot of this utility model for overcoming obstacles.

[0027] Explanation of reference numerals in the attached diagram: 1. Climbing main body; 2. Non-steering wheel; 3. Floating wheel; 4. Steering wheel; 5. Camera; 6. Gimbal. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Example 1:

[0030] like Figures 1 to 5 As shown, this embodiment provides a magnetic climbing robot, including a climbing body 1. A non-steering wheel 2 and a steering wheel 4 are arranged sequentially on one side of the climbing body 1. The non-steering wheel 2 and the steering wheel 4 are magnetic wheels. A working module is arranged at the end of the climbing body 1 away from the steering wheel 4.

[0031] When using the magnetic climbing robot provided by this utility model, the non-steering wheel 2 and the steering wheel 4 are stably attached to the surface of the ferromagnetic structural rod by magnetic attraction, forming an initial adsorption positioning. When turning during forward movement, the rotation center of the magnetic climbing robot is the intersection of the axis of the steering wheel 4 and the axis of the non-steering wheel 2. When turning while stationary, the rotation center of the magnetic climbing robot is the center point of the non-steering wheel 2. The distance between the working module and the rotation center is the torsional arm. Using the wheel set farther away from the working module as the steering wheel 4 can reduce the torsional arm. With the weight of the working module remaining unchanged, the torque of the working module on the magnetic climbing robot in the vertical direction is reduced, reducing the possibility of the non-steering wheel 2 becoming suspended. This avoids the safety risk of equipment falling due to the wheel detaching from the ferromagnetic structural rod, and is especially suitable for climbing operations on small-diameter rods.

[0032] Taking turning while moving forward as an example, such as Figure 3 As shown, when the lower wheel is the steering wheel 4, the rotation center of the magnetic climbing robot is the intersection of the axis of the steering wheel 4 and the axis of the non-steering wheel 2. At this time, the distance between the working module and the rotation center is L2, as shown. Figure 4 As shown, when the non-steering wheel is the steering wheel 4, the rotation center of the magnetic climbing robot is the intersection of the axis of the steering wheel 4 and the axis of the lower wheel, and the distance between the working module and the rotation center is L1.

[0033] According to the Pythagorean theorem, when the rotation angle of the steering wheel is fixed, the length of L3 is fixed. Since the length of L4 is less than the length of L5, the length of L2 is less than the length of L1. Therefore, when the lower wheel is the steering wheel, the lever arm L2 between the working module and the rotation center is less than the lever arm L1 between the working module and the rotation center when the non-steering wheel is the steering wheel.

[0034] Therefore, when the lower wheel is used as the steering wheel, the torque of the working module on the magnetic climbing robot in the vertical direction is reduced due to the smaller lever arm between the working module and the rotation center. This reduces the possibility of the non-steering wheel becoming suspended in the air and avoids the safety risk of the equipment falling due to the wheel detaching from the ferromagnetic structural rod. It is especially suitable for climbing operations of small-diameter rods.

[0035] To improve the obstacle-crossing ability and load-bearing capacity of magnetic climbing robots, such as Figure 5 As shown, a floating wheel 3 is also provided on one side of the climbing body 1 between the non-steering wheel 2 and the steering wheel 4. The floating wheel 3 is a magnetic wheel and is connected to the climbing body 1 via a swing arm. The two ends of the swing arm are rotatably connected to the climbing body 1 and the floating wheel 3, respectively. When the magnetic climbing robot is climbing normally, the floating wheel 3, being a magnetic wheel, can increase the magnetic attraction between the climbing body 1 and the ferromagnetic structural rod, thereby increasing the load capacity of the magnetic climbing robot. When the robot moves to an obstacle, the floating wheel 3 on the swing arm can rotate flexibly around the end of the swing arm that is rotatably connected to the climbing body 1. By adaptively adjusting the angle, it can adapt to the undulating shape of the obstacle surface. Even if the non-steering wheel 2 or the steering wheel 4 is temporarily in a state of reduced contact area due to crossing the obstacle, the floating wheel 3 can still maintain close contact with the surface of the ferromagnetic structural rod, reducing the problem of sudden drop in stability caused by insufficient contact of a single wheel set. Ultimately, this ensures that the magnetic climbing robot maintains stable adsorption and movement capabilities during obstacle crossing, achieving reliable obstacle crossing.

[0036] To ensure close contact between the non-steering wheel 2, floating wheel 3, and steering wheel 4 and the surface of the ferromagnetic structural rod, and to increase the friction between the non-steering wheel 2 and steering wheel 4 and the surface of the ferromagnetic structural rod, a rebound mechanism is provided between the climbing body 1 and the floating wheel 3. This rebound mechanism applies a rebound force to the floating wheel 3, which travels from the floating wheel 3 towards the climbing body 1. During obstacle crossing by either the non-steering wheel 2 or the steering wheel 4, the rebound force exerts a force on the floating wheel 3, increasing the pressure of the climbing body 1 towards the ferromagnetic structural rod. This, in turn, increases the friction between the non-steering wheel 2 and steering wheel 4 and the surface of the ferromagnetic structural rod, thereby improving the stability of the climbing body 1 during obstacle crossing.

[0037] In some specific embodiments, the rebound mechanism reuses a swing arm, which is made of an elastic material, such as shape memory alloy or rubber. During the obstacle-crossing process of the floating wheel 3, the pressure between the floating wheel 3 and the obstacle causes the swing arm to undergo elastic deformation, thereby enabling the floating wheel 3 to maintain close contact with the surface of the ferromagnetic structural rod, thus improving the stability of the climbing body 1 during obstacle-crossing.

[0038] In another specific embodiment, a first elastic element is provided between the swing arm and the climbing body 1. The first elastic element is used to rotate the floating wheel 3 towards the climbing body 1. The first elastic element includes a torsion spring. The torsion spring is disposed at one end of the climbing arm and coaxially arranged with the center of rotation. The torsional force provided by the torsion spring gives the floating wheel 3 the power to rotate towards the climbing body 1. The first elastic element can also be a helical spring, which is disposed between the middle of the climbing body 1 and the swing arm, and the tension provided by the helical spring serves as the rebound force.

[0039] At least one of the non-steering wheel 2, floating wheel 3, and steering wheel 4 is a drive wheel. The drive wheel has a built-in motor structure, which generates driving force to enable the drive wheel to rotate autonomously. The magnetic climbing robot moves forward or backward by the friction between the drive wheel and the surface of the ferromagnetic structural rod.

[0040] The climbing body 1 is equipped with a steering mechanism, which is connected to the steering wheel 4 via a transmission connection. The steering mechanism includes a drive unit, a gyroscope, and an angle controller. The angle controller is electrically connected to the gyroscope and the drive unit, respectively, and the drive unit is connected to the steering wheel 4 via a transmission connection. After the gyroscope senses the tilt of the climbing body 1, it sends a signal to the drive unit through the angle controller. The drive unit controls the state of the magnetic climbing robot by controlling its rotation direction and speed, preventing tilting and ensuring the stability and safety of the climbing body 1 during climbing.

[0041] The drive unit can be a servo motor or a stepper motor. The servo motor or stepper motor is connected to the bogie of the steering wheel 4 via gear transmission, or is directly coaxially connected to the bogie's shaft.

[0042] The steering mechanism controls the rotation of the steering wheel 4 from 0 to 10 degrees. By steering the steering wheel 4 at a small angle, the non-steering wheel 2, floating wheel 3, and steering wheel 4 gradually adapt to the changes in the curvature of the ferromagnetic structural rod surface. In particular, when there are protruding impurities on the surface of the ferromagnetic structural rod, this reduces the decrease in magnetic attraction between the non-steering wheel 2, floating wheel 3, and steering wheel 4 and the ferromagnetic structural rod due to sudden changes in force, thereby reducing the possibility of a decrease in the stability of the magnetic climbing robot during the steering process.

[0043] The operation module includes a camera 5 and a gimbal 6, with the gimbal 6 positioned between the camera 5 and the end of the climbing body 1. Once the magnetic climbing robot reaches the target height, it is not necessary to frequently adjust its position and angle. Simply manipulating the gimbal 6 allows for multi-dimensional angle adjustment of the camera 5 (such as 360° horizontal rotation and ±90° vertical pitch), quickly aligning it with the area to be detected or the target to be photographed. This simplifies the operation process and avoids the potential stability risks associated with frequent adjustments to the magnetic climbing robot, effectively improving the efficiency and safety of high-altitude operations. In other embodiments, the operation module may include a robotic arm, a detector, etc.

[0044] It should be noted that, for those skilled in the art, it is obvious that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this utility model is defined by the appended claims rather than the foregoing description. Therefore, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0045] This specification uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A magnetic climbing robot, characterized in that, It includes a climbing body (1), and a non-steering wheel (2) and a steering wheel (4) are arranged sequentially on one side of the climbing body (1); The non-steering wheel (2) and the steering wheel (4) are magnetically assisted wheels. The climbing body (1) has a working module at the end away from the steering wheel (4).

2. The magnetic climbing robot according to claim 1, characterized in that, A floating wheel (3) is also provided on one side of the climbing body (1) between the non-steering wheel (2) and the steering wheel (4). The floating wheel (3) is a magnetic wheel. The floating wheel (3) is connected to the climbing body (1) through a swing rod. The two ends of the swing rod are rotatably connected to the climbing body (1) and the floating wheel (3) respectively.

3. The magnetic climbing robot according to claim 2, characterized in that, A rebound mechanism is provided between the climbing body (1) and the floating wheel (3). The rebound mechanism is used to apply a rebound force to the floating wheel (3) from the floating wheel (3) toward the climbing body (1).

4. The magnetic climbing robot according to claim 3, characterized in that, The rebound mechanism reuses the swing arm, which is made of an elastic material.

5. The magnetic climbing robot according to claim 3, characterized in that, A first elastic element is provided between the swing arm and the climbing body (1), and the first elastic element is used to make the floating wheel (3) rotate in the direction of the climbing body (1).

6. The magnetic climbing robot according to claim 2, characterized in that, At least one of the non-steering wheel (2), the floating wheel (3), and the steering wheel (4) is a driving wheel.

7. The magnetic climbing robot according to claim 1, characterized in that, The climbing body (1) is equipped with a steering mechanism, which is connected to the steering wheel (4) in a transmission manner.

8. The magnetic climbing robot according to claim 7, characterized in that, The steering mechanism includes a drive unit, a gyroscope and an angle controller. The angle controller is electrically connected to the gyroscope and the drive unit respectively. The drive unit is connected to the steering wheel (4) via a transmission.

9. The magnetic climbing robot according to claim 7, characterized in that, The steering mechanism controls the steering wheel (4) to rotate 0-10 degrees.

10. The magnetic climbing robot according to claim 1, characterized in that, The operation module includes a camera (5) and a gimbal (6), with the gimbal (6) positioned between the camera (5) and the end of the climbing body (1).

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