Magnetic adsorption device and crawling robot

Abstract

The present invention is a magnetic adsorption device and a crawling robot, wherein the magnetic adsorption device is applied to a crawling robot, and the crawling robot comprises a frame and a moving mechanism arranged on the frame. The magnetic adsorption device comprises: a plurality of magnetic adsorption components, each of which is arranged below the frame; and a plurality of telescopic mechanisms, each of which is provided with at least one telescopic mechanism, the first end of the telescopic mechanism is connected to the frame, and the second end of the telescopic mechanism is connected to the magnetic adsorption component, so that the gap between each magnetic adsorption component and the adsorbed surface can be changed. The present invention can adapt to curved surfaces of different curvatures, so that the gap between the magnetic adsorption component and the adsorbed surface can be adjusted as required, thereby ensuring that the crawling robot obtains sufficient suction and crawls stably.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a magnetic adsorption device and a crawling robot. Background Art

[0002] When crawling on a steel magnetic surface, magnetic adsorption crawling robots mostly use NdFeB magnetic adsorption. This crawling robot is suitable for flat planes and curved surfaces corresponding to large diameters. The movement of the crawling robot is achieved by adjusting the gap between the NdFeB and the adsorption surface.

[0003] However, for curved surfaces with a smaller radius or wavy surfaces, the gap between the NdFeB magnet and the adsorption surface cannot be effectively controlled. If the gap is too large, the magnetic adsorption force will be too small, which will cause the crawling robot to be unable to effectively adsorb on the crawling surface; if the gap is too small, the magnetic adsorption force will be too large, which will cause crawling difficulties and reduce the crawler's obstacle surmounting ability. Summary of the invention

[0004] In view of the above defects or deficiencies in the prior art, it is desired to provide a magnetic adsorption device and a crawling robot to solve the problems raised in the above background technology.

[0005] In a first aspect, the present invention provides a technical solution: a magnetic adsorption device applied to a crawling robot, wherein the crawling robot comprises a frame and a moving mechanism arranged on the frame.

[0006] The magnetic adsorption device comprises:

[0007] A plurality of magnetic adsorption components, each of which is arranged below the frame; and

[0008] A plurality of telescopic mechanisms, at least one of which is corresponding to each magnetic adsorption component, a first end of the telescopic mechanism is connected to the frame, and a second end of the telescopic mechanism is connected to the magnetic adsorption component, so that the gap between each magnetic adsorption component and the adsorbed surface can be changed.

[0009] The present invention can adapt to curved surfaces with different curvatures, so that the gap between the magnetic adsorption component and the adsorbed surface can be adjusted according to demand, ensuring that the crawling robot obtains sufficient suction force and crawls stably.

[0010] In some embodiments, a plurality of the magnetic adsorption components are arranged at equal intervals in the longitudinal and transverse directions.

[0011] In some embodiments, each of the magnetic adsorption components is provided with a corresponding telescopic mechanism.

[0012] The second end of the telescopic mechanism is hinged to the magnetic adsorption component, so that the angle between the magnetic adsorption component and the adsorbed surface can be changed.

[0013] In some embodiments, each of the magnetic adsorption components is provided with two telescopic mechanisms, namely, a first telescopic mechanism and a second telescopic mechanism.

[0014] The first telescopic mechanism is disposed on a first side of the magnetic adsorption component, and a second end of the first telescopic mechanism is hinged to the magnetic adsorption component;

[0015] The second telescopic mechanism is disposed on the second side of the magnetic adsorption component, and the second end of the second telescopic mechanism is hinged to the magnetic adsorption component.

[0016] This enables the angle between the magnetic adsorption component and the adsorbed surface to be changed.

[0017] In some embodiments, the telescopic mechanism comprises a screw telescopic mechanism.

[0018] The screw telescopic mechanism comprises a screw, a nut and a fixing sleeve.

[0019] The fixing sleeve is provided with a hole extending in the length direction, so that the lead screw can be at least partially arranged in the fixing sleeve.

[0020] The nut is rotatably connected to the opening portion of the fixing sleeve, and the lead screw is threadedly connected to the nut.

[0021] In some embodiments, the telescopic mechanism comprises a hydraulic cylinder or an electric cylinder.

[0022] In some embodiments, the magnetic adsorption assembly includes a cover plate, a box body, a permanent magnet and an ear plate.

[0023] The permanent magnet is arranged in the box body, the cover plate closes the opening of the box body, and the two ear plates are respectively arranged on both sides of the box body.

[0024] Wherein, the ear plate is provided with a boss with a through hole and the box body is made of rubber material.

[0025] In some embodiments, the magnetic adsorption assembly further includes a rolling body, and the rolling body is disposed below the ear plate.

[0026] In some embodiments, the rolling body is a universal wheel.

[0027] In the second aspect, the technical solution provided by the present invention is: a crawling robot, comprising the magnetic adsorption device described in any one of the first aspect.

[0028] The second aspect of the embodiment of the present invention can adapt to curved surfaces of different curvatures, so that the gap between the magnetic adsorption component and the adsorbed surface is a fixed value or adjustable as needed, ensuring that the crawling robot obtains sufficient suction force and crawls stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0030] Figure 1 It is a schematic diagram of the structure of a crawling robot from an upward perspective;

[0031] Figure 2 This is a schematic diagram of a crawling robot crawling on a wave surface;

[0032] Figure 3 It is a structural schematic diagram of a magnetic adsorption device of the present invention;

[0033] Figure 4 It is a structural schematic diagram of another magnetic adsorption device of the present invention;

[0034] Figure 5 It is a schematic diagram of a telescopic mechanism of the present invention;

[0035] Figure 6 yes Figure 4 A cross-sectional view of

[0036] Figure 1-Figure 6 10, magnetic adsorption device, 11, magnetic adsorption assembly, 111, cover plate, 112, box body, 113, permanent magnet, 114, ear plate, 1141, boss, 115, rolling element;

[0037] 12. telescopic mechanism, 12A. first telescopic mechanism, 12B. second telescopic mechanism, 121. lead screw, 122. nut, 123. fixing sleeve;

[0038] 20. Frame, 30. Moving mechanism. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "vertical", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] First aspect:

[0044] refer to Figure 1 A magnetic adsorption device 10 is applied to a crawling robot. The crawling robot includes a frame 20 and a moving mechanism 30 arranged on the frame 20. For example, the moving mechanism 30 is a track wheel or a walking mechanism.

[0045] The magnetic attraction device 10 includes a plurality of magnetic attraction components 11 , and each magnetic attraction component 11 is arranged below the vehicle frame 20 .

[0046] The magnetic adsorption device 10 further includes a telescopic mechanism 12, and each magnetic adsorption component 11 is provided with at least one telescopic mechanism 12. The first end of the telescopic mechanism 12 is connected to the vehicle frame 20, and the second end of the telescopic mechanism 12 is connected to the magnetic adsorption component 11, so that the gap between each magnetic adsorption component 11 and the adsorbed surface can be adjusted as required.

[0047] like Figure 2As shown, when the crawling robot moves on the wavy curved surface, each magnetic adsorption component 11 below the frame 20 is provided with at least one telescopic mechanism 12, and the telescopic mechanism 12 changes its own length to control the gap between the corresponding magnetic adsorption component 11 and the adsorbed surface. Each magnetic adsorption component 11 has an independent control mechanism to ensure that the gap between each magnetic adsorption component 11 and the adsorbed surface can be adjusted as required, so that the crawling robot obtains appropriate attraction, neither falling from the surface of the adsorbed object nor causing difficulty in moving.

[0048] like Figure 2 As shown, the three magnetic adsorption components 11 are controlled by the corresponding telescopic mechanisms 12 so that the gap between each magnetic adsorption component 11 and the adsorbed surface is a.

[0049] The present invention can adapt to curved surfaces with different curvatures, so that the gap between the magnetic adsorption component and the adsorbed surface can be adjusted according to demand, ensuring that the crawling robot obtains sufficient suction force and crawls stably.

[0050] refer to Figure 1 and Figure 2 In some specific embodiments of the present invention, a plurality of magnetic adsorption components 11 are arranged under the frame 20 at equal intervals in the longitudinal and transverse directions.

[0051] like Figure 1 As shown, the frame 20 is a rectangular frame, and 9 magnetic adsorption components 11 are arranged in 3 rows along the longitudinal direction, and each row has 3 magnetic adsorption components 11. The distance between two adjacent columns is equal to or different from the distance between two adjacent rows, so that each part of the frame 20 is subjected to equal attraction, which is conducive to the stable crawling of the crawling robot.

[0052] refer to Figure 3 In some specific embodiments of the present invention, each magnetic adsorption component 11 is correspondingly provided with a telescopic mechanism 12, and the telescopic mechanism 12 is arranged in the middle position of the magnetic adsorption component 11, and the second end of the telescopic mechanism 12 is hinged to the magnetic adsorption component 11, and the first end of the telescopic mechanism 12 is connected to the frame 20.

[0053] The above structural design can better ensure that the gap between the magnetic adsorption component 11 and the adsorbed surface can be adjusted as needed. The telescopic mechanism 12 is hinged to the magnetic adsorption component 11, and can further adjust the angle between the magnetic adsorption component 11 and the adsorbed surface.

[0054] refer to Figure 4 In some specific embodiments of the present invention, each magnetic adsorption component 11 is provided with two telescopic mechanisms 12, such as a first telescopic mechanism 12A and a second telescopic mechanism 12B.

[0055] The first telescopic mechanism 12A is arranged on the first side of the magnetic adsorption component 11, and the second end of the telescopic mechanism 12A is hinged to the magnetic adsorption component 11, and the first end of the telescopic mechanism 12A is connected to the frame 20; the second telescopic mechanism 12B is arranged on the second side of the magnetic adsorption component 11, and the second end of the telescopic mechanism 12B is hinged to the magnetic adsorption component 11, and the first end of the telescopic mechanism 12B is connected to the frame 20.

[0056] The above structural design can better ensure that the gap between the magnetic adsorption component 11 and the adsorbed surface can be adjusted as needed. The two telescopic mechanisms 12 are arranged on both sides of the magnetic adsorption component 11, and can flexibly adjust the angle between the magnetic adsorption component 11 and the adsorbed surface.

[0057] refer to Figure 5 In some specific embodiments of the present invention, the telescopic mechanism 12 includes a screw telescopic mechanism.

[0058] The lead screw telescopic mechanism includes a lead screw 121 , a nut 122 and a fixing sleeve 123 .

[0059] The fixing sleeve 123 is provided with a hole 1231 extending along the length direction, so that the lead screw 121 can be at least partially disposed in the fixing sleeve 123.

[0060] The nut 122 is rotatably connected to the opening of the fixing sleeve 123, so that the axis of the nut 122 and the axis of the hole of the fixing sleeve 123 are located on the same straight line. The nut 122 is threadedly connected to the lead screw 121, the non-open end of the fixing sleeve 123 is fixed to the lower surface of the frame 20, and one end of the lead screw 121 is hinged to the magnetic adsorption component 11. By driving the nut 122 to rotate, the lead screw 121 is extended or retracted into the fixing sleeve 123, thereby changing the gap between the magnetic adsorption component 11 and the adsorbed surface.

[0061] In some specific embodiments of the present invention, the telescopic mechanism 12 includes a hydraulic cylinder or an electric cylinder.

[0062] The first end of the hydraulic cylinder or the electric cylinder is hinged to the magnetic adsorption assembly 11 , and the second end of the hydraulic cylinder or the electric cylinder is fixedly connected to the lower surface of the frame 20 .

[0063] By changing the length of the hydraulic cylinder or the electric cylinder, the gap between the magnetic adsorption component 11 and the adsorbed surface is adjusted so that the crawling robot has sufficient suction force.

[0064] refer to Figure 6 In some specific embodiments of the present invention, the magnetic adsorption component 11 includes a cover plate 111 , a box body 112 , a permanent magnet 113 and an ear plate 114 .

[0065] The permanent magnet 113 is disposed in the box body 112, and the cover plate 111 closes the opening of the box body 112. Two ear plates 114 are respectively disposed on both sides of the box body 112, and a boss 1141 with a through hole is disposed on the upper surface of the ear plate 114 to realize the hinge connection between the ear plate 114 and the telescopic mechanism 12, thereby adjusting the gap between the bottom surface of the box body 112 and the adsorbed surface.

[0066] The box body 112 is made of rubber material, so that the box body 112 can effectively transmit magnetic force, has low manufacturing cost, and can be integrally formed.

[0067] In order to further optimize the design, the magnetic adsorption component 11 further includes a rolling body 115 , and the rolling body 115 is disposed below the ear plate 114 .

[0068] A rolling body 115 is disposed on the lower surface of one ear plate 114, and another rolling body 115 is disposed on the lower surface of the other ear plate 114. The two rolling bodies 115 can prevent the box body 112 from violently colliding with the adsorbed surface due to excessive swinging, so that the crawling robot can crawl stably on the adsorbed surface.

[0069] It should be noted that the rolling body 115 is a universal wheel. The universal wheel can rotate freely 360 degrees, which is helpful to avoid a violent collision between the box body 112 and the adsorbed surface.

[0070] Second aspect:

[0071] A crawling robot comprises any one of the magnetic adsorption devices 10 described in the first aspect.

[0072] like Figure 1 As shown, a moving mechanism 30 is provided on one side of the frame 20, and another moving mechanism 30 is provided on the other side of the frame 20, for driving the frame 20 to crawl. The magnetic adsorption device 10 is provided below the frame 20, for providing positive pressure of the track wheel 30 to the adsorbed surface.

[0073] The crawling robot can adapt to curved surfaces of different radians, so that the gap between the magnetic adsorption component and the adsorbed surface is a fixed value or adjustable as needed, ensuring that the crawling robot obtains sufficient suction force and crawls stably.

[0074] The above embodiments only illustrate the technical solutions of the invention rather than limiting it. Although the present invention is described in detail with reference to the embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A magnetic adsorption device, applied to a crawling robot, the crawling robot comprising a frame and a moving mechanism arranged on the frame, characterized in that: include: A plurality of magnetic adsorption components, each of which is arranged below the frame; and a plurality of telescopic mechanisms, each of the magnetic adsorption components is provided with at least one telescopic mechanism, a first end of the telescopic mechanism is connected to the vehicle frame, and a second end of the telescopic mechanism is connected to the magnetic adsorption component, so that the gap between each magnetic adsorption component and the adsorbed surface can be changed, Each of the magnetic adsorption components is correspondingly provided with two telescopic mechanisms, namely a first telescopic mechanism and a second telescopic mechanism, wherein the first telescopic mechanism is provided at a first side of the magnetic adsorption component, and a second end of the first telescopic mechanism is hinged to the magnetic adsorption component; The second telescopic mechanism is disposed on the second side of the magnetic adsorption component, and the second end of the second telescopic mechanism is hinged to the magnetic adsorption component, so that the angle between the magnetic adsorption component and the adsorbed surface can be changed. The magnetic adsorption component includes a cover plate, a box body, a permanent magnet and an ear plate, wherein the permanent magnet is arranged in the box body, the cover plate closes the opening of the box body, and the two ear plates are respectively arranged on both sides of the box body, wherein a boss with a through hole is arranged on the upper surface of the ear plate to realize the hinge connection between the ear plate and the telescopic mechanism, and the box body is made of rubber material. The magnetic adsorption component also includes a rolling body, wherein one rolling body is arranged on the lower surface of one ear plate, and another rolling body is arranged on the lower surface of the other ear plate, and the two rolling bodies can avoid violent collision with the adsorbed surface due to excessive swinging of the box body, so that the crawling robot can crawl stably on the adsorbed surface.

2. The magnetic adsorption device according to claim 1, characterized in that: A plurality of the magnetic adsorption components are arranged at equal intervals in the longitudinal and transverse directions.

3. The magnetic adsorption device according to claim 1, characterized in that: The telescopic mechanism includes a screw telescopic mechanism, which includes a screw, a nut and a fixed sleeve. The fixed sleeve is provided with a hole extending along the length direction so that the screw can be at least partially arranged in the fixed sleeve. The nut is rotatably connected to the opening portion of the fixed sleeve, and the screw is threadedly connected to the nut.

4. The magnetic adsorption device according to claim 1, characterized in that: The telescopic mechanism comprises a hydraulic cylinder or an electric cylinder.

5. The magnetic adsorption device according to claim 1, characterized in that: The rolling body is a universal wheel.

6. A crawling robot, characterized in that: It comprises the magnetic adsorption device according to any one of claims 1 to 5.

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