Combined wheel type heavy load magnetic adsorption wall-climbing robot

Abstract

The application discloses a kind of combined wheeled heavy-load magnetic adsorption wall-climbing robots, belong to wall-climbing robot manufacturing technical field, including shell, frame central shaft, central shaft pin, concave shaft sleeve, concave shaft, connecting shaft, convex shaft, convex shaft sleeve, motor and combined magnetic wheel system;Frame central shaft is connected concave shaft sleeve by central shaft pin, concave shaft is fixed at the end surface of concave shaft sleeve, and is connected by connecting shaft and convex shaft, and convex shaft is fixed at the end of convex shaft sleeve, motor is embedded in convex shaft sleeve, and motor is used to drive combined magnetic wheel system movement, so that wall-climbing robot advances, retreats or turns to direction.The application has strong magnetic adsorption force, can carry rust removal, paint spraying, flaw detection and other tool operations on ceiling and uneven magnetic wall surface, can walk freely in all directions, 360 degree arbitrary steering in situ, instead of artificial carrying heavier tool on various complex high-altitude magnetic wall surface or magnetic ceiling.

Description

TECHNICAL FIELD

[0001] The present application relates to the wall climbing robot manufacturing technical field, more particularly, the present application relates to a combined wheel type heavy load magnetic adsorption wall climbing robot. BACKGROUND

[0002] At present, the walking mechanism related to the magnetic adsorption wall climbing robot needs to have two most basic functions: can be adsorbed and moved on the magnetic wall surface. Among them, strong adsorption force and flexible steering are the key technologies, the machine provides magnetic adsorption force, so that it can be reliably adsorbed on the wall surface, and the adsorption force is required to be large from the safety consideration; but the large adsorption force will lead to large moving resistance, and the moving operation ability of the machine is poor, and it is difficult to simultaneously have strong adsorption force and flexible steering.

[0003] The existing walking mechanism related to the magnetic adsorption wall climbing robot is mainly dominated by two types of track type and magnetic wheel type. The track type walking mechanism has the advantages of strong adsorption force, and the disadvantages are that the magnet behind the track needs to be pulled up when walking, and it cannot walk on the ceiling and uneven wall surface, needs large power, has large walking resistance, unstable and uneven speed, difficult steering, and poor obstacle crossing ability. The magnetic wheel type walking mechanism uses a circular magnetic steel as a rolling wheel train, has the advantages of flexible steering and small required power, and the disadvantages are that the strong magnetic field of the circular magnetic steel is on two end surfaces, and the magnetic force on the circumference is small, the adsorption force is poor, the load capacity is small, and the magnetic utilization rate is low.

[0004] Therefore, the technical personnel in the art urgently need to provide a combined wheel type heavy load magnetic adsorption wall climbing robot, which has the advantages of strong magnetic adsorption capacity, large load capacity, free walking, flexible steering, small power requirement and high working efficiency, can walk and steer on various terrains, and replaces manual carrying of heavy tools to work on various complex high-altitude magnetic wall surfaces or magnetic ceilings. SUMMARY

[0005] In order to overcome the above-mentioned defects of the prior art, the present application provides a combined wheel type heavy load magnetic adsorption wall climbing robot, which has the advantages of strong magnetic adsorption capacity, large load capacity, free walking, flexible steering, small power requirement and high working efficiency, can walk and steer on various terrains, and replaces manual carrying of heavy tools to work on various complex high-altitude magnetic wall surfaces or magnetic ceilings.

[0006] In order to achieve the above object, the application provides a combined wheel type heavy load magnetic wall-climbing robot, which comprises a casing, a middle shaft of a frame, a middle shaft pin, a concave shaft sleeve, a concave shaft, a connecting shaft, a convex shaft, a convex shaft sleeve, a motor and a combined magnetic wheel system; the middle shaft of the frame is connected with the concave shaft sleeve through the middle shaft pin, the concave shaft is fixed at the end face of the concave shaft sleeve and connected with the convex shaft through the connecting shaft, the convex shaft is fixed at the end of the convex shaft sleeve, the motor is embedded in the convex shaft sleeve, the combined magnetic wheel system is at least two groups and is installed at two sides of the casing respectively, and the motor is used to drive the combined magnetic wheel system to move so as to make the wall-climbing robot advance, retreat or turn.

[0007] Preferably, the combined magnetic wheel system comprises a plurality of magnetic wheel groups, a gear transmission box, a gear power shaft, a bridge transmission gear and a toothed magnetic wheel shaft; the gear power shaft is connected with the motor through a connecting sleeve, and the toothed magnetic wheel shaft is provided with the magnetic wheel groups at two sides thereof; when the motor rotates, the gear power shaft is driven to rotate and drive the bridge transmission gear, the bridge transmission gear drives the toothed magnetic wheel shaft and the magnetic wheel groups.

[0008] Preferably, the magnetic wheel groups are four, and the toothed magnetic wheel shafts are two, and the two magnetic wheel groups are installed at two ends of one toothed magnetic wheel shaft respectively.

[0009] Preferably, the magnetic wheel groups comprise magnetic metal wheels and permanent magnetic steel, the magnetic metal wheels and the permanent magnetic steel are distributed at intervals, the magnetic metal wheels contact the wall surface, and the permanent magnetic steel does not contact the wall surface.

[0010] Preferably, the gear transmission box comprises a transmission box frame and two end clamps, the gear power shaft is installed on the two end clamps, and four magnetic wheel groups are installed at two sides of the gear transmission box.

[0011] Preferably, the combined magnetic wheel system is connected and fixed through a flange sleeve into an outer pipe, and the outer pipe is embedded with the convex shaft sleeve.

[0012] Preferably, the middle shaft of the frame is installed on the casing through a plurality of fixed shafts.

[0013] Preferably, a flexible spring is sleeved on the fixed shaft, the upper end of the flexible spring abuts against the inner wall of the casing, and the lower end of the flexible spring abuts against the circumferential surface of the middle shaft of the frame.

[0014] Preferably, a plurality of ball feet and reinforced supports are arranged on the casing.

[0015] The application has the following technical effects and advantages:

[0016] 1. The combined wheel type heavy load magnetic adsorption wall climbing robot provided by the application has strong magnetic adsorption force, can carry tools such as derusting, paint spraying and flaw detection on the ceiling and unevenly convex and concave magnetic conducting wall surface, can walk freely in all directions, can turn in any direction at 360 degrees in situ, and can replace manual work to carry heavy tools to work on various complex high-altitude magnetic conducting wall surfaces or magnetic conducting ceilings;

[0017] 2. In the application, heavier tools can be carried to work on the wall surface, the modular design and combination have large load capacity, heavy tools can be carried to replace manual work to work efficiently on the magnetic conducting vertical wall surface and the ceiling, and good economic and social benefits can be generated after implementation;

[0018] 3. The combined magnetic wheel system is adopted in the application, the combined magnetic conducting metal wheel can generate a strong magnetic closed magnetic circuit on the magnetic conducting wall surface, the magnetic flux density of the magnetic closed magnetic circuit is unchanged when rolling, so that the adsorption force of the magnetic wheel set will not be reduced when flexibly rolling, the magnetic adsorption force is large, the walking resistance is small, and only the magnetic conducting metal wheel contacts the wall surface when walking, and the permanent magnet steel does not contact the wall surface, so that the permanent magnet steel can be effectively protected;

[0019] 4. In the application, the concave shaft fixing is fixed to the end face of the concave shaft sleeve, the connection shaft and the camshaft are connected, when the wall surface is unevenly convex and concave, the two end combined magnetic wheel systems can be adjusted at a certain radial angle when walking;

[0020] 5. In the application, the other end face of the concave shaft sleeve and the middle shaft of the rack are connected through the middle shaft pin of the rack, when the wall surface has a certain inner and outer curvature, the two end combined magnetic wheel systems have a certain latitude adjustment range, and the reliability of the combined magnetic wheel adsorption walking can be flexibly adjusted when the wall surface is unevenly convex and concave. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a front view of the combined magnetic wheel system in the application;

[0022] Figure 2 It is a sectional view of the combined magnetic wheel system in the application;

[0023] Figure 3 It is a side view of the combined magnetic wheel system in the application;

[0024] Figure 4 It is a top view of the combined magnetic wheel system in the application;

[0025] Figure 5 It is a front view of the combined wheel type heavy load magnetic adsorption wall climbing robot in the application;

[0026] Figure 6 It is a side view of the combined wheel type heavy load magnetic adsorption wall climbing robot in the application;

[0027] Figure 7The top view of the combined wheel type heavy load magnetic adsorption wall climbing robot in the application.

[0028] Reference signs are:

[0029] Gearbox 1, gear power shaft 2, magnetic wheel group 3, two end clamping plates 4, gearbox frame 5, over-bridge gear 6, magnetic metal wheel 7, permanent magnet magnetic steel 8, toothed magnetic wheel shaft 9, flange 10, connecting sleeve 11, outer tube 12, motor 13, convex shaft sleeve 14, convex shaft 15, concave shaft 16, connecting shaft 17, concave shaft sleeve 18, flexible spring 19, fixed shaft 20, frame center shaft 21, center shaft pin 22, machine shell 23, ball foot 24, reinforced support 25. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the application will be apparently and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the application.

[0031] As Figures 5-7 shown, the application provides a combined wheel type heavy load magnetic adsorption wall climbing robot, which comprises a machine shell 23, a frame center shaft 21, a center shaft pin 22, a concave shaft sleeve 18, a concave shaft 16, a connecting shaft 17, a convex shaft 15, a convex shaft sleeve 18, a motor 13 and a combined magnetic wheel system. The frame center shaft 21 is connected to the concave shaft sleeve 18 through the center shaft pin 22. The concave shaft 16 is fixed to the end face of the concave shaft sleeve 18 and connected to the convex shaft 15 through the connecting shaft 17. The convex shaft 15 is fixed to the end of the convex shaft sleeve 14. The motor 13 is embedded in the convex shaft sleeve 14. The combined magnetic wheel system is at least two groups and installed on the two sides of the machine shell 23. The motor 13 is used to drive the combined magnetic wheel system to move, so that the wall climbing robot advances, retreats or turns.

[0032] In the application, the concave shaft 16 is fixed to the end face of the concave shaft sleeve 18 and connected to the convex shaft 15. When the wall surface is uneven, the two end magnetic wheel groups 3 can be adjusted in the radial direction through the convex shaft 15 and the concave shaft 16 as the movable joint. The other end face of the concave shaft sleeve 18 is connected to the frame center shaft 21 through the frame center shaft pin 22. When the wall surface has a certain inner and outer curvature, the two end magnetic wheel groups 3 also have a certain latitude adjustment range, so that the reliability of the combined magnetic wheel 3 adsorption walking can be flexibly adjusted when the wall surface is uneven.

[0033] The flexible spring 19 is sleeved on the fixed shaft 20 in the embodiment, the upper end of the flexible spring 19 abuts against the inner wall of the casing 23, and the lower end of the flexible spring 19 abuts against the circumferential surface of the middle shaft 21 in the frame. The fixed shaft 20 and the middle shaft 21 are connected through the flexible spring 19, and the flexible spring can eliminate the hard connection between the fixed shaft 20 and the middle shaft 21 when the magnetic wall-climbing robot walks on the uneven wall surface.

[0034] In addition, the middle shaft 21 in the frame is installed on the casing 23 through the plurality of fixed shafts 20, the casing 23 is provided with a plurality of ball feet 24 and a reinforcing support 25; the platform is supported by the ball feet 24, so that the tools carried on the platform are kept relatively stable.

[0035] The magnetic wall-climbing robot has high practicability, and the technical problems of difficult turning and walking on the uneven wall surface are solved; the magnetic wall-climbing robot has small size, compact structure, and is an ideal walking platform in the field of robots.

[0036] The concave shaft 16 in the embodiment is fixed to the end face of the concave shaft sleeve 18, and is connected with the convex shaft 15 through the connecting shaft 17; when the wall surface is uneven, the combined magnetic wheel system at two ends has a certain radial angle that can be adjusted when walking; the other end face of the concave shaft sleeve 18 in the embodiment is connected with the middle shaft 21 in the frame through the middle shaft pin 22 in the frame; when the wall surface has a certain internal and external curvature, the combined magnetic wheel system at two ends has a certain latitude adjustment range, and the flexibility can be adjusted to achieve the reliability of the combined magnetic wheel when the combined magnetic wheel is adsorbed and walks.

[0037] The magnetic wall-climbing robot can carry heavier tools to work on the wall surface, has the advantages of modular design, combined aspect and large load capacity, can carry heavier tools to work on the magnetically conductive vertical wall surface and the ceiling instead of manual work with high efficiency, and good economic and social benefits can be generated after implementation.

[0038] As shown in the figure, Figures 1-4 The combined magnetic wheel system includes a plurality of magnetic wheel groups 3, a gear transmission box 1, a gear power shaft 2, a bridge transmission gear 6 and a toothed magnetic wheel shaft 9; the gear power shaft 2 is connected with a motor 13 through a connecting sleeve 11, and the toothed magnetic wheel shaft 9 is provided with the magnetic wheel groups 3 on both sides; when the motor 13 rotates, the gear power shaft 2 is driven to rotate and drive the bridge transmission gear 6, the bridge transmission gear 6 drives the toothed magnetic wheel shaft 9 and drives the magnetic wheel groups 3 to rotate.

[0039] The combined magnetic wheel system in the embodiment is sleeved into the outer pipe 12 through the flange 10 and is connected and fixed, and the outer pipe 12 is embedded with the convex shaft sleeve 14. The magnetic wheel groups 3 in the embodiment are four, and the toothed magnetic wheel shaft 9 is two, and the two magnetic wheel groups 3 are respectively installed at two ends of one toothed magnetic wheel shaft 9.

[0040] As shown in the figure, Figure 2As shown, the magnetic wheel set 3 comprises the magnetically conductive metal wheel 7 and the permanent magnet 8, the magnetically conductive metal wheel 7 and the permanent magnet 8 are spaced, and the magnetically conductive metal wheel 7 contacts the wall surface, and the permanent magnet 8 does not contact the wall surface. The combined magnetic wheel system is adopted, the combined magnetically conductive metal wheel can generate a strong magnetic closed magnetic circuit on the magnetically conductive wall surface, and the magnetic flux density of the magnetic closed magnetic circuit is unchanged during rolling, so that the magnetic wheel set does not reduce the adsorption force during flexible rolling, and the magnetic adsorption force is large, the walking resistance is small, and only the magnetically conductive metal wheel contacts the wall surface during walking, and the permanent magnet does not contact the wall surface, so that the permanent magnet can be effectively protected.

[0041] The gear transmission box 1 comprises a transmission box frame 5 and two end plates 4, the gear power shaft 2 is installed on the two end plates 4, and four magnetic wheel sets 3 are installed on the two sides of the gear transmission box 2.

[0042] In summary, the combined wheel type heavy load magnetic adsorption wall climbing robot has strong magnetic adsorption force, can carry rust removal, paint spraying and flaw detection tools on the ceiling and uneven magnetically conductive wall surface, can freely walk in all directions, and can arbitrarily turn 360 degrees on the spot, and can replace manual work to carry heavy tools to work on various complex high-altitude magnetically conductive wall surfaces or magnetically conductive ceilings.

[0043] Finally, the above only describes the preferred and non-preferred embodiments of the present application, and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. The scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims should be included in the present application, and any reference sign in the claims should not be regarded as limiting the claims.

Claims

1. A combined wheeled heavy-duty magnetic adsorption wall-climbing robot, characterized in that, include: Housing, frame central shaft, central shaft pin, concave shaft sleeve, concave shaft, connecting shaft, convex shaft, convex shaft sleeve, motor, and combined magnetic wheel system; The central shaft of the frame is connected to the concave shaft sleeve via a central shaft pin. The concave shaft is fixed to the end face of the concave shaft sleeve and connected to the convex shaft via a connecting shaft. The convex shaft is fixed to the end of the convex shaft sleeve. The motor is embedded in the convex shaft sleeve. The combined magnetic wheel system consists of two sets, which are respectively installed on both sides of the housing. The motor is used to drive the combined magnetic wheel system to move, so that the wall-climbing robot can move forward, backward or turn. The combined magnetic wheel system includes multiple magnetic wheel groups, each magnetic wheel group comprising a magnetically conductive metal wheel and a permanent magnet. The magnetically conductive metal wheel and the permanent magnet are spaced apart, with the magnetically conductive metal wheel in contact with the wall surface and the permanent magnet not in contact with the wall surface. The central shaft of the frame is mounted on the housing via multiple fixed shafts. The central shaft pin and the connecting shaft are both parallel to the line connecting the two sets of combined magnetic wheel systems. The central shaft pin extends in a direction perpendicular to the line connecting the two sets of combined magnetic wheel systems, and the connecting shaft extends in the direction connecting the two sets of combined magnetic wheel systems.

2. The combined wheeled heavy-duty magnetic adsorption wall-climbing robot according to claim 1, characterized in that, The combined magnetic wheel system also includes a gearbox, a gear drive shaft, a bridge gear, and a toothed magnetic wheel shaft; the gear drive shaft is connected to the motor through a connecting sleeve, and the magnetic wheel sets are respectively provided on both sides of the toothed magnetic wheel shaft. When the motor rotates, it drives the gear drive shaft to rotate and transmits the bridge gear, which in turn transmits the toothed magnetic wheel shaft and drives the magnetic wheel sets to rotate.

3. The combined wheeled heavy-duty magnetic adsorption wall-climbing robot according to claim 2, characterized in that, There are four magnetic wheel sets and two toothed magnetic wheel shafts. The two magnetic wheel sets are respectively installed at both ends of one toothed magnetic wheel shaft.

4. The combined wheeled heavy-duty magnetic adsorption wall-climbing robot according to claim 2, characterized in that, The gearbox includes a gearbox frame and two end plates. The gear drive shaft is mounted on the two end plates, and four magnetic wheel sets are mounted on both sides of the gearbox.

5. The combined wheeled heavy-duty magnetic adsorption wall-climbing robot according to claim 2, characterized in that, The combined magnetic wheel system is connected and fixed by a flange fitted into an outer tube, and the outer tube is fitted with the convex shaft sleeve.

6. The combined wheeled heavy-duty magnetic adsorption wall-climbing robot according to claim 1, characterized in that, A flexible spring is sleeved on the fixed shaft. The upper end of the flexible spring abuts against the inner wall of the housing, and the lower end of the flexible spring abuts against the circumferential surface of the central shaft of the frame.

7. The combined wheeled heavy-duty magnetic adsorption wall-climbing robot according to claim 1, characterized in that, The housing is equipped with multiple ball bearing feet and reinforced supports.

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