A magnetic track mechanism suitable for a wall-climbing robot

Abstract

The application discloses a magnetic track mechanism suitable for a wall-climbing robot, which comprises a track body, the track body comprising a track frame, a chain wheel arranged on the track frame, a chain, a transmission shaft and a driven shaft; at least one chain wheel for erecting the chain is keyed to the transmission shaft and the driven shaft, the chain is composed of a plurality of chain links arranged in parallel with each other, adjacent chain links one and two are alternately and bendably connected to form a closed loop chain through a track pin; the track pin is engaged with the chain wheel, the chain wheel is driven to rotate through the transmission shaft, and then the chain moves; the transmission shaft is driven through a driving assembly; the chain link one comprises a magnet support one, a magnet block one, a magnetic guide plate one, an intermediate rubber block one and a side wide rubber block, the chain link two comprises a magnet support two, a magnet block two, a magnetic guide plate two, an intermediate rubber block one and a side narrow rubber block, and the upper surfaces of the intermediate rubber block one and the side wide rubber block and the intermediate rubber block two and the side narrow rubber block are higher than the upper surfaces of the magnet block one and the magnet support one.

Description

Technical Field

[0001] This invention belongs to the field of wall-climbing robot technology, and particularly relates to a magnetic track mechanism suitable for wall-climbing robots. Background Technology

[0002] Wall-climbing robots are widely used in various industries to replace manual labor, such as equipment structure surveying and cargo hold cleaning. Current wall-climbing robots typically use magnetic rollers to achieve displacement and adhesion to walls, but this approach has the following drawbacks:

[0003] 1. The magnetic rollers have a small contact area with the wall surface, resulting in insufficient friction and weak adhesion. This makes it difficult to move smoothly on uneven or complex walls, leading to directional deviations or even the robot detaching from the wall during surveying or cleaning operations. Consequently, the robot's performance, quality, and stability are all poor.

[0004] 2. When the magnetic roller directly contacts and adheres to the wall surface, the collision between the two is inelastic, which can easily cause the magnet to break and fail, or even scratch the wall surface.

[0005] In view of this, the present invention is hereby proposed. Summary of the Invention

[0006] To address the problems existing in the prior art, the purpose of this invention is to provide a magnetic track mechanism suitable for wall-climbing robots. This mechanism has a simple structure, reasonable design, good adsorption capacity, and strong driving and walking ability, enabling wall-climbing robots to effectively and safely adsorb and move on the wall surface, greatly improving the cleaning effect and quality of wall-climbing robots.

[0007] To achieve the above objectives, the present invention provides a magnetic track mechanism suitable for wall-climbing robots, comprising a track body, the track body including a track frame, sprockets, a chain, a drive shaft, and a driven shaft mounted on the track frame; at least one sprocket for mounting the chain is keyed to the drive shaft and the driven shaft; the chain is composed of several parallel chain links, and adjacent chain links one and two are alternately and flexibly connected by track pins to form a closed-loop chain; the track pins mesh with the sprockets, driving the sprockets to rotate via the drive shaft, thereby moving the chain; the drive shaft is driven by a drive assembly.

[0008] The first link includes a magnet bracket, a magnet block, and a magnetic guide plate. The magnet bracket and the magnetic guide plate, which are vertically connected, form the frame of the first link. There are two magnet blocks, which are attracted to the groove on the upper surface of the magnetic guide plate. An intermediate rubber block is filled between the two magnet blocks. Side-width rubber blocks are filled between the two magnet blocks and the magnet bracket. The upper surfaces of the intermediate rubber block and the side-width rubber blocks are higher than the upper surfaces of the magnet block and the magnet bracket.

[0009] The second link includes a second magnet support, a second magnet block, and a second magnetic guide plate. The second magnet support and the second magnetic guide plate, which are vertically connected, form the frame of the second link. The second magnet block consists of two pieces and is attracted to a groove on the upper surface of the second magnetic guide plate. A second intermediate rubber block is filled between the two second magnet blocks, and a narrow side rubber block is filled between the two second magnet blocks and the second magnet support. The upper surfaces of the second intermediate rubber block and the narrow side rubber block are higher than the upper surfaces of the second magnet block and the second magnet support.

[0010] Preferably, the track frame includes an outer track plate, a support rod, and an inner track plate connected sequentially from the outside to the inside;

[0011] Preferably, the inner plate of the track is provided with an active connector and a driven connector for connecting the vehicle body drive mechanism;

[0012] Preferably, the drive shaft is installed and positioned via bearings in the track outer plate and the drive connector, respectively;

[0013] Preferably, the driven shaft is installed and positioned via bearings in the track outer plate and the driven connecting member;

[0014] Preferably, the sealing groove of the active connector is equipped with a sealing ring that forms a seal with the sealing section on the drive shaft to prevent liquid from entering the vehicle body from the outside.

[0015] The magnetic track mechanism provided by this invention, suitable for wall-climbing robots, has the following beneficial effects:

[0016] 1. This invention effectively avoids the technical problems of existing wall-climbing robots, which mostly use magnetic rollers for displacement and direct adhesion to walls. These robots suffer from insufficient friction and weak adhesion, leading to directional deviations or even detachment from the wall during surveying or cleaning operations. This invention utilizes a closed-loop track structure formed by adjacent chain links (link 1 and link 2) connected alternately and flexibly via track pins. Driven by sprockets, the chain can achieve smooth and rapid displacement relative to the wall, exhibiting strong terrain adaptability. Magnet blocks 1 and 2 provide strong adhesion to the track body, giving it excellent wall-crossing ability and ensuring the safety of the wall-climbing robot during vertical operations. The excellent adhesion capability allows the wall-climbing robot to effectively and safely adhere to and move on walls, thereby greatly improving the operational efficiency and quality of the wall-climbing robot.

[0017] 2. This invention effectively avoids the technical problems existing in the prior art where, when the magnetic roller directly contacts and adheres to the wall surface, the inelastic collision between the two can easily cause the magnet to break or even scratch the wall surface. This invention utilizes a central rubber block (first and second parts) and a wide side rubber block, as well as a central rubber block (second and third parts) and a narrow side rubber block, which protrude from the first and second magnetic blocks. These rubber blocks directly contact the wall surface, providing protection for the track body, extending its service life, and effectively preventing scratches on the wall surface, thus greatly extending the service life of the track body. Simultaneously, due to the low hardness and high roughness of the rubber blocks, vertical friction is generated under positive pressure, balancing with gravity, thereby ensuring the robot does not slip on the wall surface and achieving adhesion of the magnetic track mechanism to vertically magnetic walls.

[0018] 3. Both link one and link two use segmented rubber blocks, which can reduce the contact area between the rubber blocks and the wall while meeting the friction requirements, thereby reducing the friction during differential turns.

[0019] 4. Magnet block one and magnet block two are placed opposite each other with their magnetic poles facing magnetic plates one and two, and use their own magnetism to conduct electricity, thereby increasing the magnetic attraction force.

[0020] 5. This invention adopts a modular design, which is convenient for assembly and replacement, reliable and durable, low in cost, convenient and flexible, and can adapt to different environments and needs for wall climbing robots.

[0021] 6. The number of chain links can be increased or decreased according to needs, and the track size can be changed, making it widely applicable. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a magnetic track mechanism suitable for wall-climbing robots provided by the present invention.

[0023] Figure 2 for Figure 1 A bird's-eye view.

[0024] Figure 3 for Figure 2 A schematic diagram of the structure after the chain is removed.

[0025] Figure 4 for Figure 3 A sectional view.

[0026] Figure 5 This is a schematic diagram of the structure of a link of a magnetic track mechanism suitable for wall-climbing robots, provided by the present invention.

[0027] Figure 6 This is a schematic diagram of the structure of link two of a magnetic track mechanism suitable for wall-climbing robots, provided by the present invention.

[0028] Figure 7 This invention provides a schematic diagram of the combination of link one and link two in a magnetic track mechanism suitable for wall-climbing robots.

[0029] In the picture:

[0030] 1. Track frame 101. Track outer plate 102. Track inner plate 103. Support rod 201. Driving connector 202. Driven connector 3. Sprocket 401. Drive shaft 402. Driven shaft 5. Chain link one 501. Magnet bracket one 502. Side wide rubber block 503. Magnet block one 504. Middle rubber block one 505. Magnetic guide plate one 6. Chain link two 601. Magnet bracket two 602. Side narrow rubber block 603. Magnet block two 604. Middle rubber block two 605. Magnetic guide plate two 7. Track pin 8. Chain. Detailed Implementation

[0031] The present invention will be further described below with reference to specific embodiments and accompanying drawings to help understand the content of the present invention.

[0032] like Figure 1-7 As shown, this invention provides a magnetic track mechanism suitable for wall-climbing robots, including a track body, such as... Figure 1-4As shown, the track body includes a track frame 1, sprockets 3, a chain 8, a drive shaft 401, and a driven shaft 402 mounted on the track frame 1. The track frame includes an outer track plate 101, a support rod 103, and an inner track plate 102 connected sequentially from the outside to the inside. The inner track plate 102 is provided with an active connector 201 and a driven connector 202 for connecting the driven mechanism. A sealing ring is installed in the sealing groove of the active connector 201, forming a seal with the sealing section on the drive shaft 401 to prevent liquid from entering. The drive shaft 401 is mounted and positioned by bearings in the outer track plate 101 and the active connector 201. The driven shaft 402 is mounted and positioned by bearings in the outer track plate 101 and the driven connector 202. At least one sprocket 3 for mounting the chain 8 is keyed to the drive shaft 401 and the driven shaft 402. Figure 2 , 7 As shown, the chain 8 is composed of several parallel chain links. Adjacent chain links 5 and 6 are connected alternately and flexibly through track pins 7 to form a closed-loop chain 8. The track pins 7 mesh with the sprockets 3 and drive the sprockets 301 to rotate through the drive shaft 401, thereby moving the chain 8. The drive shaft 401 is driven by a drive assembly.

[0033] like Figure 5 As shown, link 5 includes a magnet bracket 501, a magnet block 503, and a magnetic guide plate 505. The vertically connected magnet bracket 501 and magnetic guide plate 505 form the frame of link 5. There are two magnet blocks 503, which are adsorbed into the grooves on the upper surface of the magnetic guide plate 505. A middle rubber block 504 is filled between the two magnet blocks 503, and side-width rubber blocks 502 are filled between the two magnet blocks 503 and the magnet bracket 501. The upper surfaces of the middle rubber block 504 and the side-width rubber blocks 502 are higher than the upper surfaces of the magnet blocks 503 and the magnet bracket 501. The magnet bracket 501 has through holes at both ends for the track pin 7 to pass through horizontally.

[0034] like Figure 6 As shown, link 2 6 includes a magnet support 2 601, a magnet block 2 603, and a magnetic guide plate 2 605. The magnet support 2 601 and the magnetic guide plate 2 605, which are vertically connected, form the frame of link 2 6. There are two magnet blocks 2 603, which are adsorbed into the grooves on the upper surface of the magnetic guide plate 2 605. A middle rubber block 2 604 is filled between the two magnet blocks 2 603 and the magnet support 2 601. Narrow side rubber blocks 602 are filled between the two magnet blocks 2 603 and the magnet support 2 601, respectively. The upper surfaces of the middle rubber block 2 604 and the narrow side rubber blocks 602 are higher than the upper surfaces of the magnet blocks 2 603 and the magnet support 2 601. The two ends of the magnet support 2 601 have through holes 2 corresponding to through holes 1.

[0035] This invention provides the working principle and process of a magnetic track mechanism suitable for wall-climbing robots:

[0036] I. Wall Adhesion Principle and Process: The magnetic track mechanism adopts permanent magnet adsorption by setting magnet bracket 501, magnet block 503 and magnet bracket 601 magnetic plate 505 on link 5 and link 6, and magnet bracket 601, magnet block 603 and magnetic plate 605 to achieve adsorption on vertical magnetic wall surfaces.

[0037] The specific process is as follows: Several links 5 and 6, which are connected alternately and bendably in sequence, make up the chain 8. When the chain 8 rotates until its magnet is close to the magnetic surface, the positive pressure generated between the chain and the magnetic wall is perpendicular to the magnetic wall. This causes the middle rubber block 504 and the wide side rubber block 502 or the middle rubber block 604 and the narrow side rubber block 602 of link 5 or link 6 to contact the wall. Since the middle rubber block 504, the wide side rubber block 502, the middle rubber block 604 and the narrow side rubber block 602 have low hardness and high roughness, they will generate vertical friction under the action of positive pressure, which balances the gravity, thereby realizing the adsorption of the magnetic track mechanism on the vertical magnetic wall.

[0038] II. Moving Principle and Process: After the magnetic track mechanism completes the adsorption operation on the front wall, the drive shaft 401 obtains power from the drive component and drives the sprocket 301 to rotate, thereby moving the chain 8 and realizing the movement of the passive drive mechanism on the vertical magnetic wall.

[0039] The specific process is as follows: First, the drive assembly needs to output speed and torque to the drive shaft 401, and transmit the speed and torque to the sprocket 3 through the key. The rotation of the sprocket 3 drives the sequential movement of chain link 5 and chain link 6 through the track pin 7, thereby realizing the movement of the chain 8.

[0040] Link 1 5 and link 2 6 have an intermediate rubber block 504 and a wide side rubber block 502 that protrude from the magnet block 503 and the magnet block 603, respectively. During the adsorption process, they come into contact with the wall and have friction. Under the drive of the sprocket 3, they can generate displacement relative to the wall.

[0041] This article uses specific examples to illustrate the inventive concept in detail. The description of the above embodiments is only for the purpose of helping to understand the core idea of ​​the present invention. It should be noted that any obvious modifications, equivalent substitutions or other improvements made by those skilled in the art without departing from the inventive concept should be included within the protection scope of the present invention.

Claims

1. A magnetic track mechanism suitable for wall-climbing robots, characterized in that, The system includes a track body, which comprises a track frame, sprockets, a chain, a drive shaft, and a driven shaft mounted on the track frame. At least one sprocket for mounting the chain is keyed to the drive shaft and the driven shaft. The chain consists of several parallel chain links, with adjacent chain links 1 and 2 connected alternately and flexibly via track pins to form a closed-loop chain. The track pins mesh with the sprockets, driving the sprockets to rotate via the drive shaft, thereby moving the chain. The drive shaft is driven by a drive assembly. The first link includes a magnet bracket, a magnet block, and a magnetic guide plate. The magnet bracket and the magnetic guide plate, which are vertically connected, form the frame of the first link. There are two magnet blocks, which are attracted to the groove on the upper surface of the magnetic guide plate. An intermediate rubber block is filled between the two magnet blocks. Side-width rubber blocks are filled between the two magnet blocks and the magnet bracket. The upper surfaces of the intermediate rubber block and the side-width rubber blocks are higher than the upper surfaces of the magnet block and the magnet bracket. The second link includes a second magnet support, a second magnet block, and a second magnetic guide plate. The second magnet support and the second magnetic guide plate, which are vertically connected, form the frame of the second link. The second magnet block consists of two pieces and is attracted to a groove on the upper surface of the second magnetic guide plate. A second intermediate rubber block is filled between the two second magnet blocks, and a narrow side rubber block is filled between the two second magnet blocks and the second magnet support. The upper surfaces of the second intermediate rubber block and the narrow side rubber block are higher than the upper surfaces of the second magnet block and the second magnet support.

2. The magnetic track mechanism for a wall-climbing robot according to claim 1, characterized in that, The track frame includes an outer track plate, a support rod, and an inner track plate connected sequentially from the outside to the inside.

3. A magnetic track mechanism suitable for a wall-climbing robot according to claim 2, characterized in that, The inner plate of the track is provided with an active connector and a driven connector for connecting the driven mechanism.

4. A magnetic track mechanism suitable for a wall-climbing robot according to claim 3, characterized in that, The drive shaft is installed and positioned via bearings in the track outer plate and the active connector, respectively.

5. A magnetic track mechanism suitable for a wall-climbing robot according to claim 3, characterized in that, The driven shaft is installed and positioned via bearings in the track outer plate and the driven connecting member.

6. A magnetic track mechanism suitable for a wall-climbing robot according to claim 3, characterized in that, The sealing groove of the active connector is equipped with a sealing ring, which forms a seal with the sealing section on the drive shaft to prevent liquid from entering.

Images