A multi-axis magnetic adsorption climbing robotic arm mechanism

Abstract

The present invention relates to a multi-axis magnetic adsorption climbing mechanical arm mechanism, belonging to the technical field of wall climbing robots, comprising: a first machine arm, a second machine arm, a first motor, a second motor, a first electromagnetic suction cup and a second electromagnetic suction cup. The present invention connects the first motor and the second motor to the first rod body and the second rod body respectively in a transmission manner. Since the first rod body and the second rod body can be driven by the first motor and the second motor to rotate with the Y axis as the rotation axis, the second motor can be used to drive the first machine arm, the first rod body and the first electromagnetic suction cup to rotate with the Y axis as the rotation axis. After the first electromagnetic suction cup is away from a metal wall, the first motor is used to flip the first rod body and the first electromagnetic suction cup. Finally, the second motor is used to continue to drive the first machine arm, the first rod body and the first electromagnetic suction cup to rotate with the Y axis as the rotation axis until the first electromagnetic suction cup contacts the metal wall. The climbing movement in any straight line direction can be completed autonomously.

Description

Technical Field

[0001] The invention relates to the technical field of wall-climbing robots, and particularly relates to a multi-axis magnetic adsorption climbing robotic arm mechanism. Background Art

[0002] With the gradual intelligentization of the global manufacturing industry, as an automated mechanical device for high-altitude extreme operations, wall-climbing robots have received increasing attention and have been widely used in multiple fields, such as ship surface processing, large tank wall cleaning and processing, etc.

[0003] Wall-climbing robots mainly include crawler-type, wheel-type, and foot-type robots. Among them, crawler-type wall-climbing robots, such as a crawler-type electromagnetic chuck adsorption wall-climbing robot walking mechanism with the patent number CN107310651A. The disadvantages of this type of wall-climbing robot are high self-weight, large torque motors are required to drive the crawlers to overcome the adsorption resistance of the electromagnetic chuck during movement and the energy consumption is high. A large turning radius is required during turning, resulting in poor flexibility and obstacle-crossing ability; wheel-type wall-climbing robots, such as a wheel-type wall-climbing robot with the patent number CN115257989A. The disadvantages of this type of wall-climbing robot are that the suction force is limited due to the line contact between the magnetic adsorption element and the wall surface, and the obstacle-crossing ability is poor. Bumps will occur when the magnetic wheel moves on a locally uneven wall surface, and when the bumps are transmitted from the magnetic wheel to each component of the robot, it may cause failures or even the entire robot to fall; foot-type wall-climbing robots, such as a foot-type wall-climbing robot with the patent number CN113492931A. The disadvantages of this type of wall-climbing robot are that the number of installed electromagnets is often fixed, and due to the limitation of the leg length, the center of gravity during operation is far from the wall surface, resulting in a large overturning moment and low stability.

[0004] Therefore, how to design a magnetic adsorption climbing robotic arm mechanism that can climb autonomously in various environments, is flexible, has strong obstacle-crossing ability and high stability is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The invention provides a multi-axis magnetic adsorption climbing robotic arm mechanism to solve the technical problems of poor flexibility, insufficient obstacle-crossing ability and insufficient stability of existing wall-climbing robots.

[0006] The technical solution for the invention to solve the above technical problems is as follows. A multi-axis magnetic adsorption climbing robotic arm mechanism includes: a first robotic arm, a second robotic arm, a first motor, a second motor, a first electromagnetic chuck and a second electromagnetic chuck.

[0007] The sagittal axis of the first robotic arm is the X-axis, the coronal axis is the Y-axis, and the vertical axis is the Z-axis. Then the XY plane is the horizontal plane of the first robotic arm, the YZ plane is the coronal plane of the first robotic arm, and the XZ plane is the sagittal plane of the first robotic arm.

[0008] The second machine arm comprises a first rod body and a second rod body, and the first rod body and the second rod body are both arranged along the X-axis direction;

[0009] The first motor and the second motor are separated by a predetermined distance and their housings are fixed on the first arm. The rotation axes of the output shafts of the first motor and the second motor are parallel to the Y-axis direction and the output shafts are respectively connected to the first rod body and the second rod body in a transmission manner. The first motor and the second motor respectively drive the first rod body and the second rod body to rotate with the Y-axis direction as the rotation axis direction.

[0010] The first electromagnetic chuck and the second electromagnetic chuck are respectively fixed to one end of the first rod body and the second rod body away from the first machine arm.

[0011] The beneficial effect of the invention is as follows: by connecting the first motor and the second motor to the first rod body and the second rod body respectively, since the first rod body and the second rod body can be rotated with the Y-axis as the rotation axis respectively driven by the first motor and the second motor, the second motor can be used to reversely drive the first arm, the first rod body and the first electromagnetic suction cup to rotate with the Y-axis as the rotation axis, and after the first electromagnetic suction cup is away from the adsorbed metal wall; the first motor is used to flip the first rod body and the first electromagnetic suction cup; finally, the second motor is used to continue to drive the first arm, the first rod body and the first electromagnetic suction cup to rotate with the Y-axis as the rotation axis until the first electromagnetic suction cup contacts the metal wall again; this cycle is repeated, and climbing movement in any straight line direction can be completed autonomously.

[0012] Instructions for arbitrary straight line climbing of the robotic arm:

[0013] The robotic arm mechanism is placed along the straight line direction that needs to be moved, and the first electromagnetic suction cup and the second electromagnetic suction cup are turned on at the same time to be adsorbed on the metal wall. Then, the first electromagnetic suction cup is turned off first and the second motor is turned on. The second motor is used to drive the first arm, the first rod body and the first electromagnetic suction cup to rotate with the Y axis as the rotation axis in the opposite direction. After the first electromagnetic suction cup is away from the metal wall; the second motor is turned off and the first motor is turned on. The first motor is used to drive the first rod body and the first electromagnetic suction cup to rotate 180° with the Y axis as the rotation axis; finally, the first motor is turned off and the second motor is turned on. The second motor is used to continue to drive the first arm, the first rod body and the first electromagnetic suction cup to continue to rotate with the Y axis as the rotation axis until the first electromagnetic suction cup contacts the metal wall. The first electromagnetic suction cup is turned on and adsorbed on the metal wall, and this cycle is repeated. The autonomous climbing of the robotic arm mechanism in any straight line direction can be realized.

[0014] On the basis of the above technical solution, the invention can also be improved as follows.

[0015] Further, it further includes a third motor. The first robotic arm includes a first cylinder and a second cylinder. The first cylinder and the second cylinder are arranged in sequence along the Z-axis direction and are offset in the Y direction. The first rod and the second rod are respectively arranged at the ends of the first cylinder and the second cylinder that are away from each other. The housings of the first motor and the second motor are respectively fixed at the ends of the first cylinder and the second cylinder that are away from each other. The housing of the third motor is fixed on the first cylinder, and the rotation axis of its output shaft is parallel to the Y-axis direction. The output shaft of the third motor is in transmission connection with the second cylinder and drives the second cylinder to rotate with the Y-axis as the rotation axis.

[0016] The beneficial effect of the above further aspect is that by dividing the first robotic arm into a first cylinder and a second cylinder, since the third motor is fixed on the first cylinder and can drive the second cylinder to rotate with the Y-axis as the rotation axis, the included angle between the first cylinder and the second cylinder in the sagittal plane can be changed, thereby improving the obstacle-crossing and climbing ability of the robotic arm mechanism when it moves linearly.

[0017] Further, it further includes a fourth motor and a fifth motor. The first electromagnetic chuck and the second electromagnetic chuck have the same structure and both include a steering plate and an electromagnet assembly. One side plates of the two steering plates are respectively vertically fixed at the ends of the first rod and the second rod that are away from the first cylinder or away from the first cylinder. The two electromagnet assemblies are respectively fixed on the other side plates of the two steering plates that are away from the corresponding first rod or away from the corresponding second rod. The fourth motor is fixed on the first rod, and the rotation axis of its output shaft is parallel to the X-axis direction. The fifth motor is fixed on the second rod, and the rotation axis of its output shaft is parallel to the X-axis direction. The output shafts of the fourth motor and the fifth motor are respectively in transmission connection with the two steering plates and respectively drive the two steering plates to rotate with the X-axis as the rotation axis.

[0018] The beneficial effect of the above further aspect is that by respectively fixing the output shafts of the fourth motor and the fifth motor at the ends of the first rod and the second rod that are close to the first cylinder or close to the second cylinder, since the fourth motor and the fifth motor can respectively drive the steering plate to rotate with the X-axis as the rotation axis, when the robotic arm mechanism moves linearly, turning on the fourth motor or the fifth motor can change the landing position of the steering wheel in the coronal plane, thereby autonomously changing the climbing direction of the robotic arm mechanism.

[0019] Further, the steering plate is of a triangular structure.

[0020] Further, each of the first electromagnetic chuck or the second electromagnetic chuck includes three electromagnets, and the three electromagnets are fixed at the three corners of the triangle of the steering plate in a triangular shape.

[0021] Furthermore, it further includes a sixth motor, which is fixed on the output shaft of the third motor and the rotation axis of its output shaft is parallel to the Y-axis direction. The output shaft of the sixth motor is fixed on the side wall of the second cylinder near the first cylinder and drives the second cylinder to rotate with the Z-axis as the rotation axis.

[0022] The beneficial effect of the above further aspect is that by fixing the sixth motor on the output shaft of the third motor, since the sixth motor can drive the second cylinder to rotate with the Z-axis as the rotation axis, the climbing robotic arm mechanism can switch and climb between adjacent metal walls, thereby improving the flexibility of the climbing robotic arm mechanism.

[0023] Furthermore, the first motor, the second motor, the third motor, the fourth motor, the fifth motor and the sixth motor are all servo motors. Description of the Drawings

[0024] Figure 1 FIG. is a side perspective structural schematic diagram of a multi-axis magnetic adsorption climbing robotic arm mechanism of the invention;

[0025] Figure 2 FIG. is a top perspective structural schematic diagram of a multi-axis magnetic adsorption climbing robotic arm mechanism of the invention;

[0026] Figure 3 FIG. is a side structural schematic diagram of a multi-axis magnetic adsorption climbing robotic arm mechanism of the invention;

[0027] Figure 4 FIG. is a top structural schematic diagram of a multi-axis magnetic adsorption climbing robotic arm mechanism of the invention.

[0028] In the drawings, the list of components represented by each reference numeral is as follows:

[0029] 1. First robotic arm, 11. First cylinder, 12. Second cylinder, 2. Second robotic arm, 21. First rod, 22. Second rod, 3. First motor, 4. Second motor, 5. First electromagnetic chuck, 6. Second electromagnetic chuck, 7. Steering plate, 8. Electromagnet, 9. Third motor, 10. Fourth motor, 13. Fifth motor, 14. Sixth motor. Detailed Embodiments

[0030] The principles and features of the invention will be described below with reference to the drawings. The examples given are only for explaining the invention and are not intended to limit the scope of the invention.

[0031] As Figure 1 shown, a multi-axis magnetic adsorption climbing robotic arm mechanism includes: a first robotic arm 1, a second robotic arm 2, a first motor 3, a second motor 4, a first electromagnetic chuck 5 and a second electromagnetic chuck 6.

[0032] The sagittal axis of the first machine arm 1 is the X axis, the coronal axis is the Y axis, and the vertical axis is the Z axis;

[0033] The second arm 2 includes a first rod 21 and a second rod 22, and the first rod 21 and the second rod 22 are both arranged along the X-axis direction;

[0034] The first motor 3 and the second motor 4 are separated by a predetermined distance and their housings are fixed on the first arm 1. The rotation axes of the output shafts of the first motor 3 and the second motor 4 are parallel to the Y-axis direction and the output shafts are respectively connected to the first rod 21 and the second rod 22 in a transmission manner. The first motor 3 and the second motor 4 respectively drive the first rod 21 and the second rod 22 to rotate with the Y-axis direction as the rotation axis direction;

[0035] The first electromagnetic chuck 5 and the second electromagnetic chuck 6 are respectively fixed to one end of the first rod 21 and the second rod 22 away from the first machine arm 1 .

[0036] In some specific embodiments, a third motor 9 may also be included, the first arm 1 includes a first column 11 and a second column 12, the first column 11 and the second column 12 are arranged in sequence along the Z-axis direction and staggered along the Y-direction; the first rod 21 and the second rod 22 are respectively arranged at one end of the first column 11 and the second column 12 away from each other; the housings of the first motor 3 and the second motor 4 are respectively fixed at one end of the first column 11 and the second column 12 away from each other; the housing of the third motor 9 is fixed on the first column 11 and the rotation axis of its output shaft is parallel to the Y-axis direction, the output shaft of the third motor 9 is transmission connected to the second column 12 and drives the second column 12 to rotate with the Y-axis as the rotation axis.

[0037] 1. In some specific embodiments, a fourth motor 10 and a fifth motor 13 may also be included. The first electromagnetic suction cup 5 and the second electromagnetic suction cup 6 have the same structure and both include a steering plate 7 and an electromagnet assembly. One side plate surface of the two steering plates 7 is respectively vertically fixed to one end of the first rod body 21 and the second rod body 22 away from the first column 11 or away from the first column 12; the two electromagnet assemblies are respectively fixed to the other side plate surfaces of the two steering plates 7 away from the corresponding first rod body 21 or away from the corresponding second rod body 22; the fourth motor 10 is fixed on the first rod body 21 and the rotation axis of its output shaft is parallel to the X-axis direction, the fifth motor 13 is fixed on the second rod body 22 and the rotation axis of its output shaft is parallel to the X-axis direction, and the output shafts of the fourth motor 10 and the fifth motor 13 are respectively connected to the two steering plates 7 in transmission connection and respectively drive the two steering plates 7 to rotate with the X-axis as the rotation axis.

[0038] In some specific embodiments, the deflection plate 7 may be a triangular structure.

[0039] In some specific embodiments, both of the two electromagnet assemblies may include three electromagnets 8 arranged in a group, and the three electromagnets 8 are fixed in a triangular shape at the triangle of the steering plate 7.

[0040] In some specific embodiments, a sixth motor 14 may further be included. The housing of the sixth motor 14 is fixed on the output shaft of the third motor 9, and the rotation axis of its output shaft is parallel to the Y-axis direction. The output shaft of the sixth motor 14 is fixed to the side wall of the second cylinder 12 near one end close to the first cylinder 11 and drives the second cylinder 12 to rotate about the Z-axis as the rotation axis.

[0041] In some specific embodiments, the first motor 3, the second motor 4, the third motor 9, the fourth motor 10, the fifth motor 13, and the sixth motor 14 may all be servomotors.

[0042] The above are only the preferred embodiments of the invention, and are not intended to limit the invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the invention shall be included within the protection scope of the invention.

Claims

1. A multi-axis magnetic adsorption climbing robotic arm mechanism, characterized in that, Comprising: A first robotic arm (1), a second robotic arm (2), a first motor (3), a second motor (4), a first electromagnetic chuck (5) and a second electromagnetic chuck (6), The sagittal axis of the first robotic arm (1) is the X-axis, the coronal axis is the Y-axis, and the vertical axis is the Z-axis; The second robotic arm (2) includes a first rod body (21) and a second rod body (22), and both the first rod body (21) and the second rod body (22) are arranged along the X-axis direction; The first motor (3) and the second motor (4) are separated by a predetermined distance and their casings are both fixed on the first robotic arm (1). The rotation axes of the output shafts of the first motor (3) and the second motor (4) are both parallel to the Y-axis direction, and their output shafts are respectively in transmission connection with the first rod body (21) and the second rod body (22). The first motor (3) and the second motor (4) respectively drive the first rod body (21) and the second rod body (22) to rotate with the Y-axis direction as the rotation axis direction; The first electromagnetic chuck (5) and the second electromagnetic chuck (6) are respectively fixed at one ends of the first rod body (21) and the second rod body (22) away from the first robotic arm (1); It further includes a third motor (9). The first robotic arm (1) includes a first cylinder (11) and a second cylinder (12). The first cylinder (11) and the second cylinder (12) are arranged in sequence along the Z-axis direction and are arranged offset in the Y direction; the first rod body (21) and the second rod body (22) are respectively arranged at one ends of the first cylinder (11) and the second cylinder (12) away from each other; the casings of the first motor (3) and the second motor (4) are respectively fixed at one ends of the first cylinder (11) and the second cylinder (12) away from each other; the casing of the third motor (9) is fixed on the first cylinder (11) and the rotation axis of its output shaft is parallel to the Y-axis direction. The output shaft of the third motor (9) is in transmission connection with the second cylinder (12) and drives the second cylinder (12) to rotate with the Y-axis as the rotation axis; It further includes a fourth motor (10) and a fifth motor (13). The first electromagnetic chuck (5) and the second electromagnetic chuck (6) have the same structure and each includes a steering plate (7) and an electromagnet assembly. One side plate surfaces of the two steering plates (7) are respectively perpendicularly fixed to one end of the first rod body (21) away from the first column body (11) and one end of the second rod body (22) away from the second column body (12); the two electromagnet assemblies are respectively fixed to the other side plate surfaces of the two steering plates (7); the fourth motor (10) is fixed on the first rod body (21) and the rotation axis of its output shaft is parallel to the X-axis direction, the fifth motor (13) is fixed on the second rod body (22) and the rotation axis of its output shaft is parallel to the X-axis direction, the output shafts of the fourth motor (10) and the fifth motor (13) are respectively in transmission connection with the two steering plates (7) and respectively drive the two steering plates (7) to rotate with the X-axis as the rotation axis; The steering plate (7) is of a triangular structure; It further includes a sixth motor (14). The housing of the sixth motor (14) is fixed on the output shaft of the third motor (9) and the rotation axis of its output shaft is parallel to the Y-axis direction. The output shaft of the sixth motor (14) is fixed to the side wall of the second column body (12) near the first column body (11) and drives the second column body (12) to rotate with the Z-axis as the rotation axis.

2. The multi-axis magnetic adsorption climbing robotic arm mechanism according to claim 1, wherein Both of the two electromagnet assemblies include three grouped electromagnets (8), and the three electromagnets (8) are fixed in a triangle at the triangle of the steering plate (7).

3. The multi-axis magnetic adsorption climbing robotic arm mechanism according to claim 1, characterized in that, The first motor (3), the second motor (4), the third motor (9), the fourth motor (10), the fifth motor (13) and the sixth motor (14) are all servos.

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