Crawling track for magnetic climbing robot

Abstract

The invention relates to a crawling crawler belt for a magnetic climbing robot, which comprises a crawler belt main body, a guide piece and a friction ring, the crawler belt main body comprises a plurality of mutually connected chain link units, and the plurality of chain link units are connected into a ring shape; each chain link unit comprises a chain link and a plurality of magnets, and guide grooves are formed in the two ends of each chain link; magnet mounting grooves are formed in the outer surfaces of the chain links, the magnets are embedded in the magnet mounting grooves, and the multiple magnets are arranged according to a Halbach array; the guiding pieces are symmetrically arranged on the two sides of the crawler belt body, guiding strips are arranged on the guiding pieces, and the guiding strips are inserted into the guiding grooves to form a guiding structure. The friction rings are arranged on two sides of the outer surface of the track body. According to the crawling crawler belt, the multiple chain link units are mutually connected to form the whole annular crawler belt, the multiple magnets are arranged according to a Halbach array, the attraction force of the magnets is increased, and the overall weight of the crawler belt is reduced; the friction winding is arranged on two sides of the outer surface of the track body and is convenient to replace; the crawler belt is simple in structure and low in manufacturing and maintenance cost.

Description

Technical Field

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

[0002] With the development of science and technology, industrial robots can replace humans to complete some dangerous labor operations. Magnetic climbing robots are special robots that can work in space wall environments to complete specific tasks. They can replace humans to effectively complete various tasks in dangerous environments such as high altitudes, such as rust removal and spraying in the shipbuilding industry, cleaning of the exterior surfaces of large buildings, spray painting of large oil tanks in the petrochemical industry, and maintenance of large wind turbine blades.

[0003] The magnetic climbing robot mainly walks on the wall of the working space by magnetic adsorption. In order to increase the friction and improve the stability of the magnetic adsorption track, the existing tracked magnetic climbing robots mostly use magnets with rubber friction blocks. This placement method has the following problems:

[0004] 1. Existing crawlers often use the method of adding friction blocks on the chain links. In order to accommodate and lock the friction blocks, a locking structure needs to be designed on the crawler chain links; existing crawler guides often require the design of special guide structures, so the crawler structure is complex, heavy, and the manufacturing cost is high;

[0005] 2. Some crawlers use multiple friction blocks on a single link. Because the crawler needs to bear most of the weight of the robot, the friction blocks will be frequently squeezed and squeezed. When the robot turns, it is subject to greater friction. Therefore, the friction blocks will often wear out in actual use and need to be replaced regularly. For the entire crawler, dozens or even hundreds of friction blocks need to be replaced, which is difficult to maintain and costly.

[0006] 3. Existing magnetic tracks generally use magnets of ordinary arrangement, but the tracks actually use the suction force of one surface of the magnet, which wastes the magnet's adsorption capacity and cannot achieve the maximum suction application of the magnet. Summary of the invention

[0007] In view of at least one of the problems in the above-mentioned prior art, the purpose of the present invention is to provide a crawling track for a magnetic climbing robot, which is formed by interconnecting multiple link units to form a ring-shaped track as a whole, and multiple magnet blocks are installed on each link. The multiple magnets are arranged according to the Halbach array, which increases the magnet suction force and reduces the overall weight of the track; the friction is wound on both sides of the outer surface of the track body, which is easy to replace.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] A crawling track for a magnetic climbing robot, comprising:

[0010] The crawler body comprises a plurality of mutually connected link units, wherein the plurality of link units are connected in a ring shape; the link unit comprises a link and a plurality of magnets, and both ends of the link are provided with guide grooves; the outer surface of the link is provided with a magnet mounting groove, and the magnet is embedded in the magnet mounting groove, and the plurality of magnets are arranged according to a Halbach array;

[0011] Guide members are symmetrically arranged on both sides of the crawler body, and guide strips are arranged on the guide members. The guide strips are inserted into the guide grooves to form a guide structure.

[0012] The friction ring is wound around the two sides of the outer surface of the crawler body.

[0013] Preferably, each of the chain links is provided with a transmission shaft and an axial hole, and the transmission shaft of one of the two adjacent chain links is inserted into the axial hole of the other chain link.

[0014] Preferably, both ends of the transmission shaft are provided with retaining springs to prevent the transmission shaft from moving in the shaft hole.

[0015] Preferably, a step hole is provided on the outer end surface of the shaft hole, and the retaining ring is located in the step hole.

[0016] Preferably, a transmission shaft mounting hole is provided on the chain link, and the transmission shaft is fixedly mounted in the transmission shaft mounting hole.

[0017] Preferably, dividing platforms are respectively provided at both ends of the magnet installation groove.

[0018] Preferably, the plurality of magnets are arranged in two rows, and the two rows of magnets are respectively located on both sides of the dividing platform.

[0019] Preferably, the guide member is provided with a plurality of mounting holes for connecting with the body of the magnetic climbing robot.

[0020] Preferably, the friction ring is a rubber ring.

[0021] Preferably, bosses are respectively provided on both sides of the outer surface of the chain link, and a positioning groove is provided on the inner wall of the friction ring, and the bosses are embedded in the positioning groove.

[0022] The present invention adopts the above technical solution, which has the following advantages:

[0023] 1. The crawling track for the magnetic climbing robot provided by the present invention is connected to each other by a plurality of link units to form a ring-shaped track as a whole, and a plurality of magnet blocks are installed on each link. The plurality of magnets are arranged according to a Halbach array, which increases the magnetic suction force and reduces the overall weight of the track. The track structure is simple and the manufacturing and maintenance costs are low.

[0024] 2. The crawling track for the magnetic climbing robot provided by the present invention is frictionally wound on both sides of the outer surface of the track body. The positioning groove and the boss cooperate to ensure that the friction ring is not easy to fall off the track body, and the replacement is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of a crawler track for a magnetic climbing robot provided in one embodiment of the present invention.

[0026] Figure 2 It is a schematic structural diagram of a link unit provided in one embodiment of the present invention.

[0027] Figure 3 It is a schematic structural diagram of a chain link provided by an embodiment of the present invention.

[0028] Figure 4 It is a structural schematic diagram of the installation of a guide member and a chain link provided by an embodiment of the present invention.

[0029] Figure 5 It is a schematic diagram of a magnet arrangement provided by an embodiment of the present invention.

[0030] Figure 6 It is a schematic structural diagram of a guide member provided in one embodiment of the present invention.

[0031] Figure 7 It is a schematic structural diagram of a friction ring provided in one embodiment of the present invention.

[0032] Markings in the accompanying drawings:

[0033] 1 is a chain link unit, 11 is a chain link, 1101 is a guide groove, 1102 is a magnet mounting groove, 1103 is a boss, 1104 is a dividing platform, 1105 is a weight reduction hole, 12 is a magnet, 13 is an axis hole, 14 is a transmission shaft, 15 is a retaining spring, 2 is a guide member, 21 is a guide strip, 22 is a mounting hole, 3 is a friction ring, and 31 is a positioning groove. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "front", "backward", etc. are based on the directions 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 system or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. The arrows in the accompanying drawings represent the flow direction of the substance.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "assembly", "setting", and "connection" 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 an indirect connection 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.

[0037] The present invention provides a crawling track for a magnetic climbing robot, which is formed into a ring-shaped track as a whole by connecting a plurality of chain link units to each other, and a plurality of magnet blocks are installed on each chain link. The plurality of magnets are arranged according to a Halbach array, thereby increasing the magnet suction force and reducing the overall weight of the track; the friction winding is arranged on both sides of the outer surface of the track body, which is convenient for replacement; the track structure is simple, and the manufacturing and maintenance costs are low.

[0038] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0039] Example 1

[0040] Please refer to Figures 1 to 4 As shown, a crawling track for a magnetic climbing robot provided in this embodiment includes a track body, a guide 2 and a friction ring 3;

[0041] The crawler body includes a plurality of chain link units 1 connected to each other, and the plurality of chain link units 1 are connected to form a ring; the chain link unit 1 includes a chain link 11 and a plurality of magnets 12, and both ends of the chain link 11 are provided with guide grooves 1101; the outer surface of the chain link 11 is provided with a magnet installation groove 1102, and the magnet 12 is embedded in the magnet installation groove 1102, and the plurality of magnets 12 are arranged according to the Halbach array;

[0042] The guide members 2 are symmetrically arranged on both sides of the crawler body, and the guide members 2 are provided with guide strips 21, which are inserted into the guide grooves 1101 to form a guide structure;

[0043] The friction rings 3 are wound around both sides of the outer surface of the crawler body.

[0044] In specific applications, the crawler body is wound around the wheels of the magnetic climbing robot on the outside and used as the crawler of the magnetic climbing robot. The guide groove 1101 runs through the end face side wall of the chain link 11. The guide bar 21 is a rectangular bar inserted into a plurality of guide grooves 1101. The thickness of the guide bar 21 is less than the width of the guide groove 1101, ensuring that the chain link 11 can move smoothly along the guide bar 21. The crawler body in the guide member 2 is the adsorption surface with the wall of the workspace. The guide structure formed by the guide bar 21 and the guide groove 1101 can prevent at least one chain link 11 located in the guide member 2 from moving up and down in the outward direction, ensuring that the crawler body can be adsorbed on the wall of the workspace with a larger area and firmly.

[0045] Please refer to Figure 2 and Figure 5 As shown, the magnet mounting groove 1102 is a rectangular groove. The magnet 12 can be installed in the magnet mounting groove 1102 by pressing or gluing. Multiple magnets 12 are embedded in the magnet mounting groove 1102 according to the Halbach array arrangement. The Halbach array is a magnet assembly structure, which arranges permanent magnets with different magnetization directions in a certain order, so that the magnetic field on one side of the magnet array is significantly enhanced, so as to achieve the strongest magnetic field with the least amount of magnets. Through the Halbach array arrangement, the magnetic field toward the outside of the track body can be made the strongest, thereby increasing the suction force of the magnet 12 and reducing the overall weight of the track while satisfying the magnetic suction force.

[0046] In this embodiment, each chain link 11 is provided with a transmission shaft 14 and an axial hole 13 , and the transmission shaft 14 of one of two adjacent chain links 11 is inserted into the axial hole 13 of the other chain link 11 .

[0047] Specifically, the crawler body is composed of a plurality of chain link units 1 connected to each other, the transmission shaft 14 is perpendicular to the guide groove 1101, and two adjacent chain link units 1 are connected to the shaft hole 13 through the transmission shaft 14, so the two adjacent chain link units 1 can rotate relative to each other.

[0048] In this embodiment, a transmission shaft mounting hole is provided on the chain link 11 on one side of the transmission shaft 14, and the transmission shaft 14 is fixedly installed in the transmission shaft mounting hole, which makes it more convenient to process the chain link 11 and the transmission shaft 14, and also facilitates installation and subsequent maintenance.

[0049] In this embodiment, retaining springs 15 are provided at both ends of the transmission shaft 14 to prevent the transmission shaft 14 from moving in the shaft hole 13 .

[0050] Specifically, when two adjacent chain links 11 are installed to each other, when the transmission shaft 14 of one of the chain links 11 is inserted into the shaft hole 13 of the other chain link 11, a step hole is provided on the outer end face of the shaft hole 13, and the retaining spring 15 is respectively fixed at both ends of the transmission shaft 14 and is located in the step hole, which can prevent the transmission shaft 14 from moving relative to the shaft hole 13 and protect the retaining spring 15.

[0051] In this embodiment, each magnet 12 is a cube of equal size, and each edge of the magnet 12 is chamfered.

[0052] In this embodiment, two ends of the magnet installation groove 1102 are respectively provided with dividing platforms 1104 .

[0053] Specifically, the dividing platform 1104 is an arc-shaped boss, which divides the magnets 12 installed in the magnet installation groove 1102 into two rows. The two rows of magnets 12 are respectively located on both sides of the dividing platform, so that there is a gap between the two rows of magnets 12, which is convenient for the installation of the magnets 12 and subsequent maintenance.

[0054] Please refer to Figure 6 As shown, in this embodiment, a plurality of mounting holes 22 are provided on the guide member 2 for connection with the body of the magnetic climbing robot.

[0055] Specifically, the mounting holes 22 are distributed at different positions of the guide member 2, and the mounting holes 22 fix the guide member 2 to the body of the magnetic climbing robot by screws, which can prevent the track body and the magnetic climbing robot body from moving relative to each other.

[0056] Please refer to Figure 1 , Figure 2 and Figure 7 As shown, in this embodiment, the friction ring 3 is a rubber ring, and the rubber ring has a certain elasticity; bosses 1103 are respectively provided on both sides of the outer surface of the chain link 11; the inner wall of the friction ring 3 is provided with a positioning groove 31, and the boss 1103 is embedded in the positioning groove 31. The friction ring 3 is wound around the outer side of the track body through the cooperation of the positioning groove 31 and the boss 1103. The cooperation between the two ensures that the friction ring 3 is not easy to fall off from the track body, and it is convenient for later replacement and maintenance.

[0057] In this embodiment, a weight-reducing hole 1105 is opened on the chain link 11 to reduce the weight of the chain link 11 .

[0058] When the crawling track of the magnetic climbing robot of this embodiment is in use, the track body is wound around the wheels of the magnetic climbing robot on the outside, and the guide 2 is fixed on the body of the magnetic climbing robot and located at the lower part of the robot body. When the magnetic climbing robot moves, the guide 2 can ensure that the chain links 11 at the bottom of the track body are better adsorbed on the working surface; the magnets arranged in a Halbach array can make the magnetic field facing the working surface the strongest, and reduce the overall weight of the track while satisfying the magnetic attraction force; the friction ring 3 is wound around the outside of the track body, and can be easily replaced if wear is found.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A crawler track for a magnetic climbing robot, characterized in that: include: The crawler body comprises a plurality of mutually connected link units, wherein the plurality of link units are connected in a ring shape; the link unit comprises a link and a plurality of magnets, and both ends of the link are provided with guide grooves; the outer surface of the link is provided with a magnet mounting groove, and the magnet is embedded in the magnet mounting groove, and the plurality of magnets are arranged according to a Halbach array; Guide members are symmetrically arranged on both sides of the crawler body, and guide strips are arranged on the guide members. The guide strips are inserted into the guide grooves to form a guide structure. The friction ring is wound around the two sides of the outer surface of the crawler body.

2. The crawling track for a magnetic climbing robot according to claim 1, characterized in that: Each of the chain links is provided with a transmission shaft and an axial hole, and the transmission shaft of one of the two adjacent chain links is inserted into the axial hole of the other chain link.

3. The crawling track for a magnetic climbing robot according to claim 2, characterized in that: Both ends of the transmission shaft are provided with retaining springs to prevent the transmission shaft from moving in the shaft hole.

4. The crawling track for a magnetic climbing robot according to claim 2, characterized in that: The outer end surface of the shaft hole is provided with a step hole, and the clamping ring is located in the step hole.

5. The crawling track for a magnetic climbing robot according to claim 2, characterized in that: The chain link is provided with a transmission shaft mounting hole, and the transmission shaft is fixedly mounted in the transmission shaft mounting hole.

6. The crawling track for a magnetic climbing robot according to claim 5, characterized in that: The two ends of the magnet installation groove are respectively provided with dividing platforms.

7. The crawling track for a magnetic climbing robot according to claim 6, characterized in that: The plurality of magnets are arranged in two rows, and the two rows of magnets are respectively located on both sides of the dividing platform.

8. The crawling track for a magnetic climbing robot according to claim 1, characterized in that: The guide member is provided with a plurality of mounting holes for connecting with the body of the magnetic climbing robot.

9. The crawling track for a magnetic climbing robot according to claim 1, characterized in that: The friction ring is a rubber ring.

10. The crawling track for a magnetic climbing robot according to claim 1, characterized in that: Bosses are respectively arranged on both sides of the outer surface of the chain link, and a positioning groove is arranged on the inner wall of the friction ring, and the bosses are embedded in the positioning groove.

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