Permanent magnet adsorption type wall-climbing robot with self-adaptive variable-curvature magnetic conductive wall surface

Abstract

The invention belongs to the technical field of wall-climbing robots, and provides a permanent magnet adsorption type wall-climbing robot of a self-adaptive variable-curvature magnetic conductive wall surface, which comprises permanent magnet driving mechanisms, a magnetic adsorption assembly, a self-adaptive mechanism, a rack and a control unit, the permanent magnet driving mechanisms are symmetrically arranged on the two sides of the rack, and the permanent magnet driving mechanisms are connected with the rack through the self-adaptive mechanism; a motor reducer of the permanent magnet driving mechanism is connected with a driving rod of the self-adaptive mechanism, a swing arm piece of the self-adaptive mechanism is rotationally connected with a swing piece of the rack, a first rotating piece of the magnetic adsorption assembly is connected with a middle connecting plate of the rack, the control unit is arranged on the middle connecting plate of the rack, and the wall-climbing robot is controlled by the control unit to move. Through the permanent magnet driving mechanism formed by matching the permanent magnet driving group and the driving magnet, the wall-climbing robot has relatively high adsorption capacity and bearing capacity, passively adapts to the variable-curvature magnetic wall surface through the self-adaptive mechanism, and can be widely applied to wall surfaces with various curvatures to realize multi-scene detection.

Description

Technical Field

[0001] The invention belongs to the technical field of wall-climbing robots, and in particular relates to a permanent magnetic adsorption wall-climbing robot that is adaptive to a variable curvature magnetic conductive wall surface. Background Art

[0002] The wall-climbing robot is an automated robot that can climb and complete tasks on vertical walls. It has the advantages of strong environmental adaptability, high degree of automation, and high work efficiency. It is mainly adsorbed to the wall through negative pressure adsorption, magnetic adsorption, etc., and can be widely used in scenes such as fire rescue, ship rust removal, and chemical tank cleaning, replacing manual work to complete dangerous and heavy high-altitude operations.

[0003] Most existing wall-climbing robots use permanent magnets as their main adsorption device. In practical applications, they may have problems such as weak load-bearing capacity and poor surface adaptability. Due to the limitations of the adsorption mechanism and mechanical structure, these robots often find it difficult to maintain a stable attachment state when carrying heavy loads, limiting their operating range and efficiency. At the same time, their designs mostly tend to be in a flat operating environment. When facing curved walls, they lack sufficient flexibility and adaptability, making it difficult to achieve stable crawling on surfaces with different curvatures. These limitations have become the main challenges in the development of current magnetic wall-climbing robot technology.

[0004] Therefore, it is necessary to propose a permanent magnetic adsorption wall-climbing robot that can adapt to variable curvature magnetic walls. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a permanent magnetic adsorption wall-climbing robot that is adaptive to variable curvature magnetic walls. The permanent magnetic drive mechanism composed of a permanent magnetic drive group and a driving magnet is used to enable the wall-climbing robot to have strong adsorption ability and carrying capacity, and the adaptive mechanism can passively adapt to variable curvature magnetic walls, so that the robot has good adaptive ability on complex variable curvature magnetic walls, and can be widely used in a variety of curvature walls to realize multi-scene detection.

[0006] The present invention provides a permanent magnetic adsorption type wall climbing robot for adaptive variable curvature magnetic conductive wall surface, which comprises a permanent magnetic drive mechanism, a magnetic adsorption component and an adaptive mechanism, wherein the permanent magnetic drive mechanism is symmetrically arranged on both sides of a frame, the permanent magnetic drive mechanism is connected to the frame through the adaptive mechanism, the motor reducer of the permanent magnetic drive mechanism is connected to the driving rod of the adaptive mechanism, the swing arm of the adaptive mechanism is rotatably connected to the swing member of the frame, the first rotating member of the magnetic adsorption component is connected to the middle connecting plate of the frame, the permanent magnetic drive mechanism comprises a driving wheel, a permanent magnetic drive group, a mounting frame, a driving magnet and a motor reducer, a plurality of magnets of the permanent magnetic drive group are arranged in magnet grooves on the outer peripheral surface of the driving wheel at equal intervals along the circumference, the driving magnet is connected to the motor reducer through the mounting frame, the driving wheels are symmetrically arranged on both sides of the motor reducer, the output ends of the motor reducer are respectively connected to the middle parts of the driving wheels on both sides and drive them to rotate, the plurality of magnets comprises a first permanent magnet and a second permanent magnet, the magnetic field directions of the first permanent magnet and the second permanent magnet are opposite and adjacent Setting; the magnetic adsorption component includes a first adsorption component and a second adsorption component, the first adsorption component includes a first rotating member, a first U-shaped magnet, a universal wheel and a first magnet frame, the universal wheel is symmetrically arranged on both sides of the first rotating member, and the first U-shaped magnet is connected to the first rotating member through the first magnet frame; the second adsorption component includes a nylon wheel, a connecting plate, a rotating member and a second rotating member, a second magnet frame and a second U-shaped magnet, the nylon wheel is symmetrically arranged on both sides of the rotating member and the second rotating member, the second U-shaped magnet is connected to the second rotating member through the second magnet frame, and the middle part of the connecting plate is rotatably connected to the middle part of the rotating member and the second rotating member through a bearing; the adaptive mechanism includes a driving rod and a swing arm member, a plurality of driving rods are arranged in parallel with each other, the first end of the driving rod is connected to the motor reducer, the second end of the driving rod is connected to the first end of the swing arm member through a locking collar, the ear seat at the second end of the swing arm member is rotatably connected to the hinge joint of the swing member in the frame, and the permanent magnet driving mechanism rotates around the frame to make the driving wheel adaptively fit the variable curvature magnetic conductive wall surface.

[0007] Preferably, the plurality of magnets are cylindrical magnets or sector magnets.

[0008] Preferably, the magnetic field direction of the first permanent magnet is radially outward, and the magnetic field direction of the second permanent magnet is radially inward.

[0009] Preferably, the driving magnet, the first U-shaped magnet and the second U-shaped magnet are all neodymium iron boron magnets.

[0010] Preferably, the number of the first U-shaped magnets and the second U-shaped magnets is 2m, where m is a natural number and m≧2.

[0011] Preferably, the outer side of the driving wheel is provided with anti-skid parts arranged at equal intervals along the circumference, and the material of the anti-skid parts is polyurethane, rubber coating, epoxy resin or nylon.

[0012] Preferably, a damper is provided at the rotation point of the swing arm member and the swing member of the frame.

[0013] Preferably, the multiple magnets also include a third permanent magnet, a fourth permanent magnet, a fifth permanent magnet, a sixth permanent magnet, a seventh permanent magnet and an eighth permanent magnet, and the magnets are arranged in a circular array at intervals. The magnetization direction of the first permanent magnet, the third permanent magnet, the fifth permanent magnet and the seventh permanent magnet is radially outward, and the magnetization direction of the second permanent magnet, the fourth permanent magnet, the sixth permanent magnet and the eighth permanent magnet is radially inward. The third permanent magnet has opposite magnetization directions to the fourth permanent magnet and is adjacent to it. The fifth permanent magnet has opposite magnetization directions to the sixth permanent magnet and is adjacent to it. The seventh permanent magnet has opposite magnetization directions to the eighth permanent magnet and is adjacent to it.

[0014] Preferably, it also includes a control unit arranged on the middle connecting plate of the frame, and the movement of the permanent magnetic drive mechanism, the magnetic adsorption component and the adaptive mechanism is controlled by the control unit; the control unit includes an embedded system, a wireless communication module, a motor drive module and a PC end, the embedded system receives the information transmitted to the control unit as a whole and transmits it to the PC end through the wireless communication module, the PC end returns the control parameters to the embedded system through the wireless communication module, and the embedded system sends the control instructions to the motor drive module to control the movement of the permanent magnetic drive mechanism, the magnetic adsorption component and the adaptive mechanism.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] The permanent magnetic adsorption type wall climbing robot of the present invention, which is adaptive to variable curvature magnetic conductive wall surfaces, has a permanent magnetic drive mechanism formed by the cooperation of a permanent magnetic drive group and a driving magnet, so that the wall climbing robot has a strong adsorption ability and carrying capacity, and can passively adapt to variable curvature magnetic wall surfaces through the adaptive mechanism, so that the robot has good adaptive ability on complex variable curvature magnetic conductive wall surfaces, and has a more compact structure, higher stability, and strong adaptability. It can be widely applied to various curvature walls to realize multi-scene detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The overall structural diagram of the permanent magnetic adsorption wall-climbing robot of the present invention which is adaptive to the variable curvature magnetic conductive wall surface;

[0018] Figure 2 It is a front view of the permanent magnetic adsorption type wall-climbing robot with adaptive variable curvature magnetic conductive wall surface of the present invention;

[0019] Figure 3 It is a side view of the permanent magnetic adsorption type wall-climbing robot with adaptive variable curvature magnetic conductive wall surface of the present invention;

[0020] Figure 4 A top view of the permanent magnetic adsorption wall-climbing robot with adaptive variable curvature magnetic conductive wall surface of the present invention;

[0021] Figure 5 It is a structural schematic diagram of the permanent magnet drive mechanism in the present invention;

[0022] Figure 6 It is a schematic structural diagram of the first adsorption component in the present invention;

[0023] Figure 7 It is a structural schematic diagram of the second adsorption component in the present invention;

[0024] Figure 8 It is a structural schematic diagram of the adaptive mechanism in the present invention;

[0025] Fig. 9 It is a structural schematic diagram of the frame in the present invention;

[0026] Fig.10 It is a schematic diagram of the positions of the magnets in the permanent magnet drive group of the present invention;

[0027] Fig.11 It is the magnetic induction intensity cloud diagram of the U-shaped magnet in the present invention;

[0028] Fig.12 It is a cloud diagram of magnetic induction intensity of the permanent magnet array in the present invention.

[0029] Main drawings marked:

[0030] Permanent magnetic drive mechanism 1, anti-slip part 11, drive wheel 12, permanent magnetic drive group 13, first permanent magnet 131, second permanent magnet 132, third permanent magnet 133, fourth permanent magnet 134, fifth permanent magnet 135, sixth permanent magnet 136, seventh permanent magnet 137, eighth permanent magnet 138, mounting frame 14, drive magnet 15, motor reducer 16, magnetic adsorption component 2, first rotating part 21, first U-shaped magnet 23, universal wheel 24, first magnet frame 25, connecting plate 26, second rotating part 27, nylon wheel 28, second magnet frame 29, second U-shaped magnet 30, adaptive mechanism 3, drive rod 31, swing arm part 32, frame 4, swing part 41, middle connecting plate 42, control unit 5. DETAILED DESCRIPTION

[0031] In order to fully describe the technical content, structural features, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0032] The permanent magnetic adsorption type wall climbing robot of the present invention which is adaptive to the variable curvature magnetic conductive wall surface, such as Figure 1 to Figure 4 As shown, it includes a permanent magnetic drive mechanism 1, a magnetic adsorption component 2, an adaptive mechanism 3, a frame 4 and a control unit 5. The permanent magnetic drive mechanism 1 is symmetrically arranged on both sides of the frame 4. The permanent magnetic drive mechanism 1 is connected to the frame 4 through the adaptive mechanism 3. The motor reducer 16 of the permanent magnetic drive mechanism 1 is connected to the drive rod 31 of the adaptive mechanism 3. The swing arm member 32 of the adaptive mechanism 3 is rotatably connected to the swing member 41 of the frame 4. The first rotating member 21 of the magnetic adsorption component 2 is connected to the middle connecting plate 42 of the frame 4. The control unit 5 is arranged on the middle connecting plate 42 of the frame 4. The permanent magnetic drive mechanism 1, the magnetic adsorption component 2 and the adaptive mechanism 3 are controlled to move by the control unit 5. The control unit 5 includes an embedded system, a wireless communication module, a motor drive module and a PC end. The embedded system receives the information transmitted to the control unit 5 as a whole and transmits it to the PC end through the wireless communication module. The PC end returns the control parameters to the embedded system through the wireless communication module, and the embedded system sends the control instructions to the motor drive module to control the movement of the permanent magnetic drive mechanism 1, the magnetic adsorption component 2 and the adaptive mechanism 3.

[0033] like Figure 5 As shown, the permanent magnet drive mechanism 1 includes a drive wheel 12, a permanent magnet drive group 13, a mounting frame 14, a drive magnet 15 and a motor reducer 16. The outer side of the drive wheel 12 is provided with an anti-slip member 11 arranged at equal intervals along the circumference. The material of the anti-slip member 11 is polyurethane, rubber lagging, epoxy resin or nylon. Multiple magnets of the permanent magnet drive group 13 are arranged at equal intervals along the circumference in the magnet grooves on the outer peripheral surface of the drive wheel 12. The drive magnet 15 is connected to the motor reducer 16 through the mounting frame 14. The drive wheels 12 are symmetrically arranged on both sides of the motor reducer 16. The output ends of the motor reducer 16 are respectively connected to the middle parts of the drive wheels 12 on both sides and drive them to rotate.

[0034] like Figure 6 and Figure 7As shown, the magnetic adsorption component 2 includes a first adsorption component and a second adsorption component, the first adsorption component includes a first rotating member 21, a first U-shaped magnet 23, a universal wheel 24 and a first magnet frame 25, the universal wheel 24 is symmetrically arranged on both sides of the first rotating member 21, and the first U-shaped magnet 23 is connected to the first rotating member 21 through the first magnet frame 25; the second adsorption component includes a nylon wheel 28, a connecting plate 26, a rotating member and a second rotating member 27, a second magnet frame 29 and a second U-shaped magnet 30, the nylon wheel 28 is symmetrically arranged on both sides of the rotating member and the second rotating member 27, the second U-shaped magnet 30 is connected to the rotating member and the second rotating member 27 through the second magnet frame 29, the middle part of the connecting plate 26 is rotatably connected to the middle part of the second rotating member 27 through a bearing, the number of the first U-shaped magnet 23 and the second U-shaped magnet 30 is 2m, m is a natural number and m≧2, the driving magnet 15, the first U-shaped magnet 23 and the second U-shaped magnet 30 are all neodymium iron boron magnets.

[0035] like Figure 8 and Fig. 9 As shown, the adaptive mechanism 3 includes a driving rod 31 and a swing arm 32. A plurality of driving rods 31 are arranged parallel to each other. The first end of the driving rod 31 is connected to the motor reducer 16. The second end of the driving rod 31 is connected to the first end of the swing arm 32 through a locking collar. The ear seat at the second end of the swing arm 32 is rotatably connected to the hinge joint of the swing member 41 in the frame 4. A damper is provided at the rotation point between the swing arm 32 and the swing member 41 of the frame 4. The permanent magnet driving mechanism 1 rotates around the frame 4, so that the driving wheel 12 adaptively fits the variable curvature magnetic conductive wall surface.

[0036] like Fig.10 As shown, the multiple magnets in the permanent magnet drive group 13 include a first permanent magnet 131 and a second permanent magnet 132. The magnetic field directions of the first permanent magnet 131 and the second permanent magnet 132 are opposite and they are arranged adjacent to each other. The multiple magnets are cylindrical magnets or fan-shaped magnets. The magnetic field direction of the first permanent magnet 131 is radially outward, and the magnetic field direction of the second permanent magnet 132 is radially inward. The multiple magnets also include a third permanent magnet 133, a fourth permanent magnet 134, a fifth permanent magnet 135, a sixth permanent magnet 136, a seventh permanent magnet 137 and an eighth permanent magnet 138, and the magnets are arranged in a circular array at intervals. The first permanent magnet 131, the third permanent magnet 133, the fifth permanent magnet 135 and the seventh permanent magnet 137 are magnetized radially outward, the second permanent magnet 132, the fourth permanent magnet 134, the sixth permanent magnet 136 and the eighth permanent magnet 138 are magnetized radially inward, the third permanent magnet 133 and the fourth permanent magnet 134 have opposite magnetization directions and are adjacent to each other, the fifth permanent magnet 135 and the sixth permanent magnet 136 have opposite magnetization directions and are adjacent to each other, and the seventh permanent magnet 137 and the eighth permanent magnet 138 have opposite magnetization directions and are adjacent to each other.

[0037] like Fig.11 and Fig.12 As shown, the wall-climbing robot of the present invention uses a permanent magnet model of NdFeB N48M, with an operating temperature of up to 100°C. The gap between the permanent magnet and the metal wall is set to 3mm when the wall-climbing robot works normally. A permanent magnet array and a U-shaped magnet model of the permanent magnet wheel group are established, parameters are configured, and simulation analyses are performed on them respectively to obtain the simulated magnetic force and magnetic induction intensity cloud map of the driving wheel permanent magnet.

[0038] The permanent magnetic adsorption type wall climbing robot of the present invention, which is adaptive to variable curvature magnetic conductive wall surfaces, has a permanent magnetic drive mechanism 1 formed by the cooperation of the permanent magnetic drive group 13 and the drive magnet 15, so that the wall climbing robot has a strong adsorption ability and carrying capacity, and can passively adapt to the variable curvature magnetic wall surface through the adaptive mechanism 3, so that the robot has good adaptive ability on the complex variable curvature magnetic conductive wall surface, and the structure is more compact, the stability is higher, and the adaptability is strong. It can be widely applied to various curvature walls to realize multi-scene detection.

[0039] The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A permanent magnetic adsorption wall-climbing robot that adapts to variable curvature magnetic conductive wall surfaces, characterized in that: It includes a permanent magnetic drive mechanism, a magnetic adsorption component and an adaptive mechanism. The permanent magnetic drive mechanism is symmetrically arranged on both sides of the frame, the permanent magnetic drive mechanism is connected to the frame through the adaptive mechanism, the motor reducer of the permanent magnetic drive mechanism is connected to the driving rod of the adaptive mechanism, the swing arm of the adaptive mechanism is rotatably connected to the swing member of the frame, and the first rotating member of the magnetic adsorption assembly is connected to the middle connecting plate of the frame; The permanent magnet drive mechanism comprises a driving wheel, a permanent magnet drive group, a mounting frame, a driving magnet and a motor reducer, wherein a plurality of magnets of the permanent magnet drive group are arranged in magnet grooves on the outer peripheral surface of the driving wheel at equal intervals along the circumference, the driving magnet is connected to the motor reducer through the mounting frame, the driving wheels are symmetrically arranged on both sides of the motor reducer, the output ends of the motor reducer are respectively connected to the middle parts of the driving wheels on both sides and drive them to rotate, the plurality of magnets comprise a first permanent magnet and a second permanent magnet, the magnetic field directions of the first permanent magnet and the second permanent magnet are opposite and they are arranged adjacent to each other; The magnetic adsorption assembly includes a first adsorption assembly and a second adsorption assembly, the first adsorption assembly includes a first rotating member, a first U-shaped magnet, a universal wheel and a first magnet frame, the universal wheels are symmetrically arranged on both sides of the first rotating member, and the first U-shaped magnet is connected to the first rotating member through the first magnet frame; the second adsorption assembly includes a nylon wheel, a connecting plate, a rotating member and a second rotating member, a second magnet frame and a second U-shaped magnet, the nylon wheel is symmetrically arranged on both sides of the rotating member and the second rotating member, the second U-shaped magnet is connected to the second rotating member through the second magnet frame, and the middle part of the connecting plate is rotatably connected to the middle part of the rotating member and the second rotating member through a bearing; The adaptive mechanism includes a driving rod and a swing arm member, and a plurality of the driving rods are arranged in parallel with each other. The first end of the driving rod is connected to the motor reducer, and the second end of the driving rod is connected to the first end of the swing arm member through a locking collar. The ear seat at the second end of the swing arm member is rotatably connected to the hinge joint of the swing member in the frame, and the permanent magnet driving mechanism rotates around the frame to make the driving wheel adaptively fit the variable curvature magnetic conductive wall surface.

2. The permanent magnetic adsorption wall-climbing robot with adaptive variable curvature magnetic conductive wall surface according to claim 1 is characterized in that: The plurality of magnets are cylindrical magnets or sector magnets.

3. The permanent magnetic adsorption wall-climbing robot with adaptive variable curvature magnetic conductive wall surface according to claim 1 is characterized in that: The magnetic field direction of the first permanent magnet is radially outward, and the magnetic field direction of the second permanent magnet is radially inward.

4. The permanent magnetic adsorption wall-climbing robot with adaptive variable curvature magnetic conductive wall surface according to claim 1 is characterized in that: The driving magnet, the first U-shaped magnet and the second U-shaped magnet are all neodymium iron boron magnets.

5. The permanent magnetic adsorption wall-climbing robot with adaptive variable curvature magnetic conductive wall surface according to claim 1, characterized in that: The number of the first U-shaped magnets and the second U-shaped magnets is 2m, where m is a natural number and m≧2.

6. The permanent magnetic adsorption wall-climbing robot with adaptive variable curvature magnetic conductive wall surface according to claim 1, characterized in that: The outer side of the driving wheel is provided with anti-skid parts which are arranged at equal intervals along the circumference, and the material of the anti-skid parts is polyurethane, rubber coating, epoxy resin or nylon.

7. The permanent magnetic adsorption wall-climbing robot with adaptive variable curvature magnetic conductive wall surface according to claim 1, characterized in that: A damper is arranged at the rotation position of the swing arm member and the swing member of the frame.

8. The permanent magnetic adsorption wall-climbing robot with adaptive variable curvature magnetic conductive wall surface according to claim 1, characterized in that: The multiple magnets also include a third permanent magnet, a fourth permanent magnet, a fifth permanent magnet, a sixth permanent magnet, a seventh permanent magnet and an eighth permanent magnet, and the magnets are arranged in a circular array at intervals. The magnetization direction of the first permanent magnet, the third permanent magnet, the fifth permanent magnet and the seventh permanent magnet is radially outward, and the magnetization direction of the second permanent magnet, the fourth permanent magnet, the sixth permanent magnet and the eighth permanent magnet is radially inward. The third permanent magnet has opposite magnetization directions to the fourth permanent magnet and is adjacent to it. The fifth permanent magnet has opposite magnetization directions to the sixth permanent magnet and is adjacent to it. The seventh permanent magnet has opposite magnetization directions to the eighth permanent magnet and is adjacent to it.

9. The permanent magnetic adsorption wall-climbing robot with adaptive variable curvature magnetic conductive wall surface according to claim 1, characterized in that: It also includes a control unit arranged on the middle connecting plate of the frame, and the movement of the permanent magnetic drive mechanism, the magnetic adsorption component and the adaptive mechanism is controlled by the control unit; the control unit includes an embedded system, a wireless communication module, a motor drive module and a PC end, the embedded system receives the information transmitted to the control unit as a whole and transmits it to the PC end through the wireless communication module, the PC end returns the control parameters to the embedded system through the wireless communication module, and the embedded system sends the control instructions to the motor drive module to control the movement of the permanent magnetic drive mechanism, the magnetic adsorption component and the adaptive mechanism.

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