Magnetic adsorption steering wheel, bicycle type wall-climbing robot and modular wall-climbing robot

Abstract

The invention discloses a magnetic adsorption steering wheel, a bicycle type wall-climbing robot and a modular wall-climbing robot, the magnetic adsorption steering wheel comprises a roller assembly and a magnetic adsorption assembly, the roller assembly comprises a hub and a rotating shaft, the rotating shaft penetrates through a center hole of the hub, and a cavity is formed in the hub; the magnetic adsorption assembly is arranged in the cavity and connected with the rotating shaft, and a fan-shaped magnetic adsorption area is formed by the magnetic adsorption assembly. The robot has the advantages of being good in replaceability, high in flexibility, good in stability and compact in structure, and the technical problems that an existing magnetic adsorption type wall-climbing robot is poor in obstacle crossing performance and movement flexibility, inconvenient to maintain and low in load can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a magnetic adsorption steering wheel, a bicycle-type wall-climbing robot and a modular wall-climbing robot. Background Art

[0002] A magnetic adsorption wall-climbing robot is a robot that can adsorb on the surface of a steel workpiece and perform operations such as grinding, drilling, and rust removal on the workpiece. Among them, the movement ability and adsorption ability of the wall-climbing robot are crucial. However, the magnetic adsorption components of existing magnetic adsorption wall-climbing robots are generally set on the chassis, and in order to ensure sufficient magnetic adsorption strength, it is usually necessary to lower the chassis height of the robot, which will undoubtedly affect the robot's obstacle crossing performance and result in poor movement flexibility. Therefore, it is very necessary to provide a wall-climbing robot that can take into account both movement ability and magnetic adsorption ability. Summary of the invention

[0003] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose a magnetic adsorption steering wheel, a bicycle-type wall-climbing robot and a modular wall-climbing robot to solve the technical problem that the movement ability and magnetic adsorption ability of the existing magnetic adsorption wall-climbing robots cannot be taken into account at the same time.

[0004] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a magnetic adsorption steering wheel, comprising: The roller assembly comprises a wheel hub and a rotating shaft, wherein the rotating shaft passes through a central hole of the wheel hub, and a cavity is formed inside the wheel hub; The magnetic adsorption component is arranged in the cavity and connected to the rotating shaft, and the magnetic adsorption component forms a fan-shaped magnetic adsorption area.

[0005] In some embodiments, the magnetic adsorption component includes a shell and a magnet, the shell is fan-shaped, the central angle end of the shell is movably connected to the rotating shaft, the arc end of the shell is slidably connected to the inner wall of the hub, and the magnet is arranged inside the shell to form the magnetic adsorption area inside the shell.

[0006] In some embodiments, the magnet includes a first magnet, a second magnet and a third magnet, the second magnet and the third magnet are located on both sides of the first magnet, the two magnetic poles of the first magnet are arranged horizontally, and the two magnetic poles of the second magnet and the third magnet are arranged vertically and configured with opposite magnetic poles.

[0007] In some embodiments, the magnetically adsorbed steering wheel also includes a protective cover, which is mounted on the outside of the hub, and the outer surface of the protective cover is formed with a plurality of grooves whose two ends are arranged along the axial direction of the hub, and the plurality of grooves are inclined relative to the axial direction of the hub.

[0008] In a second aspect, the present invention further provides a bicycle-type wall-climbing robot, comprising: A plurality of magnetically attracted steering wheels as described in the first aspect of the present invention.

[0009] In some embodiments, the bicycle-type wall-climbing robot further includes a wheel frame and a steering device, wherein two sides of the wheel frame are respectively connected to the rotating shaft, and the steering device is fixedly connected to the top of the wheel frame.

[0010] In some embodiments, the steering device includes a base plate assembly, a transmission assembly and a first drive member, the base plate assembly includes an upper base plate, a lower base plate and a support column, the upper base plate and the lower base plate are respectively arranged at the upper and lower ends of the support column, the first drive member is a steering servo, which is installed on the lower base plate, the transmission assembly includes a first gear and a second gear, the first gear is transmission-connected to the first drive member and is arranged at the bottom of the lower base plate, and the second gear is meshed with the first gear and fixedly connected to the wheel frame.

[0011] In some embodiments, the steering device further comprises a sandwich plate, which is disposed on the lower base plate and fixedly connected to the second gear.

[0012] In some embodiments, the steering device further comprises a conductive slip ring, the sandwich plate forms an annular cavity, the conductive slip ring is installed in the annular cavity, and the conductive slip ring is used for winding the electric wire.

[0013] In a third aspect, the present invention further provides a modular wall-climbing robot, comprising: A plurality of bicycle-type wall-climbing robots provided by the second aspect of the present invention, wherein the bicycle-type wall-climbing robots have a plurality of male connectors and female connectors, and the male connectors and female connectors can be detachably connected; And a process module, wherein the process module is arranged between two adjacent single-vehicle wall-climbing robots and can move left and right, and the process module has the male connector and the female connector.

[0014] Compared with the prior art, the beneficial effects of the present invention mainly include: The present invention can take into account both the movement ability and the magnetic adsorption ability at the same time. A magnetic adsorption component is arranged in the cavity formed inside the wheel hub, and the magnetic adsorption component forms a fan-shaped magnetic adsorption area. Sufficient magnetic adsorption strength can be ensured without lowering the height of the robot, thereby not affecting the robot's obstacle crossing performance and improving its movement flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the magnetic adsorption steering wheel of the present invention; Figure 2 It is a schematic diagram of the internal structure of the magnetic adsorption steering wheel of the present invention; Figure 3 is a schematic structural diagram of the bicycle-type wall-climbing robot of the present invention; Figure 4 yes Figure 3 A schematic diagram of the structure of the power supply described in; Figure 5 yes Figure 3 A schematic structural diagram of the steering device described in; Figure 6 is a schematic structural diagram of the steering device without the upper base plate; Figure 7 is a schematic diagram of the bottom structure of the steering device; Figure 8 is a schematic diagram of the single-vehicle wall-climbing robot of the present invention in contact with different wall surfaces; Fig. 9 is a schematic diagram of the structure of the modular wall-climbing robot of the present invention; Fig.10 is a schematic diagram of the flexible connection of the modular wall-climbing robot of the present invention; Fig.11 is a schematic diagram of the rigid connection of the modular wall-climbing robot of the present invention; Fig.12 It is a schematic diagram of the modular wall-climbing robot of the present invention being provided with a process module.

[0016] Description of reference numerals: 100. Bicycle-type wall-climbing robot; 110, magnetic adsorption steering wheel, 111, roller assembly, 1111, wheel hub, 1112, rotating shaft, 112, magnetic adsorption assembly, 1121, housing, 1122, first magnet, 1123, second magnet, 1124, third magnet, 113, protective cover, 1131, notch, 114, second driving member; 120, steering device, 121, bottom plate assembly, 1211, upper bottom plate, 1212, lower bottom plate, 1213, support column, 122, transmission assembly, 1221, first gear, 1222, second gear, 123, first driving member, 124, sandwich plate, 125, conductive slip ring; 130, wheel frame; 140. Power supply; 150, male connector; 160, female connector; 200, process module, 210, slide rail, 220, mounting frame. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] In order to solve the technical problems of poor movement flexibility and obstacle crossing performance, high maintenance cost and low load weight commonly existing in existing magnetic adsorption wall-climbing robots, the present invention provides a magnetic adsorption steering wheel, a bicycle-type wall-climbing robot and a modular wall-climbing robot.

[0019] It should be noted that the magnetic adsorption steering wheel described in the present invention is used for but not limited to wall-climbing robots, etc. For the convenience of explanation, in the present invention, only the application of the magnetic adsorption steering wheel to the wall-climbing robot is used as an example for explanation. The principle of applying the magnetic adsorption steering wheel to other types of equipment is essentially the same as that applied to the wall-climbing robot, which will not be elaborated here.

[0020] See also Figure 1-2 As shown, the first aspect of the present invention provides a magnetic adsorption steering wheel 110, including a roller assembly 111 and a magnetic adsorption assembly 112, wherein the roller assembly 111 includes a hub 1111 and a rotating shaft 1112, wherein the rotating shaft 1112 runs through a central hole of the hub 1111 and is used to drive the hub 1111 to rotate, wherein a cavity is formed inside the hub 1111, wherein the magnetic adsorption assembly 112 is disposed in the cavity and connected to the rotating shaft 1112, wherein the magnetic adsorption assembly 112 forms a fan-shaped magnetic adsorption area The magnetic adsorption steering wheel 110 provided by the present invention can take into account both the movement ability and the magnetic adsorption ability. A magnetic adsorption component 112 is arranged in the cavity formed inside the wheel hub 1111, and the magnetic adsorption component 112 forms a fan-shaped magnetic adsorption area. In this way, sufficient magnetic adsorption strength can be guaranteed without lowering the height of the robot, thereby not affecting the robot's obstacle crossing performance and improving its movement flexibility.

[0021] In one embodiment, the wheel hub 1111 adopts a hollow structure, that is, a cavity is formed inside the wheel hub 1111 for installing the magnetic adsorption component 112; the wheel hub 1111 is made of aluminum alloy, which has sufficient strength and does not interfere with the magnetic force.

[0022] In one embodiment, the magnetic adsorption component 112 includes a shell 1121 and a magnet, the shell 1121 is fan-shaped, the central angle end of the shell 1121 is movably connected to the rotating shaft 1112, the arc end of the shell 1121 is slidably connected to the inner wall of the hub 1111, and the magnet is arranged inside the shell to form the magnetic adsorption area inside the shell.

[0023] In one embodiment, the magnets include a first magnet 1122, a second magnet 1123 and a third magnet 1124, the second magnet 1123 and the third magnet 1124 are located on both sides of the first magnet 1122, the two magnetic poles of the first magnet 1122 are arranged horizontally, the two magnetic poles of the second magnet 1123 and the third magnet 1124 are arranged vertically and configured with opposite magnetic poles, the first magnet 1122 is magnetized in the forward direction of the steering wheel, and the second square magnet 1123 and the third square magnet 1124 are magnetized in the up and down directions of the steering wheel respectively.

[0024] In this embodiment, the first square magnet 1122, the second square magnet 1123 and the third square magnet 1124 respectively provide stable magnetic force in the forward direction of the steering wheel and up and down the steering wheel, thereby enhancing the stability of the contact between the steering wheel and the wall.

[0025] In one embodiment, the magnetically attracted steering wheel 110 further includes a protective cover 113 , and the protective cover 113 is sleeved on the outside of the hub 1111 .

[0026] In one of the embodiments, the protective cover 113 is made of silicone material, which can provide additional grip and cushioning, and enhance the adaptability of the steering wheel on different surfaces; the multiple notches 1131 set on the outside of the protective cover 113 are evenly arranged, and the multiple notches 1131 are inclined relative to the axial direction of the hub 1111, so that the protective cover 113 can be deformed, and the middle part has a certain curvature to adapt to walls with different curvatures.

[0027] In one embodiment, the magnetically attracted steering wheel 110 further includes a second driving member 114, which is a walking steering gear, and a rotating disk thereof is drivingly connected to the rotating shaft 1112 to provide walking power for the steering wheel.

[0028] like Figure 3-Figure 8 As shown, the second aspect of the present invention provides a bicycle-type wall-climbing robot 100, comprising a plurality of magnetic adsorption steering wheels 110 provided by the first aspect of the present invention.

[0029] In one embodiment, the bicycle-type wall-climbing robot further includes a wheel frame 130 and a steering device 120 , and both sides of the wheel frame 130 are respectively connected to the rotating shaft 1112 , and the steering device 120 is fixedly connected to the top of the wheel frame 130 .

[0030] In one embodiment, if Figure 5-7As shown, the steering device 120 includes a base plate assembly 121, a transmission assembly 122 and a second driving member 123. The base plate assembly 121 includes an upper base plate 1211, a lower base plate 1212 and a support column 1213. The upper base plate 1211 and the lower base plate 1212 are respectively arranged at the upper and lower ends of the support column 1213. The power supply 130 is installed on the upper base plate 1211. The second driving member 123 is a steering servo, which is installed on the lower base plate 1212. The transmission assembly 122 includes a first gear 1221 and a second gear 1222. The first gear 1221 is transmission-connected to the second driving member 123 and is arranged at the bottom of the lower base plate 1212. The second gear 1222 is meshed with the first gear 1221 and is fixedly connected to the wheel frame 115.

[0031] In this embodiment, the diameter of the first gear 1221 is smaller than the diameter of the second gear 1222. The first gear 1221 is directly connected to the second driving member 123, and the second gear 1222 is directly meshed with the first gear 1221. At the same time, the second gear 1222 is directly connected to the wheel frame 115 of the steering wheel. In this way, the switching speed of the robot is improved and the operation flexibility is enhanced.

[0032] In one embodiment, the steering device 120 further includes a sandwich plate 124 , which is disposed on the lower base plate 1212 and fixedly connected to the second gear 1222 .

[0033] In one embodiment, the steering device 120 further includes a conductive slip ring 125, the sandwich plate 124 forms an annular cavity, the conductive slip ring 125 is installed in the annular cavity, and the conductive slip ring 125 is used to wind the wires to prevent the wires from being entangled during the movement of the robot.

[0034] In one embodiment, the steering device 120 also includes a bearing fixing part and a bearing. The bearing fixing part is an annular structure, fixedly connected to the lower base plate 1212, and tightly attached to the outer ring of the bearing to ensure the stability of the bearing; the bearing is tightly matched with the sandwich plate 124 and the bearing fixing part to fix the second gear 1222 and the wheel frame 115 to provide structural support.

[0035] In one embodiment, the bicycle-type wall-climbing robot also includes a control device and a power supply, wherein the control device is installed on the power supply 130, and the power supply 130 is installed on the top of the steering device 120, and the magnetic adsorption steering wheel 110 is installed at the bottom of the steering device 120 and is transmission-connected to the steering device 120, wherein the control device is communicatively connected to the magnetic adsorption steering wheel 110, the steering device 120 and the remote control station respectively.

[0036] In this embodiment, by directly connecting the magnetically attracted steering wheel 110 to the steering device 120, rapid direction change of the single-vehicle wall-climbing robot is achieved, the robot's degree of freedom is increased, and thus the robot's movement flexibility is improved.

[0037] In one embodiment, if Figure 4 As shown, the power supply 130 is powered by a 4000mAh lithium polymer (LiPo) battery, which has high energy density and stable voltage output and is suitable for mobile robots that need to work for a long time. The power supply 130 provides the necessary power for the driving and control devices of the robot, ensuring that the robot can work autonomously without an external power supply.

[0038] In one embodiment, the control device uses a high-performance microcontroller and is equipped with Tx (transmit) and Rx (receive) antennas for wireless communication with a remote control station. This communication system allows the remote operator to send control instructions to the robot and receive status updates and sensor data from the robot.

[0039] In one embodiment, the steering device 120 further includes a power distribution module, which is disposed between the second gear 1222 and the lower base plate 1212 and is responsible for distributing power to ensure that each component is properly supplied with power.

[0040] In this embodiment, Figure 8 As shown, the single-vehicle wall-climbing robot can adapt to the surface of workpieces with walls of different curvatures and has the advantage of a wide range of applications.

[0041] like Fig. 9 As shown, the third aspect of the present invention provides a modular wall-climbing robot, comprising a plurality of the single-vehicle wall-climbing robots 100 described in the second aspect of the present invention, the single-vehicle wall-climbing robot having a plurality of male connectors 150 and female connectors 160, the male connectors 150 and female connectors 160 being cooperatively detachably connected, in a specific implementation, the male connector 150 and female connector 160 are respectively arranged on both sides of the single-vehicle wall-climbing robot 100, the male connector 150 is an electromagnet and the female connector 160 is a magnetizer, or the male connector 150 is a magnetizer and the female connector 160 is an electromagnet, and a plurality of the single-vehicle wall-climbing robots 100 are docked and detached by turning the electromagnet on and off.

[0042] In this embodiment, the multiple bicycle-type wall-climbing robots may be flexibly connected (such as Fig.10 ), or a rigid connection (as shown in Fig.11 as shown).

[0043] In addition, when the above-mentioned embodiment is actually applied, a process module 200 can also be set between two adjacent single-vehicle wall-climbing robots 100, and then external process equipment (such as laser, grinding and polishing, drilling, rust removal, flaw detection, spraying and other equipment) can be connected through the process module 200, so that the modular robot described in this embodiment can be applied to various process flows.

[0044] Specifically, the process module 200 includes two slide rails 210 and a mounting frame 220, and the two ends of the two slide rails 210 are respectively connected to the male connector 150 and the female connector 160 of two adjacent single-vehicle wall-climbing robots 100. The bottom of the mounting frame 220 is slidably connected to the two slide rails 210. The mounting frame 220 is provided with a driving motor, which can drive the mounting frame 220 to move left and right on the slide rails 210. External process equipment is installed on the mounting frame 220, and the mounting frame 220 can be controlled by a control device to move to a suitable position to perform process operations on the surface of the workpiece; at the same time, the mounting frame 220 also has a male connector 150 and a female connector 160 on both sides. When the mounting frame 220 moves close to any one or two single-vehicle wall-climbing robots 100, it is connected through the matching male connector 150 and the female connector 160.

[0045] In summary, the present invention has the following beneficial effects: 1. The present invention realizes the compatibility of moving speed and obstacle crossing ability through modular design, improves the robot's degree of freedom, and enhances its transition ability between different wall surfaces, especially the transition between the wall and the ground and between different intersecting wall surfaces; 2. The single-vehicle wall-climbing robot provided by the present invention can be combined into a complete multi-wheel wall-climbing robot, or it can be operated separately and independently, and then docked to complete the task when necessary. This method not only improves the work efficiency and reduces the complexity of the structure, but also improves the robot's motion performance; 3. The outer rubber sleeve of the modular reconfigurable wall-climbing robot of the present invention adopts an elastic rubber design, which can change its shape as the curvature changes to increase the friction force of the contact surface; 4. The present invention reduces the design workload, shortens the design cycle, improves the interchangeability of robot wheel module, reduces manufacturing costs, and can improve load capacity by increasing the number of modules through modular design.

[0046] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A magnetic adsorption steering wheel, characterized in that: include: The roller assembly comprises a wheel hub and a rotating shaft, wherein the rotating shaft passes through a central hole of the wheel hub, and a cavity is formed inside the wheel hub; The magnetic adsorption component is arranged in the cavity and connected to the rotating shaft, and the magnetic adsorption component forms a fan-shaped magnetic adsorption area.

2. The magnetic adsorption steering wheel according to claim 1, characterized in that: The magnetic adsorption component includes a shell and a magnet. The shell is fan-shaped. The central angle end of the shell is movably connected to the rotating shaft. The arc end of the shell is slidably connected to the inner wall of the hub. The magnet is arranged inside the shell to form the magnetic adsorption area inside the shell.

3. The magnetic adsorption steering wheel according to claim 2, characterized in that: The magnet includes a first magnet, a second magnet and a third magnet, wherein the second magnet and the third magnet are arranged on both sides of the first magnet, the two magnetic poles of the first magnet are arranged horizontally, and the two magnetic poles of the second magnet and the third magnet are arranged vertically and configured to have opposite magnetic poles.

4. The magnetic adsorption steering wheel according to claim 1, characterized in that: It also includes a protective sleeve, which is sleeved on the outside of the wheel hub. The outer surface of the protective sleeve is formed with a plurality of slots with both ends arranged along the axial direction of the wheel hub. The plurality of slots are inclined relative to the axial direction of the wheel hub.

5. A bicycle-type wall-climbing robot, characterized in that: include: A magnetically adsorbed steering wheel as described in any one of claims 1-4.

6. The bicycle-type wall-climbing robot according to claim 5, characterized in that: The bicycle-type wall-climbing robot also includes a wheel frame and a steering device. The two sides of the wheel frame are respectively connected to the rotating shaft, and the steering device is fixedly connected to the top of the wheel frame.

7. The bicycle-type wall-climbing robot according to claim 6, characterized in that: The steering device includes a base plate assembly, a transmission assembly and a first driving member. The base plate assembly includes an upper base plate, a lower base plate and a support column. The upper base plate and the lower base plate are respectively arranged at the upper and lower ends of the support column. The first driving member is installed on the lower base plate. The transmission assembly includes a first gear and a second gear. The first gear is transmission-connected to the first driving member and is arranged at the bottom of the lower base plate. The second gear is meshed with the first gear and is fixedly connected to the wheel frame.

8. The bicycle-type wall-climbing robot according to claim 7, characterized in that: The steering device further comprises a sandwich plate, which is arranged on the lower bottom plate and fixedly connected to the second gear.

9. The bicycle-type wall-climbing robot according to claim 8, characterized in that: The steering device further comprises a conductive slip ring, the sandwich plate forms an annular cavity, the conductive slip ring is installed in the annular cavity, and the conductive slip ring is used for winding the electric wire.

10. A modular wall-climbing robot, characterized in that: include: A bicycle-type wall-climbing robot according to any one of claims 5 to 9, wherein the bicycle-type wall-climbing robot has a plurality of male connectors and female connectors, and the male connectors and female connectors can be detachably connected; And a process module, wherein the process module is arranged between two adjacent single-vehicle wall-climbing robots and can move left and right, and the process module has the male connector and the female connector.

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