Walking system of wall-climbing robot

Abstract

The utility model relates to the technical field of wall-climbing robots, in particular to a wall-climbing robot walking system which comprises chain wheels arranged on the two sides of a wall-climbing robot body, a crawler belt and a driving device used for driving the chain wheels to drive the crawler belt, the crawler belt is formed by connecting a plurality of magnetic attraction chain links in series, and magnetic attraction modules are arranged on the magnetic attraction chain links. The magnetic attraction module comprises a strip-shaped magnet, a yoke and a protection frame, the strip-shaped magnet is contained in the protection frame, the yoke covers the side, close to the inner surface of the crawler belt, of the strip-shaped magnet, and the magnetic attraction module is arranged in the magnetic attraction chain link. According to the walking system of the wall-climbing robot, the strength and rigidity of the chain links are enhanced, and adsorbed scrap iron can be removed more easily due to fewer surface gaps.

Description

Technical Field

[0001] The utility model relates to the technical field of wall-climbing robots, in particular to a walking system of a wall-climbing robot. Background Art

[0002] The surface of ships that sail on the water for a long time will be corroded and rusted. These rusts will affect the safety of the ship's navigation. Therefore, ships that have been sailing for a certain period of time need to be rust-removed and painted before they can continue to work. So far, the main operation method for cleaning the surface of domestic ships is workers, which has low cleaning efficiency, high risk factor, and serious environmental pollution. Another solution is to use wall-climbing cleaning robots to remove rust and clean.

[0003] Currently, most wall-climbing cleaning robots are divided into tracked and wheeled types. One prior art discloses a tracked wall-climbing robot, whose walking system discloses a first magnetic adsorption mechanism, which is connected to the frame and is located between the first driving wheel and the second driving wheel. The first magnetic adsorption mechanism is provided with a first magnetic adsorption structure with magnetism, and the distance between the first magnetic adsorption structure and the wall to be cleaned can be adjusted.

[0004] Another prior art, the permanent magnetic adsorption unit of its walking system includes a connecting plate, a pure iron seat and a permanent magnetic assembly which are connected in sequence with different poles from top to bottom, the connecting plate is fixedly connected to the wall-climbing robot, the permanent magnetic assembly is an arc-shaped structure composed of a number of permanent magnet blocks spliced ​​in sequence along the circumferential direction, the magnetic pole distribution of the permanent magnet blocks adopts a Halbach array arrangement, the upper surface of the pure iron seat has an arc surface matching the bottom shape of the connecting plate, and the lower surface of the pure iron seat has an arc surface matching the top shape of the permanent magnetic assembly.

[0005] The above-mentioned wall-climbing robots all have problems such as insufficient load capacity and poor stability, or are unable to complete the transition of inclined walls, have single functions, limited walking, and difficult maintenance. Utility Model Content

[0006] In view of this, the utility model provides a wall-climbing robot walking system, which at least partially solves the problems existing in the prior art.

[0007] A walking system of a wall-climbing robot comprises a sprocket and a track arranged on both sides of a body of the wall-climbing robot, and a driving device for driving the sprocket to drive the track, wherein the track is composed of a plurality of magnetic chain links connected in series, and a magnetic module is arranged on the magnetic chain link, and the magnetic module comprises a bar magnet, a yoke and a protective frame, wherein the bar magnet is accommodated in the protective frame, the yoke covers a side of the bar magnet close to the inner surface of the track, and the magnetic module is arranged in the magnetic chain link.

[0008] Preferably, the magnetic chain link includes a bar-shaped body, a connecting head arranged on one side of the bar-shaped body, and connecting seats arranged at both ends of the bar-shaped body. The connecting head and the connecting seat are both provided with through holes that pass through the length direction of the bar-shaped body. The connecting head is placed between two connecting seats of adjacent magnetic chain links, and a connecting pin penetrates the through holes of the connecting head and the adjacent connecting seats, thereby forming a connection between two adjacent magnetic chain links.

[0009] Preferably, the sprocket is provided with a groove for driving the track, and the connecting head and the connecting seat are provided with a pivot portion protruding from the lower surface of the strip-shaped body on the side close to the inner surface of the track, and the pivot portion matches the shape of the groove, that is, the pivot portions of the connecting head and the connecting seat can be snapped into the groove of the sprocket to form a meshing relationship, and the sprocket drives the track through this meshing relationship.

[0010] Preferably, at least one end of the connecting pin is provided with an annular groove and a corresponding snap ring.

[0011] Preferably, a friction pad is detachably provided on one side of the connecting head and / or the connecting seat close to the outer surface of the track, and the outer surface of the friction pad protrudes from the outer surface of the magnetic chain link body.

[0012] Preferably, the detachable connection includes providing a mounting groove on the connecting head and / or the connecting seat, and the friction pad is at least partially embedded in the mounting groove.

[0013] Preferably, the number of the magnetic chain links and the number of teeth of the sprocket are odd or even numbers.

[0014] Preferably, the detachable connection further includes a locking screw for fastening the friction pad to the mounting groove.

[0015] Preferably, the driving device includes at least one set of driving motors and corresponding transmission devices arranged in the body of the wall-climbing robot. The driving motor and the transmission device are coaxially arranged with the corresponding driven sprocket, and the rotating shaft of the sprocket and the body, and the reducer and the body are all sealed.

[0016] Preferably, the driving device includes two sets of driving motors and corresponding reducers arranged in the body of the wall-climbing robot, the sprocket includes a left front wheel, a left rear wheel, a right front wheel and a right rear wheel, the two sets of driving motors drive the left front wheel and the right rear wheel respectively, or the two sets of driving motors drive the right front wheel and the left rear wheel respectively.

[0017] Preferably, the magnetic attraction module is integrally injection molded in the magnetic attraction chain link.

[0018] The wall-climbing robot walking system described in the utility model has a magnetic attraction module integrally injection-molded in the magnetic attraction chain link, which not only enhances the strength and rigidity of the chain link itself, but also makes it easier to remove adsorbed iron filings due to fewer surface gaps. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a three-dimensional schematic diagram of the wall-climbing robot according to an embodiment of the utility model;

[0021] Figure 2 A schematic side view of the crawler and sprocket of the walking system of the wall-climbing robot according to an embodiment of the utility model;

[0022] Figure 3 This is a schematic diagram of the structure of the magnetic chain link of the walking system of the wall-climbing robot according to the embodiment of the utility model;

[0023] Figure 4 A schematic structural diagram of a magnetic chain link of a wall-climbing robot walking system according to an embodiment of the utility model from another angle;

[0024] Figure 5 for Figure 3 An exploded view of the magnetic chain link shown;

[0025] Figure 6 It is a cross-sectional schematic diagram of the wall-climbing robot described in an embodiment of the utility model.

[0026] Description of reference numerals:

[0027] 1- body;

[0028] 2-sprocket, 21-left front wheel, 22-left rear wheel, 23-right front wheel, 24-right rear wheel, 25-groove;

[0029] 3- Tracks;

[0030] 4-magnetic chain link, 41-bar body, 42-connecting head, 43-connecting seat, 44-connecting pin, 45-bar magnet, 46-yoke, 47-protective frame, 48-installation groove, 49-friction pad, 410-locking screw, 411-retaining ring; 5-driving motor, 51-reducer. DETAILED DESCRIPTION

[0031] The embodiments of the utility model are described in detail below with reference to the accompanying drawings.

[0032] It should be noted that the following embodiments and features in the embodiments may be combined with each other in the absence of conflict; and, based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making any creative work are within the scope of protection of the present disclosure.

[0033] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0034] Figure 1 Schematic diagram of a wall-climbing robot according to an embodiment of the utility model. Figure 2 This is a side view schematic diagram of the crawler and sprocket of the walking system of the wall-climbing robot according to an embodiment of the utility model. Figure 3 . Figure 4 This is a schematic structural diagram of the magnetic chain link of the wall-climbing robot walking system according to the embodiment of the utility model at two angles. Figure 5 for Figure 3 The exploded view of the magnetic chain link shown, Figure 6 This is a cross-sectional schematic diagram of the wall-climbing robot according to an embodiment of the utility model. Figures 1 to 6 The walking system of the wall-climbing robot is explained in detail.

[0035] See also Figures 1 to 5As shown, the walking system of the wall-climbing robot described in this embodiment includes sprockets 2, tracks 3 and a driving device for driving the sprockets 2 to drive the tracks 3, which are arranged on both sides of the wall-climbing robot body 1. The tracks 3 are composed of a plurality of magnetic chain links 4 connected in series. The magnetic chain link 4 includes a strip-shaped body 41, a connector 42 arranged on one side of the strip-shaped body 41, and a connecting seat 43 arranged at both ends of the strip-shaped body 41. A through hole is provided on the connector 42 and the connecting seat 43, which passes through the length direction of the strip-shaped body 41. The connector 42 is placed between two connecting seats 43 of adjacent magnetic chain links 4, and a connecting pin 44 passes through the through hole of the connector 42 and the adjacent connecting seat 43, so as to form a connection between two adjacent magnetic chain links 4. At least one end of the connecting pin 44 is provided with an annular groove and a corresponding snap ring 411. In this embodiment, both ends of the connecting pin 44 are provided with annular grooves and corresponding snap rings 411. In other embodiments, the connecting pin 44 may also be provided with a flange at one end and an annular groove and a corresponding snap ring 411 at the other end. This structure of the connecting pin 44 is not only low in cost, but also convenient for disassembly and maintenance of the magnetic chain link 4.

[0036] The sprocket 2 is provided with a groove 25 for driving the crawler 3. The connector 42 and the connector seat 43 are provided with a pivot portion protruding from the lower surface of the strip body 41 on one side of the inner surface of the crawler 3. The above-mentioned through holes are all provided on the pivot portion, and the above-mentioned connecting pin 44 is connected to the connector 42 and the connector seat 43 through the through hole. The shape of the pivot portion matches the shape of the groove 25, that is, the pivot portions of the connector 42 and the connector seat 43 can be inserted into the groove 25 of the sprocket 2 and form a meshing relationship, and the sprocket 2 drives the crawler 3 through the meshing relationship. Because the connector 42 and the connector seat 43 are both meshed with the groove 25 of the sprocket 2, the force-bearing area of ​​the magnetic chain link 4 and the sprocket 2 is greatly increased, the force-bearing condition of the magnetic chain link 4 and the sprocket 2 is improved, and the service life of the magnetic chain link 4 and the sprocket 2 is thereby increased.

[0037] At the same time, the number of magnetic chain links 4 and the number of teeth of sprocket 2 are odd and even numbers, that is, if the number of magnetic chain links 4 is even, the number of teeth of sprocket 2 is odd, and vice versa. This structure makes the front and rear wheels complement each other when the robot walks, thereby enhancing the suction force of the magnet at the bottom of the robot to the working surface.

[0038] A magnetic module is also provided on the bar-shaped body 41 of the magnetic chain link 4, and the magnetic module includes a bar magnet 45, a yoke 46 and a protective frame 47, wherein the bar magnet 45 is accommodated in the protective frame 47, the yoke 46 covers the bar magnet 45, and the magnetic module is integrally injection molded in the magnetic chain link 4. Since the magnet is relatively brittle and easily broken, the protective frame 47 can protect the square magnet during the walking process of the crawler 3. The bar magnet 45 is covered with a yoke 46 on one side close to the inner surface of the crawler 3, which can enhance the magnetic attraction of the single bar magnet 45. The above-mentioned one-piece injection molding, that is, the bar magnet 45, the yoke 46 and the protective frame 47 are assembled into one, and then placed in the mold of the magnetic attraction chain link 4. When the shape of the magnetic attraction chain link 4 is formed by injection molding, the structure in which the bar magnet 45, the yoke 46 and the protective frame 47 are assembled into one is completely covered by the injection molding material. This structure not only enhances the strength and rigidity of the chain link itself, but also makes it easier to remove the adsorbed iron filings because there are fewer surface gaps. In other embodiments, the magnetic attraction module can also be directly fixed to the magnetic attraction chain link 4 by glue, screws, etc.

[0039] A friction pad 49 is detachably provided on one side of the connector 42 and the connector seat 43 near the outer surface of the track 3, and the outer surface of the friction pad 49 protrudes from the outer surface of the main body of the magnetic chain link 4. The detachable connection includes a mounting groove 48 provided on the connector 42 and the connector seat 43, and the lower part of the friction pad 49 is embedded in the mounting groove 48. The detachable connection also includes a locking screw 410 for fastening the friction pad 49 to the mounting groove 48. In this embodiment, the friction pad 49 is made of rubber. In other embodiments, the friction pad 49 can also be made of other materials that can enhance friction, such as plastic, nylon, etc.; in other embodiments, the number of the friction pad 49 can be set to only one or more according to needs, and the detachable connection between the friction pad 49 and the magnetic chain link 4 can also only retain the embedding method or the screw connection method. In the above structure, because the friction pad 49 is detachably connected to the magnetic chain link 4, when the friction pad 49 is worn, it can be replaced conveniently and quickly.

[0040] In the above embodiment, the two connection seats 43 are respectively disposed at two ends of the connection body. In other embodiments, the connection seat 43 may also be disposed on the other side of the strip body 41 opposite to the connection head 42 .

[0041] See also Figure 6As shown, the driving device includes two sets of driving motors 5 and corresponding reducers 51 arranged in the body 1 of the wall-climbing robot, and the sprocket 2 includes a left front wheel 21, a left rear wheel 22, a right front wheel 23 and a right rear wheel 24. The two sets of driving motors 5 drive the left front wheel 21 and the right rear wheel 23 respectively, that is, the left front wheel 21 and the right rear wheel 24 are driving wheels, and the left rear wheel 22 and the right front wheel 23 are driven wheels. The driving motor 5, the reducer 51 and the corresponding driven sprocket 2 are coaxially arranged, and the sprocket 2 and the body 1, and the reducer 51 and the body 1 are all sealed.

[0042] The design of the left-right cross layout of the driving device in this embodiment makes the overall weight ratio of the wall-climbing robot balanced, thereby improving the walking stability of the whole machine; and this structure can save two driving motors 5, and only two driving motors 5 are used to realize the turning of the wall-climbing robot. In this embodiment, the reducer 51 can be a reducer with a power-off automatic brake. This power-off automatic brake function can make the wall-climbing robot stop in place when a sudden power failure occurs on the vertical working surface, instead of sliding and falling, thereby adding a safety protection measure for the wall-climbing robot.

[0043] In other embodiments, the two sets of driving motors 5 may also drive the right front wheel and the left rear wheel respectively.

[0044] In other embodiments, only one set of driving motor 5 and reducer 51 may be provided, and then two sets of sprockets may be driven simultaneously through a transmission mechanism; the reducer may also be replaced with a speed-increasing transmission mechanism or a constant speed transmission mechanism according to the speed of the motor, and is not limited to a speed-reducing transmission mechanism.

[0045] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the utility model should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A walking system of a wall-climbing robot, comprising sprockets (2) and crawlers (3) arranged on both sides of a wall-climbing robot body (1), and a driving device for driving the sprockets (2) to drive the crawlers (3), characterized in that: The crawler (3) is composed of a plurality of magnetic chain links (4) connected in series, and a magnetic module is arranged on the magnetic chain link (4), and the magnetic module comprises a bar magnet (45), a yoke (46) and a protection frame (47), wherein the bar magnet (45) is accommodated in the protection frame (47), the yoke (46) covers a side of the bar magnet (45) close to the inner surface of the crawler (3), and the magnetic module is arranged in the magnetic chain link (4).

2. The wall-climbing robot walking system according to claim 1, characterized in that: The magnetic attraction chain link (4) comprises a strip-shaped body (41), a connecting head (42) arranged on one side of the strip-shaped body (41), and connecting seats (43) arranged at both ends of the strip-shaped body (41). Through holes penetrating along the length direction of the strip-shaped body (41) are arranged on the connecting head (42) and the connecting seat (43). The connecting head (42) is placed between two connecting seats (43) of adjacent magnetic attraction chain links (4), and a connecting pin (44) penetrates through the connecting head (42) and the through holes of the adjacent connecting seats (43), thereby forming a connection between two adjacent magnetic attraction chain links (4).

3. The wall-climbing robot walking system according to claim 2, characterized in that: The sprocket (2) is provided with a groove (25) for driving the crawler (3); the connecting head (42) and the connecting seat (43) are provided with a pivot portion protruding from the lower surface of the strip-shaped body (41) on the side close to the inner surface of the crawler (3); the pivot portion matches the shape of the groove (25), that is, the pivot portions of the connecting head (42) and the connecting seat (43) can be snap-fitted into the groove (25) of the sprocket (2) to form a meshing relationship, and the sprocket (2) drives the crawler (3) through the meshing relationship.

4. The wall-climbing robot walking system according to claim 2, characterized in that: At least one end of the connecting pin (44) is provided with an annular groove and a corresponding snap ring (411).

5. The wall-climbing robot walking system according to claim 3, characterized in that: A friction pad (49) is detachably provided on one side of the connecting head (42) and / or the connecting seat (43) close to the outer surface of the crawler (3), and the outer surface of the friction pad (49) protrudes from the outer surface of the main body of the magnetic attraction chain link (4).

6. The wall-climbing robot walking system according to claim 5, characterized in that: The detachable connection includes: a mounting groove (48) is provided on the connecting head (42) and / or the connecting seat (43), and the friction pad (49) is at least partially embedded in the mounting groove (48).

7. The wall-climbing robot walking system according to claim 3, characterized in that: The number of the magnetic chain links (4) and the number of teeth of the sprocket (2) are odd and even numbers.

8. The wall-climbing robot walking system according to claim 1, characterized in that: The driving device comprises at least one set of driving motors (5) and corresponding transmission devices arranged in the wall-climbing robot body (1); the driving motors (5) and the transmission devices are coaxially arranged with the corresponding driven sprockets (2); and the rotating shaft of the sprockets (2) and the body (1), and the transmission devices and the body (1) are all in sealed connection.

9. The wall-climbing robot walking system according to claim 8, characterized in that: The driving device comprises two sets of driving motors (5) and corresponding reducers (51) arranged in the wall-climbing robot body (1); the sprocket (2) comprises a left front wheel (21), a left rear wheel (22), a right front wheel (23) and a right rear wheel (24); the two sets of driving motors (5) respectively drive the left front wheel (21) and the right rear wheel (24); or the two sets of driving motors (5) respectively drive the right front wheel (23) and the left rear wheel (22).

10. The wall-climbing robot walking system according to any one of claims 1 to 9, characterized in that: The magnetic attraction module is integrally injection-molded inside the magnetic attraction chain link (4).

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