Universal follow-up mechanism with magnetic attraction function suitable for wall-climbing robot

Abstract

The utility model relates to a universal follow-up mechanism with a magnetic attraction function suitable for a wall-climbing robot, which comprises a bottom beam connecting assembly, two permanent magnet connecting blocks, two permanent magnet assemblies and a universal rotating piece, the permanent magnet assemblies are fixed to the bottom beam connecting assembly through the magnet connecting blocks, and the two magnet assemblies are arranged on the two sides of the universal rotating piece respectively. The wall-climbing magnetic load sharing device has the advantages that the wall-climbing magnetic load can be shared for the wall-climbing robot, the main body structure of the robot is stabilized, and the working stability of the robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of wall-climbing robots, in particular to a universal follow-up mechanism with a magnetic suction function suitable for the wall-climbing robot. Background Art

[0002] When existing wall-climbing robots are performing grinding, rust removal or cleaning operations, the body shakes due to insufficient magnetic adsorption force, and the problem of being unable to operate normally often occurs. At the same time, when facing complex road conditions or changing paths on flat or curved surfaces, there is a problem of being unable to follow up in time and having poor passing performance. The distance between the magnet on the wall-climbing robot and the metal surface is not adjustable. When facing metal surfaces with different wall thicknesses and different materials, the magnetic attraction between the magnet and the metal is also different. Therefore, when the magnetic attraction between the two is weak, it is impossible to increase the magnetic attraction by adjustment. Summary of the invention

[0003] In order to solve the above problems, the purpose of the utility model is to provide a universal follower mechanism with a magnetic suction function suitable for a wall-climbing robot, which can share the wall-climbing magnetic suction load for the wall-climbing robot, stabilize the main structure of the robot, and improve the working stability of the robot.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A universal follower mechanism with a magnetic attraction function suitable for a wall-climbing robot comprises a bottom beam connection component, two permanent magnet connection blocks, two permanent magnet components and a universal rotating member, wherein the universal rotating member is fixed to the bottom beam connection component, the permanent magnet component is fixed to the bottom beam connection component through the magnet connection block, and the two magnet components are respectively arranged on both sides of the universal rotating member.

[0006] More preferably, the permanent magnet assembly comprises a shell and a permanent magnet, the permanent magnet is disposed in the shell, and the permanent magnet connecting block is detachably fixed to the shell.

[0007] More preferably, a gasket for adjusting the height of the permanent magnet assembly is provided between the permanent magnet connecting block and the permanent magnet assembly, and the permanent magnet connecting block, the gasket and the permanent magnet assembly are detachably fixed together.

[0008] More preferably, the shell includes a lower shell and an upper cover, the lower shell and the upper cover are fixedly connected by a first fastener, the upper cover is fixedly connected to the permanent magnet connecting block, and the upper cover is also provided with a tightening screw, the upper end of the tightening screw is fixedly connected to the upper cover, and the lower end abuts against the upper surface of the permanent magnet.

[0009] More preferably, the bottom beam connection assembly includes a support plate and a bottom beam connection bracket fixedly connected together, the support plate is provided with a mounting hole, the universal follower mechanism is fixed to the chassis of the wall-climbing robot through the mounting hole and the second fastener, and the permanent magnet connection block and the universal rotating member are both fixed to the bottom beam connection bracket.

[0010] More preferably, the support plate includes an integrally formed I-shaped bottom plate and a cross-shaped connecting plate, the I-shaped bottom plate is fixedly connected to the bottom beam connecting bracket, the cross-shaped connecting plate is provided with the mounting holes, and the mounting holes are arranged in a cross shape.

[0011] More preferably, the universal rotating member is a universal wheel.

[0012] More preferably, the permanent magnet is neodymium iron boron.

[0013] More preferably, the bottom beam connection assembly is an aluminum alloy component.

[0014] The utility model has the following beneficial effects:

[0015] The universal follower mechanism of the utility model can share the wall-climbing magnetic suction load for the wall-climbing robot, stabilize the robot's main structure, improve the robot's working stability, improve the robot's passing performance in complex road conditions, and avoid problems such as body shaking and inability to operate normally and unreliable adsorption due to different working requirements of the wall-climbing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional diagram of the utility model;

[0017] Figure 2 This is an exploded schematic diagram of the permanent magnet assembly of the utility model;

[0018] Figure 3 It is the front view of the utility model;

[0019] Figure 4 It is a top view of the utility model.

[0020] Description of reference numerals:

[0021] 10. Bottom beam connection assembly; 11. Support plate; 111. Mounting hole; 112. I-shaped bottom plate; 113. Cross-shaped connection plate; 12. Bottom beam connection bracket; 20. Permanent magnet connection block; 30. Permanent magnet assembly; 31. Shell; 311. Upper cover; 312. Lower shell; 313. First fastener; 314. Tightening screw; 32. Permanent magnet; 40. Universal joint; 50. Gasket. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0023] See also Figures 1 to 4 A universal follower mechanism with magnetic attraction function suitable for a wall-climbing robot comprises a bottom beam connection component 10, two permanent magnet connection blocks 20, two permanent magnet components 30 and a universal rotating member 40, wherein the universal rotating member 40 is fixed to the bottom beam connection component 10, the permanent magnet component 30 is fixed to the bottom beam connection component 10 through the permanent magnet connection block 20, and the two permanent magnet components 30 are respectively arranged on both sides of the universal rotating member 40. The permanent magnet components 30 are arranged one by one with the permanent magnet connection blocks 20.

[0024] The permanent magnet assembly 30 includes a housing 31 and a permanent magnet 32, wherein the permanent magnet 32 ​​is disposed in the housing 31, and the permanent magnet connection block 20 is detachably fixed to the housing 31. The housing 31 includes a lower housing 312 and an upper cover 311, wherein the lower housing 312 and the upper cover 311 are fixedly connected by a first fastener 313, and the upper cover 311 is fixedly connected to the permanent magnet connection block 20. The upper cover 311 is also provided with a tightening screw 314, wherein the upper end of the tightening screw 314 is fixedly connected to the upper cover 311, and the lower end is against the upper surface of the permanent magnet 32, and the permanent magnet 31 is prevented from shaking by the tightening screw 314. In the present embodiment, the housing 31 is preferably a stainless steel housing, wherein the permanent magnet 32 ​​is supported and protected by the housing 31 to avoid accidental wear of the permanent magnet 32, and the upper cover 311 of the housing 31 is fixedly connected to the permanent magnet connection block 20, so that the permanent magnet 32 ​​can be prevented from being directly connected with screws and causing damage. The permanent magnet 32 ​​may be made of neodymium iron boron, which has a large magnetic energy product and can achieve large suction force with a small volume, thereby ensuring that the magnetic suction effect is stable and reliable.

[0025] A gasket 50 for adjusting the height of the permanent magnet assembly 30 is provided between the permanent magnet connection block 20 and the permanent magnet assembly 30, and the permanent magnet connection block 20, the gasket 50 and the permanent magnet assembly 30 are detachably fixed together. By selecting gaskets 50 of different thicknesses, the ground clearance of the permanent magnet 32 ​​can be adjusted, and the suction force can be adjusted, so as to meet the wall climbing requirements of metal surfaces with different wall thicknesses and different materials, ensure the full contact of the universal rotating member 40, and play a stable guiding function.

[0026] The bottom beam connection assembly 10 includes a support plate 11 and a bottom beam connection bracket 12 that are fixedly connected together. The support plate 11 is provided with a mounting hole 111. The universal follower mechanism is fixed to the chassis of the wall-climbing robot through the mounting hole 111 and a second fastener (not shown). The permanent magnet connection block 20 and the universal rotating member 40 are both fixed to the bottom beam connection bracket 12. The support plate 11 includes an integrally formed straight bottom plate 112 and a cross-shaped connection plate 113. The straight bottom plate 112 is fixedly connected to the bottom beam connection bracket 12, and the cross-shaped connection plate 113 is provided with the mounting holes 111. The mounting holes 111 provided on the cross-shaped connection plate 113 are arranged in a cross shape, which can realize 180° variable angle installation, meeting the compatibility of plane wall climbing and curved wall climbing.

[0027] The bottom beam connection assembly 10 is made of aluminum alloy, with a lightweight structural design and can ensure high structural strength and resistance to deformation.

[0028] Preferably, the universal wheel is used as the universal rotating member 40. The universal rotating member 40 can ensure that the driving mechanism of the wall-climbing robot can follow up in time when changing the path on a plane or a curved surface, thereby ensuring the stability of the posture of the whole machine.

[0029] Working principle of the utility model: according to the working content and adsorption force requirements of the wall-climbing robot, a gasket 50 of suitable thickness is selected and installed between the permanent magnet connecting block 20 and the permanent magnet assembly 30, or the gasket 50 may not be used as required. Then, the support plate 11 of the universal follower mechanism is fixed to the chassis of the wall-climbing robot by the second fastener to complete the installation.

[0030] The universal follower mechanism of the utility model can share the wall-climbing magnetic suction load for the wall-climbing robot, stabilize the main structure of the robot, improve the stability of the robot, improve the passing performance of the robot in complex road conditions, and avoid problems such as the body shaking and inability to operate normally and unreliable adsorption due to different working requirements of the wall-climbing robot (such as grinding, rust removal, and cleaning).

[0031] The above description is only a specific implementation method of the utility model, and does not limit the patent scope of the utility model. Any equivalent structural transformation made using the contents of the utility model specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the utility model.

Claims

1. A universal follow-up mechanism with magnetic suction function suitable for a wall-climbing robot, characterized in that: The invention comprises a bottom beam connection component, two permanent magnet connection blocks, two permanent magnet components and a universal joint, wherein the universal joint is fixed on the bottom beam connection component, the permanent magnet component is fixed on the bottom beam connection component through the magnet connection block, and the two magnet components are respectively arranged on both sides of the universal joint.

2. The universal follower mechanism with magnetic attraction function suitable for a wall-climbing robot according to claim 1, characterized in that: The permanent magnet assembly comprises a shell and a permanent magnet. The permanent magnet is arranged in the shell, and the permanent magnet connecting block is detachably fixed to the shell.

3. A universal follower mechanism with magnetic attraction function suitable for a wall-climbing robot according to claim 1 or 2, characterized in that: A gasket for adjusting the height of the permanent magnet assembly is arranged between the permanent magnet connection block and the permanent magnet assembly, and the permanent magnet connection block, the gasket and the permanent magnet assembly are detachably fixed together.

4. The universal follower mechanism with magnetic attraction function suitable for a wall-climbing robot according to claim 2, characterized in that: The shell includes a lower shell and an upper cover, the lower shell and the upper cover are fixedly connected by a first fastener, the upper cover is fixedly connected to the permanent magnet connecting block, and the upper cover is also provided with a tightening screw, the upper end of the tightening screw is fixedly connected to the upper cover, and the lower end abuts against the upper surface of the permanent magnet.

5. The universal follow-up mechanism with magnetic attraction function suitable for a wall-climbing robot according to claim 1, characterized in that: The bottom beam connection assembly includes a support plate and a bottom beam connection bracket fixedly connected together, the support plate is provided with a mounting hole, the universal follower mechanism is fixed to the chassis of the wall-climbing robot through the mounting hole and the second fastener, and the permanent magnet connection block and the universal rotating member are both fixed to the bottom beam connection bracket.

6. The universal follower mechanism with magnetic attraction function suitable for a wall-climbing robot according to claim 5, characterized in that: The support plate includes an integrally formed I-shaped bottom plate and a cross-shaped connecting plate, the I-shaped bottom plate is fixedly connected to the bottom beam connecting bracket, the cross-shaped connecting plate is provided with the mounting holes, and the mounting holes are arranged in a cross shape.

7. The universal follower mechanism with magnetic attraction function suitable for a wall-climbing robot according to claim 1, characterized in that: The universal rotating part is a universal wheel.

8. The universal follower mechanism with magnetic attraction function suitable for a wall-climbing robot according to claim 1, characterized in that: The permanent magnet is neodymium iron boron.

9. The universal follower mechanism with magnetic attraction function suitable for a wall-climbing robot according to claim 1, characterized in that: The bottom beam connection assembly is an aluminum alloy component.

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