Hollow magnetic suction chassis and crawling robot

Abstract

The utility model relates to the technical field of crawl devices, and particularly provides a hollow magnetic suction chassis and a crawling robot, the hollow magnetic suction chassis comprises: a chassis, the chassis is provided with a penetrating part, and the penetrating part is used for loading different loads; the floating part is rotationally connected to the chassis; and the plurality of magnetic attraction parts are detachably arranged on the chassis and the floating part. And when different loads are loaded, the gravity center position can be kept relatively stable, and therefore the movement performance of the chassis is remarkably improved. The fitting degree between the chassis and the crawling surface is enhanced, so that the chassis can adapt to various crawling surfaces, close contact is kept, and the stability of the chassis and the adsorption reliability of the crawling surface are enhanced; through flexible arrangement of the magnetic attraction pieces, the fitting degree and the adsorption force between the base plate and the crawling face are further strengthened, the problem of iron scrap adsorption possibly caused by direct use of magnetic wheels or crawler belts is solved, and therefore the stability and durability of the magnetic attraction force of the hollow magnetic attraction base plate are greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of crawlers, and in particular to a hollow magnetic chassis and a crawling robot. Background Art

[0002] As a unique robot chassis, the crawler has the significant advantage of being able to crawl on a variety of non-traditional planes such as facades, top surfaces and pipes. In addition to the conventional motion mechanism, in order to ensure a close fit with various crawling surfaces, it also needs to be equipped with a set of special mechanisms that can generate adsorption or compression force.

[0003] However, most crawlers on the market rely on magnetic wheels or tracks for direct adsorption. When too much iron filings accumulate on the magnetic wheels or tracks, the magnetic attraction will be significantly reduced, causing the existing crawlers to fall easily due to insufficient adsorption.

[0004] Therefore, the prior art has defects and deficiencies and needs further improvement and development. Utility Model Content

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present application is to provide a hollow magnetic chassis and a crawling robot, aiming to solve the problem that the magnetic wheels or tracks of the crawler in the prior art easily absorb too much iron filings, resulting in insufficient adsorption force.

[0006] A technical solution adopted by the present application to solve the technical problem is as follows: a hollow magnetic chassis, which includes:

[0007] A chassis, wherein the chassis has a through portion, and the through portion is used to load different loads;

[0008] A floating member, the floating member is rotatably connected to the chassis;

[0009] A plurality of magnetic suction parts, wherein the plurality of magnetic suction parts can be detachably arranged on the chassis and the floating part.

[0010] Optionally, the hollow magnetic chassis further includes a damping member, which is disposed on the chassis and the floating member, and is used to increase the degree of fit between the chassis and the floating member and the crawling surface.

[0011] Optionally, the damping element comprises:

[0012] A damping member body, wherein the damping member body is fixedly disposed on the floating member;

[0013] A plurality of rotating bearings, wherein the plurality of rotating bearings are fixedly arranged in the damping element body;

[0014] A damping shaft, the damping shaft having a fixed end and a rotating end which are arranged opposite to each other, the rotating end being rotatably sleeved in a plurality of the rotating bearings, and the fixed end being fixedly arranged on the chassis;

[0015] An elastic member is sleeved in the damping shaft and is used to provide a rotational damping force.

[0016] Optionally, the chassis further comprises:

[0017] A chassis body, the chassis body being rotatably connected to the floating member;

[0018] A connecting groove, which is arranged on the front side wall of the chassis body and is used for fixedly connecting the fixed end;

[0019] A plurality of abutting bosses, wherein the abutting bosses are fixedly arranged on the front side wall of the chassis body, the abutting bosses are spaced apart from the connecting grooves, and both ends of the elastic member abut against the abutting bosses;

[0020] A plurality of first placement grooves are provided along the length direction of the chassis body, and the plurality of first placement grooves are used for placing the motor.

[0021] Optionally, the floating member comprises:

[0022] A floating member body, the floating member body being rotatably connected to the front side wall of the chassis body;

[0023] A plurality of second placement grooves, wherein the plurality of second placement grooves are arranged along the length direction of the floating member body, and the second placement grooves are used to place the motor;

[0024] A damping groove is arranged on the rear side wall of the floating member body.

[0025] Optionally, the damping groove comprises:

[0026] A damping groove body, wherein the damping groove body and the damping element body are fixedly arranged;

[0027] A damping through hole, the damping through hole being arranged in the front side wall of the damping slot body, the damping through hole being used for connecting the rotating end;

[0028] A plurality of limiting bosses are provided on both sides of the damping through hole, and the horizontal heights of the plurality of limiting bosses are lower than the horizontal heights of the plurality of abutting bosses.

[0029] Optionally, the hollow magnetic chassis further includes:

[0030] A plurality of motors, wherein the plurality of motors are fixedly disposed in the plurality of first placement slots and the plurality of second placement slots;

[0031] A plurality of rolling elements are rotatably connected to the rotating shafts of the plurality of motors.

[0032] Optionally, the magnetic attraction member includes:

[0033] A plurality of fixing members, wherein the fixing members are detachably arranged below the axis of the rolling member;

[0034] A plurality of permanent magnets are detachably arranged in the fixing member in a one-to-one correspondence, and the plurality of permanent magnets are used to generate adsorption force with an external magnetic component.

[0035] Optionally, the horizontal cross-section of the penetration portion may be configured to be square, rectangular, herringbone or circular.

[0036] Another technical solution adopted by the present application to solve the technical problem is as follows: a crawling robot, which includes the hollow magnetic chassis as described above.

[0037] Compared with the prior art, the present application provides a hollow magnetic chassis and a crawling robot. The hollow magnetic chassis can keep the center of gravity relatively stable when loading different loads through the through-hole, thereby significantly improving the movement performance of the chassis. A rotatable floating part is provided on the chassis, which enhances the fit between the chassis and the crawling surface, enables the chassis to adapt to various crawling surfaces, maintains close contact, and further enhances the stability of the chassis and the reliability of adsorption on the crawling surface; the chassis and the floating part are equipped with detachable magnetic parts, which can not only further enhance the fit and adsorption force between the chassis and the crawling surface through the flexible arrangement of the magnetic parts, but also avoid the problem of iron filings adsorption that may be caused by the direct use of magnetic wheels or tracks, thereby greatly improving the stability and durability of the magnetic suction force of the hollow magnetic chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the three-dimensional structure of the hollow magnetic chassis provided in this application;

[0039] Figure 2 is a bottom view of the hollow magnetic chassis provided in the present application;

[0040] Figure 3 It is a schematic diagram of a three-dimensional exploded structure of a damping member of a hollow magnetic chassis provided in the present application;

[0041] Figure 4 It is a schematic diagram of the three-dimensional structure of the chassis of the hollow magnetic chassis provided in this application;

[0042] Figure 5It is a schematic diagram of the three-dimensional structure of the floating part of the hollow magnetic chassis provided in this application;

[0043] Figure 6 It is a three-dimensional structural schematic diagram of another perspective of the hollow magnetic chassis provided in the present application;

[0044] Figure 7 This application provides Figure 6 The enlarged schematic diagram of point A in the middle;

[0045] Figure 8 It is a schematic diagram of the three-dimensional structure of the magnetic suction component of the hollow magnetic suction chassis provided in this application.

[0046] Description of reference numerals:

[0047] 10. Hollow magnetic chassis; 11. Chassis; 12. Floating member; 13. Magnetic member; 14. Damping member; 15. Motor; 16. Rolling member; 111. Chassis body; 112. Connecting groove; 113. Abutting boss; 114. First placement groove; 115. Through-hole; 121. Floating member body; 122. Second placement groove; 123. Damping groove; 1231. Damping groove body; 1232. Damping through hole; 1233. Limiting boss; 131. Fixing member; 132. Permanent magnet; 141. Damping member body; 142. Damping shaft; 144. Rotating bearing; 1421. Fixed end; 1422. Rotating end; 143. Elastic member. DETAILED DESCRIPTION

[0048] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0049] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0050] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0051] Please refer to Figure 1 to Figure 2 The first embodiment of the present application provides a hollow magnetic chassis 10 for carrying loads, crawling on various non-traditional planes such as facades, top surfaces and pipes, and performing detection or detection tasks. The hollow magnetic chassis 10 includes a chassis 11, a floating part 12 and a plurality of magnetic parts 13. The chassis 11 has a through portion 115, and the through portion 115 is used to load different loads, thereby ensuring that the center of gravity position of the hollow magnetic chassis 10 will not change significantly under different load conditions, further improving the movement performance of the hollow magnetic chassis 10; the floating part 12 is rotatably connected to the chassis 11, and the floating part 12 is used to increase the fit between the chassis 11 and the crawling surface, so that the hollow magnetic chassis 10 can adaptively adjust when contacting different crawling surfaces to maintain a close fit with the crawling surface, thereby improving The stability of the hollow magnetic chassis 10 and the reliability of the adsorption of the crawling surface are improved; some of the magnetic parts 13 can be detachably arranged on the chassis 11, thereby avoiding the use of magnetic wheels or tracks to directly adsorb the crawling surface, which makes the magnetic wheels or tracks adsorb too much iron filings and causes the magnetic attraction force to decrease; some of the magnetic parts 13 can be detachably arranged on the floating part 12, thereby not only enhancing the fit between the floating part 12 and the crawling surface, but also avoiding the use of magnetic wheels or tracks to directly adsorb the crawling surface, which makes the magnetic wheels or tracks adsorb too much iron filings and causes the magnetic attraction force to decrease, further greatly improving the stability of the hollow magnetic chassis 10 and the reliability of the adsorption of the crawling surface.

[0052] Please refer to Figures 2 to 3 In some embodiments, the hollow magnetic chassis 10 also includes a damping member 14, which is used to increase the fit between the chassis 11 and the floating member 12 and the crawling surface, thereby improving the stability and crawling efficiency of the hollow magnetic chassis 10; the damping member 14 is arranged on the chassis 11 and the floating member 12, thereby improving the stable connection between the chassis 11 and the floating member 12 during the crawling process, greatly improving the stability and crawling reliability of the hollow magnetic chassis 10.

[0053] Please refer to Figure 3In some embodiments, the damping member 14 includes a damping member body 141, a damping shaft 142, an elastic member 143 and a plurality of rotating bearings 144; the damping member body 141 is fixedly disposed on the floating member 12; a plurality of rotating bearings 144 are fixedly disposed in the damping member body 141; the damping shaft 142 has a fixed end 1421 and a rotating end 1422 that are relatively disposed, the rotating end 1422 is rotatably sleeved in the plurality of rotating bearings 144, and the fixed end 1421 is fixedly disposed in the On the chassis 11, the stable connection between the chassis 11 and the floating member 12 during the crawling process is improved, and the stability and crawling reliability of the hollow magnetic chassis 10 are greatly improved; the elastic member 143 is sleeved in the damping shaft 142, and the elastic member 143 is used to provide a rotational damping force, thereby ensuring that the damping member 14 can provide a stable damping effect on crawling surfaces at different angles, and further ensuring that the hollow magnetic chassis 10 can adaptively adjust when contacting different crawling surfaces to maintain a close fit with the crawling surface.

[0054] Please refer to Figure 4 In some embodiments, the chassis 11 further includes a chassis body 111, a connecting groove 112 and a plurality of abutting bosses 113; the chassis body 111 is rotatably connected to the floating member 12; the connecting groove 112 is arranged on the front side wall of the chassis body 111, and the connecting groove 112 is used to fix the fixed end 1421, thereby ensuring that the damping member 14 can be stably fixed on the chassis 11; the plurality of abutting bosses 113 are fixedly arranged on the chassis body On the front side wall of the body 111, several of the abutment bosses 113 are spaced apart from the connecting grooves 112, and both ends of the elastic member 143 abut against several of the abutment bosses 113, thereby providing support and positioning for the elastic member 143, ensuring that the elastic member 143 can be correctly installed on the damping shaft 142; several of the first placement grooves 114 are arranged along the length direction of the chassis body 111, and several of the first placement grooves 114 are used to place the motor 15, thereby providing an installation space for the motor 15.

[0055] Please refer to Figure 5In some embodiments, the floating member 12 includes a floating member body 121, a damping groove 123 and a plurality of second placement grooves 122; the floating member body 121 is rotatably connected to the front side wall of the chassis body 111, so that the floating member 12 can be adaptively adjusted on crawling surfaces at different angles; a plurality of second placement grooves 122 are arranged along the length direction of the floating member body 121, and the second placement grooves 122 are used to place the motor 15, thereby providing an installation space for the motor 15; the damping groove 123 is arranged on the rear side wall of the floating member body 121, thereby ensuring that the damping member 14 can be effectively connected to the floating member 12 and provide damping force.

[0056] Please refer to Figure 6 to Figure 7 In some embodiments, the damping groove 123 includes a damping groove body 1231, a damping through hole 1232 and a plurality of limiting bosses 1233; the damping groove body 1231 is fixedly arranged with the damping member body 141, thereby providing an installation position for the damping member 14; the damping through hole 1232 is arranged in the front side wall of the damping groove body 1231, and the damping through hole 1232 is used to connect the rotating end 1422; a plurality of limiting bosses 1233 are arranged on both sides of the damping through hole 1232, and the horizontal heights of the plurality of limiting bosses 1233 are lower than the horizontal heights of the plurality of abutting bosses 113, thereby not only limiting the rotation angle of the floating member 12, but also preventing the elastic member 143 from slipping off the abutting boss 113.

[0057] Please refer to Figure 2 In some embodiments, the hollow magnetic chassis 10 further includes a plurality of motors 15 and a plurality of rolling elements 16; the plurality of motors 15 are fixedly disposed in the plurality of first placement slots 114 and the plurality of second placement slots 122; the plurality of rolling elements 16 are rotatably connected to the rotating shafts of the plurality of motors 15 so that the motors 15 can drive the rolling elements 16 to rotate, thereby driving the chassis 11 to move, thereby improving the flexibility of movement of the hollow magnetic chassis 10.

[0058] Please refer to Figure 2 In some embodiments, the outer peripheral surfaces of some of the rolling elements 16 are coated with rubber or polyurethane materials, thereby increasing the friction between the rolling elements 16 and the crawling surface, preventing iron filings from being adsorbed in the rolling elements 16 , and greatly improving the stability and crawling reliability of the hollow magnetic chassis 10 .

[0059] Please refer to Figure 8In some embodiments, the magnetic attraction member 13 includes a plurality of fixing members 131 and a plurality of permanent magnet members 132; the plurality of fixing members 131 can be detachably arranged below the axis of the rolling member 16, and the plurality of permanent magnet members 132 can be detachably arranged in the fixing members 131 one by one, and the plurality of permanent magnet members 132 are used to generate adsorption force with external magnetic components, thereby ensuring that the distance between the plurality of permanent magnets and the crawling surface remains unchanged during the movement of the hollow magnetic chassis 10, further ensuring that the hollow magnetic chassis 10 can adapt to different magnetic surfaces and maintain a stable adsorption effect.

[0060] In some embodiments, the horizontal cross-section of the through portion 115 can be set to be square, rectangular, herringbone or circular, thereby ensuring that the hollow magnetic chassis 10 can adapt to loads of different shapes and sizes, so that the hollow magnetic chassis 10 can load different loads and crawl, which greatly improves the practicality and convenience of the hollow magnetic chassis 10.

[0061] In some embodiments, the magnetic component 13 can be arranged on the bottom side wall of the through portion 115, thereby ensuring that the center of gravity position of the hollow magnetic chassis 10 does not change significantly under different load conditions, further improving the movement performance of the hollow magnetic chassis 10.

[0062] A second embodiment of the present application provides a crawling robot, which includes the hollow magnetic chassis as described above, so that the crawling robot can stably crawl on a variety of non-traditional planes such as facades, top surfaces and pipes. The hollow magnetic chassis adopts a hollow layout, and can load loads of different masses simply by replacing magnetic parts with different adsorption forces, thereby ensuring that the center of gravity position of the hollow magnetic chassis will not change significantly under different load conditions, thereby greatly improving the robot's work efficiency and practicality.

[0063] In summary, the present application provides a hollow magnetic chassis and a crawling robot, wherein the hollow magnetic chassis comprises: a chassis, wherein the chassis has a through-part, and the through-part is used to load different loads; a floating part, wherein the floating part is rotatably connected to the chassis; and a plurality of magnetic parts, wherein the plurality of magnetic parts can be detachably arranged on the chassis and the floating part. The hollow magnetic chassis uses the through-part for loading different loads to ensure that the center of gravity position of the hollow magnetic chassis will not change significantly under different load conditions, thereby further improving the movement performance of the hollow magnetic chassis; the floating part is rotatably connected to the chassis, and the floating part is used to increase the fit between the chassis and the crawling surface, thereby enabling the hollow magnetic chassis to adaptively adjust when contacting different crawling surfaces and maintain a close fit with the crawling surface, thereby improving the stability of the hollow magnetic chassis and the adsorption of the crawling surface. Reliability; some of the magnetic parts can be detachably arranged on the chassis, thereby avoiding the use of magnetic wheels or tracks to directly adsorb the crawling surface, causing the magnetic wheels or tracks to adsorb too much iron filings, resulting in a decrease in magnetic attraction; some of the magnetic parts can be detachably arranged on the floating part, thereby not only enhancing the fit between the floating part and the crawling surface, but also avoiding the use of magnetic wheels or tracks to directly adsorb the crawling surface, causing the magnetic wheels or tracks to adsorb too much iron filings, resulting in a decrease in magnetic attraction, further greatly improving the stability of the hollow magnetic chassis and the reliability of crawling surface adsorption.

[0064] It should be understood that the application of the present application is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to this application.

Claims

1. A hollow magnetic chassis, characterized in that: include: A chassis, wherein the chassis has a through portion, and the through portion is used to load different loads; A floating member, the floating member is rotatably connected to the chassis; A plurality of magnetic suction parts, wherein the plurality of magnetic suction parts can be detachably arranged on the chassis and the floating part.

2. The hollow magnetic chassis according to claim 1, characterized in that: The hollow magnetic chassis also includes a damping member, which is arranged on the chassis and the floating member, and is used to increase the fit between the chassis and the floating member and the crawling surface.

3. The hollow magnetic chassis according to claim 2, characterized in that: The damping member comprises: A damping member body, wherein the damping member body is fixedly disposed on the floating member; A plurality of rotating bearings, wherein the plurality of rotating bearings are fixedly arranged in the damping element body; A damping shaft, the damping shaft having a fixed end and a rotating end which are arranged opposite to each other, the rotating end being rotatably sleeved in a plurality of the rotating bearings, and the fixed end being fixedly arranged on the chassis; An elastic member, wherein the elastic member is sleeved in the damping shaft and is used for providing a rotation damping force.

4. The hollow magnetic chassis according to claim 3, characterized in that: The chassis also includes: A chassis body, the chassis body being rotatably connected to the floating member; A connecting groove, which is arranged on the front side wall of the chassis body and is used for fixedly connecting the fixed end; A plurality of abutting bosses, wherein the abutting bosses are fixedly arranged on the front side wall of the chassis body, the abutting bosses are spaced apart from the connecting grooves, and both ends of the elastic member abut against the abutting bosses; A plurality of first placement grooves are provided along the length direction of the chassis body, and the plurality of first placement grooves are used for placing the motor.

5. The hollow magnetic chassis according to claim 4, characterized in that: The floating member comprises: A floating member body, the floating member body being rotatably connected to the front side wall of the chassis body; A plurality of second placement grooves, wherein the plurality of second placement grooves are arranged along the length direction of the floating member body, and the second placement grooves are used to place the motor; A damping groove is arranged on the rear side wall of the floating member body.

6. The hollow magnetic chassis according to claim 5, characterized in that: The damping groove comprises: A damping groove body, wherein the damping groove body and the damping element body are fixedly arranged; A damping through hole, the damping through hole being arranged in the front side wall of the damping slot body, the damping through hole being used for connecting the rotating end; A plurality of limiting bosses are provided on both sides of the damping through hole, and the horizontal heights of the plurality of limiting bosses are lower than the horizontal heights of the plurality of abutting bosses.

7. The hollow magnetic chassis according to claim 5, characterized in that: The hollow magnetic chassis also includes: A plurality of motors, wherein the plurality of motors are fixedly disposed in the plurality of first placement slots and the plurality of second placement slots; A plurality of rolling elements are rotatably connected to the rotating shafts of the plurality of motors.

8. The hollow magnetic chassis according to claim 7, characterized in that: The magnetic attraction member comprises: A plurality of fixing members, wherein the fixing members are detachably arranged below the axis of the rolling member; A plurality of permanent magnets are detachably arranged in the fixing member in a one-to-one correspondence, and the plurality of permanent magnets are used to generate adsorption force with an external magnetic component.

9. The hollow magnetic chassis according to claim 1, characterized in that: The horizontal cross-section of the penetration portion can be configured to be square, rectangular, herringbone or circular.

10. A crawling robot, characterized in that: The invention comprises the hollow magnetic chassis according to any one of claims 1 to 9.

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