Obstacle crossing mechanism of permanent magnet wheel type wall-climbing robot

Abstract

The utility model discloses an obstacle crossing mechanism of a permanent magnet wheel type wall-climbing robot, and relates to the technical field of wall-climbing robots. The obstacle crossing mechanism of the permanent magnet wheel type wall-climbing robot comprises a support and wheels rotationally connected with the support, and a driving motor used for driving the wheels to roll on a working face is arranged on the support; the wheel is of a hollow structure, an adjusting shaft coaxial with the wheel is rotationally connected into an inner cavity of the wheel, a permanent magnet used for magnetically attracting the working face is arranged on the adjusting shaft, and an adjusting motor used for driving the adjusting shaft to rotate is arranged on the support. According to the obstacle crossing mechanism of the permanent magnet wheel type wall-climbing robot, the adjusting motor drives the adjusting shaft to drive the permanent magnet to rotate, the position of the permanent magnet in the wheel can be adjusted, the whole obstacle crossing mechanism can be attracted to different working faces at the 90-degree concave angle, the situation that the whole obstacle crossing mechanism is clamped at the 90-degree concave angle is avoided, and the obstacle crossing efficiency is improved. And stable climbing and obstacle crossing on a complex curved surface are realized.

Description

Technical Field

[0001] The present application relates to the technical field of wall-climbing robots, and in particular to an obstacle-crossing mechanism of a permanent-magnet-wheeled wall-climbing robot for a Francis turbine runner. Background Art

[0002] Wall-climbing robots are automated robots capable of climbing and performing tasks on vertical surfaces. They are widely used in industries such as hydropower, petrochemicals, shipbuilding, wind power, and nuclear power. Francis turbine runner blades are curved, requiring regular defect inspection. Good surface adaptability and obstacle traversal are essential features of wall-climbing robots for this task.

[0003] The wheels of traditional magnetic wheel wall-climbing robots are cylindrical, and the magnetic force is evenly distributed on the wheel surface. As a result, when they pass through the 90° concave angle on the runner blade, the magnetic force is equal on the two perpendicular wall surfaces, so the wheel may get stuck in the concave angle and fail to complete the inspection work. Utility Model Content

[0004] The purpose of this application is to provide an obstacle surmounting mechanism for a permanent magnetic wheel wall-climbing robot to solve the problem of poor obstacle surmounting ability of traditional magnetic wheel wall-climbing robots.

[0005] The technical solution adopted by this application to solve its technical problems is:

[0006] A permanent magnet wheeled wall-climbing robot obstacle surmounting mechanism comprises a bracket and a wheel rotatably connected to the bracket, wherein the bracket is provided with a drive motor for driving the wheel to roll on a working surface; the wheel is a hollow structure, and an adjustment shaft coaxial with the wheel is rotatably connected in its inner cavity, the adjustment shaft is provided with a permanent magnet for magnetically attracting the working surface, and the bracket is provided with an adjustment motor for driving the adjustment shaft to rotate.

[0007] Furthermore, the bracket includes two supporting plates arranged opposite to each other and a connecting plate connected to the two supporting plates; the two ends of the wheel along its axial direction are rotatably connected to the two supporting plates respectively.

[0008] Furthermore, the bracket also includes a drive motor mounting seat and an adjustment motor mounting seat; the drive motor mounting seat is connected to one of the support plates, and the drive motor is arranged on the drive motor mounting seat; the adjustment motor mounting seat is connected to the other support plate, and the adjustment motor is arranged on the adjustment motor mounting seat.

[0009] Furthermore, the drive motor is connected to the wheel through a first gear assembly.

[0010] Furthermore, the adjusting motor is connected to the adjusting shaft via a second gear assembly.

[0011] Furthermore, a permanent magnet mounting seat is connected to the adjusting shaft, and the permanent magnet is connected to the permanent magnet mounting seat.

[0012] Furthermore, the permanent magnet mounting seat is rotatably connected to the adjustment shaft via a pin shaft, and the pin shaft is perpendicular to the adjustment shaft.

[0013] Furthermore, a limiting block is connected to the adjusting shaft, and an arc-shaped limiting groove with the pin shaft as the central axis is provided on the limiting block, and a limiting column connected to the permanent magnet mounting seat is provided in the arc-shaped limiting groove.

[0014] Furthermore, the wheel is spherical or cylindrical.

[0015] Furthermore, the wheel includes a first shell and a second shell spliced ​​together.

[0016] Beneficial effects of this application:

[0017] The permanent magnet wheeled wall-climbing robot obstacle crossing mechanism provided in the embodiment of the present application can make the entire obstacle crossing mechanism adsorbed on the working surface through the adsorption effect of the permanent magnet on the working surface; by driving the wheels to roll on the working surface by the driving motor, the entire obstacle crossing mechanism can move along the working surface; by adjusting the motor driving the adjustment shaft to drive the permanent magnet to rotate, the position of the permanent magnet in the wheel can be adjusted, and the entire obstacle crossing mechanism can be adsorbed on different working surfaces at a 90° concave angle, avoiding the entire obstacle crossing mechanism from being stuck at the 90° concave angle, achieving stable climbing and obstacle crossing on complex curved surfaces, and improving the flexibility and efficiency of operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a schematic structural diagram of the obstacle surmounting mechanism of the permanent magnetic wheeled wall-climbing robot provided in an embodiment of the present application;

[0020] Figure 2 This is an exploded view of the obstacle-climbing mechanism of the permanent magnetic wheeled wall-climbing robot provided in an embodiment of the present application;

[0021] Figure 3 Schematic diagram of the structure of the permanent magnet mounting base;

[0022] Figure 4 It is a structural diagram of the limit block;

[0023] Figure 5 This is a state diagram of the obstacle-climbing mechanism of the permanent magnetic wheeled wall-climbing robot provided in an embodiment of the present application when navigating an obstacle.

[0024] Reference numerals:

[0025] 10-working surface;

[0026] 11-wheel;

[0027] 111-first housing;

[0028] 112- second housing;

[0029] 12- drive motor;

[0030] 13-Adjusting shaft;

[0031] 14-Permanent magnet;

[0032] 15-Adjust the motor;

[0033] 16-support plate;

[0034] 17-connecting plate;

[0035] 18-Drive motor mounting seat;

[0036] 19-Adjust the motor mounting base;

[0037] 20-permanent magnet mounting seat;

[0038] 21-pin;

[0039] 22-limiting block;

[0040] 221-arc-shaped limiting groove;

[0041] 23-limiting column;

[0042] 24-first bearing;

[0043] 25-first driving gear;

[0044] 26-first driven gear;

[0045] 27-second driving gear;

[0046] 28-second driven gear;

[0047] 29-Second bearing. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0049] In the description of this application, the terms "upper," "lower," "left," "right," "front," "back," "inner," and "outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are intended solely to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Unless otherwise specified, the above-mentioned orientational descriptions may be flexibly set in actual application, provided that the relative positional relationships shown in the accompanying drawings are met.

[0050] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0051] See also Figure 1 、 Figure 2 The obstacle surmounting mechanism of the permanent magnetic wheeled wall-climbing robot provided in the embodiment of the present application includes a bracket and a wheel 11 rotatably connected to the bracket, and the bracket is provided with a driving motor 12 for driving the wheel 11 to roll on the working surface 10; the wheel 11 is a hollow structure, and an adjusting shaft 13 coaxial with it is rotatably connected in its inner cavity, and a permanent magnet 14 for magnetically attracting the working surface 10 is provided on the adjusting shaft 13, and an adjusting motor 15 for driving the adjusting shaft 13 to rotate is provided on the bracket.

[0052] The permanent magnet wheeled wall-climbing robot obstacle crossing mechanism provided in the embodiment of the present application, when in use, the wheel 11 contacts the iron or magnetic working surface 10, and the permanent magnet 14 generates a magnetic attraction force on the working surface 10, which can press the wheel 11 onto the working surface 10, ensuring that there is friction between the wheel 11 and the working surface 10, so that the entire obstacle crossing mechanism is stably and reliably adsorbed on the working surface 10; the wheel 11 is driven to roll on the working surface 10 by the driving motor 12, so that the entire obstacle crossing mechanism can move along the working surface 10; the adjustment shaft 13 is driven to rotate by the adjustment motor 15, and the adjustment shaft 13 drives the permanent magnet 14 to rotate, and the position of the permanent magnet 14 in the wheel 11 can be adjusted, so that the entire obstacle crossing mechanism can be adsorbed on different working surfaces 10 at a 90° concave angle, avoiding the entire obstacle crossing mechanism from getting stuck at the 90° concave angle, achieving stable climbing and obstacle crossing on complex curved surfaces, and improving the flexibility and efficiency of operations.

[0053] In some embodiments, see Figure 1 、 Figure 2 The bracket includes two oppositely arranged support plates 16 and a connecting plate 17 connected to the two support plates 16; the two ends of the wheel 11 along its axial direction are respectively rotatably connected to the two support plates 16.

[0054] Exemplarily, the two support plates 16 are arranged in parallel, and one end of the two support plates 16 is fixedly connected by a connecting plate 17, and a space for mounting the wheel 11 is formed between the two support plates 16 and the connecting plate 17. The two support plates 16 and the connecting plate 17 can be welded, bolted, or integrally formed. The wheel 11 is rotatably connected to the two support plates 16 at both ends along its axial direction via a first bearing 24, thereby reducing friction between the wheel 11 and the support plates 16, making the rotation of the wheel 11 smoother and reducing energy loss and wear. The drive motor 12 and the adjustment motor 15 can be arranged on the support plate 16 or on the connecting plate 17.

[0055] In some embodiments, see Figure 1 、 Figure 2 The bracket also includes a drive motor mounting base 18 and an adjustment motor mounting base 19. The drive motor mounting base 18 is connected to one of the support plates 16, and the drive motor 12 is mounted on the drive motor mounting base 18. The adjustment motor mounting base 19 is connected to the other support plate 16, and the adjustment motor 15 is mounted on the adjustment motor mounting base 19. The drive motor 12 is connected to the wheel 11 via a first gear assembly, and the adjustment motor 15 is connected to the adjustment shaft 13 via a second gear assembly.

[0056] Exemplarily, the drive motor mounting base 18 and the support plate 16 can be welded or bolted together, and a space for accommodating the first gear assembly is formed therebetween; the first gear assembly may include a first driving gear 25 and a first driven gear 26. The drive motor 12 is fixedly connected to the drive motor mounting base 18 by bolts, the output shaft of the drive motor 12 is coaxial with and fixedly connected to the first driving gear 25, the wheel 11 is coaxial with and fixedly connected to the first driven gear 26, and the first driving gear 25 and the first driven gear 26 are meshed for transmission. During use, the output shaft of the drive motor 12 drives the first driving gear 25 to rotate, the first driving gear 25 drives the first driven gear 26 to rotate, and the first driven gear 26 then drives the wheel 11 to rotate. The first driving gear 25 and the first driven gear 26 can be spur gears or bevel gears.

[0057] Exemplarily, the adjustment motor mounting seat 19 and the support plate 16 can be welded or bolted together, and a space for accommodating the second gear assembly is formed therebetween; the second gear assembly may include a second driving gear 27 and a second driven gear 28. The two ends of the adjustment shaft 13 are rotatably connected to the wheel 11 via second bearings 29, and one end of the adjustment shaft 13 passes through the wheel 11 and the support plate 16 in sequence and extends into the space between the motor mounting seat 19 and the support plate 16. The output shaft of the adjustment motor 15 is coaxial and fixedly connected to the second driving gear 27, and the adjustment shaft 13 is coaxial and fixedly connected to the second driven gear 28, and the second driving gear 27 and the second driven gear 28 are meshed for transmission. When in use, the output shaft of the adjustment motor 15 drives the second driving gear 27 to rotate, the second driving gear 27 drives the second driven gear 28 to rotate, and the second driven gear 28 then drives the adjustment shaft 13 to rotate. Among them, the second driving gear 27 and the second driven gear 28 can be spur gears or bevel gears.

[0058] In other embodiments, the drive motor 12 may be connected to the wheel 11 via other transmission methods to drive the wheel 11 to rotate; the adjustment motor 15 may be connected to the adjustment shaft 13 via other transmission methods to drive the adjustment shaft 13 to rotate. For example, other transmission methods may include direct transmission or worm gear transmission.

[0059] The permanent magnet 14 can be mounted directly on the adjustment shaft 13. In some embodiments, see Figure 1 、 Figure 2 The adjusting shaft 13 is connected to a permanent magnet mounting seat 20, and the permanent magnet 14 is connected to the permanent magnet mounting seat 20. There is a gap between the permanent magnet 14 and the inner surface of the wheel 11 to avoid direct contact between the two.

[0060] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 The permanent magnet mounting seat 20 is rotatably connected to the adjustment shaft 13 via a pin 21, and the pin 21 is perpendicular to the adjustment shaft 13. This allows the permanent magnet mounting seat 20 to drive the permanent magnet 14 to rotate around the pin 21, thereby adjusting the axial position of the permanent magnet 14 in the inner cavity of the wheel 11. Furthermore, a limiting block 22 is connected to the adjustment shaft 13. The limiting block 22 is provided with an arc-shaped limiting groove 221 with the pin 21 as the central axis. A limiting post 23 connected to the permanent magnet mounting seat 20 is provided in the arc-shaped limiting groove 221. Through the cooperation between the arc-shaped limiting groove 221 and the limiting post 23, the swing amplitude of the permanent magnet 14 in the inner cavity of the wheel 11 along its axial direction can be controlled.

[0061] The wheel 11 may be cylindrical. Figure 1 、 Figure 2 The wheel 11 is spherical, and the size of the gap between the permanent magnet 14 and the inner surface of the wheel 11 is consistent. Furthermore, the wheel 11 includes a first shell 111 and a second shell 112 that are spliced ​​together. Exemplarily, the first shell 111 and the second shell 112 are both made of a lightweight, high-strength alloy material. The first shell 111 and the second shell 112 can be glued together to form the wheel 11. The outer surface of the wheel 11 is provided with a ceramic coating to increase friction between it and the working surface 10.

[0062] See also Figure 5 The walking and obstacle-crossing process of the obstacle-crossing mechanism of the permanent magnetic wheeled wall-climbing robot provided in the embodiment of the present application on the working surface 10 is as follows:

[0063] S1, the obstacle crossing mechanism moves on the horizontal working surface 10;

[0064] When the obstacle crossing mechanism reaches point A, the adjustment motor 15 is in the power-off state, and the permanent magnet 14 can passively change direction and rotate to the direction of maximum magnetic force, thereby adsorbing the entire obstacle crossing mechanism on the horizontal working surface 10; the drive motor 12 drives the wheel 11 to roll from right to left on the horizontal working surface 10, thereby making the obstacle crossing mechanism move on the horizontal working surface 10.

[0065] S2, the obstacle crossing mechanism crosses the obstacle at a 90° concave angle;

[0066] When the obstacle crossing mechanism reaches point B, the wheel 11 contacts the horizontal working surface 10 and the vertical working surface 10 at the same time; the control adjustment motor 15 is in the power-on state, and the adjustment motor 15 drives the adjustment shaft 13 to drive the permanent magnet 14 to rotate clockwise, so that the adsorption force of the permanent magnet 14 on the vertical working surface 10 is greater than the adsorption force on the horizontal working surface 10; then, the drive motor 12 drives the wheel 11 to roll from bottom to top on the vertical working surface 10, so that the obstacle crossing mechanism can cross the obstacle with a 90° concave angle and realize walking from the horizontal working surface 10 to the vertical working surface 10.

[0067] S3, the obstacle crossing mechanism moves on the vertical working surface 10;

[0068] When the obstacle crossing mechanism reaches point C, the obstacle crossing mechanism is separated from the horizontal working surface 10; the adjustment motor 15 can be in a power-off state, and the permanent magnet 14 can passively change direction and rotate to the direction of maximum magnetic force, thereby adsorbing the entire obstacle crossing mechanism on the vertical working surface 10; the drive motor 12 drives the wheels 11 to roll from bottom to top on the vertical working surface 10, thereby making the obstacle crossing mechanism move on the vertical working surface 10.

[0069] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in this application should be covered by the scope of protection of the present application.

Claims

1. A permanent magnet wheeled wall climbing robot obstacle crossing mechanism, characterized in that: It comprises a bracket and a wheel (11) rotatably connected to the bracket, wherein the bracket is provided with a driving motor (12) for driving the wheel (11) to roll on a working surface (10); The wheel (11) is a hollow structure, and an adjusting shaft (13) coaxial with the wheel is rotatably connected in its inner cavity. A permanent magnet (14) for magnetically attracting the working surface (10) is provided on the adjusting shaft (13), and an adjusting motor (15) for driving the adjusting shaft (13) to rotate is provided on the bracket.

2. The obstacle-climbing mechanism of the permanent magnetic wheeled wall-climbing robot according to claim 1, characterized in that: The bracket comprises two support plates (16) arranged opposite to each other and a connecting plate (17) connected to the two support plates (16); the wheel (11) is rotatably connected to the two support plates (16) at both ends along its axial direction.

3. The obstacle-climbing mechanism of the permanent magnetic wheeled wall-climbing robot according to claim 2, characterized in that: The bracket also includes a driving motor mounting seat (18) and an adjusting motor mounting seat (19); The drive motor mounting seat (18) is connected to one of the support plates (16), and the drive motor (12) is arranged on the drive motor mounting seat (18); The regulating motor mounting seat (19) is connected to the other supporting plate (16), and the regulating motor (15) is arranged on the regulating motor mounting seat (19).

4. The obstacle surmounting mechanism of the permanent magnetic wheeled wall-climbing robot according to claim 1, 2 or 3, characterized in that: The driving motor (12) is in transmission connection with the wheel (11) via a first gear assembly.

5. The obstacle surmounting mechanism of the permanent magnetic wheeled wall-climbing robot according to claim 1, 2 or 3, characterized in that: The regulating motor (15) is in transmission connection with the regulating shaft (13) via a second gear assembly.

6. The obstacle-climbing mechanism of the permanent magnetic wheeled wall-climbing robot according to claim 1, characterized in that: A permanent magnet mounting seat (20) is connected to the adjustment shaft (13), and the permanent magnet (14) is connected to the permanent magnet mounting seat (20).

7. The obstacle-climbing mechanism of the permanent magnetic wheeled wall-climbing robot according to claim 6, characterized in that: The permanent magnet mounting seat (20) is rotatably connected to the adjustment shaft (13) via a pin shaft (21), and the pin shaft (21) is perpendicular to the adjustment shaft (13).

8. The obstacle-climbing mechanism of the permanent magnetic wheeled wall-climbing robot according to claim 7, characterized in that: The regulating shaft (13) is connected to a limiting block (22), the limiting block (22) is provided with an arc-shaped limiting groove (221) with the pin shaft (21) as the central axis, and a limiting column (23) connected to the permanent magnet mounting seat (20) is provided in the arc-shaped limiting groove (221).

9. The obstacle surmounting mechanism of the permanent magnetic wheeled wall-climbing robot according to claim 1, characterized in that: The wheel (11) is spherical or cylindrical.

10. The obstacle surmounting mechanism of the permanent magnetic wheeled wall-climbing robot according to claim 1, characterized in that: The wheel (11) comprises a first shell (111) and a second shell (112) which are spliced ​​together.

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