Machine body magnetism distribution structure for magnetic crawling vehicle

Abstract

The utility model discloses a machine body magnetism distribution structure for a magnetic creeping vehicle, which comprises a rack I, brackets are arranged at two ends of the rack I, and cameras are arranged on the two brackets; the racks II are arranged on the two sides of the rack I; the two magnetic attraction wheels are symmetrically distributed on the rack II in a rotating manner; the magnetic attraction unit comprises a first magnetic attraction piece, a second magnetic attraction piece, a third magnetic attraction piece and a first connecting component, the multiple first magnetic attraction pieces are distributed on the first rack in a dynamic suspension mode through the first connecting component, and the two second magnetic attraction pieces are distributed on the second rack in a dynamic suspension mode through the second connecting component. In the moving process of the robot, stress generated by uneven wall faces or movement impact can be absorbed and dispersed, the movement stability of the robot in the complex wall face environment is guaranteed, the fault occurrence probability caused by rigid collision or stress concentration is reduced, and the service life of the robot is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of wall-climbing robots, in particular to a magnetic distribution structure of a body for a magnetic crawling vehicle. Background Art

[0002] In some pipeline-type equipment, such as substation GIS switches, after running for a period of time, it is necessary to check the status of the internal pipelines. These internal pipelines are cylindrical, and these internal pipelines require the wall-climbing robot to be able to crawl on both vertical surfaces and negative surfaces. In addition, the pipelines are cylindrical, and the wall-climbing robot is also required to have the ability to crawl on curved surfaces.

[0003] However, since all wall-climbing robots on the market basically use neodymium iron boron permanent magnet fixed installation, and the wheels, chassis, magnets, and servo motor drives are all installed on a fixed chassis, when encountering welds or undulating surfaces, they will either slip and be unable to pass, or when rushing over, the entire robot will fall and tilt, and there is a danger of escaping. If the weld is too large or the surface is uneven, the robot may even fall and detach due to weakened magnetic attraction. Utility Model Content

[0004] The purpose of the present invention is to provide a magnetic distribution structure of a body for a magnetic crawling vehicle to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the utility model provides the following technical solutions: a magnetic distribution structure of a magnetic crawling vehicle, comprising

[0006] Frame 1, wherein both ends of the frame are equipped with brackets, and cameras are installed on both brackets;

[0007] Rack 2 is provided on both sides of rack 1;

[0008] Two symmetrically distributed magnetic wheels rotating on the second frame;

[0009] And the magnetic unit includes magnetic sheet one, magnetic sheet two, magnetic sheet three and connecting member one, the lower end of the frame one is provided with two symmetrically distributed magnetic sheets one, and two movable symmetrically distributed magnetic sheets two are provided at both ends of the magnetic sheet one, each of the magnetic sheet two is movably provided at the lower end of the frame two, and each of the magnetic sheet two is distributed with magnetic sheet three at both ends, and the magnetic sheet three is installed on the magnetic wheel, and multiple magnetic sheets one are dynamically suspended on the frame one through connecting member one, and two magnetic sheets two are dynamically suspended on the frame two through connecting member two.

[0010] In a preferred embodiment: the connecting member 1 includes an opening 3, an opening 4, a connecting column 2 and a dynamic cylinder 2. A plurality of the magnetic sheets 1 are each provided with a plurality of openings 3 distributed at equal distances. The dynamic cylinder 2 is movably provided in the opening 3. The upper end of the dynamic cylinder 2 is fixedly connected to the connecting column 2. The upper end of the connecting column 2 passes through the opening 4 and is slidably connected to the opening 4. The opening 4 is provided at the lower end of the frame, and the position of the opening 4 corresponds to that of the opening 3.

[0011] In a preferred embodiment: the connecting member 2 includes an opening 5, an opening 6, a connecting column 3 and a dynamic cylinder 3. A plurality of openings 5 ​​distributed at equal distances are provided on the plurality of magnetic sheets 2. The dynamic cylinder 3 is movably provided in the opening 5. The upper end of the dynamic cylinder 3 is fixedly connected to the connecting column 3. The upper end of the connecting column 3 passes through the opening 6 and is slidably connected to the opening 6.

[0012] In a preferred embodiment, the opening six is ​​opened at the lower end of the frame two, and the position of the opening six corresponds to that of the opening five.

[0013] In a preferred embodiment: a limit spring is provided between the second connecting post and the fourth opening, and between the third connecting post and the sixth opening, and the third opening and the fifth opening are both composed of a spherical opening and a conical opening.

[0014] In a preferred embodiment, the dynamic cylinder 2 and the dynamic cylinder 3 are both spherical and matched with the spherical opening, and the dynamic cylinder 2 and the dynamic cylinder 3 are movably arranged in the spherical openings adjacent thereto.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0016] The utility model adopts a suspension type for the whole vehicle structure, which can absorb and disperse the stress generated by uneven wall surface or movement impact during the movement of the robot. For example, when the magnetic wheel crosses a higher obstacle, the suspension mechanism of the wheels on both sides cooperates with the distributed magnetic sheet 1 and the magnetic sheet 2, so that the magnetic sheet 1 and the magnetic sheet 2 can be displaced as the magnetic force remains unchanged, maintaining stable adsorption, and avoiding falling or detachment due to weakening of the magnetic force caused by crossing. This multi-joint coordinated design ensures the movement stability of the robot in a complex wall environment, reduces the probability of failure due to rigid collision or stress concentration, extends the service life of the robot, and reduces maintenance costs.

[0017] The utility model adopts a unique suspension design through the magnetic unit of the robot. Magnetic sheet one is dynamically suspended on frame one through connecting member one, and magnetic sheet two is dynamically suspended on frame two through connecting member two. When encountering welds or surface undulations, such as in the pipeline inspection of the GIS switch in the substation, the magnetic sheet can automatically adjust its position and angle according to the actual situation of the wall surface. The dynamic cylinder in the connecting member (such as the dynamic cylinder two in the connecting member of magnetic sheet one and the cooperation with opening three, connecting column two and opening four, and the dynamic cylinder three in the connecting member of magnetic sheet two and the cooperation with opening five, connecting column three and opening six) can move flexibly in the corresponding opening, and the limit springs between connecting column two and opening four and connecting column three and opening six can play a role of buffering and adaptive adjustment, ensuring that the magnetic sheet always maintains good contact with the wall surface, and the magnetic attraction will not be weakened due to local structural changes, thereby ensuring stable adsorption force, allowing the robot to smoothly cross welds and surface undulations, and effectively avoiding Traditional fixed-chassis robots may experience problems such as slipping, falling or detaching due to these obstacles. Distributed magnetic plates 1, 2 and 3 are designed with a suspension structure to meet and ensure the maintenance of magnetic attraction. The magnetic attraction will not be weakened due to welds or surface undulations. The suspension structure allows for displacement in the front, back, left and right directions, thereby ensuring the permanence of magnetic force. During the entire operation, the robot can always maintain a stable adsorption force, whether on a vertical wall or a curved wall. For example, in high-altitude pipeline inspection operations, the stable adsorption force effectively prevents the robot from falling off the wall due to accidents, ensuring the safety of personnel and equipment below the operation site and reducing the possibility of safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 This is a schematic diagram of the overall bottom structure of the robot of the present invention;

[0020] Figure 2 This is a three-dimensional schematic diagram of a portion of the structure of the connecting component of the utility model;

[0021] Figure 3 This is a schematic front view of a cross-sectional structure of a portion of the connecting member of the present invention;

[0022] Figure 4 This is a schematic front view of the second cross-sectional structure of the connecting member of the present invention;

[0023] In the figure: 1. Frame 1; 2. Bracket; 3. Camera;

[0024] 4. Frame 2; 6. Magnetic wheel;

[0025] 5. Magnetic unit; 50. Magnetic sheet one; 51. Magnetic sheet two; 52. Magnetic sheet three; 53. Connecting member one; 530. Opening three; 531. Opening four; 532. Connecting column two; 533. Dynamic cylinder two; 534. Limiting spring; 54. Connecting member two; 540. Opening five; 541. Opening six; 542. Connecting column three; 543. Dynamic cylinder three. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0027] See also Figure 1-Figure 4 The utility model provides a technical solution: a magnetic distribution structure of a magnetic crawling vehicle, including

[0028] A rack 1, with brackets 2 installed at both ends of the rack 1, and cameras 3 installed on both brackets 2;

[0029] Rack 2 4 provided on both sides of rack 1;

[0030] Two symmetrically distributed magnetic wheels 6 rotate on the frame 2 4;

[0031] And the magnetic unit 5, including magnetic sheet 1 50, magnetic sheet 2 51, magnetic sheet 3 52 and connecting member 1 53, the lower end of the frame 1 is provided with two symmetrically distributed magnetic sheets 50, and two movable symmetrically distributed magnetic sheets 2 51 are provided at both ends of the magnetic sheet 1 50, each of the magnetic sheet 2 51 is movably provided at the lower end of the frame 2 4, and each of the magnetic sheet 2 51 is distributed with magnetic sheet 3 52 at both ends, and the magnetic sheet 3 52 is installed on the magnetic wheel 6, and multiple magnetic sheets 50 are dynamically suspended on the frame 1 through connecting member 1 53, and two magnetic sheets 2 51 are dynamically suspended on the frame 2 4 through connecting member 2 54.

[0032] Before the robot approaches the magnetic wall, the magnetic piece 1 50, the magnetic piece 2 51 and the magnetic piece 3 52 of the magnetic unit 5 are in a natural state. However, due to their own magnetic properties, they already have adsorption capabilities. When the robot is moved near the magnetic wall that needs to be climbed, the magnetic wheel 6 first approaches the wall, and the magnetic piece 3 52 on the magnetic wheel 6 is initially adsorbed on the wall by virtue of its magnetic attraction with the wall. At this time, due to the existence of the connecting member 1 53 and the connecting member 2 54, the magnetic piece 1 50 and the magnetic piece 2 51 can move freely within a certain range. They will move according to the contact between the magnetic wheel 6 and the wall and the local magnetic field characteristics of the wall. Automatically adjusting its position to achieve a preliminary equilibrium and stable adsorption state, magnetic sheet 1 50 can swing and retract to a certain extent at the lower end of frame 1 through opening 3 530 in connecting member 1 53, dynamic cylinder 2 533, connecting column 2 532, and the limit spring 534 between opening 4 531. This allows magnetic sheet 1 50 to better conform to the wall magnetic field distribution and enhance the overall adsorption force. Similarly, magnetic sheet 2 51 can undergo similar adaptive adjustment at the lower end of frame 2 4 through opening 5 540 in connecting member 2 54, dynamic cylinder 3 543, connecting column 3 542, and the corresponding limit spring 534.

[0033] As the robot begins to climb the wall, the frameless motor drives the magnetic wheel 6 to rotate. During this process, the magnetic unit 5 continues to work to maintain stable adsorption. Since the wall may be uneven or have curvature changes, the magnetic sheet 1 50, the magnetic sheet 2 51 and the magnetic sheet 3 52 will continue to work together. When the robot passes over a raised part of the wall, the distance between the magnetic wheel 6 and the wall may decrease instantly. At this time, the magnetic sheet 2 51 will, under the action of the connecting member 2 54, move slightly upward and adjust the angle through the movement of the dynamic cylinder 3 543 in the opening 5 40 and the expansion and contraction of the limit spring 534 between the connecting column 3 542 and the opening 6 541, so that the adsorption force of the magnetic sheet 3 52 on the magnetic wheel 6 is more evenly distributed, thereby preventing unstable adsorption or imbalance of the robot posture due to excessive local pressure. At the same time, the magnetic sheet 1 50 will also make corresponding fine adjustments through the connecting member 1 53 according to the overall force situation to balance the force on the robot in the direction perpendicular to the wall.

[0034] When the robot encounters a depression or curvature change in the wall, the distance between the magnetic wheel 6 and the wall will increase in certain areas. The magnetic sheet 2 51 will move downward and change its angle under the action of gravity and spring tension, so that the magnetic sheet 3 52 can better fit the wall and maintain the adsorption force. The magnetic sheet 1 50 will also make adaptive adjustments to ensure that the adsorption force between the entire magnetic unit 5 and the wall is always in a stable and effective range, thereby ensuring that the robot can move smoothly on the wall without falling.

[0035] The connecting member 1 53 includes a third opening 530, a fourth opening 531, a second connecting column 532 and a second dynamic cylinder 533. A plurality of the magnetic sheets 1 50 are each provided with a plurality of equally spaced openings 530. A second dynamic cylinder 533 is movably provided in the third opening 530. The upper end of the second dynamic cylinder 533 is fixedly connected to the second connecting column 532. The upper end of the second connecting column 532 passes through the fourth opening 531 and is slidably connected to the fourth opening 531. The fourth opening 531 is provided at the lower end of the frame 1, and the positions of the fourth opening 531 and the third opening 530 correspond.

[0036] The second connecting member 54 includes a fifth opening 540, a sixth opening 541, a third connecting column 542 and a third dynamic cylinder 543. Several fifth openings 540 are provided on the plurality of magnetic sheets 51 at equal distances. A third dynamic cylinder 543 is movably provided in the fifth opening 540. The upper end of the third dynamic cylinder 543 is fixedly connected to the third connecting column 542. The upper end of the third connecting column 542 passes through the sixth opening 541 and is slidably connected to the sixth opening 541.

[0037] The sixth opening 541 is opened at the lower end of the second frame 4 , and the sixth opening 541 corresponds to the position of the fifth opening 540 .

[0038] A limit spring 534 is provided between the second connecting post 532 and the fourth opening 531 and between the third connecting post 542 and the sixth opening 541. The third opening 530 and the fifth opening 540 are both composed of a spherical opening and a conical opening.

[0039] The second dynamic cylinder 533 and the third dynamic cylinder 543 are both spherical and matched with the spherical opening. The second dynamic cylinder 533 and the third dynamic cylinder 543 are respectively movably arranged in the adjacent spherical openings.

[0040] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A magnetic distribution structure for a magnetic crawling vehicle, characterized by: include Frame one (1), with brackets (2) installed at both ends of the frame one (1), and cameras (3) installed on both brackets (2); Frame 2 (4) provided on both sides of frame 1 (1); Two symmetrically distributed magnetic wheels (6) rotate on the second frame (4); And a magnetic unit (5), comprising a magnetic sheet one (50), a magnetic sheet two (51), a magnetic sheet three (52) and a connecting member one (53), wherein the lower end of the frame one (1) is provided with two symmetrically distributed magnetic sheets one (50), and two movable symmetrically distributed magnetic sheets two (51) are provided at both ends of the magnetic sheet one (50), each of the magnetic sheets two (51) is movably provided at the lower end of the frame two (4), and each of the magnetic sheets two (51) is provided with a magnetic sheet three (52) at both ends, and the magnetic sheet three (52) is installed on the magnetic wheel (6), and a plurality of the magnetic sheets one (50) are dynamically suspended on the frame one (1) through the connecting member one (53), and two of the magnetic sheets two (51) are dynamically suspended on the frame two (4) through the connecting member two (54).

2. The magnetic distribution structure of a magnetic crawling vehicle according to claim 1, characterized in that: The connecting member 1 (53) includes an opening 3 (530), an opening 4 (531), a connecting column 2 (532) and a dynamic cylinder 2 (533). A plurality of the magnetic sheets 1 (50) are provided with a plurality of openings 3 (530) distributed at equal distances. A dynamic cylinder 2 (533) is movably provided in the opening 3 (530). The upper end of the dynamic cylinder 2 (533) is fixedly connected to the connecting column 2 (532). The upper end of the connecting column 2 (532) passes through the opening 4 (531) and is slidably connected to the opening 4 (531). The opening 4 (531) is provided at the lower end of the frame 1 (1), and the positions of the opening 4 (531) and the opening 3 (530) correspond to each other.

3. The magnetic distribution structure of a magnetic crawling vehicle according to claim 2, characterized in that: The connecting member 2 (54) includes an opening 5 (540), an opening 6 (541), a connecting column 3 (542) and a dynamic cylinder 3 (543). A plurality of openings 5 ​​(540) distributed at equal distances are provided on the plurality of magnetic sheets 2 (51). A dynamic cylinder 3 (543) is movably provided in the opening 5 (540). The upper end of the dynamic cylinder 3 (543) is fixedly connected to the connecting column 3 (542). The upper end of the connecting column 3 (542) passes through the opening 6 (541) and is slidably connected to the opening 6 (541).

4. The magnetic distribution structure of a magnetic crawling vehicle according to claim 3, characterized in that: The sixth opening (541) is opened at the lower end of the frame two (4), and the sixth opening (541) corresponds to the position of the fifth opening (540).

5. The magnetic distribution structure of a magnetic crawling vehicle according to claim 4, characterized in that: A limit spring (534) is provided between the second connecting column (532) and the fourth opening (531), and between the third connecting column (542) and the sixth opening (541). The third opening (530) and the fifth opening (540) are both composed of a spherical opening and a conical opening.

6. The magnetic distribution structure of a magnetic crawling vehicle according to claim 5, characterized in that: The dynamic cylinder 2 (533) and the dynamic cylinder 3 (543) are both spherical and matched with the spherical opening. The dynamic cylinder 2 (533) and the dynamic cylinder 3 (543) are respectively movably arranged in the spherical openings adjacent thereto.

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