Crawler-type magnetic adsorption wall-climbing robot

Abstract

The utility model relates to a crawler-type magnetic adsorption wall-climbing robot, and belongs to the field of wall-climbing robots. The wall-climbing robot comprises a main body bracket, a control module, a driving module, an adsorption module and a mechanical arm module, the main body support is a frame of a hollow structure and comprises a bottom plate, side plates arranged on the two sides of a chassis and a cover plate connected with the tops of the side plates, and a power source is arranged in the main body support. The control module is arranged in the main body bracket and is electrically connected with a power supply, and the control module comprises a wireless communication unit. According to the utility model, the structure is simple, the obstacle crossing ability is strong, and the upper and lower sides of the magnetic poles present two states of upper strong magnetism and lower weak magnetism by adopting the Halbach array arrangement of the magnetic poles of the permanent magnets, so that the magnetic adsorption force to the wall surface is greatly improved.

Description

Technical Field

[0001] This utility model belongs to the field of wall-climbing robots, specifically relating to a tracked magnetic adsorption wall-climbing robot. Background Technology

[0002] With the rapid development of heavy industry, the manufacturing and use of large steel structures such as bridges, high-speed railways, ships, and lifting machinery are becoming increasingly widespread. These structures are exposed to harsh environmental conditions for extended periods, making the steel prone to corrosion, cracks, and fatigue stress. This can lead to major safety accidents such as structural deformation, cracking, pipeline leaks, and even collapses. Therefore, fatigue stress detection and maintenance of large steel structures at heights are particularly important. In routine high-altitude operations such as elevated tower work, ship maintenance, bridge inspection, and tank wall rust removal, manual labor also faces significant safety risks and operational difficulties. Therefore, there is an urgent need for a wall-climbing robot to replace humans in these dangerous and complex tasks.

[0003] The adsorption mechanism is a crucial component of wall-climbing robots. Adsorption methods primarily include magnetic adsorption, negative pressure adsorption, and biomimetic claw adsorption. Negative pressure adsorption offers the advantage of not being limited by the working material; however, it also has significant drawbacks. It requires a high degree of roughness on the wall surface and strict sealing, making it only suitable for continuously smooth wall environments. Biomimetic claw adsorption utilizes the burrs on biomimetic claws to hook onto uneven grooves and achieve adhesion to the wall. However, this method has limited adsorption force, demanding wall conditions, and its nanoscale artificial cilia in the feet lack sufficient toughness and strength. Furthermore, its relatively high manufacturing cost limits its practical application.

[0004] Furthermore, based on different driving methods, wall-climbing robots are mainly divided into three types: tracked drive, wheeled drive, and legged drive. Among them, experimental testing has shown that tracked wall-climbing robots have significant advantages such as good adhesion and high load capacity, enabling them to firmly climb inclined steel walls. However, they also have certain limitations, such as high resistance to turning on the wall and slow movement speed. Wheeled wall-climbing robots have advantages such as flexible movement and convenient turning; however, their adhesion is relatively poor, posing a certain risk of detachment. Legged wall-climbing robots have good obstacle-crossing performance, but their walking speed is slow and their efficiency is low. These limitations result in poor terrain adaptability and insufficient movement flexibility of existing wall-climbing robots, thus seriously hindering their widespread application and promotion in practical engineering projects. Summary of the Invention

[0005] The purpose of this invention is to provide a wall-climbing robot with a simple structure, strong adsorption capacity, strong obstacle-crossing ability, and remote control capability to solve the above-mentioned problems.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A tracked magnetic adsorption wall-climbing robot includes a main support frame, a control module, a drive module, an adsorption module, and a robotic arm module.

[0008] The main support is a hollow frame structure, including a base plate, side plates on both sides of the chassis, and a cover plate connected to the top of the side plates. A power supply is installed inside the main support.

[0009] The control module is housed within the main support frame and electrically connected to the power supply. The control module includes a main controller, a motor drive module, and a wireless communication unit.

[0010] The drive module includes a drive device disposed within the main support and tracks disposed on both sides of the main support. The tracks include a chain, a sprocket, and a connecting shaft fixedly disposed on the sprocket. The connecting shaft passes through the side plate and is connected to the drive device for transmission.

[0011] The adsorption module includes a magnet fixing block fixedly mounted on the chain. The magnet fixing block has a magnet mounting groove, and a permanent magnet is installed in the magnet mounting groove.

[0012] Furthermore, the main support frame is made of a lightweight alloy.

[0013] Furthermore, the magnet mounting groove is also provided with a shim for vibration isolation.

[0014] Furthermore, a rubber layer is provided on the surface of the magnet fixing block.

[0015] Furthermore, the magnetic poles of the permanent magnet are arranged in a Halebeck array.

[0016] In some embodiments, a robotic arm module disposed on the main support is further included, the robotic arm module being electrically connected to the power supply and control module.

[0017] The beneficial effects of this invention are as follows:

[0018] 1. Strong adsorption capacity: The permanent magnet poles of the adsorption unit of this wall-climbing robot are arranged in a Halbach array, with the magnetic poles exhibiting two states: "strong magnetism" on the top and "weak magnetism" on the bottom, which greatly improves the magnetic adsorption force on the wall surface.

[0019] 2. Simple structure: The chassis adopts a modular design to facilitate assembly, maintenance and upgrades.

[0020] 3. Strong obstacle crossing ability: It adopts a tracked drive system and has a strong ability to cross obstacles.

[0021] 4. Remote control: The wall-climbing robot is controlled remotely via wireless remote control.

[0022] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a tracked magnetic adsorption wall-climbing robot according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the base structure of a tracked magnetic adsorption wall-climbing robot according to an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the track structure of a tracked magnetic adsorption wall-climbing robot according to an embodiment of the present invention.

[0026] Explanation of the symbols in the attached diagram: 1. Drive unit; 2. Controller; 3. Power supply; 4. Magnet fixing block; 5. Sprocket; 6. Handle; 7. Robotic arm; 8. Chain; 9. Connecting shaft; 10. Side plate. Detailed Implementation

[0027] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0028] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0029] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0030] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0031] Please see Figure 1-3 The tracked magnetic adsorption wall-climbing robot shown in a preferred embodiment of this application includes a main support frame, a control module, a drive module, an adsorption module, and a robotic arm module.

[0032] The main support is a hollow frame structure, including a base plate, side plates on both sides of the chassis, and a cover plate connected to the top of the side plates; a power supply is installed inside the main support.

[0033] Preferably, the main support frame is made of aluminum alloy to further reduce the weight of the robot.

[0034] The control module is housed within the main support frame and electrically connected to the power supply. The control module includes a wireless communication unit and a wireless remote controller for remote control of operations.

[0035] The drive module includes a drive unit installed inside the main support and tracks installed on both sides of the main support. The tracks include a chain, a sprocket, and a connecting shaft fixedly installed on the sprocket. The connecting shaft passes through the side plate and is connected to the drive unit for transmission.

[0036] Specifically, in this embodiment, the drive device includes a motor and a reducer, and is electrically connected to a power source.

[0037] The adsorption module includes a magnet fixing block fixedly mounted on the chain, and the magnet fixing block has a magnet mounting groove for placing a permanent magnet.

[0038] Furthermore, the magnet mounting slot is also equipped with a shock-absorbing pad to prevent the permanent magnet from breaking due to rigid collisions during the adsorption process, ensuring that the permanent magnet does not come into direct contact with the wall.

[0039] Furthermore, the surface of the magnet fixing block is also provided with a rubber layer to increase the friction between the robot and the wall and prevent slippage.

[0040] It should be noted that the permanent magnet poles in the adsorption module are arranged in a Halbach array, with the poles exhibiting two states: a strong magnetic field at the top and a weak magnetic field at the bottom, which greatly enhances the magnetic adsorption force on the wall surface.

[0041] Preferably, in some embodiments, the tracked magnetic adsorption wall-climbing robot further includes a robotic arm module mounted on the main support, the robotic arm module being electrically connected to the power supply and control module.

[0042] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0043] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A tracked magnetic adsorption wall-climbing robot, characterized in that, It includes a main support frame, a control module, a drive module, and an adsorption module; The main support is a hollow frame structure, including a base plate, side plates on both sides of the chassis, and a cover plate connected to the top of the side plates. A power supply is installed inside the main support. The control module is disposed within the main support frame and electrically connected to the power supply. The control module includes a wireless communication unit. The drive module includes a drive device disposed within the main support and tracks disposed on both sides of the main support. The tracks include a chain, a sprocket, and a connecting shaft fixedly disposed on the sprocket. The connecting shaft passes through the side plate and is connected to the drive device for transmission. The adsorption module includes a magnet fixing block fixedly mounted on the chain. The magnet fixing block has a magnet mounting groove, and a permanent magnet is placed in the magnet mounting groove. The magnetic poles of the permanent magnet are arranged in a Heilbeck array.

2. The tracked magnetic adsorption wall-climbing robot as described in claim 1, characterized in that, The main support frame is made of lightweight alloy.

3. The tracked magnetic adsorption wall-climbing robot as described in claim 1, characterized in that, The magnet mounting slot is also equipped with a shim for vibration isolation.

4. The tracked magnetic adsorption wall-climbing robot as described in claim 1, characterized in that, The surface of the magnet fixing block is provided with a rubber layer.

5. The tracked magnetic adsorption wall-climbing robot as described in any one of claims 1-4, characterized in that, It also includes a robotic arm module mounted on the main support, the robotic arm module being electrically connected to the power supply and control module, and the robotic arm module being a 4-degree-of-freedom robotic arm.

Images