Peristaltic wall-climbing robot

Abstract

The utility model discloses a peristaltic wall-climbing robot which is characterized in that the peristaltic wall-climbing robot comprises a robot body, the robot body comprises a main body part, end parts are arranged at the two ends of the main body part and are respectively a first end part and a second end part, a guide rail and a lead screw are arranged between the two end parts, and the lead screw is driven by a lead screw motor; a first cylinder is arranged on the first end part; a first electromagnet is arranged on a piston rod of the first cylinder; a second cylinder is arranged on the second end part; a second electromagnet is arranged on a piston rod of the second cylinder; an installation body is arranged on the guide rail and connected with the lead screw, a third air cylinder is arranged on the installation body, and a third electromagnet is arranged on a piston rod of the third air cylinder. According to the utility model, the electromagnet is directly contacted and adsorbed on the surface of a wall body and climbs in a wriggling manner, so that sliding friction is avoided.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a peristaltic wall-climbing robot. Background Technology

[0002] In the field of wall-climbing robots, the conventional design uses permanent magnets for indirect adhesion—that is, the magnets are kept at a certain distance from the wall to obtain downforce, while tracks or tires provide friction for the crawling strategy. However, this has several drawbacks: First, the permanent magnets are heavy, making the device heavy and significantly reducing the effective payload. Furthermore, if the device malfunctions, the magnets may become stuck to the wall and cannot be retrieved. Second, using tracks or tires for propulsion relies on sliding friction to provide reaction force. On wet surfaces, the adhesion decreases significantly, causing uncontrolled falls. This method also places higher demands on the power of the drive motor. Utility Model Content

[0003] The purpose of this invention is to provide a peristaltic wall-climbing robot that uses an electromagnet to directly contact and adhere to the wall surface, and crawls in a peristaltic manner to avoid sliding friction. It also has a large load capacity and is easy to use.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a peristaltic wall-climbing robot, characterized in that it includes a body, the body including a main body, and end components are provided at both ends of the main body, namely a first end component and a second end component, and a guide rail and a lead screw are provided between the two end components, the lead screw being driven by a lead screw motor;

[0005] A first cylinder is provided on the first end component, and a first electromagnet is provided on the piston rod of the first cylinder;

[0006] A second cylinder is provided on the second end component, and a second electromagnet is provided on the piston rod of the second cylinder;

[0007] A mounting body is installed on the guide rail, and the mounting body is connected to the lead screw. A third cylinder is installed on the mounting body, and a third electromagnet is installed on the piston rod of the third cylinder.

[0008] Furthermore, a steering assembly is provided at the mounting body. The steering assembly includes a steering shaft, the lower part of which is fixedly connected to the back of the third electromagnet, the upper part of which is movably connected to the mounting body, the upper part of which has a spline, and the spline is connected to a driven wheel. A drive wheel driven by a steering motor is provided on the mounting body, and the drive wheel and the driven wheel are connected by a belt.

[0009] Compared with the prior art, the present invention has the following advantages: The present invention uses an electromagnet to directly contact and adhere to the wall surface, and crawls in a creeping manner, avoiding the occurrence of sliding friction, while having a large load capacity and being easy to use. Attached Figure Description

[0010] Figure 1 This is a three-dimensional view of the first orientation of a peristaltic wall-climbing robot.

[0011] Figure 2 This is a two-dimensional view of a peristaltic wall-climbing robot from the second perspective.

[0012] Figure 3 This is a three-dimensional view of a peristaltic wall-climbing robot from the third perspective; some structures are omitted in the image.

[0013] Figure 4 This is a cross-sectional view of a peristaltic wall-climbing robot; some structural details are omitted in the figure. Detailed Implementation

[0014] Example 1

[0015] See Figures 1 to 4 A peristaltic wall-climbing robot includes a body, which includes a main body 11. The main body 11 has end components at both ends, namely a first end component 12 and a second end component 13. A guide rail 14 and a lead screw 15 are arranged between the two end components. The lead screw 15 is driven by a lead screw motor.

[0016] A first cylinder 21 is provided on the first end component 12, and a first electromagnet 22 is provided on the piston rod of the first cylinder 21.

[0017] A second cylinder 31 is provided on the second end component 13, and a second electromagnet 32 ​​is provided on the piston rod of the second cylinder 31.

[0018] A mounting body 41 is provided on the guide rail 14. The mounting body 41 is connected to the lead screw 15. A third cylinder 42 is provided on the mounting body 41. A third electromagnet 43 is provided on the piston rod of the third cylinder 42.

[0019] The first and second electromagnets are a fixed pair. When climbing upwards, the cylinders corresponding to the first and second electromagnets are extended and energized, while the cylinder corresponding to the third electromagnet is retracted and its magnet is demagnetized. Then, a peristaltic motor (lead screw motor) drives a ball screw to rotate, propelling the third electromagnet assembly upwards. Upon reaching its position, the cylinder corresponding to the third electromagnet (the third cylinder) extends and is energized. Then, the demagnetized cylinders of the first and second electromagnets retract, and the peristaltic motor rotates, causing the first and second electromagnets to move upwards. Upon reaching their positions, the cylinders corresponding to the first and second electromagnets extend and are energized, completing one cycle. This process repeats, enabling the robot to walk.

[0020] Example 2

[0021] The basic scheme is the same as in Embodiment 1, except that a steering assembly is provided at the mounting body 41. The steering assembly includes a steering shaft 51. The lower part of the steering shaft 51 is fixedly connected to the back of the third electromagnet 43, and the upper part of the steering shaft 51 is movably connected to the mounting body 41 (the mounting body can move up and down and circumferentially relative to the steering shaft). The upper part of the steering shaft 51 has a spline, and the spline is connected to the driven wheel 52 (fixed connection). A drive wheel 53 driven by a steering motor is provided on the mounting body 41, and the drive wheel 53 and the driven wheel 52 are connected by a belt.

[0022] The steering assembly is achieved by the steering motor driving the splined shaft (steering shaft) at the center of the third electromagnet to rotate via a synchronous belt. Since the third electromagnet is in the state of cylinder extension and attraction (the first and second electromagnets are in the state of demagnetization cylinder retraction), the third electromagnet is stationary, and the machine body is driven by the reaction force to rotate around the center of the splined shaft, thereby achieving steering.

[0023] Example 3

[0024] The basic scheme is the same as that in embodiment 1 or 2, except that, in order to facilitate the use of the robot, a structural hole (not shown in the figure) is provided in the middle of the main body away from the first electromagnet, and the structural hole is provided with internal thread.

[0025] The above description is merely a preferred embodiment of this utility model. The protection scope of this utility model is not limited to the above-described embodiments. All technical solutions that fall within the principles of this utility model are within its protection scope. For those skilled in the art, any improvements made without departing from the principles of this utility model should also be considered within its protection scope.

Claims

1. A peristaltic wall-climbing robot, characterized in that, The machine body includes a main body (11), and end components are provided at both ends of the main body (11), namely a first end component (12) and a second end component (13). A guide rail (14) and a lead screw (15) are provided between the two end components. The lead screw (15) is driven by a lead screw motor. A first cylinder (21) is provided on the first end component (12), and a first electromagnet (22) is provided on the piston rod of the first cylinder (21); A second cylinder (31) is provided on the second end component (13), and a second electromagnet (32) is provided on the piston rod of the second cylinder (31); A mounting body (41) is provided on the guide rail (14), the mounting body (41) is connected to the lead screw (15), a third cylinder (42) is provided on the mounting body (41), and a third electromagnet (43) is provided on the piston rod of the third cylinder (42).

2. The peristaltic wall-climbing robot according to claim 1, characterized in that: A steering assembly is provided at the mounting body (41). The steering assembly includes a steering shaft (51). The lower part of the steering shaft (51) is fixedly connected to the back of the third electromagnet (43). The upper part of the steering shaft (51) is movably connected to the mounting body (41). The upper part of the steering shaft (51) has a spline. The spline is connected to the driven wheel (52). A drive wheel (53) driven by a steering motor is provided on the mounting body (41). The drive wheel (53) and the driven wheel (52) are connected by a belt.

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