Magnetic climbing robot

Abstract

The utility model discloses a magnetic climbing robot, which relates to the technical field of robots and comprises a frame, a steering wheel set and two driving wheel sets, the steering wheel set and the two driving wheel sets are arranged on the frame, and the two driving wheel sets are arranged on one side of the steering wheel set along the front-back direction of the frame. The two driving wheel sets are arranged on the two sides of the steering wheel set in the left-right direction of the vehicle frame correspondingly. The steering wheel set comprises a first support, a first magnetic wheel set and a first supporting wheel, the first support is rotationally arranged on the frame, and the first magnetic wheel set and the first supporting wheel are rotationally arranged on the first support through a first rotating shaft; the number of the first supporting wheels is at least three, the number of the first magnetic wheel sets is multiple, the at least three first supporting wheels are arranged at intervals in the central axis direction of the first rotating shaft, and at least one first magnetic wheel set is arranged between any two adjacent first supporting wheels. According to the technical scheme, the technical problem that a magnetic climbing robot is poor in steering capacity can be solved.

Description

Technical Field

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

[0002] A magnetic climbing robot is an intelligent device that uses magnetic attraction to move on vertical or inclined surfaces. It attaches to the surface using magnetic wheels and can move along it, enabling industrial inspection, construction, and surveying operations in fields such as shipbuilding, wind power, and petrochemical pipelines. A magnetic climbing robot mainly consists of a frame, drive wheel sets, and steering wheel sets. However, traditional magnetic climbing robots suffer from poor steering ability.

[0003] Therefore, it is necessary to provide a new magnetic climbing robot to solve the above-mentioned technical problems. Utility Model Content

[0004] The main purpose of this invention is to propose a magnetic climbing robot, which aims to solve the technical problem of poor turning ability in magnetic climbing robots.

[0005] To achieve the above objectives, this utility model proposes a magnetic climbing robot, comprising a frame, a steering wheel assembly, and two drive wheel assemblies. The steering wheel assembly and the two drive wheel assemblies are both disposed on the frame. The two drive wheel assemblies are disposed on one side of the steering wheel assembly along the front-rear direction of the frame, and the two drive wheel assemblies are disposed on both sides of the steering wheel assembly along the left-right direction of the frame.

[0006] The steering wheel assembly includes a first bracket, a first magnetic wheel assembly, and a first support wheel. The first bracket is rotatably mounted on the vehicle frame, and the first magnetic wheel assembly and the first support wheel are both rotatably mounted on the first bracket via a first rotating shaft.

[0007] The number of the first support wheels is at least three, and the number of the first magnetic wheel sets is multiple. The at least three first support wheels are spaced apart along the central axis of the first rotating shaft, and at least one first magnetic wheel set is provided between any two adjacent first support wheels.

[0008] In one embodiment, there are three first support wheels and two first magnetic wheel sets. The three first support wheels are spaced apart along the central axis of the first rotating shaft, and a first magnetic wheel set is provided between any two adjacent first support wheels.

[0009] In one embodiment, each of the first support wheels is a rubber wheel; defined as: three first support wheels spaced apart along the central axis of the rotating shaft are, in sequence, a first rubber wheel, a second rubber wheel, and a third rubber wheel; then, the diameter of the first rubber wheel is equal to the diameter of the third rubber wheel, and the diameter of the first rubber wheel is smaller than the diameter of the second rubber wheel.

[0010] In one embodiment, friction stripes are provided on the outer circumferential surface of each of the first support wheels.

[0011] In one embodiment, each of the first magnetic wheel groups includes a first magnetic pulley and two first armatures. The first magnetic pulley is disposed on the first rotating shaft, and the two first armatures are respectively disposed on both sides of the magnetic pulley.

[0012] In one embodiment, the diameter of the first magnetic chuck is equal to the diameter of each of the first armatures, and the diameter of the first magnetic chuck is smaller than the diameter of any one of the first support wheels.

[0013] In one embodiment, the frame is provided with a plurality of scraping blocks, the number of which is equal to the number of the first magnetic wheel sets, and each scraping block is disposed on the outside of the corresponding first magnetic wheel set.

[0014] In one embodiment, each of the drive wheel sets includes a second bracket, a second magnetic wheel set, and two second support wheels. The second bracket is disposed on the vehicle frame, and the second magnetic wheel set and the two second support wheels are rotatably disposed on the second bracket via a second rotating shaft.

[0015] Two second support wheels are spaced apart along the central axis of the second rotating shaft, and the second magnetic wheel assembly is disposed between the two second support wheels.

[0016] In one embodiment, the second magnetic wheel assembly includes a second magnetic pulley and a plurality of second armatures. The plurality of second armatures are spaced apart along the central axis of the second rotating shaft, and at least one second magnetic pulley is provided between any two adjacent second armatures.

[0017] In one embodiment, the distances between the two drive wheel sets and the steering wheel set are equal.

[0018] The technical solution of this utility model integrates multiple first magnetic wheel sets on a single steering wheel set to provide sufficient magnetic attraction, enabling the magnetic climbing robot to complete steering using only one steering wheel set. This makes the magnetic climbing robot's steering more flexible and improves its steering ability. In this embodiment, the magnetic climbing robot adheres to the surface to be adhered to using the steering wheel set and two drive wheel sets. The steering wheel set and the two drive wheel sets are both mounted on the frame and arranged in a triangular pattern, which provides stable support for the magnetic climbing robot, thereby improving its stability during movement. The steering wheel set includes a first bracket rotatably mounted on the frame, multiple first magnetic wheel sets, and at least three first support wheels. The at least three first support wheels are spaced apart along the central axis of the first rotating shaft, and at least one first magnetic wheel set is provided between any two adjacent first support wheels. The first magnetic wheel sets provide a magnetic attraction to adhere the steering wheel set to the surface to be adhered to, thereby cooperating with the drive wheel sets to allow the magnetic climbing robot to adhere to the surface to be adhered to. The first support wheel provides support and rolls on the surface to be adhered to as the magnetic climbing robot moves, reducing friction. In other words, the robot's steering wheel assembly integrates multiple first magnetic wheel sets, providing sufficient magnetic force to adhere the steering wheel assembly to the surface, thus cooperating with the drive wheel assembly to ensure the robot's adhesion. The robot steers using only one steering wheel set, significantly improving its maneuverability and steering capability compared to traditional magnetic climbing robots that use two sets. This magnetic climbing robot is used in cleaning and inspection equipment for wind turbine towers, among other applications. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the structure of a magnetic climbing robot in one embodiment of the present invention;

[0021] Figure 2 A schematic diagram of the steering wheel assembly in one embodiment of the present invention;

[0022] Figure 3 A schematic diagram of the drive wheel assembly in one embodiment of this utility model.

[0023] Explanation of icon numbers:

[0024] 100. Frame; 110. Scraper; 200. Steering wheel assembly; 210. First support; 220. First magnetic wheel assembly; 221. First magnetic pulley; 222. First armature; 230. First support wheel; 231. First rubber wheel; 232. Second rubber wheel; 233. Third rubber wheel; 234. Friction stripe; 300. Drive wheel assembly; 310. Second support; 320. Second magnetic wheel assembly; 321. Second magnetic pulley; 322. Second armature; 330. Second support wheel.

[0025] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0028] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously.

[0029] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0030] A magnetic climbing robot is an intelligent device that uses magnetic attraction to move on vertical or inclined surfaces. It attaches to the surface using magnetic wheels and can move along it, enabling industrial inspection, construction, and surveying operations in fields such as shipbuilding, wind power, and petrochemical pipelines. The surfaces to be attached can include those of ships, steel towers, wind turbine towers, and oil storage tanks. However, in actual production and use, researchers have found that magnetic climbing robots, which consist of two drive wheel sets and two steering wheel sets arranged in a rectangular pattern, require steering via the two steering wheel sets when moving on the surface. However, due to the difficulty in ensuring the synchronization of these two sets, deviations in steering are easily caused. In other words, magnetic climbing robots suffer from technical problems such as inflexible steering and poor steering ability.

[0031] This invention proposes a magnetic climbing robot, aiming to solve the technical problem of poor turning ability in magnetic climbing robots.

[0032] Please see Figure 1 In one embodiment of this utility model, the magnetic climbing robot includes a frame 100, a steering wheel assembly 200, and two drive wheel assemblies 300. The steering wheel assembly 200 and the two drive wheel assemblies 300 are both mounted on the frame 100. The two drive wheel assemblies 300 are positioned on one side of the steering wheel assembly 200 along the front-rear direction of the frame 100, and are respectively positioned on both sides of the steering wheel assembly 200 along the left-right direction of the frame 100. The steering wheel assembly 200 includes a first bracket 210 and a first magnetic wheel assembly. The first support wheel 230 and the first bracket 210 are rotatably mounted on the frame 100. Both the first magnetic wheel set 220 and the first support wheel 230 are rotatably mounted on the first bracket 210 via a first rotating shaft. There are at least three first support wheels 230 and multiple first magnetic wheel sets 220. At least three first support wheels 230 are spaced apart along the central axis of the first rotating shaft, and at least one first magnetic wheel set 220 is provided between any two adjacent first support wheels 230. The front-rear direction of the frame 100 refers to... Figure 1 The direction indicated by X in the figure, the left and right direction of frame 100 refers to Figure 1 The direction indicated by Y in the diagram.

[0033] The technical solution of this utility model integrates multiple first magnetic wheel sets 220 on a single steering wheel set 200 to provide sufficient magnetic attraction, allowing the magnetic climbing robot to steer using only one steering wheel set 200. This makes the magnetic climbing robot's steering more flexible and improves its steering ability. In this embodiment, the magnetic climbing robot adheres to the surface to be adhered to using the steering wheel set 200 and two drive wheel sets 300. The steering wheel set 200 and the two drive wheel sets 300 are both mounted on the frame 100 and arranged in a triangular pattern, which provides stable support for the magnetic climbing robot, thereby improving its stability during movement. The steering wheel assembly 200 includes a first bracket 210 rotatably mounted on the frame 100, a plurality of first magnetic wheel assemblies 220, and at least three first support wheels 230. The at least three first support wheels 230 are spaced apart along the central axis of the first rotating shaft, and at least one first magnetic wheel assembly 220 is disposed between any two adjacent first support wheels 230. The first magnetic wheel assemblies 220 provide a magnetic attraction force to attract the steering wheel assembly 200 to the surface to be attracted, thereby cooperating with the drive wheel assembly 300 to allow the magnetic climbing robot to adhere to the surface. The first support wheels 230 provide support; when the magnetic climbing robot moves, the first support wheels 230 roll on the surface to be attracted, reducing friction during movement. In other words, the steering wheel assembly 200 of this magnetic climbing robot integrates multiple first magnetic wheel assemblies 220, which can provide sufficient magnetic attraction force to attract the steering wheel assembly 200 to the surface to be attracted, thereby cooperating with the drive wheel assembly 300 to allow the magnetic climbing robot to adhere to the surface. When the magnetic climbing robot moves, it uses only one set of steering wheels 200 for steering. Compared with traditional magnetic climbing robots that use two sets of steering wheels 200 for steering, this effectively improves the flexibility and steering capability of the magnetic climbing robot. This magnetic climbing robot is used in cleaning and inspection equipment for wind turbine towers, etc.

[0034] It should be noted that in traditional magnetic climbing robots, the two steering wheel sets 200 are independent, meaning that the synchronization of the two steering wheel sets 200 is difficult to guarantee. Therefore, when the magnetic climbing robot turns, the two steering wheel sets 200 are very likely to experience difficulty in turning due to inconsistencies in rotational speed or steering angle. By merging the two steering wheel sets 200 into a single steering wheel set 200 that can provide sufficient magnetic attraction, the magnetic climbing robot can turn using only one steering wheel set 200, which makes the turning of the magnetic climbing robot more flexible and improves its turning ability. In a specific embodiment, the distance between the two drive wheel sets 300 and the steering wheel set 200 is equal; that is, the steering wheel set 200 and the two drive wheel sets 300 are distributed in an isosceles triangle, which can improve the stability of the magnetic climbing robot during movement.

[0035] Please see Figure 1 and Figure 2 In one embodiment of this utility model, there are three first support wheels 230 and two first magnetic wheel sets 220. The three first support wheels 230 are spaced apart along the central axis of the first rotating shaft, and a first magnetic wheel set 220 is provided between any two adjacent first support wheels 230. In this embodiment, the number of first support wheels 230 is three and the number of first magnetic wheel sets 220 is two; that is, the rotating wheel set adopts a layout of first support wheels 230, first magnetic wheel sets 220, first support wheels 230, first magnetic wheel sets 220 and first support wheels 230 arranged in sequence, which can provide sufficient magnetic attraction force to allow the magnetic climbing robot to adhere to the surface to be adhered to while reducing the weight of the magnetic climbing robot.

[0036] In one embodiment of this utility model, each of the first support wheels 230 is a rubber wheel. Defined as follows: three first support wheels 230 spaced apart along the central axis of the rotating shaft are, in sequence, a first rubber wheel 231, a second rubber wheel 232, and a third rubber wheel 233. The diameter of the first rubber wheel 231 is equal to the diameter of the third rubber wheel 233, and the diameter of the first rubber wheel 231 is smaller than the diameter of the second rubber wheel 232. In this embodiment, the diameter of the second rubber wheel 232, located in the middle, is designed to be the largest, which allows the magnetic climbing robot to turn more flexibly and improves its turning ability. Specifically, during turning, the magnetic climbing robot is supported only by the second rubber wheel 232 with the largest diameter. This reduces or even eliminates the influence of the first rubber wheels 231 and 232 on the second rubber wheel 232 when they contact the surface to be adsorbed, thus improving the turning ability of the magnetic climbing robot. Setting the first support wheels 230 as rubber wheels, i.e., using rubber wheels to support the magnetic climbing robot, reduces the indentations left by the magnetic climbing robot when moving on the surface to be adsorbed.

[0037] Please see Figure 2 In one embodiment of this utility model, friction stripes 234 are provided on the outer circumferential surface of each first support wheel 230. In this embodiment, by providing friction stripes 234 on the outer circumferential surface of each first support wheel 230, the friction of the first support wheel 230 during the movement of the magnetic climbing robot can be increased, thus preventing slippage.

[0038] Please see Figure 2In one embodiment of this utility model, each first magnetic wheel assembly 220 includes a first magnetic attraction wheel 221 and two first armatures 222. The first magnetic attraction wheel 221 is disposed on a first rotating shaft, and the two first armatures 222 are respectively disposed on both sides of the magnetic attraction wheel. In this embodiment, the first magnetic attraction wheel 221 is used to provide a magnetic attraction force to attract the steering wheel assembly 200 to the surface to be attracted, thereby allowing the magnetic climbing robot to be attracted to the surface to be attracted. The first armatures 222 can increase the magnetic attraction force provided by the first magnetic attraction wheel 221, thereby increasing the magnetic attraction force of the steering wheel assembly 200, and more firmly attracting the magnetic climbing robot to the surface to be attracted.

[0039] Please see Figure 2 In one embodiment of this utility model, the diameter of the first magnetic roller 221 is equal to the diameter of each of the first armatures 222, and the diameter of the first magnetic roller 221 is smaller than the diameter of any of the first support rollers 230. In this embodiment, by designing the diameter of the first magnetic roller 221 to be smaller than the diameter of the first support rollers 230, the first magnetic roller 221 can be prevented from contacting the surface to be adsorbed when the magnetic climbing robot is adsorbed onto the surface of the wind turbine tower, thereby reducing the risk of damage to the first magnetic roller 221 due to impact.

[0040] Please see Figure 2 In one embodiment of this utility model, the frame 100 is provided with a plurality of scraper blocks 110, the number of which is equal to the number of the first magnetic wheel group 220, and each scraper block 110 is disposed on the outer side of the corresponding first magnetic wheel group 220. In this embodiment, the scraper blocks 110 are used to clean iron slag and iron filings attached to the outer circumferential surface of the first magnetic wheel group 220, so as to reduce the risk of the magnetic climbing robot falling due to insufficient adsorption force. In a specific embodiment, there is an isolation gap between the scraper block 110 and the outer circumferential surface of the first magnetic wheel group 220, and the dimension of the isolation gap along the radial direction of the first rotating shaft is 1-1.5mm. Limiting the dimension of the isolation gap along the radial direction of the first rotating shaft to between 1-1.5mm can, on the one hand, ensure the cleaning effect of the scraper block 110 when cleaning the rust and iron filings attached to the outer circumferential surface of the first magnetic wheel group 220, and on the other hand, prevent the scraper block 110 from contacting the first magnetic wheel group 220, thereby avoiding damage to the first magnetic wheel group 220.

[0041] Please see Figure 3In one embodiment of this utility model, each drive wheel assembly 300 includes a second bracket 310, a second magnetic wheel assembly 320, and two second support wheels 330. The second bracket 310 is disposed on the frame 100, and the second magnetic wheel assembly 320 and the two second support wheels 330 are rotatably disposed on the second bracket 310 via a second rotating shaft. The two second support wheels 330 are spaced apart along the central axis of the second rotating shaft, and the second magnetic wheel assembly 320 is disposed between the two second support wheels 330. In this embodiment, the second magnetic wheel assembly 320 provides a magnetic attraction force to attract the drive wheel assembly 300 to the surface to be attracted, thereby cooperating with the steering wheel assembly 200 to allow the magnetic climbing robot to be attracted to the surface to be attracted. The second support wheels 330 provide support; when the magnetic climbing robot moves, the second support wheels 330 roll on the surface to be attracted, which can reduce the friction of the magnetic climbing robot during movement. In one specific embodiment, the second support wheel 330 can be a rubber wheel, that is, the magnetic climbing robot is supported by a rubber wheel, which can reduce the indentations left by the magnetic climbing robot when it moves on the surface to be adsorbed.

[0042] Please see Figure 3 In one embodiment of this utility model, the second magnetic wheel assembly 320 includes a second magnetic attraction wheel 321 and a plurality of second armatures 322. The plurality of second armatures 322 are spaced apart along the central axis of the second rotating shaft, and at least one second magnetic attraction wheel 321 is provided between any two adjacent second armatures 322. In this embodiment, the second magnetic attraction wheel 321 is used to provide a magnetic attraction force to attract the drive wheel assembly 300 to the surface to be attracted, thereby allowing the magnetic climbing robot to be attracted to the surface to be attracted. The second armatures 322 can increase the magnetic attraction force provided by the second magnetic attraction wheel 321, thereby increasing the magnetic attraction force of the drive wheel assembly 300, and more firmly attracting the magnetic climbing robot to the surface to be attracted. In a specific embodiment, the number of second armatures 322 is three, and the three second armatures 322 are spaced apart along the central axis of the second rotating shaft, and a second magnetic attraction wheel 321 is provided between any two adjacent second armatures 322. The frame 100 is equipped with drive motors that correspond one-to-one with the two drive wheel sets 300. The drive motors drive the second rotating shaft to rotate through a transmission mechanism, thereby providing power for the movement of the magnetic climbing robot. The transmission mechanism can be a gear meshing transmission mechanism.

[0043] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A magnetic climbing robot, characterized in that, The vehicle includes a frame, a steering wheel assembly, and two drive wheel assemblies. The steering wheel assembly and the two drive wheel assemblies are both mounted on the frame. The two drive wheel assemblies are both located on one side of the steering wheel assembly along the front-rear direction of the frame, and are respectively located on both sides of the steering wheel assembly along the left-right direction of the frame. The steering wheel assembly includes a first bracket, a first magnetic wheel assembly, and a first support wheel. The first bracket is rotatably mounted on the vehicle frame, and the first magnetic wheel assembly and the first support wheel are both rotatably mounted on the first bracket via a first rotating shaft. The number of the first support wheels is at least three, and the number of the first magnetic wheel sets is multiple. The at least three first support wheels are spaced apart along the central axis of the first rotating shaft, and at least one first magnetic wheel set is provided between any two adjacent first support wheels.

2. The magnetic climbing robot as described in claim 1, characterized in that, The number of first support wheels is three, the number of first magnetic wheel sets is two, the three first support wheels are spaced apart along the central axis of the first rotating shaft, and a first magnetic wheel set is provided between any two adjacent first support wheels.

3. The magnetic climbing robot as described in claim 2, characterized in that, Each of the first support wheels is a rubber wheel; Definition: The three first support wheels spaced apart along the central axis of the rotating shaft are, in sequence, a first rubber wheel, a second rubber wheel, and a third rubber wheel; then, the diameter of the first rubber wheel is equal to the diameter of the third rubber wheel, and the diameter of the first rubber wheel is smaller than the diameter of the second rubber wheel.

4. The magnetic climbing robot as described in claim 2, characterized in that, Friction stripes are provided on the outer circumferential surface of each of the first support wheels.

5. The magnetic climbing robot as described in claim 1, characterized in that, Each of the first magnetic wheel groups includes a first magnetic pulley and two first armatures. The first magnetic pulley is disposed on the first rotating shaft, and the two first armatures are respectively disposed on both sides of the magnetic pulley.

6. The magnetic climbing robot as described in claim 5, characterized in that, The diameter of the first magnetic wheel is equal to the diameter of each of the first armatures, and the diameter of the first magnetic wheel is smaller than the diameter of any one of the first support wheels.

7. The magnetic climbing robot as described in claim 1, characterized in that, The frame is provided with a plurality of scraping blocks, the number of which is equal to the number of the first magnetic wheel set, and each scraping block is located on the outside of the corresponding first magnetic wheel set.

8. The magnetic climbing robot as described in any one of claims 1 to 7, characterized in that, Each of the aforementioned drive wheel sets includes a second bracket, a second magnetic wheel set, and two second support wheels. The second bracket is disposed on the vehicle frame, and the second magnetic wheel set and the two second support wheels are rotatably disposed on the second bracket via a second rotating shaft. Two second support wheels are spaced apart along the central axis of the second rotating shaft, and the second magnetic wheel assembly is disposed between the two second support wheels.

9. The magnetic climbing robot as described in claim 8, characterized in that, The second magnetic wheel assembly includes a second magnetic pulley and a plurality of second armatures. The plurality of second armatures are spaced apart along the central axis of the second rotating shaft, and at least one second magnetic pulley is provided between any two adjacent second armatures.

10. The magnetic climbing robot as described in any one of claims 1 to 7, characterized in that, The distances between the two drive wheel sets and the steering wheel set are equal.

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