Magnetic type chassis and wall-climbing robot

Abstract

The utility model belongs to wall -climbing robot technical field, concretely relates to a kind of magnetic type chassis and wall -climbing robot.The magnetic type chassis includes: connecting framework;Two track assemblies, respectively installed in the two sides of connecting framework;The track assembly includes: side plate, for connecting in the side of connecting framework;The side plate is obtuse triangle, its rear end acute angle and front end acute angle are respectively provided with driving wheel and driven wheel, its top angle obtuse angle is provided with tension pulley, and tension pulley is located in the rear side of the median line of the bottom side of side plate;And magnetic track, install on driving wheel, driven wheel and tension pulley.By setting tension pulley to be closer to driving wheel in horizontal direction, by such design combination driving assembly's installation position of driving wheel, the gravity center of magnetic track is overall backward, to this offset the influence that overall gravity center is moved forward because work module is installed in front portion, ensure that wall -climbing robot reliably adheres and stably moves, improve walking efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of wall-climbing robot technology, specifically relating to a magnetic chassis and a wall-climbing robot. Background Technology

[0002] In recent years, wall-climbing robots, as intelligent devices capable of moving and performing tasks on vertical or inclined surfaces, have gradually emerged in fields such as industry, military, and aerospace. These robots can replace human labor, work in dangerous or inaccessible environments for extended periods, significantly reducing the probability of safety accidents, while also reducing the consumption of human resources and improving operational efficiency and accuracy. In particular, wall-climbing robots have demonstrated enormous application potential in the inspection, maintenance, and cleaning of complex surfaces such as wind turbine towers, ship exteriors, building facades, and bridges.

[0003] However, most wall-climbing robots currently have their working modules installed at the front. These modules often carry tools such as rollers, spray guns, and welding guns, which are generally quite heavy. This causes the robot's center of gravity to shift forward, resulting in a "top-heavy" appearance. For wall-climbing robots that rely on magnetic tracks for adhesion, this forward shift in center of gravity leads to uneven magnetic attraction between the tracks and the working surface. Consequently, the robot cannot reliably attach and move stably, resulting in low walking efficiency and insufficient obstacle-crossing ability. This, to some extent, limits its widespread application and further development. Utility Model Content

[0004] The purpose of this invention is to provide a magnetic chassis and a wall-climbing robot to solve the technical problem that the existing wall-climbing robot's working module is installed at the front, causing the overall center of gravity of the wall-climbing robot to be forward, resulting in uneven magnetic attraction of the tracks to the working surface.

[0005] This application provides a magnetically attached chassis. The magnetically attached chassis includes:

[0006] Connect the skeleton;

[0007] Two track assemblies are installed on both sides of the connecting frame;

[0008] The track assembly includes:

[0009] A side plate, used to connect to one side of the connecting frame; the side plate is obtuse-angled triangle, with a drive wheel and a driven wheel respectively provided at its acute rear angle and acute front angle, and a tension wheel provided at its obtuse apex angle, with the tension wheel located behind the perpendicular bisector of the bottom edge of the side plate; and

[0010] Magnetic tracks are installed on the drive wheel, driven wheel, and tension wheel.

[0011] In one embodiment of this application, the side plate is hinged to the connecting frame.

[0012] In one embodiment of this application, a plurality of pairs of first hinge blocks are provided on the side plate;

[0013] Several second hinge blocks are respectively provided on both sides of the connecting frame;

[0014] The second hinge block is hinged to the corresponding first hinge block.

[0015] In one embodiment of this application, a mounting plate is installed at the front end of the rack for mounting the working module.

[0016] In one embodiment of this application, the top of the mounting plate has several mating grooves.

[0017] In one embodiment of this application, the rear end of the side plate is provided with a drive assembly connected to the drive wheel.

[0018] In one embodiment of this application, the driving component includes a stepper motor and a reducer connected to the output terminal of the stepper motor;

[0019] The drive wheel is fixedly connected to the output shaft of the reducer.

[0020] In one embodiment of this application, the magnetic track includes a plurality of track blocks that are articulated sequentially;

[0021] The working surface of the track block has a square groove, and a permanent magnet is embedded in the square groove.

[0022] In one embodiment of this application, adjacent track blocks are detachably connected by hinge pins and elastic retaining rings.

[0023] Accordingly, this application provides a wall-climbing robot, which includes the magnetic chassis described above.

[0024] The beneficial effects of this utility model are:

[0025] Unlike existing technologies, this application provides a magnetically attached chassis. The magnetically attached chassis includes: a connecting frame; two track assemblies, respectively mounted on both sides of the connecting frame; each track assembly includes: a side plate for connecting to one side of the connecting frame; the side plate is an obtuse-angled triangle, with a drive wheel and a driven wheel respectively located at its acute rear and acute front angles, and a tension wheel located at its obtuse apex angle, with the tension wheel positioned behind the perpendicular bisector of the side plate's base; and a magnetically attached track mounted on the drive wheel, driven wheel, and tension wheel. By positioning the tension wheel closer to the drive wheel in the horizontal direction, combined with the installation position of the drive wheel's drive assembly, the center of gravity of the magnetically attached track is shifted rearward, thus offsetting the forward shift of the center of gravity caused by the front-mounted working module. This ensures reliable adhesion and stable movement of the wall-climbing robot, improving walking efficiency.

[0026] The track assembly of this invention is hinged to the connecting frame, allowing the magnetic track to swing around the connecting frame within a certain angle range, thereby adapting to the curved working surface and improving the application range of the chassis.

[0027] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention are realized and obtained through the structures particularly pointed out in the description and the accompanying drawings.

[0028] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0029] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of this utility model.

[0031] Figure 2 This is a schematic diagram of the structure of the magnetic track of this utility model.

[0032] Figure 3 This is a schematic diagram of the track block of this utility model.

[0033] Figure 4 for Figure 2 A magnified view of a portion of point A in the middle.

[0034] Figure 5 This is a schematic diagram of the connecting frame of this utility model.

[0035] The meanings of the labels in the diagram are as follows:

[0036] 1 is a magnetic track, 11 is a side plate, 111 is the first hinge block, 12 is a drive wheel, 13 is a driven wheel, 14 is a tension wheel, 15 is a reducer, 16 is a stepper motor, 17 is a track block, 171 is a square groove, 172 is a permanent magnet, 18 is a hinge pin, 19 is an elastic retaining ring, 2 is a connecting frame, 22 is the second hinge block, 23 is a mounting plate, 24 is a docking groove, and 3 is a magnetic track. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0038] This application provides a magnetic chassis and a wall-climbing robot, which are described in detail below. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments of this application. Furthermore, the descriptions of each embodiment have their own emphasis; parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments.

[0039] See Figure 1 and Figure 2 In one embodiment, the magnetic chassis includes: a connecting frame 2; two track assemblies 1, respectively installed on both sides of the connecting frame 2; the track assembly 1 includes: a side plate 11 for connecting to one side of the connecting frame 2; the side plate 11 is an obtuse triangle, with a drive wheel 12 and a driven wheel 13 respectively provided at its rear acute angle and front acute angle, and a tension wheel 14 provided at its apex obtuse angle, and the tension wheel 14 is located behind the vertical line of the bottom edge of the side plate 11; and a magnetic track 3 installed on the drive wheel 12, the driven wheel 13 and the tension wheel 14.

[0040] In this embodiment, the drive wheel 12, driven wheel 13, and tension wheel 14 can be installed on the outer side of the side plate 11, and the drive assembly of the drive wheel 12 can be installed on the inner side of the side plate 11. The side plate 11 is generally obtuse-angled triangle, with acute angles at the front and rear ends and an obtuse angle at the apex. The drive wheel 12 and driven wheel 13 are respectively provided at the acute angles at the rear and front ends, and the tension wheel 14 is provided at the obtuse angle at the apex. The tension wheel 14 is located behind the vertical line of the bottom edge of the side plate 11. This makes the overall center of gravity of the magnetic chassis rearward, which can balance the weight of the working module installed at the front end of the connecting frame 2, thereby making the center of gravity of the magnetic chassis balanced and the operation stable.

[0041] Furthermore, the rear end of the side plate 11 is provided with a drive assembly connected to the drive wheel 12.

[0042] Optionally, the drive assembly includes a stepper motor 16 and a reducer 15 connected to the output end of the stepper motor 16; the drive wheel 12 is fixedly connected to the output shaft of the reducer 15. The stepper motor 16 drives the drive wheel 12 to rotate, and adjusting the speed and direction of the stepper motor 16 can control the speed and direction of movement of the chassis.

[0043] Furthermore, the side plate 11 is hinged to the connecting frame 2. In some application scenarios, the working surface of the magnetic track 3 may be uneven or undulating. The hinged connection between the side plate 11 and the connecting frame 2 facilitates the adaptive adjustment of the magnetic track 3, improving its adaptability.

[0044] See Figure 2 and Figure 5 Optionally, the side plate 11 is provided with a plurality of first hinge blocks 111; the plurality of first hinge blocks 111 can be arranged in a linear pattern on the bottom edge of the side plate 11; a plurality of second hinge blocks 22 are provided on both sides of the connecting frame 2; the second hinge blocks 22 are hinged to the corresponding pair of first hinge blocks 111.

[0045] See Figure 5 Optionally, the connecting frame 2 can be a frame structure. The frame structure of the connecting frame 2 can be adjusted according to the matched working modules. Several second hinge blocks 22 are provided at both ends of the connecting frame 2. The second hinge blocks 22 correspond to the positions of paired first hinge blocks 111. The first hinge blocks 111 and the second hinge blocks 22 cooperate to form a hinge, allowing the track assembly 1 to swing around the connecting frame 2 within a certain angle range, thereby adapting to the curved working surface and improving the application range of the chassis. An mounting plate 23 is installed at the front end of the connecting frame 2. The mounting plate 23 is used to install different working modules. Several docking slots 24 are opened at the top of the mounting plate 23. The docking slots 24 ensure rapid positioning of the working modules on the mounting plate 23. The mounting plate 23 installed at the front end of the connecting frame 2 is used to install the working modules.

[0046] See Figures 2 to 4 The magnetic track 3 includes a plurality of track blocks 17 that are hinged together in sequence; the working surface of the track block 17 has a square groove 171, and a permanent magnet 172 is embedded in the square groove 171.

[0047] Specifically, several track blocks 17 are hinged to form a closed track chain and mounted on an obtuse-angled triangular frame formed by the drive wheel 12, driven wheel 13, and tension wheel 14. The working surface of the track block 17 has a square groove 171, and a permanent magnet 172 is embedded in the square groove 171. The positive and negative poles of the permanent magnet 172 point to the two sides of the square groove 171, respectively. The magnetic field loop formed passes through the positive pole of the permanent magnet 172, one side of the square groove 171, the working surface, the other side of the square groove 171, and the negative pole of the permanent magnet 172 in sequence to ensure reliable and stable magnetic attraction. The permanent magnets 172 in each track block 17 are installed in the same direction to avoid mutual influence of the magnetic field lines of adjacent permanent magnets 172 and weaken the magnetic attraction. The track blocks 17 are hinged together and are detachably connected by hinge pins 18 and elastic retaining rings 19.

[0048] Accordingly, in one embodiment of this application, a wall-climbing robot is provided, which includes a magnetic chassis as described above.

[0049] In one application scenario, after the working module is installed on the chassis, the track assembly 1 is obtuse-angled triangle in shape, and the tension wheel 14 is closer to the drive wheel 12 in the horizontal direction. Through this design, combined with the installation position of the stepper motor, the center of the track assembly 1 is shifted to the rear, thereby offsetting the effect of the overall center of gravity shifting forward due to the working module being installed at the front. This ensures reliable attachment and stable movement of the wall-climbing robot, and improves walking efficiency.

[0050] In one application scenario, the working module can be, but is not limited to, a cleaning device, a welding installation device, a maintenance device, etc.

[0051] It should be noted that all the devices (parts whose specific structures are not specified) selected in this application are general standard parts or parts known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0052] In the description of the embodiments of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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.

[0053] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0054] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification.

Claims

1. A magnetically attached chassis, characterized in that, include: Connect the skeleton (2); Two track assemblies (1) are respectively installed on both sides of the connecting frame (2); The track assembly (1) includes: A side plate (11) is used to connect to one side of the connecting frame (2); the side plate (11) is an obtuse triangle, with a drive wheel (12) and a driven wheel (13) respectively provided at its rear acute angle and front acute angle, and a tension wheel (14) provided at its apex obtuse angle, and the tension wheel (14) is located behind the perpendicular bisector of the bottom edge of the side plate (11); and The magnetic track (3) is mounted on the drive wheel (12), driven wheel (13) and tension wheel (14).

2. The magnetic chassis according to claim 1, characterized in that, The side plate (11) is hinged to the connecting frame (2).

3. The magnetically attached chassis according to claim 2, characterized in that, The side plate (11) is provided with a plurality of first hinge blocks (111). Several second hinge blocks (22) are respectively provided on both sides of the connecting frame (2). The second hinge block (22) is hinged to the corresponding first hinge block (111).

4. The magnetically attached chassis according to claim 1, characterized in that, The front end of the connecting frame (2) is equipped with an installation plate (23) for installing the working module.

5. The magnetically attached chassis according to claim 4, characterized in that, The top of the mounting plate (23) has several mating grooves (24).

6. The magnetic chassis according to claim 1, characterized in that, The rear end of the side plate (11) is provided with a drive assembly connected to the drive wheel (12).

7. The magnetically attached chassis according to claim 6, characterized in that, The drive assembly includes a stepper motor (16) and a reducer (15) connected to the output of the stepper motor (16). The drive wheel (12) is fixedly connected to the output shaft of the reducer (15).

8. The magnetic chassis according to claim 1, characterized in that, The magnetic track (3) includes a plurality of track blocks (17) that are hinged together in sequence. The working surface of the track block (17) has a square groove (171), and a permanent magnet (172) is embedded in the square groove (171).

9. The magnetically attached chassis according to claim 8, characterized in that, Adjacent track blocks (17) are detachably connected by hinge pins (18) and elastic retaining rings (19).

10. A wall-climbing robot, characterized in that, Including the magnetic chassis as described in any one of claims 1-9.

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