Magnetic three-legged wall-climbing robot

Abstract

The utility model discloses a kind of magnetic attraction formula tripod wall-climbing robots, it includes robot main body, rudder wheel assembly being connected with robot main body by connecting rod, the robot main body is provided with battery pack, and motor driver for controlling each motor is connected with battery pack and is used to control each motor, motor driver is connected in control module, the robot main body has lower space and upper space, the upper space contains control module and motor driver, the lower space installs the power mechanism of robot main body, the power mechanism includes lifting device being connected with connecting rod, the lower space of robot main body is provided with multiple permanent magnets by fixed mechanism. The utility model is installed in the action of being adsorbed to wall by permanent magnet at machine bottom, and supplementary rudder wheel drive mode crawls, can avoid the problem of unstable adsorption force to appear sliding friction.

Description

Technical Field

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

[0002] In the field of wall-climbing robots, the conventional design uses a negative pressure suction method, which utilizes the air pressure difference inside and outside the suction cup to generate suction force, thereby obtaining downward pressure, and the tire drive provides friction for the climbing strategy. However, this has two major drawbacks:

[0003] Maintaining a continuous negative pressure requires a large amount of electrical energy, which places higher demands on the power of the motor and limits the robot's endurance and operating time.

[0004] Second, negative pressure adsorption requires a high degree of smoothness and breathability of the wall surface. When the wall surface is uneven, it is easy for the suction cup to leak air and the adsorption force to be unstable. Utility Model Content

[0005] The purpose of this invention is to provide a magnetic tripod wall-climbing robot that can avoid the problem of sliding friction caused by unstable adsorption force.

[0006] To address the aforementioned technical problems, this utility model provides a magnetically attached tripod wall-climbing robot, comprising a robot body, a steering wheel assembly connected to the robot body via a linkage, a battery assembly, a motor driver connected to the battery assembly and used to control various motors, the motor driver being connected to a control module, the robot body having a lower space and an upper space, the upper space accommodating the control module and the motor driver, the lower space housing the robot body's power mechanism, the power mechanism including a lifting device connected to the linkage, and multiple permanent magnets being fixedly arranged in the lower space of the robot body via a fixing mechanism.

[0007] Furthermore, the lifting device includes a lifting motor located at the fixed base on the robot body, which can effectively meet the walking requirements on the wall.

[0008] Furthermore, the steering wheel assembly has a steering wheel drive motor connected to the steering wheel, a driven gear is provided at the end of the connecting rod, a steering motor is provided on the steering wheel assembly mounting base, the steering motor is provided with a drive gear that meshes with the driven gear, the driven gear is connected to the steering wheel assembly mounting base through a bearing, and the steering wheel assembly, together with the lifting motor, forms the robot's power system.

[0009] Furthermore, the robot's main body has a hexagonal shell structure, and the inner cavity of the shell is divided into an upper space and a lower space. The permanent magnets are distributed in the lower space, which can effectively avoid the negative impact of the permanent magnets on the upper space.

[0010] Furthermore, the battery components are spaced apart on the sides of the robot's main body and distributed on the sides of the lower space. This structure facilitates the downward shift of the robot's weight and brings it closer to the wall, improving the stability of walking on the wall.

[0011] Furthermore, the connecting rod has a web section extending along its length, and the web-like structure of the web helps to improve the strength of the main transmission component of the power system.

[0012] Furthermore, the permanent magnets are distributed in the fixing part through split grooves. The fixing part fastens the permanent magnets into the integral shallow groove of the base plate. The split grooves can avoid the inconvenience and interference of the permanent magnets in installation, while the integral structure of the shallow groove improves the installation efficiency of the permanent magnets and allows for better position adjustment, which greatly improves the efficiency of subsequent installation.

[0013] Compared with the prior art, the present invention has the following advantages: The present invention uses a permanent magnet installed at the bottom of the machine to complete the action of adhering to the wall, and is driven by a steering wheel to crawl, which can avoid the problem of slip friction caused by unstable adsorption force. Attached Figure Description

[0014] Figure 1 This is a front view of a magnetically attached three-legged wall-climbing robot.

[0015] Figure 2 This is a left view of a magnetically attached three-legged wall-climbing robot.

[0016] Figure 3 This is a right view of a magnetically attached three-legged wall-climbing robot.

[0017] Figure 4 This is a top view of a magnetically attached three-legged wall-climbing robot.

[0018] Figure 5 This is a bottom view of a magnetically attached three-legged wall-climbing robot.

[0019] Figure 6 This is a 3D diagram of a magnetically attached three-legged wall-climbing robot.

[0020] Figure 7 This is a schematic diagram of the internal structure of the main body of a magnetically attached three-legged wall-climbing robot.

[0021] Figure 8 This is a schematic diagram of the internal structure of the main body of a magnetic tripod wall-climbing robot, omitting the base plate.

[0022] Figure 9 This is a magnified view of a portion of the lifting device.

[0023] Figure 10 This is a magnified view of a portion of the steering wheel assembly.

[0024] Figure 11 This is a schematic diagram of a partial structure at the permanent magnet.

[0025] Figure 12 for Figure 11 The exploded diagram.

[0026] Figure 13 This is a schematic diagram of the internal structure of the fixing part. Detailed Implementation

[0027] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0028] This utility model provides a magnetically attached three-legged wall-climbing robot. See [link to relevant documentation]. Figure 1-13 As shown, the magnetically attached three-legged wall-climbing robot includes a robot body 1, a connecting rod 2, a steering wheel assembly 3, a lifting device 4, a permanent magnet 5, a battery assembly 6, a motor driver 7, and other structures. In this embodiment, the wall-climbing robot adopts a three-legged structure. Therefore, the robot body 1 has three sets of climbing leg units with the same structure distributed around its circumference. During the process of climbing on the wall, there is a certain gap between the bottom (abdomen) of the robot and the wall, and the gap h ≤ 5cm.

[0029] In this embodiment, the robot body has a hexagonal shell. The interior of the shell is divided into an upper space and a lower space by a partition. This structure is conducive to the partitioned arrangement of the robot's internal structure, improving installation efficiency while avoiding problems such as mutual interference between structures. The upper space is used to distribute and control the motion control part of the entire robot. The motion control part here uses a motor driver 7, which is connected to the control module of the entire robot. Each motor driver 7 that controls each motor is connected to the battery assembly. The lower space is used to distribute the motion mechanism (power mechanism) and its auxiliary structures. A fixed seat 9 is provided on the partition to fix the lifting device. The fixed seat 9 is an L-shaped seat. The lifting motor 8 installed on the fixed seat serves as the power device for the lifting action (as the robot's leg lifting action mechanism). The output end of the lifting motor is connected to a connecting rod. The connecting rod is a rod-shaped body with a web 2a. The width of the rod-shaped body is greater than its height.

[0030] In this embodiment, the steering wheel assembly 3, which is connected to the robot body via the linkage 2, enables the robot to walk. The robot body is equipped with three sets of battery assemblies 6, which are placed on the side of the hexagonal shell and spaced apart. They are also distributed on the outer wall of the lower space of the shell to maximize the balance of the robot's center of gravity and avoid interfering with the walking action.

[0031] It is worth mentioning that the robot body 1 is equipped with a lifting device 4 connected to the connecting rod, and multiple permanent magnets 5 are fixed at the bottom of the robot body through a fixing mechanism. When the robot is in use, the distance between the bottom of the robot and the wall is about 5cm. The robot relies solely on the permanent magnets at the bottom to adhere to the wall. When the robot climbs upward, the lifting device is used to adjust the angle, so that the three points form a plane, making the permanent magnets maintain the same distance from the wall.

[0032] See Figure 10 The steering wheel assembly 3 has a steering wheel drive motor 11 connected to the steering wheel 10, a driven gear 12 is provided at the end of the connecting rod, a steering motor 13 is provided on the steering wheel assembly mounting base, the steering motor is provided with a drive gear 14 that meshes with the driven gear, and the driven gear is connected to the steering wheel assembly mounting base through a bearing 15.

[0033] See Figure 11 The figure shows a permanent magnet 5 mounted on a base plate 1a via a fixing part 16. This fixing part can be made of a magnetically shielding material to minimize negative impacts on other robot components. The robot in this embodiment can be configured with the number of permanent magnets as needed to address different application scenarios. For example, with two permanent magnets configured, see [reference needed]. Figure 12-13 The fixing part 16 has two recesses 16a for built-in permanent magnets, so the permanent magnets are distributed in separate slots within the fixing part. A shallow groove 1a-1 (approximately 3-5mm deep) is provided in the base plate 1a. The fixing part secures the permanent magnets into the integral shallow groove of the base plate. A ring edge 16b is provided around the edge of the fixing part, with its lower surface flush with the lower surface of the fixing part. The entire edge of the fixing part covers the shallow groove of the base plate. The permanent magnets are placed in their respective recesses within the fixing part, and then the entire unit is placed on the base plate. Both permanent magnets need to be positioned within the shallow groove. This shallow groove uses an integral structure rather than two separate grooves, facilitating adjustment of the fixing part's installation position. The fixing part can be secured to the base plate using screws, clips, or other means for easy disassembly and maintenance of the permanent magnets. The permanent magnet can have openings distributed along its thickness direction, allowing for the installation of fixing screws to engage with the fixing plate 5a on its back. The fixing plate can be secured in a groove, the height of which and the depth of the shallow groove need to match the permanent magnet and the fixing plate to prevent vertical swaying during robot movement. Alternatively, springs can be distributed within the grooves of the fixing plate to firmly hold the permanent magnet against the shallow groove, achieving strong adhesion to the wall surface to be traversed. As can be seen from the above, the robot's fixing mechanism, through its fixing part combined with the shallow groove of the base plate, can stably assemble the permanent magnet to meet the walking requirements of different scenarios. The permanent magnets are distributed in the lower space of the robot, better achieving the requirement of proximity to the front.

[0034] The working principle of this utility model is as follows: The walking of this utility model is achieved through the steering wheel assembly. The three sets of steering wheels can cooperate with each other to achieve turning around on the spot, moving forward or backward in any direction. This assembly is achieved by the rotation of the motor through the synchronous gear. Since the steering motor drives the drive motor to rotate, the main body of the robot does not move, while the steering wheel part rotates, thereby achieving steering.

[0035] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A magnetically attached tripod wall-climbing robot, comprising a robot body, a steering wheel assembly connected to the robot body via a linkage, the robot body being equipped with a battery assembly, and a motor driver connected to the battery assembly and used to control each motor, the motor driver being connected to a control module, characterized in that, The robot body has a lower space and an upper space. The upper space houses the control module and the motor driver. The lower space houses the power mechanism of the robot body. The power mechanism includes a lifting device connected to a linkage. The lower space of the robot body is equipped with multiple permanent magnets through a fixing mechanism.

2. The magnetically attached tripod wall-climbing robot according to claim 1, characterized in that, The lifting device includes a lifting motor located at a fixed base on the robot body.

3. The magnetically attached tripod wall-climbing robot according to claim 1, characterized in that, The steering wheel assembly has a steering wheel drive motor connected to the steering wheel, a driven gear is provided at the end of the connecting rod, a steering motor is provided on the steering wheel assembly mounting base, the steering motor is provided with a drive gear that meshes with the driven gear, and the driven gear is connected to the steering wheel assembly mounting base through a bearing.

4. The magnetically attached three-legged wall-climbing robot according to claim 1, characterized in that, The robot's main body has a hexagonal shell structure, and the inner cavity of the shell is divided into an upper space and a lower space.

5. The magnetically attached tripod wall-climbing robot according to claim 1, characterized in that, The battery components are spaced apart on the sides of the robot body.

6. The magnetically attached tripod wall-climbing robot according to claim 1, characterized in that, The connecting rod has a web section extending along its length.

7. The magnetically attached three-legged wall-climbing robot according to claim 1, characterized in that, The permanent magnets are distributed in the fixing part through the split groove, and the fixing part fastens the permanent magnets into the integral shallow groove of the base plate.

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