Magnetic wall-climbing robot chassis structure
By setting up an adjustment device and auxiliary wheel set for the magnetic wall-climbing robot chassis structure, the problem of insufficient obstacle crossing ability of existing wall-climbing robots on ferromagnetic walls is solved, and stable adsorption and efficient walking on complex walls are achieved.
Patent Information
- Application Number
- CN202521839764.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-27
- Publication Date
- 2026-08-25
- Estimated Expiration
- 2035-08-27
AI Technical Summary
Existing wall-climbing robot chassis structures are insufficient in overcoming obstacles such as uneven surfaces, corners, and grooves on ferromagnetic walls, resulting in low work efficiency.
The robot adopts a magnetic wall-climbing chassis structure that includes a first adsorption wheel assembly and a second adsorption wheel assembly. The relative angle and distance between the two assemblies can be adjusted by an adjustment device, or the angle and distance can be adjusted proportionally at the same time. Combined with the auxiliary wheel assembly and magnetic attraction mechanism, it can achieve stable adsorption and flexible movement on complex walls.
It improves the obstacle-crossing ability and work efficiency of the wall-climbing robot on complex walls, can stably adhere to ferromagnetic walls, adapt to different types of uneven surfaces, and ensures stability through magnetic force control and pressure sensors.
Smart Images
Figure CN224676242U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robot chassis technology, and in particular to a magnetic wall-climbing robot chassis structure. Background Technology
[0002] Significant progress has been made in the development of wall-climbing robots in the field of robotics. With the increasing demand for automation and intelligence in industrial production, wall-climbing robots have demonstrated great application value in many scenarios. For example, in operations such as petrochemical tank inspection and ship surface flaw detection, wall-climbing robots can replace manual labor to complete high-risk and high-difficulty tasks, greatly improving work efficiency and reducing labor costs and safety risks. At the same time, they can operate stably on vertical walls and even inverted walls, expanding the scope and capabilities of human operations and promoting technological innovation and development in related industries.
[0003] Existing technology involves a multi-plane free-conversion climbing structure for a wall-climbing robot, including a first wall-climbing robot and a second wall-climbing robot that are hinged to each other. Each of the first and second wall-climbing robots is provided with multiple triggering devices on one side. The first and second wall-climbing robots selectively and repeatedly adhere to the wall surface and pull the other wall-climbing robot that is not adhered to the wall surface, thereby realizing the device's climbing on the wall surface and completing cross-plane movement.
[0004] However, the aforementioned and existing chassis structures for wall-climbing robots used on ferromagnetic walls are still insufficient to adjust to the actual wall conditions and overcome obstacles when encountering complex situations such as unevenness, corners, and grooves. They often require multiple modules that perform a single function to modify the shape of the device in segments, which is too complex and still results in insufficient obstacle-crossing ability, leading to low work efficiency. Utility Model Content
[0005] This application provides a magnetic wall-climbing robot chassis structure, which can solve the problem that the robot chassis structure has low obstacle-crossing ability when working on ferromagnetic walls, resulting in low work efficiency.
[0006] The technical solution of this application is as follows: A magnetic wall-climbing robot chassis structure, comprising: An adsorption-walking device, comprising a first adsorption wheel assembly and a second adsorption wheel assembly, wherein the first adsorption wheel assembly and the second adsorption wheel assembly are configured to adsorb onto a ferromagnetic wall surface and drive themselves to walk on the wall surface; An adjusting device is disposed between the first adsorption wheel assembly and the second adsorption wheel assembly, and both ends of the adjusting device are respectively connected to the first adsorption wheel assembly and the second adsorption wheel assembly; The regulating device includes an regulating mechanism and a driving regulating device. The power of the driving regulating device is configured to be selectively or proportionally distributed to the regulating mechanism so that the regulating mechanism can selectively enter state one, state two and state three. Among them, state one: the adjustment mechanism adjusts the relative angle between the first adsorption wheel assembly and the second adsorption wheel assembly; State 2: The adjusting mechanism adjusts the distance between the first adsorption wheel assembly and the second adsorption wheel assembly; State 3: The adjustment mechanism simultaneously adjusts the relative angle and distance between the first adsorption wheel assembly and the second adsorption wheel assembly.
[0007] By adopting the above scheme, and by setting up a first adsorption wheel assembly and a second adsorption wheel assembly, the device can move on the ferromagnetic wall surface by utilizing the attraction force of the first and second adsorption wheel assemblies. At the same time, when the chassis structure encounters cross-sections, height differences, or curved surfaces that need to be bent on the ferromagnetic wall surface, the relative angle and distance between the first and second adsorption wheel assemblies can be adjusted by the adjustment device, or simultaneously adjusted at a certain ratio, according to the size of the obstacle to be crossed. This changes the overall shape of the device and the distance between the first and second adsorption wheel assemblies, so that the first and second adsorption wheel assemblies can always be in close contact with the ferromagnetic wall surface when crossing obstacles.
[0008] In one embodiment of this application, the adjusting device includes: The adjustment mechanism includes an adjustment chamber, a movable rod assembly is provided at one end of the adjustment chamber, the end of the movable rod assembly away from the adjustment chamber is connected to the first adsorption wheel assembly, the adjustment chamber is provided with the driving adjustment device, the driving adjustment device is connected to the movable rod assembly through a transmission component to adjust the length and angle of the movable rod assembly; An auxiliary wheel assembly is located at the other end of the adjustment mechanism. A fixed rod is provided at the end of the auxiliary wheel assembly away from the adjustment mechanism. The end of the fixed rod away from the auxiliary wheel assembly is connected to the second adsorption wheel assembly.
[0009] By adopting the above scheme, and by setting an auxiliary wheel group between the first adsorption wheel assembly and the second adsorption wheel assembly, the center of gravity of the device can be shifted towards the second adsorption wheel assembly. Thus, the device can use the first adsorption wheel assembly as the front wheel when moving. When encountering obstacles, by controlling the drive adjustment device, the angle of the movable rod assembly relative to the adjustment chamber can be adjusted, so that the first adsorption wheel assembly can deflect around the position of the adjustment chamber as an axis. This allows the first adsorption wheel assembly, as the front wheel, to bend the entire chassis structure according to the actual type of obstacle, thereby achieving stable adsorption between the first and second adsorption wheel assemblies and the ferromagnetic wall surface.
[0010] In one embodiment of this application, the drive adjustment device includes: An electric actuator is provided. The upper end of the adjustment chamber is provided with a bracket. The electric actuator is mounted on the bracket and is mounted outside the adjustment chamber. The drive shaft of the electric actuator is connected to one end of the movable rod assembly through a connector to drive the movable rod assembly to deflect. A servo motor is mounted outside the adjustment chamber and located on the side away from the connector. The drive shaft of the servo motor extends into the adjustment chamber and is coaxially fixedly connected to a second bevel gear, which is connected to the movable rod assembly.
[0011] By adopting the above scheme and setting up an electric actuator, the electric actuator can drive the movable rod assembly to deflect around one end as an axis through the connecting piece, thereby enabling the first adsorption wheel assembly connected to the other end of the movable rod assembly to move in angular orientation. At the same time, the servo motor can be turned on to control the rotation direction of the second bevel gear, thereby controlling the extension or shortening of the movable rod assembly, improving the flexibility of the device in dealing with complex wall conditions.
[0012] In one embodiment of this application, the connector includes: A connecting frame, one end of which is connected to the drive shaft of the electric actuator, and the other end of which passes through the adjustment chamber; A rack, one end of which is connected to the other end of the connecting frame, and a sector-shaped gear disk is fixedly connected to one end of the movable rod assembly, the sector-shaped gear disk meshing with the rack; The transmission component includes the connecting member and the second bevel gear.
[0013] By adopting the above scheme, and by setting up a connecting frame and a rack, when the device adjusts the angle of the movable rod assembly, it controls the movement of the connecting frame, which drives the rack to move linearly back and forth, thereby causing the sector-shaped gear plate to deflect at an angle. Since the sector-shaped gear plate is connected to the movable rod assembly, the movable rod assembly deflects at an angle.
[0014] In one embodiment of this application, the movable lever assembly includes: An L-shaped rod, one end of which extends out of the adjustment chamber and is rotatably connected to the adjustment chamber, and the sector-shaped gear plate meshes with the rack; A sleeve rod is sleeved on the outside of the other end of the L-shaped rod. A first bevel gear is coaxially connected to the outside of one end of the sleeve rod near the L-shaped rod, and a sleeve is sleeved on the outside of the other end. The first bevel gear and the second bevel gear mesh with each other. A threaded groove is opened on the inner wall of the sleeve, and a thread adapted to the threaded groove is opened on the outside of the sleeve rod. The sleeve is rotatably connected to the first adsorption wheel assembly through a damping shaft. The fixed rod is rotatably connected to the second adsorption wheel assembly.
[0015] By adopting the above scheme, and by setting a sleeve rod and a sleeve threadedly connected to the sleeve rod, when the device needs to be arched to raise the overall height of the device to meet the wall protrusion, rotating the L-shaped rod will cause the threaded rod to deflect when the L-shaped rod deflects at an angle. This allows the first bevel gear located at one end of the threaded rod to move around the conical surface of the second bevel gear. Due to the meshing action of the first bevel gear and the second bevel gear, by controlling the servo motor, the second bevel gear can be controlled to remain stationary or rotate relative to the first bevel gear. This allows the first bevel gear to move freely during the movement. The body maintains its rotation, which in turn drives the sleeve rod to rotate around its own axis while the angle deflects. At the same time, due to the certain resistance between the rotation of the first adsorption wheel assembly and the sleeve, the resistance between the sleeve and the first adsorption wheel assembly is greater than the thread force between the sleeve and the sleeve rod. Therefore, the first adsorption wheel assembly will rotate with the sleeve. Since the first adsorption wheel assembly is attracted to the wall, the sleeve will move along the length of the sleeve rod under the resistance of the wall. This allows the first adsorption wheel assembly to move away from the second adsorption wheel assembly, thereby enabling the device to complete the bow-shaped body adjustment. In addition, when only the length of the chassis structure needs to be adjusted, the electric actuator remains stationary and the servo motor is controlled so that the sleeve rotates around its own central axis, thereby enabling the sleeve to slide along the length of the sleeve on the sleeve, thus realizing the length extension and retraction of the chassis structure. Similarly, when only the relative angle between the first and second adsorption wheel assemblies needs to be adjusted, i.e., when the angle between the movable rod assembly and the fixed rod needs to be controlled, the electric actuator and servo motor are controlled. At this time, the speed of the servo motor needs to be controlled so that when the sleeve rotates around the surface of the second bevel gear, the first and second bevel gears can remain relatively stationary, that is, the angular velocity of the first bevel gear's revolution is equal to the angular velocity of the second bevel gear's rotation. At this time, the movable rod assembly deviates angularly relative to the fixed rod, but the overall length of the chassis structure does not change.
[0016] In one embodiment of this application, the auxiliary wheel assembly includes a connecting chamber, two auxiliary wheels, a connecting rod, and a permanent magnet. One end of the connecting chamber is fitted to the outside of the adjusting chamber, and both ends of the connecting rod pass through the connecting chamber. The two auxiliary wheels are arranged in parallel and fitted to both ends of the connecting rod. The permanent magnet is disposed between the two auxiliary wheels and fitted to the lower end of the connecting chamber.
[0017] By adopting the above scheme and setting a permanent magnet on the connecting chamber, the auxiliary wheel can cooperate with the second adsorption wheel assembly to provide auxiliary support for the device when the angle of the first adsorption wheel assembly is adjusted, and at the same time provide a certain adsorption force on the wall surface, which enhances the stability of the device when adjusting its posture on the wall surface to a certain extent.
[0018] In one embodiment of this application, both the first adsorption wheel assembly and the second adsorption wheel assembly include two magnetic adsorption wheel groups. The two magnetic adsorption wheel groups in the first adsorption wheel assembly are respectively disposed on both sides of the sleeve and are rotatably connected to the sleeve through a damping shaft. The two magnetic adsorption wheel groups in the second adsorption wheel assembly are respectively disposed on both sides of the fixing rod and are rotatably connected to the fixing rod through a bearing. The magnetic adsorption wheel assembly includes a magnetic adsorption mechanism, a drive mechanism, and two drive wheels; The drive shaft of the drive mechanism is coaxially fitted with two drive wheels, and there is a gap between the two drive wheels. The magnetic attraction mechanism is rotatably mounted on the drive shaft of the drive mechanism and is located in the gap. The drive wheel is provided with a rubber layer on the outside, and multiple pressure sensors are arranged at intervals inside the rubber layer. The pressure sensors are used to detect the pressure between the drive wheel and the ferromagnetic wall.
[0019] By adopting the above scheme, the magnetic attraction mechanism is placed between the two driving wheels and rotates relative to the driving wheels. When the driving mechanism drives the driving wheels to rotate, the magnetic attraction mechanism can always face the ferromagnetic wall due to the attraction force between it and the ferromagnetic wall. At the same time, the electromagnetic attraction force can be adjusted in real time based on the data fed back by the pressure sensor. This ensures that the device can maintain positive pressure on the ferromagnetic wall when it moves on the ferromagnetic wall, and prevents the chassis structure from slipping on the ferromagnetic wall.
[0020] In one embodiment of this application, the driving mechanism includes a mounting frame and a reduction motor. The mounting frame in the first adsorption wheel assembly is rotatably connected to the sleeve via a damping shaft. The mounting frame in the second adsorption wheel assembly is rotatably connected to the fixed rod via a bearing. The reduction motor is disposed in the mounting frame.
[0021] By adopting the above scheme, and by setting up the mounting frame, the mounting frames in the first and second adsorption wheel assemblies are rotatably connected to the sleeve and the fixed rod, respectively. At the same time, a damping shaft is set between the sleeve and the mounting frame in the first adsorption wheel assembly, so that the damping shaft can provide damping when the sleeve rotates, thereby ensuring that there is no relative rotation between the sleeve and the first adsorption wheel assembly. This ensures that when the length of the chassis structure needs to be adjusted later, the first adsorption wheel assembly can apply resistance to the sleeve, so that the sleeve can slide along the length direction of the rod.
[0022] In one embodiment of this application, the magnetic attraction mechanism includes a housing, an iron core, a first coil, and a second coil. The first coil and the second coil are wound in layers and cross-wound on the iron core. The housing is rotatably connected to the drive shaft of the geared motor. The iron core is disposed inside the housing. The housing is a semi-circular ring component.
[0023] By adopting the above scheme, and by setting up an iron core, a first coil, and a second coil, the device can adjust the magnetic force of the magnetic attraction structure by adjusting the current flowing through the first coil and the second coil. This allows the device to adjust the attraction force between the magnetic attraction structure and the wall based on the angle between the wall and the horizontal plane.
[0024] In summary, this application includes at least one of the following beneficial technical effects: 1. By setting up a sleeve rod and a sleeve, and by controlling the electric actuator and the servo motor, the rotation state of the first bevel gear can be controlled, thereby controlling whether the sleeve rod rotates, so as to adjust the angle between the first adsorption wheel assembly and the second adsorption wheel assembly in the device. Then, by using the thread action between the sleeve rod and the sleeve, the sliding distance of the sleeve on the sleeve rod can be controlled, thereby adjusting the overall length of the device. At the same time, according to the actual working conditions, the overall length of the device or the angle between the first adsorption wheel assembly and the second adsorption wheel assembly can be selectively adjusted, so that the device can meet more complex wall surface conditions.
[0025] 2. When the wall heights on both sides of the chassis structure are different, since the first adsorption wheel assembly and the second adsorption wheel assembly are rotatably connected to the movable rod assembly and the fixed rod respectively, the first adsorption wheel assembly can deflect at an angle about the movable rod assembly as the axis, and the second adsorption wheel assembly can deflect at an angle about the fixed rod as the axis, so that the device can adapt to different types of unevenness of the ferromagnetic wall surface.
[0026] 3. By setting up a magnetic attraction structure and a pressure sensor, the pressure sensor senses the force between each drive wheel and the ferromagnetic wall surface. Based on the magnitude of the force, the current flowing through the magnetic attraction mechanism is adjusted, thereby controlling the magnetic force of the device. This ensures that the device can stably adhere to the ferromagnetic wall surface and move on it. Attached Figure Description
[0027] Figure 1 This is a perspective view of a magnetic wall-climbing robot chassis structure provided in this application embodiment walking on uneven walls on both sides; Figure 2 This is a perspective view of a magnetic wall-climbing robot chassis structure provided in the embodiments of this application walking on a cross-section; Figure 3 This is a perspective view of a magnetic wall-climbing robot chassis structure provided in the embodiments of this application; Figure 4 yes Figure 3 An enlarged schematic diagram of part A in the middle; Figure 5 This is a perspective view of a drive adjustment component for the chassis structure of a magnetic wall-climbing robot provided in an embodiment of this application. Figure 6 This is a top sectional view of an L-shaped rod of a magnetic wall-climbing robot chassis structure provided in an embodiment of this application; Figure 7 This is a top sectional view of the chassis structure connecting compartment of a magnetic wall-climbing robot provided in the embodiments of this application; Figure 8 This is a perspective view of a drive mechanism for a magnetic wall-climbing robot chassis structure provided in the embodiments of this application; Figure 9 This is a front sectional view of the magnetic suction mechanism of the chassis structure of a magnetic wall-climbing robot provided in the embodiments of this application; Figure 10 This is a front sectional view of the active wheel of the chassis structure of a magnetic wall-climbing robot provided in the embodiments of this application.
[0028] Explanation of reference numerals in the attached drawings: 1. Adsorption walking device; 11. First adsorption wheel assembly; 12. Second adsorption wheel assembly; 13. Magnetic adsorption wheel group; 131. Magnetic attraction mechanism; 1311. Housing; 1312. Iron core; 1313. First coil; 1314. Second coil; 132. Drive mechanism; 1321. Mounting frame; 1322. Gear motor; 133. Drive wheel; 2. Adjustment device; 21. Adjustment mechanism; 211. Bracket; 212. Movable rod assembly; 2 121. Sleeve; 2122. Sleeve rod; 2123. First bevel gear; 2124. L-shaped rod; 213. Fixed rod; 214. Connector; 2141. Connecting frame; 2142. Rack; 2143. Sector gear; 215. Electric actuator; 216. Adjustment chamber; 217. Servo motor; 2171. Second bevel gear; 22. Auxiliary wheel set; 221. Auxiliary wheel; 222. Connecting rod; 223. Permanent magnet; 224. Connecting chamber; 3. Pressure sensor. Detailed Implementation
[0029] The following is in conjunction with the appendix Figures 1-10 This application provides a more detailed description of the chassis structure of a magnetic wall-climbing robot. Example
[0030] Please see Figure 1 , Figure 2 and Figure 3 The present application provides a magnetic wall-climbing robot chassis structure, including: an adsorption walking device 1 and an adjustment device 2. The adsorption walking device 1 includes a first adsorption wheel assembly 11 and a second adsorption wheel assembly 12. The first adsorption wheel assembly 11 and the second adsorption wheel assembly 12 are configured to adsorb onto a ferromagnetic wall surface and drive themselves to walk on the wall surface. The adjustment device 2 is disposed between the first adsorption wheel assembly 11 and the second adsorption wheel assembly 12. The two ends of the adjustment device 2 are respectively connected to the first adsorption wheel assembly 11 and the second adsorption wheel assembly 12. The adjustment device 2 includes an adjustment mechanism 21 and a drive adjustment device. The power of the drive adjustment device is configured to selectively or proportionally distribute to the adjustment mechanism 21 so that the adjustment mechanism 21 can selectively enter state one, state two and state three. In one state, the adjustment mechanism 21 adjusts the relative angle between the first adsorption wheel assembly 11 and the second adsorption wheel assembly 12. State 2: Adjustment mechanism 21 adjusts the distance between the first adsorption wheel assembly 11 and the second adsorption wheel assembly 12; State 3: The adjustment mechanism 21 simultaneously adjusts the relative angle and distance between the first adsorption wheel assembly 11 and the second adsorption wheel assembly 12; By setting up a first adsorption wheel assembly 11 and a second adsorption wheel assembly 12 that can relatively change the distance and angle, the device can avoid changing the shape and center of gravity height of the device according to the ferromagnetic surface, so that the device can deal with more complex ferromagnetic wall conditions.
[0031] Please see Figure 10 The active wheel 133 is provided with a rubber layer on the outside, and multiple pressure sensors 3 are arranged at intervals inside the rubber layer. The pressure sensors 3 are used to detect the pressure between the active wheel 133 and the ferromagnetic wall. By detecting the pressure by the pressure sensors 3, the electromagnetic force is adjusted according to the pressure between the active wheel 133 and the ferromagnetic wall so that the device can be stably adsorbed on the ferromagnetic wall. In addition, a distance sensor and a displacement sensor are also provided on the mounting frame 1321 in each magnetic adsorption wheel group 13. These sensors detect the unevenness of the ferromagnetic wall and the distance between the obstacle and the device, respectively, and work with the pressure sensors 3 to judge the obstacles on the ferromagnetic wall. In one embodiment of this application, a laser rangefinder sensor installed at the front end of the mounting frame 1321 is used to detect the height of obstacles within a 50cm range in front. When a protrusion higher than a threshold (e.g., 3cm) is detected, the controller activates the control adjustment mechanism 21 to enter state three.
[0032] In this embodiment, a controller can also be set. When the device needs to achieve state one, the controller reads the angle encoder at the pivot of the L-shaped rod 2124 to obtain the revolution angular velocity ω1, and at the same time reads the encoder of the servo motor 217 to obtain its rotational speed ω2. The controller adjusts the voltage of the servo motor through a PID algorithm so that ω2 and ω1 meet the preset synchronization relationship, thereby suppressing the rotation of the first bevel gear 2123. When state two or state three needs to be achieved, the above control method can be used to adjust whether the first bevel gear 2123 rotates or the direction of rotation.
[0033] Please see Figure 3 and Figure 5The adjustment device includes an adjustment mechanism 21 and an auxiliary wheel assembly 22. The adjustment mechanism 21 includes an adjustment chamber 216. One end of the adjustment chamber 216 is provided with a movable rod assembly 212. The end of the movable rod assembly 212 away from the adjustment chamber 216 is connected to the first adsorption wheel assembly 11. The adjustment chamber 216 is provided with a drive adjustment device 2. The drive adjustment device 2 is connected to the movable rod assembly 212 through a transmission component to adjust the length and angle of the movable rod assembly 212. The auxiliary wheel assembly 22 is located at the other end of the adjustment mechanism 21. The end of the auxiliary wheel assembly 22 away from the adjustment mechanism 21 is provided with a fixed rod 213. The end of the fixed rod 213 away from the auxiliary wheel assembly 22 is connected to the second adsorption wheel assembly 12. By setting the auxiliary wheel assembly 22, when the first adsorption wheel assembly 11 is away from the second adsorption wheel assembly 12 and lifted, the auxiliary wheel assembly 22 can assist the second adsorption wheel assembly 12 in supporting the device on the ferromagnetic wall surface, so that it will not tip over.
[0034] Please see Figure 3 , Figure 5 and Figure 7 The drive adjustment device 2 includes an electric actuator 215 and a servo motor 217. A bracket 211 is provided at the upper end of the adjustment chamber 216. The electric actuator 215 is mounted on the bracket 211 and is mounted outside the adjustment chamber 216. The drive shaft of the electric actuator 215 is connected to one end of the movable rod assembly 212 via a connector 214 to drive the movable rod assembly 212 to deflect. The servo motor 217 is mounted outside the adjustment chamber 216 and located away from it. On one side of the connector 214, the drive shaft of the servo motor 217 extends into the adjustment chamber 216 and is coaxially fixedly connected to a second bevel gear 2171. The second bevel gear 2171 is connected to the movable rod assembly 212. By setting the electric push rod 215 and the servo motor 217 and controlling their cooperation, the chassis structure can be selectively extended or deflected at an angle, or the center of gravity can be raised while the chassis structure is extended, providing driving force for changes in the shape of the chassis structure.
[0035] Please see Figure 5The connecting component 214 includes a connecting frame 2141 and a rack 2142. One end of the connecting frame 2141 is connected to the drive shaft of the electric push rod 215, and the other end of the connecting frame 2141 passes through the adjustment chamber 216. One end of the rack 2142 is connected to the other end of the connecting frame 2141. A sector-shaped gear disk 2143 is fixedly connected to one end of the movable rod assembly 212. The sector-shaped gear disk 2143 meshes with the rack 2142. The transmission component includes the connecting component 214 and a second bevel gear 2171. By setting the connecting frame 2141 and the rack 2142, the electric push rod 215 drives the rack 2142 to move, thereby driving the L-shaped rod 2124 to deflect. This allows the device to adjust the angle between the first adsorption wheel assembly 11 and the second adsorption wheel assembly 12, so that when the device encounters a protrusion on the ferromagnetic wall, it can raise the center of gravity of the device according to the height of the protrusion, so that the device will not get stuck on the ferromagnetic wall.
[0036] Please see Figure 6 The movable rod assembly 212 includes an L-shaped rod 2124 and a sleeve rod 2122. One end of the L-shaped rod 2124 extends out of the adjustment chamber 216 and is rotatably connected to the adjustment chamber 216. The sector-shaped gear 2143 meshes with the rack 2142. The sleeve rod 2122 is sleeved on the outside of the other end of the L-shaped rod 2124. A first bevel gear 2123 is coaxially connected to the outside of one end of the sleeve rod 2122 near the L-shaped rod 2124, and a sleeve 2121 is sleeved on the outside of the other end. The first bevel gear 2123 meshes with the second bevel gear 2171. A threaded groove is formed on the inner wall of the sleeve 2121, and a thread adapted to the threaded groove is formed on the outside of the sleeve rod 2122. The sleeve 2121 is connected to the first adsorption wheel assembly. 11 is rotatably connected via a damping shaft. The fixed rod 213 is rotatably connected to the second adsorption wheel assembly 12. One end of the L-shaped rod 2124 is coaxially arranged with the second bevel gear 2171. By setting the L-shaped rod 2124 and the sleeve rod 2122, the device can deflect the L-shaped rod 2124 so that the sleeve rod 2122, which is sleeved on the other end of the L-shaped rod 2124, can move outside the second bevel gear 2171. Through the meshing action between the first bevel gear 2123 and the second bevel gear 2171, the sleeve rod 2122 can rotate on the surface of the second bevel gear 2171, thereby facilitating the interaction and cooperation between the sleeve rod 2122 and the sleeve 2121, so that the chassis structure can adjust the length of the entire device simultaneously while adjusting the angle.
[0037] In this embodiment, the damping shaft is a friction damper, and the static friction torque it provides is designed to be greater than the driving torque applied to the sleeve 2121 through the thread when the sleeve rod 2122 rotates.
[0038] In one embodiment of this application, when the device encounters a 90-degree positive angle, the front-end distance sensor detects this information, and the controller activates the 'angle adjustment only mode', that is, the adjustment mechanism 21 enters state one, driving the electric push rod 215 to deflect the L-shaped rod 2124 by 90 degrees. During this process, the servo electric rod 217 and the deflection of the L-shaped rod 2124 are synchronously controlled to ensure that the length of the chassis structure remains unchanged. After the first adsorption wheel assembly 11 smoothly rotates to the new plane and adsorbs, the robot completes the cornering action. Compared with the prior art, which requires two independent robots to be fixed alternately, this solution has a more compact structure, more coherent control, and significantly improved obstacle crossing efficiency.
[0039] Please see Figure 7 The auxiliary wheel assembly 22 includes a connecting chamber 224, two auxiliary wheels 221, a connecting rod 222, and a permanent magnet 223. One end of the connecting chamber 224 is fitted to the outside of the adjusting chamber 216. Both ends of the connecting rod 222 pass through the connecting chamber 224. The two auxiliary wheels 221 are arranged in parallel and fitted to both ends of the connecting rod 222. The permanent magnet 223 is disposed between the two auxiliary wheels 221 and fitted to the lower end of the connecting chamber 224. By setting the permanent magnet 223 on the connecting chamber 224, when the device adjusts the angle of the first adsorption wheel assembly 11, the auxiliary wheels 221 can cooperate with the second adsorption wheel assembly 12 to provide auxiliary support for the device, which facilitates the stability of the device when adjusting its posture on the wall.
[0040] Please see Figure 4 Both the first adsorption wheel assembly 11 and the second adsorption wheel assembly 12 include two magnetic adsorption wheel groups 13. The two magnetic adsorption wheel groups 13 in the first adsorption wheel assembly 11 are respectively disposed on both sides of the sleeve 2121 and are rotatably connected to the sleeve 2121 through a damping shaft. The two magnetic adsorption wheel groups 13 in the second adsorption wheel assembly 12 are respectively disposed on both sides of the fixed rod 213 and are rotatably connected to the fixed rod 213 through bearings. The magnetic adsorption wheel group 13 includes a magnetic attraction mechanism 131, a driving mechanism 132, and two driving wheels 133. The two driving wheels 133 are coaxially mounted on the outside of the driving shaft of the driving mechanism 132, and a gap is provided between the two driving wheels 133. The magnetic attraction mechanism 131 is rotatably mounted on the driving shaft of the driving mechanism 132 and is located in the gap. By placing the magnetic attraction mechanism 131 between the two driving wheels 133, the device can maintain a positive pressure on the ferromagnetic wall surface due to the attraction force between the magnetic attraction mechanism 131 and the ferromagnetic wall surface.
[0041] Please see Figure 4 and Figure 8The drive mechanism 132 includes a mounting frame 1321 and a reduction motor 1322. The mounting frame 1321 in the first adsorption wheel assembly 11 is rotatably connected to the sleeve 2121 via a damping shaft. The mounting frame 1321 in the second adsorption wheel assembly 12 is rotatably connected to the fixed rod 213 via a bearing. The reduction motor 1322 is disposed in the mounting frame 1321. A damping shaft is provided between the sleeve 2121 and the mounting frame 1321 in the first adsorption wheel assembly 11 to ensure that the first adsorption wheel assembly 11 and the second adsorption wheel assembly 12 can tilt the device and increase the electromagnetic force, so that the drive wheel 133 in the first adsorption wheel assembly 11 can be axially deflected relative to the sleeve 2121, or the drive wheel 133 in the second adsorption wheel assembly 12 can be axially deflected relative to the fixed rod 213.
[0042] Please see Figure 9 The magnetic attraction mechanism 131 includes a housing 1311, an iron core 1312, a first coil 1313, and a second coil 1314. The first coil 1313 and the second coil 1314 are layered and cross-wound on the iron core 1312. The housing 1311 is rotatably connected to the drive shaft of the reduction motor 1322. The iron core 1312 is disposed inside the housing 1311. The housing 1311 is a semi-circular ring component. Through the semi-circular ring magnetic attraction mechanism 131, it can rotate on the drive shaft of the reduction motor 1322, thereby enabling the magnetic attraction mechanism 131 to provide electromagnetic attraction force, so that the device can be stably attracted to the ferromagnetic wall surface.
[0043] In summary, when the device travels on a ferromagnetic wall and encounters obstacles of a certain height, the electric actuator 215 is activated, which drives the rack 2142 to move. The rack 2142 drives the sleeve 2122 to rotate around the second bevel gear 2171. At the same time, the servo motor 217 is activated, and the servo motor 217 keeps the second bevel gear 2171 stationary. At this time, due to the deflection of the sleeve 2122, the first bevel gear 2123 outside the sleeve 2122 can travel along the conical surface of the second bevel gear 2171. Thus, the sleeve 2122 can also have a tendency to rotate while deflecting its angle. Due to the threaded action between the sleeve 2122 and the sleeve 2121, and the damping provided by the damping shaft to the sleeve 2121, the sleeve 2121 will not rotate with the sleeve 2122. At this time, the sleeve 2121 can extend and retract along the length direction of the sleeve 2122, so that the device can extend or shorten its overall length. When the length needs to be extended or retracted according to the actual situation, the servo motor 217 is turned on. The servo motor 217 can drive the second bevel gear 2171 to rotate. At this time, the second bevel gear 2171 can drive the first bevel gear 2123 to rotate, which in turn drives the sleeve rod 2122 to rotate. At the same time, by controlling the electric push rod 215, the electric push rod 215 keeps the rack 2142 stationary, thereby ensuring the stability of the L-shaped rod 2124, and thus enabling the device to extend or retract in length. When it is necessary to raise or lower the center of gravity of the device according to the actual situation, the electric actuator 215 is activated. The electric actuator 215 drives the rack 2142 to cooperate with the sector gear disk 2143, thereby causing the L-shaped rod 2124 of the device to deflect at an angle. At this time, the servo motor 217 is activated and its drive shaft speed is controlled so that the rotation speed of the second bevel gear 2171 matches the revolution speed of the first bevel gear 2123, thereby preventing the first bevel gear 2123 from rotating. At this time, the L-shaped rod 2124 will not rotate. When the plane heights of the magnetic adsorption wheel groups 13 on both sides of the first adsorption wheel assembly 11 are different, there is an angle between each active wheel 133 in the first adsorption wheel assembly 11 and the plane. By increasing the electromagnetic force of the magnetic adsorption wheel group 13, the active wheel 133 can overcome the damping of the damping shaft and stick to the plane. Thus, the device can still ensure the stability of the device on the ferromagnetic wall when the plane heights on both sides are different.
[0044] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. A magnetic wall-climbing robot chassis structure, characterized in that, include: Adsorption walking device (1), the adsorption walking device (1) includes a first adsorption wheel assembly (11) and a second adsorption wheel assembly (12), the first adsorption wheel assembly (11) and the second adsorption wheel assembly (12) are configured to adsorb onto the ferromagnetic wall surface and drive themselves to walk on the wall surface; Adjustment device (2), the adjustment device (2) is disposed between the first adsorption wheel assembly (11) and the second adsorption wheel assembly (12), and the two ends of the adjustment device (2) are respectively connected to the first adsorption wheel assembly (11) and the second adsorption wheel assembly (12); The adjustment device (2) includes an adjustment mechanism (21) and a drive adjustment device, wherein the power of the drive adjustment device is configured to be selectively or proportionally distributed to the adjustment mechanism (21) so that the adjustment mechanism (21) can selectively enter state one, state two and state three; In one state, the adjustment mechanism (21) adjusts the relative angle between the first adsorption wheel assembly (11) and the second adsorption wheel assembly (12). State 2: Adjustment mechanism (21) adjusts the distance between the first adsorption wheel assembly (11) and the second adsorption wheel assembly (12); State 3: The adjustment mechanism (21) simultaneously adjusts the relative angle and distance between the first adsorption wheel assembly (11) and the second adsorption wheel assembly (12).
2. The magnetic wall-climbing robot chassis structure according to claim 1, characterized in that: The regulating device (2) includes: The adjustment mechanism includes an adjustment chamber (216), one end of which is provided with a movable rod assembly (212). The end of the movable rod assembly (212) away from the adjustment chamber (216) is connected to the first adsorption wheel assembly (11). The adjustment chamber (216) is provided with a drive adjustment device, which is connected to the movable rod assembly (212) through a transmission component to adjust the length and angle of the movable rod assembly (212). An auxiliary wheel assembly (22) is located at the other end of the adjustment mechanism (21). A fixed rod (213) is provided at the end of the auxiliary wheel assembly (22) away from the adjustment mechanism (21). The end of the fixed rod (213) away from the auxiliary wheel assembly (22) is connected to the second adsorption wheel assembly (12).
3. The magnetic wall-climbing robot chassis structure according to claim 2, characterized in that, The drive adjustment device includes: An electric actuator (215) is provided on the upper end of the adjustment chamber (216) with a bracket (211). The electric actuator (215) is mounted on the bracket (211) and is mounted outside the adjustment chamber (216). The drive shaft of the electric actuator (215) is connected to one end of the movable rod assembly (212) through a connector (214) to drive the movable rod assembly (212) to deflect. A servo motor (217) is mounted outside the adjustment chamber (216) and located on the side away from the connector (214). The drive shaft of the servo motor (217) extends into the adjustment chamber (216) and is coaxially fixedly connected to a second bevel gear (2171). The second bevel gear (2171) is connected to the movable rod assembly (212).
4. The magnetic wall-climbing robot chassis structure according to claim 3, characterized in that, The connector (214) includes: A connecting frame (2141) is provided, one end of which is connected to the drive shaft of the electric push rod (215), and the other end of which passes through the adjustment chamber (216). A rack (2142) is provided, one end of which is connected to the other end of the connecting frame (2141). A sector-shaped gear disk (2143) is fixedly connected to one end of the movable rod assembly (212), and the sector-shaped gear disk (2143) meshes with the rack (2142). The transmission component includes the connecting member (214) and the second bevel gear (2171).
5. The magnetic wall-climbing robot chassis structure according to claim 4, characterized in that: The movable lever assembly (212) includes: L-shaped rod (2124), one end of which extends out of the adjustment chamber (216) and is rotatably connected to the adjustment chamber (216); the sector-shaped toothed disc (2143) meshes with the rack (2142); A sleeve (2122) is sleeved on the outside of the other end of the L-shaped rod (2124). The sleeve (2122) is coaxially connected to a first bevel gear (2123) at one end near the L-shaped rod (2124), and a sleeve (2121) is sleeved on the other end. The first bevel gear (2123) meshes with the second bevel gear (2171). The inner wall of the sleeve (2121) is provided with a threaded groove, and the outside of the sleeve (2122) is provided with a thread that matches the thread of the threaded groove. The sleeve (2121) is rotatably connected to the first adsorption wheel assembly (11) through a damping shaft. The fixed rod (213) is rotatably connected to the second adsorption wheel assembly (12).
6. The magnetic wall-climbing robot chassis structure according to claim 3, characterized in that: The auxiliary wheel assembly (22) includes a connecting chamber (224), two auxiliary wheels (221), a connecting rod (222), and a permanent magnet (223). One end of the connecting chamber (224) is fitted to the outside of the adjusting chamber (216). Both ends of the connecting rod (222) pass through the connecting chamber (224). The two auxiliary wheels (221) are arranged in parallel and fitted to both ends of the connecting rod (222). The permanent magnet (223) is located between the two auxiliary wheels and fitted to the lower end of the connecting chamber (224).
7. The magnetic wall-climbing robot chassis structure according to claim 5, characterized in that: Both the first adsorption wheel assembly (11) and the second adsorption wheel assembly (12) include two magnetic adsorption wheel groups (13). The two magnetic adsorption wheel groups (13) in the first adsorption wheel assembly (11) are respectively disposed on both sides of the sleeve (2121) and are rotatably connected to the sleeve (2121) through a damping shaft. The two magnetic adsorption wheel groups (13) in the second adsorption wheel assembly (12) are respectively disposed on both sides of the fixing rod (213) and are rotatably connected to the fixing rod (213) through a bearing. The magnetic adsorption wheel assembly (13) includes a magnetic adsorption mechanism (131), a drive mechanism (132), and two drive wheels (133); The drive shaft of the drive mechanism (132) is coaxially fitted with two drive wheels (133), and there is a gap between the two drive wheels (133). The magnetic attraction mechanism (131) is rotatably mounted on the drive shaft of the drive mechanism (132) and is located in the gap. The drive wheel (133) is provided with a rubber layer on the outside, and multiple pressure sensors (3) are arranged at intervals inside the rubber layer. The pressure sensors (3) are used to detect the pressure between the drive wheel (133) and the ferromagnetic wall.
8. The magnetic wall-climbing robot chassis structure according to claim 7, characterized in that: The drive mechanism (132) includes a mounting frame (1321) and a reduction motor (1322). The mounting frame (1321) in the first adsorption wheel assembly (11) is rotatably connected to the sleeve (2121) via a damping shaft. The mounting frame (1321) in the second adsorption wheel assembly (12) is rotatably connected to the fixed rod (213) via a bearing. The reduction motor (1322) is disposed in the mounting frame (1321).
9. The magnetic wall-climbing robot chassis structure according to claim 8, characterized in that: The magnetic attraction mechanism (131) includes a housing (1311), an iron core (1312), a first coil (1313), and a second coil (1314). The first coil (1313) and the second coil (1314) are wound in layers and cross-wound on the iron core (1312). The housing (1311) is rotatably connected to the drive shaft of the geared motor (1322). The iron core (1312) is disposed inside the housing (1311). The housing (1311) is a semi-circular ring component.