A non-contact magnetic attraction steering wheel type robot

Abstract

The utility model discloses a kind of non-contact magnetic attraction steering wheel type robots, it is related to robot technical field, and it includes: main frame, two magnetic attraction components, rear drive component, front steering component.The rotation of main frame below is installed with front mounting bracket and rear mounting bracket, the rotation axis of front mounting bracket extends along up-down direction, the rotation axis of rear mounting bracket extends along front-back direction, front mounting bracket is rotatably installed with front wheel, and rear mounting bracket is rotatably installed with rear wheel;Two magnetic attraction components are respectively installed below front mounting bracket and below rear mounting bracket, and the height of magnetic attraction component is greater than the height of front wheel and rear wheel;Rear drive component is connected to rear mounting bracket, and rear drive component is configured to drive rear wheel rotation;Front steering component is connected to main frame, and front steering component is configured to drive front mounting bracket rotation.The utility model can make robot walk on the surface of different curvature.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a non-contact magnetic steering wheel robot. Background Technology

[0002] Wall-climbing robots have achieved relatively mature development and application. They must possess two basic functions: adsorption and movement. Movement is similar to other robots, primarily including wheeled, tracked, legged, and track-based types. Adsorption is the core of ensuring the reliability of wall-climbing robots, and can be categorized into negative pressure adsorption and magnetic adsorption based on the adsorption method. Negative pressure adsorption generally achieves adsorption by generating negative pressure within the adsorption mechanism through an air extraction device. Its adsorption stability is mainly affected by the continuity of the air extraction device's operation and leakage factors. Magnetic adsorption can be divided into electromagnetic and permanent magnet types. A shortcoming of existing technologies is that many robots using rigid bodies or fixed magnetic block arrays experience changes in the working air gap between the magnetic components and the wall surface when traversing curved surfaces. On convex surfaces, the air gap increases, leading to a sharp decrease in adsorption force; on concave surfaces, the air gap decreases or even becomes zero. Although adsorption is possible, movement is impossible, limiting the robot's movement and obstacle-crossing capabilities, and making it unable to adapt to complex curved surfaces. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a non-contact magnetic steering wheel robot that enables the robot to walk on surfaces with different curvatures.

[0004] A non-contact magnetically oriented steering wheel robot according to an embodiment of the present invention includes: a main frame, two magnetic assemblies, a rear drive assembly, and a front steering assembly. A front mounting frame and a rear mounting frame are rotatably mounted below the main frame. The rotation axis of the front mounting frame extends vertically, and the rotation axis of the rear mounting frame extends longitudinally. A front wheel is rotatably mounted on the front mounting frame, and a rear wheel is rotatably mounted on the rear mounting frame. The two magnetic assemblies are respectively mounted below the front mounting frame and the rear mounting frame, and the height of the magnetic assemblies is greater than the height of the front wheel and the height of the rear wheel. The rear drive assembly is connected to the rear mounting frame and is configured to drive the rear wheel to rotate. The front steering assembly is connected to the main frame and is configured to drive the front mounting frame to rotate.

[0005] A non-contact magnetic steering wheel robot according to an embodiment of this utility model has at least the following beneficial effects: Compared with traditional magnets that need to be in close contact with the surface, non-contact magnetic attraction can maintain an air gap. This allows the robot to easily cross welds, slight unevenness, or surface coatings without getting stuck or experiencing significant resistance. The rear mounting bracket rotates about a horizontal axis in the front-to-back direction. When the robot travels on curved surfaces, the rear mounting bracket can adaptively swing to ensure that the two rear wheels always maintain good contact with the curved surface, thus guaranteeing driving force and enhancing the robot's passability and adsorption reliability on three-dimensional curved surfaces. The combination of non-contact magnetic attraction and a rotatable rear mounting bracket enables the robot to move stably and reliably on complex curved metal surfaces.

[0006] According to some embodiments of the present invention, the front mounting bracket includes a steering frame, a steering shaft, and a wheel carrier axle. The steering shaft is vertically connected to the upper end of the steering frame, and the upper end of the steering shaft is rotatably mounted on the main frame. The steering shaft is drive-connected to the front steering assembly. The wheel carrier axle is rotatably mounted on the steering frame and is horizontally arranged. The front wheel is connected to the wheel carrier axle.

[0007] According to some embodiments of the present invention, a front safety handle is provided at the front end of the steering frame.

[0008] According to some embodiments of the present invention, the rear mounting bracket includes a gearbox and a drive shaft. A flip shaft is connected to the front end of the gearbox. The flip shaft is arranged in the front-rear direction and is rotatably mounted on the main frame. The drive shaft passes through the gearbox. The rear drive assembly is connected to the gearbox and is driven by the drive shaft. The rear wheel is connected to the drive shaft.

[0009] According to some embodiments of the present invention, the gearbox is detachably connected to a shaft clamp, and the flipping shaft is connected to the gearbox through the shaft clamp.

[0010] According to some embodiments of the present invention, a fixed bracket is provided below the main frame, the flipping shaft passes through the fixed bracket, the flipping shaft is connected to an angle limiting block, the angle limiting block can rotate with the flipping shaft, and the angle limiting block can abut against the fixed bracket to limit the rotation angle of the flipping shaft.

[0011] According to some embodiments of the present invention, a rear safety handle is provided at the rear end of the gearbox.

[0012] According to some embodiments of the present invention, the magnetic attraction component is a Heilbeck array composed of permanent magnets.

[0013] According to some embodiments of the present invention, a heightening rod is vertically provided at the upper end of the main frame, and a walking vision module is provided at the top of the heightening rod.

[0014] According to some embodiments of the present invention, a gimbal camera is provided at the upper end of the main frame.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the overall structure of a robot according to an embodiment of the present invention; Figure 2 This is an exploded view of the front steering assembly according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a fixed bracket and a flipping shaft according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the front mounting bracket according to one embodiment of the present invention; Figure 5 This is a schematic diagram of the rear mounting bracket according to one embodiment of the present invention; Figure 6 This is a schematic diagram of the internal structure of a gearbox according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a magnetic suction component according to an embodiment of the present invention.

[0017] Icon labels: Main frame 100, fixed bracket 110, heightening rod 120, moving vision module 130, gimbal camera 140; Front mounting bracket 200, steering frame 210, steering shaft 220, wheel carrier axle 230, front safety handle 240; Rear mounting bracket 300, gearbox 310, shaft clamp 311, rear safety handle 312, drive shaft 320, tilting shaft 330, angle limit block 331; Front wheel 400; Rear wheel 500; Magnetic assembly 600; Rear drive assembly 700; Front steering assembly 800. Detailed Implementation

[0018] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0019] In the description of this utility model, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings. They 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. Therefore, they should not be construed as limitations on this utility model.

[0020] In the description of this utility model, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features or their sequential relationship.

[0021] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0022] Reference Figures 1 to 5As shown, an embodiment of this utility model discloses a non-contact magnetically oriented steering wheel robot, comprising: a main frame 100, two magnetically oriented components 600, a rear drive component 700, and a front steering component 800. The main frame 100 serves as a load-bearing structure and is made of high-strength aluminum alloy or alloy steel. A front mounting bracket 200 and a rear mounting bracket 300 are rotatably mounted below the main frame 100. The rotation axis of the front mounting bracket 200 extends vertically, and the rotation axis of the rear mounting bracket 300 extends longitudinally. A front wheel 400 is rotatably mounted on the front mounting bracket 200, and a rear wheel 500 is rotatably mounted on the rear mounting bracket 300. The front wheel 400 and the rear wheel 500 are of the same size, and both are made of aluminum alloy hubs with rubber rims. Two magnetic chucks 600 are respectively mounted below the front mounting bracket 200 and the rear mounting bracket 300. The lowest point of each magnetic chuck 600 is higher than the contact point between the front wheel 400 and the running surface, and the lowest point of each magnetic chuck 600 is higher than the contact point between the rear wheel 500 and the running surface. A rear drive assembly 700 is connected to the rear mounting bracket 300 and is configured to drive the rear wheel 500 to rotate. A battery and controller are mounted on the main frame 100, providing power to the front steering assembly 800 and the rear drive assembly 700. The rear wheel 500 provides forward and reverse power, featuring a simple structure and high drive efficiency. The front steering assembly 800 is connected to the main frame 100 and is configured to drive the front mounting bracket 200 to rotate. Both the front steering assembly 800 and the rear drive assembly 700 use servo motors. A protective cover is provided around the front steering assembly 800 to protect it. The front wheel 400 rotates around a vertical axis to achieve horizontal steering. The front steering assembly 800 drives the entire front mounting bracket 200 to rotate, resulting in a small turning radius and flexible path planning. Compared to traditional magnets that require close contact with the surface, non-contact magnetic attraction maintains an air gap. This allows the robot to easily traverse welds, slight unevenness, or surface coatings without getting stuck or experiencing significant resistance. The rear mounting bracket 300 rotates around a horizontal axis in the forward and backward direction. When the robot travels on curved surfaces, the rear mounting bracket 300 can adaptively swing, ensuring that both rear wheels 500 maintain good contact with the curved surface. This guarantees driving force and enhances the robot's passability and adhesion reliability on three-dimensional curved surfaces. The combination of non-contact magnetic attraction and the rotatable rear mounting bracket 300 enables the robot to move stably and reliably on complex curved metal surfaces.

[0023] Reference Figure 2 and Figure 4As shown, in some embodiments, the front mounting bracket 200 includes a steering frame 210, a steering shaft 220, and a wheel carrier axle 230. The steering shaft 220 is vertically connected to the upper end of the steering frame 210 and is connected to the steering frame 210 by welding or bolting. The upper end of the steering shaft 220 is rotatably mounted on the main frame 100 and is drively connected to the front steering assembly 800. The wheel carrier axle 230 is rotatably mounted on the steering frame 210 and is fitted with a bearing. The wheel carrier axle 230 is mounted to the steering frame 210 through the bearing to reduce the friction of the wheel carrier axle 230 rotation. The wheel carrier axle 230 is horizontally arranged, and the front wheel 400 is bolted to the wheel carrier axle 230. The magnetic traction assembly 600 and the steering frame 210 are a rigid whole. When the front wheel 400 travels on an uneven surface, the magnetic traction assembly 600 moves with the steering frame 210, thereby always maintaining a relatively constant and small gap with the curved wall surface. The front steering assembly 800 only needs to drive the steering frame 210, the front wheel 400 and the magnetic assembly 600 to rotate around the steering shaft 220, which allows for the use of a smaller and more energy-efficient motor, reducing cost and power consumption.

[0024] Reference Figure 2 and Figure 4 As shown, in some embodiments, a front safety handle 240 is provided at the front end of the steering frame 210. The front safety handle 240 facilitates the operator in lifting and moving the robot, and during the robot's movement, if the front part accidentally hits an obstacle, the front safety handle 240 will contact the obstacle and wheels before the magnetic assembly 600, thus providing protection. If the robot becomes stuck in a certain position, rescuers can use tools to hook or tie the front safety handle 240 for dragging.

[0025] Reference Figure 3 , Figure 5 and Figure 6As shown, in some embodiments, the rear mounting frame 300 includes a gearbox 310 and a drive shaft 320. A tilting shaft 330 is connected to the front end of the gearbox 310. The tilting shaft 330 is perpendicular to the drive shaft 320, which is positioned laterally. The tilting shaft 330 is positioned longitudinally and is rotatably mounted on the main frame 100. The drive shaft 320 passes through the gearbox 310. Bearings are provided on the drive shaft 320 to reduce friction during rotation. The rear drive assembly 700 is bolted to the gearbox 310 and is connected to the drive shaft 320 via a bevel gear pair. The rear wheel 500 is bolted to the drive shaft 320, and the drive shaft 320 rotates synchronously with the rear wheel 500. The drive shaft 320 transmits the torque of the rear drive assembly 700 to the rear wheel 500, thereby driving the robot to move. The tilting shaft 330 allows the entire rear mounting frame 300 to swing laterally to adapt to curved surfaces. The gearbox 310 not only houses the bevel gear pair but also serves as the main structural component of the rear mounting bracket 300. The flip shaft 330 and drive shaft 320 are directly or indirectly mounted on it, resulting in a compact structure. The rear magnetic attraction assembly 600 is installed below the gearbox 310 and moves with it, ensuring a constant gap between the rear magnet and the wall surface, stable attraction force, and preventing the rear part from detaching or tipping over due to excessive magnetic gap on one side.

[0026] Reference Figure 3 As shown, in some embodiments, a shaft clamp 311 is bolted to the front of the gearbox 310. The shaft clamp 311 clamps the tilting shaft 330 by tightening the bolts, and the tilting shaft 330 is connected to the gearbox 310 through the shaft clamp 311. The gearbox 310 itself is usually a complex casting, and the tilting shaft 330 and the gearbox 310 are difficult to machine as a whole. Therefore, they are manufactured separately. When the rear drive assembly 700 or the rear wheel 500 needs maintenance or replacement, simply loosening the bolts of the shaft clamp 311 allows the gearbox 310, rear wheel 500, and rear drive assembly 700 to be removed from the main frame 100 as a whole. Maintenance is convenient and modular maintenance is achieved.

[0027] Reference Figures 1 to 3As shown, in some embodiments, a fixed bracket 110 is bolted to the lower part of the main frame 100, and a tilting shaft 330 passes through the fixed bracket 110. An angle limiting block 331 is connected to the tilting shaft 330 via a key, allowing the angle limiting block 331 to rotate with the tilting shaft 330. The angle limiting block 331 abuts against the fixed bracket 110 to limit the rotation angle of the tilting shaft 330. The rear mounting bracket 300 can swing left and right via the tilting shaft 330 to adapt to the terrain. However, without angle limitation, the rear mounting bracket 300 may swing excessively when moving from a plane to a vertical edge, or in the event of an accidental collision. Excessive swing angle of the rear mounting bracket 300 may cause the gearbox 310 or rear wheel 500 to violently impact the main frame 100, causing damage to the structure or drive components, and may also lead to interference with the main frame 100 or other components. The axial direction of the angle limiting block 331 is limited by a nut mounted on the upper end of the tilting shaft 330.

[0028] Reference Figure 5 As shown, in some embodiments, a rear safety handle 312 is provided at the rear end of the gearbox 310. The rear safety handle 312 facilitates the operator in lifting and carrying the robot, and during the robot's movement, if the rear accidentally collides with an obstacle, the rear safety handle 312 will contact the obstacle and wheel before the gearbox 310 and the rear wheel 500, thus providing protection. If the robot becomes stuck in a certain position, rescuers can use tools to hook or tie the rear safety handle 312 for dragging. The rear safety handle 312 works together with the front safety handle 240 to facilitate two operators carrying the robot, one in front and one behind.

[0029] Reference Figure 7 As shown, in some embodiments, the magnetic chuck assembly 600 is a Heilbeck array composed of permanent magnets. By arranging neodymium iron boron permanent magnets with different magnetization directions in a specific sequence, it can almost completely cancel the magnetic field on one side of the array, while almost entirely superimposing the magnetic field on the other side. This increases the magnetic force generated per unit weight of the magnetic chuck assembly 600, which helps to reduce its weight and make the structure more compact. The lower end of the magnetic chuck assembly 600 is arc-shaped, and the arc of the lower end of the magnetic chuck assembly 600 is the same as the arc of the front wheel 400, so that the magnetic chuck assembly 600 can maintain a constant attraction force with the walking surface.

[0030] Reference Figure 1 and Figure 2As shown, in some embodiments, a riser pole 120 is vertically mounted on the upper end of the main frame 100. A traveling vision module 130 is mounted on top of the riser pole 120. The power supply and signal lines of the traveling vision module 130 can be built into the riser pole 120. The traveling vision module 130 includes a camera and a supplementary light. The traveling vision module 130 is used to allow operators or obstacle avoidance modules to remotely view the robot's surrounding environment in real time. The supplementary light provides illumination in dark environments. The riser pole 120 allows the vision module to extend beyond the robot's body, gaining a wider field of view and eliminating blind spots in the near view.

[0031] Reference Figure 1 and Figure 2 As shown, in some embodiments, a gimbal camera 140 is mounted on the upper part of the main frame 100. The gimbal camera 140 is connected to a supplementary light, enabling it to operate in dark conditions. The gimbal can scan a large area of ​​the wall surface, photographing and marking any damage or corrosion. The images are then remotely transmitted to the operator for evaluation. In addition, other functional modules, such as thickness measurement, rust removal, and laser rangefinder modules, can be mounted on the main frame 100 as needed.

[0032] Working Principle: A strong unidirectional magnetic field is generated by a Helbeck array composed of permanent magnets, causing the front wheels 400 and rear wheels 500 to exert sufficient downward pressure to press against the metal wall, thus achieving non-contact obstacle crossing. The front steering assembly 800 drives the entire front mounting frame 200 to rotate around a vertical axis, achieving precise steering. The rear drive assembly 700 transmits power to the rear wheels 500 through gears, providing the main propulsion force. The rear drive assembly 700 can swing around a tilting axis 330 extending in the front-rear direction, allowing the four wheels to adaptively conform to the curved surface. A mechanical angle limit block 331 prevents the rear drive assembly 700 from swinging excessively, ensuring a constant magnetic gap and effective transmission of driving force to the rear wheels 500. While the robot moves, the gimbal camera 140, the traveling vision module 130, or other modules acquire and record images of the surrounding environment.

[0033] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A non-contact magnetic steering wheel robot, characterized in that, include: A main frame (100) is provided, and a front mounting bracket (200) and a rear mounting bracket (300) are rotatably mounted below the main frame (100). The rotation axis of the front mounting bracket (200) extends in the vertical direction, and the rotation axis of the rear mounting bracket (300) extends in the front-rear direction. A front wheel (400) is rotatably mounted on the front mounting bracket (200), and a rear wheel (500) is rotatably mounted on the rear mounting bracket (300). Two magnetic assemblies (600) are respectively installed below the front mounting bracket (200) and the rear mounting bracket (300), and the height of the magnetic assemblies (600) is greater than the height of the front wheel (400) and the height of the rear wheel (500); A rear drive assembly (700) is connected to the rear mounting bracket (300), and the rear drive assembly (700) is configured to drive the rear wheel (500) to rotate; A front steering assembly (800) is connected to the main frame (100) and is configured to drive the front mounting bracket (200) to rotate.

2. The non-contact magnetic steering wheel robot according to claim 1, characterized in that: The front mounting bracket (200) includes a steering frame (210), a steering shaft (220), and a wheel carrier axle (230). The steering shaft (220) is vertically connected to the upper end of the steering frame (210), and the upper end of the steering shaft (220) is rotatably mounted on the main frame (100). The steering shaft (220) is connected to the front steering assembly (800) in a driving connection. The wheel carrier axle (230) is rotatably mounted on the steering frame (210) and is horizontally arranged. The front wheel (400) is connected to the wheel carrier axle (230).

3. The non-contact magnetic steering wheel robot according to claim 2, characterized in that: The steering frame (210) is provided with a front safety handle (240) at the front end.

4. The non-contact magnetic steering wheel robot according to claim 1, characterized in that: The rear mounting bracket (300) includes a gearbox (310) and a drive shaft (320). A flip shaft (330) is connected to the front end of the gearbox (310). The flip shaft (330) is arranged in the front-rear direction and is rotatably mounted on the main frame (100). The drive shaft (320) passes through the gearbox (310). The rear drive assembly (700) is connected to the gearbox (310) and is connected to the drive shaft (320) in a driving connection. The rear wheel (500) is connected to the drive shaft (320).

5. The non-contact magnetic steering wheel robot according to claim 4, characterized in that: The gearbox (310) is detachably connected to a shaft clamp (311), and the rotating shaft (330) is connected to the gearbox (310) through the shaft clamp (311).

6. The non-contact magnetic steering wheel robot according to claim 4, characterized in that: A fixed bracket (110) is provided below the main frame (100). The flipping shaft (330) passes through the fixed bracket (110). The flipping shaft (330) is connected to an angle limiting block (331). The angle limiting block (331) can rotate with the flipping shaft (330). The angle limiting block (331) can abut against the fixed bracket (110) to limit the rotation angle of the flipping shaft (330).

7. The non-contact magnetic steering wheel robot according to claim 4, characterized in that: The gearbox (310) is provided with a rear safety handle (312) at the rear end.

8. The non-contact magnetic steering wheel robot according to claim 1, characterized in that: The magnetic attraction component (600) is a Heilbeck array composed of permanent magnets.

9. The non-contact magnetic steering wheel robot according to claim 1, characterized in that: The main frame (100) is vertically equipped with a height-increasing rod (120) at its upper end, and a walking vision module (130) is provided on the top of the height-increasing rod (120).

10. The non-contact magnetic steering wheel robot according to claim 1, characterized in that: A gimbal camera (140) is provided on the upper end of the main frame (100).

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