阅读说明：本技术 一种磁力吸附装置和爬行机器人 (Magnetic force adsorption equipment and robot of crawling ) 是由 冯消冰 潘际銮 高力生 李海龙 汪名峰 于 2019-12-02 设计创作，主要内容包括：本发明是一种磁力吸附装置和爬行机器人,所述磁力吸附装置应用于爬行机器人,所述爬行机器人包括车架和设置于所述车架的移动机构。所述磁力吸附装置包括：若干个磁吸附组件,各所述磁吸附组件排布于所述车架下方；以及若干个伸缩机构,每一个所述磁吸附组件对应设置至少一个所述伸缩机构,所述伸缩机构的第一端部连接于所述车架,所述伸缩机构的第二端部连接于所述磁吸附组件,使得各所述磁吸附组件与被吸附表面之间的间隙能够改变。本发明能够适应不同弧度的曲面,使得磁吸附组件与被吸附表面之间的间隙可按照需求进行调整,保证爬行机器人获得足够吸力,稳定爬行。(The invention relates to a magnetic force adsorption device and a crawling robot. The magnetic force adsorption device includes: the magnetic adsorption components are arranged below the frame; and each magnetic adsorption component is correspondingly provided with at least one telescopic mechanism, the first end part of each telescopic mechanism is connected with the frame, and the second end part of each telescopic mechanism is connected with the magnetic adsorption component, so that the gap between the magnetic adsorption component and the adsorbed surface can be changed. The invention can adapt to curved surfaces with different radians, so that the gap between the magnetic adsorption component and the adsorbed surface can be adjusted as required, and the crawling robot is ensured to obtain enough suction and stably crawl.)

1. The utility model provides a magnetic force adsorption equipment, is applied to the robot of crawling, the robot of crawling include the frame with set up in the moving mechanism of frame, its characterized in that includes:

the magnetic adsorption components are arranged below the frame; and

a plurality of telescopic machanism, each the magnetism adsorbs the subassembly and corresponds and set up at least one telescopic machanism, telescopic machanism's first end connect in the frame, telescopic machanism's second end connect in the magnetism adsorbs the subassembly for each the magnetism adsorbs the subassembly and is adsorbed the clearance between the surface and can change.

2. The magnetic force adsorption device of claim 1, wherein a plurality of the magnetic adsorption components are arranged at equal intervals in the longitudinal and transverse directions.

3. The magnetic force adsorption device of claim 1, wherein each magnetic adsorption component is provided with one corresponding telescopic mechanism,

the second tip of telescopic machanism with the magnetism adsorbs the subassembly articulated, makes can change the magnetism adsorb the subassembly with by the contained angle between the adsorption surface.

4. The magnetic force adsorption device of claim 1, wherein each magnetic adsorption assembly is provided with two corresponding telescopic mechanisms, namely a first telescopic mechanism and a second telescopic mechanism,

the first telescopic mechanism is arranged on the first side of the magnetic adsorption component, and the second end part of the first telescopic mechanism is hinged with the magnetic adsorption component;

the second telescopic mechanism is arranged at the second side of the magnetic adsorption component, the second end part of the second telescopic mechanism is hinged with the magnetic adsorption component,

so that the angle between the magnetic attachment assembly and the surface being attached can be changed.

5. The magnetic force adsorption device of claim 1, wherein the telescoping mechanism comprises a lead screw telescoping mechanism,

the screw rod telescopic mechanism comprises a screw rod, a nut and a fixed sleeve,

the fixing sleeve is provided with a hole extending along the length direction, so that the lead screw can be at least partially arranged in the fixing sleeve,

the nut is rotatably connected to the opening of the fixed sleeve, and the lead screw is in threaded connection with the nut.

6. The magnetic force adsorption device of claim 1, wherein the telescoping mechanism comprises a hydraulic cylinder or an electric cylinder.

7. The magnetic force adsorption device of claim 1, wherein the magnetic adsorption component comprises a cover plate, a box body, a permanent magnet and an ear plate,

the permanent magnet is arranged in the box body, the cover plate seals the opening part of the box body, the two ear plates are respectively arranged at the two sides of the box body,

wherein, the lug plate is provided with a boss with a through hole and the box body is processed by rubber materials.

8. The magnetic attraction device of claim 7, wherein the magnetic attraction component further comprises a rolling element disposed below the ear plate.

9. The magnetic force adsorption device of claim 8, wherein the rolling bodies are universal wheels.

10. A crawling robot, characterized by comprising a magnetic force adsorption device according to any one of claims 1 to 9.

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a magnetic adsorption device and a crawling robot.

Background

When the magnetic adsorption type crawling robot crawls on the steel magnetic conduction surface, a neodymium iron boron magnetic adsorption mode is mostly adopted. The crawling robot is suitable for a flat plane and a curved surface corresponding to a large diameter, and the motion of the crawling robot is realized by adjusting the gap between the neodymium iron boron and the adsorption surface.

However, for a curved surface with a smaller radius or a wavy curved surface, the gap between the neodymium iron boron and the adsorption surface cannot be effectively controlled, and the crawling robot cannot be effectively adsorbed on the crawling surface due to the fact that the gap is too large and the magnetic adsorption force is too small; the clearance undersize, magnetic attraction is too big, can lead to the difficulty of crawling, and the machine of crawling simultaneously hinders the ability reduction more.

Disclosure of Invention

In view of the above-mentioned drawbacks and deficiencies of the prior art, it is desirable to provide a magnetic force adsorption apparatus and a crawling robot to solve the problems set forth in the background art.

According to the technical scheme, the magnetic adsorption device is applied to a crawling robot, and the crawling robot comprises a frame and a moving mechanism arranged on the frame.

The magnetic force adsorption device includes:

the magnetic adsorption components are arranged below the frame; and

a plurality of telescopic machanism, each the magnetism adsorbs the subassembly and corresponds and set up at least one telescopic machanism, telescopic machanism's first end connect in the frame, telescopic machanism's second end connect in the magnetism adsorbs the subassembly for each the magnetism adsorbs the subassembly and is adsorbed the clearance between the surface and can change.

The invention can adapt to curved surfaces with different radians, so that the gap between the magnetic adsorption component and the adsorbed surface can be adjusted as required, and the crawling robot is ensured to obtain enough suction and stably crawl.

In some embodiments, a number of the magnetic attachment assemblies are equally spaced in the longitudinal and lateral directions.

In some embodiments, one telescoping mechanism is provided for each magnetic attraction assembly,

the second tip of telescopic machanism with the magnetism adsorbs the subassembly articulated, makes can change the magnetism adsorb the subassembly with by the contained angle between the adsorption surface.

In some embodiments, two telescoping mechanisms, namely a first telescoping mechanism and a second telescoping mechanism, are correspondingly arranged on each magnetic adsorption assembly,

the first telescopic mechanism is arranged on the first side of the magnetic adsorption component, and the second end part of the first telescopic mechanism is hinged with the magnetic adsorption component;

the second telescopic mechanism is arranged at the second side of the magnetic adsorption component, the second end part of the second telescopic mechanism is hinged with the magnetic adsorption component,

so that the angle between the magnetic attachment assembly and the surface being attached can be changed.

In some embodiments, the retraction mechanism comprises a lead screw retraction mechanism,

the screw rod telescopic mechanism comprises a screw rod, a nut and a fixed sleeve,

the fixing sleeve is provided with a hole extending along the length direction, so that the lead screw can be at least partially arranged in the fixing sleeve,

the nut is rotatably connected to the opening of the fixed sleeve, and the lead screw is in threaded connection with the nut.

In some embodiments, the telescoping mechanism comprises a hydraulic cylinder or an electric cylinder.

In some embodiments, the magnetic attachment assembly includes a cover plate, a case, a permanent magnet, and an ear plate,

the permanent magnet is arranged in the box body, the cover plate seals the opening part of the box body, the two ear plates are respectively arranged at the two sides of the box body,

wherein, the lug plate is provided with a boss with a through hole and the box body is processed by rubber materials.

In some embodiments, the magnetic attachment assembly further comprises a rolling body disposed below the ear plate.

In some embodiments, the rolling elements are universal wheels.

In a second aspect, the invention provides a crawling robot, comprising the magnetic adsorption device of any one of the first aspect.

The embodiment of the second aspect of the invention can adapt to curved surfaces with different radians, so that the gap between the magnetic adsorption component and the adsorbed surface is constant or adjustable as required, and the crawling robot is ensured to obtain enough suction and stably crawl.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 is a schematic bottom view of a crawling robot configuration;

FIG. 2 is a schematic view of a crawling robot crawling on a wave surface;

FIG. 3 is a schematic structural view of a magnetic adsorption device of the present invention;

FIG. 4 is a schematic structural view of another magnetic force adsorption device of the present invention;

FIG. 5 is a schematic view of a telescoping mechanism of the present invention;

FIG. 6 is a cross-sectional view of FIG. 4;

in fig. 1-6, 10, a magnetic force adsorption device, 11, a magnetic adsorption component, 111, a cover plate, 112, a box body, 113, a permanent magnet, 114, an ear plate, 1141, a boss, 115 and a rolling body;

12. the telescopic mechanism 12A, the first telescopic mechanism 12B, the second telescopic mechanism 121, a lead screw 122, a nut 123 and a fixing sleeve;

20. a frame, 30 and a moving mechanism.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "central", "longitudinal", "lateral", "vertical", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the connection can be mechanical connection or electrical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In a first aspect:

referring to fig. 1, a magnetic force adsorption apparatus 10 is applied to a crawling robot including a frame 20 and a moving mechanism 30 provided to the frame 20, for example, the moving mechanism 30 is a track wheel or a traveling mechanism.

The magnetic force adsorption device 10 comprises a plurality of magnetic adsorption components 11, and each magnetic adsorption component 11 is arranged below the frame 20.

The magnetic force adsorption device 10 further comprises a telescopic mechanism 12, and at least one telescopic mechanism 12 is correspondingly arranged on each magnetic adsorption component 11. The first end of the telescoping mechanism 12 is connected to the frame 20 and the second end of the telescoping mechanism 12 is connected to the magnetic attachment assemblies 11 so that the gap between each magnetic attachment assembly 11 and the surface being attached can be adjusted as desired.

As shown in fig. 2, when the crawling robot moves on a wavy curved surface, at least one telescoping mechanism 12 is correspondingly arranged on each magnetic adsorption assembly 11 below the frame 20, and the telescoping mechanism 12 changes the length of the telescoping mechanism to control the gap between the corresponding magnetic adsorption assembly 11 and the adsorbed surface. Each magnetism adsorbs subassembly 11 to have independent control mechanism, guarantees that each magnetism adsorbs subassembly 11 and can adjust as required with the clearance of adsorbed surface to make the robot of crawling obtain suitable appeal, neither from being adsorbed a surface drop, can not cause the removal difficulty again.

As shown in fig. 2, 3 magnetic attraction assemblies 11 are controlled by the corresponding telescopic mechanisms 12 such that the gap from each magnetic attraction assembly 11 to the attracted surface is a.

The invention can adapt to curved surfaces with different radians, so that the gap between the magnetic adsorption component and the adsorbed surface can be adjusted as required, and the crawling robot is ensured to obtain enough suction and stably crawl.

Referring to fig. 1 and 2, in some embodiments of the present invention, a plurality of magnetic attachment assemblies 11 are disposed under the frame 20 at equal intervals in the longitudinal and lateral directions.

As shown in FIG. 1, the frame 20 is a rectangular frame, and the 9 magnetic-attraction assemblies 11 are arranged in 3 columns along the longitudinal direction, and each column has 3 magnetic-attraction assemblies 11. The distance between two adjacent rows is equal to or different from the distance between two adjacent rows, so that the attractive force on each part of the frame 20 is equal, and the crawling robot can stably crawl.

Referring to fig. 3, in some embodiments of the present invention, a telescopic mechanism 12 is disposed corresponding to each magnetic attraction assembly 11, the telescopic mechanism 12 is disposed at a middle position of the magnetic attraction assembly 11, a second end of the telescopic mechanism 12 is hinged to the magnetic attraction assembly 11, and a first end of the telescopic mechanism 12 is connected to the frame 20.

Above-mentioned structural design can guarantee better that the clearance between magnetic absorption subassembly 11 and the adsorbed surface is adjustable as required. The telescopic mechanism 12 is hinged to the magnetic adsorption component 11, and the included angle between the magnetic adsorption component 11 and the adsorbed surface can be further adjusted.

Referring to fig. 4, in some embodiments of the present invention, two telescoping mechanisms 12 are provided for each magnetic attachment assembly 11, such as a first telescoping mechanism 12A and a second telescoping mechanism 12B.

The first telescopic mechanism 12A is arranged on the first side of the magnetic adsorption component 11, the second end part of the telescopic mechanism 12A is hinged with the magnetic adsorption component 11, and the first end part of the telescopic mechanism 12A is connected to the frame 20; the second telescoping mechanism 12B is disposed on the second side of the magnetic attraction assembly 11, and a second end of the telescoping mechanism 12B is hinged to the magnetic attraction assembly 11, and a first end of the telescoping mechanism 12B is connected to the frame 20.

Above-mentioned structural design can guarantee better that the clearance between magnetic absorption subassembly 11 and the adsorbed surface is adjustable as required. Two telescopic machanism 12 set up in the both sides of magnetism adsorption component 11, can adjust the contained angle of magnetism adsorption component 11 and adsorbed surface in a flexible way.

Referring to fig. 5, in some embodiments of the invention, the retraction mechanism 12 comprises a lead screw retraction mechanism.

The screw rod telescopic mechanism comprises a screw rod 121, a nut 122 and a fixing sleeve 123.

The retaining sleeve 123 is provided with a longitudinally extending aperture 1231, allowing the lead screw 121 to be at least partially disposed within the retaining sleeve 123,

the nut 122 is rotatably coupled to the opening portion of the fixing sleeve 123 such that the axis of the nut 122 is aligned with the axis of the hole of the fixing sleeve 123. The nut 122 is in threaded connection with the lead screw 121, the non-open end of the fixing sleeve 123 is fixed on the lower surface of the frame 20, and one end of the lead screw 121 is hinged with the magnetic adsorption component 11. By driving the nut 122 to rotate, the lead screw 121 is extended or retracted into the fixing sleeve 123, thereby changing the gap between the magnetic attraction component 11 and the attracted surface.

In some embodiments of the invention, the telescoping mechanism 12 comprises a hydraulic cylinder or an electric cylinder.

The first end of the hydraulic cylinder or the electric cylinder is hinged with the magnetic adsorption component 11, and the second end of the hydraulic cylinder or the electric cylinder is fixedly connected to the lower surface of the frame 20.

The length is changed through a hydraulic cylinder or an electric cylinder, and the gap between the magnetic adsorption component 11 and the adsorbed surface is adjusted, so that the crawling robot can move with enough suction force.

Referring to FIG. 6, in some embodiments of the present invention, magnetic attachment assembly 11 includes a cover plate 111, a case 112, a permanent magnet 113, and an ear plate 114.

Permanent magnet 113 is disposed in case 112, and cover 111 closes the opening of case 112. The two ear plates 114 are respectively disposed on two sides of the box body 112, and the upper surface of the ear plate 114 is provided with a boss 1141 having a through hole for realizing the hinge connection between the ear plate 114 and the telescopic mechanism 12, thereby adjusting the gap between the bottom surface of the box body 112 and the adsorbed surface.

The box body 112 is made of rubber materials, so that the box body 112 can effectively transmit magnetic force, and the manufacturing cost is low, and the box body can be integrally formed.

For further optimization of the design, the magnetic attraction assembly 11 further includes a rolling body 115, and the rolling body 115 is disposed below the ear plate 114.

The lower surface of one lug plate 114 is provided with one rolling body 115, the lower surface of the other lug plate 114 is provided with the other rolling body 115, and the two rolling bodies 115 can avoid violent collision with the adsorbed surface caused by overlarge swinging of the box body 112, so that the crawling robot can stably crawl on the adsorbed surface.

The rolling elements 115 are universal wheels. The universal wheels can rotate freely in 360 degrees, which is beneficial to avoiding violent collision between the box body 112 and the adsorbed surface.

In a second aspect:

a crawling robot comprises any one of the magnetic adsorption devices 10 described in the first aspect.

As shown in fig. 1, one moving mechanism 30 is provided at one side of the frame 20, and the other moving mechanism 30 is provided at the other side of the frame 20 for driving the frame 20 to crawl. The magnetic adsorption device 10 is disposed under the frame 20 for providing a positive pressure of the track wheel 30 against the adsorbed surface.

This robot of crawling can adapt to the curved surface of different radians for magnetism adsorbs the subassembly and is adsorbed the clearance between the surface and be the definite value or adjustable as required, guarantees that the robot of crawling obtains sufficient suction, stably crawls.

The above examples are only illustrative of the technical solutions of the present invention and not restrictive, and although the present invention is described in detail with reference to the examples, those of ordinary skill in the art should understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.