Mobile robot of magnetic interaction

FIELD: transport.

SUBSTANCE: invention relates to robot with magnetic interaction. Proposed robot comprises frame 10 with wheels to run on support surface with high magnetic conductivity and one permanent magnet 30 to interact with said surface for adhesion between robot and said surface. Magnet 30 is arranged to slide on said support surface. Magnet 30 is fitted in holder 32 free swinging to keep magnet pole at minimum distance from said support surface whereat every support 32 can swing on wheel shaft.

EFFECT: free sliding on controlled surface.

13 cl, 14 dwg

The present invention relates to a mobile robot with magnetic interaction.

In some applications in engineering surface, to be processed or cleaned in different ways, such as be welding to each other, can be controlled by the robot is equipped with wheels that allow movement of the robot over the surface. The robot is equipped with sensors capable of monitoring the surface by detecting, for example, the quality of the executed process.

When the material from which made the surface, allows, i.e. when it is ferromagnetic, the robot is magnetically connected with the surface by means of permanent magnets. This locking system the robot can also vertically up or even be rotated 360°. Therefore, can be controlled not only flat surfaces, but also curved, for instance, cylindrical surface.

Still robots with magnetic interaction were fitted with wheels, which are made, at least from the outside, in contact with the surface of the permanent magnets or electromagnets.

Solutions of the prior art have a significant disadvantage. Despite the ability to work, they require too much power to the driving wheels for p is edalene magnetic field, which tends to make the wheel stationary. Therefore, it is difficult to achieve the free sliding motion on the surface of the subject to control.

The movement of the robot requires a powerful motor, and therefore, there is a need for wiring to a remote power source, making the robot is heavy and bulky.

The purpose of the present invention is to provide a mobile robot with magnetic interaction, which is able to overcome, at least partially, the above-described disadvantages of the robot according to the prior art.

This goal is achieved by the robot in accordance with paragraph 1 of the claims.

Additional characteristics and advantages of the robot in accordance with the present invention will become clearer from the following description of its preferred non-limiting embodiments with reference to the accompanying drawings, on which:

- figure 1 shows a perspective view of the robot in accordance with the invention;

- figure 2 shows a perspective view of the robot from below;

- figure 3 shows a side view of the robot;

- figure 4 shows a view from the division of parts bearing with permanent magnets;

- figure 5 shows the form with the division of parts of the wheels of the robot with the auxiliary magnets;

on figa shows the assembled wheel;

figure 6 shows the form with the division of parts of the other wheels of the robot;

- figure 7 shows a perspective view of the frame of the robot in accordance with one other embodiment;

on Fig shows an enlarged perspective view of one of the two transverse axes of the supporting frame shown in Fig.7, and enable sliding on the surface to be monitored;

- figure 9 shows a partial longitudinal section transverse axis on Fig;

on figa shows a side view of the transverse axis;

- figure 10 shows the transverse axis inclined relative to horizontal;

- figure 11 shows the view from the diversity of the details of the support for magnets in accordance with another embodiment; and

on Fig shown bearing on 11 collected properly.

On the above figures, the reference number 1 generally designates a mobile robot with magnetic interaction in accordance with the invention.

The robot 1 includes a frame 10 with the wheels 12, 14, providing the possibility of sliding of the robot on the supporting surface 2, which is a material with high magnetic permeability, for example a ferromagnetic material. The robot 1 is made in the form of a movable carriage capable of moving along the surface, such as plot plating subject to control.

In accordance with the preferred embodiment, the robot 1 is equipped with at least od is named sprocket wheel 12, providing the opportunity for independent movement over the surface to which it is coupled magnetically. This does not preclude the handoff described below robot on the supporting surface.

In accordance with the preferred embodiment at least one driving wheel 12 is driven by a gear 16 of the engine.

Preferably, the gear 16 of the engine driven electric image with a constant voltage, such as 12V, supplied by the battery 18, is attached to the frame 10 of the robot 1. Therefore, the robot does not need to be attached to a power source via an electrical cable.

At least one wheel, for example a steering wheel 14, is connected with the steering mechanism 20.

Therefore, the robot 1 has the ability to move forward, backward, right and left.

In accordance with the preferred embodiment these movements are controlled by a portable radio transmitter remote control by the CPU 22, attached to the frame of the robot.

In one possible embodiment, the robot is equipped with at least one permanent magnet 30, is capable of magnetic engagement with the supporting surface 2 in order to concatenate the robot with the specified surface.

Just the config magnet 30 is mounted so that to slide along the support surface 2. In other words, the magnet 30 is separated from the ferromagnetic surface 2, but is held at a given distance, is able to create a magnetic force of attraction is such to allow the robot 1 to be strongly linked with the supporting surface 2, regardless of its direction or movement.

In order to maximize the intensity of the magnetic field affecting the bearing surface 2, and therefore the force of gravity, the magnet 30 has one of its poles directed toward the support surface 2. In other words, the axis of the two poles of a magnet 30 is perpendicular to the surface 2.

Obviously, the parameters that determine the strength of the magnetic field between the at least one magnet 30 and the supporting surface 2, that is, the distance between the magnet and the surface, the type, shape and size of the magnet will be selected on the basis of the application, move the magnet, the mass of the robot (plus any load, such as a sensor).

In a particularly preferred embodiment, at least one magnet 30 is put in a support 32, which is free to swing so that the magnet is always in the position of minimum distance from the reference surface, i.e. in the position of maximum intensity is Olga.

Preferably, the magnets 30 are planted close to the points of contact between the robot 1 and the reference surface, i.e. close to the wheels 12, 14.

In the illustrative embodiment, the robot is equipped with a pair of drive wheels 12 and a pair of driven wheels 14.

In accordance with the preferred embodiment, the robot 1 is equipped with four legs 32, for example, containing essentially parallelepipedal blocks, each containing multiple magnets 30. Each magnet, for example, disk-shaped or plate and has a surface parallel to the reference plane of the robot. The blocks 32, preferably, planted on rotating shafts 13, 15 wheels 12, 14. Each block 32 is equipped with ball bearings 34 to allow free rotation around the shaft, on which he planted. The ball 34 is seated in a support 32, for example, by a snap ring 35.

In one embodiment, each magnet 30 is attached or glued to the holder 36, for example, cylindrical in shape, planted in the slot 36 within the bearing 32 and held in place by, for example, of a pin 37.

In one embodiment, the magnets 30 are parallel to each other, for example, aligned in parallel relation to the shaft 13.

In one embodiment, the permanent magnets 30 are covered with neodymium.

According the preferred embodiment of the additional permanent magnets 40, hereinafter referred to as incremental magnets, set in the housing 42 at least one pair of coaxial wheels, preferably, the drive wheels 12.

In one embodiment, these additional magnets 40 contain a small cylinder, which, when fixed in the wheel, turn the corresponding axis parallel to the axis of the wheels. In a possible embodiment, the wheel 12 includes a Central cylindrical body 42, for example, of aluminum, in which, around the hole for the rotating shaft 13, made a series of castellated cylindrical sockets 43, in which is seated a cylindrical magnets 40.

The Central housing 42 is fixed between a pair of side disks 44, made of a ferromagnetic material, with a milled outer surface 44 for engagement with the surface 2. Preferably, the disk 44 is attached to the Central housing 42 by a magnetic field generated incremental magnets 40.

Around the surface 42' of rotation of the Central body 42 of the wheel 12 fixed anti-slip belt 45, made of rubber or material of similar type.

The purpose of the additional magnets 40 is to create a magnetic field that interacts with the support surface 2 of a ferromagnetic material, to ensure that the belt 45 is always firmly held on the supporting surface 2, p is edocfile, by providing at its optimum pressure. Thus, the wheels do not slip on a supporting surface, in particular, wheels, even when the wet surface 2, for example, to facilitate ultrasonic measurements.

Preferably, the belt 45 is held in place by two side disks 44, retainer on opposite sides of the wheel.

Obviously, with its position on the wheels of the crown surface of the additional magnets 40 has an impact on the support surface 2, when the wheel rotates, one magnet at a time is closest to the surface. Preferably, this produces the desired effect of increasing the grip of the robot with the surface by preventing slippage of the wheels, without interference in their proper rotation, as soon as they can make contact with a ferromagnetic surface.

Regarding the design of the wheels, Central body 42 of drive wheels 12 and/or housing 50 of the guide wheel 14 has a cross-sectional surface of the roller, that is, a polygonal shape, is capable of further improving the anti-slip effect.

On the housing 50 of the guide wheels 14, for example, can be set processed bus 51.

In accordance with the embodiment illustrated in Fig.7-10 according to izopet the tion, the robot has a frame 100 with the longitudinal axis 101, connecting the two transverse axis 102, for the purpose of slip on ferromagnetic surfaces subject to control. The longitudinal axis 101 has a swivel 104 that allows the two transverse axes 102 to rotate independently from the longitudinal axis. This provides the ability to move the robot on uneven or rough surfaces, such as along the welds subject to verification, without loss of adhesion, as shown in figure 10.

In accordance with the preferred embodiment about each wheel 107 of the robot, each axis 102 is equipped with a permanent magnet 106. The wheel 107, preferably, can include additional magnets and/or may be equipped with bus and/or multilateral rolling surface, as described above relative to figure 5 and 6.

Each wheel 107 is attached to the end of the rotating shaft 108, for example, by clamping pin 109. Support flange 110, at least for a ball bearing 112, passes in the axial direction and inside of the wheel 107. The bearing 112 is planted swinging bearing 114 at least one permanent magnet 106, connecting the robot to the reference surface.

This support 114 has a cavity, the bottom of which is attached a permanent magnet 106, for example, by pressure, with one of two opposite poles, directed the m to the ferromagnetic surface. In accordance with one embodiment the magnet 106 is rectangular, longer and wider than the thickness, and most surfaces parallel relative to the ferromagnetic surface. The front surface of the permanent magnet is directed to the surface of the slide, is held at such a height that it was in contact with a given surface without being in actual contact with it.

In accordance with a particularly preferred embodiment bearing 114 for magnet 106 is in contact with the sliding surface by roller 116 or, preferably, two rollers, for example, is made with the ball. Obviously, with this dual support given by wheels 107 and rollers 116, a magnet is provided to a location so close to the ferromagnetic surface as possible, without the risk of contact.

In other words, the rollers 116 of the act, together with the wheel, as spacers, ensuring a small distance between the magnet and the ferromagnetic surface.

To the transverse axis 102 can rotate around the longitudinal axis of the frame, at the same time ensuring that the wheels and rollers are coupled with the surface of the sliding shaft 108 must be able to tilt relative to the wheels 107 and swinging op is ture 114 to a magnet.

For this purpose, in accordance with a particularly preferred embodiment, the axial slot 120 for rotating the shaft 108, which is held in the flange 110 bearing has a conical shape, extending in the direction inward, enabling the tilt shaft 108 relative to the axis of the flange.

In accordance with one embodiment bearing 114 for magnet has an axial portion 114', passing in the direction of the inside, outside of the bearing so as to enclose the magnet 106, which is longer than the width of the bearing. Having the form of a groove hole 122 provided in the specified axial portion 114', locates the rotating shaft 108, allowing the swing shaft for support.

In accordance with one embodiment of the end 108' of the rotating shaft, on which is planted wheel 107, has a rounded outer surface, for example, pointed. Thus, it can swing within the axial slot of the wheel 107.

Preferably, the wheel 107, the flange 110 and the bearing 114 for magnet pressed to each other along an axis through the outer washer 124 attached to the wheel 107 and firmly fastened to the end of the rotating shaft 108, and the inner washer 125, passing around a rotating shaft and pressed against the support surface of the magnet, for example, by means of a spring 126.

Therefore, the wheel flange with what Lipnica and support for the magnet are gathered in a knot to create a single node of a wheel with a magnet, being in position to overhang above the surface of the slide.

11 and 12 show another variant of implementation of the swinging support 150 of at least one magnet 152. This option is particularly suitable for applications with smaller diameters, such as diameters of less than 1 meter in which the robot must be compact. One swing bearing 150, in this embodiment, planted in the center of at least one of the two rotating shafts of the wheels.

Bearing 150 includes a shaped prism housing 154 with the front surface, directed towards the sliding surface, which has a slot 156 at least one permanent magnet 152 located, as previously described, one pole directed to the ferromagnetic surface to be monitored. Preferably, the magnet 152 is rectangular or has the form of a rod and planted horizontally, for example pressed into the slot 156.

The contact between the support 150 and the sliding surface is carried out by means of lateral rollers 158, for example, two for each end of the support, preferably, attached to the ledges surrounding the slot 156 of the magnet. These rollers 158 act as spacers, similar to the description above, the support element 114.

To ensure the swing bearing 150 is planted on washausen the shaft by a pair of bearings 160, housed in respective housings 162 is pressed against the supporting body, for example, by a snap ring 163.

In accordance with the preferred embodiment, the bearings 160 are the bearings of the tilting type, to allow the swing of the rotating shaft, in this case, too, although less than in the previous example with double swing support for each transverse axis.

The robot in accordance with the invention, in particular, is suitable for transfer sensor for the purpose of performing non-destructive testing of welded joints and tightness of the metal coating, such as carbon steel. In particular, the robot 1 is designed for applications including a cylindrical casing (for example, tanks long lengths or large diameter), made by calendering and welding flat plating. It should be noted that for ultrasonic sensors to work with the best efficiency, these metal sheets should be damp.

The robot is mounted on the casing, being controlled by a constant magnetic field created by magnets, at some distance from the casing and, therefore, without impeding the rotation of the wheels, as happens in the case of robots in the prior art. Therefore, it is not required thickness is on the engine. A relatively small gear motor, powered by a 12 V battery.

The location of the magnets 30, 40, 106, 152 allows the robot to climb vertically with its load and be rotated 180° without loss of grip, even on wet and slippery surfaces.

As the robot in accordance with this invention does not require power cables to move the information from the sensors, preferably, may be transferred by wireless. Therefore, the robot 1 is located completely free, compact and easy to handle.

In accordance with this invention, largely due to the reduction of mass of the engine, the robot has a total weight (including power supply) less than 15 kg, significantly less than the regulatory maximum for the masses to be raising operators (30 kg for men, 20 kg for women).

Therefore, the proposed robot is very simple and easy to use, and migration.

The person skilled in the art may, in accordance with specific needs, modify, adapt or replace some elements of the other elements similar or identical to the function, without going beyond the limits of the following claims. Each of the characteristics described for a specific variant implementation, may be combined independently of tragicomically forms of option implementation.

1. The robot contains a frame (10; 100), equipped with wheels (12; 14; 107) to move on the support surface with high magnetic permeability and at least one permanent magnet (30; 106; 152)capable of magnetically interacting with the specified surface for coupling the robot with the surface, characterized in that the permanent magnet (30; 106; 152) is selected in such a way as to slide along the supporting surface, with the specified at least one magnet (30; 106; 152) placed in the support (32; 114; 150), is able to swing freely, so that the pole of the magnet is always in the position of minimum distance from the reference surface, where each bearing (32; 114; 154) is planted in such a manner as to swing on a rotating shaft of the wheels.

2. The robot according to claim 1, wherein said at least one permanent magnet (30; 106; 152) is set and held at a specified distance from the reference surface.

3. The robot according to claim 1 or 2, wherein said at least one permanent magnet (30; 106; 152) is located near each wheel(12; 14; 107).

4. The robot according to claim 3, in which near each wheel set bearing to accommodate multiple permanent magnets (30).

5. The robot according to claim 4 which includes the permanent magnets are in the form of discs or plates with flat surfaces parallel to the reference surface.</>

6. The robot according to claim 4, in which close to each wheel set bearing (114; 154) to accommodate parallelepipedal or having the form of a rod magnet, mounted horizontally.

7. The robot of claim 1, wherein the frame (10; 100) is equipped with two pairs of wheels, mounted on respective parallel shafts, while next to each wheel oscillating bearing (32; 114) mounted on the shaft.

8. The robot according to claim 1, in which each bearing (114; 150) is in contact with the support surface being controlled by at least one roller.

9. The robot according to claim 1, in which the frame (100) contains the longitudinal axis (101), connecting the two transverse axis (102)to enable the robot to navigate on the surface, subject to the control, with the specified longitudinal axis (101) is equipped with a swivel (104)to enable independent rotation of the two transverse axes (102) relative to the longitudinal axis.

10. The robot according to claim 1, in which each rotating shaft is free to bend relative to the wheels and swinging supports for the magnet.

11. The robot of claim 10, in which each of the tilting bearing (114) of a pair of swinging the supports on the same transverse axis is equipped with ball bearings (112), supported by the flange (110)extending from the respective wheel, with specified flange has passing through it sawoe Jack (120) for rotating the shaft, when the specified socket has a conical shape to allow rocking of the shaft relative to the axis of the flange.

12. The robot according to claim 11, in which the tilting bearing (114) has a shaped groove hole (122) for swing rotating shaft relative to the bearings.

13. The robot according to claim 11 or 12, in which each wheel has an axial socket in which is inserted one end (108') of the rotating shaft, with a specified end has a rounded outer surface to swing inside the socket of the wheel.