CN101659318A - Underwater arc tooth synchronous belt magnetic adsorption flexible pedrail mechanism - Google Patents
Underwater arc tooth synchronous belt magnetic adsorption flexible pedrail mechanism Download PDFInfo
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- CN101659318A CN101659318A CN200910024105A CN200910024105A CN101659318A CN 101659318 A CN101659318 A CN 101659318A CN 200910024105 A CN200910024105 A CN 200910024105A CN 200910024105 A CN200910024105 A CN 200910024105A CN 101659318 A CN101659318 A CN 101659318A
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- arc tooth
- synchronous belt
- tooth synchronous
- wheel
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Abstract
The invention relates to an underwater arc tooth synchronous belt magnetic adsorption flexible pedrail mechanism which comprises a stand 1. A front shaft 2 and a rear shaft 3 are fixed on the stand 1;a driving wheel 4 and a driving belt wheel 5 are fixed on the rear shaft 3 through a rotation pair; a driven wheel 6 and a driven belt wheel 7 are fixed on the front shaft 2; an arc tooth synchronousbelt 8 is tensioned on the driving belt wheel 5 and the driven belt wheel 7; magnetic adsorption units 9 are fixed at the outside of the arc tooth synchronous belt 8; the driving wheel 4 and the driven wheel 6 can bear the weight of positive pressure of a robot to the working surface, and the arc tooth synchronous belt 8 only needs to bear load parallel with the direction of the working wall; andthe driving belt wheel 5 and the driving wheel 4 drive the arc tooth synchronous belt 8, the driven belt wheel 7 and the driven wheel 6, the arc tooth synchronous belt 8 moves on the surface of workpieces, and the arc tooth synchronous belt 8 is adsorbed on the surface of the workpieces by the magnetic adsorption units 9. The invention has the advantages of simple structure, small number of partsand good erosion resistance, and can be suitable for underwater environment.
Description
Technical field
The present invention relates to a kind of flexible pedrail mechanism, particularly a kind of underwater arc tooth synchronous belt magnetic adsorption flexible pedrail mechanism that is used for the under-water welding robot.
Background technology
Along with ocean engineering, shipping industry and nuclear power industrial expansion, ocean structure, pipeline under the ocean, maintenance of the vessel and nuclear station heap inner structure etc. press for the climbing mechanism that can adapt to underwater environment in labour maintenance and detection.
At present, it is several that climbing mechanism mainly contains is wheeled, crawler type and wheel are carried out formula, and suction type has permanent magnetism absorption, electromagnetism absorption and vacuum suction, wherein, permanent magnetism absorption becomes the first-selection in the time of using this suction type because of simple in structure, advantages such as adsorption affinity big, adsorption reliability.Comparatively speaking wheeled, crawler type and wheel carry out three kinds of structures of formula, wheeled construction is simple, motion flexibly, but load-carrying capacity is poor; Crawler type and wheel shoe formula adsorption affinity are big, and load-carrying capacity is strong, is the welding robot ideal operation platform of creeping.At present, flexible pedrail adopts chain-driving more, and the chain-driving number of parts is many, kinematic pair is many, and environment is perishable under water, adopts so be not suitable for underwater environment, and is more perishable under briny environment especially.Therefore, strong, simple in structure, the resistant to corrosion flexible pedrail of load-carrying capacity is to realize the key of creeping-type robot under water.
Summary of the invention
In order to overcome the defective of above-mentioned prior art, the object of the present invention is to provide a kind of underwater arc tooth synchronous belt magnetic adsorption flexible pedrail mechanism, have the advantages that load-carrying capacity is strong, simple in structure, resistance to corrosion is good, be particularly suitable for underwater environment and use.
In order to achieve the above object, technical scheme of the present invention is achieved in that
Underwater arc tooth synchronous belt magnetic adsorption flexible pedrail mechanism, comprise frame 1, be fixed with front axle 2 and rear axle 3 on the frame 1, driving wheel 4 is fixed on the rear axle 3 by revolute pair with driving pulley 5, flower wheel 6 is fixed on the front axle 2 with driven pulley 7, it is characterized in that arc tooth synchronous belt 8 is stretched on driving pulley 5, the driven pulley 7, between per 2 the synchronous teeth in arc tooth synchronous belt 8 outsides, be fixed with a magnetic absorbing unit 9.
Link to each other with compact heap 11 by screw 10 between described magnetic absorbing unit 9 and the arc tooth synchronous belt 8, screw 10 passes arc tooth synchronous belt 8 and links to each other with mobile magnetic absorbing unit 9 with compact heap 11, and compact heap 11 is consistent with the shape and the arc tooth synchronous belt 8 of arc tooth synchronous belt 8 contact surfaces.
The present invention is simple in structure, number of parts is few, and resistance to corrosion is good, can be applicable under the underwater environment, particularly briny environment.
Description of drawings
Fig. 1 is a structural principle front view of the present invention.
Fig. 2 is a birds-eye view of the present invention.
Fig. 3 is the structural representation of magnetic absorbing unit 9 of the present invention and arc tooth synchronous belt 8 junctions.
Fig. 4 is the present invention's application scheme drawing on the mobile welding robot climbing mechanism under water.
The specific embodiment
Below in conjunction with accompanying drawing structural principle of the present invention and principle of work are described in detail.
With reference to Fig. 1, Fig. 2, underwater arc tooth synchronous belt magnetic adsorption flexible pedrail mechanism, comprise frame 1, be fixed with front axle 2 and rear axle 3 on the frame 1, driving wheel 4 is fixed on the rear axle 3 by revolute pair with driving pulley 5, flower wheel 6 is fixed on the front axle 2 with driven pulley 7, and arc tooth synchronous belt 8 is stretched on driving pulley 5, the driven pulley 7, is fixed with a magnetic absorbing unit 9 between per 2 the synchronous teeth in arc tooth synchronous belt 8 outsides.
With reference to Fig. 3, link to each other with compact heap 11 by screw 10 between magnetic absorbing unit 9 and the arc tooth synchronous belt 8, screw 10 passes arc tooth synchronous belt 8 and links to each other with mobile magnetic absorbing unit 9 with compact heap 11, and compact heap 11 is consistent with the shape and the arc tooth synchronous belt 8 of arc tooth synchronous belt 8 contact surfaces.
With reference to Fig. 1, Fig. 4, principle of work of the present invention is: driving wheel 4 can carry the positive pressure of robot to running surface with flower wheel 6, makes 8 need of arc tooth synchronous belt bear the load that is parallel to work wall direction; Driving pulley 5 and driving wheel 4 drive arc tooth synchronous belt 8, driven pulley 7, flower wheel 6, make arc tooth synchronous belt 8 in the surface of the work motion, and by the magnetic absorbing unit on it 9 arc tooth synchronous belt 8 are adsorbed on the surface of the work.
Claims (2)
1, underwater arc tooth synchronous belt magnetic adsorption flexible pedrail mechanism, comprise frame (1), be fixed with front axle (2) and rear axle (3) on the frame (1), driving wheel (4) is fixed on the rear axle (3) by revolute pair with driving pulley (5), flower wheel (6) is fixed on the front axle (2) with driven pulley (7), it is characterized in that, arc tooth synchronous belt (8) is stretched on driving pulley (5), the driven pulley (7), is fixed with a magnetic absorbing unit (9) between per 2 the synchronous teeth in arc tooth synchronous belt (8) outside.
2, underwater arc tooth synchronous belt magnetic adsorption flexible pedrail mechanism according to claim 1, it is characterized in that, link to each other with compact heap (11) by screw (10) between described magnetic absorbing unit (9) and the arc tooth synchronous belt (8), screw (10) passes arc tooth synchronous belt (8) and links to each other with mobile magnetic absorbing unit (9) with compact heap (11), and compact heap (11) is consistent with the shape and the arc tooth synchronous belt (8) of arc tooth synchronous belt (8) contact surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910024105A CN101659318A (en) | 2009-09-27 | 2009-09-27 | Underwater arc tooth synchronous belt magnetic adsorption flexible pedrail mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910024105A CN101659318A (en) | 2009-09-27 | 2009-09-27 | Underwater arc tooth synchronous belt magnetic adsorption flexible pedrail mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101659318A true CN101659318A (en) | 2010-03-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910024105A Pending CN101659318A (en) | 2009-09-27 | 2009-09-27 | Underwater arc tooth synchronous belt magnetic adsorption flexible pedrail mechanism |
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| CN (1) | CN101659318A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431635A (en) * | 2011-10-25 | 2012-05-02 | 清华大学 | Permanent magnetic adsorption-type crawler traveling mechanism used for underwater crawling machine |
| CN105691480A (en) * | 2016-01-04 | 2016-06-22 | 江苏科技大学 | Magnetic wheel adsorption walking mechanism for underwater ship body cleaning robot |
| CN111838065A (en) * | 2020-08-04 | 2020-10-30 | 中国水产科学研究院渔业机械仪器研究所 | Fishpond cleaning robot and cleaning method thereof |
-
2009
- 2009-09-27 CN CN200910024105A patent/CN101659318A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431635A (en) * | 2011-10-25 | 2012-05-02 | 清华大学 | Permanent magnetic adsorption-type crawler traveling mechanism used for underwater crawling machine |
| CN105691480A (en) * | 2016-01-04 | 2016-06-22 | 江苏科技大学 | Magnetic wheel adsorption walking mechanism for underwater ship body cleaning robot |
| CN105691480B (en) * | 2016-01-04 | 2017-10-31 | 江苏科技大学 | Magnetic wheel adsorption walking mechanism for underwater ship body cleaning robot |
| CN111838065A (en) * | 2020-08-04 | 2020-10-30 | 中国水产科学研究院渔业机械仪器研究所 | Fishpond cleaning robot and cleaning method thereof |
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Application publication date: 20100303 |