CN101863292B - Crawler-type permanent magnet crawling vehicle - Google Patents
Crawler-type permanent magnet crawling vehicle Download PDFInfo
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- CN101863292B CN101863292B CN2010101778854A CN201010177885A CN101863292B CN 101863292 B CN101863292 B CN 101863292B CN 2010101778854 A CN2010101778854 A CN 2010101778854A CN 201010177885 A CN201010177885 A CN 201010177885A CN 101863292 B CN101863292 B CN 101863292B
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- permanent magnet
- crawler
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- drive sprocket
- crawler belt
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Abstract
The invention discloses a crawler-type permanent magnet crawling vehicle which comprises a vehicle body, a crawler, a driving device and a connecting shaft. A drive sprocket and a driven sprocket are arranged at the two sides of the vehicle body; the drive sprocket is driven by the driving device to rotate; the driven sprocket is rotatablely arranged on the connecting shaft; the drive sprocket is connected with the driven sprocket through the crawler in a transmission manner; and the lower end of the inner side plate of the vehicle body is assembled with a magnetic suspension component which can be adsorbed on a magnetic workpiece. The crawler comprises permanent magnet devices and connecting sheets, which are sequentially arranged; the permanent magnet devices are hinged together in an occlusion manner through the connecting sheets to form a closed loop shape; rotatable middle idler wheels are respectively arranged at the inner sides and the outer sides of the permanent magnet devices and the hinged positions of the permanent magnet devices and the connecting sheets; and the middle idler wheels can roll along the dentiform profile faces of the drive sprocket and the driven sprocket in the crawler transmission process. The crawler-type permanent magnet crawling vehicle solves the problems of the existing crawling vehicle such as difficulty in accurately climbing weld joints, inflexible steering and damage on the permanent magnet devices due to easy dropping off.
Description
Technical field
The present invention relates to the Robotics field, the especially a kind of crawler-type permanent magnet crawling vehicle that can on magnetic component, do crawling exercises.
Background technology
During modern industry is produced, to large-scale hull, tank body, pipeline etc. weld, eliminate rust, spray paint, when detecting operation, only according to the operating personal ascend operation or enter internal operation, its labor condition is quite abominable, also be difficult to guarantee operational security, the machine of creeping that remote controlled operation for this reason occurred, portability instrument utilize magnetic to be adsorbed on and move on the magnetic component and carry out operation.In the existing machine structure of creeping, it is the gap between the driving chain of machine both sides of creeping, look the different controllable permanent magnetic iron devices of evenly arranging that bear a heavy burden along the chain total length, but the machine of creeping of this structure is welding when creeping close up seam such as hull, because hull is normally assembled with the upper steel plate welding by two, it is poor that weld seam that stays after the welding between the steel plate and steel plate plane have formed certain height, following problem will appear: 1, owing to adopt the riveted joint mode to connect between the permanent magnet device of the present machine of creeping composition crawler belt and the chain, when the machine of creeping is vertically ascended weld seam, because of the height fall that exists between weld seam and the steel plate plane, permanent magnet device is when moving to the commissure, can form stronger pulling force to the riveted joint position, cause producing between permanent magnet device and the chain being connected and become flexible even come off, influenced the service life of crawler belt, riveted joint mode simultaneously connects dismounting and comparatively bothers, and also is unfavorable for maintenance; 2, because permanent magnet device is evenly to be provided with along the chain total length in the gap of two chains, there is the space between per two permanent magnet devices, when permanent magnet device moves to weld seam, have only permanent magnet device to cover weld seam fully, the machine of the creeping weld seam of just ascending has only half or most moves to weld seam and most applications is a permanent magnet device, does not cover weld seam fully, then just be difficult to the weld seam of ascending, thereby influence finishing of operation; 3, the existing machine of creeping is when doing the turning of left and right wheels differential, permanent magnet device and workpiece " interlock " phenomenon can occur, it is loosening to cause permanent magnet device and chain riveted joint position to produce, and occurs losing the step, it is not obvious to turn, and directly influences normally carrying out and welding quality of welding job.
Summary of the invention
The technical problem to be solved in the present invention is: overcome the deficiency in the prior art, a kind of crawler-type permanent magnet crawling vehicle is provided, being difficult to of solving that the existing machine of creeping exists accurately ascend weld seam, turn to dumb and the permanent magnet device problem from coming off between two chains easily.
The technical solution adopted for the present invention to solve the technical problems is: a kind of crawler-type permanent magnet crawling vehicle, comprise car body, the crawler belt that is closed circular, car body one end is provided with two actuating devices, the adapter shaft that the scalable that is provided with the car body other end moves, the car body both sides are provided with drive sprocket and driven sprocket, drive sprocket is driven and is rotated by actuating device, driven sprocket rotates and is located on the adapter shaft, drive sprocket is connected by cterpillar drive with driven sprocket, body inner side plate lower end is provided with and can be adsorbed on magnetic suspension member on the magnetic work, described crawler belt comprises permanent magnet device and the connecting strap that is arranged in order, be hinged together to form closed circular mutually by connecting strap between the permanent magnet device, described permanent magnet device comprises magnetic holder and the magnet with endoporus, magnet runs through in the endoporus that is located at magnetic holder, magnetic holder endoporus two ends are fixed with the shrouding and the cover plate that can cover magnet respectively, the magnetic holder two ends parallel with endoporus have the spill connecting portion of projection connecting portion and band groove respectively, permanent magnet device is by the mutual interlock of connecting strap when hinged, the projection connecting portion embeds in the groove of spill connecting portion, inside and outside permanent magnet device both sides and be positioned at permanent magnet device and the connecting strap hinged place be respectively equipped with rotating in the middle of roller, middle roller can roll along the tooth profile face of drive sprocket and driven sprocket when cterpillar drive.
Produce skew when preventing cterpillar drive, described car body is provided with the crawler belt guide piece, and described crawler belt guide piece comprises the orienting lug that is fixed on the magnetic holder and be fixed on guide groove on the car body that orienting lug snaps in the guide groove when cterpillar drive moves.
Realize differential for the drive sprocket rotating speed of regulating the car body both sides and turn that described actuating device comprises the worm reduction gear that is fixed on band servomotor on the car body, drive sprocket is fixed on the output shaft of worm reduction gear.
More steady for guaranteeing the cterpillar drive walking, the outside of described drive sprocket is provided with positive transport wheel, the outside of driven sprocket is provided with driven road wheel, positive transport wheel is fixed on the output shaft of worm reduction gear and by worm reduction gear and drives and rotate, and driven road wheel rotates and is located at the adapter shaft two ends.
Be convenient elasticity of regulating crawler belt, described car body is provided with control apparatus, and described control apparatus comprises the regulating block of captiveing joint with adapter shaft and rotate the adjusting screw(rod) that is located on the car body that adjusting screw(rod) is threaded with regulating block.
The invention has the beneficial effects as follows: the used crawler belt of the present invention is formed by connecting strap interlock all linked with one another by permanent magnet device, the gap is not left in the centre, increase the pitch of chain wheel that transmission is used simultaneously, make the machine of creeping when ascending the weld seam of height below the 6mm, permanent magnet device can cover weld seam fully, can do not blocked and can't cross, can prevent effectively that crawler belt from coming off and damage by weld seam; The adsorption affinity of crawler belt and magnetic work had both been strengthened in the increase that contacts quantity of permanent magnet device and workpiece, had also solved because of the skid machine of creeping that produces of crawler belt to lose the problem in step; Adopt the bearing pin articulated manner to connect between each permanent magnet device, repair demolition is comparatively convenient.
Description of drawings
The present invention is further described below in conjunction with drawings and embodiments.
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the birds-eye view of Fig. 1.
Fig. 3 is the structural representation that crawler belt of the present invention is formed.
Fig. 4 is the structural representation of permanent magnet device of the present invention.
Fig. 5 is the view after crawler belt of the present invention and the drive sprocket assembling.
The specific embodiment
The present invention is further illustrated in conjunction with the accompanying drawings now.These accompanying drawings are the scheme drawing of simplification, basic structure of the present invention only is described in a schematic way, so it only show the formation relevant with the present invention.
As Fig. 1～a kind of crawler-type permanent magnet crawling vehicle shown in Figure 5, comprise car body 1 (not display backpanel and upper cover plate), end at car body 1 is provided with two actuating devices 3, this actuating device 3 comprises the worm reduction gear 31 of being with servomotor, the adapter shaft 4 that the scalable that is provided with car body 1 other end moves, car body 1 both sides are provided with drive sprocket 5 and driven sprocket 6, the pitch of drive sprocket 5 and driven sprocket 6 is 38.1mm, drive sprocket 5 is fixed on the output shaft of worm reduction gear 31 and is driven and rotated by worm reduction gear 31, driven sprocket 6 rotates and is located on the adapter shaft 4, drive sprocket 5 and driven sprocket 6 are in transmission connection by the crawler belt 2 that is closed circular, be provided with positive transport wheel 9 in the outside of drive sprocket 5, the outside of driven sprocket 6 is provided with driven road wheel 10, positive transport wheel 9 is fixed on the output shaft of worm reduction gear 31 and by worm reduction gear 31 and drives and rotate, driven road wheel 10 rotates and is located at adapter shaft 4 two ends, during the machine of creeping walking, positive transport wheel 9 and driven road wheel 10 can provide the supplemental support effect to crawler belt 2 transmissions, make the machine walking of creeping more steadily reliable, be provided with the magnetic suspension member 7 that can be adsorbed on the magnetic work in car body 1 interior plate lower end.
Described crawler belt 2 comprises 28 permanent magnet devices 21 and the connecting strap 22 that is arranged in order, be hinged together to form closed circular mutually by connecting strap 22 between the permanent magnet device 21, the inside and outside both sides of permanent magnet device 21 and be positioned at permanent magnet device 21 and connecting strap 22 hinged places be respectively equipped with rotating in the middle of roller 23, middle roller 23 can roll along the tooth profile face of drive sprocket 5 and driven sprocket 6 when crawler belt 2 transmissions.
Particularly, as Fig. 3, shown in Figure 4, described permanent magnet device 21 comprises magnetic holder 211 with endoporus and the magnet 212 that can produce adsorption effect to magnetic work, magnet 212 runs through in the endoporus that is located at magnetic holder 211, magnetic holder 211 endoporus two ends are fixed with the shrouding 213 and the cover plate 214 that can cover magnet 212 respectively, magnetic holder 211 two ends parallel with endoporus have the spill connecting portion 211-2 of projection connecting portion 211-1 and band groove respectively, permanent magnet device 21 is by connecting strap 22 mutual interlocks when hinged, the projection connecting portion 211-1 of magnetic holder 211 embeds in the groove of spill connecting portion 211-2, have respectively on projection connecting portion 211-1 and the spill connecting portion 211-2 and can supply pivotally attached hinge hole 211-3, by bearing pin 215 effects, with connecting strap 22, middle roller 23, shrouding 213, cover plate 214 is connected with magnetic holder 211, the crawler belt 2 that forms closed circular all linked with one another.
Produce skew when preventing crawler belt 2 transmissions, car body 1 is provided with crawler belt guide piece 8, described crawler belt guide piece 8 comprises orienting lug 81 that is fixed on the magnetic holder 211 and the guide groove 82 that is fixed on the car body 1, and orienting lug 81 can snap in the guide groove 82 when crawler belt 2 transmissions move and play the guiding role.
On car body 1, also be provided with control apparatus 11, described control apparatus 11 comprises the regulating block 111 of captiveing joint with adapter shaft 4 and rotates the adjusting screw(rod) 112 that is located on the car body 1, adjusting screw(rod) 112 is threaded with regulating block 111, when needing to regulate, turn adjusting screw(rod) 112, drive adapter shaft 4 by regulating block 111 and move, the elasticity of crawler belt 2 can be adjusted to suitable degree.
The driving chain wheel general standard type sprocket wheel that the machine of creeping at present is used, pitch is 12.7mm, the pitch of used drive sprocket 5 of the present invention and driven sprocket 6 adds greatly 38.1mm, because pitch has strengthened, middle roller 23 rolls on the tooth profile face of drive sprocket 5 and driven sprocket 6 and during engaged transmission, more laborsaving light and handy, can guarantee that permanent magnet device 21 ascends weld seam smoothly and can not blocked by weld seam; 28 permanent magnet devices 21 are hinged interlock and do not leave the gap by bearing pin 215 when connecting, unlike the prior art employing is to be provided with at interval, therefore when ascending weld seam, permanent magnet device 21 can cover weld seam fully, all the time be to be in the process of ascending one by one, can do not blocked and can't cross by weld seam, turn smoothly during the machine that helps creeping walking, obscission takes place when preventing cterpillar drive, prolonged the service life of crawler belt 2, repair demolition is also comparatively convenient, the setting of guide piece 8 simultaneously can make the machine operation of creeping more steady, and the permanent magnet device 21 on the crawler belt 2 and the increase that contacts quantity of workpiece had both been strengthened the adsorption affinity of crawler belt 2 with magnetic work, in when work and 7 combineds action of magnetic suspension member, the machine of creeping firmly is adsorbed on the workpiece, has also solved because of crawler belt 2 machine of creeping that produces that skids and lost the step problem, two drive sprockets 5 are respectively by separately worm reduction gear 31 transmissions, by the adjusting of different rotating speeds, can realize smoothly that the differential of the machine of creeping is turned.
Working process brief introduction of the present invention is as follows:
The machine of creeping is by the magnet 212 in the crawler belt 2 and the combined action of magnetic suspension member 7, be attracted on the magnetic work, after the worm reduction gear 31 energising runnings of band servomotor, promptly drive drive sprocket 5 rotations and make crawler belt 2 motions, the machine of creeping forward movement on set route is finished various operations on request, when the machine of creeping need be made turning motion, then can control the rotating speed of two servomotors respectively, crawler belt 2 running velocitys of car body both sides are not waited, just can realize turning action.
Crawler-type permanent magnet crawling vehicle of the present invention is simple in structure, and smooth running turns to flexibly, and mounting or dismounting are convenient, after installing corresponding power tool on the cover plate of car body 1, just can walk automatically and finishes such as multiple work such as welding, eliminate rust, spray paint.
Above-mentioned embodiment only is explanation technical conceive of the present invention and characteristics; its purpose is to allow the personage that is familiar with this technology can understand content of the present invention and is implemented; can not limit protection scope of the present invention with this; all equivalences that spirit is done according to the present invention change or modify, and all should be encompassed in protection scope of the present invention.
Claims (5)
1. crawler-type permanent magnet crawling vehicle, comprise car body (1), the crawler belt (2) that is closed circular, car body (1) one end is provided with two actuating devices (3), the adapter shaft (4) that the scalable that is provided with car body (1) other end moves, car body (1) both sides are provided with drive sprocket (5) and driven sprocket (6), drive sprocket (5) is driven and is rotated by actuating device (3), driven sprocket (6) rotates and is located on the adapter shaft (4), drive sprocket (5) and driven sprocket (6) are in transmission connection by crawler belt (2), car body (1) interior plate lower end is provided with and can be adsorbed on magnetic suspension member (7) on the magnetic work, it is characterized in that: described crawler belt (2) comprises permanent magnet device (21) and the connecting strap (22) that is arranged in order, be hinged together to form closed circular mutually by connecting strap (22) between the permanent magnet device (21), described permanent magnet device (21) comprises magnetic holder (211) and the magnet (212) with endoporus, magnet (212) runs through in the endoporus that is located at magnetic holder (211), magnetic holder (211) endoporus two ends are fixed with the shrouding (213) and the cover plate (214) that can cover magnet (212) respectively, the magnetic holder parallel with endoporus (211) two ends have the spill connecting portion (211-2) of projection connecting portion (211-1) and band groove respectively, permanent magnet device (21) is when interlock is hinged mutually by connecting strap (22), projection connecting portion (211-1) embeds in the groove of spill connecting portion (211-2), the inside and outside both sides of permanent magnet device (21) and be positioned at permanent magnet device (21) and connecting strap (22) hinged place be respectively equipped with rotating in the middle of roller (23), middle roller (23) can be along the tooth profile face rolling of drive sprocket (5) and driven sprocket (6) when cterpillar drive.
2. crawler-type permanent magnet crawling vehicle according to claim 1, it is characterized in that: described car body (1) is provided with crawler belt guide piece (8), described crawler belt guide piece (8) comprises the orienting lug (81) that is fixed on the magnetic holder (211) and is fixed on guide groove (82) on the car body (1) that orienting lug (81) snaps in the guide groove (82) when crawler belt (2) transmission moves.
3. crawler-type permanent magnet crawling vehicle according to claim 1 is characterized in that: described actuating device (3) comprises that being fixed on car body (1) goes up the worm reduction gear (31) of being with servomotor, and drive sprocket (5) is fixed on the output shaft of worm reduction gear (31).
4. crawler-type permanent magnet crawling vehicle according to claim 3, it is characterized in that: the outside of described drive sprocket (5) is provided with positive transport wheel (9), the outside of driven sprocket (6) is provided with driven road wheel (10), positive transport wheel (9) is fixed on the output shaft of worm reduction gear (31) and by worm reduction gear (31) and drives and rotate, and driven road wheel (10) rotates and is located at adapter shaft (4) two ends.
5. crawler-type permanent magnet crawling vehicle according to claim 1, it is characterized in that: described car body (1) is provided with the control apparatus (11) of scalable crawler belt (2) elasticity, described control apparatus (11) comprises that the regulating block (111) of captiveing joint with adapter shaft (4) and rotation are located at the adjusting screw(rod) (112) on the car body (1), and adjusting screw(rod) (112) is threaded with regulating block (111).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101778854A CN101863292B (en) | 2010-05-20 | 2010-05-20 | Crawler-type permanent magnet crawling vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101778854A CN101863292B (en) | 2010-05-20 | 2010-05-20 | Crawler-type permanent magnet crawling vehicle |
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| Publication Number | Publication Date |
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| CN101863292A CN101863292A (en) | 2010-10-20 |
| CN101863292B true CN101863292B (en) | 2011-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010101778854A Active CN101863292B (en) | 2010-05-20 | 2010-05-20 | Crawler-type permanent magnet crawling vehicle |
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| CN (1) | CN101863292B (en) |
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| CN105438293B (en) * | 2015-12-18 | 2017-07-21 | 哈尔滨科能熔敷科技有限公司 | A kind of use Single spring connects the water cooling wall-climbing robot of magnet holder |
| CN106428460B (en) * | 2016-05-19 | 2018-06-08 | 西安天和海防智能科技有限公司 | Cavitation jet cleaning hull robot turns magnetic pole adsorbing mechanism and crawler belt |
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| CN107215400B (en) * | 2017-07-14 | 2023-07-21 | 贵州理工学院 | Caterpillar chassis and running device |
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| CN108945125B (en) * | 2018-06-25 | 2019-06-18 | 西安理工大学 | A kind of pawl thorn formula crawler belt climbing robot |
| CN109396700A (en) | 2018-12-07 | 2019-03-01 | 北京博清科技有限公司 | It creeps welding robot and its control method |
| CN109533053A (en) * | 2018-12-29 | 2019-03-29 | 北京史河科技有限公司 | Clear up robot |
| CN109533058A (en) * | 2019-01-23 | 2019-03-29 | 李青荣 | Vehicle wheel component and vehicle |
| CN113086036A (en) * | 2021-04-02 | 2021-07-09 | 上海大学 | Anti-skid and anti-overturn intelligent wall climbing device |
| CN117048730A (en) * | 2023-10-11 | 2023-11-14 | 中国核工业二四建设有限公司 | Crawler-type wall climbing welding robot |
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| CN201670288U (en) * | 2010-05-20 | 2010-12-15 | 常州华通焊丝有限公司 | Pedrail type permanent-magnet crawler |
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Owner name: CHANGZHOU HUATONG WELDING INDUSTRY CO., LTD. Free format text: FORMER NAME: HUATONG WELD STICKS CO., LTD., CHANGZHOU |
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Address after: 213102 observation Town, Wujin District, Jiangsu, Changzhou Patentee after: Changzhou Huatong Welding Industry Co., Ltd. Address before: 213102, No. 7, industrial road, Guan Zhen Town, Wujin District, Jiangsu, Changzhou Patentee before: Changzhou Huatong Welding Wire Co., Ltd. |
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Address after: 213102 observation Town, Wujin District, Jiangsu, Changzhou Patentee after: Ha Welding Institute (Changzhou) welding industry Limited by Share Ltd Address before: 213102 observation Town, Wujin District, Jiangsu, Changzhou Patentee before: Changzhou Huatong Welding Industry Co., Ltd. |