CN105416432A - Permanent magnetic wheel climbing robot with spring buffering function - Google Patents
Permanent magnetic wheel climbing robot with spring buffering function Download PDFInfo
- Publication number
- CN105416432A CN105416432A CN201510963032.6A CN201510963032A CN105416432A CN 105416432 A CN105416432 A CN 105416432A CN 201510963032 A CN201510963032 A CN 201510963032A CN 105416432 A CN105416432 A CN 105416432A
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- CN
- China
- Prior art keywords
- permanent magnetic
- fixedly mounted
- wheel
- drive motor
- fixed mount
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a permanent magnetic wheel climbing robot with a spring buffering function and aims to solve the problems that in the prior art, a permanent magnetic wheel climbing robot which can climb on a water-cooling wall and is provided with the spring buffering function does not exist, and besides, in the prior art, a robot which checks the water-cooling wall in a circulating fluidized bed boiler through a climbing robot dost not exist. The permanent magnetic wheel climbing robot comprises a spring buffering mechanism, two probe supporting mechanisms, two connection rods, two main frame bodies, two drive walking wheel mechanisms, two driven walking wheel mechanisms and two drive motors; the spring buffering mechanism comprises four connection pieces, four fixing pieces, four first tension springs, four pins and second tension springs; each driven walking wheel mechanism comprises a permanent magnetic driven wheel, a driven wheel shaft and a driven wheel fixing frame; each drive walking wheel mechanism comprises a drive motor fixing plate, a permanent magnetic drive wheel, a drive wheel shaft, a drive wheel fixing frame and two bevel gears. The permanent magnetic wheel climbing robot is used for the field of water-cooling wall examination.
Description
Technical field
The present invention relates to a kind of permanent magnetic wheels and climb arm robot, be specifically related to a kind of permanent magnetic wheels with spring buffer and climb arm robot.
Background technology
Bailey wall is main pressure-containing member in CFBB, be mainly used in absorption boiler radiations heat energy, in CFBB operational process, the solid material dirty along inboard wall of burner hearth face produces the change of flow direction at juncture area, thus Bailey wall surface is produced and wash away, cause Bailey wall transducer wall ' s abrasion thinning through washing away for a long time, intensity declines, in addition in transitional region because the solid material dirty along wall is contrary with the movement of solid material of upward movement in stove, eddy current is produced in local, wearing and tearing are produced to Bailey wall, shorten the service life of Bailey wall.Therefore need regularly to check Bailey wall, in prior art, also do not occur that the permanent magnetic wheels with spring buffer that can carry out creeping on Bailey wall climbs arm robot, and the function not having appearance to be checked Bailey wall by climbing robot.
Summary of the invention
The present invention solves in prior art also not occur that the permanent magnetic wheels with spring buffer that can carry out creeping on Bailey wall climbs arm robot, and do not have in prior art to occur the robot that checked Bailey wall in CFBB by climbing robot, and then propose a kind of permanent magnetic wheels with spring buffer and climb arm robot.
The present invention is the technical scheme taked that solves the problem: it comprises spring buffer mechanism, Liang Ge probe support mechanism, two pipe links, two main frame bodies, Liang Ge positive transport wheel mechanism, two driven traveling wheel mechanisms and two drive motor, spring buffer mechanism comprises four connecting straps, four connecting elements, four the first back-moving springs, four pins and the second back-moving spring, driven traveling wheel mechanism comprises permanent magnetism flower wheel, follower shaft and flower wheel fixed mount, positive transport wheel mechanism comprises drive motor adapter plate, permanent magnetism driving wheel, drive sprocket axle, driving wheel fixed mount and two finishing bevel gear cuters, permanent magnetism flower wheel is fixedly installed on one end of follower shaft, and permanent magnetism flower wheel and follower shaft are rotationally connected, the other end of follower shaft is fixedly mounted on flower wheel fixed mount, permanent magnetism driving wheel is fixedly mounted on one end of drive sprocket axle, the other end of drive sprocket axle is arranged on driving wheel fixed mount, and the other end of drive sprocket axle and driving wheel fixed mount are rotationally connected, on drive sprocket axle, fixed cover is equipped with a finishing bevel gear cuter, drive motor adapter plate is fixedly mounted on driving wheel fixed mount, one end of drive motor is fixedly mounted on drive motor adapter plate, the mouth of drive motor rotating shaft is through drive motor adapter plate and fixed cover is equipped with a finishing bevel gear cuter, and two finishing bevel gear cuter tooth engagements, one end of each pipe link is provided with a flower wheel fixed mount, the other end of each pipe link is installed with a driving wheel fixed mount, two pipe links be arranged in parallel, two flower wheel fixed mounts are oppositely arranged, two driving wheel fixed mounts are oppositely arranged, each pipe link is provided with a main frame body, and each main frame body is fixedly mounted on the middle part of pipe link, the other end of drive motor is fixedly mounted on main frame body, four the first back-moving spring head and the tail connect and compose a quadrangle spring framework in turn, and adjacent two the first back-moving spring intersections are fixedly connected with by a connecting strap, and each connecting strap being oppositely arranged two connecting straps in four connecting straps is all installed with two the second back-moving springs, each second back-moving spring is installed with a connecting element by pin, and two connecting elements on each connecting strap are fixedly mounted on two pipe links respectively, in four connecting straps, two other connecting strap be oppositely arranged is fixedly mounted on two main frame bodies respectively, each flower wheel fixed mount is installed with a probe support mechanism.
The invention has the beneficial effects as follows: 1, robot of the present invention can carry out climbing arm walking on Bailey wall, makes to climb arm robot ensure that when carrying out bending Bailey wall is creeped robot can normally be walked by spring buffer mechanism 8.
2, spring buffer mechanism 8 can play buffer action at robot when creeping, and elastic deformation occurs for the first back-moving spring 15 in spring buffer mechanism 8 and the second back-moving spring 26, ensures that robot can be walked on bending Bailey wall.
3, the present invention adjusts distance between two pipe links 7 and the distance between adjacent two permanent magnetism driving wheels 16 by the distance of adjustment two nuts 23 on leading screw 21, increases the Applicable scope of robot of the present invention.
4, can be walked in order on Bailey wall by robot of the present invention, ultrasonic thickness gauge 20 pairs of Bailey wall check, preventing Bailey wall from occurring when checking omitting the place checked, ensureing that Bailey wall checks comprehensive.
5, be arranged between two pipe links 7 and two main frame bodies 10 by spring buffer mechanism 8, upper two permanent magnetism driving wheels 16 of robot can be regulated to be arranged on distance between Bailey wall by spring buffer mechanism 8, ensure that robot checks work normally on Bailey wall.
6, the present invention also has structure advantage simply convenient to use!
Accompanying drawing explanation
Fig. 1 is the integrally-built front view of the present invention.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 illustrates present embodiment, described in present embodiment, a kind of permanent magnetic wheels with spring buffer climbs arm robot, and it comprises spring buffer mechanism 8, Liang Ge probe support mechanism 4, two pipe links 7, two main frame bodies 10, the driven traveling wheel mechanism 13 of 12, two, Liang Ge positive transport wheel mechanism and two drive motor 19, spring buffer mechanism 8 comprises four connecting straps 25, four connecting elements 18, four the first back-moving springs 15, four pins 22 and the second back-moving spring 26, driven traveling wheel mechanism 13 comprises permanent magnetism flower wheel 14, follower shaft 5 and flower wheel fixed mount 6, positive transport wheel mechanism 12 comprises drive motor adapter plate 9, permanent magnetism driving wheel 16, drive sprocket axle 17, driving wheel fixed mount 24 and two finishing bevel gear cuters 11, permanent magnetism flower wheel 14 is fixedly installed on one end of follower shaft 5, and permanent magnetism flower wheel 14 and follower shaft 5 are rotationally connected, the other end of follower shaft 5 is fixedly mounted on flower wheel fixed mount 6, permanent magnetism driving wheel 16 is fixedly mounted on one end of drive sprocket axle 17, the other end of drive sprocket axle 17 is arranged on driving wheel fixed mount 24, and the other end of drive sprocket axle 17 and driving wheel fixed mount 24 are rotationally connected, on drive sprocket axle 17, fixed cover is equipped with a finishing bevel gear cuter 11, drive motor adapter plate 9 is fixedly mounted on driving wheel fixed mount 24, one end of drive motor 19 is fixedly mounted on drive motor adapter plate 9, the mouth of drive motor 19 rotating shaft is through drive motor adapter plate 9 and fixed cover is equipped with a finishing bevel gear cuter 11, and two finishing bevel gear cuter 11 tooth engagements, one end of each pipe link 7 is provided with a flower wheel fixed mount 6, the other end of each pipe link 7 is installed with a driving wheel fixed mount 24, two pipe links 7 be arranged in parallel, two flower wheel fixed mounts 6 are oppositely arranged, two driving wheel fixed mounts 24 are oppositely arranged, each pipe link 7 is provided with a main frame body 10, and each main frame body 10 is fixedly mounted on the middle part of pipe link 7, the other end of drive motor 19 is fixedly mounted on main frame body 10, four the first back-moving spring 15 head and the tail connect and compose a quadrangle spring framework in turn, and adjacent two the first back-moving spring 15 intersections are fixedly connected with by a connecting strap 25, and each connecting strap 25 being oppositely arranged two connecting straps 25 in four connecting straps 25 is all installed with two the second back-moving springs 26, each second back-moving spring 26 is installed with a connecting element 18 by pin 22, and two connecting elements 18 on each connecting strap 25 are fixedly mounted on two pipe links 7 respectively, the connecting strap 25 that in four connecting straps 25, two other is oppositely arranged is fixedly mounted on two main frame bodies 10 respectively, each flower wheel fixed mount 6 is installed with a probe support mechanism 4.
Detailed description of the invention two: composition graphs 1 illustrates present embodiment, described in present embodiment, a kind of permanent magnetic wheels with spring buffer climbs arm robot, and described spring buffer mechanism 8 also comprises leading screw 21 and two nuts 23; Each connecting strap 25 being provided with two the second back-moving springs 26 is installed with a nut 23, leading screw 21 is threaded and is arranged on two nuts 23, and the rotation direction of two nuts 23 contrary (namely is minus thread, and is right-hand screw thread).Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1 illustrates present embodiment, described in present embodiment, a kind of permanent magnetic wheels with spring buffer climbs arm robot, described probe support mechanism 4 comprises the first probe bracket 1, probe sleeve 2 and the second probe bracket 3, first probe bracket 1 is fixedly mounted on the second probe bracket 3, and probe sleeve 2 is inserted on the first probe bracket 1.Other composition and annexation identical with detailed description of the invention two.
Detailed description of the invention four: composition graphs 1 illustrates present embodiment, described in present embodiment, a kind of permanent magnetic wheels with spring buffer climbs arm robot, and it also comprises two ultrasonic thickness gauges 20, and each ultrasonic thickness gauge 20 is fixedly mounted on a main frame body 10.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention five: composition graphs 1 illustrates present embodiment, described in present embodiment, a kind of permanent magnetic wheels with spring buffer climbs arm robot, and described drive motor 19 is DC servo motor.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention six: composition graphs 1 illustrates present embodiment, described in present embodiment, a kind of permanent magnetic wheels with spring buffer climbs arm robot, and one end of described leading screw 21 is processed with handle.Other composition and annexation identical with detailed description of the invention two.
Principle of work
When the present invention works, robot is placed on Bailey wall, and each permanent magnetism flower wheel 14 and each permanent magnetism driving wheel 16 are placed on Bailey wall, be adsorbed on Bailey wall by permanent magnetism flower wheel 14 and permanent magnetism driving wheel 16, power is provided by drive motor 19, a finishing bevel gear cuter 11 is driven to rotate by drive motor 19, another finishing bevel gear cuter 11 is driven to rotate, and then drive drive sprocket axle 17 to rotate, permanent magnetism driving wheel 16 is driven to rotate by drive sprocket axle 17, Robot Bailey wall is driven to move by permanent magnetism driving wheel 16, checked by ultrasonic thickness gauge 20 pairs of Bailey wall, and then reach object of the present invention.
Claims (6)
1. the permanent magnetic wheels with spring buffer climbs an arm robot, it is characterized in that: it comprises spring buffer mechanism (8), Liang Ge probe support mechanism (4), two pipe links (7), two main frame bodies (10), Liang Ge positive transport wheel mechanism (12), two driven traveling wheel mechanisms (13) and two drive motor (19), spring buffer mechanism (8) comprises four connecting straps (25), four connecting elements (18), four the first back-moving springs (15), four pins (22) and the second back-moving spring (26), driven traveling wheel mechanism (13) comprises permanent magnetism flower wheel (14), follower shaft (5) and flower wheel fixed mount (6), positive transport wheel mechanism (12) comprises drive motor adapter plate (9), permanent magnetism driving wheel (16), drive sprocket axle (17), driving wheel fixed mount (24) and two finishing bevel gear cuters (11), permanent magnetism flower wheel (14) is fixedly installed on one end of follower shaft (5), and permanent magnetism flower wheel (14) and follower shaft (5) are rotationally connected, the other end of follower shaft (5) is fixedly mounted on flower wheel fixed mount (6), permanent magnetism driving wheel (16) is fixedly mounted on one end of drive sprocket axle (17), the other end of drive sprocket axle (17) is arranged on driving wheel fixed mount (24), and the other end of drive sprocket axle (17) and driving wheel fixed mount (24) are rotationally connected, the upper fixed cover of drive sprocket axle (17) is equipped with a finishing bevel gear cuter (11), drive motor adapter plate (9) is fixedly mounted on driving wheel fixed mount (24), one end of drive motor (19) is fixedly mounted on drive motor adapter plate (9), the mouth of drive motor (19) rotating shaft is through drive motor adapter plate (9) and fixed cover is equipped with a finishing bevel gear cuter (11), and two finishing bevel gear cuter (11) tooth engagements, one end of each pipe link (7) is provided with a flower wheel fixed mount (6), the other end of each pipe link (7) is installed with a driving wheel fixed mount (24), two pipe links (7) be arranged in parallel, two flower wheel fixed mounts (6) are oppositely arranged, two driving wheel fixed mounts (24) are oppositely arranged, each pipe link (7) is provided with a main frame body (10), and each main frame body (10) is fixedly mounted on the middle part of pipe link (7), the other end of drive motor (19) is fixedly mounted on main frame body (10), four the first back-moving spring (15) head and the tail connect and compose a quadrangle spring framework in turn, and adjacent two the first back-moving spring (15) intersections are fixedly connected with by a connecting strap (25), and each connecting strap (25) being oppositely arranged two connecting straps (25) in four connecting straps (25) is all installed with two the second back-moving springs (26), each second back-moving spring (26) is installed with a connecting element (18) by pin (22), and two connecting elements (18) on each connecting strap (25) are fixedly mounted on two pipe links (7) respectively, in four connecting straps (25), two other connecting strap be oppositely arranged (25) is fixedly mounted on two main frame bodies (10) respectively, each flower wheel fixed mount (6) is installed with a probe support mechanism (4).
2. a kind of permanent magnetic wheels with spring buffer climbs arm robot according to claim 1, it is characterized in that: described spring buffer mechanism (8) also comprises leading screw (21) and two nuts (23); Each connecting strap (25) being provided with two the second back-moving springs (26) is installed with a nut (23), leading screw (21) is threaded and is arranged on two nuts (23), and the rotation direction of two nuts (23) is contrary.
3. a kind of permanent magnetic wheels with spring buffer climbs arm robot according to claim 1, it is characterized in that: described probe support mechanism (4) comprises the first probe bracket (1), probe sleeve (2) and the second probe bracket (3), first probe bracket (1) is fixedly mounted on the second probe bracket (3), and probe sleeve (2) is inserted on the first probe bracket (1).
4. a kind of permanent magnetic wheels with spring buffer climbs arm robot according to claim 1, it is characterized in that: it also comprises two ultrasonic thickness gauges (20), each ultrasonic thickness gauge (20) is fixedly mounted on a main frame body (10).
5. a kind of permanent magnetic wheels with spring buffer climbs arm robot according to claim 1, it is characterized in that: described drive motor (19) is DC servo motor.
6. a kind of permanent magnetic wheels with spring buffer climbs arm robot according to claim 2, it is characterized in that: one end of described leading screw (21) is processed with handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510963032.6A CN105416432A (en) | 2015-12-18 | 2015-12-18 | Permanent magnetic wheel climbing robot with spring buffering function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510963032.6A CN105416432A (en) | 2015-12-18 | 2015-12-18 | Permanent magnetic wheel climbing robot with spring buffering function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105416432A true CN105416432A (en) | 2016-03-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510963032.6A Pending CN105416432A (en) | 2015-12-18 | 2015-12-18 | Permanent magnetic wheel climbing robot with spring buffering function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105416432A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE537341C (en) * | 1928-12-02 | 1931-11-03 | Werner Pfahl Dr Ing | Conveyor cart with lifting platform |
| US20030066334A1 (en) * | 2001-10-09 | 2003-04-10 | Mcclellan Daniel | Jack with elevatable platform |
| US20040200258A1 (en) * | 2003-04-08 | 2004-10-14 | Hess Jeffrey A. | Locking mechanism for jack with elevated platform |
| CN202083705U (en) * | 2011-02-24 | 2011-12-21 | 杨小琨 | Self wall-climbing apparatus for measuring power station boiler combustor nozzle wind speed |
| CN203527460U (en) * | 2013-06-08 | 2014-04-09 | 陈斌 | Feedback-type remote-control electromagnetic clamping device |
| CN103787231A (en) * | 2014-02-27 | 2014-05-14 | 张家港市华机环保新能源科技有限公司 | Double shear type lifting platform |
| CN203743732U (en) * | 2014-03-10 | 2014-07-30 | 上海大学 | In-pipe walking support mechanism |
| CN205186348U (en) * | 2015-12-18 | 2016-04-27 | 哈尔滨科能熔敷科技有限公司 | Magnetic wheel climbs arm robot forever with spring buffering |
-
2015
- 2015-12-18 CN CN201510963032.6A patent/CN105416432A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE537341C (en) * | 1928-12-02 | 1931-11-03 | Werner Pfahl Dr Ing | Conveyor cart with lifting platform |
| US20030066334A1 (en) * | 2001-10-09 | 2003-04-10 | Mcclellan Daniel | Jack with elevatable platform |
| US20040200258A1 (en) * | 2003-04-08 | 2004-10-14 | Hess Jeffrey A. | Locking mechanism for jack with elevated platform |
| CN202083705U (en) * | 2011-02-24 | 2011-12-21 | 杨小琨 | Self wall-climbing apparatus for measuring power station boiler combustor nozzle wind speed |
| CN203527460U (en) * | 2013-06-08 | 2014-04-09 | 陈斌 | Feedback-type remote-control electromagnetic clamping device |
| CN103787231A (en) * | 2014-02-27 | 2014-05-14 | 张家港市华机环保新能源科技有限公司 | Double shear type lifting platform |
| CN203743732U (en) * | 2014-03-10 | 2014-07-30 | 上海大学 | In-pipe walking support mechanism |
| CN205186348U (en) * | 2015-12-18 | 2016-04-27 | 哈尔滨科能熔敷科技有限公司 | Magnetic wheel climbs arm robot forever with spring buffering |
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Application publication date: 20160323 |
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