CN105438294A - Climbing arm robot with V-shaped permanent magnetic chain sheets and spring buffering mechanism - Google Patents
Climbing arm robot with V-shaped permanent magnetic chain sheets and spring buffering mechanism Download PDFInfo
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- CN105438294A CN105438294A CN201510961334.XA CN201510961334A CN105438294A CN 105438294 A CN105438294 A CN 105438294A CN 201510961334 A CN201510961334 A CN 201510961334A CN 105438294 A CN105438294 A CN 105438294A
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- spring
- trapezoidal
- arm robot
- main frame
- frame body
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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
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- 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
- B62D55/10—Bogies; Frames
-
- 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
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- 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 relates to a climbing arm robot with V-shaped permanent magnetic chain sheets and a spring buffering mechanism so as to solve the problems that existing water wall robots move and climb inflexibly. Each crossed spring assembly comprises two springs which are arranged in a crossed mode, two sets of the crossed spring assemblies are arranged in an up-down mode, and the adjacent four springs are formed into a rhombus; the two springs in the middle of the left side are hinged to a left main frame body through a first pin, and the two springs in the middle of the right side are hinged to a right main frame body through a first pin; the upper spring and lower spring on the left side are hinged to corresponding fixed pieces through second pins respectively, and the upper spring and lower spring on the right side are hinged to corresponding fixed pieces through second pins respectively; each fixed piece is fixedly installed on a corresponding connecting rod, and a probe supporting mechanism is fixedly installed on each driven wheel fixing frame; a plurality of V-shaped brackets are uniformly distributed on each trapezoid synchronous belt, and a magnetic block is arranged on the inner wall of the V-shaped sheet of each V-shaped bracket. The climbing arm robot with the V-shaped permanent magnetic chain sheets and the spring buffering mechanism is used for water wall inspecting.
Description
Technical field
The present invention relates to one and climb arm robot, what be specifically related to a kind of V-arrangement permanent magnetism chain sheet with spring buffer climbs 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, at present, also there is not the robot that can carry out creeping on Bailey wall, existing for the regular artificial rail mounted robot of machine checked Bailey wall, robot, along fixing track travel, causes robot motion to be subject to constraint, the climbing underaction of track.
Summary of the invention
The present invention be solve existing can only along fixing track travel for the regular robot checked Bailey wall, there is robot motion and be subject to the constraint of track, the problem of climbing underaction, and a kind of V-arrangement permanent magnetism chain sheet with spring buffer is provided climb arm robot.
The present invention is the technical scheme taked that solves the problem:
The arm robot of climbing of a kind of V-arrangement permanent magnetism chain sheet with spring buffer of the present invention comprises attaching parts, spring buffer bindiny mechanism, two pipe links, two main frame bodies, two driving wheel fixed mounts, two flower wheel fixed mounts, two axle drive shafts, two by dynamic bevel gear, two drive bevel gear, two drive motor, two trapezoidal belt wheels of active, two driven shafts, two driven trapezoidal belt wheels, article two, trapezoidal Timing Belt, Liang Ge probe support mechanism, two the first pins, four connecting elements, four the second pins, several V-shaped rest and several magnetic patch, two pipe links be arranged in parallel, each pipe link is arranged on its corresponding main frame body, two main frame bodies are connected by attaching parts, one end of each pipe link is fixed with a driving wheel fixed mount, the other end of each pipe link is fixed with a flower wheel fixed mount, each driving wheel fixed mount installs an axle drive shaft, axle drive shaft is fixedly mounted with one by dynamic bevel gear and a trapezoidal belt wheel of active, drive bevel gear engages with by dynamic bevel gear, drive bevel gear is packed on the output shaft of drive motor, each flower wheel fixed mount installs a driven shaft, driven shaft is fixedly mounted with a driven trapezoidal belt wheel, one end of trapezoidal Timing Belt is enclosed within the trapezoidal belt wheel of active, the other end of trapezoidal Timing Belt is enclosed within driven trapezoidal belt wheel, spring buffer bindiny mechanism comprises two groups of cross spring assemblies, often organize cross spring assembly and comprise two springs, two springs are arranged in a crossed manner, four spring assembly diamondwises that two groups of cross spring assemblies are setting up and down and adjacent, two, the centre spring in left side is hinged by the main frame body in the first pin and left side, two, the centre spring on right side is hinged by the main frame body on the first pin and right side, the upper lower spring in left side is hinged with corresponding connecting element respectively by the second pin, the upper lower spring on right side is hinged with corresponding connecting element respectively by the second pin, each connecting element is packed on corresponding pipe link, each flower wheel fixed mount is fixed with a probe support mechanism, uniformly on the trapezoidal Timing Belt of every bar be provided with several V-shaped rest, and the V-shaped part of V-shaped rest is just to the length direction of trapezoidal Timing Belt, the inwall of the V-arrangement sheet of each V-shaped rest arranges a magnetic patch.
The present invention compared with prior art has following beneficial effect:
One, robot of the present invention can carry out climbing arm walking on Bailey wall, buffer action plays when robot crawling in spring buffer bindiny mechanism, spring in spring buffer bindiny mechanism compresses, ensure that robot can be walked on bending Bailey wall, make the present invention on cold wall, walk unfettered, optionally rotated, climbing flexibly.
Two, the present invention is by the distance of adjustment two nuts on leading screw, achieves the spacing between adjustment two pipe links, and then have adjusted the spacing of two trapezoidal belt wheels of active and two driven trapezoidal belt wheels, thus add the Applicable scope of robot of the present invention.
Three, ultrasonic thickness gauge checks Bailey wall, preventing Bailey wall from occurring when checking omitting the place checked, ensureing that Bailey wall checks comprehensive.
Four, stretching device can ensure trapezoidal Timing Belt all the time with initiatively trapezoidal belt wheel and the tight transmission of driven trapezoidal belt wheel, avoid de-tooth phenomenon.
Five, the present invention also has structure advantage simply convenient to use.
Accompanying drawing explanation
Fig. 1 is integrally-built elevation view of the present invention;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the birds-eye view (removing spring buffer bindiny mechanism 15) of Fig. 1;
Fig. 4 is the K direction view of Fig. 1;
The upward view of Tu5Shi spring buffer bindiny mechanism 15;
Fig. 6 is the structural representation of detailed description of the invention three;
Fig. 7 is the structural representation of detailed description of the invention four.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 ~ Fig. 5 illustrates present embodiment, present embodiment comprises attaching parts 1, spring buffer bindiny mechanism 15, two pipe links 2, two main frame bodies 3, two driving wheel fixed mounts 4, two flower wheel fixed mounts 5, two axle drive shafts 6, two by dynamic bevel gear 7, two drive bevel gear 8, two drive motor 9, two trapezoidal belt wheels 10 of active, two driven shafts 11, two driven trapezoidal belt wheels 12, article two, trapezoidal Timing Belt 13, Liang Ge probe support mechanism 14, two the first pins 19, four connecting elements 16, four the second pins 20, several V-shaped rest 17 and several magnetic patch 18, two pipe links 2 be arranged in parallel, each pipe link 2 is arranged on its corresponding main frame body 3, two main frame bodies 3 are connected by attaching parts 1, one end of each pipe link 2 is fixed with a driving wheel fixed mount 4, the other end of each pipe link 2 is fixed with a flower wheel fixed mount 5, each driving wheel fixed mount 4 installs an axle drive shaft 6, axle drive shaft 6 is fixedly mounted with one by dynamic bevel gear 7 and a trapezoidal belt wheel 10 of active, drive bevel gear 8 engages with by dynamic bevel gear 7, drive bevel gear 8 is packed on the output shaft of drive motor 9, each flower wheel fixed mount 5 installs a driven shaft 11, driven shaft 11 is fixedly mounted with a driven trapezoidal belt wheel 12, one end of trapezoidal Timing Belt 13 is enclosed within the trapezoidal belt wheel 10 of active, the other end of trapezoidal Timing Belt 13 is enclosed within driven trapezoidal belt wheel 12, spring buffer bindiny mechanism 15 comprises two groups of cross spring assemblies, often organize cross spring assembly and comprise two spring 15-1, two spring 15-1 are arranged in a crossed manner, four spring 15-1 composition rhombuses that two groups of cross spring assemblies are setting up and down and adjacent, two, the centre spring 15-1 in left side is hinged with the main frame body 3 in left side by the first pin 19, two, the centre spring 15-1 on right side is hinged with the main frame body 3 on right side by the first pin 19, the upper lower spring 15-1 in left side is hinged with corresponding connecting element 16 respectively by the second pin 20, the upper lower spring 15-1 on right side is hinged with corresponding connecting element 16 respectively by the second pin 20, each connecting element 16 is packed on corresponding pipe link 2, each flower wheel fixed mount 5 is fixed with a probe support mechanism 14, uniformly on the trapezoidal Timing Belt of every bar 13 be provided with several V-shaped rest 17, and the V-shaped part of V-shaped rest 17 is just to the length direction of trapezoidal Timing Belt 13, the inwall of the V-arrangement sheet of each V-shaped rest 17 arranges a magnetic patch 18.
Detailed description of the invention two: composition graphs 2 illustrates present embodiment, the drive motor 9 of present embodiment is DC servo motor.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 6 illustrates present embodiment, the V-shaped rest 17 of present embodiment comprises base plate 17-1 and two side plate 17-2, two V-shaped two ends being arranged on base plate 17-1 of side plate 17-2, and base plate 17-1 and two side plate 17-2 makes one.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention four: composition graphs 7 illustrates present embodiment, the V-shaped rest 17 of present embodiment comprises little spring 17-3 and two side plate 17-2, two V-shaped two ends being arranged on little spring 17-3 of side plate 17-2, the two ends of little spring 17-3 are connected with two side plate 17-2 respectively.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention five: composition graphs 7 illustrates present embodiment, the spring buffer bindiny mechanism 15 of present embodiment also comprises leading screw 21 and two nuts 22, the described shell infall often organizing two spring 15-1 on cross spring assembly is provided with a nut 22, leading screw 21 is threaded with two nuts 22, and the rotation direction of two nuts 22 contrary (i.e. left-handed a, dextrorotation).Other composition and annexation and detailed description of the invention one, two or three identical.
Detailed description of the invention six: composition graphs 5 illustrates present embodiment, the spring buffer bindiny mechanism 15 of present embodiment also comprises handle 23, and handle 23 is arranged on the input end of leading screw 21.Manual regulation leading screw 21 is convenient in such design.Other composition and annexation identical with detailed description of the invention five.
Detailed description of the invention seven: composition graphs 1 and Fig. 2 illustrate present embodiment, the probe support mechanism 14 of present embodiment comprises probe sleeve 14-1, bush support 14-2 and link span 14-3, probe sleeve 14-1 is inserted on bush support 14-2, bush support 14-2 is packed on link span 14-3, and link span 14-3 is packed on flower wheel fixed mount 5.Other composition and annexation identical with detailed description of the invention six.
Detailed description of the invention eight: composition graphs 1 and Fig. 2 illustrate present embodiment, present embodiment and detailed description of the invention seven also increase unlike it two ultrasonic thickness gauges 24, each main frame body 3 is fixedly mounted with a ultrasonic thickness gauge 24.Other composition and annexation identical with detailed description of the invention seven.
Detailed description of the invention nine: composition graphs 1 and Fig. 2 illustrate present embodiment, present embodiment and detailed description of the invention eight also increase unlike it two stretching devices, two stretching devices and two trapezoidal Timing Belt 13 one_to_one corresponding, each stretching device comprises two and compresses wheel shaft 25, two trapezoidal contact rollers 26, two levers 27, two big springs 28 and two bearing pins 29, two compress wheel shaft 25 and two main frame body 3 one_to_one corresponding, compressing wheel shaft 25 is arranged in main frame body 3 by bearing, trapezoidal contact roller 26 is fixedly mounted with and compresses on wheel shaft 25, trapezoidal contact roller 26 engages with trapezoidal Timing Belt 13, middle part and the bearing pin 29 of lever 27 are rotationally connected, the upper end of lever 27 is connected with compression wheel shaft 25, the lower end of lever 27 is connected with big spring 28, big spring 28 other end is connected with main frame body 3.Stretching device can make trapezoidal Timing Belt 13 and the trapezoidal belt wheel 10 of active and driven trapezoidal belt wheel 12 stable drive.Other composition and annexation identical with detailed description of the invention eight.
Principle of work
When the present invention works, robot is placed on Bailey wall, namely two V-arrangement sheets on V-shaped rest 17 are fastened on Bailey wall, power is provided by drive motor 9, drive motor 9 drives a drive bevel gear 8 to rotate, rotated by dynamic bevel gear 7 thereupon, and then drive axle drive shaft 6 to rotate, axle drive shaft 6 drives initiatively trapezoidal belt wheel 10 to rotate, drive driven trapezoidal belt wheel 12 to realize synchronous axial system by trapezoidal Timing Belt 13, thus realize the motion of Robot Bailey wall.
Claims (9)
1. the V-arrangement permanent magnetism chain sheet with spring buffer climb arm robot, it is characterized in that: described in climb arm robot and comprise attaching parts (1), two pipe links (2), two main frame bodies (3), two driving wheel fixed mounts (4), two flower wheel fixed mounts (5), two axle drive shafts (6), two by dynamic bevel gear (7), two drive bevel gear (8), two drive motor (9), two trapezoidal belt wheels of active (10), two driven shafts (11), two driven trapezoidal belt wheels (12) and two trapezoidal Timing Belts (13), two pipe links (2) be arranged in parallel, each pipe link (2) is arranged on its corresponding main frame body (3), two main frame bodies (3) are connected by attaching parts (1), one end of each pipe link (2) is fixed with a driving wheel fixed mount (4), the other end of each pipe link (2) is fixed with a flower wheel fixed mount (5), the upper installation axle drive shaft (6) of each driving wheel fixed mount (4), axle drive shaft (6) is fixedly mounted with one by dynamic bevel gear (7) and a trapezoidal belt wheel of active (10), drive bevel gear (8) engages with by dynamic bevel gear (7), drive bevel gear (8) is packed on the output shaft of drive motor (9), the upper installation driven shaft (11) of each flower wheel fixed mount (5), driven shaft (11) is fixedly mounted with a driven trapezoidal belt wheel (12), one end of trapezoidal Timing Belt (13) is enclosed within the trapezoidal belt wheel of active (10), the other end of trapezoidal Timing Belt (13) is enclosed within driven trapezoidal belt wheel (12), it is characterized in that: described in climb arm robot and also comprise Liang Ge probe support mechanism (14), spring buffer bindiny mechanism (15), two the first pins (19), four connecting elements (16), four the second pins (20), several V-shaped rest (17) and several magnetic patch (18), spring buffer bindiny mechanism (15) comprises two groups of cross spring assemblies, often organize cross spring assembly and comprise two springs (15-1), two springs (15-1) are arranged in a crossed manner, four springs (15-1) that two groups of cross spring assemblies are setting up and down and adjacent form rhombus, two, the centre spring (15-1) in left side is hinged with the main frame body (3) in left side by the first pin (19), two, the centre spring (15-1) on right side is hinged with the main frame body (3) on right side by the first pin (19), the upper lower spring (15-1) in left side is hinged with corresponding connecting element (16) respectively by the second pin (20), the upper lower spring (15-1) on right side is hinged with corresponding connecting element (16) respectively by the second pin (20), each connecting element (16) is packed on corresponding pipe link (2), each flower wheel fixed mount (5) is fixed with a probe support mechanism (14), the trapezoidal Timing Belt of every bar (13) is above uniform is provided with several V-shaped rest (17), and the V-shaped part of V-shaped rest (17) is just to the length direction of trapezoidal Timing Belt (13), the inwall of the V-arrangement sheet of each V-shaped rest (17) arranges a magnetic patch (18).
2. according to claim 1 a kind of V-arrangement permanent magnetism chain sheet with spring buffer climb arm robot, its feature exists: described drive motor (9) is DC servo motor.
3. according to claim 1 a kind of V-arrangement permanent magnetism chain sheet with spring buffer climb arm robot, its feature exists: described V-shaped rest (17) comprises base plate (17-1) and two side plates (17-2), two V-shaped two ends being arranged on base plate (17-1) of side plate (17-2), base plate (17-1) and two side plates (17-2) make one.
4. according to claim 1 a kind of V-arrangement permanent magnetism chain sheet with spring buffer climb arm robot, its feature exists: described V-shaped rest (17) comprises little spring (17-3) and two side plates (17-2), two V-shaped two ends being arranged on little spring (17-3) of side plate (17-2), the two ends of little spring (17-3) are connected with two side plates (17-2) respectively.
5. according to claim 1,2 or 3 a kind of V-arrangement permanent magnetism chain sheet with spring buffer climb arm robot, its feature exists: described spring buffer bindiny mechanism (15) also comprises leading screw (21) and two nuts (22), the described shell infall often organizing two springs (15-1) on cross spring assembly is provided with a nut (22), leading screw (21) is threaded with two nuts (22), and the rotation direction of two nuts (22) is contrary.
6. according to claim 5 a kind of V-arrangement permanent magnetism chain sheet with spring buffer climb arm robot, its feature exists: described spring buffer bindiny mechanism (15) also comprises handle (23), and described handle (23) is arranged on the input end of leading screw (21).
7. according to claim 6 a kind of V-arrangement permanent magnetism chain sheet with spring buffer climb arm robot, its feature exists: described probe support mechanism (14) comprises probe sleeve (14-1), bush support (14-2) and link span (14-3), probe sleeve (14-1) is inserted on bush support (14-2), and bush support (14-2) is packed on link span (14-3).
8. according to claim 7 a kind of V-arrangement permanent magnetism chain sheet with spring buffer climb arm robot, its feature exists: described in climb arm robot and also comprise two ultrasonic thickness gauges (24), each main frame body (3) is fixedly mounted with a ultrasonic thickness gauge (24).
9. according to claim 8 a kind of V-arrangement permanent magnetism chain sheet with spring buffer climb arm robot, its feature exists: described in climb arm robot and also comprise two stretching devices, two stretching devices and two trapezoidal Timing Belt (13) one_to_one corresponding, described stretching device comprises two and compresses wheel shaft (25), two trapezoidal contact rollers (26), two levers (27), two big springs (28) and two bearing pins (29), two compress wheel shaft (25) and two main frame body (3) one_to_one corresponding, compressing wheel shaft (25) is arranged in main frame body (3) by bearing, trapezoidal contact roller (26) is fixedly mounted with and compresses on wheel shaft (25), trapezoidal contact roller (26) engages with trapezoidal Timing Belt (13), middle part and the bearing pin (29) of lever (27) are rotationally connected, the upper end of lever (27) is connected with compression wheel shaft (25), the lower end of lever (27) is connected with big spring (28), big spring (28) other end is connected with main frame body (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510961334.XA CN105438294B (en) | 2015-12-18 | 2015-12-18 | A kind of climbing robot of the V-arrangement permanent magnetism chain piece with spring buffer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510961334.XA CN105438294B (en) | 2015-12-18 | 2015-12-18 | A kind of climbing robot of the V-arrangement permanent magnetism chain piece with spring buffer |
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| Publication Number | Publication Date |
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| CN105438294A true CN105438294A (en) | 2016-03-30 |
| CN105438294B CN105438294B (en) | 2018-01-23 |
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| CN201510961334.XA Active CN105438294B (en) | 2015-12-18 | 2015-12-18 | A kind of climbing robot of the V-arrangement permanent magnetism chain piece with spring buffer |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108415090A (en) * | 2018-05-14 | 2018-08-17 | 招商局重庆交通科研设计院有限公司 | A kind of resistivity wave detector suitable for Non-destructive testing |
| CN109092721A (en) * | 2018-04-19 | 2018-12-28 | 张家港联峰钢铁研究所有限公司 | A kind of iron oxide on surface of billet steel remove device |
| CN111439318A (en) * | 2020-05-09 | 2020-07-24 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Self-adaptive magnetic adsorption wall-climbing robot |
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| CN111439318A (en) * | 2020-05-09 | 2020-07-24 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Self-adaptive magnetic adsorption wall-climbing robot |
| CN111439318B (en) * | 2020-05-09 | 2024-05-28 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Self-adaptive magnetic adsorption wall climbing robot |
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| CN105438294B (en) | 2018-01-23 |
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Denomination of invention: A wall climbing robot with spring buffered V-shaped permanent magnet link Effective date of registration: 20201228 Granted publication date: 20180123 Pledgee: Harbin Kechuang Financing Guarantee Co., Ltd Pledgor: Harbin Keneng Cladding Technology Co., Ltd Registration number: Y2020230000021 |
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