CN105460093B - A kind of permanent-magnet chain climbing robot with elastic steel sheet - Google Patents
A kind of permanent-magnet chain climbing robot with elastic steel sheet Download PDFInfo
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- CN105460093B CN105460093B CN201510962735.7A CN201510962735A CN105460093B CN 105460093 B CN105460093 B CN 105460093B CN 201510962735 A CN201510962735 A CN 201510962735A CN 105460093 B CN105460093 B CN 105460093B
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- steel disc
- permanent
- sliding rail
- climbing robot
- rail frame
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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
-
- 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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
-
- 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
A kind of permanent-magnet chain climbing robot with elastic steel sheet, it is related to a kind of climbing robot.The present invention has that motion is dumb to solve existing climbing robot due to the rigid structure of its own, and can not adsorb well the problem of the water-cooling wall pipeline for becoming track width swashes row detection.Connected between the first sliding rail frame and the second sliding rail frame of the present invention by an at least one slide rail, multiple sliding sleeves are slidably sleeved on an at least one slide rail, DC servo motor is arranged on the second sliding rail frame, driving shaft may be rotatably mounted in the second sliding rail frame, drive sprocket is arranged on driving shaft, driven shaft may be rotatably mounted in the second sliding rail frame, driven sprocket is arranged on driven shaft, connected between drive sprocket and driven sprocket by permanent-magnet chain component, sonigauge is arranged on the middle part of an at least one slide rail, elastic buffer connector, which is hinged on first, climbs wall leg and second and climbs on multiple sliding sleeves of wall leg.The present invention is used for water-cooling wall climbing.
Description
Technical field
The present invention relates to a kind of climbing robot, and in particular to a kind of permanent-magnet chain wall-climbing device with elastic steel sheet
People.
Background technology
Climbing robot is a kind of automatic machinery people that can be climbed and fulfil assignment in perpendicular walls.Wall-climbing device
People is also known as wall-surface mobile robot, because vertical walls operation exceeds the limit of people, therefore is also known as limit operation abroad
Robot.Climbing robot is mainly used in petroleum chemical enterprise and defect detecting test or spray painting processing is carried out to cylindrical big tank, or is built
Build the cleaning and spraying of thing.It is used for checking thickness measuring etc. in nuclear industry, can be also used for the industries such as fire-fighting and shipbuilding.
Water-cooling wall is the main heated portion of boiler, and it is made up of the row's of number steel pipe, is distributed in the surrounding of boiler furnace.It
Inside is the water or steam of flowing, and the external world receives the heat of the flame of boiler furnace.Tube wall be heated water-cooling wall initial design when, mesh
Be not to be heated, but in order to which cooled hearth is allowed to not by high temperature.Later, due to its good heat exchange function, by
Gradually substitution bubble wants heated portion as boiler main.Be laid in boiler furnace inwall, by many parallel transistors it is molecular evaporation by
Hot face.The effect of water-cooling wall is the radiations heat energy for absorbing burner hearth high temperature flame or flue gas, and steam or hot water are produced in pipe, and
Temperature of furnace wall is reduced, furnace wall is protected.In heavy duty boiler, furnace flame temperature is very high, and the intensity of heat radiation is very big.In boiler
There are 40~50% even more heats to be absorbed by water-cooling wall.In addition to a small number of low capacity boilers, modern water-tube boiler with
Water-cooling wall is used as topmost evaporating heating surface in boiler.
For the water-cooling wall of long-term use, because corrosion or erosion are easily caused pipe wall thickness and changed, or even in tube wall
Surface is damaged, and then produces the problem of water-cooling wall is easily leaked, accordingly, it would be desirable to there is the wall thickness of the water-cooling wall of potential safety hazard
Detected so as to eliminate safe hidden trouble, but during thickness measuring is carried out to water-cooling wall, due between water-cooling wall away from
From causing existing climbing robot due to the rigid structure of its own, it is dumb to there is motion, and can not be good
Adsorb the problem of the water-cooling wall pipeline for becoming track width swashes row detection.
The content of the invention
The invention aims to solve existing climbing robot due to the rigid structure of its own, there is motion not
Flexibly, it and can not well adsorb the problem of the water-cooling wall pipeline for becoming track width swashes row detection, and then provide a kind of
Permanent-magnet chain climbing robot with elastic steel sheet.
The technical scheme is that：A kind of permanent-magnet chain climbing robot with elastic steel sheet, it is climbed including first
Wall leg, second climb wall leg and elastic buffer connector, and first, which climbs wall leg and second, climbs wall leg or so and be radially arranged, and first climbs wall leg
And second climb between wall leg and connected by elastic buffer connector, first climb wall leg and second climb wall leg structure it is identical, first
Climb wall leg including probe, probe sleeve, probe bracket, an at least one slide rail, multiple sliding sleeves, the first sliding rail frame, the second sliding rail frame,
DC servo motor, driving shaft, active umbrella tooth, driven umbrella tooth, drive sprocket, driven shaft, driven sprocket, permanent-magnet chain component and
It is arranged in parallel, leads between the first sliding rail frame and the second sliding rail frame above and below sonigauge, the first sliding rail frame and the second sliding rail frame
The connection of an at least one slide rail is crossed, multiple sliding sleeves are slidably sleeved on an at least one slide rail, and DC servo motor is arranged on second
On sliding rail frame, active umbrella tooth is arranged in the second sliding rail frame and is connected with the output end of DC servo motor, and driving shaft is rotatable
In the second sliding rail frame, driven umbrella tooth is sleeved on driving shaft, and driven umbrella tooth is engaged with active umbrella tooth, drive sprocket peace
On driving shaft, driven shaft may be rotatably mounted in the first sliding rail frame, driven sprocket be arranged on driven shaft on, drive sprocket with
Connected between driven sprocket by permanent-magnet chain component, sonigauge is arranged on the middle part of an at least one slide rail, elasticity is slow
Rush connector and be hinged on first and climb wall leg and second and climb on multiple sliding sleeves on wall leg.
Elastic buffer connector includes the first steel disc and the second steel disc, and the first steel disc and the second steel disc are arranged in a crossed manner, and first
The two ends of steel disc and the second steel disc are hinged with a sliding sleeve respectively, and the first steel disc and the second steel disc intersection are hinged.
Elastic buffer connector also includes the 3rd steel disc and the 4th steel disc, and the 3rd steel disc and the 4th steel disc are arranged in a crossed manner, the
The two ends of three steel discs and the 4th steel disc are hinged with a sliding sleeve respectively, and the 3rd steel disc and the 4th steel disc intersection are hinged, the
One end of one steel disc and one end of the 3rd steel disc share a sliding sleeve, and one end of the second steel disc and one end of the 4th steel disc share one
Individual sliding sleeve.
It also includes manual adjustment, and manual adjustment is arranged on the first steel disc and the second steel disc intersection and the 3rd steel disc
With the intersection upper end of the 4th steel disc.
Manual adjustment includes screw mandrel and two nuts, and two nuts are respectively and fixedly installed to the first steel disc and the second steel disc
On crosspoint and the crosspoint of the 3rd steel disc and the 4th steel disc, screw mandrel is the opposite screw mandrel of two ends thread rotary orientation, and screw mandrel is screwed in
On two nuts, to drive two nuts opposite or reverse motions simultaneously.
Manual adjustment includes handle, and handle is arranged on one end of screw mandrel.
Drive sprocket is identical with driven sprocket structure, and drive sprocket includes two vertical sprocket wheels and a horizontal roller, two
Vertical sprocket wheel is oppositely arranged, and is connected between two vertical sprocket wheels by horizontally disposed horizontal roller.
Permanent-magnet chain component includes two permanent-magnet chains and tracks of permanent magnetism and creeped hole, and two permanent-magnet chains are separately mounted to two
Creeped on individual vertical sprocket wheel, between two permanent-magnet chains by tracks of permanent magnetism and cheat connection.
Tracks of permanent magnetism creeps hole for flute profile, V-arrangement or indent arc.
The present invention has the following effects that compared with prior art：
1. the permanent-magnet chain climbing robot of the present invention passes through bullet when the distance between running into two pipelines changes
Property buffering connector buffering change first at any time and climb wall leg and second and climb the distance between wall leg, and the distance changed can
Changed at any time according to actual conditions, motion is more flexible, be easy to carry out ultrasonic thickness measurement to water-cooling wall, it is to avoid due to wall-climbing device
People climbs wall position and is limited in scope, the problem of thickness measuring detection to water-cooling wall has blind area and causes to have potential safety hazard.
Swashed wall in water-cooling wall 2. adsorbing climbing robot present invention employs the form of permanent-magnet chain, it is stable to climb wall,
And between two permanent-magnet chain 15-1 in permanent-magnet chain component of the present invention by tracks of permanent magnetism creep hole connection, with water-cooling wall
Absorption in addition to two permanent-magnet chain 15-1 provide magnetic force, tracks of permanent magnetism hole of creeping also can provide magnetic force for water-cooling wall so that
Ensure more preferable suction-operated.
3. the tracks of permanent magnetism hole of creeping of the present invention is easy to contact with water-cooling wall, compared to two permanent-magnet chains and water-cooling wall
Contact, tracks of permanent magnetism creeps hole during being contacted with water-cooling wall, can reduce the frictional force between water-cooling wall, climbs wall speed
Degree improves 20-30%.
4. the elastic buffer connecting-piece structure of the present invention is simple, action of giving is flexible, during realization, work as water-cooling wall
The change of the distance between two pipelines when, be, by the first steel disc 17 and the second steel disc 18, or to pass through the first steel disc 17, the
Two steel discs 18, the 3rd steel disc 19 and the combination of the 4th steel disc 20 realize that first climbs wall leg and second and climb the automatic of distance between wall leg and change
Become；If when running into the distance between two mobile over long distances pipelines and not changing, the is fixed by manual adjustment
One, which climbs wall leg and second, climbs distance between wall leg, and wall demand is climbed under different situations to meet.
Brief description of the drawings
Fig. 1 is the structure sectional view of the present invention；Fig. 2 is permanent-magnet chain modular construction when tracks of permanent magnetism creeps hole for flute profile
Schematic diagram；Fig. 3 is permanent-magnet chain modular construction schematic diagram when tracks of permanent magnetism creeps hole for V-arrangement；Fig. 4 is that tracks of permanent magnetism is creeped hole
Permanent-magnet chain modular construction schematic diagram during for indent arc.
Embodiment
Embodiment one：With reference to Fig. 1-Fig. 4 illustrate present embodiment, present embodiment is a kind of with elastic steel sheet
Permanent-magnet chain climbing robot, it climbs wall leg including first, second climbs wall leg and elastic buffer connector, and first climbs wall leg and
Two, which climb wall leg or so, is radially arranged, and first, which climbs wall leg and second, climbs between wall leg and connected by elastic buffer connector,
First climb wall leg and second climb wall leg structure it is identical, first climb wall leg include probe 1, probe sleeve 2, probe branch
Frame 3, at least an one slide rail 4, multiple sliding sleeves 5, the first sliding rail frame 6, the second sliding rail frame 7, DC servo motor 8, driving shaft 9, master
Dynamic umbrella tooth 11, driven umbrella tooth 10, drive sprocket 12, driven shaft 13, driven sprocket 14, permanent-magnet chain component 15 and ultrasonic thickness measurement
Instrument 16, the first sliding rail frame 6 and the second sliding rail frame be arranged in parallel about 7, by extremely between the first sliding rail frame 6 and the second sliding rail frame 7
A few one slide rail 4 is connected, and multiple sliding sleeves 5 are slidably sleeved on an at least one slide rail 4, and DC servo motor 8 is arranged on second
On sliding rail frame 7, active umbrella tooth 11 is arranged in the second sliding rail frame 7 and is connected with the output end of DC servo motor 8, driving shaft 9
It may be rotatably mounted in the second sliding rail frame 7, driven umbrella tooth 10 is sleeved on driving shaft 9, and driven umbrella tooth 10 and active umbrella tooth 11
Engagement, drive sprocket 12 is arranged on driving shaft 9, and driven shaft 13 be may be rotatably mounted in the first sliding rail frame 6, and driven sprocket 14 is pacified
On driven shaft 13, connected between drive sprocket 12 and driven sprocket 14 by permanent-magnet chain component 15, sonigauge
16 are arranged on the middle part of an at least one slide rail 4, and elastic buffer connector, which is hinged on first, climbs wall leg and second and climb many on wall leg
On individual sliding sleeve 5.
Embodiment two：Illustrate present embodiment with reference to Fig. 1, the elastic buffer connector of present embodiment includes the
One steel disc 17 and the second steel disc 18, the first steel disc 17 and the second steel disc 18 are arranged in a crossed manner, the first steel disc 17 and the second steel disc 18
Two ends are hinged with a sliding sleeve 5 respectively, and the first steel disc 17 and the intersection of the second steel disc 18 are hinged.It is arranged such, passes through
One steel disc 17 and the second steel disc 18 are hinged, when the distance that climbing robot is travelled between two pipelines becomes big or becomes small,
First, which climbs wall leg and second, climbs wall leg in the state of tapered or flaring, and the first steel disc 17 and the second steel disc 18 cater to two automatically
The change of distance between pipeline and produce Flexible change, that is brought when preventing from being rigidly connected is constant.Other compositions and connection are closed
System is identical with embodiment one.
Embodiment three：Illustrate present embodiment with reference to Fig. 1, the elastic buffer connector of present embodiment also includes
3rd steel disc 19 and the 4th steel disc 20, the 3rd steel disc 19 and the 4th steel disc 20 are arranged in a crossed manner, the 3rd steel disc 19 and the 4th steel disc 20
Two ends be hinged respectively with a sliding sleeve 5, and the 3rd steel disc 19 and the intersection of the 4th steel disc 20 are hinged, the one of the first steel disc 17
End and one end of the 3rd steel disc 19 share a sliding sleeve 5, and one end of the second steel disc 18 shares one with one end of the 4th steel disc 20
Sliding sleeve 5.It is arranged such, embodiment two is one group of elastic buffer, on the basis of one group of elastic buffer, present embodiment
Add one group of elastic buffer so that buffering is more stablized, resistance to quickly to climb wall and run into the feelings of distance change between two tube walls
Condition, effectively strengthens buffering effect.Other compositions and annexation are identical with embodiment two.
Embodiment four：Illustrate present embodiment with reference to Fig. 1, it of present embodiment also includes manual adjustment,
Manual adjustment is arranged on the first steel disc 17 and the intersection of the second steel disc 18 and the intersection of the 3rd steel disc 19 and the 4th steel disc 20
Upper end.It is arranged such, for the new mode of regulation increase of buffering, the distance between the two pipelines timing that is particularly suitable for use in is climbed
Wall, more stablizes when quickly climbing wall, prevents that climbing wall leg and second because not fixing first climbs the distance between wall leg and quickly climbing
That is brought during wall climbs the problem of wall is unstable.Other compositions and annexation are identical with embodiment three.
Embodiment five：Illustrate present embodiment with reference to Fig. 1, the manual adjustment of present embodiment includes screw mandrel 21
With two nuts 22, two nuts 22 are respectively and fixedly installed to the first steel disc 17 and the crosspoint of the second steel disc 18 and the 3rd steel disc 19
On the crosspoint of the 4th steel disc 20, screw mandrel 21 is the opposite screw mandrel of two ends thread rotary orientation, and screw mandrel 21 is screwed in two nuts 22
On, to drive two nuts 22 opposite or reverse motions simultaneously.It is arranged such, by the different leading screw of two rotation directions come fast velocity modulation
Section first climbs wall leg and second and climbs the distance between wall leg.Other compositions and annexation are identical with embodiment four.
Embodiment six：Illustrate present embodiment with reference to Fig. 1, the manual adjustment of present embodiment includes handle
23, handle 23 is arranged on one end of screw mandrel 21.It is arranged such, is easy to operator to operate.It is other composition and annexation with specifically
Embodiment five is identical.
Embodiment seven：Illustrate present embodiment, the drive sprocket 12 and driven sprocket of present embodiment with reference to Fig. 1
14 structures are identical, and drive sprocket 12 includes two vertical sprocket wheels and a horizontal roller, and two vertical sprocket wheels are oppositely arranged, and two
Connected between vertical sprocket wheel by horizontally disposed horizontal roller.It is arranged such, is easy to permanent-magnet chain component 15 being stuck in water-cooling wall
Pipeline on, smoothly climb wall.Other compositions and annexation are identical with embodiment six.
Embodiment eight：Illustrate present embodiment with reference to Fig. 1-Fig. 4, the permanent-magnet chain component 15 of present embodiment is wrapped
Include two permanent-magnet chain 15-1 and tracks of permanent magnetism is creeped and cheats 15-2, two permanent-magnet chain 15-1 are separately mounted to two vertical sprocket wheels
On, creeped between two permanent-magnet chain 15-1 by tracks of permanent magnetism and cheat 15-2 connections.It is arranged such, being provided for water-cooling wall pipeline must
The space wanted.Other compositions and annexation are identical with embodiment seven.
Embodiment nine：Illustrate present embodiment with reference to Fig. 1-Fig. 4, the tracks of permanent magnetism of present embodiment is creeped hole
15-2 is flute profile, V-arrangement or indent arc.It is arranged such, is easy to provide slideway for water-cooling wall pipeline.Other compositions and annexation
It is identical with embodiment eight.
Embodiment ten：Illustrate present embodiment with reference to Fig. 1, the first of present embodiment climbs the slide rail 4 of wall leg
Quantity is 2 or 3.It is arranged such, is easy to the stability for ensureing to slide.Other compositions and annexation and embodiment
Nine is identical.
The present invention operation principle be：When climbing wall, the charge initiation of DC servo motor 8 drives active umbrella tooth 11, active umbrella
Tooth 11 drives driven umbrella tooth 10, and driven umbrella tooth 10 drives driving shaft 9, drive sprocket 12 and driven sprocket 14, so that climbing wall
Robot swashes row in water-cooling wall pipeline, and by popping one's head in, 1 pair of pipeline carries out signal acquisition, passes information to sonigauge
16, realize the thickness measuring to water-cooling wall.
Claims (9)
1. a kind of permanent-magnet chain climbing robot with elastic steel sheet, it is characterised in that：It climbs wall leg including first, second climbed
Wall leg and elastic buffer connector, first, which climbs wall leg and second, climbs wall leg or so and is radially arranged, and first, which climbs wall leg and second, climbs wall
Connected between leg by elastic buffer connector,
First climb wall leg and second climb wall leg structure it is identical, first climb wall leg include probe (1), probe sleeve (2), probe branch
Frame (3), an at least one slide rail (4), multiple sliding sleeves (5), the first sliding rail frame (6), the second sliding rail frame (7), DC servo motor
(8), driving shaft (9), active umbrella tooth (11), driven umbrella tooth (10), drive sprocket (12), driven shaft (13), driven sprocket (14),
Permanent-magnet chain component (15) and sonigauge (16), the first sliding rail frame (6) and the second sliding rail frame (7) be arranged in parallel up and down,
Connected between first sliding rail frame (6) and the second sliding rail frame (7) by an at least one slide rail (4), multiple sliding sleeves (5) are slidably set with
On an at least one slide rail (4), DC servo motor (8) is arranged on the second sliding rail frame (7), and active umbrella tooth (11) is arranged on the
It is connected in two sliding rail frames (7) and with the output end of DC servo motor (8), driving shaft (9) may be rotatably mounted at the second sliding rail frame
(7) in, driven umbrella tooth (10) is sleeved on driving shaft (9), and driven umbrella tooth (10) is engaged with active umbrella tooth (11), drive sprocket
(12) it is arranged on driving shaft (9), driven shaft (13) may be rotatably mounted in the first sliding rail frame (6), driven sprocket (14) is installed
On driven shaft (13), it is connected between drive sprocket (12) and driven sprocket (14) by permanent-magnet chain component (15), ultrasonic wave
Calibrator (16) is arranged on the middle part of an at least one slide rail (4), and elastic buffer connector, which is hinged on first, climbs wall leg and second and climb
On multiple sliding sleeves (5) on wall leg, elastic buffer connector includes the first steel disc (17) and the second steel disc (18), the first steel disc
(17) and the second steel disc (18) is arranged in a crossed manner, the two ends of the first steel disc (17) and the second steel disc (18) respectively with a sliding sleeve (5)
It is hinged, and the first steel disc (17) and the second steel disc (18) intersection are hinged.
2. a kind of permanent-magnet chain climbing robot with elastic steel sheet according to claim 1, it is characterised in that：Elasticity
Buffering connector also includes the 3rd steel disc (19) and the 4th steel disc (20), and the 3rd steel disc (19) and the 4th steel disc (20), which intersect, to be set
Put, the two ends of the 3rd steel disc (19) and the 4th steel disc (20) are hinged with a sliding sleeve (5) respectively, and the 3rd steel disc (19) and the 4th
Steel disc (20) intersection is hinged, and one end of one end of the first steel disc (17) and the 3rd steel disc (19) shares a sliding sleeve (5), the
One end of two steel discs (18) and one end of the 4th steel disc (20) share a sliding sleeve (5).
3. a kind of permanent-magnet chain climbing robot with elastic steel sheet according to claim 2, it is characterised in that：It is also
Including manual adjustment, manual adjustment is arranged on the first steel disc (17) and the second steel disc (18) intersection and the 3rd steel disc (19)
With the intersection upper end of the 4th steel disc (20).
4. a kind of permanent-magnet chain climbing robot with elastic steel sheet according to claim 3, it is characterised in that：Manually
Regulating part includes screw mandrel (21) and two nuts (22), and two nuts (22) are respectively and fixedly installed to the first steel disc (17) and second
On steel disc (18) crosspoint and the crosspoint of the 3rd steel disc (19) and the 4th steel disc (20), screw mandrel (21) is two ends thread rotary orientation phase
Anti- screw mandrel, screw mandrel (21) is screwed on two nuts (22), to drive two nuts (22) while opposite or reverse motions.
5. a kind of permanent-magnet chain climbing robot with elastic steel sheet according to claim 4, it is characterised in that：Manually
Regulating part includes handle (23), and handle (23) is arranged on one end of screw mandrel (21).
6. a kind of permanent-magnet chain climbing robot with elastic steel sheet according to claim 5, it is characterised in that：Actively
Sprocket wheel (12) is identical with driven sprocket (14) structure, and drive sprocket (12) includes two vertical sprocket wheels and a horizontal roller, two
Vertical sprocket wheel is oppositely arranged, and is connected between two vertical sprocket wheels by horizontally disposed horizontal roller.
7. a kind of permanent-magnet chain climbing robot with elastic steel sheet according to claim 6, it is characterised in that：Permanent magnetism
Chain assemblies (15) include two permanent-magnet chains (15-1) and tracks of permanent magnetism and creeped hole (15-2), and two permanent-magnet chains (15-1) are divided
It An Zhuan not connected between two permanent-magnet chains (15-1) by tracks of permanent magnetism hole (15-2) of creeping on two vertical sprocket wheels.
8. a kind of permanent-magnet chain climbing robot with elastic steel sheet according to claim 7, it is characterised in that：Permanent magnetism
Creeprail hole (15-2) is flute profile, V-arrangement or indent arc.
9. a kind of permanent-magnet chain climbing robot with elastic steel sheet according to claim 1 or 8, it is characterised in that：
First quantity for climbing the slide rail (4) of wall leg is 2 or 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510962735.7A CN105460093B (en) | 2015-12-18 | 2015-12-18 | A kind of permanent-magnet chain climbing robot with elastic steel sheet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510962735.7A CN105460093B (en) | 2015-12-18 | 2015-12-18 | A kind of permanent-magnet chain climbing robot with elastic steel sheet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105460093A CN105460093A (en) | 2016-04-06 |
| CN105460093B true CN105460093B (en) | 2017-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510962735.7A Active CN105460093B (en) | 2015-12-18 | 2015-12-18 | A kind of permanent-magnet chain climbing robot with elastic steel sheet |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110252749B (en) * | 2019-07-12 | 2020-03-06 | 厦门佰欧环境智能科技有限公司 | Robot for cleaning central air-conditioning pipeline |
| CN112520294A (en) * | 2020-12-16 | 2021-03-19 | 合肥井松智能科技股份有限公司 | Unmanned transportation automatic guided vehicle and storage system |
| CN112960043B (en) * | 2021-03-08 | 2022-02-18 | 中国矿业大学 | Magnetic adsorption type steel wire rope inspection robot |
| CN113566752B (en) * | 2021-07-29 | 2023-05-23 | 山东艾镭特机器人科技有限公司 | Online detection robot for pipeline thickness |
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| CN101092151A (en) * | 2007-07-24 | 2007-12-26 | 于复生 | Wall-climbing robot on surface of iron based tank |
| CN101704241A (en) * | 2009-11-03 | 2010-05-12 | 大连海事大学 | Wall-climbing robot for removing rust on wall surfaces of ships and working method thereof |
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| CN205186334U (en) * | 2015-12-18 | 2016-04-27 | 哈尔滨科能熔敷科技有限公司 | Permanent magnetism chain wall climbing robot with elastic steel sheet |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6601430B2 (en) * | 2001-10-09 | 2003-08-05 | Delaware Capital Formation, Inc. | Jack with elevatable platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101092151A (en) * | 2007-07-24 | 2007-12-26 | 于复生 | Wall-climbing robot on surface of iron based tank |
| CN101704241A (en) * | 2009-11-03 | 2010-05-12 | 大连海事大学 | Wall-climbing robot for removing rust on wall surfaces of ships and working method thereof |
| CN204844196U (en) * | 2015-05-28 | 2015-12-09 | 江阴市永红橡塑有限公司 | Pneumatic plug suction means who adjusts sucking disc interval |
| CN205186334U (en) * | 2015-12-18 | 2016-04-27 | 哈尔滨科能熔敷科技有限公司 | Permanent magnetism chain wall climbing robot with elastic steel sheet |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105460093A (en) | 2016-04-06 |
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Address after: No.1, 4th floor, unit 1, Longyue building, Hongqi Street, Nangang concentration District, Harbin Economic Development Zone, Heilongjiang Province Patentee after: Harbin Keneng Cladding Technology Co., Ltd Address before: 150040 Heilongjiang province Harbin city Xiangfang province music pine square Patentee before: HARBIN KENENG CLADDING TECHNOLOGY Co.,Ltd. |
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Denomination of invention: A permanent magnet chain wall climbing robot with elastic steel sheet Effective date of registration: 20201228 Granted publication date: 20171020 Pledgee: Harbin Kechuang Financing Guarantee Co., Ltd Pledgor: Harbin Keneng Cladding Technology Co., Ltd Registration number: Y2020230000021 |
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Date of cancellation: 20211124 Granted publication date: 20171020 Pledgee: Harbin Kechuang Financing Guarantee Co., Ltd Pledgor: Harbin Keneng Cladding Technology Co., Ltd Registration number: Y2020230000021 |