CN109027517A - Magnetic suck climbing robot pedrail mechanism - Google Patents
Magnetic suck climbing robot pedrail mechanism Download PDFInfo
- Publication number
- CN109027517A CN109027517A CN201811146321.7A CN201811146321A CN109027517A CN 109027517 A CN109027517 A CN 109027517A CN 201811146321 A CN201811146321 A CN 201811146321A CN 109027517 A CN109027517 A CN 109027517A
- Authority
- CN
- China
- Prior art keywords
- climbing robot
- magnetic suck
- pedrail mechanism
- rack
- suck climbing
- Prior art date
- 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.)
- Granted
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 239000000463 material Substances 0.000 claims abstract description 5
- 229920002635 polyurethane Polymers 0.000 claims abstract description 5
- 239000004814 polyurethane Substances 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000001771 impaired effect Effects 0.000 abstract description 4
- 239000002184 metal Substances 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007363 ring formation reaction Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention proposes a kind of magnetic suck climbing robot pedrail mechanisms, by the way that directive wheel is arranged, and idler wheel is set in track unit, in transverse shifting, pair of rollers directive wheel is played a supporting role, and crawler belt stress is transmitted in rack, and the two rolls connection, friction can be greatly lowered, prevent crawler belt impaired, to adapt to lateral walking；The protection board of polyurethane material is set, can play the role of protecting magnet, increasing friction force, even closer, ease of assembly is bonded with pipe surface to avoid magnet and metal surface direct friction；Leading truck is set, the bumps and fluctuating of bottom surface are suitable for, reduces the impact force being subject to when quickly walking.
Description
Technical field
The present invention relates to climbing robot field more particularly to a kind of magnetic suck climbing robot pedrail mechanisms.
Background technique
Pipe robot be one kind can inside or outside small sized pipeline automatically walk, carry one or more sensors and
Operation is mechanical, under the remote control operation or computer controlled automatic of staff, carries out mechanical, electrical, the instrument of a series of pipeline operations
Integral system.
Current magnetic suck climbing robot on the market is generally mutually nibbled using magnetic caterpillar belt structure, idler wheel and crawler belt radially
It closes, stress intensity is higher, but axial direction stress is more weak, therefore, in vertically disposed steel pipe intrados or extrados
When lateral movement, idler wheel and crawler belt axial direction frictional force are very big, cause magnetic crawler belt or magnet-wheel to be easy impaired, need frequent
Replace magnetic crawler belt or magnet-wheel.
Summary of the invention
In view of this, idler wheel is greatly lowered and the magnetic suck of crawler belt axial direction friction is creeped the invention proposes a kind of
Robot pedrail mechanism.
The technical scheme of the present invention is realized as follows: the present invention provides a kind of magnetic suck climbing robot tracked machines
Structure comprising rack (1), gear (2) and chain crawler belt (3), gear (2) are rotatably connected with rack (1), further include directive wheel
(5), chain crawler belt (3) includes several track units (30), and each track unit (30) includes a fixed plate (31), several magnetic
Body (32), two transmission chains (33), two shafts (34) and two idler wheels (35), two shafts (34) are vertically installed in table on fixed plate (31)
It face and is nested with respectively idler wheel (35), several magnets (32) are set to fixed plate (31) lower surface and fixed thereto, two transmission chains
(33) it is individually fixed in fixed plate (31) upper surface, the transmission chain (33) of adjacent track unit (30) is mutually hinged, gear (2)
It is intermeshed with transmission chain (33), directive wheel (5) is rotatably connected with rack (1), surface and fixed plate (31) upper surface are mutual
It supports, side and idler wheel (35) support.
On the basis of above technical scheme, it is preferred that the track unit (30) further includes a protection board (36), described
Fluted (37) are arranged in protection board (36) surface, and magnet (32) is arranged in groove (37), and fixed plate (31) following table cover is located at
It is on protection board (36) and fixed thereto.It is further preferred that the protection board (36) uses polyurethane material.
On the basis of above technical scheme, it is preferred that the track unit (30) further includes two bolts (38), two bolts
(38) it is threadedly connected to two shafts (34) end face respectively, and two idler wheels (35) are limited respectively.
On the basis of above technical scheme, it is preferred that further include leading truck (4), leading truck (4) includes two tripods
(41) and a pivotal axis (42), tripod (41) is in isosceles triangle, and two tripods (41) are arranged in parallel and corner position
It is connected and fixed by pivotal axis (42), pivotal axis (42) is rotatably connected with rack (1), and four directive wheels (5) are respectively arranged at three
Corner bracket (41) base angle position.
It is further preferred that two directive wheel (5) medial surfaces of same tripod (41) base angle position and same crawler belt list
Idler wheel (35) on first (30) mutually supports, two directive wheels (5) be respectively arranged at two idler wheels (35) and two transmission chains (33) it
Between.
It is further preferred that being set to rack (1) head and the tail two sides two-by-two respectively there are four gear (2) settings.
It is further preferred that there are four the leading truck (4) settings, it is set between head and the tail gear (2) and up and down two-by-two
It is symmetrical arranged.
Magnetic suck climbing robot pedrail mechanism of the invention has the advantages that compared with the existing technology
(1) by setting directive wheel, and idler wheel is set in track unit, in transverse shifting, pair of rollers directive wheel is risen
To supporting role, crawler belt stress is transmitted in rack, and the two rolls connection, and friction can be greatly lowered, prevent crawler belt
It is impaired, to adapt to lateral walking；
(2) protection board of polyurethane material is set, can protect magnet, increasing friction force, be bonded more with pipe surface
Closely, ease of assembly；
(3) leading truck is set, the bumps and fluctuating of bottom surface are suitable for, reduces the impact force being subject to when quickly walking.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the perspective view of magnetic suck climbing robot pedrail mechanism of the invention；
Fig. 2 is the side view of magnetic suck climbing robot pedrail mechanism of the invention；
Fig. 3 is the directive wheel of magnetic suck climbing robot pedrail mechanism of the invention and the solid of chain crawler belt coupling part
Figure；
Fig. 4 is the perspective view of the track unit of magnetic suck climbing robot pedrail mechanism of the invention；
Fig. 5 is the explosive view of the track unit of magnetic suck climbing robot pedrail mechanism of the invention.
Specific embodiment
Below in conjunction with embodiment of the present invention, the technical solution in embodiment of the present invention is carried out clearly and completely
Description, it is clear that described embodiment is only some embodiments of the invention, rather than whole embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all
Other embodiments shall fall within the protection scope of the present invention.
As shown in Figure 1, in conjunction with Fig. 2 and Fig. 3, magnetic suck climbing robot pedrail mechanism of the invention, including rack 1, tooth
Wheel 2, chain crawler belt 3, leading truck 4 and directive wheel 5.
Rack 1 is stressed member, is connected with each other with climbing robot car body.
Gear 2 connects motor, is rotatably connected with rack 1, plays the role of power output.Specifically, the gear 2
There are four settings, is set to 1 head and the tail two sides of rack two-by-two respectively, and two of them gear 2 is coaxially disposed, and motor is connected, as drive
Moving gear, other two coaxial arrangement, as driven gear.
Chain crawler belt 3, promptly ground, plays the role of power output.It includes several track units 30, such as Fig. 4 institute
Show, in conjunction with Fig. 5, each track unit 30 includes a fixed plate 31, several magnets 32, two transmission chains 33, two shafts 34 and two rollings
Take turns 35, one protection board 36 and two bolts 38.
Two shafts 34 are vertically installed in 31 upper surface of fixed plate and are nested with idler wheel 35 respectively, and two bolts 38 are distinguished screw thread and connected
It is connected to two shafts, 34 end face, and two idler wheels 35 are limited respectively.It can only 34 rotation around the shaft in this way, limiting idler wheel 35.
Several magnets 32 are set to 31 lower surface of fixed plate and fixed thereto, specifically, 36 surface of the protection board is arranged
Fluted 37, magnet 32 is arranged in groove 37, and 31 following table cover of fixed plate is located on protection board 36 and fixed thereto.Specifically
, the protection board 36 uses polyurethane material, even closer, ease of assembly can be bonded with pipe surface with increasing friction force.
Specifically, the 32 mining strong magnet of magnet.
Two transmission chains 33 are individually fixed in 31 upper surface of fixed plate, and the transmission chain 33 of adjacent track unit 30 is mutually hinged
It connecing, all transmission chains 33 positioned at 31 the same side of fixed plate are mutually hinged cyclization, meanwhile, gear 2 is mutually nibbled with transmission chain 33
It closes, 3 cycle rotation of drive chain crawler belt is advanced.
Directive wheel 5 is rotatably connected with rack 1, and surface is mutually supported with 31 upper surface of fixed plate.Specifically, such as Fig. 3 institute
Show, leading truck 4 includes two tripods 41 and a pivotal axis 42, and tripod 41 is in isosceles triangle, and two tripods 41 are parallel to each other
It is arranged and corner position is connected and fixed by pivotal axis 42, pivotal axis 42 is rotatably connected with rack 1, and four directive wheels 5 are set respectively
It is placed in 41 base angle position of tripod.In this way, tripod 41 can be rotated around pivotal axis 42 when encountering up-and-down ground, from
And the ground of out-of-flatness is adapted to, the impact force of crawler belt and ground when reducing walking.Specifically, there are four the settings of leading truck 4,
It is set between head and the tail gear 2 and is symmetrical arranged two-by-two up and down.
5 side of directive wheel is supported with idler wheel 35, in this way, when walking, 5 side of directive wheel is made by the support of idler wheel 35
With robot overall weight being transmitted in rack 1 by crawler belt, in addition, idler wheel 35 can be relatively rotated with directive wheel 5, reduction rubs
Power is wiped, prevents crawler belt impaired, to adapt to lateral walking.Specifically, in two directive wheels 5 of same 41 base angle position of tripod
Side is mutually supported with the idler wheel 35 in same track unit 30, and two directive wheels 5 are respectively arranged at two idler wheels 35 and two transmissions
Between chain 33.
The magnetic suck climbing robot pedrail mechanism mode of action of the invention is as follows:
In laterally walking, motor drives the circulation of track unit 30 and ground face contact by gear 2, travels forward, and is oriented to
Robot overall weight, will be transmitted in rack 1 by supporting role of the wheel 5 by idler wheel 35 by crawler belt；Meanwhile directive wheel 5 exists
When walking between each idler wheel 35, the relative rolling between idler wheel 35 reduces friction.
Encounter road surface it is uneven when, tripod 41 can be rotated around pivotal axis 42, to adapt to the ground of out-of-flatness, be dropped
The impact force of crawler belt and ground when low row is walked.
The foregoing is merely better embodiments of the invention, are not intended to limit the invention, all of the invention
Within spirit and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of magnetic suck climbing robot pedrail mechanism comprising rack (1), gear (2) and chain crawler belt (3), gear (2)
It is rotatably connected with rack (1), it is characterised in that: further include directive wheel (5), chain crawler belt (3) includes several track units
(30), each track unit (30) include a fixed plate (31), several magnets (32), two transmission chains (33), two shafts (34) and
Two idler wheels (35), two shafts (34) are vertically installed in fixed plate (31) upper surface and are nested with idler wheel (35), several magnets respectively
(32) it is set to fixed plate (31) lower surface and fixed thereto, two transmission chains (33) are individually fixed in fixed plate (31) upper surface,
The transmission chain (33) of adjacent track unit (30) is mutually hinged, and gear (2) and transmission chain (33) are intermeshed, directive wheel (5)
It is rotatably connected with rack (1), surface and fixed plate (31) upper surface mutually supports, side and idler wheel (35) support.
2. magnetic suck climbing robot pedrail mechanism as described in claim 1, it is characterised in that: the track unit (30) is also
Including a protection board (36), fluted (37) are arranged in protection board (36) surface, and magnet (32) is arranged in groove (37), Gu
Fixed board (31) following table cover is located on protection board (36) and fixed thereto.
3. magnetic suck climbing robot pedrail mechanism as claimed in claim 2, it is characterised in that: the protection board (36) uses
Polyurethane material.
4. magnetic suck climbing robot pedrail mechanism as described in claim 1, it is characterised in that: the track unit (30) is also
Including two bolts (38), two bolts (38) are threadedly connected to two shafts (34) end face respectively, and carry out respectively to two idler wheels (35)
Limit.
5. magnetic suck climbing robot pedrail mechanism as described in claim 1, it is characterised in that: further include leading truck (4), lead
It include two tripods (41) and a pivotal axis (42) to frame (4), tripod (41) is in isosceles triangle, and two tripods (41) are mutual
It is arranged in parallel and corner position is connected and fixed by pivotal axis (42), pivotal axis (42) is rotatably connected with rack (1), four guiding
Wheel (5) is respectively arranged at tripod (41) base angle position.
6. magnetic suck climbing robot pedrail mechanism as claimed in claim 5, it is characterised in that: same tripod (41) base angle
Two directive wheel (5) medial surfaces of position are mutually supported with the idler wheel (35) on same track unit (30), two directive wheels (5)
It is respectively arranged between two idler wheels (35) and two transmission chains (33).
7. magnetic suck climbing robot pedrail mechanism as claimed in claim 5, it is characterised in that: the gear (2) is provided with
Four, it is set to rack (1) head and the tail two sides two-by-two respectively.
8. magnetic suck climbing robot pedrail mechanism as claimed in claim 5, it is characterised in that: leading truck (4) setting
There are four, it is set between head and the tail gear (2) and is symmetrical arranged two-by-two up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811146321.7A CN109027517B (en) | 2018-09-26 | 2018-09-26 | Magnetic adsorption crawling robot crawler mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811146321.7A CN109027517B (en) | 2018-09-26 | 2018-09-26 | Magnetic adsorption crawling robot crawler mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109027517A true CN109027517A (en) | 2018-12-18 |
| CN109027517B CN109027517B (en) | 2024-03-22 |
Family
ID=64614989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811146321.7A Active CN109027517B (en) | 2018-09-26 | 2018-09-26 | Magnetic adsorption crawling robot crawler mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109027517B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117948042A (en) * | 2024-03-22 | 2024-04-30 | 成都云通工程咨询有限公司 | Drilling machine for highway construction |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001001960A (en) * | 1999-06-22 | 2001-01-09 | Yanmar Diesel Engine Co Ltd | Turning mechanism for crawler running gear |
| CN103963858A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Integrated track traveling device of mining robot |
| CN106585746A (en) * | 2016-11-29 | 2017-04-26 | 华南农业大学 | Electric hillside orchard caterpillar band conveyor |
| CN108100067A (en) * | 2018-01-08 | 2018-06-01 | 孙忠 | Magnetic absorbing unit and magnetic suck crawler belt |
| CN108482503A (en) * | 2018-04-28 | 2018-09-04 | 李晓 | A kind of magnetic wheel shoe formula climbing robot barrier getting over mechanism |
| CN208935650U (en) * | 2018-09-26 | 2019-06-04 | 武汉力博物探有限公司 | Magnetic suck climbing robot pedrail mechanism |
-
2018
- 2018-09-26 CN CN201811146321.7A patent/CN109027517B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001001960A (en) * | 1999-06-22 | 2001-01-09 | Yanmar Diesel Engine Co Ltd | Turning mechanism for crawler running gear |
| CN103963858A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Integrated track traveling device of mining robot |
| CN106585746A (en) * | 2016-11-29 | 2017-04-26 | 华南农业大学 | Electric hillside orchard caterpillar band conveyor |
| CN108100067A (en) * | 2018-01-08 | 2018-06-01 | 孙忠 | Magnetic absorbing unit and magnetic suck crawler belt |
| CN108482503A (en) * | 2018-04-28 | 2018-09-04 | 李晓 | A kind of magnetic wheel shoe formula climbing robot barrier getting over mechanism |
| CN208935650U (en) * | 2018-09-26 | 2019-06-04 | 武汉力博物探有限公司 | Magnetic suck climbing robot pedrail mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117948042A (en) * | 2024-03-22 | 2024-04-30 | 成都云通工程咨询有限公司 | Drilling machine for highway construction |
| CN117948042B (en) * | 2024-03-22 | 2024-06-04 | 成都云通工程咨询有限公司 | Drilling machine for highway construction |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109027517B (en) | 2024-03-22 |
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