CN109987165A - A kind of chassis structure of the magnetic suck underwater crawling machine people with universal wheel support - Google Patents
A kind of chassis structure of the magnetic suck underwater crawling machine people with universal wheel support Download PDFInfo
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- CN109987165A CN109987165A CN201910287661.XA CN201910287661A CN109987165A CN 109987165 A CN109987165 A CN 109987165A CN 201910287661 A CN201910287661 A CN 201910287661A CN 109987165 A CN109987165 A CN 109987165A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
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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
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Abstract
The invention discloses the chassis structures of magnetic suck underwater crawling machine people with universal wheel support a kind of, including girder, left drive wheel group, right front driving wheel group, universal wheel；The left drive wheel group, right front driving wheel group, universal wheel are individually fixed on the girder, left drive wheel group and right front driving wheel group are arranged in the left and right sides of girder front, universal wheel is arranged in below the end of girder, and the left drive wheel group, right front driving wheel group and girder constitute a T word shape.The chassis structure has the characteristics that compact-sized, steering is flexible, and the climbing robot with the chassis structure can be applied to the operations such as the isostructural cleaning of large-scale steel structure, hull surface, oil platform, detection.
Description
Technical field
The invention belongs to underwater robot technical fields, and in particular to it is a kind of with universal wheel support magnetic suck climb under water
The chassis structure of row robot.
Background technique
With the continuous development of science and technology, the mankind are also more and more deep to the exploitation of Yu Haiyang.The exploitation of ocean be unable to do without each
Kind of underwater structure, due to the particularity of environment, ocean underwater structure is easy to be adsorbed by various marine organisms, cause corrosion or
Influence performance, it is therefore desirable to be cleaned.For now, underwater cleaning and operation are mainly realized by underwater robot.
Magnetic adsorption wall climbing robot application in terms of Ship body cleaning, pipeline is relatively broad.Climbing robot
It is provided in the driving on chassis and increases permanent magnet or electromagnet to be adsorbed onto ship or works metal surface, utilize magnetic
Overcome robot self gravity under attached power and the frictional force collective effect of wheel, allow robot inclination, it is even vertical
Crawling exercises is done on metal surface.The climbing robot of electromagnet absorption is due to the case where controlling relative complex, same adsorption capacity
The weight of lower electromagnet is also with respect to permanent magnetism weight, therefore the magnetic adsorption wall climbing robot of electromagnet adsorption form is only very special
In the case where use.Therefore, the magnetic adsorption wall climbing robot of permanent magnet absorption is the mainstream and trend of current application.
Current magnetic adsorption wall climbing robot is applied mostly in plane or slight curves curved surface, this climbing robot master
If existing magnetic suck robot chassis structure is primarily present following problems: (1) knot on crawler-type traveling chassis based on crawler belt
Structure is complicated, robot itself is heavier, the payload provided is less；(2) cterpillar drive manufacturing cost is high, operation speed
Spend it is low, operation and turn to when power consumption it is big, parts depreciation is fast；(3) caterpillar chassis structure turns to inflexible, mobility
Difference.
Summary of the invention
For the above-mentioned problems in the prior art, the present invention provides a kind of magnetic attached waters with universal wheel support
The chassis structure of lower climbing robot, the chassis structure have the characteristics that compact-sized, steering is flexible, with the chassis structure
Climbing robot can be applied to the operations such as the isostructural cleaning of large-scale steel structure, hull surface, oil platform, detection.
For this purpose, the invention adopts the following technical scheme:
A kind of chassis structure of the magnetic suck underwater crawling machine people with universal wheel support, including girder, left drive
Wheel group, right front driving wheel group, universal wheel；The left drive wheel group, right front driving wheel group, universal wheel are individually fixed in the master
Liang Shang, left drive wheel group and right front driving wheel group are arranged in the left and right sides of girder front, and universal wheel is arranged in girder
End below, the left drive wheel group, right front driving wheel group and girder constitute a T word shape.
Preferably, the left drive wheel group and right front driving wheel group structure having the same, radially set from inside to outside
Be equipped with brake, DC brushless motor, retarder, hollow form driving box, hat shape wheel hub, interior magnetic guiding loop, cylindrical permanent magnet wheel,
Outer magnetic guiding loop, outer magnetic guiding loop compression ring, cylindrical wear wheel；The brake, DC brushless motor, retarder along axial direction successively
It is close to installation in end face；The output shaft of the DC brushless motor stretches out both sides of the face, and the axis of rear end face stretches the output with brake
Axis key connection, the axis of front end face is stretched to be keyed with the input shaft of retarder；Processing in one side opening of hollow form driving box
There is flange face, the retarder outlet side is mounted on the flange face；Hollow form driving box external process has an outer disc outer,
Another side end face is machined with end flanges, and edge, which is parallel on axial outer end face, at close end flanges is machined with for installing
The threaded hole of oil-filled connector；The hat shape wheelboss inner hole is axially inside installed there are two sliding bearing, the crown end face of wheel hub
Interior lateral edge axis at be machined with an axis hole with keyway, be machined with flange hole on the outside of the crown end face of wheel hub；The cap of wheel hub
A thrust bearing is installed at the inner side end of top, the cap of hat shape wheel hub other side is machined with flange hole along end face；It is described
The external cylindrical surface of hollow form driving box and the hat shape hub interior cooperate along two axially mounted sliding bearings, and hollow form drives
Dynamic one side end face of case cooperates with the thrust bearing being installed on hat shape wheel hub end face, the outer disc side installation of hollow form driving box
There are a thrust bearing, the other side of bearing and the wheel hub end housing with the first bolt fastening on the flange face of hat shape wheel hub end face
It is close to；Interior magnetic guiding loop, cylinder are successively cased with by the cap edge of hat shape wheel hub along axial direction in the cylindrical shaft of the hat shape wheel hub
Permanent magnet wheel, outer magnetic guiding loop and outer magnetic guiding loop compression ring, their end face are successively bonded two-by-two；It is processed on outer magnetic guiding loop compression ring
There is flange hole, the flange hole on the outside of the crown end face of flange hole and hat shape wheel hub is passed through with the first bolt and is fastened；The cylinder
Wear wheel inner hole sleeve interior magnetic guiding loop, cylindrical permanent magnet wheel, outer magnetic guiding loop external cylindrical surface on, the two sides of cylindrical wear wheel
It is close to respectively with interior magnetic guiding loop and outer magnetic guiding loop end face end face.
Preferably, further include hollow form securing member, be machined in the hollow form securing member along axial direction left and right
Two flange faces, left and right two flange faces are connected with the end flanges of left drive wheel group and right front driving wheel group respectively,
Left drive wheel group is connected to by the hollow hole in hollow form securing member with the cavity of right front driving wheel group.
Preferably, the cylindrical wear wheel is process by the wear-resistant material of thin annulus.
Preferably, place vertical with oil-filled screw thread hole face is machined with 4 threaded holes on the hollow form driving box outer end face.
Preferably, the girder is a T word contour structures, is machined with 2 groups of each 4 bolts hole on the upper end face T of T word, point
The two sides of girder end face are distributed in, third bolt passes through the preceding driving of hollow form driving box and the right side of the bolt hole and left drive wheel group
4 threaded holes on the hollow form driving box of wheel group, by the hollow form driving box and right preceding driving of girder and left drive wheel group
The hollow form driving box of wheel group is fastened together；The girder other side is machined with close to endface perpendicular to T-shaped plane
Through-hole, sliding bearing is installed on the upper and lower surfaces of through-hole, for installing universal wheel.
Preferably, the universal wheel includes Y shape fork shaft, rear wheels, pin shaft, first bearing and retaining ring；The Y shape fork shaft
It is machined with hole on two fork handles, first bearing is installed, pin shaft passes through the wear-resisting annular distance in the hole and rear wheels, by being mounted on hole
Y shape fork shaft, rear wheels, pin shaft are fixed together by the retaining ring on the both ends of pin shaft；The Y shape fork shaft other side is to hang down with two fork handle holes
Straight cylindrical shaft, cylinder axial end are threaded hole along axis；
Preferably, the cylindrical shaft of the Y shape fork shaft of the universal wheel passes through the two bearings hole of girder end face, and the second bolt passes through
Through-hole in cylindrical shaft is fastened on the cylindrical shaft threaded hole of Y shape fork shaft, and universal wheel is fixed together with girder, is set therebetween
There is second bearing, universal wheel is rotated relative to girder.
Preferably, the rear wheels are mainly by wear ring, right magnetic guiding loop, roundlet cylindricality permanent magnet wheel, left magnetic guiding loop, Bao Duan
Face fastening nut and roundlet cylindricality wear wheel composition；The wear ring is the T shape axis with inner hole, and shaft end endface is machined with
Right magnetic guiding loop, roundlet cylindricality permanent magnet wheel, left magnetic guiding loop are successively applied thin end from right to left by external screw thread, the axial direction along wear ring
Face fastening nut is fixed on wear-resisting annulate shaft, their end faces are successively close to two-by-two.
Preferably, the left drive wheel group and right front driving wheel group are equipped with oil-filled hole, and oil-filled hole is connected to left drive
The cavity of wheel group and right front driving wheel group, for oil-filled and keep the balance of chassis external and internal pressure.
Compared with prior art, the beneficial effects of the present invention are:
(1) compact-sized, under the premise of guaranteeing adsorption capacity, robot own wt is smaller, and payload is big.
(2) it turns to flexibly, sport efficiency is high, can be as the movement that original place is spinned.
(3) it can be used under land and underwater environment, system can be applied after pressure compensation and aseptic technic processing
In 300 meters or so of the depth of water.
(4) climbing robot with the chassis structure can be applied to large-scale steel structure, hull surface, oil platform etc.
The operations such as cleaning, the detection of structure.
Detailed description of the invention
Fig. 1 is the chassis structure of magnetic suck underwater crawling machine people with universal wheel support provided by the present invention a kind of
Overall structure diagram.
Fig. 2 is the chassis structure of magnetic suck underwater crawling machine people with universal wheel support provided by the present invention a kind of
Main view cross-sectional view.
Fig. 3 is the chassis structure of magnetic suck underwater crawling machine people with universal wheel support provided by the present invention a kind of
Hollow form securing member cross-sectional view.
Fig. 4 is the chassis structure of magnetic suck underwater crawling machine people with universal wheel support provided by the present invention a kind of
Left view cross-sectional view.
Fig. 5 is the chassis structure of magnetic suck underwater crawling machine people with universal wheel support provided by the present invention a kind of
Universal wheel cross-sectional view.
Description of symbols: I, girder；II, left drive wheel group；III, right front driving wheel group；IV, universal wheel；1, cylinder
Shape wear wheel；2, cylindrical permanent magnet wheel；3, O-ring；4, outer magnetic guiding loop；5, outer magnetic guiding loop compression ring；6, the first bolt；7, cap
Shape wheel hub；8, key；9, thrust bearing；10, sliding bearing；11, interior magnetic guiding loop；12, wheel hub end housing；13, retarder；14, hollow
Shape driving box；15, DC brushless motor；16, brake；17, oil-filled bolt；18, hollow form securing member；19, rear wheels；
20, pin shaft；21, first bearing；22, Y shape fork shaft；23, cylindrical shaft；24, wear ring；25, retaining ring；26, right magnetic guiding loop；27, small
Cylindrical permanent magnet wheel；28, roundlet cylindricality wear wheel；29, left magnetic guiding loop；30, thin end face fastening nut；31, the second bolt；
32, third bolt；33, second bearing.
Specific embodiment
With reference to the accompanying drawing and specific embodiment come the present invention will be described in detail, specific embodiment therein and explanation only
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, the invention discloses the chassis of magnetic suck underwater crawling machine people with universal wheel support a kind of
Structure, including girder I, left drive wheel group II, right front driving wheel group III, universal wheel IV；The left drive wheel group II, the right side
Front driving wheel group III, universal wheel IV are individually fixed on the girder I, and left drive wheel group II and right front driving wheel group III divide
It is not arranged in the left and right sides of the front girder I, universal wheel is arranged in below the end of girder I, the left drive wheel group II, the right side
Front driving wheel group III and girder I constitutes a T word shape.
Specifically, as shown in Fig. 2, the left drive wheel group II and right front driving wheel group III structure having the same, edge
It is radial be provided with from inside to outside brake 16, DC brushless motor 15, retarder 13, hollow form driving box 14, hat shape wheel hub 7,
Interior magnetic guiding loop 11, cylindrical permanent magnet wheel 2, outer magnetic guiding loop 4, outer magnetic guiding loop compression ring 5, cylindrical wear wheel 1；The brake
16, successively installation is close in end face along axial direction for DC brushless motor 15, retarder 13；The output shaft of the DC brushless motor 15 is stretched
Both sides of the face out, the axis of rear end face is stretched to be keyed with the output shaft of brake 16, and the axis of front end face is stretched defeated with retarder 13
Enter axis key connection；Flange face is machined in 14 1 side opening of hollow form driving box, 13 outlet side of retarder is mounted on
On the flange face；14 external process of hollow form driving box has an outer disc outer, and another side end face is machined with end flanges, is leaning on
Proximal end face flange edge is parallel to the threaded hole being machined on axial outer end face for installing oil-filled connector, the oil-filled screw thread
Hole is equipped with oil-filled bolt 17；7 inner hole of hat shape wheel hub is axially inside installed there are two sliding bearing 10, the crown of wheel hub
It is machined with an axis hole with keyway at the interior lateral edge axis of end face, is machined with flange hole on the outside of the crown end face of wheel hub；Wheel hub
Crown inner side end at a thrust bearing 9 is installed, the cap of 7 other side of hat shape wheel hub is machined with flange along end face
Hole；Two sliding bearings 10 that the external cylindrical surface of the hollow form driving box 14 and the hat shape wheel hub 7 are axially inside installed
Cooperation, 14 1 side end face of hollow form driving box cooperate with the thrust bearing 9 being installed on 7 end face of hat shape wheel hub, hollow form driving
The outer disc side of case 14 is equipped with a thrust bearing 9, the other side of bearing be fastened on hat shape wheel hub with the first bolt 6
Wheel hub end housing 12 on 7 end flanges faces is close to；Along axial direction by the cap of hat shape wheel hub 7 in the cylindrical shaft of the hat shape wheel hub 7
Interior magnetic guiding loop 11, cylindrical permanent magnet wheel 2, outer magnetic guiding loop 4 and outer magnetic guiding loop compression ring 5, their end face are successively cased at
Successively it is bonded two-by-two；It is machined with flange hole on outer magnetic guiding loop compression ring 5, passes through flange hole and hat shape wheel hub 7 with the first bolt 6
Flange hole fastening on the outside of crown end face；It is described cylinder 1 inner hole sleeve of wear wheel interior magnetic guiding loop 11, cylindrical permanent magnet wheel 2,
On the external cylindrical surface of outer magnetic guiding loop 4, the both sides of the face of cylindrical wear wheel 1 respectively with 4 end face of interior magnetic guiding loop 11 and outer magnetic guiding loop
It is close to, is sealed by O-ring 3 therebetween；It is connected between shown hat shape wheel hub 7 and retarder 13 by key 8.
Specifically, as shown in figure 3, further including hollow form securing member 18, edge in the hollow form securing member 18
Axially be machined with left and right two flange faces, left and right two flange faces respectively with left drive wheel group II and right front driving wheel
The end flanges of group III are connected, and hollow hole in hollow form securing member 18 is by left drive wheel group II and right front driving wheel
The cavity connection of group III.
Specifically, the cylindrical wear wheel 1 is process by the wear-resistant material of thin annulus.
Specifically, place vertical with oil-filled screw thread hole face is machined with 4 threaded holes on 14 outer end face of hollow form driving box.
Specifically, as shown in Figure 1 and Figure 4, the girder I is a T word contour structures, is machined with 2 on the upper end face T of T word
Each 4 bolts hole of group, are distributed in the two sides of the end face girder I, and third bolt 32 passes through the bolt hole and left drive wheel group II
4 threaded holes on the hollow form driving box 14 of hollow form driving box 14 and right front driving wheel group III, by girder I and left front drive
The hollow form driving box 14 of the hollow form driving box 14 of driving wheel group II and right front driving wheel group III are fastened together；The girder I
Other side is machined with the through-hole perpendicular to T-shaped plane close to endface, is equipped with sliding axle on the upper and lower surfaces of through-hole
It holds, for installing universal wheel IV.
Specifically, as shown in figure 5, the universal wheel IV includes Y shape fork shaft 22, rear wheels 19, pin shaft 20, first bearing 21
And retaining ring 25；It is machined with hole on two fork handles of the Y shape fork shaft 22, first bearing 21 is installed on hole, pin shaft 20 passes through the hole
With the wear-resisting annular distance of rear wheels 19, the retaining ring 25 on both ends by being mounted on pin shaft 20 is by Y shape fork shaft 22, rear wheels 19, pin
Axis 20 is fixed together；22 other side of Y shape fork shaft is the cylindrical shaft 23 vertical with two fork handle holes, and 23 end face of cylindrical shaft is along axis
It is threaded hole；
Specifically, the cylindrical shaft 23 of the Y shape fork shaft 22 of the universal wheel IV pass through the end face girder I two bearings hole, second
The through-hole that bolt 31 passes through in cylindrical shaft 23 is fastened on 23 threaded hole of cylindrical shaft of Y shape fork shaft 22, and universal wheel IV and girder I are solid
It is scheduled on together, is equipped with second bearing 33 therebetween, universal wheel IV is rotated relative to girder I.
Specifically, the rear wheels 19 are mainly led by wear ring 24, right magnetic guiding loop 26, roundlet cylindricality permanent magnet wheel 27, a left side
Magnet ring 29, thin end face fastening nut 30 and roundlet cylindricality wear wheel 28 form；The wear ring 24 is the T shape with inner hole
Axis, shaft end endface are machined with external screw thread, along wear ring 24 axial direction from right to left successively by right magnetic guiding loop 26, roundlet cylindricality forever
Magnet wheel 27, left magnetic guiding loop 29 are fixed on 24 axis of wear ring with thin end face fastening nut 30, their end faces are successively close to two-by-two.
Specifically, the left drive wheel group II and right front driving wheel group III is equipped with oil-filled hole, and oil-filled hole connection is left front
The cavity of driving wheel group II and right front driving wheel group III, for oil-filled and keep the balance of chassis external and internal pressure.
Left drive wheel group II, right front driving wheel group III can drive bottom when DC brushless motor 15 by driving in the same direction
Disk moves forward and backward, by driving respective DC brushless motor 15 chassis can be driven to do left/right rotation when doing different directions movement
Curved movement；Brake 16 can lock left drive wheel group II, right forerunner in left drive wheel group II and right front driving wheel group III
The rotation of driving wheel group III allows chassis that can be fixed on any position of creeped object；The universal wheel IV has roundlet cylindricality
Permanent magnet wheel 27 and rotary shaft perpendicular to roundlet cylindricality permanent magnet wheel 27 can follow front driving wheel to do passively front and back and turn
Curved movement keeps the kinetic stability on chassis；It is furnished with oil-filled hole on left drive wheel group II and right front driving wheel group III, it is oil-filled
Hole is connected to the cavity of left drive wheel group II, right front driving wheel group III, and by external compensation mechanism, which can work
Make in 300 meters of depth of waters.By above combination, the climbing robot with the chassis structure has considerable flexibility, motor-driven
Property, it can lock at an arbitrary position, and can work in big depth.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to restrict the invention, all in essence of the invention
Made any modification, equivalent replacement and improvement etc., should be included in protection scope of the present invention within mind and spirit
Within.
Claims (10)
1. a kind of chassis structure of the magnetic suck underwater crawling machine people with universal wheel support, including girder, left drive wheel
Group, right front driving wheel group, universal wheel, it is characterised in that: the left drive wheel group, right front driving wheel group, universal wheel are solid respectively
Due on the girder, left drive wheel group and right front driving wheel group are arranged in the left and right sides of girder front, universal wheel
It is arranged in below the end of girder, the left drive wheel group, right front driving wheel group and girder constitute a T word shape.
2. the chassis structure of magnetic suck underwater crawling machine people with universal wheel support according to claim 1 a kind of,
It is characterized by: the left drive wheel group and right front driving wheel group structure having the same, are radially provided with from inside to outside
Brake, retarder, hollow form driving box, hat shape wheel hub, interior magnetic guiding loop, cylindrical permanent magnet wheel, is led at DC brushless motor outside
Magnet ring, outer magnetic guiding loop compression ring, cylindrical wear wheel；The brake, DC brushless motor, retarder are along axial direction successively end face
It is close to installation；The output shaft of the DC brushless motor stretches out both sides of the face, and the axis of rear end face is stretched to be used with the output shaft of brake
Key connection, the axis of front end face is stretched to be keyed with the input shaft of retarder；Method is machined in one side opening of hollow form driving box
Blue face, the retarder outlet side are mounted on the flange face；Hollow form driving box external process has an outer disc outer, another
Side end face is machined with end flanges, at the end flanges along be parallel on axial outer end face be machined with it is oil-filled for installing
The threaded hole of connector；The hat shape wheelboss inner hole is axially inside installed there are two sliding bearing, the crown end face of wheel hub it is interior
It is machined with an axis hole with keyway at lateral edge axis, is machined with flange hole on the outside of the crown end face of wheel hub；In the crown of wheel hub
One thrust bearing is installed, the cap of hat shape wheel hub other side is machined with flange hole along end face at side end face；It is described hollow
The external cylindrical surface of shape driving box and the hat shape hub interior cooperate along two axially mounted sliding bearings, hollow form driving box
One side end face cooperates with the thrust bearing being installed on hat shape wheel hub end face, and the outer disc side of hollow form driving box is equipped with one
A thrust bearing, the other side of bearing are covered tightly with hub end of first bolt fastening on the flange face of hat shape wheel hub end face
Patch；Interior magnetic guiding loop, cylinder are successively cased with forever by the cap edge of hat shape wheel hub along axial direction in the cylindrical shaft of the hat shape wheel hub
Magnet wheel, outer magnetic guiding loop and outer magnetic guiding loop compression ring, their end face are successively bonded two-by-two；It is machined on outer magnetic guiding loop compression ring
Flange hole passes through the flange hole on the outside of the crown end face of flange hole and hat shape wheel hub with the first bolt and fastens；The cylinder is resistance to
Emery wheel inner hole sleeve interior magnetic guiding loop, cylindrical permanent magnet wheel, outer magnetic guiding loop external cylindrical surface on, the two side ends of cylindrical wear wheel
It is close to respectively with interior magnetic guiding loop and outer magnetic guiding loop end face in face.
3. the chassis structure of magnetic suck underwater crawling machine people with universal wheel support according to claim 2 a kind of,
It is characterized by also including hollow form securing member, left and right two are machined with along axial direction in the hollow form securing member
Flange face, left and right two flange faces are connected with the end flanges of left drive wheel group and right front driving wheel group respectively, hollow
Left drive wheel group is connected to by the hollow hole in shape securing member with the cavity of right front driving wheel group.
4. the chassis structure of magnetic suck underwater crawling machine people with universal wheel support according to claim 2 a kind of,
It is characterized by: the cylinder wear wheel is process by the wear-resistant material of thin annulus.
5. the chassis structure of magnetic suck underwater crawling machine people with universal wheel support according to claim 2 a kind of,
It is characterized by: place vertical with oil-filled screw thread hole face is machined with 4 threaded holes on the hollow form driving box outer end face.
6. the chassis structure of magnetic suck underwater crawling machine people with universal wheel support according to claim 5 a kind of,
It is characterized by: the girder is a T word contour structures, 2 groups of each 4 bolts hole are machined on the upper end face T of T word, are distributed in
The two sides of girder end face, third bolt pass through the hollow form driving box and right front driving wheel group of the bolt hole and left drive wheel group
Hollow form driving box on 4 threaded holes, by the hollow form driving box of girder and left drive wheel group and right front driving wheel group
Hollow form driving box be fastened together；The girder other side is machined with close to endface perpendicular to the logical of T-shaped plane
Hole is equipped with sliding bearing on the upper and lower surfaces of through-hole, for installing universal wheel.
7. the chassis structure of magnetic suck underwater crawling machine people with universal wheel support according to claim 1 a kind of,
It is characterized by: the universal wheel includes Y shape fork shaft, rear wheels, pin shaft, first bearing and retaining ring；Two forks of the Y shape fork shaft
It is machined with hole on handle, first bearing is installed, pin shaft passes through the wear-resisting annular distance in the hole and rear wheels, by being mounted on pin shaft on hole
Both ends on retaining ring Y shape fork shaft, rear wheels, pin shaft are fixed together；The Y shape fork shaft other side is vertical with two fork handle holes
Cylindrical shaft, cylinder axial end are threaded hole along axis.
8. the chassis structure of magnetic suck underwater crawling machine people with universal wheel support according to claim 7 a kind of,
It is characterized by: the cylindrical shaft of the Y shape fork shaft of the universal wheel passes through the two bearings hole of girder end face, the second bolt passes through cylinder
Through-hole in axis is fastened on the cylindrical shaft threaded hole of Y shape fork shaft, and universal wheel is fixed together with girder, is equipped with the therebetween
Two bearings, universal wheel are rotated relative to girder.
9. the chassis structure of magnetic suck underwater crawling machine people with universal wheel support according to claim 7 a kind of,
It is characterized by: the rear wheels are mainly tight by wear ring, right magnetic guiding loop, roundlet cylindricality permanent magnet wheel, left magnetic guiding loop, thin end face
Gu nut and roundlet cylindricality wear wheel composition；The wear ring is the T shape axis with inner hole, and shaft end endface is machined with outer spiral shell
Line, the axial direction along wear ring from right to left successively fasten right magnetic guiding loop, roundlet cylindricality permanent magnet wheel, the thin end face of left magnetic guiding loop
Nut is fixed on wear-resisting annulate shaft, their end faces are successively close to two-by-two.
10. a kind of magnetic suck underwater crawling machine people with universal wheel support according to any one of claim 1 to 9
Chassis structure, it is characterised in that: the left drive wheel group and right front driving wheel group are equipped with oil-filled hole, and oil-filled hole connection is left
The cavity of front driving wheel group and right front driving wheel group, for oil-filled and keep the balance of chassis external and internal pressure.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110773489A (en) * | 2019-09-12 | 2020-02-11 | 天津华能北方热力设备有限公司 | Barrier-free high-altitude rust removal device |
| CN111907671A (en) * | 2020-08-21 | 2020-11-10 | 浙江大学 | Gap-adjustable amphibious sucker |
| CN111975789A (en) * | 2020-07-28 | 2020-11-24 | 河海大学常州校区 | Cabin cleaning robot based on electromagnetic principle |
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| CN110773489A (en) * | 2019-09-12 | 2020-02-11 | 天津华能北方热力设备有限公司 | Barrier-free high-altitude rust removal device |
| CN111975789A (en) * | 2020-07-28 | 2020-11-24 | 河海大学常州校区 | Cabin cleaning robot based on electromagnetic principle |
| CN111975789B (en) * | 2020-07-28 | 2023-05-19 | 河海大学常州校区 | Cabin cleaning robot based on electromagnetic principle |
| CN111907671A (en) * | 2020-08-21 | 2020-11-10 | 浙江大学 | Gap-adjustable amphibious sucker |
| CN111907671B (en) * | 2020-08-21 | 2024-02-06 | 浙江大学 | Amphibious sucking disc with adjustable gap |
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