CN109987165B - Chassis structure of magnetic adsorption underwater crawling robot with universal wheel support - Google Patents
Chassis structure of magnetic adsorption underwater crawling robot with universal wheel support Download PDFInfo
- Publication number
- CN109987165B CN109987165B CN201910287661.XA CN201910287661A CN109987165B CN 109987165 B CN109987165 B CN 109987165B CN 201910287661 A CN201910287661 A CN 201910287661A CN 109987165 B CN109987165 B CN 109987165B
- Authority
- CN
- China
- Prior art keywords
- driving wheel
- front driving
- face
- shaft
- wheel set
- 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.)
- Active
Links
Classifications
-
- 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
-
- 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
Abstract
The invention discloses a chassis structure of a magnetic adsorption underwater crawling robot with a universal wheel support, which comprises a main beam, a left front driving wheel set, a right front driving wheel set and universal wheels, wherein the main beam is arranged on the main beam; the left front driving wheel set, the right front driving wheel set and the universal wheels are respectively fixed on the main beam, the left front driving wheel set and the right front driving wheel set are respectively arranged on the left side and the right side of the front part of the main beam, the universal wheels are arranged below the tail end of the main beam, and the left front driving wheel set, the right front driving wheel set and the main beam form a T-shaped appearance. The chassis structure has the characteristics of compact structure and flexible steering, and the wall climbing robot with the chassis structure can be applied to cleaning, detection and other operations of large-scale steel structures, hull surfaces, oil platforms and other structures.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to a chassis structure of a magnetic adsorption underwater crawling robot with a universal wheel support.
Background
With the continuous development of technology, the development of the ocean by human beings is also more and more advanced. The development of the ocean is not separated from various underwater structures, and the marine underwater structures are easily adsorbed by various marine organisms due to the special environment, so that corrosion is caused or the performance is influenced, and therefore, the marine underwater structures need to be cleaned. In the present case, the underwater cleaning and working is mainly carried out by means of underwater robots.
The magnetic adsorption wall climbing robot is widely applied to the aspects of ship body cleaning, pipeline welding and the like. The wall climbing robot is provided with a permanent magnet or an electromagnet to be adsorbed on the metal surface of a ship or a structure, and the self gravity of the robot is overcome under the combined action of the magnetic adsorption force and the friction force of wheels, so that the robot can perform crawling motion on the inclined or even vertical metal surface. The electromagnet-attracted wall climbing robot is used only in very special cases because the electromagnet weight is relatively heavy compared with the permanent magnet weight under the conditions of relatively complex control and equal attraction force. Therefore, a magnetic adsorption wall climbing robot adsorbed by a permanent magnet is a mainstream and trend of current application.
The current magnetic adsorption wall climbing robot is mostly applied to a plane or a tiny curved surface, the wall climbing robot mainly takes a crawler belt as a main part, and the chassis structure of the current magnetic adsorption robot mainly has the following problems: (1) The crawler-type walking chassis has a complex structure, the robot is heavier, and the provided effective load is less; (2) The crawler-type running device has high manufacturing cost, low running speed, high power consumption during running and steering and high part wear; (3) The crawler-type chassis structure is not flexible enough in steering and poor in maneuverability.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a chassis structure of a magnetic adsorption underwater crawling robot with universal wheel support, which has the characteristics of compact structure and flexible steering, and the wall climbing robot with the chassis structure can be applied to cleaning, detection and other operations of structures such as large steel structures, hull surfaces, oil platforms and the like.
For this purpose, the invention adopts the following technical scheme:
a chassis structure of a magnetic adsorption underwater crawling robot with a universal wheel support comprises a main beam, a left front driving wheel set, a right front driving wheel set and universal wheels; the left front driving wheel set, the right front driving wheel set and the universal wheels are respectively fixed on the main beam, the left front driving wheel set and the right front driving wheel set are respectively arranged on the left side and the right side of the front part of the main beam, the universal wheels are arranged below the tail end of the main beam, and the left front driving wheel set, the right front driving wheel set and the main beam form a T-shaped appearance.
Preferably, the left front driving wheel set and the right front driving wheel set have the same structure, and a brake, a direct current brushless motor, a speed reducer, a hollow driving box, a hat-shaped hub, an inner magnetic conduction ring, a cylindrical permanent magnet wheel, an outer magnetic conduction ring compression ring and a cylindrical grinding resisting wheel are arranged outside from inside to outside along the radial direction; the brake, the direct current brushless motor and the speed reducer are mounted in a close fit manner along the axial sequential end surfaces; the output shaft of the direct current brushless motor extends out of the end surfaces of two sides, the shaft extension of the rear end surface is connected with the output shaft of the brake by a key, and the shaft extension of the front end surface is connected with the input shaft of the speed reducer by a key; a flange surface is machined in a side hole of the hollow driving box, and the output side of the speed reducer is arranged on the flange surface; an outer disc outer edge is machined outside the hollow driving box, an end face flange is machined on the end face of the other side, and a threaded hole for installing an oil filling joint is machined on the outer end face, which is parallel to the axial direction, of the end face flange; two sliding bearings are axially arranged in the inner hole of the cap-shaped hub, a shaft hole with a key groove is formed in the inner side of the cap top end face of the hub along the axis, and a flange hole is formed in the outer side of the cap top end face of the hub; a thrust bearing is arranged at the inner side end face of the hat top of the wheel hub, and a flange hole is processed on the end face of the hat edge on the other side of the hat-shaped wheel hub; the outer cylindrical surface of the hollow driving box is matched with two sliding bearings axially arranged inside the hat-shaped hub, the end face of one side of the hollow driving box is matched with a thrust bearing arranged on the end face of the hat-shaped hub, one thrust bearing is arranged on one side of the outer circular disk of the hollow driving box, and the other side of the bearing is tightly attached to a hub end cover fastened on the flange face of the end face of the hat-shaped hub by a first bolt; an inner magnetic conduction ring, a cylindrical permanent magnet wheel, an outer magnetic conduction ring and an outer magnetic conduction ring compression ring are sequentially sleeved on the cylindrical shaft of the hat-shaped hub along the axial direction from the hat edge of the hat-shaped hub, and the end surfaces of the inner magnetic conduction ring, the cylindrical permanent magnet wheel, the outer magnetic conduction ring and the outer magnetic conduction ring compression ring are sequentially bonded in pairs; the outer magnetic conduction ring compression ring is provided with a flange hole, and a first bolt penetrates through the flange hole to be fastened with the flange hole on the outer side of the cap top end face of the cap-shaped hub; the inner holes of the cylindrical grinding wheel are sleeved on the outer cylindrical surfaces of the inner magnetic conducting ring, the cylindrical permanent magnet wheel and the outer magnetic conducting ring, and the end surfaces of the two sides of the cylindrical grinding wheel are respectively clung to the end surfaces of the inner magnetic conducting ring and the outer magnetic conducting ring.
Preferably, the hollow connecting fastener is further provided with a left flange surface and a right flange surface which are axially machined, the left flange surface and the right flange surface are respectively connected with end face flanges of the left front driving wheel set and the right front driving wheel set, and hollow holes in the hollow connecting fastener are used for communicating cavities of the left front driving wheel set and the right front driving wheel set.
Preferably, the cylindrical abrasion-resistant wheel is machined from a thin annular ring of abrasion-resistant material.
Preferably, 4 threaded holes are machined in the outer end face of the hollow driving box at the position perpendicular to the oil filling threaded hole face.
Preferably, the main beam is of a T-shaped appearance structure, 2 groups of 4 bolt holes are processed on the upper T end face of the T shape and distributed on two sides of the end face of the main beam, and a third bolt penetrates through the bolt holes and 4 threaded holes on the hollow driving box of the left front driving wheel group and the hollow driving box of the right front driving wheel group to fasten the main beam and the hollow driving box of the left front driving wheel group and the hollow driving box of the right front driving wheel group into a whole; and a through hole perpendicular to the T-shaped plane is processed at the other side of the main beam close to the end surface, and sliding bearings are arranged on the upper surface and the lower surface of the through hole and are used for installing universal wheels.
Preferably, the universal wheel comprises a Y-shaped fork shaft, a rear wheel group, a pin shaft, a first bearing and a check ring; holes are formed in two fork handles of the Y-shaped fork shaft, a first bearing is arranged on each hole, a pin shaft penetrates through the holes and a wear-resistant annular hole of the rear wheel set, and the Y-shaped fork shaft, the rear wheel set and the pin shaft are fixed together through retainer rings arranged at two ends of the pin shaft; the other side of the Y-shaped fork shaft is a cylindrical shaft perpendicular to the two fork handle holes, and a threaded hole is formed in the axial end face of the cylindrical shaft along the axial line;
preferably, the cylindrical shaft of the Y-shaped fork shaft of the universal wheel passes through two bearing holes on the end face of the main beam, the second bolt passes through a through hole in the cylindrical shaft and is fastened on a cylindrical shaft threaded hole of the Y-shaped fork shaft, the universal wheel and the main beam are fixed together, and a second bearing is arranged between the universal wheel and the main beam, and the universal wheel rotates relative to the main beam.
Preferably, the rear wheel set mainly comprises a wear-resistant ring, a right magnetic conduction ring, a small cylindrical permanent magnet wheel, a left magnetic conduction ring, a thin end face fastening nut and a small cylindrical wear-resistant wheel; the wear-resistant ring is a T-shaped shaft with an inner hole, external threads are machined on the end face of the shaft end, the right magnetic conduction ring, the small cylindrical permanent magnet wheel and the left magnetic conduction ring sleeve Bao Duanmian fastening nut are sequentially fixed on the wear-resistant ring shaft from right to left along the axial direction of the wear-resistant ring, and the end faces of the right magnetic conduction ring, the small cylindrical permanent magnet wheel and the left magnetic conduction ring sleeve Bao Duanmian fastening nut are clung to each other.
Preferably, oil filling holes are formed in the left front driving wheel set and the right front driving wheel set, and the oil filling holes are communicated with cavities of the left front driving wheel set and the right front driving wheel set and used for filling oil and keeping balance of internal pressure and external pressure of the chassis.
Compared with the prior art, the invention has the beneficial effects that:
(1) The robot has the advantages of compact structure, small self weight and large effective load on the premise of ensuring the adsorption force.
(2) Flexible steering, high movement efficiency and capability of performing in-situ turning.
(3) The system can be used in land and underwater environments, and can be applied to water depths of about 300 meters after being subjected to pressure compensation and corrosion protection technology treatment.
(4) The wall climbing robot with the chassis structure can be applied to cleaning, detecting and other operations of structures such as large steel structures, ship surfaces, oil platforms and the like.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a chassis structure of a magnetic attraction underwater crawling robot with universal wheel support.
Fig. 2 is a cross-sectional view of a front view of a chassis structure of a magnetically-attracted underwater crawling robot with universal wheel support provided by the present invention.
Fig. 3 is a cross-sectional view of a hollow connecting fastener of a chassis structure of a magnetically absorptive underwater crawling robot with universal wheel support provided by the invention.
Fig. 4 is a cross-sectional view of a left side view of a chassis structure of a magnetically-attracted underwater crawling robot with universal wheel support provided by the present invention.
Fig. 5 is a cross-sectional view of a gimbal with gimbal support for a chassis structure of a magnetically-attracted underwater crawling robot.
Reference numerals illustrate: I. a main beam; II. A left front driving wheel set; III, a right front driving wheel group; IV, universal wheels; 1. cylindrical grinding wheel resistance; 2. a cylindrical permanent magnet wheel; 3. an O-ring; 4. an outer magnetic ring; 5. an outer magnetic ring clamp ring; 6. a first bolt; 7. a cap-shaped hub; 8. a key; 9. a thrust bearing; 10. a sliding bearing; 11. an inner magnetic ring; 12. a hub end cap; 13. a speed reducer; 14. a hollow drive box; 15. a DC brushless motor; 16. a brake; 17. an oil-filled bolt; 18. a hollow connecting fastener; 19. a rear wheel set; 20. a pin shaft; 21. a first bearing; 22. y-shaped fork shaft; 23. a cylindrical shaft; 24. a wear ring; 25. a retainer ring; 26. a right magnetic conduction ring; 27. a small cylindrical permanent magnet wheel; 28. small cylindrical grinding wheel; 29. a left magnetic conduction ring; 30. bao Duanmian fastening nuts; 31. a second bolt; 32. a third bolt; 33. and a second bearing.
Detailed Description
The present invention will be described in detail below with reference to the drawings and the specific embodiments thereof, which are for explanation of the present invention only, but not for limitation of the present invention.
As shown in fig. 1, the invention discloses a chassis structure of a magnetic adsorption underwater crawling robot with a universal wheel support, which comprises a main beam I, a left front driving wheel group II, a right front driving wheel group III and a universal wheel IV; the left front driving wheel set II, the right front driving wheel set III and the universal wheels IV are respectively fixed on the main beam I, the left front driving wheel set II and the right front driving wheel set III are respectively arranged on the left side and the right side of the front part of the main beam I, the universal wheels are arranged below the tail end of the main beam I, and the left front driving wheel set II, the right front driving wheel set III and the main beam I form a T-shaped appearance.
Specifically, as shown in fig. 2, the left front driving wheel set II and the right front driving wheel set III have the same structure, and a brake 16, a brushless dc motor 15, a speed reducer 13, a hollow driving box 14, a hat-shaped hub 7, an inner magnetic ring 11, a cylindrical permanent magnet wheel 2, an outer magnetic ring 4, an outer magnetic ring compression ring 5 and a cylindrical abrasion-resistant wheel 1 are arranged from inside to outside in the radial direction; the brake 16, the brushless DC motor 15 and the speed reducer 13 are mounted in a close fit manner along the axial sequential end surfaces; the output shaft of the brushless DC motor 15 extends out of the end surfaces of the two sides, the shaft extension of the rear end surface is connected with the output shaft of the brake 16 by a key, and the shaft extension of the front end surface is connected with the input shaft of the speed reducer 13 by a key; a flange surface is processed in a side hole of the hollow driving box 14, and the output side of the speed reducer 13 is arranged on the flange surface; an outer disc outer edge is machined outside the hollow driving box 14, an end face flange is machined on the other side end face, a threaded hole for installing an oil filling joint is machined on the outer end face, which is parallel to the axial direction, of the end face flange, and an oil filling bolt 17 is arranged on the oil filling threaded hole; two sliding bearings 10 are axially arranged in the inner hole of the cap-shaped hub 7, a shaft hole with a key groove is machined in the inner side of the cap top end face of the hub along the axis, and a flange hole is machined in the outer side of the cap top end face of the hub; a thrust bearing 9 is arranged at the inner side end face of the hat top of the wheel hub, and a flange hole is processed on the end face of the hat edge on the other side of the hat-shaped wheel hub 7; the outer cylindrical surface of the hollow driving box 14 is matched with two sliding bearings 10 axially arranged inside the cap-shaped hub 7, the end surface of one side of the hollow driving box 14 is matched with a thrust bearing 9 arranged on the end surface of the cap-shaped hub 7, one thrust bearing 9 is arranged on one side of the outer cylindrical surface of the hollow driving box 14, and the other side of the bearing is tightly attached to a hub end cover 12 fastened on the flange surface of the end surface of the cap-shaped hub 7 by a first bolt 6; an inner magnetic conducting ring 11, a cylindrical permanent magnet wheel 2, an outer magnetic conducting ring 4 and an outer magnetic conducting ring compression ring 5 are sequentially sleeved on the cylindrical shaft of the hat-shaped hub 7 along the axial direction from the hat edge of the hat-shaped hub 7, and the end surfaces of the inner magnetic conducting ring 11, the cylindrical permanent magnet wheel 2, the outer magnetic conducting ring 4 and the outer magnetic conducting ring compression ring are sequentially bonded in pairs; the outer magnetic conduction ring compression ring 5 is provided with a flange hole, and a first bolt 6 penetrates through the flange hole to be fastened with the flange hole on the outer side of the cap top end surface of the cap-shaped hub 7; the inner holes of the cylindrical grinding-resistant wheel 1 are sleeved on the outer cylindrical surfaces of the inner magnetic ring 11, the cylindrical permanent magnet wheel 2 and the outer magnetic ring 4, the end surfaces of the two sides of the cylindrical grinding-resistant wheel 1 are respectively clung to the end surfaces of the inner magnetic ring 11 and the outer magnetic ring 4, and the two end surfaces are sealed through the O-shaped ring 3; the cap-shaped hub 7 is shown connected to the reducer 13 by means of a key 8.
Specifically, as shown in fig. 3, the hollow connecting fastener 18 is further included, two flange surfaces, namely a left flange surface and a right flange surface, are machined on the hollow connecting fastener 18 along the axial direction, and are respectively connected with end face flanges of the left front driving wheel set II and the right front driving wheel set III, and hollow holes in the hollow connecting fastener 18 are used for communicating cavities of the left front driving wheel set II and the right front driving wheel set III.
Specifically, the cylindrical abrasion-resistant wheel 1 is formed by processing a thin circular ring of abrasion-resistant material.
Specifically, 4 threaded holes are machined on the outer end face of the hollow driving box 14 at the position perpendicular to the oil filling threaded hole face.
Specifically, as shown in fig. 1 and fig. 4, the main beam I has a T-shaped structure, 2 groups of 4 bolt holes are machined on the upper T-shaped end surface of the T, the 4 bolt holes are distributed on two sides of the end surface of the main beam I, and the third bolt 32 passes through the bolt holes and 4 threaded holes on the hollow driving box 14 of the left front driving wheel group II and the hollow driving box 14 of the right front driving wheel group III, so as to fasten the main beam I and the hollow driving box 14 of the left front driving wheel group II and the hollow driving box 14 of the right front driving wheel group III into a whole; and a through hole perpendicular to the T-shaped plane is processed at the other side of the main beam I near the end surface, and sliding bearings are arranged on the upper surface and the lower surface of the through hole and are used for installing the universal wheel IV.
Specifically, as shown in fig. 5, the universal wheel IV includes a Y-shaped fork shaft 22, a rear wheel set 19, a pin shaft 20, a first bearing 21 and a retainer ring 25; holes are formed in the two fork handles of the Y-shaped fork shaft 22, a first bearing 21 is arranged on each hole, a pin shaft 20 penetrates through the holes and the wear-resistant annular holes of the rear wheel group 19, and the Y-shaped fork shaft 22, the rear wheel group 19 and the pin shaft 20 are fixed together through retainer rings 25 arranged at two ends of the pin shaft 20; the other side of the Y-shaped fork shaft 22 is provided with a cylindrical shaft 23 perpendicular to the two fork handle holes, and a threaded hole is formed in the end face of the cylindrical shaft 23 along the axis;
specifically, the cylindrical shaft 23 of the Y-shaped fork shaft 22 of the universal wheel IV passes through two bearing holes on the end face of the main beam I, the second bolt 31 passes through a through hole in the cylindrical shaft 23 and is fastened on a threaded hole of the cylindrical shaft 23 of the Y-shaped fork shaft 22, the universal wheel IV and the main beam I are fixed together, a second bearing 33 is arranged between the universal wheel IV and the main beam I, and the universal wheel IV rotates relative to the main beam I.
Specifically, the rear wheel set 19 mainly comprises a wear-resistant ring 24, a right magnetic ring 26, a small cylindrical permanent magnet wheel 27, a left magnetic ring 29, a thin end face fastening nut 30 and a small cylindrical wear-resistant wheel 28; the wear-resistant ring 24 is a T-shaped shaft with an inner hole, external threads are machined on the end face of the shaft end, a right magnetic conducting ring 26, a small cylindrical permanent magnet wheel 27 and a left magnetic conducting ring 29 are sequentially fixed on the shaft of the wear-resistant ring 24 from right to left along the axial direction of the wear-resistant ring 24, and the end faces of the right magnetic conducting ring, the small cylindrical permanent magnet wheel 27 and the left magnetic conducting ring are sequentially clung to each other.
Specifically, be equipped with the oil filling hole on left front drive wheelset II and the right front drive wheelset III, the cavity of oil filling hole intercommunication left front drive wheelset II and the right front drive wheelset III for oil filling and keep the balance of chassis internal and external pressure.
The left front driving wheel group II and the right front driving wheel group III can drive the chassis to do forward and backward movement when driving the direct current brushless motors 15 in the same direction, and can drive the chassis to do left and right turning movement when driving the respective direct current brushless motors 15 to do different directions; the brake 16 in the left front driving wheel group II and the right front driving wheel group III can lock the rotation of the left front driving wheel group II and the right front driving wheel group III, so that the chassis can be fixed at any position of a crawling object; the universal wheel IV is provided with a small cylindrical permanent magnet wheel 27 and a rotating shaft perpendicular to the small cylindrical permanent magnet wheel 27, and can follow the front driving wheel to do passive back and forth and turning movement, so that the movement stability of the chassis is maintained; the left front driving wheel group II and the right front driving wheel group III are provided with oil filling holes, the oil filling holes are communicated with the cavities of the left front driving wheel group II and the right front driving wheel group III, and the chassis structure can work at the depth of 300 meters through an external compensation mechanism. Through the combination, the wall climbing robot with the chassis structure has good flexibility and maneuverability, can be locked at any position, and can work at a large depth.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the invention, but any modifications, equivalents, and improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. The utility model provides a chassis structure with magnetic adsorption robot of crawling under water that universal wheel supported, includes girder, left front drive wheelset, right front drive wheelset, universal wheel, its characterized in that: the left front driving wheel set, the right front driving wheel set and the universal wheels are respectively fixed on the main beam, the left front driving wheel set and the right front driving wheel set are respectively arranged on the left side and the right side of the front part of the main beam, the universal wheels are arranged below the tail end of the main beam, and the left front driving wheel set, the right front driving wheel set and the main beam form a T-shaped appearance;
the left front driving wheel set and the right front driving wheel set have the same structure, and are externally provided with a brake, a direct current brushless motor, a speed reducer, a hollow driving box, a hat-shaped hub, an inner magnetic conduction ring, a cylindrical permanent magnet wheel, an outer magnetic conduction ring compression ring and a cylindrical grinding resisting wheel from inside to outside along the radial direction; the brake, the direct current brushless motor and the speed reducer are mounted in a close fit manner along the axial sequential end surfaces; the output shaft of the direct current brushless motor extends out of the end surfaces of two sides, the shaft extension of the rear end surface is connected with the output shaft of the brake by a key, and the shaft extension of the front end surface is connected with the input shaft of the speed reducer by a key; a flange surface is machined in a side hole of the hollow driving box, and the output side of the speed reducer is arranged on the flange surface; an outer disc outer edge is machined outside the hollow driving box, an end face flange is machined on the end face of the other side, and a threaded hole for installing an oil filling joint is machined on the outer end face, which is parallel to the axial direction, of the end face flange; two sliding bearings are axially arranged in the inner hole of the cap-shaped hub, a shaft hole with a key groove is formed in the inner side of the cap top end face of the hub along the axis, and a flange hole is formed in the outer side of the cap top end face of the hub; a thrust bearing is arranged at the inner side end face of the hat top of the wheel hub, and a flange hole is processed on the end face of the hat edge on the other side of the hat-shaped wheel hub; the outer cylindrical surface of the hollow driving box is matched with two sliding bearings axially arranged inside the hat-shaped hub, the end face of one side of the hollow driving box is matched with a thrust bearing arranged on the end face of the hat-shaped hub, one thrust bearing is arranged on one side of the outer circular disk of the hollow driving box, and the other side of the bearing is tightly attached to a hub end cover fastened on the flange face of the end face of the hat-shaped hub by a first bolt; an inner magnetic conduction ring, a cylindrical permanent magnet wheel, an outer magnetic conduction ring and an outer magnetic conduction ring compression ring are sequentially sleeved on the cylindrical shaft of the hat-shaped hub along the axial direction from the hat edge of the hat-shaped hub, and the end surfaces of the inner magnetic conduction ring, the cylindrical permanent magnet wheel, the outer magnetic conduction ring and the outer magnetic conduction ring compression ring are sequentially bonded in pairs; the outer magnetic conduction ring compression ring is provided with a flange hole, and a first bolt penetrates through the flange hole to be fastened with the flange hole on the outer side of the cap top end face of the cap-shaped hub; the inner holes of the cylindrical grinding-resistant wheels are sleeved on the outer cylindrical surfaces of the inner magnetic conducting ring, the cylindrical permanent magnet wheel and the outer magnetic conducting ring, and the end surfaces of the two sides of the cylindrical grinding-resistant wheels are respectively clung to the end surfaces of the inner magnetic conducting ring and the outer magnetic conducting ring;
the hollow connecting fastener is provided with a left flange surface and a right flange surface along the axial direction, the left flange surface and the right flange surface are respectively connected with end surface flanges of the left front driving wheel set and the right front driving wheel set, and hollow holes in the hollow connecting fastener are used for communicating cavities of the left front driving wheel set and the right front driving wheel set;
the cylindrical abrasion-resistant wheel is formed by processing a thin circular ring of abrasion-resistant material.
2. The chassis structure of a magnetically-attracted underwater crawling robot with universal wheel support of claim 1, wherein: 4 threaded holes are machined in the position perpendicular to the oil filling threaded hole surface on the outer end face of the hollow driving box.
3. The chassis structure of a magnetically-attracted underwater crawling robot with universal wheel support according to claim 2, wherein: the main beam is of a T-shaped appearance structure, 2 groups of 4 bolt holes are formed in the upper T end face of the T shape and are distributed on two sides of the end face of the main beam, and a third bolt penetrates through the bolt holes and 4 threaded holes in the hollow driving box of the left front driving wheel group and the hollow driving box of the right front driving wheel group to fasten the main beam, the hollow driving box of the left front driving wheel group and the hollow driving box of the right front driving wheel group into a whole; and a through hole perpendicular to the T-shaped plane is processed at the other side of the main beam close to the end surface, and sliding bearings are arranged on the upper surface and the lower surface of the through hole and are used for installing universal wheels.
4. The chassis structure of a magnetically-attracted underwater crawling robot with universal wheel support of claim 1, wherein: the universal wheel comprises a Y-shaped fork shaft, a rear wheel set, a pin shaft, a first bearing and a check ring; holes are formed in two fork handles of the Y-shaped fork shaft, a first bearing is arranged on each hole, a pin shaft penetrates through the holes and a wear-resistant annular hole of the rear wheel set, and the Y-shaped fork shaft, the rear wheel set and the pin shaft are fixed together through retainer rings arranged at two ends of the pin shaft; the other side of the Y-shaped fork shaft is a cylindrical shaft perpendicular to the two fork handle holes, and a threaded hole is formed in the end face of the cylindrical shaft along the axis.
5. The chassis structure of a magnetically-attracted underwater crawling robot with universal wheel support of claim 4, wherein: the cylindrical shaft of the Y-shaped fork shaft of the universal wheel passes through two bearing holes on the end face of the main beam, the second bolt passes through a through hole in the cylindrical shaft and is fastened on a cylindrical shaft threaded hole of the Y-shaped fork shaft, the universal wheel is fixed with the main beam, and a second bearing is arranged between the universal wheel and the main beam, and the universal wheel rotates relative to the main beam.
6. The chassis structure of a magnetically-attracted underwater crawling robot with universal wheel support of claim 4, wherein: the rear wheel set mainly comprises a wear-resistant ring, a right magnetic conduction ring, a small cylindrical permanent magnet wheel, a left magnetic conduction ring, a thin end face fastening nut and a small cylindrical wear-resistant wheel; the wear-resistant ring is a T-shaped shaft with an inner hole, external threads are machined on the end face of the shaft end, the right magnetic conduction ring, the small cylindrical permanent magnet wheel and the left magnetic conduction ring are sequentially fixed on the wear-resistant ring shaft from right to left along the axial direction of the wear-resistant ring, and the end faces of the right magnetic conduction ring, the small cylindrical permanent magnet wheel and the left magnetic conduction ring are sequentially clung to each other.
7. A chassis structure of a magnetically-attracted underwater crawling robot with universal wheel support as claimed in any one of claims 1 to 6, characterized in that: and oil filling holes are formed in the left front driving wheel set and the right front driving wheel set, are communicated with cavities of the left front driving wheel set and the right front driving wheel set and are used for filling oil and keeping balance of internal pressure and external pressure of the chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910287661.XA CN109987165B (en) | 2019-04-11 | 2019-04-11 | Chassis structure of magnetic adsorption underwater crawling robot with universal wheel support |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910287661.XA CN109987165B (en) | 2019-04-11 | 2019-04-11 | Chassis structure of magnetic adsorption underwater crawling robot with universal wheel support |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109987165A CN109987165A (en) | 2019-07-09 |
| CN109987165B true CN109987165B (en) | 2023-10-24 |
Family
ID=67133241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910287661.XA Active CN109987165B (en) | 2019-04-11 | 2019-04-11 | Chassis structure of magnetic adsorption underwater crawling robot with universal wheel support |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109987165B (en) |
Families Citing this family (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 |
| CN111975789B (en) * | 2020-07-28 | 2023-05-19 | 河海大学常州校区 | Cabin cleaning robot based on electromagnetic principle |
| CN111907671B (en) * | 2020-08-21 | 2024-02-06 | 浙江大学 | Amphibious sucking disc with adjustable gap |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110067070A (en) * | 2009-12-13 | 2011-06-21 | 신윤항 | Sticking robot on large ship's external-wall |
| CN102689296A (en) * | 2012-06-07 | 2012-09-26 | 中国东方电气集团有限公司 | Novel differentially driven composite attraction type wall climbing robot |
| CN202686558U (en) * | 2012-06-07 | 2013-01-23 | 中国东方电气集团有限公司 | Magnetic adsorption universal wheel device for magnetically adsorbing wall-climbing robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITBS20070154A1 (en) * | 2007-10-11 | 2009-04-12 | Tecnomac Srl | MOBILE ROBOT WITH MAGNETIC ANCHORING |
-
2019
- 2019-04-11 CN CN201910287661.XA patent/CN109987165B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110067070A (en) * | 2009-12-13 | 2011-06-21 | 신윤항 | Sticking robot on large ship's external-wall |
| CN102689296A (en) * | 2012-06-07 | 2012-09-26 | 中国东方电气集团有限公司 | Novel differentially driven composite attraction type wall climbing robot |
| CN202686558U (en) * | 2012-06-07 | 2013-01-23 | 中国东方电气集团有限公司 | Magnetic adsorption universal wheel device for magnetically adsorbing wall-climbing robot |
Non-Patent Citations (2)
| Title |
|---|
| Xie Minzhao ; Liu Jichen ; Luo Xiaoyi.The Innovation Design of the Magnetic Adsorption Climbing-wall Flaw Detection Robot.The 27th Chinese Control and Decision Conference (2015 CCDC).2015,4923-4926. * |
| 新型罐壁检测爬行机器人的行走吸附机构设计;王吉岱，孔辉，陈广庆等;机械设计与制造(第1期);26-28 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109987165A (en) | 2019-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109987165B (en) | Chassis structure of magnetic adsorption underwater crawling robot with universal wheel support | |
| CN106976002B (en) | Wall-climbing cleaning robot for ship and naval vessel wall surface | |
| CN107600214B (en) | Wall climbing operation robot suitable for wall surface movement with variable curvature | |
| Liang et al. | The AmphiHex: A novel amphibious robot with transformable leg-flipper composite propulsion mechanism | |
| CN102689296B (en) | Novel differentially driven composite attraction type wall climbing robot | |
| CN202400191U (en) | Permanent-magnet attraction wheel type iron-wall crawling robot | |
| US20200198713A1 (en) | Tracked Wall Climbing Robot | |
| US20210009214A1 (en) | Tracked Robot | |
| CN107804384B (en) | Self-adaptive wall surface four-crawler wall climbing robot | |
| CN110920334B (en) | Foot paddle-wing hybrid drive type amphibious operation bionic robot and movement method | |
| CN102673670A (en) | Novel full driving composite adsorption climbing robot | |
| CN201849550U (en) | Composite adsorption wall-crawling mechanism for underwater ship body | |
| CN108974166B (en) | Magnetic adsorption self-adaptive curved surface crawling robot | |
| CN112278206A (en) | Underwater robot walking crawler based on magnetic attraction and negative pressure adsorption | |
| CN209833817U (en) | Chassis structure of magnetic adsorption underwater crawling robot | |
| KR101337656B1 (en) | Driving Apparatus | |
| KR101337653B1 (en) | Driving Apparatus | |
| CN212099126U (en) | Three-wheel magnetic adsorption type wall-climbing robot | |
| CN104874951B (en) | Wall-climbing welding machine for shell plate of large-scale ship | |
| CN208647007U (en) | A kind of climbing robot of magnetic suck | |
| CN218506019U (en) | Underwater wall-climbing robot with adjustable adsorption force | |
| CN101628420B (en) | Wheels of robot with driving and slip measuring capability adapted to rough ground | |
| CN204656797U (en) | A kind of large ship efficiently sprays paint loading device | |
| CN101758755A (en) | Split wheel for paddle wheel of robot suitable for amphibious ground | |
| CN106882285B (en) | Wall-climbing robot chassis with follow-up universal wheels |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |