CN111661185A - Magnetic adsorption wall-climbing walking crawler device - Google Patents
Magnetic adsorption wall-climbing walking crawler device Download PDFInfo
- Publication number
- CN111661185A CN111661185A CN202010384141.3A CN202010384141A CN111661185A CN 111661185 A CN111661185 A CN 111661185A CN 202010384141 A CN202010384141 A CN 202010384141A CN 111661185 A CN111661185 A CN 111661185A
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- Prior art keywords
- side plate
- plate
- driving
- bearing
- magnetic adsorption
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
Abstract
The invention discloses a magnetic adsorption wall-climbing walking crawler device which comprises an upper connecting plate, wherein one side of the upper connecting plate is fixedly connected with an outer side plate through a bolt, the other side of the upper connecting plate is fixedly connected with an inner side plate through a bolt, a crawler tensioning plate is arranged at the bottom between the outer side plate and the inner side plate, one side of the inner side plate is provided with a driving motor, the driving motor is in bolted connection with the inner side plate, an output shaft of the driving motor is connected with a harmonic reducer, a fixed end of the harmonic reducer is in bolted connection with the inner side plate, an output end of the harmonic reducer is in bolted connection with a driving wheel driving shaft, the driving wheel driving shaft is connected with a driving wheel through a flat key, and one. The invention has the beneficial effects that: this application magnetism adsorbs wall walking track is the necessary core drive walking part of wall climbing robot, can realize the differential turn, and magnetism adsorbs the mechanism and adjusts, is equipped with multiple sensor and realizes high accuracy locate function, is favorable to improving work efficiency, reduces working cost.
Description
Technical Field
The invention relates to the technical field of magnetic adsorption wall climbing, in particular to a magnetic adsorption wall climbing walking crawler device.
Background
At present, the magnetism that exists in the market adsorbs wall climbing robot kind is not many, and most robots all can only be at vertical walking on vertical plane or big curvature curved surface, this kind of track drive device greatly reduced from straight up climb the work efficiency and the convenience of wall climbing operation, can not thoroughly solve boiler water wall calandria wall climbing walking problem, according to the investigation, among the current wall climbing, reliably creep on boiler water wall pipe wall of thermal power plant, the walking crawler of nimble turn has not reported yet, the wall climbing walking crawler to above-mentioned technical problem this design has been released one kind and can pass through the adsorption affinity at boiler water wall, realize the walking, the wall climbing walking crawler of nimble turn.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a magnetic adsorption wall-climbing walking crawler device which can solve the technical problem that a walking part of a boiler water wall-climbing robot can only vertically walk and can not flexibly turn.
In order to achieve the technical purpose, the technical scheme of the invention is realized as follows: a magnetic adsorption wall-climbing walking crawler device comprises an upper connecting plate, one side of the upper connecting plate is fixedly connected with an outer side plate through a bolt, the other side of the upper connecting plate is fixedly connected with an inner side plate through a bolt, a crawler tensioning plate is arranged at the bottom between the outer side plate and the inner side plate, one side of the inner side plate is provided with a driving motor, the driving motor is bolted with the inner side plate, an output shaft of the driving motor is connected with a harmonic reducer, the fixed end of the harmonic reducer is bolted with the inner side plate, the output end of the harmonic reducer is bolted with a driving wheel driving shaft, the driving wheel driving shaft is connected with a driving wheel through a flat key, one side of the driving wheel far away from the driving end is provided with a first bearing, the circumferential outer diameter of the first bearing is in interference fit with the driving wheel, and the inner diameter of the first bearing is, the driven shaft of the driving wheel is bolted with the outer side plate, one end of the first bearing is provided with a bearing end cover, the driving wheel is in transmission connection with the driven wheel arranged between the inner side plate and the outer side plate on the other side through a driving track, the driven wheel is fixedly connected with the driving track through a tensioning bolt, two second bearings are arranged in the driven wheel, the circumferential outer diameters of the second bearings are in interference fit with the driven wheel, the inner diameter of the second bearings is in interference fit with a driven wheel shaft, the driven wheel shaft is arranged between the inner side plate and the outer side plate, the driven wheel shaft is fixedly connected with the inner side plate and the outer side plate through a driven wheel fastening bolt, the bearing end covers are arranged at two ends of the second bearings, a magnetic adsorption mechanism is arranged in the middle between the inner side plate and the outer side plate, and is bolted with the inner side plate and the outer side plate through a magnetic, one end of the magnetic adsorption mechanism is provided with a magnetic adsorption adjusting bolt.
Further, the driving motor is in transmission connection with the driving wheel, and the driving wheel is in transmission connection with the driven wheel through the driving crawler.
Further, the outer side plate and the inner side plate form a supporting structure of a cavity through the upper connecting plate and the track tensioning plate.
Further, a flat key is arranged on an output shaft of the driving motor.
Further, the driven wheel is fixedly arranged on the outer side plate and the inner side plate through the tensioning bolt and the driven wheel fastening bolt.
Furthermore, one end of the upper connecting plate is of a right-angle structure, and the other end of the upper connecting plate is provided with two flanges.
Furthermore, the outer side plate and the inner side plate are connected through the driven wheel, the driving wheel, the first bearing and the second bearing.
Further, the upper middle position of the outer side plate is in a U-shaped structure.
Further, the upper central position of the inner side plate is in a concave structure.
The invention has the beneficial effects that: in view of the not enough of existence among the prior art, wall walking track is climbed in this application magnetism adsorption is the necessary core drive running part of wall climbing robot, can realize the differential turn, and magnetism adsorbs the mechanism and adjusts, is equipped with multiple sensor and realizes high accuracy locate function, is favorable to improving work efficiency, reduces working cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is an outboard schematic view of a magnetic adsorption wall-climbing crawler according to an embodiment of the present invention;
FIG. 2 is an inside schematic view of a magnetic adsorption wall-climbing crawler according to an embodiment of the present invention;
FIG. 3 is a cross-sectional schematic view of a magnetic adsorption wall-climbing crawler according to an embodiment of the present invention;
in the figure: 1. an upper connecting plate; 2. driving the caterpillar; 3. a driven wheel; 4. tensioning the bolt; 5. a driven wheel fastening bolt; 6. a magnetic adsorption mechanism; 7. a magnetic adsorption adjusting bolt; 8. the magnetic adsorption fixing bolt 9 and the track tensioning plate; 10. an outer panel; 11. a driving wheel; 12. a drive motor; 13. an inner side plate; 14. a harmonic reducer; 15. a drive wheel drive shaft; 16. a first bearing; 17. a bearing end cap; 18. a magnetic adsorption fixing bolt; 19. a driven axle; 20. and a second bearing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
As shown in fig. 1-3, the magnetic adsorption wall-climbing walking crawler device according to the embodiment of the present invention includes an upper connecting plate 1, one side of the upper connecting plate 1 is fixedly connected to an outer plate 10 by a bolt, the other side of the upper connecting plate 1 is fixedly connected to an inner plate 13 by a bolt, a track tensioning plate 9 is disposed at the bottom between the outer plate 10 and the inner plate 13, a driving motor 12 is disposed at one side of the inner plate 13, the driving motor 12 is bolted to the inner plate 13, an output shaft of the driving motor 12 is connected to a harmonic reducer 14, a fixed end of the harmonic reducer 14 is bolted to the inner plate 13, an output end of the harmonic reducer 14 is bolted to a driving wheel driving shaft 15, the driving wheel driving shaft 15 is connected to a driving wheel 11 by a flat key, a side of the driving wheel 11 away from a driving end is provided with a bearing one 16, the circumferential outer diameter of the bearing I16 is in interference fit with the driving wheel 11, the inner diameter of the bearing I16 is in interference fit with a driving wheel driven shaft 18, the driving wheel driven shaft 18 is bolted with the outer side plate 10, one end of the bearing I16 is provided with a bearing end cover 17, the driving wheel 11 is in transmission connection with the driven wheel 3 arranged between the inner side plate 13 and the outer side plate 10 on the other side through a driving crawler 2, the driven wheel 3 is fixedly connected with the driving crawler 2 through a tensioning bolt 4, two bearing II 20 are arranged in the driven wheel 3, the circumferential outer diameter of the bearing II 20 is in interference fit with the driven wheel 3, the inner diameter of the bearing II 20 is in interference fit with a driven wheel shaft 19, the driven wheel shaft 19 is arranged between the inner side plate 13 and the outer side plate 10, and the driven wheel shaft 19 is fixedly connected with the inner side plate 13 and the outer side plate 10 through a driven, the both ends of bearing two 20 are provided with bearing end cover 17, interior plate 13 reaches be equipped with magnetism adsorption apparatus structure 6 between the middle between the outer panel 10, just magnetism adsorption apparatus structure 6 through magnetism adsorb fixing bolt 8 with interior plate 13 reaches outer panel 10 bolted connection, the one end of magnetism adsorption apparatus structure 6 is equipped with magnetism and adsorbs adjusting bolt 7.
In an embodiment of the present invention, the driving wheel 11 is driven by the power of the driving motor 12 to rotate, and the driving wheel 11 drives the driving caterpillar 2 to drive the driven wheel 3 to rotate, so as to realize the movement of the magnetic wall-attached caterpillar.
In an embodiment of the present invention, the outer plate 10 and the inner plate 13 form a supporting structure of a cavity through the upper connecting plate 1 and the track tensioning plate 9, and the outer plate 10 and the inner plate 13 are fixedly connected through the driven wheel 3, the driving wheel 11, the first bearing 16 and the second bearing 20 to form an integrated device for a carrying platform of an external device.
In one embodiment of the invention, the track tensioning plate 9 is mounted at the lower part of the device for tensioning the drive track 2 in contact with the ground, preventing it from losing grip due to protrusions of foreign bodies on the ground.
In an embodiment of the present invention, the magnetic adsorption adjusting bolt 7 is used to adjust the distance between the adsorbed surfaces of the magnetic adsorption mechanism 6 and adjust the magnitude of the adsorption force.
In one embodiment of the present invention, one end of the upper connecting plate 1 is in a right-angle structure, the other end of the upper connecting plate 1 is provided with two flanges, the right-angle side of the upper connecting plate is bolted to the outer side of the upper end of the inner side plate 13, and the flange side of the upper connecting plate is bolted to the outer side of the upper end of the outer side plate 10.
In order to facilitate understanding of the above-described technical aspects of the present invention, the above-described technical aspects of the present invention will be described in detail below in terms of specific usage.
In particular use, the magnetic adsorption wall-climbing walking crawler device according to the invention comprises: the magnetic adsorption device comprises an upper connecting plate 1, a driving crawler 2, a driven wheel 3, a magnetic adsorption mechanism 6, a crawler tensioning plate 9, an outer side plate 10, a driving wheel 11, a driving motor 12 and an inner side plate 13;
firstly, the outer plate 10 and the inner plate 13 form a supporting structure of a cavity through the upper connecting plate 1 and the track tensioning plate 9, the outer plate 10 and the inner plate 13 are fixedly connected through the driven wheel 3 and the driving wheel 11, the first bearing 16 and the second bearing 20 to form an integral device for a carrying platform of external equipment, then the magnetic adsorption mechanism 6 is centrally arranged between the inner plate 13 and the outer plate 10, and is fixedly connected with the inner plate 13 and the outer plate 10 through the magnetic adsorption fixing bolt 8, the distance of the adsorbed surface of the magnetic adsorption mechanism 6 and the adsorption force are adjusted through the magnetic adsorption adjusting bolt 7, secondly, the driving wheel 11 is driven by the power of the driving motor 12 to rotate, and the driving wheel 11 drives the driving track 2 to drive the driven wheel 3 to rotate, the magnetic wall crawler is used for realizing the movement of the magnetic wall crawler.
In conclusion, by means of the technical scheme, the problem that the water-cooled wall climbing robot cannot turn when the boiler tube bank climbs the wall can be solved, the existing wall climbing walking device is further developed, the working efficiency is improved, and the working cost is reduced.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. The magnetic adsorption wall-climbing walking crawler device is characterized by comprising an upper connecting plate (1), wherein one side of the upper connecting plate (1) is fixedly connected with an outer side plate (10) through a bolt, the other side of the upper connecting plate (1) is fixedly connected with an inner side plate (13) through a bolt, a crawler tensioning plate (9) is arranged at the bottom between the outer side plate (10) and the inner side plate (13), a driving motor (12) is arranged at one side of the inner side plate (13), the driving motor (12) is bolted with the inner side plate (13), an output shaft of the driving motor (12) is connected with a harmonic reducer (14), a fixed end of the harmonic reducer (14) is bolted with the inner side plate (13), an output end of the harmonic reducer (14) is bolted with a driving wheel driving shaft (15), the driving wheel driving shaft (15) is connected with a driving wheel (11) through a flat key, one side, far away from the driving end, of the driving wheel (11) is provided with a first bearing (16), the circumferential outer diameter of the first bearing (16) is in interference fit with the driving wheel (11), the inner diameter of the first bearing (16) is in interference fit with a driven shaft (18), the driven shaft (18) is in bolted connection with the outer side plate (10), one end of the first bearing (16) is provided with a bearing end cover (17), the driving wheel (11) is in transmission connection with a driven wheel (3) arranged between the inner side plate (13) and the outer side plate (10) on the other side through a driving crawler (2), the driven wheel (3) is fixedly connected with the driving crawler (2) through a tensioning bolt (4), two second bearings (20) are arranged in the driven wheel (3), and the circumferential outer diameter of the second bearings (20) is in interference fit with the driven wheel (3), the internal diameter of bearing two (20) and driven wheel axle (19) interference fit, just driven wheel axle (19) are located interior plate (13) with between outer panel (10), driven wheel axle (19) through from driving wheel fastening bolt (5) with interior plate (13) and outer panel (10) link firmly, the both ends of bearing two (20) are provided with bearing end cover (17), interior plate (13) and be equipped with magnetism between outer panel (10) and adsorb mechanism (6) between the centre, just magnetism adsorb mechanism (6) through magnetism adsorb fixing bolt (8) with interior plate (13) and outer panel (10) bolted connection, the one end of magnetism adsorb mechanism (6) is equipped with magnetism and adsorbs adjusting bolt (7).
2. The magnetic adsorption wall-climbing walking crawler device according to claim 1, wherein the driving motor (12) is in transmission connection with the driving wheel (11), and the driving wheel (11) is in transmission connection with the driven wheel (3) through the driving crawler (2).
3. The magnetic adsorption wall-climbing walking crawler device according to claim 1, wherein the outer side plate (10) and the inner side plate (13) form a supporting structure of a cavity through the upper connecting plate (1) and the crawler tensioning plate (9).
4. The magnetic adsorption wall-climbing walking crawler device according to claim 1, wherein a flat key is provided on the output shaft of the driving motor (12).
5. The magnetic adsorption wall-climbing walking crawler device according to claim 1, wherein the driven wheel (3) is fixedly arranged on the outer side plate (10) and the inner side plate (13) through the tensioning bolt (4) and the driven wheel fastening bolt (5).
6. The magnetic adsorption wall-climbing walking crawler device according to claim 1, wherein one end of the upper connecting plate (1) is in a right-angle structure, and the other end of the upper connecting plate (1) is provided with two flanges.
7. The magnetic adsorption wall-climbing walking crawler device according to claim 1, wherein the outer side plate (10) and the inner side plate (13) are connected through the driven wheel (3) and the driving wheel (11), the first bearing (16) and the second bearing (20).
8. The magnetic adsorption wall-climbing walking crawler device according to claim 1, wherein the upper central position of the outer side plate (10) is in a U-shaped structure.
9. The magnetic adsorption wall-climbing walking crawler device according to claim 1, wherein the upper central position of the inner side plate (13) is in a concave structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010384141.3A CN111661185A (en) | 2020-05-09 | 2020-05-09 | Magnetic adsorption wall-climbing walking crawler device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010384141.3A CN111661185A (en) | 2020-05-09 | 2020-05-09 | Magnetic adsorption wall-climbing walking crawler device |
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| Publication Number | Publication Date |
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| CN111661185A true CN111661185A (en) | 2020-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010384141.3A Pending CN111661185A (en) | 2020-05-09 | 2020-05-09 | Magnetic adsorption wall-climbing walking crawler device |
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|---|---|---|---|---|
| CN1709654A (en) * | 2005-06-30 | 2005-12-21 | 上海交通大学 | Magnetic-suction crawler type wall-creeping robot based on synchronous cogbelt |
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| CN101716959A (en) * | 2009-12-16 | 2010-06-02 | 中国人民解放军总后勤部建筑工程研究所 | Remote control caterpillar telescopic traction magnetic probe car |
| CN103879466A (en) * | 2014-04-16 | 2014-06-25 | 中国农业大学 | Crawler belt variable-rigidness independent suspension power chassis |
| CN105835978A (en) * | 2016-05-30 | 2016-08-10 | 哈工大机器人集团有限公司 | Crawler-type magnetic-adsorption wall climbing robot |
| CN107600214A (en) * | 2017-10-16 | 2018-01-19 | 河北工业大学 | It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall |
| CN108313155A (en) * | 2018-03-21 | 2018-07-24 | 洛阳圣瑞智能机器人有限公司 | A kind of sprocket-type climbing robot |
| CN108556947A (en) * | 2018-03-30 | 2018-09-21 | 西北工业大学 | A kind of multifunctional magnetic-force wall climbing vehicle |
| CN109366051A (en) * | 2018-12-07 | 2019-02-22 | 北京博清科技有限公司 | Adjustable magnetic adsorbent equipment and welding robot |
| CN209142270U (en) * | 2018-11-06 | 2019-07-23 | 袁哲 | The traffic system that a kind of wall climbing vehicle and wall climbing vehicle use |
| CN110206562A (en) * | 2019-06-24 | 2019-09-06 | 徐州秩润矿山设备科技有限公司 | A kind of concrete spraying machine automatic injection climbing robot and its working method |
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2020
- 2020-05-09 CN CN202010384141.3A patent/CN111661185A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1709654A (en) * | 2005-06-30 | 2005-12-21 | 上海交通大学 | Magnetic-suction crawler type wall-creeping robot based on synchronous cogbelt |
| CN101380976A (en) * | 2007-09-03 | 2009-03-11 | 张战捷 | Electric drive wheel transmission device of crawler equipment |
| CN101716959A (en) * | 2009-12-16 | 2010-06-02 | 中国人民解放军总后勤部建筑工程研究所 | Remote control caterpillar telescopic traction magnetic probe car |
| CN103879466A (en) * | 2014-04-16 | 2014-06-25 | 中国农业大学 | Crawler belt variable-rigidness independent suspension power chassis |
| CN105835978A (en) * | 2016-05-30 | 2016-08-10 | 哈工大机器人集团有限公司 | Crawler-type magnetic-adsorption wall climbing robot |
| CN107600214A (en) * | 2017-10-16 | 2018-01-19 | 河北工业大学 | It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall |
| CN108313155A (en) * | 2018-03-21 | 2018-07-24 | 洛阳圣瑞智能机器人有限公司 | A kind of sprocket-type climbing robot |
| CN108556947A (en) * | 2018-03-30 | 2018-09-21 | 西北工业大学 | A kind of multifunctional magnetic-force wall climbing vehicle |
| CN209142270U (en) * | 2018-11-06 | 2019-07-23 | 袁哲 | The traffic system that a kind of wall climbing vehicle and wall climbing vehicle use |
| CN109366051A (en) * | 2018-12-07 | 2019-02-22 | 北京博清科技有限公司 | Adjustable magnetic adsorbent equipment and welding robot |
| CN110206562A (en) * | 2019-06-24 | 2019-09-06 | 徐州秩润矿山设备科技有限公司 | A kind of concrete spraying machine automatic injection climbing robot and its working method |
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Application publication date: 20200915 |
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