CN111776104A - Clearance magnetic adsorption universal wheel - Google Patents
Clearance magnetic adsorption universal wheel Download PDFInfo
- Publication number
- CN111776104A CN111776104A CN202010752645.6A CN202010752645A CN111776104A CN 111776104 A CN111776104 A CN 111776104A CN 202010752645 A CN202010752645 A CN 202010752645A CN 111776104 A CN111776104 A CN 111776104A
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- China
- Prior art keywords
- connecting frame
- robot
- shaft
- wheel
- universal wheel
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- Pending
Links
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 46
- 230000004308 accommodation Effects 0.000 claims abstract description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 8
- 229910052742 iron Inorganic materials 0.000 claims description 4
- 230000009194 climbing Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims 1
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 10
- 238000003466 welding Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 2
- 229910000679 solder Inorganic materials 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
-
- 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
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/0002—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/0036—Castors in general; Anti-clogging castors characterised by type of wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Support Of The Bearing (AREA)
Abstract
The invention provides a gap magnetic adsorption universal wheel which comprises a connecting frame, a driven wheel and a supporting bearing, wherein one end of the connecting frame is provided with a wheel shaft for mounting the driven wheel, the driven wheel is mounted at two ends of the wheel shaft, and the other end of the connecting frame is rotatably connected with a robot through the supporting bearing; magnet is still installed to the link near from driving wheel one end, is equipped with the accommodation space that can be used to place not unidimensional gasket between magnet and the link. The gap magnetic adsorption universal wheel can solve the problem of overlarge resistance when the robot turns to move, and provides a certain adsorption force for the robot through the magnet while the robot flexibly moves.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a gap magnetic adsorption universal wheel.
Background
When the robot moves on the surface of a large steel container, flexible movement and reliable adsorption are a pair of contradictions. Particularly, when the robot turns to move, the friction force generated by the magnetic attraction force needs to be overcome, so that the robot turns to move inflexibly and the power loss is large. The robot using the universal wheels or the universal balls cannot provide reliable adsorption force for the driven part, so that the robot has a falling risk when moving at the full position.
Disclosure of Invention
In view of the above, the present invention is directed to a gap magnetic adsorption universal wheel, which is a two-axis structure with adsorption capability and is fixed on a robot chassis through a rotation support. The robot can be provided with one or more sets of universal wheels according to actual conditions.
A bearing is arranged in the rotary support, and the rotary support is sequentially provided with a thrust ball bearing, a deep groove ball bearing and a thrust ball bearing. The upper thrust ball bearing and the lower thrust ball bearing can bear acting force along the axial direction of the rotating shaft, and the two deep groove ball bearings can bear acting force along the radial direction of the rotating shaft.
The driven bracket is fixed on the lower end surface of the rotating shaft and can rotate around the rotating shaft. The driven bracket lower extreme sets up driven shaft and yoke, installs at the driven shaft both ends from the driving wheel, follows internal arrangement bearing of driving wheel, can be around the driven shaft free rotation. The magnets are symmetrically arranged on the lower surface of the yoke, and the distance between the lower surface of each magnet and a bus of the driven wheel is smaller than the radius of the driven wheel, so that a gap is formed between each magnet and the surface of a workpiece and the magnets are not in direct contact.
The width between two driven wheels is greater than the width of welding seam or other obstacles, so that the wheels can not be pressed on the welding seam in the walking process, the gap between the magnet and the workpiece is prevented from being too large, the adsorption force is suddenly reduced, and the robot falls.
As an adsorption body, the adsorption force between two driven wheels is designed redundantly, namely the adsorption force provided by the universal wheels is greater than the self weight of the universal wheels, and certain adsorption force can be provided for the robot.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a gap magnetic adsorption universal wheel comprises a connecting frame, a driven wheel and a supporting bearing, wherein one end of the connecting frame is provided with a wheel shaft for mounting the driven wheel, the driven wheel is mounted at two ends of the wheel shaft, and the other end of the connecting frame is rotatably connected with the bottom of a robot through the supporting bearing;
magnet is still installed to the link near from driving wheel one end, is equipped with the accommodation space that is used for placing not unidimensional gasket between magnet and the link.
Further, the support bearing comprises a shaft sleeve and a shaft rod, the shaft sleeve is static relative to the robot, and the shaft rod rotates relative to the robot;
and a locking mechanism is further installed on the side of the shaft sleeve and comprises a telescopic pin rod, and pin holes corresponding to the pin rod are formed in the shaft sleeve and the shaft rod.
Furthermore, the shaft lever is further sequentially sleeved with a first thrust ball bearing, a first deep groove ball bearing, a second deep groove ball bearing and a second thrust ball bearing from top to bottom, a corresponding mounting position for mounting the bearings is arranged in the first shaft sleeve, a limiting shaft sleeve is further arranged between the first deep groove ball bearing and the second deep groove ball bearing, and the limiting shaft sleeve is arranged on the shaft lever.
Further, the link is the L type, and the link is close to and is equipped with fixed square groove from driving wheel one end, and fixed square groove link up the setting along the width direction of link, and the central point of shaft cylinder puts and is equipped with the horizontal cross-section that corresponds with fixed square groove, and the fixed square inslot of shaft joint is in.
Furthermore, a yoke is arranged between the connecting frame and the magnet, a first mounting hole used for being fixed with the connecting frame is formed in the center of the upper surface of the yoke, and a second mounting hole used for being connected with the magnet is formed in the upper surface of the yoke;
the two magnets are respectively arranged below the two second mounting holes of the yoke.
Furthermore, the yoke upper surface is equipped with the direction mounting groove, and link one end embedding is in the direction mounting groove.
Further, the lower surface of the gasket is a horizontal plane, and the upper surface of the gasket sequentially extends upwards to form a first adjusting part, a second adjusting part and a third adjusting part, wherein the heights of the first adjusting part, the second adjusting part and the third adjusting part are gradually increased;
the width of the gasket is smaller than that of the guide mounting groove, and the gasket is inserted into the guide mounting groove;
a through slotted hole corresponding to the first mounting hole is arranged along the length direction of the upper surface of the gasket.
Furthermore, the bottom cylindrical surface of axostylus axostyle is equipped with horizontal cross-section, and the link top is equipped with the draw-in groove that is used for being connected with the axostylus axostyle that corresponds.
Further, the top of the support bearing is also provided with an installation part used for being connected with the bottom of the robot.
Further, the robot comprises a wall-climbing robot
Compared with the prior art, the gap magnetic adsorption universal wheel has the following advantages:
(1) the gap magnetic adsorption universal wheel can solve the problem of overlarge resistance when the robot turns to move, and provides a certain adsorption force for the robot through the magnet while the robot flexibly moves;
(2) the gap magnetic adsorption universal wheel is sequentially provided with the first thrust ball bearing, the first deep groove ball bearing, the second deep groove ball bearing and the second thrust ball bearing from top to bottom, the upper thrust ball bearing and the lower thrust ball bearing can bear acting force along the axial direction of the rotating shaft, and the two deep groove ball bearings can bear acting force along the radial direction of the rotating shaft, so that the stability of a robot in the traveling process is improved;
(3) the width between the two driven wheels of the gap magnetic adsorption universal wheel is larger than the width of a welding seam or other obstacles, so that the wheels cannot be pressed on the welding seam in the walking process, and the phenomenon that the gap between a magnet and a workpiece is too large, the adsorption force is suddenly reduced, and a robot falls off is prevented;
(4) according to the gap magnetic adsorption universal wheel, the distance between the magnet and the outer wall of the workpiece to be detected is adjusted by adjusting the inserting depth of the gasket and further adjusting the distance between the yoke and the connecting frame, and the adsorption capacity of the magnet to the wall of the tank is increased or reduced according to specific working conditions.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of an embodiment of a gap magnetic adsorption universal wheel;
FIG. 2 is a schematic view of a first assembly of a gap magnetic adsorption universal wheel according to an embodiment of the present invention;
FIG. 3 is a schematic view of a second assembly of a gap magnetic adsorption universal wheel according to an embodiment of the present invention;
fig. 4 is a schematic view of a third assembly of a gap magnetic adsorption universal wheel according to an embodiment of the present invention.
Description of reference numerals:
1-a connecting frame; 11-fixed square groove; 12-a card slot; 2-driven wheel; 21-axle; 3-a support bearing; 31-shaft sleeve; 32-shaft rod; 33-a first thrust ball bearing; 34-a first deep groove ball bearing; 35-a second deep groove ball bearing; 36-a second thrust ball bearing; mounting portion 38-limit bushing; 4-a magnet; 41-yoke iron; 411-first mounting hole; 412-a second mounting hole; 413-a guide mounting groove; 5-a locking mechanism; 51-telescoping pin rods; 52-pin hole; 6-a gasket; 61-a first adjustment; 62-a second adjustment; 63-a third adjustment section; 64-through slotted hole.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 4, a gap magnetic adsorption universal wheel includes a connecting frame 1, a driven wheel 2 and a supporting bearing 3, one end of the connecting frame 1 is provided with a wheel shaft 21 for mounting the driven wheel 2, the driven wheel 2 is mounted at two ends of the wheel shaft 21, the other end of the connecting frame 1 is rotatably connected with the bottom of a robot through the supporting bearing 3, and preferably, the robot in this embodiment uses a wall-climbing robot;
the connecting frame 1 is also provided with a magnet 4 near one end of the driven wheel 2, an accommodating space for placing gaskets 6 with different sizes is arranged between the magnet 4 and the connecting frame 1, the gaskets 6 with different heights are inserted into the accommodating space, the distance between the magnet 4 and the tank wall to be detected is adjusted, in the specific use process, aiming at the working conditions, such as excessive welding seam residual solder/thin tank wall material to be detected (preventing the magnet 4 from damaging the tank wall appearance), a gasket 6 with lower height (a first adjusting part 61 of the gasket 6) is arranged in the accommodating space or the gasket 6 is not inserted so as to prevent the wall climbing robot from being scraped to the bottom by the welding seam to influence the advancing process, and aiming at the condition that less welding seam residual solder/thick tank wall material to be detected, a gasket 6 with higher height (a second adjusting part 62 or a third adjusting part 63 of the gasket 6) is arranged in the accommodating space so as to increase the adsorption force of the magnet 4 to the tank wall, improve the stability that wall climbing robot marchd, prevent simultaneously to fall.
The support bearing 3 comprises a shaft sleeve 31 and a shaft rod 32, wherein the shaft sleeve 31 is static relative to the wall-climbing robot, and the shaft rod 32 rotates relative to the wall-climbing robot;
the side of the shaft sleeve 31 is also provided with a locking mechanism 5, the locking mechanism 5 comprises a telescopic pin 51, the shaft sleeve 31 and the shaft lever 32 are provided with pin holes 52 corresponding to the pin, the locking mechanism 5 adopts but is not limited to an LS-0520B push-pull electromagnet, the locking is realized by inserting the telescopic pin 51 of the electromagnet into the pin holes 52, the electromagnet is controlled by an existing control unit, and details are not repeated in the application.
The shaft lever 32 is further sequentially sleeved with a first thrust ball bearing 33, a first deep groove ball bearing 34, a second deep groove ball bearing 35 and a second thrust ball bearing 36 from top to bottom, the first thrust ball bearing 33 and the first deep groove ball bearing 34 are arranged in the shaft sleeve 31, corresponding mounting positions for mounting the bearings are arranged in the shaft sleeve 31, a limiting shaft sleeve 38 is further arranged between the first deep groove ball bearing 34 and the second deep groove ball bearing 35, the limiting shaft sleeve 38 is sleeved on the shaft lever 32, and the first deep groove ball bearing 34 and the second deep groove ball bearing 35 are respectively arranged above and below the limiting shaft sleeve 38.
The connecting frame 1 is L-shaped, one end of the connecting frame 1, which is close to the driven wheel 2, is provided with a fixed square groove 11, the fixed square groove 11 is arranged in a penetrating way along the width direction of the connecting frame 1, the center position of the cylindrical surface of the wheel shaft 21 is provided with a horizontal cross section which corresponds to the fixed square groove 11 and is shown in figure 3, and the wheel shaft 21 is clamped in the fixed square groove 11.
A yoke 41 is further arranged between the connecting frame 1 and the magnet 4, a first mounting hole 411 used for being fixed with the connecting frame 1 is formed in the center of the upper surface of the yoke 41, and a second mounting hole 412 used for being connected with the magnet 4 is further formed in the upper surface of the yoke 41;
the two magnets 4 are respectively disposed below the two second mounting holes 412 of the yoke 41.
The upper surface of the yoke 41 is provided with a guide installation groove 413, and one end of the link 1 is inserted into the guide installation groove 413.
The lower surface of the gasket 6 is a horizontal plane, and the upper surface of the gasket extends upwards in sequence to form a first adjusting part 61, a second adjusting part 62 and a third adjusting part 63 with gradually increasing heights;
the width of the gasket 6 is smaller than that of the guide mounting groove 413, and the gasket 6 is inserted into the guide mounting groove 413;
a through slotted hole 64 corresponding to the first mounting hole 411 is formed in the length direction of the upper surface of the gasket 6, a bolt mounted in the first mounting hole 411 penetrates through the slotted hole, when the insertion depth of the gasket 6 needs to be adjusted, the bolt is loosened, the depth of the inserted gasket 6 is adjusted, and then the bolt is tightened to achieve the adjustment.
The bottom cylindrical surface of the shaft lever 32 is provided with a horizontal section as shown in fig. 4, and the top of the connecting frame 1 is provided with a corresponding clamping groove 12 for connecting with the shaft lever 32.
The top of the support bearing 3 is also provided with an installation part used for being connected with the bottom of the wall-climbing robot.
The locking mechanism 5 comprises an electromagnet.
The gap magnetic adsorption universal wheel is of a two-shaft structure with adsorption capacity and is fixed on a chassis of the wall-climbing robot through a support bearing 3. One or more sets of universal wheels can be installed on the wall-climbing robot according to actual conditions.
The support bearing 3 is internally provided with a bearing, and is sequentially provided with a thrust ball bearing, a deep groove ball bearing and a thrust ball bearing. The upper and lower thrust ball bearings can bear the axial acting force along the shaft lever 32, and the two deep groove ball bearings can bear the radial acting force along the shaft lever 32.
The connecting frame 1 is fixed on the lower end surface of the shaft 32, and the connecting frame 1 and the shaft 32 can rotate around the shaft sleeve 31. The lower end of the connecting frame 1 is provided with a wheel shaft 21 and a yoke 41, the driven wheel 2 is arranged at two ends of the wheel shaft 21, and a bearing is arranged in the driven wheel 2 and can rotate freely around the wheel shaft 21. The magnets 4 are symmetrically arranged on the lower surface of the yoke 41, and the distance between the lower surface of each magnet 4 and a bus of the driven wheel 2 is smaller than the radius of the driven wheel 2, so that a gap is formed between each magnet 4 and the surface of a workpiece and the magnets are not in direct contact.
The width between two driven wheels 2 is greater than the width of welding seam or other obstacles, guarantees that the wheel can not press on the welding seam in the walking process, prevents that magnet 4 and work piece clearance are too big, and the adsorption affinity reduces suddenly, and makes the robot fall.
As an adsorption body, the adsorption force between the two driven wheels 2 is designed redundantly, namely the adsorption force provided by the universal wheels is larger than the self weight of the universal wheels, and certain adsorption force can be provided for the robot.
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 (10)
1. The utility model provides a clearance magnetism adsorbs universal wheel, sets up on the robot, its characterized in that: the robot comprises a connecting frame (1), a driven wheel (2) and a supporting bearing (3), wherein one end of the connecting frame (1) is provided with a wheel shaft (21) for mounting the driven wheel (2), the driven wheel (2) is mounted at two ends of the wheel shaft (21), and the other end of the connecting frame (1) is rotatably connected with a robot through the supporting bearing (3);
magnet (4) are still installed to link (1) one end near driven wheel (2), are equipped with the accommodation space that can be used to place not unidimensional gasket (6) between magnet (4) and link (1).
2. The interstitial magnetic adsorption universal wheel of claim 1, wherein: the support bearing (3) comprises a shaft sleeve (31) and a shaft rod (32), the shaft sleeve (31) is static relative to the robot, and the shaft rod (32) rotates relative to the robot;
a locking mechanism (5) is further installed on the side of the shaft sleeve (31), the locking mechanism (5) comprises a telescopic pin rod (51), and pin holes (52) corresponding to the telescopic pin rod (51) are formed in the shaft sleeve (31) and the shaft rod (32).
3. The interstitial magnetic adsorption universal wheel of claim 2, wherein: shaft lever (32) still overlaps from top to bottom in proper order and is equipped with first thrust ball bearing (33), first deep groove ball bearing (34), second deep groove ball bearing (35) and second thrust ball bearing (36), be equipped with the corresponding installation position that is used for installing above-mentioned bearing in axle sleeve (31), still be equipped with between first deep groove ball bearing (34) and second deep groove ball bearing (35) spacing axle sleeve (38), spacing axle sleeve (38) cover is established on shaft lever (32), spacing axle sleeve (38) are equipped with pinhole (52) that correspond with the pin pole.
4. The interstitial magnetic adsorption universal wheel of claim 1, wherein: the connecting frame (1) is L-shaped, a fixed square groove (11) is formed in one end, close to the driven wheel (2), of the connecting frame (1), the fixed square groove (11) penetrates through the connecting frame (1) in the width direction, a horizontal cross section corresponding to the fixed square groove (11) is arranged in the center of the cylindrical surface of the wheel shaft (21), and the wheel shaft (21) is clamped in the fixed square groove (11).
5. The interstitial magnetic adsorption universal wheel of claim 1, wherein: a yoke iron (41) is further arranged between the connecting frame (1) and the magnet (4), a first mounting hole (411) used for being fixed with the connecting frame (1) is formed in the center of one end, close to the connecting frame (1), of the yoke iron (41), and a second mounting portion (412) used for being connected with the magnet (4) is further arranged on the surface of one end, far away from the connecting frame (1), of the yoke iron (41);
6. the interstitial magnetic adsorption universal wheel of claim 5, wherein: the upper surface of the yoke (41) is provided with a guide installation groove (413), and one end of the connecting frame (1) is embedded in the guide installation groove (413).
7. The interstitial magnetic adsorption universal wheel of claim 6, wherein: one end of the gasket (6) close to the yoke is a horizontal plane, and the other end of the gasket far away from the yoke is a stepped plane and comprises at least two adjusting parts with sequentially increased thicknesses;
the width of the gasket (6) is smaller than that of the guide mounting groove (413), and the gasket (6) is inserted into the guide mounting groove (413);
the gasket (6) is provided with a through slotted hole (64) corresponding to the first mounting hole (411).
8. The interstitial magnetic adsorption universal wheel of claim 1, wherein: the bottom cylindrical surface of axostylus axostyle (32) is equipped with horizontal cross section and vertical section, and link (1) top is equipped with corresponding draw-in groove (12) that are used for being connected with axostylus axostyle (32).
9. The interstitial magnetic adsorption universal wheel of claim 1, wherein: the top of the support bearing (3) is also provided with an installation part used for being connected with a robot.
10. The interstitial magnetic adsorption universal wheel of claim 9, wherein: the robot includes a wall climbing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010752645.6A CN111776104A (en) | 2020-07-30 | 2020-07-30 | Clearance magnetic adsorption universal wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010752645.6A CN111776104A (en) | 2020-07-30 | 2020-07-30 | Clearance magnetic adsorption universal wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111776104A true CN111776104A (en) | 2020-10-16 |
Family
ID=72765566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010752645.6A Pending CN111776104A (en) | 2020-07-30 | 2020-07-30 | Clearance magnetic adsorption universal wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111776104A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112301849A (en) * | 2020-10-23 | 2021-02-02 | 江苏集萃道路工程技术与装备研究所有限公司 | In-situ heat regeneration heating unit |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106608306A (en) * | 2016-07-25 | 2017-05-03 | 中科新松有限公司 | Wall-climbing robot |
| CN109050705A (en) * | 2018-08-22 | 2018-12-21 | 浙江大学 | Wall wheel is climbed in a kind of inflation of the magnetic adsorption type that deformation is stable |
| CN209351491U (en) * | 2018-12-27 | 2019-09-06 | 北京史河科技有限公司 | A kind of magnet-wheel mechanism and the climbing robot with the mechanism |
| CN209600671U (en) * | 2019-03-18 | 2019-11-08 | 山东交通学院 | A kind of sorption wheel group of self-adapting changeable suction |
| CN110450579A (en) * | 2019-09-19 | 2019-11-15 | 南京康尼机电股份有限公司 | A kind of universal wheel position-limit mechanism |
| CN212828753U (en) * | 2020-07-30 | 2021-03-30 | 清华大学天津高端装备研究院 | Clearance magnetic adsorption universal wheel |
-
2020
- 2020-07-30 CN CN202010752645.6A patent/CN111776104A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106608306A (en) * | 2016-07-25 | 2017-05-03 | 中科新松有限公司 | Wall-climbing robot |
| CN109050705A (en) * | 2018-08-22 | 2018-12-21 | 浙江大学 | Wall wheel is climbed in a kind of inflation of the magnetic adsorption type that deformation is stable |
| CN209351491U (en) * | 2018-12-27 | 2019-09-06 | 北京史河科技有限公司 | A kind of magnet-wheel mechanism and the climbing robot with the mechanism |
| CN209600671U (en) * | 2019-03-18 | 2019-11-08 | 山东交通学院 | A kind of sorption wheel group of self-adapting changeable suction |
| CN110450579A (en) * | 2019-09-19 | 2019-11-15 | 南京康尼机电股份有限公司 | A kind of universal wheel position-limit mechanism |
| CN212828753U (en) * | 2020-07-30 | 2021-03-30 | 清华大学天津高端装备研究院 | Clearance magnetic adsorption universal wheel |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112301849A (en) * | 2020-10-23 | 2021-02-02 | 江苏集萃道路工程技术与装备研究所有限公司 | In-situ heat regeneration heating unit |
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