CN113734310A - Permanent magnet adsorption crawler device and permanent magnet adsorption robot - Google Patents
Permanent magnet adsorption crawler device and permanent magnet adsorption robot Download PDFInfo
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- CN113734310A CN113734310A CN202111052322.7A CN202111052322A CN113734310A CN 113734310 A CN113734310 A CN 113734310A CN 202111052322 A CN202111052322 A CN 202111052322A CN 113734310 A CN113734310 A CN 113734310A
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 50
- 230000005291 magnetic effect Effects 0.000 claims abstract description 49
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 230000005389 magnetism Effects 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 description 12
- 230000005294 ferromagnetic effect Effects 0.000 description 9
- 239000002184 metal Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/10—Bogies; Frames
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
Abstract
The invention discloses a permanent magnetic adsorption crawler device and a permanent magnetic adsorption robot, wherein the permanent magnetic adsorption crawler device comprises: a track mount; the driving wheel assembly is arranged at one end of the crawler mounting frame and is provided with a first driving wheel; the driving assembly is provided with a second driving wheel, and the first driving wheel is connected with the second driving wheel through a driving belt to form a transmission structure so that the driving assembly drives the driving wheel assembly to rotate; the driven wheel assembly is arranged at the other end of the crawler mounting frame; the driving wheel component and the driven wheel component are connected through the strong magnetic track chain. The driving assembly is connected with the driving wheel assembly through the transmission structure, so that the output torque can be increased, the driving force can be improved under the condition that the size of the crawler belt is not improved, and the load capacity of the adsorption robot is improved.
Description
Technical Field
The invention relates to the field of adsorption robots, in particular to a permanent magnet adsorption crawler device and a permanent magnet adsorption robot.
Background
In the field of the existing adsorption robots, the permanent magnetic adsorption robot mainly uses a technology that a crawler is driven and the crawler and a strong magnetic block are combined to generate magnetic adsorption force as a main technology, corresponding maintenance operation is generally carried out on the surfaces of steel structures such as a tower drum, a ship surface and a tank body, main factors determining the operation performance of the permanent magnetic adsorption robot on a vertical surface are the size of the magnetic adsorption force and the size of driving force, the size of the magnetic adsorption force is increased frequently, the size of the strong magnetic block on all the crawlers needs to be increased, the self weight of equipment can be increased in a corresponding manner, the corresponding required driving force needs to be increased, but the permanent magnetic adsorption robot is limited by the size of the crawler, a driving mechanism cannot be correspondingly increased, sufficient driving force cannot be provided, the size of the strong magnetic block is correspondingly limited, and the load of the crawler robot is influenced.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a permanent magnet adsorption crawler device and a permanent magnet adsorption robot, which can solve the problem that the driving force of the conventional permanent magnet adsorption robot is insufficient.
According to the embodiment of the first aspect of the invention, the permanent magnet adsorption crawler device comprises: a track mount; the driving wheel assembly is arranged at one end of the crawler mounting frame, and a first driving wheel is arranged on the driving wheel assembly; the driving assembly is provided with a second driving wheel, and the first driving wheel is connected with the second driving wheel through a driving belt so as to form a transmission structure to enable the driving assembly to drive the driving wheel assembly to rotate; a driven wheel assembly mounted at the other end of the track mount; the driving wheel assembly and the driven wheel assembly are connected through the strong magnetic track chain to form a track transmission structure.
According to the permanent magnet adsorption crawler device of the embodiment of the first aspect of the invention, at least the following technical effects are achieved: according to the embodiment of the invention, the whole device can be adsorbed on a vertical metal surface through the adsorption force of the strong magnetic track chain, the strong magnetic track chain is rotated by pulling the driving wheel assembly and the driven wheel assembly, so that the adsorption robot is pushed to move, wherein the driving assembly is connected with the driving wheel assembly through the transmission structure consisting of the first driven wheel, the second driving wheel and the transmission belt, the output torque can be increased, the driving force can be improved under the condition of not improving the size of the track, and the load capacity of the adsorption robot is improved.
According to some embodiments of the invention, the driving wheel assembly comprises a driving wheel mounting bracket fixed at one end of the track mounting bracket, a driving wheel mechanism and a driving wheel central shaft, the driving wheel central shaft is rotatably mounted on the driving wheel mounting bracket, the driving wheel mechanism is fixed in a middle area of the driving wheel central shaft and is engaged with the strong-magnetic track chain, and the first driving wheel is fixed at an end of the driving wheel central shaft.
According to some embodiments of the present invention, the driving assembly includes a motor, a turbo reducer with two output shafts, and two second driving wheels, the motor is connected to the turbo reducer, the two output shafts are respectively disposed at two ends of the turbo reducer, the two second driving wheels are respectively fixed to the two output shafts of the turbo reducer, and the two first driving wheels are respectively disposed at two ends of the driving wheel assembly and correspond to the second driving wheels on the same side.
According to some embodiments of the invention, the track assembly further comprises a driven wheel assembly, wherein the driven wheel assembly is fixed at the other end of the track mounting frame through the driven wheel gap adjustment assembly for adjusting the relative distance between the driven wheel assembly and the driving wheel assembly.
According to some embodiments of the present invention, the driven wheel gap adjusting assembly includes a fixed frame, a movable frame, a telescopic device, and an adjusting device, the fixed frame is fixed on the track mounting frame, a telescopic direction of the telescopic device is parallel to a central axis of the track mounting frame, the fixed frame is connected to the movable frame through the telescopic device, the driven wheel assembly is fixed on the movable frame, and the adjusting device is used for adjusting a telescopic state of the telescopic device.
According to some embodiments of the invention, the driven wheel assembly includes a driven wheel mechanism and a driven wheel center shaft rotatably mounted on the driven wheel gap adjustment assembly, the driven wheel mechanism being fixed to the driven wheel center shaft and engaging the ferromagnetic track chain.
According to some embodiments of the invention, the ferromagnetic track chain comprises a plurality of ferromagnetic track shoes and hinge pins, and two adjacent ferromagnetic track shoes are rotatably connected by the hinge pins.
According to some embodiments of the invention, the strong-magnetic track shoe comprises a strong magnet, a fixed seat and two magnetizers, the strong magnet is fixed on the fixed seat, the two magnetizers are respectively fixed at two ends of the strong-magnet fixed seat, and two end surfaces of the strong magnet are respectively abutted against opposite surfaces of the two magnetizers.
According to some embodiments of the present invention, the track mount includes a housing, a guide frame fixed to the housing, and a module frame, the driving wheel module is mounted at one end of the module frame, the driven wheel module is mounted at the other end of the module frame, a middle region of the module frame is connected to a bottom of the housing, a front end and a rear end of the housing are both arc-shaped to wrap the driving wheel module and the driven wheel module, and the guide frame is mounted in the housing above the module frame to guide the ferromagnetic track chain in the housing.
The permanent magnet adsorption robot comprises a robot body; the permanent magnetic adsorption crawler device is arranged on the robot body.
According to the permanent magnet adsorption crawler device of the embodiment of the second aspect of the invention, at least the following technical effects are achieved: according to the embodiment of the invention, the whole device can be adsorbed on a vertical metal surface through the adsorption force of the strong magnetic track chain, the strong magnetic track chain is rotated by pulling the driving wheel assembly and the driven wheel assembly, so that the adsorption robot is pushed to move, wherein the driving assembly is connected with the driving wheel assembly through the transmission structure consisting of the first driven wheel, the second driving wheel and the transmission belt, the output torque can be increased, the driving force can be improved under the condition of not improving the size of the track, and the load capacity of the adsorption robot is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a perspective view of a permanent magnet adsorption crawler assembly in an embodiment of the present invention;
FIG. 2 is an exploded view of a permanent magnet adsorption crawler assembly in an embodiment of the present invention;
FIG. 3 is a perspective view of a drive wheel assembly in an embodiment of the present invention;
FIG. 4 is a perspective view of a drive assembly in an embodiment of the present invention;
FIG. 5 is a perspective view of a driven wheel assembly in an embodiment of the present invention;
FIG. 6 is a perspective view of a driven wheel lash adjustment assembly in an embodiment of the present invention;
FIG. 7 is a perspective view of a ferromagnetic track chain in an embodiment of the present invention;
FIG. 8 is a perspective view of a strong magnetic track shoe in an embodiment of the present invention;
figure 9 is an exploded view of a track mount in an embodiment of the present invention.
Reference numerals
the driving wheel assembly 200, a first driving wheel 210, a driving belt 211, a driving wheel mounting frame 220, a driving wheel hub 221, a hub connecting rod 222, a driving wheel bearing 223, a driving wheel mechanism 230, a driving wheel 231, a driving wheel crawler wheel disc 232 and a driving wheel central shaft 240;
a driving assembly 300, a second transmission wheel 310, a motor 320 and a turbo reducer 330;
driven wheel assembly 400, driven wheel mechanism 410, driven wheel 411, driven wheel crawler wheel disc 412, driven wheel center shaft 420 and driven wheel bearing 430;
the high-intensity magnetic crawler chain 500, the high-intensity magnetic crawler plate 510, a high-intensity magnet 511, a fixed seat 512, a magnetizer 513, a fixed strip 514 and a hinge pin 520;
driven wheel gap adjustment assembly 600, fixed frame 610, first bearing 611, second bearing 612, third bearing 613, movable frame 620, driven wheel mounting plate 621, mounting plate connecting rod 622, guide mounting plate 623, guide rod 624, telescopic device 630, ball screw 631, main umbrella-shaped gear sleeve 632, main umbrella-shaped gear 633, adjusting device 640, auxiliary umbrella-shaped gear 641, sector gap adjustment handle 642, and auxiliary umbrella-shaped gear shaft 643.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the present number, and larger, smaller, inner, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 and 2, a permanent magnet adsorption crawler apparatus includes: track mount 100, drive wheel assembly 200, drive assembly 300, driven wheel assembly 400, and strong magnetic track chain 500. Wherein, drive wheel assembly 200 is installed at the one end of track mounting 100, and install at the other end of track mounting 100 from driving wheel assembly 400, and strong magnetism track chain 500 encircles drive wheel assembly 200 and follows driven wheel assembly 400 round and forms the track transmission structure. The driving assembly 300 drives the driving wheel assembly 200 to rotate through a transmission structure formed by the first driving wheel, the transmission belt and the second driving wheel, so that the output torque can be increased compared with a conventional mode that a motor directly connects with a driving wheel, and the driving force is improved. In this embodiment, two first sprockets are used for the first driving wheel 210, two second sprockets are used for the second driving wheel 310, and a chain is used for the driving belt 211. Of course, the first and second driving wheels 210 and 310 may be single and disposed only on one side of the track mounting 100. The first and second transmission wheels 210 and 310 may be pulleys, and the transmission belt 211 may be a belt to form a transmission mechanism.
Referring to fig. 3, the driving wheel assembly 200 includes a wheel mounting frame 220, a wheel mechanism 230 and a wheel center shaft 240, the wheel mounting frame 220 includes two wheel hubs 221 and a hub connecting rod 222, and the wheel mechanism 230 includes a driving wheel 231 and two wheel track sheaves 232. Wherein, two action wheel hubs 221 are located the both sides of action wheel 231 respectively, the one end of two action wheel hubs 221 is connected in order to form rigid structure through horizontal wheel hub connecting rod 222, the other end is fixed respectively on track mounting bracket 100, respectively be provided with a driving wheel bearing 223 in two action wheel hubs 221, make action wheel center pin 240 can be at action wheel hub 221 internal rotation, action wheel 231 is fixed in the centre of action wheel center pin 240, two action wheel track rim plates 232 are fixed respectively on the bellied left and right flanges of action wheel 231, the recess of seting up with strong magnetism track chain 500 meshing on the action wheel track rim plate 232. During movement, the ferromagnetic track chain 500 is meshed with the two driving wheel track wheel discs 232, and the driving wheel track wheel discs 232 rotate to drive the ferromagnetic track chain 500 to rotate. Two first sprockets are fixed respectively at the both ends of action wheel center pin 240, and the power that comes through the second sprocket transmission on drive assembly 300 passes through first sprocket, action wheel center pin 240, action wheel 231, action wheel track rim plate 232 transmission to strong magnetic track chain 500 on the action wheel subassembly 200 like this, drives strong magnetic track chain 500 and rotates.
Referring to fig. 4, the driving assembly 300 includes a motor 320 and a turbo reducer 330 having two output shafts, the motor 320 is connected to the turbo reducer 330, the two output shafts are respectively disposed at both ends of the turbo reducer 330, and two second sprockets are respectively fixed to the two output shafts of the turbo reducer 330. The motor 320 adopts a servo motor, power provided by the servo motor is transmitted to the second chain wheel through the turbine speed reducer 330, the second chain wheel is connected with the first chain wheel on the driving wheel assembly 200 through a chain, the driving torque of the driving wheel assembly 200 is greatly increased, and therefore the load can be well overcome. The top of the turbo reducer 330 is connected to the track-mounting 100, and the track-mounting 100 provides a supporting fixture for the driving assembly 300, thereby ensuring stable output power of the driving assembly 300.
The driven wheel assembly 400 is fixed at the other end of the track mounting frame 100 through the driven wheel gap adjusting assembly 600, and the relative distance between the driven wheel assembly 400 and the driving wheel assembly 200 is adjusted through the driven wheel gap adjusting assembly 600, so that the tension of the high-intensity magnetic track chain 500 is changed, and the high-intensity magnetic track chain adapts to metal wall surfaces of different shapes.
Referring to fig. 5, driven wheel assembly 400 includes a driven wheel mechanism 410 and a driven wheel center shaft 420, and driven wheel mechanism 410 includes a driven wheel 411 and two driven wheel track sheaves 412. The driven wheel 411 is fixed in the middle of the driven wheel center shaft 420, and two driven wheel bearings 430 are respectively installed at two ends of the driven wheel center shaft 420, and the driven wheel bearings 430 are fixed in bearing grooves in the driven wheel gap adjustment assembly 5. Two driven wheel crawler wheel discs 412 are respectively fixed on the left and right flanges protruded from the driven wheel 411, and the driven wheel crawler wheel discs 412 are provided with grooves embedded with the strong-magnetic crawler chain 500. During movement, the strong magnetic track chain 500 is meshed with the two driven wheel track wheel discs 412, and the strong magnetic track chain 500 rotates to drive the driven wheel track wheel discs 412 to rotate.
Referring to fig. 6, the driven wheel gap adjustment assembly 600 includes a fixed frame 610, a movable frame 620, a telescopic device 630 and an adjusting device 640, wherein the top of the fixed frame 610 is fixedly connected with the track mounting frame 100, the movable frame 620 includes two driven wheel mounting plates 621, a mounting plate connecting rod 622, a guide mounting plate 623 and two guide rods 624, a bearing groove is formed in the middle area of the driven wheel mounting plates 621, two ends of a driven wheel central shaft 420 are respectively mounted in the bearing groove through a driven wheel bearing 430, the driven wheel mechanism 410 is fixed on the driven wheel mounting plates 621 and can rotate, one ends of the two driven wheel mounting plates 621 are fixed together through the mounting plate connecting rods 622, the other ends of the two driven wheel mounting plates 621 are fixed at two ends of the guide mounting plate 623 respectively, and the two driven wheel mounting plates 621, the mounting plate connecting rods 622 and the guide mounting plate 623 form a rigid whole to provide supporting force for the driven wheel mechanism 410. The front surface of the guide mounting plate 623 faces the driven wheel mechanism 410, two guide rods 624 are fixed on two sides of the lower end of the back surface of the guide mounting plate 623, the guide rods 624 are parallel to the driven wheel mounting plate 621 and face the fixed frame 610, openings corresponding to the two guide rods 624 are formed in the fixed frame 610, and the front ends of the two guide rods 624 penetrate through the openings so that the movable frame 620 can integrally slide along the axial direction of the openings, namely, approach to/leave from the fixed frame 610.
In this embodiment, the expansion device 630 includes a ball screw 631, a main umbrella-shaped gear sleeve 632, and a main umbrella-shaped gear 633, the front end and the rear end of the fixing frame 610 are respectively provided with a bearing hole and are symmetrical to each other, one end of the ball screw 631 passes through the bearing hole of the front end and is fixed at the middle point of the back surface of the guide mounting plate 623, the other end of the ball screw passes through the bearing hole of the rear end and extends freely, the nut of the ball screw 631 is located at the geometric center of the fixing frame 610, the main umbrella-shaped gear sleeve 505 is connected to the nut of the ball screw 631, the first bearing 611 is arranged in the bearing hole of the front end of the fixing frame 610, the second bearing 612 is arranged in the bearing hole of the rear end, the front end of the nut is connected to the first bearing 611, the rear end of the main umbrella-shaped gear sleeve 505 is connected to the second bearing 612, and the main umbrella-shaped gear 633 is installed on the main umbrella-shaped gear sleeve 505. The adjusting device 640 includes a sub-umbrella gear 641, a fan-shaped gap adjustment handle 642, and a sub-umbrella gear 643, wherein the sub-umbrella gear 643 is perpendicular to the ball screw 631, a bearing hole is formed on a side wall of the fixing frame 610, a third bearing 613 is provided inside the sub-umbrella gear 643, the sub-umbrella gear 641 is fixed at one end of the sub-umbrella gear 643 and is engaged with the main umbrella gear 633, the other end of the sub-umbrella gear 643 is rotatably mounted on the side wall of the fixing frame 610 through the third bearing 613, and the fan-shaped gap adjustment handle 642 is mounted at the outermost end of the sub-umbrella gear 643.
When the sector gap adjustment handle 642 is rotated, the push nut is rotated by the engagement between the sub-bevel gear 641 and the main bevel gear 633, so as to push the ball screw 631 to rotate to extend or retract, thereby driving the movable frame 620 to approach/separate from the fixed frame 610, and thus adjusting the relative distance between the driven wheel assembly 400 and the driving wheel assembly 200 connected to the movable frame 620.
Referring to fig. 7, the high-intensity magnetic track chain 500 includes a plurality of high-intensity magnetic track shoes 510 and hinge pins 520, the plurality of high-intensity magnetic track shoes 510 are hinged by the hinge pins 520 to be freely rotatably combined into a whole track, and a track transmission structure is formed by the driving wheel assembly 200 and the driven wheel assembly 400 in the form of a chain link. Meanwhile, the driving wheel assembly 200 is fixed to one end of the track mounting frame 100, and the driven wheel assembly 400 is fixed to the driven wheel gap adjusting assembly 600 and located at the other end of the track mounting frame 100, and is connected with the driving wheel assembly and the driven wheel assembly to form a fixed whole for supporting and fixing the strong-magnetic track chain 500 in the movement process.
Referring to fig. 8, the strong-magnetic track shoe 510 includes a strong magnet 511, a holder 512, two magnetizers 513 and a n-shaped fixing bar 514, the strong magnet 511 is embedded in the holder 512, the two magnetizers 513 are L-shaped and fixed on two sides of the holder 512, respectively, one end of the n-shaped fixing bar 514 is fixed on the left magnetizer 513, and the other end is fixed on the right magnetizer 513. The hinge pin 520 is mounted at the bottom of the front and rear ends of the fixing base 512. The strong magnet 511 is wrapped between the two magnetizers 513, the fixing seat 512 and the fixing strip 514, so as to form a firm track plate structure. The fixing base 512 and the fixing strip 514 are made of common materials and are not magnetic, and the magnetizer 513 is made of magnetic steel and has strong magnetic conductivity. The magnetic field generated by the middle strong magnet 511 is multiplied by the reinforcing effect of the left and right magnetizers 513, so that the magnetic adsorption effect is improved.
Referring to fig. 9, the track mounting assembly 100 includes a housing 110, a guide frame 120 fixed to the housing 110, and an assembly frame 130, wherein the assembly frame 130 has an n-shape, two driving wheel hubs 221 are respectively connected to both sides of one end of the assembly frame 130, the other end is connected to the top of a fixing base 610, and the middle portion of the assembly frame 130 is fixed to the housing 110. The guide frames 120 are installed inside the housing 11, two guide frames 120 are symmetrically distributed along the symmetry axis of the housing 110, and a beam protruding from the middle of the guide frames 120 is attached to two extending ends of the ferromagnetic track shoe 510. The outer case 110 has both ends formed in a circular arc shape along the wheel shape so as to wrap the front and rear driven wheel assemblies 400 and the driving wheel assembly 200, and a middle portion wrapping the guide frame 120 and the assembly frame 130 and fixedly coupled thereto.
The embodiment of the invention also relates to a permanent magnet adsorption robot, which comprises a robot body; the both sides symmetry of robot body is provided with foretell permanent magnetism and adsorbs crawler attachment to form two track chassis structures, thereby drive the robot and move on vertical metal wall.
According to the embodiment of the invention, the whole device can be adsorbed on a vertical metal surface through the adsorption force of the strong magnetic track chain 500, the strong magnetic track chain 500 is rotated by pulling the driving wheel assembly 200 and the driven wheel assembly 400, so that the robot is pushed to move, the worm gear of the worm gear reducer 330 is driven by the motor 320 to rotate, and the driving wheel assembly 200 is connected through the chain transmission structure consisting of the first chain wheel, the second chain wheel and the chain, so that the output torque can be increased, the driving force can be improved under the condition that the size of the track is not improved, and the load capacity of the adsorption robot is improved.
In addition, the driven wheel assembly 400 can also adjust the relative distance between the driven wheel assembly and the driving wheel assembly 200 through the driven wheel gap adjusting assembly 600, so that the tension of the strong magnetic crawler chain 500 can be adjusted, the strong magnetic crawler chain can adapt to wall surfaces of different terrains, for example, when the strong magnetic crawler chain crawls on uneven wall surfaces, the distance between the driven wheel assembly 400 and the driving wheel assembly 200 can be appropriately shortened through rotating the fan-shaped gap adjusting handle 642, and the obstacle crossing capability of the permanent magnetic adsorption crawler device can be improved by reducing the tension of the strong magnetic crawler chain 500.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. A permanent magnetism adsorbs crawler attachment, its characterized in that includes:
a track mount (100);
the driving wheel assembly (200), the driving wheel assembly (200) is installed at one end of the track mounting frame (100), and a first driving wheel (210) is arranged on the driving wheel assembly (200);
the driving assembly (300) is provided with a second driving wheel (310), and the first driving wheel (210) is connected with the second driving wheel (310) through a driving belt (211) to form a driving structure so that the driving assembly (300) drives the driving wheel assembly (200) to rotate;
a driven wheel assembly (400), the driven wheel assembly (400) being mounted at the other end of the track mount (100);
the driving wheel assembly (200) and the driven wheel assembly (400) are connected through the strong magnetic track chain (500) to form a track transmission structure.
2. The permanent magnet adsorption crawler attachment of claim 1, wherein: drive wheel assembly (200) includes action wheel mounting bracket (220), action wheel mechanism (230) and action wheel center pin (240), action wheel mounting bracket (220) are fixed the one end of track mounting bracket (100), action wheel center pin (240) are rotatory to be installed on action wheel mounting bracket (220), action wheel mechanism (230) are fixed the middle zone of action wheel center pin (240) and with strong magnetism track chain (500) meshing, first drive wheel (210) are fixed the tip of action wheel center pin (240).
3. The permanent magnet adsorption crawler attachment of claim 1, wherein: drive assembly (300) include motor (320), turbine reduction gear (330) and two second drive wheels (310) that have two output shafts, motor (320) with turbine reduction gear (330) link to each other, two the output shaft sets up respectively the both ends of turbine reduction gear (330), two second drive wheels (310) are fixed respectively on two output shafts of turbine reduction gear (330), first drive wheel (210) are two, set up respectively the both ends of driving wheel subassembly (200) and correspond with second drive wheel (310) of homonymy.
4. The permanent magnet adsorption crawler attachment of claim 1, wherein: the driven wheel assembly (400) is fixed at the other end of the track mounting frame (100) through the driven wheel clearance adjusting assembly (600) so as to adjust the relative distance between the driven wheel assembly (400) and the driving wheel assembly (200).
5. The permanent magnet adsorption crawler attachment of claim 4, wherein: follow driving wheel clearance adjustment subassembly (600) and include mount (610), adjustable shelf (620), telescoping device (630) and adjusting device (640), mount (610) are fixed on track mounting bracket (100), the flexible direction of telescoping device (630) is on a parallel with the axis of track mounting bracket (100), adjustable shelf (620) is connected through telescoping device (630) in mount (610), driven wheel subassembly (400) are fixed on adjustable shelf (620), adjusting device (640) are used for adjusting the flexible state of telescoping device (630).
6. The permanent magnet adsorption crawler attachment of claim 4, wherein: the driven wheel assembly (400) comprises a driven wheel mechanism (410) and a driven wheel central shaft (420), the driven wheel central shaft (420) is rotatably mounted on the driven wheel gap adjusting assembly (600), and the driven wheel mechanism (410) is fixed on the driven wheel central shaft (420) and meshed with the strong-magnetic track chain (500).
7. The permanent magnet adsorption crawler attachment of claim 1, wherein: the strong magnetic track chain (500) comprises a plurality of strong magnetic track shoes (510) and hinge pin shafts (520), and two adjacent strong magnetic track shoes (510) are rotationally connected through the hinge pin shafts (520).
8. The permanent magnet adsorption crawler attachment of claim 7, wherein: strong magnetism grip-pad (510) are including strong magnet (511), fixing base (512) and two magnetizers (513), strong magnet (511) are fixed on fixing base (512), two magnetizers (513) are fixed respectively the both sides of fixing base (512), two terminal surfaces of strong magnet (511) respectively with two the relative one side butt of magnetizer (513).
9. The permanent magnet adsorption crawler attachment of claim 1, wherein: the track mounting frame (100) comprises a shell (110), a guide frame (120) and an assembly frame (130), wherein the guide frame (120) and the assembly frame (130) are fixed on the shell (110), a driving wheel assembly (200) is installed at one end of the assembly frame (130), a driven wheel assembly (400) is installed at the other end of the assembly frame (130), the middle area of the assembly frame (130) is connected with the bottom of the shell (110), the front end and the rear end of the shell (110) are both arc-shaped and used for wrapping the driving wheel assembly (200) and the driven wheel assembly (400), and the guide frame (120) is installed in the shell (110) above the assembly frame (130) and used for guiding a strong-magnetic track chain (500) in the shell (110).
10. A permanent magnetic adsorption robot is characterized by comprising a robot body; the permanent magnet adsorption crawler device as claimed in any one of claims 1 to 9 is arranged on the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111052322.7A CN113734310A (en) | 2021-09-08 | 2021-09-08 | Permanent magnet adsorption crawler device and permanent magnet adsorption robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111052322.7A CN113734310A (en) | 2021-09-08 | 2021-09-08 | Permanent magnet adsorption crawler device and permanent magnet adsorption robot |
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Citations (5)
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|---|---|---|---|---|
| CH663768A5 (en) * | 1983-11-07 | 1988-01-15 | Dalseide & Co | VEHICLE FOR TRANSPORTING EQUIPMENT FOR TREATING PLANNERS, CURVED OR DOUBLE-CURVED SURFACES. |
| CN200964137Y (en) * | 2006-10-14 | 2007-10-24 | 湖南中天龙舟农机有限公司 | Self-propelled caterpillar rotary cultivator |
| CN110053680A (en) * | 2019-03-22 | 2019-07-26 | 湖南沄耀中创科技有限公司 | A kind of magnetic adsorption type obstacle detouring crawler attachment applied to climbing robot |
| CN110053679A (en) * | 2019-03-22 | 2019-07-26 | 湖南沄耀中创科技有限公司 | A kind of strong magnetic suck snake section type crawler attachment applied to climbing robot |
| CN213384500U (en) * | 2020-09-16 | 2021-06-08 | 上海小刀智能科技有限公司 | Crawler-type actuating mechanism of iron face wall climbing robot |
-
2021
- 2021-09-08 CN CN202111052322.7A patent/CN113734310A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH663768A5 (en) * | 1983-11-07 | 1988-01-15 | Dalseide & Co | VEHICLE FOR TRANSPORTING EQUIPMENT FOR TREATING PLANNERS, CURVED OR DOUBLE-CURVED SURFACES. |
| CN200964137Y (en) * | 2006-10-14 | 2007-10-24 | 湖南中天龙舟农机有限公司 | Self-propelled caterpillar rotary cultivator |
| CN110053680A (en) * | 2019-03-22 | 2019-07-26 | 湖南沄耀中创科技有限公司 | A kind of magnetic adsorption type obstacle detouring crawler attachment applied to climbing robot |
| CN110053679A (en) * | 2019-03-22 | 2019-07-26 | 湖南沄耀中创科技有限公司 | A kind of strong magnetic suck snake section type crawler attachment applied to climbing robot |
| CN213384500U (en) * | 2020-09-16 | 2021-06-08 | 上海小刀智能科技有限公司 | Crawler-type actuating mechanism of iron face wall climbing robot |
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Application publication date: 20211203 |
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