CN114715302B - Crawler-type wall climbing robot suitable for water-cooled wall detection - Google Patents
Crawler-type wall climbing robot suitable for water-cooled wall detection Download PDFInfo
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- CN114715302B CN114715302B CN202210368104.2A CN202210368104A CN114715302B CN 114715302 B CN114715302 B CN 114715302B CN 202210368104 A CN202210368104 A CN 202210368104A CN 114715302 B CN114715302 B CN 114715302B
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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
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention provides a crawler-type wall climbing robot suitable for water wall detection, which comprises: the synchronous belt device comprises at least two belt wheel devices, one belt wheel device is connected with the driving device, the other belt wheel device is connected with the tensioning device, the two belt wheel devices are connected into a whole through a synchronous belt, the synchronous belt is a polyurethane synchronous belt with a mounting hole, and a permanent magnet is fixed in the mounting hole. The crawler-type wall climbing robot suitable for water wall detection is designed with a stable, reliable and easily-adjustable tensioning device by adopting a mode of fixing a neodymium iron boron permanent magnet by a polyurethane synchronous belt aiming at the problem of adsorption stability of the wall climbing robot, and the stability of crawler transmission and the reliability of adsorption are ensured.
Description
Technical Field
The invention relates to the technical field of detection equipment, in particular to a crawler-type wall-climbing robot suitable for water-cooled wall detection.
Background
In the modern industrial age, more and more industrial equipment is very large in size, and huge manpower and material resources are consumed for maintenance, for example, a water-cooled wall of a thermal power plant, because a problem occurs to the wall surface during long-time operation, if manual detection is adopted, the detection difficulty and danger are increased, and at the moment, a wall climbing robot capable of moving the wall surface is required to carry a detection probe moving in multiple degrees of freedom for detection.
The patent application publication No. CN 113484712B discloses a probe lifting detection mechanism, which includes a first fixing plate, and an arc-shaped slide rail fixedly connected to the first fixing plate; the sliding rail is slidably connected with a second fixing plate, the first fixing plate is fixedly connected with a left-right adjusting part, and the left-right adjusting part is in transmission connection with the second fixing plate; a lifting adjusting part is fixedly connected to the second fixed plate, a probe seat is connected to the second fixed plate in a sliding mode, and the lifting adjusting part is in transmission connection with the probe seat; the probe seat is detachably connected with a probe. The left and right adjusting parts and the lifting adjusting parts provide effective power for the movement of the probe, so that the movement of the probe with two degrees of freedom is realized, but the detection mechanism is generally required to be carried with a wall-climbing robot for matching use.
The wall climbing robot that adopts the most at present is sprocket-type track wall climbing robot, and this technique is applied to the removal detection of perpendicular wall, including sprocket drive, magnet and frame, the magnet includes permanent magnet or electro-magnet, the magnet links firmly with the sprocket or places in the frame bottom, the frame includes section bar frame and sheet metal. As disclosed in the patent application document with publication number CN 111688836A a multi-functional magnetism adsorbs wall climbing robot device, left wheel chassis and right wheel chassis drive, left wheel chassis drive reaches the inboard rear on right wheel chassis drive is provided with servo motor respectively, servo motor provides power, power drive left wheel chassis drive reaches right wheel chassis drive cooperation harmonic speed reducer ware drive action wheel, the action wheel passes through the track with the follower and is connected, be provided with between action wheel and the follower magnetism adsorbs mechanism, carries out magnetic force's regulation according to the actual conditions of operating mode environment.
However, the chain wheel type crawler wall-climbing robot in the prior art has the disadvantages that the weight of the chain wheel is heavy, wall surface obstacles are easy to be clamped into gaps between every two sections, the operation is noisy, and the manufacturing cost is high. For the adsorption mode of the electromagnet form, the on-off of each electromagnet needs to be controlled, the cost is high, and the difficulty is high. For a real operation environment, various raised obstacles exist on the wall surface, and the magnetic force is weakened due to the fact that the robot crosses the obstacles when the magnet is installed at the bottom of the frame, so that the overturning risk exists.
Disclosure of Invention
In view of this, the invention aims to provide a crawler-type wall climbing robot suitable for water wall detection, so as to improve the efficiency and the safety of the water wall detection and solve the problems of instability, easy overturning and the like of the robot in the wall climbing moving process.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a crawler-type wall climbing robot suitable for water-cooling wall detection comprises:
the frame comprises a bottom plate, a baffle plate is arranged on each of the front side and the rear side of the bottom plate, a side plate is arranged on each of the left side and the right side of the bottom plate, and a frame structure is formed by the two baffle plates, the two side plates and the bottom plate;
the two synchronous belt devices are arranged on the left side and the right side of the frame;
the driving device is arranged in the frame and used for driving at least one belt wheel device of each synchronous belt device to rotate;
the detection element is arranged inside the frame and used for completing the detection of the pipe wall of the water-cooled wall;
overspeed device tensioner, overspeed device tensioner fixes on the frame, overspeed device tensioner is used for the tensioning hold-in range device, hold-in range device includes two at least pulley device, and one of them pulley device is connected with drive arrangement, and another pulley device is connected with overspeed device tensioner, two the pulley device passes through the hold-in range and links as an organic whole, the hold-in range is the polyurethane hold-in range that has the mounting hole, at the internal fixed permanent magnet of mounting hole.
Further, the permanent magnet is installed on the surface of the synchronous belt, a nut is arranged on the bottom surface of the synchronous belt in a matched mode, and the permanent magnet is fixed on the synchronous belt through a screw.
Further, the tensioner comprises:
the transmission shaft penetrates through the belt wheel device and is hinged with the frame;
the bearing block is sleeved on the transmission shaft, a first bearing is arranged in the bearing block, and a groove is formed in one side, close to the belt wheel device, of the bearing block;
the clamping ring device comprises a locking clamping ring and a fixing clamping ring, the locking clamping ring and the fixing clamping ring are clamped in the groove, and the locking clamping ring and the fixing clamping ring are fixedly connected together through a screw;
the inner side of the expansion sleeve is sleeved on the transmission shaft, and the outer side of the expansion sleeve is connected with the belt wheel device;
and the adjusting device is connected with the fixed clamping ring and can adjust the relative movement of the fixed clamping ring.
Furthermore, the belt wheel device comprises two belt wheels, a second bearing is arranged between the two belt wheels, a snap ring device is arranged on the outer side of the second bearing, and the inner side of each belt wheel is connected with the transmission shaft through an expansion sleeve.
Furthermore, adjusting device includes first fixing base and second fixing base, first fixing base is fixed with the second fixing base on the curb plate, the second fixing base sets up first fixing base is kept away from one side of bearing frame first fixing base with set up lock nut and adjusting nut between the second fixing base, lock nut's inboard sets up removes the axle, the one end that removes the axle is passed insert behind the adjusting nut the second fixing base, the other end that removes the axle passes through connecting rod and fixed snap ring fixed connection, through rotating adjusting nut, can be integrative will remove axle, connecting rod, fixed snap ring and keep away from one side of second fixing base or be close to one side of second fixing base removes.
Furthermore, a guide shaft is arranged between the first fixing seat and the second fixing seat, a guide block is arranged on the moving shaft, and the guide block can relatively slide along the guide shaft.
Furthermore, a through groove is formed in the side plate, the bearing seat penetrates through the through groove, a plurality of mounting grooves are formed in the circumferential position of the through groove, and the mounting grooves are used for fixedly connecting the bearing seat.
Furthermore, a side plate and a baffle plate in the frame are fixedly connected through screws, the joint of the side plate and the baffle plate is positioned through a cylindrical pin, a cross beam is arranged between the side plate and the baffle plate and used for bearing a driving device and a detection element, a bottom plate is arranged below the cross beam, and the cross beam and the bottom plate are fixed through screws.
Furthermore, the side plate is made of carbon steel materials, the baffle is made of aluminum plates, and aluminum strips are additionally arranged on the baffle.
Further, a lifting handle and/or a lifting nut and/or an anti-collision frame are/is arranged on the frame.
Compared with the prior art, the crawler-type wall climbing robot suitable for water wall detection has the following advantages:
(1) The crawler-type wall climbing robot suitable for water wall detection is ingenious in structure, reduces the weight and the production cost of the synchronous belt device, ensures the stability of crawler transmission and the reliability of adsorption, ensures that the crawler-type wall climbing robot moves reliably and avoids overturning.
(2) According to the crawler-type wall climbing robot suitable for water wall detection, the tensioning device is improved, the tensioning device which is stable, reliable and easy to adjust is designed, and the transmission stability and the adsorption reliability of the synchronous belt device are guaranteed.
(3) According to the crawler-type wall climbing robot suitable for water wall detection, the frame structure is improved, the side plates are made of high-strength carbon steel materials, the baffle plates are made of low-density aluminum plates, and the aluminum strips are additionally arranged on the aluminum plates to improve the bending resistance.
(4) According to the crawler-type wall climbing robot suitable for water wall detection, the lifting handle and/or the lifting nut and/or the anti-collision frame are/is arranged on the frame, so that the robot can be conveniently carried and moved, the robot is effectively prevented from falling from the wall surface when in use, the loss of parts caused by the fact that the robot touches obstacles in the advancing process is avoided, and the reliability of the crawler-type wall climbing robot suitable for water wall detection is improved.
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 structural diagram of a frame of a crawler-type wall-climbing robot according to an embodiment of the invention;
fig. 2 is a schematic structural view of a tensioning device of the crawler-type wall-climbing robot according to the embodiment of the invention;
FIG. 3 is a schematic structural view of the structure of FIG. 2 taken along the axis of rotation of the drive shaft;
FIG. 4 is a schematic structural diagram of a side wall of the crawler-type wall-climbing robot according to the embodiment of the invention; (ii) a
Description of the reference numerals:
1. a pulley device; 101. a pulley; 2. a synchronous belt; 3. a speed reducer; 4. a motor; 5. a baffle plate; 6. a base plate; 7. a side plate; 71. mounting grooves; 72. a through groove; 8. a handle; 9. a cross beam; 10. a permanent magnet; 11. hoisting a nut; 12. the collision avoidance frame 13 is arranged on the transmission shaft; 14. a bearing seat; 15. locking the snap ring; 16. locking the nut; 17. adjusting the nut; 18. fixing the snap ring; 19. a connecting rod; 20. a first fixed seat; 21. a movable shaft; 22. a guide block; 23. a guide shaft; 24. a second fixed seat; 25. a first bearing; 26. expanding and tightening the sleeve; 27. a second bearing; 28. a frame; 29. a synchronous belt device; 30. and (6) a groove.
Detailed Description
In order to make the technical means, objectives and functions of the present invention easy to understand, embodiments of the present invention will be described in detail with reference to the specific drawings.
It should be noted that all terms used in the present invention for directional and positional indication, such as: the terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", "top", "lower", "lateral", "longitudinal", "center", and the like are used only for explaining the relative positional relationship, connection, and the like between the respective members in a certain state (as shown in the drawings), and are only for convenience of describing the present invention, but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. In addition, the descriptions relating to "first", "second", etc. in the present invention 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.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; may be a mechanical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
As shown in fig. 1 to 4, the invention discloses a crawler-type wall-climbing robot suitable for water wall detection, comprising:
the frame 28 comprises a bottom plate 6, a baffle plate 5 is respectively arranged at the front side and the rear side of the bottom plate 6, a side plate 7 is respectively arranged at the left side and the right side of the bottom plate 6, and the two baffle plates 5, the two side plates 7 and the bottom plate 6 are enclosed to form a drawer structure;
two synchronous belt devices 29 are arranged, and the two synchronous belt devices 29 are arranged on the left side and the right side of the frame 28;
a driving device arranged inside the frame 28 for driving in rotation at least one pulley device 1 of each synchronous belt device 29;
the detection element is arranged inside the frame 28 and is used for completing the detection of the pipe wall of the water-cooled wall;
the tensioning device is fixed on the frame 28 and used for tensioning the synchronous belt device 29, the synchronous belt device 29 comprises at least two belt wheel devices 1, one belt wheel device 1 is connected with a driving device, the other belt wheel device 1 is connected with the tensioning device, the two belt wheel devices 1 are connected into a whole through a synchronous belt 2, the synchronous belt 2 is a polyurethane synchronous belt with a mounting hole, and a permanent magnet 10 is fixed in the mounting hole.
The invention discloses a crawler-type wall climbing robot suitable for water wall detection, which mainly aims at the wall detection of a water wall of a thermal power plant, because the inner wall of a boiler is dark and high in temperature, and a large amount of floating dust exists in the air, the wall climbing robot is a great test for manual detection, the detection efficiency and the safety are improved by adopting a wall climbing robot carrying detection device, based on the technical problem of instability of wall climbing movement in the prior art, the weight of a synchronous belt sprocket is reduced by adopting a polyurethane synchronous belt to fix a neodymium iron boron permanent magnet, the wall surface obstacle is prevented from being clamped into the synchronous belt device 29, the reliable movement of the crawler-type wall climbing robot is ensured, and the wall detection work of the water wall is further completed according to a detection element inside a frame 28.
The crawler-type wall climbing robot suitable for water wall detection is ingenious in structure, the weight and the production cost of the synchronous belt device 29 are reduced, the stability of crawler transmission and the reliability of adsorption are guaranteed, the crawler-type wall climbing robot is reliable in movement, and overturning is avoided.
As a preferred example of the present invention, the permanent magnet 10 is mounted on the surface of the timing belt 2, a nut is fittingly provided on the bottom surface of the timing belt 2, and the permanent magnet 10 is fixed to the timing belt by a screw. Preferably, at least two permanent magnets 10 are arranged in each row of the synchronous belt 2, and a row of gaps are formed between every two adjacent rows of permanent magnets 10. This setting discloses a mounting structure of permanent magnet 10, avoids the permanent magnet 10 actuation that leads to because permanent magnet 10 magnetic force is too strong simultaneously, has further improved the adsorbed reliability of track.
As a preferred example of the present invention, the tension device includes:
the transmission shaft 13 penetrates through the belt wheel device 1 and is connected with the frame 28 in an articulated mode;
the bearing seat 14 is sleeved on the transmission shaft 13, a first bearing 25 is arranged in the bearing seat 14, and a groove 30 is arranged on one side, close to the belt pulley device 1, of the bearing seat 14;
the clamping ring device comprises a locking clamping ring 15 and a fixing clamping ring 18, the locking clamping ring 15 and the fixing clamping ring 18 are clamped in the groove 30, and the locking clamping ring 15 and the fixing clamping ring 18 are fixedly connected together through screws;
the inner side of the expansion sleeve 26 is sleeved on the transmission shaft 13, and the outer side of the expansion sleeve 26 is connected with the belt wheel device 1;
and the adjusting device is connected with the fixing clamping ring 18 and can adjust the fixing clamping ring 18 to move relatively.
According to the crawler-type wall climbing robot for water wall detection, the tensioning device is improved, and when the crawler-type wall climbing robot is used, the adjusting device is adjusted manually or electrically, the adjusting device drives the fixing clamp ring 18 to move relative to one side of the frame 28, so that the synchronous belt 2 is tensioned. The tensioning device is reliable in tensioning and easy to adjust, and ensures the transmission stability and the adsorption reliability of the synchronous belt device 29.
As a preferred example of the present invention, the pulley device 1 includes two pulleys 101, a second bearing 27 is disposed between the two pulleys 101, a snap ring device is disposed outside the second bearing 27, and the inner side of each pulley 101 near the axial center is connected to the transmission shaft 13 through an expansion sleeve 26.
This setting has increased the driven area of contact of hold-in range 2 with belt pulley device 1, avoids the transmission failure problem that arouses when single band pulley 101 takes place transmission failure, has further improved the driven stability and the reliability of hold-in range device 29.
As a preferred example of the present invention, the adjusting device includes a first fixed seat 20 and a second fixed seat 24, the first fixed seat 20 and the second fixed seat 24 are fixed on the side plate 7, the second fixed seat 24 is disposed on a side of the first fixed seat 20 away from the bearing seat 14, a lock nut 16 and an adjusting nut 17 are disposed between the first fixed seat 20 and the second fixed seat 24, a moving shaft 21 is disposed inside the lock nut 16, one end of the moving shaft 21 passes through the adjusting nut 17 and then is inserted into the second fixed seat 24, the other end of the moving shaft 21 is fixedly connected to a fixed snap ring 18 through a connecting rod 19, and by rotating the adjusting nut 17, the moving shaft 21, the connecting rod 19, and the fixed snap ring 18 can be integrally moved to a side away from the second fixed seat 24 or a side close to the second fixed seat 24.
The setting discloses a device for manually adjusting relative movement of a fixed clamping ring 18, when the device is used, a moving shaft 21, a connecting rod 19 and the fixed clamping ring 18 can be fixedly connected into a whole through welding, a locking nut 16 and an adjusting nut 17 are sleeved on the moving shaft 21, the adjusting nut 17 abuts against a second fixed seat 24 close to the inner wall of a first fixed seat 20, the second fixed seat 24 and the first fixed seat 20 are fixedly arranged on a side plate 7, the locking nut 16 is loosened, a bearing seat 14 is installed on the inner side of a frame 28, then a transmission shaft 13 is sequentially provided with a first bearing 25, an expansion sleeve 26, a second bearing 27 and a belt wheel device 1, the two fixed clamping rings 18 are respectively clamped on the first bearing 25 and the second bearing 27, the two locking clamping rings 15 are respectively butted with the two fixed clamping rings 18, the two fixed clamping rings 18 are locked at the butted positions through screws, the two fixed clamping rings 18 are connected with the moving shaft 21 through the two connecting rods 19, the adjusting nut 17 is rotated, at the moment, the adjusting nut 17 is still tightly attached to the second fixed clamping ring 24, the moving shaft 21 moves towards the two ends of the moving side plate 7 according to drive the adjusting nut to the adjusting nut, and the adjusting nut is connected with the adjusting nut 14, and the adjusting nut is locked at the proper position when the adjusting nut is locked at the adjusting nut 14. As an example of the present invention, the first bearing 25 is an angular contact ball bearing, and the second bearing 27 is a deep groove ball bearing.
Preferably, a guide shaft 23 is provided between the first fixed base 20 and the second fixed base 24, a guide block 22 is provided on the movable shaft 21, and the guide block 22 is relatively slidable along the guide shaft 23. As a preferred example of the present invention, the guide shaft 23 may have a circular shaft structure or a block structure, and a slide rail is provided on the guide shaft 23 for slidably guiding the guide block 22.
This setting has further improved the reliability that adjusting device realized the tensioning and adjusted and the convenience of operation.
As a preferred example of the present invention, a through slot 72 is provided on the side plate 7, the bearing seat 14 passes through the through slot 72, and a plurality of mounting slots 71 are provided at circumferential positions of the through slot 72, and the mounting slots 71 are used for connecting and fixing the bearing seat 14.
The arrangement discloses a mode that the transmission shaft 13 and the bearing seat 14 are hinged and fixed with the frame 28, the transmission shaft 13 penetrates through the bearing seat 14, the bearing seat 14 is installed inside the frame 28, the bearing seat 14 is fixed on the side plate 7 of the frame 28 through the installation groove 71, and the bearing seat 14 penetrates through the through groove 72. Preferably, four mounting grooves 71 are arranged at four corners of the through groove 72, the mounting grooves 71 are long groove holes, when tensioning and adjusting, firstly, the connecting structure of the bearing seat 14 and the mounting grooves 71 is loosened, then, the tightness of the synchronous belt 2 is adjusted through an adjusting device, and after adjusting to a proper position, the bearing seat 14 and the side plate 7 are connected and fixed.
As a preferred example of the present invention, the driving device includes a motor 4, and the motor 4 is drivingly connected to one pulley device 1 of the timing belt device 29 through a speed reducer 3. Preferably, two motors 4 are provided, the two motors 4 are respectively in driving connection with two synchronous belt devices 29 through two speed reducers 3, and the driving pulley device 1 in the two synchronous belt devices 29, which is in driving connection with the motor 4, is diagonally arranged outside the frame 28.
This arrangement further ensures the reliability of the operation of the drive means driving the timing belt arrangement 29.
As a better example of the invention, the side plate 7 and the baffle 5 in the frame 28 are fixedly connected through screws, the joint of the side plate 7 and the baffle 5 is positioned through a cylindrical pin, a cross beam 9 is arranged between the side plate 7 and the baffle 5, the cross beam 9 is used for bearing a driving device and a detection element, a bottom plate 6 is arranged below the cross beam 9, and the cross beam 9 and the bottom plate 6 are fixed through screws. As a specific example of the present invention, the cross beam 9 is an i-shaped cross beam, a plurality of cross beams 9 are provided, and a connecting portion between two adjacent cross beams 9 is fixed by adding a pad in an i-shaped gap and using a connecting bolt.
This setting discloses a concrete structure of frame 28, guarantees the stability of frame 28 connection and the convenience of installation, simultaneously, because the setting of bottom plate 6, can prevent that outside dust etc. from influencing the normal use of the inside detecting element of frame.
Preferably, the side plate 7 is made of carbon steel materials, the baffle 5 is made of aluminum plates, and aluminum strips are additionally arranged on the baffle 5.
Because the frame 28 mainly bears the weight on the left and right side plates, the side plates are made of high-strength carbon steel materials, the baffle plates 5 are made of low-density aluminum plates, and aluminum strips are additionally arranged on the aluminum plates 5 to improve the bending resistance, so that the overall connection reliability of the frame 28 is ensured, the overall weight of the frame 28 can be reduced, the effect that the frame 28 has high rigidity and low gravity center is achieved, the overturning of the crawler-type wall-climbing robot suitable for water-cooled wall detection is further avoided when the crawler-type wall-climbing robot is used, and the use reliability of the robot is improved.
As a preferred example of the invention, a handle 8 is provided on said frame 28. As an example of the invention, said handle 8 is arranged on the side plate 7. The crawler-type wall climbing robot is convenient for manual carrying and suitable for water wall detection.
As a preferred example of the present invention, a lifting nut 11 is provided on the frame 28, and the lifting nut 11 is used for installing a safety rope. As a specific example of the present invention, two lifting nuts 11 are provided, and the two lifting nuts 11 are diagonally arranged on the side plate 7. This setting is through installing the safety rope additional for the robot, avoids the robot to fall from the wall.
As a preferred example of the present invention, the crash frame 12 is mounted on the front side of the frame 28. The arrangement avoids part loss caused by the fact that the robot touches obstacles in the advancing process, and further improves the use reliability of the crawler-type wall-climbing robot suitable for water wall detection.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.
Claims (4)
1. The utility model provides a crawler-type wall climbing robot suitable for water-cooling wall detects which characterized in that includes:
the frame (28) comprises a bottom plate (6), the front side and the rear side of the bottom plate (6) are respectively provided with a baffle plate (5), the left side and the right side of the bottom plate (6) are respectively provided with a side plate (7), and the two baffle plates (5), the two side plates (7) and the bottom plate (6) are enclosed to form a frame structure;
wherein a side plate (7) and a baffle plate (5) in the frame (28) are fixedly connected through screws, the joint of the side plate (7) and the baffle plate (5) is positioned through a cylindrical pin, a cross beam (9) is arranged between the side plate (7) and the baffle plate (5), the cross beam (9) is used for bearing a driving device and a detection element, a bottom plate (6) is arranged below the cross beam (9), and the cross beam (9) and the bottom plate (6) are fixed through screws; the side plate (7) is made of carbon steel materials, the baffle (5) is made of aluminum plates, and aluminum strips are additionally arranged on the baffle (5);
two synchronous belt devices (29), wherein the two synchronous belt devices (29) are arranged, and the two synchronous belt devices (29) are arranged on the left side and the right side of the frame (28);
the synchronous belt device (29) comprises at least two belt wheel devices (1), one belt wheel device (1) is connected with the driving device, the other belt wheel device (1) is connected with the tensioning device, and the two belt wheel devices (1) are connected into a whole through a synchronous belt (2); the belt wheel device (1) comprises two belt wheels (101), a second bearing (27) is arranged between the two belt wheels (101), a snap ring device is arranged on the outer side of the second bearing (27), and the inner side of each belt wheel (101) is connected with a transmission shaft (13) through an expansion sleeve (26);
the synchronous belt (2) is a polyurethane synchronous belt with a mounting hole, a permanent magnet (10) is fixed in the mounting hole, and the permanent magnet (10) is a neodymium iron boron permanent magnet;
the permanent magnets (10) are arranged on the surface of the synchronous belt (2), nuts are arranged on the bottom surface of the synchronous belt (2) in a matched mode, the permanent magnets (10) are fixed on the synchronous belt through screws, at least two permanent magnets (10) are arranged on each row of the synchronous belt (2), and gaps are formed between every two adjacent rows of permanent magnets (10);
the driving device is arranged inside the frame (28) and is used for driving at least one belt wheel device (1) of each synchronous belt device (29) to rotate;
the driving device comprises motors (4), the motors (4) are in driving connection with one belt wheel device (1) in the synchronous belt devices (29) through speed reducers (3), the number of the motors (4) is two, the two motors (4) are respectively in driving connection with the two synchronous belt devices (29) through the two speed reducers (3), and driving belt wheel devices (1) in the two synchronous belt devices (29) and in driving connection with the motors (4) are arranged on the outer side of the frame (28) in a diagonal shape;
the detection element is arranged inside the frame (28) and is used for completing the detection of the tube wall of the water-cooled wall;
a tensioning device fixed on the frame (28) for tensioning the timing belt device (29);
wherein the tensioner comprises:
the transmission shaft (13) penetrates through the belt wheel device (1) and is hinged with the frame (28);
the bearing seat (14) is sleeved on the transmission shaft (13), a first bearing (25) is arranged in the bearing seat (14), and a groove (30) is arranged on one side, close to the belt wheel device (1), of the bearing seat (14);
the clamping ring device comprises a locking clamping ring (15) and a fixing clamping ring (18), the locking clamping ring (15) and the fixing clamping ring (18) are clamped in the groove (30), and the locking clamping ring (15) and the fixing clamping ring (18) are fixedly connected together through a screw;
the inner side of the expansion sleeve (26) is sleeved on the transmission shaft (13), and the outer side of the expansion sleeve (26) is connected with the belt wheel device (1);
the adjusting device is connected with the fixed clamping ring (18) and can adjust the fixed clamping ring (18) to move relatively;
adjusting device includes first fixing base (20) and second fixing base (24), first fixing base (20) is fixed with second fixing base (24) on curb plate (7), second fixing base (24) set up first fixing base (20) is kept away from one side of bearing frame (14) first fixing base (20) with set up lock nut (16) and adjusting nut (17) between second fixing base (24), the inboard of lock nut (16) sets up removes axle (21), the one end of removing axle (21) is passed insert behind adjusting nut (17) second fixing base (24), the other end that removes axle (21) passes through connecting rod (19) and fixed snap ring (18) fixed connection, through rotating adjusting nut (17), can be integrative will remove axle (21), connecting rod (19), fixed snap ring (18) and to keeping away from one side of second fixing base (24) or being close to one side of second fixing base (24) removes.
2. The crawler-type wall-climbing robot suitable for water wall detection according to claim 1, characterized in that a guide shaft (23) is arranged between the first fixing seat (20) and the second fixing seat (24), a guide block (22) is arranged on the moving shaft (21), and the guide block (22) can slide relatively along the guide shaft (23).
3. The crawler-type wall climbing robot suitable for water cooling wall detection according to claim 1 is characterized in that a through groove (72) is formed in the side plate (7), the bearing seat (14) penetrates through the through groove (72), a plurality of mounting grooves (71) are formed in the circumferential position of the through groove (72), and the mounting grooves (71) are used for connecting and fixing the bearing seat (14).
4. The crawler-type wall-climbing robot suitable for water wall detection according to claim 1 is characterized in that a handle (8) and/or a hoisting nut (11) and/or an anti-collision frame (12) are arranged on the frame (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210368104.2A CN114715302B (en) | 2022-04-08 | 2022-04-08 | Crawler-type wall climbing robot suitable for water-cooled wall detection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210368104.2A CN114715302B (en) | 2022-04-08 | 2022-04-08 | Crawler-type wall climbing robot suitable for water-cooled wall detection |
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| Publication Number | Publication Date |
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| CN114715302A CN114715302A (en) | 2022-07-08 |
| CN114715302B true CN114715302B (en) | 2022-11-25 |
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| US6296328B1 (en) * | 1998-07-06 | 2001-10-02 | Stephen Wilkinson | Tracks for all terrain vehicles |
| US7252349B2 (en) * | 2004-11-19 | 2007-08-07 | Caterpillar Inc | Idler recoil and adjustment system for track type work machine |
| 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 |
| CN100542873C (en) * | 2007-01-11 | 2009-09-23 | 徐刚 | Minitype caterpillar track |
| CN101279618B (en) * | 2007-10-24 | 2010-08-25 | 杨德智 | Crawler type multi-arm rod mobile robot |
| CN101367207A (en) * | 2008-09-26 | 2009-02-18 | 郭长青 | Miniature self-service ground robot |
| US20130134773A1 (en) * | 2011-11-29 | 2013-05-30 | Camoplast Solideal Inc. | Track system for traction of an off-road vehicle such as a snowmobile or an all-terrain vehicle (atv) |
| CN105835977A (en) * | 2016-05-24 | 2016-08-10 | 邵萌 | Crawler-type wall climbing robot |
| CN208085842U (en) * | 2017-07-31 | 2018-11-13 | 广东省智能制造研究所 | A kind of crawler-type wall climbing robot |
| CN208935649U (en) * | 2018-09-26 | 2019-06-04 | 武汉力博物探有限公司 | External motor type pipeline climbing robot |
| CN209795644U (en) * | 2019-04-04 | 2019-12-17 | 上海锐致船舶工程有限公司 | Magnetic type crawler walking mechanism |
| EP4253205A3 (en) * | 2020-01-27 | 2023-10-11 | Ricoh Company, Ltd. | Crawler type traveling body and traveling apparatus |
| CN113371088A (en) * | 2021-07-02 | 2021-09-10 | 中国科学院合肥物质科学研究院 | Magnetic adsorption crawler-type wall-climbing robot |
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