CN1709654A - Magnetic-suction crawler type wall-creeping robot based on synchronous cogbelt - Google Patents
Magnetic-suction crawler type wall-creeping robot based on synchronous cogbelt Download PDFInfo
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- CN1709654A CN1709654A CN 200510027326 CN200510027326A CN1709654A CN 1709654 A CN1709654 A CN 1709654A CN 200510027326 CN200510027326 CN 200510027326 CN 200510027326 A CN200510027326 A CN 200510027326A CN 1709654 A CN1709654 A CN 1709654A
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Abstract
A kind of magnetism adsorb track-style wall climbing robot which bases on the synchronous dentiform track . The invention comprises two suits of track running structures, magnetism adsorb part, wind-connection rack, execution part and wiring control devices. The drive synchronous wheel and the driven synchronous wheel is uphold respectively by the front and back end of the rack of execution part, the drive synchronous wheel connects to the output axe of the reducer, whose input axe connects to the drive electromotor and speed detection plate, the axe base of the driven wheel can glides in the runner of the fasten device to fasten the synchronous dentiform track, two suits of track running structures are symmetrical, has the same structure, the execution part set on the rack, whose four corners connect to the rack of the execution part by gemel axes and the magnetism adsorb parts fixed on the track embed on the synchronous dentiform track equably. The invention has the characters of simple structure, dependable function and it can be used to many kinds of wall-climbing work and mini type light-carrying works.
Description
Technical field
The present invention relates to a kind of climbing robot, the attached crawler-type wall climbing robot of particularly a kind of magnetic based on synchronous cog belt belongs to the Robotics field.
Background technology
The key technology of climbing robot is to solve absorption and crawling problems.For the former, existing scheme mainly adopts magnetic adsorption type and vacuum cap type.For the latter, existing scheme mainly adopts crawler type, wheeled and legged travelling mechanism, and wherein the attached crawler-type wall climbing robot of magnetic because technical easy to implement, better performances, thereby be widely adopted.
Find by prior art documents, the Chinese patent publication number is 1375437, patent name is: a kind of crawler for magnetically adsorbed wall-climbing robot comprises variable magnetic force absorbing unit, chain, principal and subordinate's movable sprocket, thumb wheel, sprocket shaft, strainer, connecting plate etc.; Several variable magnetic force absorbing units arrange according to the magnetic pole polarised direction and the driving lever position evenly is arranged alternately on the chain; 4 thumb wheels and principal and subordinate's movable sprocket is coaxial is installed on the sprocket shaft, the axial location of thumb wheel is determined by regulating sleeve, should be made thumb wheel to contact with the pulley on the driving lever.
But common crawler type travelling mechanism adopts the carrier bar and the creeper tread of rigidity, complex structure, weight is big, when having barrier, rail level influences obstacle climbing ability because of not fitting with ground well, and numerous and diverse with the connectivity scenario of the attached member of magnetic, thereby make difficulty and reliability reduction.Particularly for the climbing robot of small-sized underloading, these problems are more outstanding.In addition, existing scheme mid frame is as a whole, and when left and right sides track was uneven, crawler belt and ground side can not be fitted mutually to forming angle, will influence the reliability of absorption.
Summary of the invention
The present invention is directed to the problem that exists in the background technology, provide a kind of magnetic attached crawler-type wall climbing robot based on synchronous cog belt.Make that it operates steadily, the efficient height, obstacle climbing ability also is improved, and performance is more reliable.
The present invention is achieved by the following technical solutions, the present invention includes: two cover crawler type travelling mechanisms, the attached member of magnetic, hinged frame, executing agency and electric apparatus control apparatus, described crawler type travelling mechanism comprises: the drive motors and the code-disc that tests the speed, decelerator, the active synchronization belt wheel, driven synchronous pulley, travelling mechanism support and synchronous cog belt and tensioning apparatus, active synchronization belt wheel and driven synchronous pulley are supported on the front and back end of travelling mechanism support respectively with bearing, the active synchronization belt wheel links to each other with the output shaft of decelerator, input shaft of speed reducer and drive motors and the code-disc that tests the speed join, the bearing block of driven synchronous pulley can slide in the chute of tensioning apparatus, with the tensioning synchronous cog belt, two cover crawler type travelling mechanism left-right symmetry, structure is identical, executing agency is arranged on the hinged frame, four jiaos of hinged frames are hinged with hinge and travelling mechanism support, the attached member of magnetic that is fixed on the crawler belt is inlaid on the synchronous cog belt equably, is arranged on the hinged frame electric apparatus control apparatus between two executing agencies.
The attached member of described magnetic adopts cylindrical permanent magnet, directly cylindrical permanent magnet is inlaid on the synchronous cog belt equably, adopts synchronous cog belt.
Described hinged frame, hinged frame is by two-layer composition up and down independently separately.Establish a hinge for four jiaos of every layer, and hinged with the travelling mechanism support, parallel-crank mechanism of two-layer up and down composition.Described hinged frame, parallel-crank mechanism of two-layer up and down composition.
Executing agency can be operating means or checkout gears such as gripping apparatus, shower nozzle, in order to finish the operation of requirement according to the difference of robot purposes.Replace common crawler belt with synchronous cog belt, replace common crawler belt sprocket wheel with synchronizing jugged belt wheel, the crawler type travelling mechanism also comprises active synchronization belt wheel, driven synchronous pulley and synchronous cog belt.
During work, the drive motors and the code-disc that tests the speed drive the rotation of active synchronization belt wheel by decelerator, drive synchronizing jugged Tape movement, are contained in cylindrical permanent magnet and the interorbital magnetic attraction of steel on the synchronous cog belt, and robot is adsorbed in orbit tightly.Drive motors drives the rotation of active synchronization belt wheel by decelerator, drives synchronizing jugged Tape movement, and robot is moved ahead.Simultaneously, the magnetic force by the attached member of magnetic is adsorbed on synchronous cog belt on the steel track together with robot.
It is parallel to the ground still to remain the both sides crawler belt when the both sides track is uneven, by two-layer frame up and down, about the parallel-crank mechanism formed of two travelling mechanism supports make left and right sides crawler belt still keep parallel to the ground, avoid influencing operational reliability because of air gap reduction magnetic adsorbability.
The present invention compared with the prior art, simple in structure, in light weight, cost is low, and because synchronous cog belt is a flexible member, carrier bar than the rigidity polyline shaped in the prior art operates steadily, the efficient height, obstacle climbing ability also is improved, performance is more reliable, can be used for the multiple wall operation of climbing, and what be specially adapted to small-sized underloading climbs the wall operation.
Description of drawings
Fig. 1 structure vertical view of the present invention.
Fig. 2 A-A cutaway view of the present invention.
Fig. 3 B-B cutaway view of the present invention.
The specific embodiment
As Fig. 1, Fig. 2, shown in Figure 3, the present invention includes: two cover crawler type travelling mechanisms 1, the attached member 2 of magnetic, hinged frame 3, executing agency 4 and electric apparatus control apparatus 13, described crawler type travelling mechanism 1 comprises: the drive motors and the code-disc 5 that tests the speed, decelerator 6, active synchronization belt wheel 7, driven synchronous pulley 8, travelling mechanism support 9 and synchronous cog belt 10 and tensioning apparatus 11, active synchronization belt wheel 7 and driven synchronous pulley 8 are supported on the front and back end of travelling mechanism support 9 respectively with bearing, active synchronization belt wheel 7 links to each other with the output shaft of decelerator 6, the power shaft of decelerator 6 and drive motors and the code-disc 5 that tests the speed join, the bearing block of driven synchronous pulley 8 can slide in the chute of tensioning apparatus 11, with tensioning synchronous cog belt 10, two cover crawler type travelling mechanisms, 1 left-right symmetry, structure is identical, executing agency 4 is arranged on the hinged frame 3,3 four jiaos of hinged frames are hinged with hinge 12 and travelling mechanism support 9, the attached member 2 of magnetic that is fixed on the crawler belt is inlaid on the synchronous cog belt 8 equably, is arranged on the hinged frame 3 electric apparatus control apparatus 13 between two executing agencies 4.
The attached member 2 of described magnetic adopts cylindrical permanent magnet, directly cylindrical permanent magnet is inlaid on the synchronous cog belt 10 equably, adopts synchronous cog belt.
Described hinged frame 3, hinged frame 3 is by two-layer composition up and down independently separately.Establish a hinge 12 for four jiaos of every layer, and hinged with travelling mechanism support 9, parallel-crank mechanism of two-layer up and down composition.Described hinged frame 3, parallel-crank mechanism of two-layer up and down composition.
Claims (6)
1. attached crawler-type wall climbing robot of the magnetic based on synchronous cog belt, comprise: two cover crawler type travelling mechanisms (1), the attached member of magnetic (2), hinged frame (3), executing agency (4) and electric apparatus control apparatus (13), it is characterized in that, described crawler type travelling mechanism (1) comprising: drive motors and the code-disc that tests the speed (5), decelerator (6), active synchronization belt wheel (7), driven synchronous pulley (8), travelling mechanism support (9) and synchronous cog belt (10) and tensioning apparatus (11), active synchronization belt wheel (7) and driven synchronous pulley (8) are supported on the front and back end of travelling mechanism support (9) respectively with bearing, active synchronization belt wheel (7) links to each other with the output shaft of decelerator (6), the power shaft and the drive motors of decelerator (6) and the code-disc that tests the speed (5) join, the bearing block of driven synchronous pulley (8) can slide in the chute of tensioning apparatus (11), with tensioning synchronous cog belt (10), two cover crawler type travelling mechanism (1) left-right symmetry, structure is identical, executing agency (4) is arranged on the hinged frame (3), (3) four jiaos of hinged frames are hinged with hinge (12) and travelling mechanism support (9), the attached member of magnetic (2) that is fixed on the crawler belt is inlaid on the synchronous cog belt (8) equably, is arranged on the last electric apparatus control apparatus (13) of hinged frame (3) and is positioned between two executing agencies (4).
2. the attached crawler-type wall climbing robot of the magnetic based on synchronous cog belt according to claim 1 is characterized in that, the attached member of described magnetic (2) adopts cylindrical permanent magnet.
3. the attached crawler-type wall climbing robot of the magnetic based on synchronous cog belt according to claim 1 is characterized in that the attached member of described magnetic (2) directly is inlaid in cylindrical permanent magnet on the synchronous cog belt (10) equably.
4. the attached crawler-type wall climbing robot of the magnetic based on synchronous cog belt according to claim 1 is characterized in that, described hinged frame (3), and hinged frame (3) is by two-layer composition up and down independently separately.
5. according to claim 1 or the attached crawler-type wall climbing robot of 3 described magnetic based on synchronous cog belt, it is characterized in that described hinged frame (3) is established a hinge (12) for four jiaos of every layer, and hinged with travelling mechanism support (9), parallel-crank mechanism of two-layer up and down composition.
6. according to claim 1 or the attached crawler-type wall climbing robot of 4 described magnetic, it is characterized in that described hinged frame (3), parallel-crank mechanism of two-layer up and down composition based on synchronous cog belt.
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| CN 200510027326 CN1709654A (en) | 2005-06-30 | 2005-06-30 | Magnetic-suction crawler type wall-creeping robot based on synchronous cogbelt |
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| CN 200510027326 CN1709654A (en) | 2005-06-30 | 2005-06-30 | Magnetic-suction crawler type wall-creeping robot based on synchronous cogbelt |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100382934C (en) * | 2006-06-19 | 2008-04-23 | 北京航空航天大学 | Butt jointed crawler type mobile robot |
| CN101797888A (en) * | 2010-03-26 | 2010-08-11 | 浙江大学 | Composite movable reconnaissance robot device |
| CN101863025A (en) * | 2010-04-15 | 2010-10-20 | 上海应用技术学院 | Wall-climbing robot |
| CN102290192A (en) * | 2011-05-05 | 2011-12-21 | 北京理工大学 | Magnetic block design method for magnetic wall-climbing robot and magnetic block |
| CN102556196A (en) * | 2011-12-22 | 2012-07-11 | 北京理工大学 | Magnetic absorption type wall climbing robot |
| CN102673670A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Novel full driving composite adsorption climbing robot |
| CN102700646A (en) * | 2012-06-07 | 2012-10-03 | 中国东方电气集团有限公司 | Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm |
| CN103934596A (en) * | 2014-02-28 | 2014-07-23 | 浙江海洋学院 | Hull wall climbing welding device |
| CN104709368A (en) * | 2013-12-17 | 2015-06-17 | 哈尔滨市三和佳美科技发展有限公司 | Tracked robot base plate |
| CN104742993A (en) * | 2015-04-08 | 2015-07-01 | 南通理工学院 | Triangular track type wall climbing robot |
| CN104773220A (en) * | 2015-03-04 | 2015-07-15 | 李洪甲 | Tractor with magnetic fields and belts instead of crawler belts |
| US9215962B2 (en) | 2014-03-13 | 2015-12-22 | Ecovacs Robotics, Inc. | Autonomous planar surface cleaning robot |
| WO2018061122A1 (en) * | 2016-09-28 | 2018-04-05 | 商船三井テクノトレード株式会社 | Device adapted to move on wall surface, and method of moving on wall surface |
| CN107985432A (en) * | 2017-12-12 | 2018-05-04 | 杭州电子科技大学 | A kind of climbing robot |
| CN108177702A (en) * | 2018-02-06 | 2018-06-19 | 山东大学 | A kind of reducing adsorption wall climbing robot body chassis and method of work |
| CN108438079A (en) * | 2018-05-18 | 2018-08-24 | 南京林业大学 | A kind of climbing robot |
| CN108454722A (en) * | 2018-03-07 | 2018-08-28 | 深圳市行知行机器人技术有限公司 | The wheeled climbing robot of permanent magnetism |
| CN108657298A (en) * | 2018-05-18 | 2018-10-16 | 江苏省特种设备安全监督检验研究院 | A kind of climbing robot based on electromagnetic adsorption |
| CN109018054A (en) * | 2018-09-26 | 2018-12-18 | 武汉力博物探有限公司 | Adaptive cambered surface magnetic suck climbing robot |
| CN109250007A (en) * | 2018-09-05 | 2019-01-22 | 浙江工业大学 | A kind of wheeled pole-climbing and detection robot |
| CN109605398A (en) * | 2019-01-14 | 2019-04-12 | 中国长江电力股份有限公司 | A kind of multi-sucker crawler-type wall climbing robot and application method |
| CN109910027A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | All-around mobile formula water-cooling wall detects robot |
| CN111661185A (en) * | 2020-05-09 | 2020-09-15 | 北京中安吉泰科技有限公司 | Magnetic adsorption wall-climbing walking crawler device |
| CN112758272A (en) * | 2019-05-24 | 2021-05-07 | 傅梅英 | Crawling robot and using method |
| CN114715302A (en) * | 2022-04-08 | 2022-07-08 | 北京京能能源技术研究有限责任公司 | Crawler-type wall climbing robot suitable for water-cooled wall detection |
-
2005
- 2005-06-30 CN CN 200510027326 patent/CN1709654A/en active Pending
Cited By (39)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100382934C (en) * | 2006-06-19 | 2008-04-23 | 北京航空航天大学 | Butt jointed crawler type mobile robot |
| CN101797888B (en) * | 2010-03-26 | 2013-08-07 | 浙江大学 | Composite movable reconnaissance robot device |
| CN101797888A (en) * | 2010-03-26 | 2010-08-11 | 浙江大学 | Composite movable reconnaissance robot device |
| CN101863025A (en) * | 2010-04-15 | 2010-10-20 | 上海应用技术学院 | Wall-climbing robot |
| CN102290192A (en) * | 2011-05-05 | 2011-12-21 | 北京理工大学 | Magnetic block design method for magnetic wall-climbing robot and magnetic block |
| CN102556196A (en) * | 2011-12-22 | 2012-07-11 | 北京理工大学 | Magnetic absorption type wall climbing robot |
| CN102700646A (en) * | 2012-06-07 | 2012-10-03 | 中国东方电气集团有限公司 | Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm |
| CN102673670B (en) * | 2012-06-07 | 2013-12-25 | 中国东方电气集团有限公司 | Full driving composite adsorption climbing robot |
| CN102700646B (en) * | 2012-06-07 | 2014-04-02 | 中国东方电气集团有限公司 | Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm |
| CN102673670A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Novel full driving composite adsorption climbing robot |
| CN104709368A (en) * | 2013-12-17 | 2015-06-17 | 哈尔滨市三和佳美科技发展有限公司 | Tracked robot base plate |
| CN103934596B (en) * | 2014-02-28 | 2015-12-30 | 浙江海洋学院 | A kind of hull climbs wall welder |
| CN103934596A (en) * | 2014-02-28 | 2014-07-23 | 浙江海洋学院 | Hull wall climbing welding device |
| US10258215B2 (en) | 2014-03-13 | 2019-04-16 | Ecovacs Robotics, Inc | Autonomous planar surface cleaning robot |
| US9215962B2 (en) | 2014-03-13 | 2015-12-22 | Ecovacs Robotics, Inc. | Autonomous planar surface cleaning robot |
| US9655484B2 (en) | 2014-03-13 | 2017-05-23 | Ecovacs Robotics, Inc. | Autonomous planar surface cleaning robot |
| US11324377B2 (en) | 2014-03-13 | 2022-05-10 | Ecovacs Robotics, Inc. | Autonomous planar surface cleaning robot |
| US10188254B2 (en) | 2014-03-13 | 2019-01-29 | Ecovacs Robotics, Inc. | Autonomous planar surface cleaning robot |
| CN104773220A (en) * | 2015-03-04 | 2015-07-15 | 李洪甲 | Tractor with magnetic fields and belts instead of crawler belts |
| CN104742993A (en) * | 2015-04-08 | 2015-07-01 | 南通理工学院 | Triangular track type wall climbing robot |
| WO2018061122A1 (en) * | 2016-09-28 | 2018-04-05 | 商船三井テクノトレード株式会社 | Device adapted to move on wall surface, and method of moving on wall surface |
| JPWO2018061122A1 (en) * | 2016-09-28 | 2019-07-04 | 商船三井テクノトレード株式会社 | Wall surface moving device and wall surface moving method |
| CN107985432A (en) * | 2017-12-12 | 2018-05-04 | 杭州电子科技大学 | A kind of climbing robot |
| CN107985432B (en) * | 2017-12-12 | 2019-05-14 | 杭州电子科技大学 | A kind of climbing robot |
| CN108177702A (en) * | 2018-02-06 | 2018-06-19 | 山东大学 | A kind of reducing adsorption wall climbing robot body chassis and method of work |
| CN108177702B (en) * | 2018-02-06 | 2023-09-22 | 山东大学 | Chassis mechanism of variable-diameter adsorption wall-climbing robot and working method |
| CN108454722B (en) * | 2018-03-07 | 2023-12-29 | 深圳市行知行机器人技术有限公司 | Permanent magnet wheel type wall climbing robot |
| CN108454722A (en) * | 2018-03-07 | 2018-08-28 | 深圳市行知行机器人技术有限公司 | The wheeled climbing robot of permanent magnetism |
| CN108438079B (en) * | 2018-05-18 | 2023-04-07 | 南京林业大学 | Wall-climbing robot |
| CN108657298A (en) * | 2018-05-18 | 2018-10-16 | 江苏省特种设备安全监督检验研究院 | A kind of climbing robot based on electromagnetic adsorption |
| CN108657298B (en) * | 2018-05-18 | 2023-06-16 | 江苏省特种设备安全监督检验研究院 | Wall climbing robot based on electromagnetic adsorption |
| CN108438079A (en) * | 2018-05-18 | 2018-08-24 | 南京林业大学 | A kind of climbing robot |
| CN109250007A (en) * | 2018-09-05 | 2019-01-22 | 浙江工业大学 | A kind of wheeled pole-climbing and detection robot |
| CN109018054A (en) * | 2018-09-26 | 2018-12-18 | 武汉力博物探有限公司 | Adaptive cambered surface magnetic suck climbing robot |
| CN109605398A (en) * | 2019-01-14 | 2019-04-12 | 中国长江电力股份有限公司 | A kind of multi-sucker crawler-type wall climbing robot and application method |
| CN109910027A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | All-around mobile formula water-cooling wall detects robot |
| CN112758272A (en) * | 2019-05-24 | 2021-05-07 | 傅梅英 | Crawling robot and using method |
| CN111661185A (en) * | 2020-05-09 | 2020-09-15 | 北京中安吉泰科技有限公司 | Magnetic adsorption wall-climbing walking crawler device |
| CN114715302A (en) * | 2022-04-08 | 2022-07-08 | 北京京能能源技术研究有限责任公司 | Crawler-type wall climbing robot suitable for water-cooled wall detection |
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