CN201065142Y - Electromagnetic double channel bar wall climbing device - Google Patents
Electromagnetic double channel bar wall climbing device Download PDFInfo
- Publication number
- CN201065142Y CN201065142Y CNU2007200848143U CN200720084814U CN201065142Y CN 201065142 Y CN201065142 Y CN 201065142Y CN U2007200848143 U CNU2007200848143 U CN U2007200848143U CN 200720084814 U CN200720084814 U CN 200720084814U CN 201065142 Y CN201065142 Y CN 201065142Y
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- channel bar
- minor axis
- stock
- spacing
- jump ring
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Abstract
The utility model discloses an electromagnetic double groove bar wall-climbing device, which is characterized in that: a front pin shaft is connected with an upper groove bar, a fixed pulley, a second electromagnetic frame respectively, the top end of the front pin shaft is fastened via a nut and a washer, a first electromagnetic is screwed with the bottom of the front pin shaft; the front locking plate is connected with the upper groove bar, the second electromagnetic frame through a bolt; a steering motor fame positioned at the rear of the frame, a large gear, the first electromagnetic frame, a lower groove bar are connected with the rear pin shaft respectively, the top end and bottom of the rear pin shaft are both fastened by nuts; a rear locking plate is connected with the large gear, the first electromagnetic frame through a bolt. The utility model has the advantages of simple structure, strong bearing capacity, excellent reliability, realizing the modular assembly for industrial machinery, and demonstrating the exchangeability requests of high efficiency and low loss.
Description
Technical field
The utility model relates to a kind of wall device of climbing, the double flute bar that more specifically relates to a kind of electromagnet absorption type is climbed wall device, be applicable to the workplatform under the metal environment such as carrying nuke industry, petroleum chemical enterprise, construction trade, fire department, ship building industry, carry out repeated operations such as machinery flaw detection, automation welding, sand blasting, japanning are anticorrosion, bright and clean inspection.
Background technology
China implemented from 1987 to have obtained very great achievement at aspects such as specialized robot, robot application engineering, robot base's subjects since country's " 863 " high-tech research development project.Climbing robot is the robot that can carry out operation on vertical cliff, and its core technology just is to climb wall device.Can replace technical personnel under the metal environment, to be engaged in work highly difficult, high risk based on the automatic machinery people who climbs wall device.For example: the sight control of nuclear waste storage tank, thickness measuring and seam inspection, the sand blasting of large-size spherical tanks such as oil, chemical industry, city gas, nuke industry, the japanning anticorrosion, the machinery flaw detection of different industrial environments such as oil tank hull steel bridge formation beam, water-cooling wall of power boiler cleaning and inspection, career fields such as the spraying of the inside and outside wall of ships and parasite cleaning.
At present, climb wall device and be divided into vacuum adsorption type and climb wall device and magnetically adsorbed wall-climbing device, in this type of magnetically adsorbed wall-climbing, be divided into permanent magnet adsorbed wall-climbing and electromagnet adsorbed wall-climbing again.And the report of cartwheel pattern vacuum adsorption type and the success of crawler belt permanent magnet adsorbed wall-climbing device development was once arranged at home, but the double flute bar based on electromagnetic type that Shang Weiyou is similar to herein to be discussed is climbed wall device.
Summary of the invention
The purpose of this utility model is to provide a kind of electromagnetic type double flute bar to climb wall device, this device can carry out work under metal environment wall, be applicable to modules such as carrying automation welding apparatus, flaw detection apparatus, cleaning appliance, sandblast japanning apparatus, this apparatus structure is simple, load-carrying capacity is strong, reliability is good, realize the modularization assembling of industrial machinery, embodied the low-loss interchangeability requirement of high efficiency.
In order to achieve the above object, the utility model adopts following technical measures:
The utility model is made up of electromagnetism absorbed portion, parallel four-bar bindiny mechanism part, double flute bar folding retractable mechanism part, steering power part, flexible power pack section, route lock part.The frame of climbing wall device is formed through the shaft by many parallel-crank mechanisms and upper and lower channel bar, and many parallel-crank mechanisms are formed by connecting by cross one another 4 stocks and 4 quarter butts, the center line secured in parallel of upper and lower channel bar and many parallel-crank mechanisms.The advancing and turning to of control robot respectively of flexible engine installation and route blocking device, the drive motor of flexible engine installation is fixed on channel bar, fix a double-deck sheave on the axle, by the groove between double-deck groove realize the closed loop serving on double-deck sheave coaxial oppositely around.The drive motor of steering power device is fixed on down channel bar, and motor shaft end utilizes lock screw and miniature gears relative fixed, and miniature gears is formed easy sun and planet gear with the incomplete big gear wheel that is fixed in the frame end.The terminal photoelectric tube of installing of frame is the main body hardware components of route blocking device, and the user can adjust the angle to pipe according to actual needs.Climb the adsorption function of wall device and realize that by electromagnet group electromagnet group is individually fixed in the rear and front end of frame.The down fixing a pair of cardan wheel of many parallel four-bar second joints, the stability when supporting waist, also having increased simultaneously the load-carrying capacity of climbing wall device and operation.Its annexation is: channel bar on frame the place ahead, fixed pulley, the second electromagnetism brandreth is connected with preceding bearing pin, preceding bearing pin top nut, pad is fastening, preceding latch and last channel bar, the second electromagnetism brandreth connects by screw, frame rear steer motor frame, big gear wheel, the first electromagnetism brandreth, following channel bar is connected with rear pin shaft, the rear pin shaft top is fastening with nut, back latch and big gear wheel, the first electromagnetism brandreth connects, last channel bar shifting axle is connected with last channel bar, following channel bar shifting axle is connected with following channel bar, first Universal castor and second minor axis are by being threaded, and first cardan wheel is screwed on first Universal castor; Second Universal castor and the 5th minor axis are by being threaded, second cardan wheel is screwed on second Universal castor, be wound with serving on fixed pulley and the sheave, serving is captiveed joint with last channel bar shifting axle, photoelectric tube cements on the latch of back with silica gel, first stock is connected by following channel bar shifting axle with second stock, and following channel bar shifting axle two ends are spacing with the jump ring chucking; The 3rd stock is connected by last channel bar shifting axle with the 4th stock, last channel bar shifting axle two ends are spacing with the jump ring chucking, the drive motor frame by screw retention on last channel bar, drive motor is fixed on the drive motor frame, motor shaft is connected by lock screw with sheave, on following channel bar, steer motor is fixed on the steer motor frame steer motor frame by screw retention, and motor shaft is connected by lock screw with miniature gears.
First electromagnet, the 4th electromagnet are screwed on the second electromagnetism brandreth; Second electromagnet, the 3rd electromagnet are screwed on the first electromagnetism brandreth.
First quarter butt is connected by preceding bearing pin with the 4th quarter butt, and preceding bearing pin two ends are spacing with the jump ring chucking; Second quarter butt is connected by rear pin shaft with the 3rd quarter butt, and the rear pin shaft two ends are spacing with the jump ring chucking.First quarter butt is connected by first minor axis with the 3rd stock, and the first minor axis two ends are spacing with the jump ring chucking; Second quarter butt is connected by the 3rd minor axis with second stock, and the 3rd minor axis two ends are spacing with the jump ring chucking; The 3rd quarter butt is connected by the 4th minor axis with first stock, and the 4th minor axis two ends are spacing with the jump ring chucking; The 4th quarter butt is connected by the 6th minor axis with the 4th stock, and the 6th minor axis two ends are spacing with the jump ring chucking.
First stock is connected by second minor axis with the 4th stock, and the second minor axis two ends are spacing with the jump ring chucking; Second stock is connected by the 5th minor axis with the 3rd stock, and the 5th minor axis two ends are spacing with the jump ring chucking.
The performance ratio that the utility model and other type are climbed wall device is:
Vacuum adsorption type: this kind mode has the advantage of the wall surface material of not being subjected to restriction, but (metal industry environment) its advantage is just inapplicable under the service conditions of definition, and when wall is uneven, make sucker gas leakage easily, thereby adsorption affinity is descended, load-carrying capacity reduces, thereby causes device to come off from wall, damages machine and potential safety hazard is arranged.
The attached mode of magnetic the inside can be divided into wheel formula, crawler type and sufficient pin by move mode again and draw formula.
The attached wheel formula of magnetic: this kind mode with avoid area of contact little, so moving velocity is fast, control flexibly, but caused adsorption affinity too small simultaneously, and significant problem such as load-carrying capacity is very low.Than other mode of operation, the relative center of gravity of wheel formula is too high, and the stable working row is unreliable.
The attached crawler type of magnetic: this kind mode is stronger to the comformability of wall, but area of contact is brought shortcoming such as be difficult for to turn, friction drag is big greatly.Complex structure, cost are too high, the device heaviness has limited the attached crawler-mounted of magnetic and further developed.
The utility model belongs to the category that sufficient pin draws formula, and it has planned as a whole the advantage of above-mentioned each mode:
1, can expand electromagnet quantity according to need of work, the adsorption power of increasing and wall improves load-carrying capacity, and stable working also is protected.
2, adopted parallel four-bar bindiny mechanism according to simple quadrangle fugitiveness the utility model, have the adjustable characteristics of single step movement travel on a large scale, thereby make device can carry out the multistage setting of speed according to the real work needs, the plane retractility of parallel four-bar has guaranteed that also the utility model can cross over the wall slit of certain width.
3, double flute bar folding retractable mechanism has simplified mechanism cleverly, makes the utility model compact conformation, and is simple and clear, improved load-carrying capacity thereby alleviated deadweight.
4, the steering hardware place has adopted sun and planet gear, utilizes big reduction ratio to realize the non-self-locking that turns to, not backswing when guaranteeing tiltedly to climb.
5, coaxial oppositely around the motion of serving green phase contracomplementation realize that mechanism is flexible, the improvement design of double-deck sheave has guaranteed that serving is in stretching state all the time, makes the better linear of motion.
6, the route blocking device utilizes photoelectric tube to realize straight-line closed loop control, guarantees that motion is in the most laborsaving state.
Description of drawings
Fig. 1 climbs the structural representation of wall device for a kind of electromagnetic type double flute bar;
Fig. 2 is the local enlarged diagram of power pack section of the present utility model.
Wherein:
1.1-the first electromagnet 1.2-, the second electromagnet 1.3-the 3rd electromagnet
1.4-latch 3-fixed pulley before the 4th electromagnet 2-
The bearing pin 5.1-first quarter butt 5.2-second quarter butt before the 4-
5.3-the 3rd quarter butt 5.4-the 4th quarter butt 6.1-first minor axis
6.2-the second minor axis 6.3-the 3rd minor axis 6.4-the 4th minor axis
6.5-the 5th minor axis 6.6-the 6th minor axis 7-goes up channel bar
8-serving 9-goes up channel bar shifting axle 10.1-first cardan wheel
10.2-the second cardan wheel 11.1-, the first Universal castor 11.2-, second Universal castor
12-drive motor frame 13-drive motor 14-rear pin shaft
Latch behind the 15-steer motor 16-photoelectric tube 17-
The 18-big gear wheel 19.1-first electromagnetism brandreth 19.2-second electromagnetism brandreth
20-steer motor frame 21-miniature gears 22.1-first stock
22.2-the second stock 22.3-the 3rd stock 22.4-the 4th stock
Channel bar shifting axle under the channel bar 25-under the 23-sheave 24-
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail:
According to Fig. 1, Fig. 2 as can be known, be that frame the place ahead is being descended by Fig. 1 orientation, the rear is last.Channel bar 7, fixed pulley 3, the second electromagnetism brandreth 19.2 are connected with preceding bearing pin 4 on frame the place ahead, and preceding bearing pin 4 tops are fastening with nut, pad, and the bottom is to be threaded with the first electromagnetism brandreth 19.2.Before latch 2 and last channel bar 7, the second electromagnetism brandreth 19.2 be connected by screw.Frame rear steer motor frame 20, big gear wheel 18, the first electromagnetism brandreth 19.1, following channel bar 24 are connected with rear pin shaft 14, and rear pin shaft 14 tops and bottom all use nut fastening.Back latch 17 and big gear wheel 18, the first electromagnetism brandreth 19.1 are connected by screw.Last channel bar shifting axle 9 is connected with last channel bar 7, and channel bar 7 is parallel with frame in the assurance; Following channel bar shifting axle 25 is connected with following channel bar 24, guarantees that channel bar 24 is parallel with frame down; Last channel bar shifting axle 9, following channel bar shifting axle 25 all can move forward and backward in groove.First electromagnet 1.1, the 4th electromagnet 1.4 are screwed on the second electromagnetism brandreth 19.2; Second electromagnet 1.2, the 3rd electromagnet 1.3 are screwed on the first electromagnetism brandreth 19.1.First Universal castor 11.1 and second minor axis 6.2 are by being threaded, and first cardan wheel 10.1 is screwed on first Universal castor 11.1; Second Universal castor 11.2 and the 5th minor axis 6.5 are by being threaded, and second cardan wheel 10.2 is screwed on second Universal castor 11.2.Be wound with serving 8 on fixed pulley 3 and the sheave 23, serving 8 is captiveed joint with last channel bar shifting axle 9.Photoelectric tube 16 usefulness silica gel cement on the latch 17 of back.First quarter butt 5.1 is connected by preceding bearing pin 4 with the 4th quarter butt 5.4, and preceding bearing pin 4 two ends are spacing with the jump ring chucking; Second quarter butt 5.2 is connected by rear pin shaft 14 with the 3rd quarter butt 5.3, and rear pin shaft 14 two ends are spacing with the jump ring chucking.First quarter butt 5.1 is connected by first minor axis 6.1 with the 3rd stock 22.3, and first minor axis, 6.1 two ends are spacing with the jump ring chucking; Second quarter butt 5.2 is connected by the 3rd minor axis 6.3 with second stock 22.2, and the 3rd minor axis 6.3 two ends are spacing with the jump ring chucking; The 3rd quarter butt 5.3 is connected by the 4th minor axis 6.4 with first stock 22.1, and the 4th minor axis 6.4 two ends are spacing with the jump ring chucking; The 4th quarter butt 5.4 is connected by the 6th minor axis 6.6 with the 4th stock 22.4, and the 6th minor axis 6.6 two ends are spacing with the jump ring chucking.First stock 22.1 is connected by following channel bar shifting axle 25 with second stock 22.2, and following channel bar shifting axle 25 two ends are spacing with the jump ring chucking; The 3rd stock 22.3 is connected by last channel bar shifting axle 9 with the 4th stock 22.4, and last channel bar shifting axle 9 two ends are spacing with the jump ring chucking.First stock 22.1 is connected by second minor axis 6.2 with the 4th stock 22.4, and second minor axis, 6.2 two ends are spacing with the jump ring chucking; Second stock 22.2 is connected by the 5th minor axis 6.5 with the 3rd stock 22.3, and the 5th minor axis 6.5 two ends are spacing with the jump ring chucking.Be free-running fit between each axis hole, can stretch by the frame that three parallelogram are formed.On last channel bar 7, drive motor 13 is fixed on the drive motor frame 12 drive motor frame 12 by screw retention, and motor shaft and sheave 23 are connected by lock screw.On following channel bar 24, steer motor 15 is fixed on the steer motor frame 20 steer motor frame 20 by screw retention, and motor shaft and miniature gears 21 are connected by lock screw.
The main body process of the utility model work is as follows:
During the straight ahead motion, second electromagnet 1.2 of the first electromagnetism brandreth, 19.1 belows, rear end, the 3rd electromagnet 1.3 gets electric absorption and fixes, first electromagnet 1.1 of the front end second electromagnetism brandreth 19.2 belows, power is removed in 1.4 outages of the 4th electromagnet, drive motor 13 is just changeing then, channel bar shifting axle 9 is gone up in serving 8 pullings, the parallelogram frame stretches and travels forward, after arriving the extension limit position, drive motor 13 outages stop, front end first electromagnet 1.1, the 4th electromagnet 1.4 gets electric absorption and fixes, rear end second electromagnet 1.2, power is removed in 1.3 outages of the 3rd electromagnet, drive motor 13 counter-rotatings then, channel bar shifting axle 9 is gone up in serving 8 pullings, and the parallelogram frame is shunk and is travelled forward, after arriving the shrinkage limit position, drive motor 13 outages stop.Whole motion process is guaranteed the certainty of working direction by photoelectric tube 16.Advance according to this process circulation, its action is similar to worm and creeps.
Straight line setback and forward movement be inverse process each other.
During divertical motion, rear end second electromagnet 1.2, the 3rd electromagnet 1.3 get electric absorption and fix, and power is removed in front end first electromagnet 1.1,1.4 outages of the 4th electromagnet, and steer motor 18 gets electric work then, because big gear wheel 18 is fixing, whole frame is rotated to assigned direction around big gear wheel 18; After arriving assigned address, steer motor 15 outages stop, front end first electromagnet 1.1, the 4th electromagnet 1.4 get electric absorption and fix, power is removed in rear end second electromagnet 1.2,1.3 outages of the 3rd electromagnet, steer motor 15 once more electric work, the rotation under big gear wheel 18 drives of the rear end first electromagnetism brandreth 19.1, behind the arrival initial position (front and back electromagnetism brandreth is parallel), steer motor 15 outages stop.
Claims (5)
1. an electromagnetic type double flute bar is climbed wall device, it comprises first to fourth electromagnet (1.1,1.2,1.3,1.4), first to fourth quarter butt (5.1,5.2,5.3,5.4), first to fourth minor axis (6.1,6.2,6.3,6.4), last channel bar (7), following channel bar (24), last channel bar shifting axle (9), following channel bar shifting axle (25), it is characterized in that: channel bar on frame the place ahead (7), fixed pulley (3), the second electromagnetism brandreth (19.2) is connected with preceding bearing pin (4), preceding bearing pin (4) top nut, pad is fastening, preceding latch (2) and last channel bar (7), the second electromagnetism brandreth (19.2) connects by screw, frame rear steer motor frame (20), big gear wheel (18), the first electromagnetism brandreth (19.1), following channel bar (24) is connected with rear pin shaft (14), rear pin shaft (14) top is fastening with nut, back latch (17) and big gear wheel (18), the first electromagnetism brandreth (19.1) connects, last channel bar shifting axle (9) is connected with last channel bar (7), following channel bar shifting axle (25) is connected with following channel bar (24), first Universal castor (11.1) and second minor axis (6.2) are by being threaded, and first cardan wheel (10.1) is screwed on first Universal castor (11.1); Second Universal castor (11.2) and the 5th minor axis (6.5) are by being threaded, second cardan wheel (10.2) is screwed on second Universal castor (11.2), be wound with serving (8) on fixed pulley (3) and the sheave (23), serving (8) is captiveed joint with last channel bar shifting axle (9), photoelectric tube (16) cements on the back latch (17) with silica gel, first stock (22.1) is connected by following channel bar shifting axle (25) with second stock (22.2), and following channel bar shifting axle (25) two ends are spacing with the jump ring chucking; The 3rd stock (22.3) is connected by last channel bar shifting axle (9) with the 4th stock (22.4), last channel bar shifting axle (9) two ends are spacing with the jump ring chucking, drive motor frame (12) by screw retention on last channel bar (7), drive motor (13) is fixed on the drive motor frame (12), motor shaft is connected by lock screw with sheave (23), steer motor frame (20) is descending on the channel bar (24) by screw retention, steer motor (15) is fixed on the steer motor frame (20), and motor shaft is connected by lock screw with miniature gears (21).
2. a kind of electromagnetic type double flute bar according to claim 1 is climbed wall device, it is characterized in that: first electromagnet (1.1), the 4th electromagnet (1.4) are screwed on the second electromagnetism brandreth (19.2); Second electromagnet (1.2), the 3rd electromagnet (1.3) are screwed on the first electromagnetism brandreth (19.1).
3. a kind of electromagnetic type double flute bar according to claim 1 is climbed wall device, it is characterized in that: first quarter butt (5.1) is connected by preceding bearing pin (4) with the 4th quarter butt (5.4), and preceding bearing pin (4) two ends are spacing with the jump ring chucking; Second quarter butt (5.2) is connected by rear pin shaft (14) with the 3rd quarter butt (5.3), and rear pin shaft (14) two ends are spacing with the jump ring chucking.
4. a kind of electromagnetic type double flute bar according to claim 1 is climbed wall device, it is characterized in that: first quarter butt (5.1) is connected by first minor axis (6.1) with the 3rd stock (22.3), and first minor axis (6.1) two ends are spacing with the jump ring chucking; Second quarter butt (5.2) is connected by the 3rd minor axis (6.3) with second stock (22.2), and the 3rd minor axis (6.3) two ends are spacing with the jump ring chucking; The 3rd quarter butt (5.3) is connected by the 4th minor axis (6.4) with first stock (22.1), and the 4th minor axis (6.4) two ends are spacing with the jump ring chucking; The 4th quarter butt (5.4) is connected by the 6th minor axis (6.6) with the 4th stock (22.4), and the 6th minor axis (6.6) two ends are spacing with the jump ring chucking.
5. a kind of electromagnetic type double flute bar according to claim 1 is climbed wall device, it is characterized in that: first stock (22.1) is connected by second minor axis (6.2) with the 4th stock (22.4), and second minor axis (6.2) two ends are spacing with the jump ring chucking; Second stock (22.2) is connected by the 5th minor axis (6.5) with the 3rd stock (22.3), and the 5th minor axis (6.5) two ends are spacing with the jump ring chucking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200848143U CN201065142Y (en) | 2007-05-22 | 2007-05-22 | Electromagnetic double channel bar wall climbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200848143U CN201065142Y (en) | 2007-05-22 | 2007-05-22 | Electromagnetic double channel bar wall climbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201065142Y true CN201065142Y (en) | 2008-05-28 |
Family
ID=39482308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200848143U Expired - Fee Related CN201065142Y (en) | 2007-05-22 | 2007-05-22 | Electromagnetic double channel bar wall climbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201065142Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397815A (en) * | 2014-09-13 | 2016-03-16 | 天太·郭元焜 | Circular supporting wall climbing machine |
| CN110576397A (en) * | 2019-09-19 | 2019-12-17 | 许智勇 | shot blasting machine |
| CN112792804A (en) * | 2021-01-06 | 2021-05-14 | 江苏大学 | Soft robot of spiral winding type polymer artificial muscle |
-
2007
- 2007-05-22 CN CNU2007200848143U patent/CN201065142Y/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397815A (en) * | 2014-09-13 | 2016-03-16 | 天太·郭元焜 | Circular supporting wall climbing machine |
| CN110576397A (en) * | 2019-09-19 | 2019-12-17 | 许智勇 | shot blasting machine |
| CN110576397B (en) * | 2019-09-19 | 2021-06-29 | 安徽森米诺农业科技有限公司 | Shot blasting machine |
| CN112792804A (en) * | 2021-01-06 | 2021-05-14 | 江苏大学 | Soft robot of spiral winding type polymer artificial muscle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080528 |