CN202201083U - Flexible travelling mechanism with all-directional steering - Google Patents
Flexible travelling mechanism with all-directional steering Download PDFInfo
- Publication number
- CN202201083U CN202201083U CN2011203479202U CN201120347920U CN202201083U CN 202201083 U CN202201083 U CN 202201083U CN 2011203479202 U CN2011203479202 U CN 2011203479202U CN 201120347920 U CN201120347920 U CN 201120347920U CN 202201083 U CN202201083 U CN 202201083U
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- magnet
- wheel
- frame
- connecting panel
- spline housing
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Abstract
The utility model discloses a flexible travelling mechanism with all-directional steering, belonging to a wall-climbing mechanism of a mechanical car. The flexible travelling mechanism comprises a rack system and a magnetic wheel system, wherein the rack system comprises two rack plates and a supporting shaft; the two rack plates are symmetrically arranged; the supporting shaft is arranged between the two rack plates and is used for positioning the rack plates; bearing seats are embedded on the four corners of the rack plates; spline sleeves are fixed by an upper bearing and a lower bearing and are provided with tooth-embedding clutches for steering and positioning the spline sleeves; the bearing seats, the spline sleeves and the tooth-embedding clutches are arranged on the two rack plates by using spline shafts and springs; the flexible travelling mechanism also comprises retraining chains driven by chain wheels; and the four corners of the rack system are respectively provided with a wheel system connecting plate which is provided with a magnetic wheel system. The flexible travelling mechanism has the advantages that the magnetic absorbability is strong, the free travelling with tools can be achieved on the convex and concave magnetic-permeable wall surface, any steering at 360 degrees on site is achieved, and flexile travelling mechanism replaces the labor to work on various complex high-altitude wall surface.
Description
Technical field
The utility model relates to a kind of robot or mechanical car's traveling gear, specifically is the comprehensive turning and running mechanism of a kind of flexibility.Can be on the magnetic conduction steel plate vertical crawling, and climbing robot traveling gear that can original place 360 degree turn to and have superpower adsorption affinity and heavy amount on vertical magnetic conducting wall.
Background technology
The magnetic adsorption wall climbing robot traveling gear need possess on the magnetic conduction wall the basic functions of two of absorption and mobile operatings; It is key problem in technology flexibly that adsorption affinity turns to by force, can make machine that magnetic adsorbability is provided, and makes it reliably be adsorbed on the wall; Require adsorption affinity to want big from security consideration; But adsorption affinity is big, and the resistance that is movably walking is just big, and the mobile operating ability of machine is just poor.At present, mainly take as the leading factor for two types with crawler type and magnetic wheel type in magnetic adsorption wall climbing robot traveling gear field, and the crawler type walking mechanism advantage is that the strong carrying force of adsorption affinity is bigger; Shortcoming need pull up the magnet at crawler belt rear when being walking; So need power big, walking resistance is big, speed is unstable uneven; Turn to extremely difficult, and easy posttension when vertical walls is crossed obstacle.Make the train of rolling with circular magnet steel, advantage is to turn to flexibly, and required drive is little, shortcoming be the strong magnetic field of circular magnet steel on two end faces, and magnetic force is very little on the circumference, adsorption affinity is poor, loading weight is little, the magnetic degree of utilization is low.
Existing market is badly in need of a kind of magnetic high adsorption capacity, and walking turns to flexibly freely, and power requires little, and the magnetic adsorption wall climbing robot traveling gear of high efficiency gets into practical application area.
Summary of the invention
The utility model provides a kind of flexibility comprehensive turning and running mechanism, and magnetic adsorbability is strong, can on the magnetic conduction wall of convex-concave, carry the instrument walking freely, and original place 360 degree turn to arbitrarily, replace manual work on the wall of the high-altitude of various complicacies, to work.
The utility model is realized with following technical scheme: the comprehensive turning and running mechanism of a kind of flexibility, and it comprises machine frame system and magnet-wheel system; Described machine frame system comprises symmetrically arranged two frame plates and is installed in the pivot shaft that is used for the localization machine frame plate between two frame plates; On four angles of frame plate, stud with bearing seat; Spline housing is fixed by metal (upper; The denture clutch that makes spline housing turn to the location, back is housed on the spline housing, and bearing seat, spline housing and denture clutch are installed on two frame plates with castellated shaft and spring; Also comprise the constraint chain that is driven by sprocket wheel; Direction was consistent when the constraint chain turned to rotation synchronously of four jiaos of spline housings and original place 0-360 degree, and four jiaos are equipped with the idler sprocket of regulating the chain degree of tightness in the frame; On four angles of described machine frame system, a train connecting panel is installed respectively, a magnet-wheel system respectively is installed on each train connecting panel.
Described magnet-wheel system comprises left motor, right motor, constitutes a magnet-wheel system with left motor, right motor bonded assembly drive gearbox and the magnet-wheel that is installed in the drive gearbox mouth respectively; Described magnet-wheel is made up of permanent magnet, magnet-wheel frame and concentrating flux plate, and left motor, right motor and magnet-wheel are fixed on the magnet-wheel frame, and the magnet-wheel frame is installed on the train connecting panel, can swing by a small margin between train connecting panel and the magnet-wheel frame; The center of train connecting panel is connected with machine frame system through castellated shaft.
Principle is: the magnet-wheel system drives the magnet-wheel rotation by left and right drive of motor gear case; Magnet-wheel is made up of permanent magnet and concentrating flux plate, and motor and magnet-wheel are fixed on the magnet-wheel frame, and the magnet-wheel frame is installed on the train connecting panel; Connect by castellated shaft in the middle of the train connecting panel; Between castellated shaft and the train connecting panel, can swing by a small margin between connecting panel and the magnet-wheel frame to adapt to the wall of convex-concave, after the train assembling was accomplished, castellated shaft was connected with frame through the spline housing that penetrates on the frame; Castellated shaft on frame flexure spring up and down can make the train independent suspension, and up-down adjustment is to adapt to the walking of convex-concave wall.Magnet-wheel is that the center can turn to arbitrarily by 360 degree with the castellated shaft about when left and right sides motor homophase rotates; And frictional resistance is very little, magnet coil release in the middle of two-wheeled when turning to, and spring presses down and makes sucker hold wall; Make the rotation smoothly under not heavy burden state of left and right sides magnet-wheel; Sucker holds wall and makes car body location during parking, when the left and right sides motor anti-phase rotate about the magnet-wheel synchronous walking, can 360 when left and right sides motor homophase rotates spend comprehensive pivot stud.
The beneficial effect of the utility model is: solved the technical barrier that magnetic adsorption wall climbing robot turns to difficulty and on the convex-concave wall, walks, had very strong practicality.
Description of drawings
Fig. 1 is the utility model front view;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the scheme drawing that car body walks up and down;
Fig. 4 is the scheme drawing of walking about car body;
Fig. 5 is the scheme drawing that car body turns to.
Among the figure: 1, frame plate, 2, pivot shaft, 3, the constraint chain, 4, idler sprocket, 5, sprocket wheel, 6, spline housing; 7, denture clutch, 8, bearing seat, 9, flexure spring, 10, castellated shaft, 11, the train connecting panel; 12, magnet-wheel frame, 13, left motor, 14, drive gearbox, 15, right motor, 16, magnet-wheel; 16-1, permanent magnet, 16-2, concentrating flux plate, 17, spring, 18, magnet coil, 19, sucker.
The specific embodiment
To combine accompanying drawing that the utility model is described in detail below:
As depicted in figs. 1 and 2, flexible comprehensive turning and running mechanism is made up of machine frame system and magnet-wheel system.
Machine frame system comprises symmetrically arranged two frame plates 1 and is installed in the pivot shaft 2 that is used for the localization machine frame plate between two frame plates 1; Stud with bearing seat 8 on 1 four jiaos of the frame plates; Spline housing 6 is fixed by metal (upper, denture clutch 7 is housed on the spline housing 6 makes spline housing 6 turn to the location, back, and the sprocket wheel 5 on the spline housing 6 drives constraint chains 3 rotates four jiaos of spline housings 6 synchronously; Direction was consistent when original place 0-360 degree turned to, and four jiaos are equipped with idler sprocket 4 to regulate constraint chain 3 degrees of tightness in the frame 1.
There are left motor 13 and right motor 15 in the magnet-wheel system; Drive gearbox 14 drives magnet-wheel 16 rotations; Magnet-wheel 16 is made up of permanent magnet 16-1 and concentrating flux plate 16-2; Left and right motor and magnet-wheel 16 are fixed on the magnet-wheel frame 12, and magnet-wheel frame 12 is installed on the train connecting panel 11, are connected by castellated shaft 10 in the middle of the train connecting panel 11; Between castellated shaft 10 and the train connecting panel 11, can swing by a small margin to adapt to the wall of convex-concave between train connecting panel 11 and the magnet-wheel frame 12; After the train assembling was accomplished, castellated shaft 10 was connected with frame plate 1 through the spline housing 6 that penetrates on the frame 1, and the flexure spring 9 on the castellated shaft 10 on the frame plate 1 can make train independent suspension up-down adjustment to adapt to the walking of convex-concave wall.
Like Fig. 3, Fig. 4 and shown in Figure 5; Magnet-wheel 16 is that work 360 degree in center turn to arbitrarily with castellated shaft 10 about when left and right sides motor homophase rotates; And frictional resistance is very little, magnet coil 18 releases in the middle of two-wheeled when turning to, and spring 17 presses down and makes sucker 19 hold wall; Make left and right sides magnet-wheel 16 rotation smoothly under not heavy burden state; Sucker 19 holds wall and makes the car body location during parking, and left and right magnet-wheel 16 synchronous walkings when left and right motor anti-phase rotates can be made the comprehensive pivot stud of 360 degree when left and right motor homophase rotates.
Claims (3)
1. the comprehensive turning and running mechanism of flexibility is characterized in that, it comprises machine frame system and is installed in the magnet-wheel system on the machine frame system; Described machine frame system comprises symmetrically arranged two frame plates (1) and is installed in the pivot shaft (2) that is used for the localization machine frame plate between two frame plates (1); On four angles of frame plate (1), stud with bearing seat (8); Spline housing (6) is fixed by metal (upper; The denture clutch (7) that makes spline housing (6) turn to the location, back is housed on the spline housing (6), and bearing seat (8), spline housing (6) and denture clutch (7) are installed on two frame plates (1) with castellated shaft and spring (9); Also comprise the constraint chain (3) that is driven by sprocket wheel (5); Direction was consistent when constraint chain (3) turned to four jiaos of spline housings (6) rotation synchronously and original place 0-360 degree, and four jiaos are equipped with the idler sprocket (4) of regulating chain (3) degree of tightness in the frame; On four angles of described machine frame system, a train connecting panel (11) is installed respectively, on each train connecting panel (11), a magnet-wheel system is installed respectively.
2. the comprehensive turning and running mechanism of flexibility according to claim 1; It is characterized in that described magnet-wheel system comprises left motor (13), right motor (15), constitutes a magnet-wheel system with left motor (13), right motor (15) bonded assembly drive gearbox (14) and the magnet-wheel (16) that is installed in drive gearbox (14) mouth respectively; Described magnet-wheel (16) is made up of permanent magnet (16-1), magnet-wheel frame (12) and concentrating flux plate (16-2); Left side motor (13), right motor (15) and magnet-wheel (16) are fixed on the magnet-wheel frame (12); Magnet-wheel frame (12) is installed on the train connecting panel (11), can swing by a small margin between train connecting panel (11) and the magnet-wheel frame (12); The center of train connecting panel (11) is connected with machine frame system through castellated shaft (10).
3. the comprehensive turning and running mechanism of flexibility according to claim 2; It is characterized in that; The spline housing (6) that described castellated shaft (10) penetrates on the frame plate (1) is connected with frame plate (1), in (1) of two frame plates flexure spring (9) is installed up and down on the castellated shaft (10) and makes the magnet-wheel system realize that up-down adjustment can walk on the convex-concave wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203479202U CN202201083U (en) | 2011-09-16 | 2011-09-16 | Flexible travelling mechanism with all-directional steering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203479202U CN202201083U (en) | 2011-09-16 | 2011-09-16 | Flexible travelling mechanism with all-directional steering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202201083U true CN202201083U (en) | 2012-04-25 |
Family
ID=45965219
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203479202U Expired - Lifetime CN202201083U (en) | 2011-09-16 | 2011-09-16 | Flexible travelling mechanism with all-directional steering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202201083U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105383584A (en) * | 2015-12-18 | 2016-03-09 | 哈尔滨科能熔敷科技有限公司 | Permanent magnet wheel wall climbing robot with elastic steel sheets |
| CN106108768A (en) * | 2016-08-10 | 2016-11-16 | 西安科技大学 | Glass-cleaning robot and the method that cleans the windows thereof with lift walking mechanism |
-
2011
- 2011-09-16 CN CN2011203479202U patent/CN202201083U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105383584A (en) * | 2015-12-18 | 2016-03-09 | 哈尔滨科能熔敷科技有限公司 | Permanent magnet wheel wall climbing robot with elastic steel sheets |
| CN105383584B (en) * | 2015-12-18 | 2017-07-21 | 哈尔滨科能熔敷科技有限公司 | A kind of permanent magnetic wheels climbing robot with elastic steel sheet |
| CN106108768A (en) * | 2016-08-10 | 2016-11-16 | 西安科技大学 | Glass-cleaning robot and the method that cleans the windows thereof with lift walking mechanism |
| CN106108768B (en) * | 2016-08-10 | 2018-08-10 | 西安科技大学 | Glass-cleaning robot with lift walking mechanism and its method that cleans the windows |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120425 |