CN204567834U - Novel triangle crawler-type wall climbing robot - Google Patents
Novel triangle crawler-type wall climbing robot Download PDFInfo
- Publication number
- CN204567834U CN204567834U CN201520207053.0U CN201520207053U CN204567834U CN 204567834 U CN204567834 U CN 204567834U CN 201520207053 U CN201520207053 U CN 201520207053U CN 204567834 U CN204567834 U CN 204567834U
- Authority
- CN
- China
- Prior art keywords
- triangle
- wheel
- vehicle body
- triangular supports
- crawler
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Abstract
The utility model discloses a kind of Novel triangle crawler-type wall climbing robot, comprise triangle vehicle body; Two triangle Athey wheel assemblies, comprise triangular supports, drive wheel, track adjusting wheel, tension wheel, support wheel, triangle support frame, crawler belt and magnetic part, triangular supports is vertically arranged on triangle vehicle body, drive wheel, track adjusting wheel, tension wheel are arranged in triangular supports, magnetic part is evenly arranged at the outside face of crawler belt, triangle support frame be articulated with in triangular supports, support wheel is arranged on triangle support frame; Actuating device, is connected with drive wheel; Magnetic cardan wheel, is arranged on triangle vehicle body; Detecting device, is arranged on triangle vehicle body.In the utility model, two triangle track rail assemblys are in conjunction with magnetic core cardan wheel, determine that a plane makes to be attached to arc-shaped surface robot stabilizedly at 3, magnetic part and magnetic cardan wheel on the other hand, make robot have good adsorption power, vertical direction can be realized and the stable of arc-shaped surface is creeped.
Description
Technical field
The utility model belongs to robot running gear field, is specifically related to a kind of Novel triangle crawler-type wall climbing robot.
Background technology
At present, large pressurized vessel is as the special equipment of a kind of high temperature, operate at high voltage, and Long-Time Service easily produces damage and even has an accident, and for ensureing its safe operation, regularly must carry out safety detection.And in the environment of High Temperature High Pressure, cannot manual detection be implemented.In prior art, robot just generally adopts four-wheel, is easy to cause three-wheel to contact one and takes turns unsettled state, thus cause instability of creeping when cambered surface is creeped.
Therefore, a kind of Novel triangle crawler-type wall climbing robot of creeping stable is needed badly.
Utility model content
In order to solve the problems of the technologies described above, the utility model provides a kind of Novel triangle crawler-type wall climbing robot.
In order to achieve the above object, the technical solution of the utility model is as follows:
The utility model provides a kind of Novel triangle crawler-type wall climbing robot, comprising:
Triangle vehicle body;
Two triangle Athey wheel assemblies, it is symmetricly set on two drift angles of triangle vehicle body, comprise triangular supports, drive wheel, track adjusting wheel, tension wheel, support wheel, triangle support frame, crawler belt and multiple magnetic part, triangular supports is vertically arranged on triangle vehicle body, drive wheel, track adjusting wheel, on three drift angles that tension wheel is arranged at triangular supports respectively and drive wheel is positioned at track adjusting wheel, the top of tension wheel, crawler belt is around drive wheel, track adjusting wheel, the periphery of tension wheel is also in transmission connection with it, magnetic part is evenly arranged at the outside face of crawler belt, a drift angle of triangle support frame is articulated with in triangular supports, support wheel is arranged on other two drift angles of triangle support frame, wherein, above-mentioned magnetic part is cylindrical or centrum shape,
Actuating device, it to be arranged on triangle vehicle body and to be connected with drive wheel;
Magnetic cardan wheel, it is arranged on another drift angle of triangle vehicle body;
Detecting device, it is arranged on triangle vehicle body.
In the utility model, two triangle track rail assemblys are in conjunction with magnetic core cardan wheel, a plane is determined on the one hand by 3, make to be attached to arc-shaped surface robot stabilizedly, on the other hand crawler belt arranges magnetic part and magnetic cardan wheel, make robot have good adsorption power, vertical direction can be realized and the stable of arc-shaped surface is creeped.
Attaching parts is connected with between triangular supports above-mentioned in the utility model and triangle vehicle body, triangular supports around the point of connection of itself and attaching parts in the fore-and-aft direction rotary setting of triangle vehicle body, attaching parts around the point of connection of itself and triangle vehicle body in the left and right directions rotary setting of triangle vehicle body.
On the basis of technique scheme, also can do following improvement:
As preferred scheme, above-mentioned magnetic part is diameter by the cylindrical of large gradually little setting and its major diameter one end is arranged in crawler belt.
Adopt above-mentioned preferred scheme, what magnetic part was diameter by large gradually little setting is cylindrical, make magnetic part stable be arranged in crawler belt, avoid it to drop, ensure the adsorption power of robot.
As preferred scheme, between above-mentioned support wheel and triangle support frame, be provided with elastic component.
Adopt above-mentioned preferred scheme, elastic component plays the effect of buffering, avoids producing hard collision between support wheel and triangle support frame, extends the service life of part.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of embodiment of the utility model.
Fig. 2 is the lateral plan of a kind of embodiment of the utility model.
Wherein, 10. triangle vehicle body, 20. triangle Athey wheel assemblies, 21. triangular supports, 22. drive wheels, 23. track adjusting wheels, 24. tension wheels, 25. crawler belts, 26. magnetic parts, 27. support wheels, 28. triangle support frames, 30. actuating devices, 40. magnetic cardan wheels, 50. detecting devices.
Detailed description of the invention
Preferred implementation of the present utility model is described in detail below in conjunction with accompanying drawing.
In order to reach the purpose of this utility model, as shown in Figure 1 to Figure 2, in wherein a kind of embodiment of the present utility model, provide a kind of Novel triangle crawler-type wall climbing robot, comprising:
Triangle vehicle body 10;
Two triangle Athey wheel assemblies 20, it is symmetricly set on two drift angles of triangle vehicle body 10, comprise triangular supports 21, drive wheel 22, track adjusting wheel 23, tension wheel 24, support wheel 27, triangle support frame 28, crawler belt 25 and multiple magnetic part 26, triangular supports 21 is vertically arranged on triangle vehicle body 10, drive wheel 22, track adjusting wheel 23, on three drift angles that tension wheel 24 is arranged at triangular supports 21 respectively and drive wheel 22 is positioned at track adjusting wheel 23, the top of tension wheel 24, crawler belt 25 is around drive wheel 22, track adjusting wheel 23, the periphery of tension wheel 24 is also in transmission connection with it, magnetic part 26 is evenly arranged at the outside face of crawler belt 25, a drift angle of triangle support frame 28 is articulated with in triangular supports 21, support wheel 27 is arranged on other two drift angles of triangle support frame 28, wherein, above-mentioned magnetic part 26 is cylindrical,
Actuating device 30, it to be arranged on triangle vehicle body 10 and to be connected with drive wheel 22;
Magnetic cardan wheel 40, it is arranged on another drift angle of triangle vehicle body 10;
Detecting device 50, it is arranged on triangle vehicle body 10.
In present embodiment, two triangle track rail assemblys 20 are in conjunction with magnetic core cardan wheel 40, a plane is determined on the one hand by 3, make to be attached to arc-shaped surface robot stabilizedly, on the other hand crawler belt 25 arranges magnetic part 25 and magnetic cardan wheel 40, make robot have good adsorption power, vertical direction can be realized and the stable of arc-shaped surface is creeped.
Attaching parts is connected with between triangular supports 21 above-mentioned in present embodiment and triangle vehicle body 10, triangular supports 21 around the point of connection of itself and attaching parts in the fore-and-aft direction rotary setting of triangle vehicle body 10, attaching parts around the point of connection of itself and triangle vehicle body 10 in the left and right directions rotary setting of triangle vehicle body 10.
Detecting device 50 above-mentioned in present embodiment is ultrasonic detector, and whether the surface of detected pressures container exists gap.
According to actual conditions, the outside face of magnetic cardan wheel 40 is also provided with skid resistant course, increases friction force.
In order to optimize implementation result of the present utility model further, in another kind of embodiment of the present utility model, on the basis of foregoing teachings, above-mentioned magnetic part 26 for diameter by the cylindrical of large gradually little setting and its major diameter one end be arranged in crawler belt 25.
Adopt above-mentioned preferred scheme, what magnetic part 26 was diameter by large gradually little setting is cylindrical, makes stable being arranged in crawler belt 25 of magnetic part 26, avoids it to drop, ensure the adsorption power of robot.
In order to optimize implementation result of the present utility model further, in another kind of embodiment of the present utility model, on the basis of foregoing teachings, between above-mentioned support wheel 27 and triangle support frame 28, be provided with elastic component.
Adopt above-mentioned preferred scheme, elastic component plays the effect of buffering, avoids producing hard collision between support wheel 27 and triangle support frame 28, extends the service life of part.
Above-described is only preferred implementation of the present utility model; it should be pointed out that for the person of ordinary skill of the art, under the prerequisite not departing from the utility model creation design; can also make some distortion and improvement, these all belong to protection domain of the present utility model.
Claims (5)
1. Novel triangle crawler-type wall climbing robot, is characterized in that, comprising:
Triangle vehicle body;
Two triangle Athey wheel assemblies, it is symmetricly set on two drift angles of described triangle vehicle body, comprise triangular supports, drive wheel, track adjusting wheel, tension wheel, support wheel, triangle support frame, crawler belt and multiple magnetic part, described triangular supports is vertically arranged on described triangle vehicle body, described drive wheel, track adjusting wheel, on three drift angles that tension wheel is arranged at described triangular supports respectively and described drive wheel is positioned at described track adjusting wheel, the top of tension wheel, described crawler belt is around described drive wheel, track adjusting wheel, the periphery of tension wheel is also in transmission connection with it, described magnetic part is evenly arranged at the outside face of described crawler belt, a drift angle of described triangle support frame is articulated with in described triangular supports, described support wheel is arranged on other two drift angles of described triangle support frame,
Actuating device, it to be arranged on described triangle vehicle body and to be connected with described drive wheel;
Magnetic cardan wheel, it is arranged on another drift angle of described triangle vehicle body;
Detecting device, it is arranged on described triangle vehicle body.
2. Novel triangle crawler-type wall climbing robot according to claim 1, is characterized in that, described magnetic part is cylindrical or centrum shape.
3. Novel triangle crawler-type wall climbing robot according to claim 1, is characterized in that, described magnetic part is diameter by the cylindrical of large gradually little setting and its major diameter one end is arranged in described crawler belt.
4. Novel triangle crawler-type wall climbing robot according to claim 1, is characterized in that, is provided with elastic component between described support wheel and described triangle support frame.
5. Novel triangle crawler-type wall climbing robot according to claim 1, it is characterized in that, attaching parts is connected with between described triangular supports and described triangle vehicle body, described triangular supports around the point of connection of itself and attaching parts in the fore-and-aft direction rotary setting of triangle vehicle body, described attaching parts around the point of connection of itself and triangle vehicle body in the left and right directions rotary setting of triangle vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520207053.0U CN204567834U (en) | 2015-04-08 | 2015-04-08 | Novel triangle crawler-type wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520207053.0U CN204567834U (en) | 2015-04-08 | 2015-04-08 | Novel triangle crawler-type wall climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204567834U true CN204567834U (en) | 2015-08-19 |
Family
ID=53860512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520207053.0U Withdrawn - After Issue CN204567834U (en) | 2015-04-08 | 2015-04-08 | Novel triangle crawler-type wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204567834U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104742996A (en) * | 2015-04-08 | 2015-07-01 | 南通理工学院 | Novel triangular track type wall climbing robot |
| CN106428281A (en) * | 2016-11-25 | 2017-02-22 | 浙江嘉蓝海洋电子有限公司 | Magnetic-absorption wall-climbing robot |
| CN109774809A (en) * | 2018-11-30 | 2019-05-21 | 山东大学 | Magnetic conduction wall surface mobile mechanism and magnetic conduction wall-surface mobile robot |
-
2015
- 2015-04-08 CN CN201520207053.0U patent/CN204567834U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104742996A (en) * | 2015-04-08 | 2015-07-01 | 南通理工学院 | Novel triangular track type wall climbing robot |
| CN104742996B (en) * | 2015-04-08 | 2017-03-15 | 南通理工学院 | Triangle crawler-type wall climbing robot |
| CN106428281A (en) * | 2016-11-25 | 2017-02-22 | 浙江嘉蓝海洋电子有限公司 | Magnetic-absorption wall-climbing robot |
| CN106428281B (en) * | 2016-11-25 | 2018-09-11 | 浙江嘉蓝海洋电子有限公司 | Magnetic adsorption wall climbing robot |
| CN109774809A (en) * | 2018-11-30 | 2019-05-21 | 山东大学 | Magnetic conduction wall surface mobile mechanism and magnetic conduction wall-surface mobile robot |
| CN109774809B (en) * | 2018-11-30 | 2020-06-09 | 山东大学 | Magnetic conduction wall surface moving mechanism and magnetic conduction wall surface moving robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104742996A (en) | Novel triangular track type wall climbing robot | |
| CN204567834U (en) | Novel triangle crawler-type wall climbing robot | |
| MY167766A (en) | Motor vehicle and steer control method for steerable wheel | |
| CN204567830U (en) | Triangle crawler-type wall climbing robot | |
| CN103552922B (en) | Novel cable pulley | |
| CN105128978A (en) | Robot chassis and service robot | |
| CN204871261U (en) | Crawler -type electrodynamic balance car | |
| CN206202719U (en) | A kind of novel electric omnidirectional non-intrusive method | |
| CN104742993A (en) | Triangular track type wall climbing robot | |
| CN202414992U (en) | Cable festooning system | |
| CN205289069U (en) | Track cleaning device of hoist for coal mine | |
| CN204688981U (en) | Tensioner chassis anti-derail unit | |
| CN204055682U (en) | A kind of RTG cart protection cart system | |
| CN204688249U (en) | Triangle Track wheel device | |
| CN206691246U (en) | Rotary floating obstacle detouring magnetic-disc device | |
| CN204938768U (en) | Tower crane crane carriage wheel anti-dropping apparatus | |
| CN205802794U (en) | A kind of crane road wheel structure | |
| CN203512601U (en) | Derailment-preventing device for tensioning trolley of belt conveyor | |
| CN204978943U (en) | Robot chassis and service robot | |
| CN204821439U (en) | Commercial car tire protection device | |
| CN204311306U (en) | The telescopic pipe track of rail mounted overhead manned equipment | |
| CN205113686U (en) | Aircraft manipulation transmission cable wire anticreep device for sector wheel | |
| CN202203307U (en) | Side brake for hydraulic wheel | |
| CN202413806U (en) | Four-wheel bogie | |
| CN205222491U (en) | Electric block prevents off tracking safety arrangement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150819 Effective date of abandoning: 20171114 |
|
| AV01 | Patent right actively abandoned |