CN204978938U - Steel wall crawl device with multi -direction left and right dish that floats - Google Patents
Steel wall crawl device with multi -direction left and right dish that floats Download PDFInfo
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- CN204978938U CN204978938U CN201520769902.1U CN201520769902U CN204978938U CN 204978938 U CN204978938 U CN 204978938U CN 201520769902 U CN201520769902 U CN 201520769902U CN 204978938 U CN204978938 U CN 204978938U
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Abstract
Steel wall crawl device with multi -direction left and right dish that floats belongs to small -size carrying device technical field. About establish motor drive's magnet pulley on the dish, establish passive magnet pulley in the mid -game, intrinsic a plurality of elastic element that are stressed and shorten are lost no time in the mid -game, elastic element's one end is passed through joint bearing and coils with the left side dish, the right side that correspond to couple, elastic element had better adopt the air spring. It still couples with the mid -game through self -adaptation hookup subassembly respectively to control the dish. The structure of this hookup subassembly is: fasten a little bearing again in the inner circle of a big deep groove ball bearing and mid -game fastening, big deep groove ball bearing has common solid centering shaft with little bearing, and fasten on its bearing frame big deep groove ball bearing's outer lane, and a connecting plate one end is articulated with the institute bearing frame of saying, the other end is articulated with left side dish or right side dish, the articulated axis of rotation of saying and mid -game vertical parallel. No matter this crawl device meets the steel wall of which kind of shape at the operation in -process, can both let the initiative magnet pulley keep with the reliable contact of steel wall.
Description
Technical field
The utility model belongs to compact carrier device technique field, is specially a kind of steel wall crawl device with the multi-aspect left and right dish that floats, is specially adapted to the non-destructive test of large-scale steel part.
Background technology
Authorization Notice No. is that the Chinese patent document of CN202152077U discloses one and " has the steel wall creeper-traveler of flexible chassis ", and the chassis of this creeper-traveler comprises mid-game and left dish, right dish; Left dish and right dish are equipped with by motor-driven magnet pulley; The elastic element that left and right dish and mid-game can be shortened by being stressed respectively connects; The position of magnet pulley can adjust change with by the shape of steel wall of creeping to a certain extent automatically, and compare with the device before this patent disclosure, the ability of creeping of device and safety are promoted.The weak point of this device is that its left and right dish can't multi-aspectly float, and when steel wall presents some shape, active magnetic wheel may disengage with steel wall, causes creeper-traveler to lose propulsive effort, and impact ability of creeping even drops.
Summary of the invention
The purpose of this utility model is the shortcoming overcoming prior art, and provide a kind of steel wall crawl device with the multi-aspect left and right dish that floats, this device can improve performance of creeping, stability and safety further.
The feature of the utility model device is:
The chassis of crawl device comprises a mid-game and is symmetrically distributed in a left dish and a right dish of mid-game both sides, left dish and right dish are respectively equipped with the magnet pulley driven by reversible electric machine deceleration transmission, mid-game is provided with passive magnet pulley, mid-game is fastened with multiple elastic element that can shorten that is stressed, one end of elastic element is connected with corresponding left dish, right dish by oscillating bearing, and left dish and right dish also connect with mid-game respectively by a self adaptation coupling assembly;
The structure of said self adaptation coupling assembly is: a fastening little bearing again in a large deep groove ball bearing and the fastening inner ring of mid-game, large deep groove ball bearing and little bearing have common stationary spindle, the outer ring of large deep groove ball bearing is anchored on its bearing seat, a plate one end and said bearing seat hinged, the other end and left dish or right dish hinged, said hinged turning cylinder and mid-game parallel longitudinal.Little bearing can be deep groove ball bearing, also can be thrust baring.
The said elastic element that can shorten that is stressed is prior art, is exactly the most simply coil spring, but preferably adopts gas spring.Gas spring has very significant advantage than common spring: speed is relatively slow, dynamic force change is little.
Oscillating bearing has commercially available prod, includes outer ring, the Internal Spherical Surface of outer ring and the spherical outside surface composition friction pair of inner ring that an inner ring with spherical outside surface and one have Internal Spherical Surface.Oscillating bearing is generally used for the lower hunting motion of speed, because slidingsurface is dome shape, also can make banking motion within the scope of certain angle, bolster and axle housing hole nonconcentricity larger time still can normally work.Oscillating bearing can bear larger load, and can accomplish to bear radial direction, axially simultaneous joint load.Commercially available spherical plain bearing rod end is the one in oscillating bearing.
According to the prior art that those skilled in the art know, wireless remote control or wired control assembly is installed at the utility model device, after instrument relevant in lift-launch, the non-destructive test of the steel part facilities such as pipeline, bridge, boats and ships, Large Towers tank, outward appearance video visualization, cutting can be widely used in and weld, mopping, rust cleaning, in repairing and other emergent construction operation.
The advantage of the utility model device: left dish, right dish have " flexibility " and multidirectional property of can " floating ", therefore no matter this crawl device runs into the steel wall of which kind of shape in operation process, active magnetic can be allowed to take turns the reliable contacts kept with steel wall, substantially increase carrying capacity of creeping, and the accident that avoiding device drops from eminence occurs.
Accompanying drawing explanation
Fig. 1 is the arrangement structure schematic top plan view of embodiment.
Fig. 2 is the structure for amplifying schematic diagram of part A in Fig. 1.
Fig. 3 is the structure for amplifying schematic diagram of part B in Fig. 1.
Detailed description of the invention
See the embodiment of Fig. 1 ~ 3.The chassis of crawl device comprises a mid-game 1 and is symmetrically distributed in left dish 2 and the right dish 3 of mid-game 1 both sides.Left dish 2 and right dish 3 are respectively fastened with four gas springs 4, therefore this crawl device are equipped with altogether 8 gas springs 4.In Fig. 1, gas spring 4 can only see four, is because two other respective gas spring is in immediately below two gas springs can seeing in institute Fig. 1 on left dish 2 and right dish 3, on birds-eye view just block by two gas springs can seeing.The structure of gas spring 4 is in the cylinder of commercially available gas spring, install a coil spring 5 additional.One end of each gas spring 4 connects with one end of a spherical plain bearing rod end fabricate block 6, the pole pair of the other end of spherical plain bearing rod end fabricate block 6 and a commercially available spherical plain bearing rod end 7 connects, the joint end of spherical plain bearing rod end 7 and left dish, right dish are fastening, and spherical plain bearing rod end fabricate block 6 forms fastening for the joint end of two commercially available spherical plain bearing rod ends.Left dish and right dish also connect with mid-game 1 respectively by a self adaptation coupling assembly 8.The structure of self adaptation coupling assembly 8 is: a fastening low thrust bearing again in the inner ring 9 of a large deep groove ball bearing, large deep groove ball bearing and low thrust bearing have common stationary spindle 10, the outer ring 11 of large deep groove ball bearing is anchored on its bearing seat 12, a plate 13 one end and bearing seat 12 hinged, the other end by support 16 and left dish or right dish hinged, said hinged turning cylinder 15 and 14 and mid-game 1 parallel longitudinal.Inner ring 9 is fastening with mid-game 1, support 16 and left dish or right dish fastening.In Fig. 1,17 is the magnetic flower wheel in mid-game 1.
Claims (4)
1. there is a steel wall crawl device for the multi-aspect left and right dish that floats, it is characterized in that:
The chassis of crawl device comprises a mid-game and is symmetrically distributed in a left dish and a right dish of mid-game both sides, left dish and right dish are respectively equipped with the magnet pulley driven by reversible electric machine deceleration transmission, mid-game is provided with passive magnet pulley, mid-game is fastened with multiple elastic element that can shorten that is stressed, one end of elastic element is connected with corresponding left dish, right dish by oscillating bearing, and left dish and right dish also connect with mid-game respectively by a self adaptation coupling assembly;
The structure of said self adaptation coupling assembly is: a fastening little bearing again in a large deep groove ball bearing and the fastening inner ring of mid-game, large deep groove ball bearing and little bearing have common stationary spindle, the outer ring of large deep groove ball bearing is anchored on its bearing seat, a plate one end and said bearing seat hinged, the other end and left dish or right dish hinged, said hinged turning cylinder and mid-game parallel longitudinal.
2. there is the steel wall crawl device of the multi-aspect left and right dish that floats as claimed in claim 1, it is characterized in that: the said elastic element that can shorten that is stressed is gas spring.
3. there is the steel wall crawl device of the multi-aspect left and right dish that floats as claimed in claim 2, it is characterized in that: said oscillating bearing is spherical plain bearing rod end.
4. there is the steel wall crawl device of the multi-aspect left and right dish that floats as claimed in claim 3, it is characterized in that: 8 gas springs are housed altogether, the structure of gas spring is in the cylinder of commercially available gas spring, install a coil spring additional, one end of each gas spring connects with one end of a spherical plain bearing rod end fabricate block, the pole pair of the other end of spherical plain bearing rod end fabricate block and a commercially available spherical plain bearing rod end connects, the joint end of this spherical plain bearing rod end and left dish, right dish are fastening, and said spherical plain bearing rod end fabricate block forms fastening for the joint end of two commercially available spherical plain bearing rod ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520769902.1U CN204978938U (en) | 2015-09-30 | 2015-09-30 | Steel wall crawl device with multi -direction left and right dish that floats |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520769902.1U CN204978938U (en) | 2015-09-30 | 2015-09-30 | Steel wall crawl device with multi -direction left and right dish that floats |
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| Publication Number | Publication Date |
|---|---|
| CN204978938U true CN204978938U (en) | 2016-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520769902.1U Active CN204978938U (en) | 2015-09-30 | 2015-09-30 | Steel wall crawl device with multi -direction left and right dish that floats |
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| CN (1) | CN204978938U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105172929A (en) * | 2015-09-30 | 2015-12-23 | 昆明鑫辉检测有限公司 | Steel wall crawl device with left tray and right tray capable of floating in multiple directions |
| CN106005085A (en) * | 2016-07-14 | 2016-10-12 | 西藏长源动力科技有限公司 | Magnetic adsorption wall-climbing robot capable of striding over right-angle wall surface |
| CN107933725A (en) * | 2017-11-20 | 2018-04-20 | 河北工业大学 | It is a kind of can obstacle detouring multi-functional climbing robot |
| CN109795573A (en) * | 2019-03-29 | 2019-05-24 | 中国科学院沈阳自动化研究所 | A kind of adaptive climbing robot of tendon driving |
-
2015
- 2015-09-30 CN CN201520769902.1U patent/CN204978938U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105172929A (en) * | 2015-09-30 | 2015-12-23 | 昆明鑫辉检测有限公司 | Steel wall crawl device with left tray and right tray capable of floating in multiple directions |
| CN105172929B (en) * | 2015-09-30 | 2017-05-31 | 昆明鑫辉检测有限公司 | Steel wall crawl device with the multi-direction left and right disk that floats |
| CN106005085A (en) * | 2016-07-14 | 2016-10-12 | 西藏长源动力科技有限公司 | Magnetic adsorption wall-climbing robot capable of striding over right-angle wall surface |
| CN106005085B (en) * | 2016-07-14 | 2018-04-06 | 西藏长源动力科技有限公司 | It may span across the magnetic adsorption wall climbing robot of right angle wall |
| CN107933725A (en) * | 2017-11-20 | 2018-04-20 | 河北工业大学 | It is a kind of can obstacle detouring multi-functional climbing robot |
| CN109795573A (en) * | 2019-03-29 | 2019-05-24 | 中国科学院沈阳自动化研究所 | A kind of adaptive climbing robot of tendon driving |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |