CN205168685U - Wall climbing robot adsorbs chassis - Google Patents
Wall climbing robot adsorbs chassis Download PDFInfo
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- CN205168685U CN205168685U CN201520799882.2U CN201520799882U CN205168685U CN 205168685 U CN205168685 U CN 205168685U CN 201520799882 U CN201520799882 U CN 201520799882U CN 205168685 U CN205168685 U CN 205168685U
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Abstract
(B, ) the utility model relates to a robotechnology field is a wall climbing robot adsorbs chassis, and it includes that frame, track and change magnetism adsorb the unit, and the track can be installed in the frame with rotating, and fixed mounting has the change magnetism of being no less than two to adsorb the unit on the outer wall of track, the front end of frame and rear end fixed mounting respectively have and become magnetism sheave matched with driving lever. The internal and external network physical isolation data exchange device is reasonable and compact in structure, high durability and convenient use, it changes the magnetic force direction that becomes magnetism and adsorb the unit through driving lever and the cooperation that becomes the magnetism sheave, and then realize that change magnetism adsorbs unit absorption and the separation surperficial with wind power tower cylinder, thereby realize the walking of this wall climbing robot adsorbs chassis along the wind power tower cylinder surface, this wall climbing robot adsorbs chassis portability clearance and service equipment derust to wind power tower cylinder, wash and spray paint the operation, maintain the neat and artistic of wind power tower cylinder surface, the fan operation security improves, and the labor intensity of workers is reduced, and the construction period is shortened, the operating cost is reduced, potential safety hazards are reduced. (B, )
Description
Technical field
the utility model relates to robotics, is a kind of climbing robot absorption chassis.
Background technology
the climate crisis faced along with the whole world is day by day obvious, and low-carbon economy becomes the hot issue in the world, and wind-power electricity generation becomes as important clean energy resource and first develops selection.Under so international overall background, Wind Power Generation Industry obtained swift and violent development in nearly ten years, and the Wind Power Generation Industry in Xinjiang presents that investment subject increases severely, undergo an unusual development swift and violent situation especially.Show according to " Xinjiang Autonomous Region power industry " 12 " planning " content, 8690 megawatts will be reached to Xinjiang wind-powered electricity generation total installed capacity scale in 2015,10000 megawatts will be reached to the year two thousand twenty Xinjiang wind-powered electricity generation total installed capacity scale, basically form the 3-5 such as Hami Prefecture's millions wind power base and Da Bancheng, little Cao Hu, Tacheng, E Erqisi 1,000,000 grades of large-scale wind electricity bases.Wind-powered electricity generation industry is after explosive type development, each wind field all establishes the aerogenerator cohort of substantial amounts, but expose to the weather for a long time through field, grit friction, after saline and alkaline erosion, wind-power tower surface there will be depainting and even corrosion phenomena mostly, affect and attractive in appearancely even may jeopardize fan operation safety, the management expectancy of safe and civilized production can not be met.The Traditional Man mode of operation that the cleaning of current tower cylinder and handling labor adopt, labour intensity is large, long construction period, and maintenance cost is high, there is the problems such as potential safety hazard.
Summary of the invention
the utility model provides a kind of climbing robot absorption chassis, overcome the deficiency of above-mentioned prior art, it effectively can solve the problem that the labour intensity existed in the cleaning of existing wind-power tower and maintenance process is large, long construction period, maintenance cost are high, there is potential safety hazard.
the first technical scheme of the present utility model is realized by following measures: a kind of climbing robot absorption chassis, comprise frame, crawler belt and change magnetic absorbing unit, crawler belt can be arranged in frame rotationally, the outer wall of crawler belt is installed with the change magnetic absorbing unit being no less than two, become magnetic absorbing unit and comprise permanent magnet, upper yoke, lower yoke, left every magnetic patch, right every magnetic patch, left door, right end cap, upper yoke, lower yoke, left every magnetic patch, right joining end to end every magnetic patch surrounds a hollow cylinder, permanent magnetism physical efficiency is arranged in hollow cylinder along own axis, left door is fixedly mounted on the left end of hollow cylinder, right end cap can be arranged on the right-hand member of hollow cylinder rotationally, right end cap is installed with and becomes magnetic sheave, right end cap is fixedly connected with permanent magnet, the front-end and back-end of frame are installed with and the driving lever becoming magnetic sheave and match respectively.
here is the further optimization and/or improvements to above-mentioned utility model technical scheme:
the rear end of above-mentioned frame is provided with axle drive shaft, axle drive shaft is installed with drive sprocket, the front end of frame is provided with driven shaft, driven shaft is installed with driven sprocket, crawler belt is chain, chain is arranged on drive sprocket and driven sprocket, and the rear end of frame is installed with servo deceleration machine, and the clutch end of servo deceleration machine is connected with the power intake of axle drive shaft.
the left side of above-mentioned frame is installed with left side wing plate, the right side of frame is installed with right side wing plate, between the rear end of left side wing plate and the rear end of right side wing plate, axle drive shaft is installed, the left end of axle drive shaft is installed with the first drive sprocket, and the right-hand member of axle drive shaft is installed with the second drive sprocket; The front end of left side wing plate is provided with the first driven shaft, and the first driven shaft is installed with the first driven sprocket, the front end of right side wing plate is provided with the second driven shaft, the second driven shaft is installed with the second driven sprocket; Crawler belt comprises the first chain and the second chain, first chain is arranged on the first drive sprocket and the first driven sprocket, second chain is arranged on the second drive sprocket and the second driven sprocket, the outer wall of the first chain is installed with the change magnetic absorbing unit being no less than two, the outer wall of the second chain is installed with the change magnetic absorbing unit being no less than two, the rear end of frame is installed with servo deceleration machine, and the clutch end of servo deceleration machine is connected with the power intake of axle drive shaft.
the left side of above-mentioned frame is installed with left side wing plate, the right side of frame is installed with right side wing plate, the rear end of left side wing plate is provided with the first axle drive shaft, first axle drive shaft is installed with the first drive sprocket, the rear end of right side wing plate is provided with the second axle drive shaft, the second axle drive shaft is installed with the second drive sprocket; The front end of left side wing plate is provided with the first driven shaft, and the first driven shaft is installed with the first driven sprocket, the front end of right side wing plate is provided with the second driven shaft, the second driven shaft is installed with the second driven sprocket; Crawler belt comprises the first chain and the second chain, first chain is arranged on the first drive sprocket and the first driven sprocket, second chain is arranged on the second drive sprocket and the second driven sprocket, the outer wall of the first chain is installed with the change magnetic absorbing unit being no less than two, the outer wall of the second chain is installed with the change magnetic absorbing unit being no less than two; The rear end of frame is installed with the first servo deceleration machine and the second servo deceleration machine, the clutch end of the first servo deceleration machine is connected with the power intake of the first axle drive shaft, and the clutch end of the second servo deceleration machine is connected with the power intake of the second axle drive shaft.
above-mentioned change magnetic sheave is provided with the gear teeth being no less than two, the gear teeth are wedge, one end that wedge thickness is little is provided with side elevation, one end that wedge thickness is large is provided with end face, side elevation and end face orthogonal, the inclined-plane of wedge is arc surface, and be provided with circular groove between adjacent two gear teeth, one end that wedge thickness is large is tooth root.
above-mentioned change magnetic sheave is circumferentially evenly equipped with four gear teeth.
the outer wall of the outer wall of above-mentioned upper yoke, the left outer wall every magnetic patch, lower yoke fixedly mounts rubber sleeve; Or/and right end cap and permanent magnet are connected by keyway.
the utility model reasonable and compact in structure, easy to use, its design is ingenious, by driving lever with become magnetic sheave coordinate the magnetic force direction changing and become magnetic absorbing unit, and then the absorption realizing becoming magnetic absorbing unit and wind-power tower surface be separated, thus realize the walking of this climbing robot absorption chassis along wind-power tower surface, this climbing robot absorption chassis can carry cleaning and maintenance equipment eliminates rust to wind-power tower, cleaning and spray painting operation, maintain the neat and artistic of wind-power tower surface, improve fan operation safety, meet the requirement of safety in production, reduce the labour intensity of workman, shorten construction period, cut operating costs, reduce potential safety hazard, there is safety, laborsaving, easy, efficient feature.
Accompanying drawing explanation
accompanying drawing 1 is the perspective view of the utility model embodiment three.
the main TV structure schematic diagram that accompanying drawing 2 is structure shown in accompanying drawing 1.
the left TV structure schematic diagram that accompanying drawing 3 is structure shown in accompanying drawing 1.
accompanying drawing 4 looks up structural representation for structure shown in accompanying drawing 1.
accompanying drawing 5 is the perspective view becoming magnetic absorbing unit in accompanying drawing 1.
the main TV structure schematic diagram that accompanying drawing 6 is structure shown in accompanying drawing 5.
accompanying drawing 7 be in accompanying drawing 6 A-A to sectional structure schematic diagram.
accompanying drawing 8 be in accompanying drawing 6 B-B to sectional structure schematic diagram.
accompanying drawing 9 is become the structural representation that magnetic absorbing unit is in adsorbed state.
accompanying drawing 10 is become the structural representation that magnetic absorbing unit is in non-adsorbed state.
coding in accompanying drawing is respectively: 1 is frame, 2 for becoming magnetic absorbing unit, 3 is permanent magnet, 4 is upper yoke, 5 is lower yoke, 6 is left every magnetic patch, 7 is right every magnetic patch, 8 is left door, 9 is right end cap, 10 for becoming magnetic sheave, 11 is driving lever, 12 is left side wing plate, 13 is right side wing plate, 14 is the first axle drive shaft, 15 is the first drive sprocket, 16 is the second axle drive shaft, 17 is the second drive sprocket, 18 is the first driven shaft, 19 is the first driven sprocket, 20 is the second driven shaft, 21 is the second driven sprocket, 22 is the first chain, 23 is the second chain, 24 is the first servo deceleration machine, 25 is the second servo deceleration machine, 26 is rubber coating, 27 is side elevation, 28 is end face, 29 is inclined-plane, circular groove.
Detailed description of the invention
the utility model by the restriction of following embodiment, can not determine concrete embodiment according to the technical solution of the utility model and actual conditions.
in the utility model, for convenience of description, the description of the relative position relation of each parts is all be described according to the Butut mode of Figure of description 1, as: the position relationship of forward and backward, upper and lower, left and right etc. determines according to the Butut direction of Figure of description.
below in conjunction with embodiment and accompanying drawing, the utility model is further described:
as accompanying drawing 1, 2, 3, 4, 5, 6, 7, 8, 9, shown in 10, this climbing robot absorption chassis comprises frame 1, crawler belt and change magnetic absorbing unit 2, crawler belt can be arranged in frame 1 rotationally, the outer wall of crawler belt is installed with the change magnetic absorbing unit 2 being no less than two, become magnetic absorbing unit 2 and comprise permanent magnet 3, upper yoke 4, lower yoke 5, left every magnetic patch 6, right every magnetic patch 7, left door 8, right end cap 9, upper yoke 4, lower yoke 5, left every magnetic patch 6, right joining end to end every magnetic patch 7 surrounds a hollow cylinder, permanent magnet 3 can be arranged in hollow cylinder along own axis, left door 8 is fixedly mounted on the left end of hollow cylinder, right end cap 9 can be arranged on the right-hand member of hollow cylinder rotationally, right end cap 9 is installed with and becomes magnetic sheave 10, right end cap 9 is fixedly connected with permanent magnet 3, the front-end and back-end of frame 1 are installed with and the driving lever 11 becoming magnetic sheave 10 and match respectively.The outer wall of crawler belt is provided with and becomes magnetic absorbing unit 2, adsorbed state is in the change magnetic absorbing unit 2 of wind-power tower surface contact, the driving lever 11 of frame 1 front-end and back-end can drive change magnetic sheave 10 to rotate, becoming magnetic sheave 10 drives permanent magnet 3 to rotate, thus realize the switch becoming magnetic absorbing unit 2 magnetic force, then realize the absorption and the disengaging that become magnetic absorbing unit 2 and wind-power tower surface.During work, first this climbing robot absorption chassis is placed in wind-power tower on the surface, make all to be in adsorbed state with the change magnetic absorbing unit 2 of wind-power tower surface contact, when this climbing robot absorption chassis is along the walking of wind-power tower surface, if walk forward, then just stir will with the change magnetic sheave 10 on the change magnetic absorbing unit 2 of wind-power tower surface contact for the driving lever 11 of frame 1 front end, permanent magnet 3 on this change magnetic absorbing unit 2 is turned an angle, make this change magnetic absorbing unit 2 become adsorbed state, thus with wind-power tower adsorption, and the driving lever 11 of frame 1 rear end just stir will with the change magnetic sheave 10 on the change magnetic absorbing unit 2 that depart from of wind-power tower surface, permanent magnet 3 on this change magnetic absorbing unit 2 is turned an angle, make this change magnetic absorbing unit 2 into non-adsorbed state, thus be separated with wind-power tower surface, like this, will with the change magnetic absorbing unit 2 of wind-power tower surface contact by the effect of driving lever 11 convert magnetic force direction one by one with wind-power tower surface contact, the change magnetic absorbing unit 2 that will be separated with wind-power tower surface converts magnetic force direction by the effect of driving lever 11 and is separated with wind-power tower surface one by one, so move in circles, just achieve this climbing robot absorption chassis walking forward.In like manner, when walking backward in this climbing robot absorption chassis, the driving lever 11 of frame 1 rear end just stir will with the change magnetic sheave 10 of the change magnetic absorbing unit 2 of wind-power tower surface contact, make this change magnetic absorbing unit 2 become adsorbed state; The change magnetic sheave 10 of the change magnetic absorbing unit 2 that will be separated with wind-power tower surface just stirred by the driving lever 11 of frame 1 front end, makes this change magnetic absorbing unit 2 into non-adsorbed state, moves in circles, and realizes this climbing robot absorption chassis walking backward.This climbing robot absorption chassis design is ingenious, by driving lever 11 with become magnetic sheave 10 coordinate the magnetic force direction changing and become magnetic absorbing unit 2, and then the absorption realizing becoming magnetic absorbing unit 2 and wind-power tower surface be separated, thus realize the walking of this climbing robot absorption chassis along wind-power tower surface, this climbing robot absorption chassis can carry cleaning and maintenance equipment eliminates rust to wind-power tower, cleaning and spray painting operation, maintain the neat and artistic of wind-power tower surface, improve fan operation safety, meet the requirement of safety in production, reduce the labour intensity of workman, shorten construction period, cut operating costs, reduce potential safety hazard.
according to actual needs, above-mentioned climbing robot absorption chassis can be made further optimization and/or improvements:
embodiment one: the rear end of above-mentioned frame 1 is provided with axle drive shaft, axle drive shaft is installed with drive sprocket, the front end of frame 1 is provided with driven shaft, driven shaft is installed with driven sprocket, crawler belt is chain, chain is arranged on drive sprocket and driven sprocket, and the rear end of frame 1 is installed with servo deceleration machine, and the clutch end of servo deceleration machine is connected with the power intake of axle drive shaft.Climbing robot absorption chassis described in the present embodiment adopts single-crawler single, and by sprocket wheel chain gear, structure is simple, and cost is low.Servo deceleration machine drives drive sprocket to rotate, and drive sprocket is rotated by chain-driving driven sprocket, and chain-driving becomes magnetic absorbing unit 2 and rotates, thus realizes the walking of absorption chassis on wind-power tower surface of this climbing robot and other upkeep operations.
embodiment two: the left side of above-mentioned frame 1 is installed with left side wing plate 12, the right side of frame 1 is installed with right side wing plate 13, between the rear end of left side wing plate 12 and the rear end of right side wing plate 13, axle drive shaft is installed, the left end of axle drive shaft is installed with the first drive sprocket 15, and the right-hand member of axle drive shaft is installed with the second drive sprocket 17; The front end of left side wing plate 12 is provided with on the first driven shaft 18, first driven shaft 18 and is installed with the first driven sprocket 19, and the front end of right side wing plate 13 is provided with on the second driven shaft 20, second driven shaft 20 and is installed with the second driven sprocket 21; Crawler belt comprises the first chain 22 and the second chain 23, first chain 22 is arranged on the first drive sprocket 15 and the first driven sprocket 19, second chain 23 is arranged on the second drive sprocket 17 and the second driven sprocket 21, the outer wall of the first chain 22 is installed with the change magnetic absorbing unit 2 being no less than two, the outer wall of the second chain 23 is installed with the change magnetic absorbing unit 2 being no less than two, the rear end of frame 1 is installed with servo deceleration machine, and the clutch end of servo deceleration machine is connected with the power intake of axle drive shaft.The crawler belt of the present embodiment comprises the first chain 22 and the second chain 23, servo deceleration machine drives drive shaft turns, axle drive shaft drives the first drive sprocket 15 and the second drive sprocket 17 to rotate, first drive sprocket 15 drives the first driven sprocket 19 to rotate by the first chain 22, second drive sprocket 17 drives the second driven sprocket 21 to rotate by the second chain 23, first chain 22 drives change magnetic absorbing unit 2 mounted thereto to rotate, second chain 23 drives change magnetic absorbing unit 2 mounted thereto to rotate, thus realize the walking of absorption chassis on wind-power tower surface of this climbing robot and upkeep operation.
embodiment three: as shown in accompanying drawing 1,2,3,4,5,6,7,8, the left side of above-mentioned frame 1 is installed with left side wing plate 12, the right side of frame 1 is installed with right side wing plate 13, the rear end of left side wing plate 12 is provided with the first axle drive shaft 14, first axle drive shaft 14 is installed with the first drive sprocket 15, the rear end of right side wing plate 13 is provided with on the second axle drive shaft 16, second axle drive shaft 16 and is installed with the second drive sprocket 17; The front end of left side wing plate 12 is provided with on the first driven shaft 18, first driven shaft 18 and is installed with the first driven sprocket 19, and the front end of right side wing plate 13 is provided with on the second driven shaft 20, second driven shaft 20 and is installed with the second driven sprocket 21; Crawler belt comprises the first chain 22 and the second chain 23, first chain 22 is arranged on the first drive sprocket 15 and the first driven sprocket 19, second chain 23 is arranged on the second drive sprocket 17 and the second driven sprocket 21, the outer wall outer wall of the first chain 22 being installed with change magnetic absorbing unit 2, second chain 23 being no less than two is installed with the change magnetic absorbing unit 2 being no less than two; The rear end of frame 1 is installed with the first servo deceleration machine 24 and the second servo deceleration machine 25, the clutch end of the first servo deceleration machine 24 is connected with the power intake of the first axle drive shaft 14, and the clutch end of the second servo deceleration machine 25 is connected with the power intake of the second axle drive shaft 16.The crawler belt of the present embodiment comprises the first chain 22 and the second chain 23, first servomotor drives the first axle drive shaft 14 to rotate, first axle drive shaft 14 drives the first drive sprocket 15 to rotate, first sprocket wheel drives the first driven sprocket 19 to rotate by the first chain 22, and the first chain 22 drives change magnetic absorbing unit 2 mounted thereto to rotate; Second servomotor drives the second axle drive shaft 16 to rotate, second axle drive shaft 16 drives the second driving wheel to rotate, second driving wheel drives the second flower wheel to rotate by the second chain 23, second chain 23 drives change magnetic absorbing unit 2 mounted thereto to rotate, thus realize this climbing robot absorption walking of chassis on wind-power tower surface, first servomotor and the second servomotor can synchronous axial system, realize the straight line moving on this climbing robot absorption chassis; First servomotor and the second servomotor also can asynchronously rotate, and realize turning to of this climbing robot absorption chassis.
as shown in Figure 5, above-mentioned change magnetic sheave 10 is provided with the gear teeth being no less than two, the gear teeth are wedge, one end that wedge thickness is little is provided with side elevation 27, one end that wedge thickness is large is provided with end face 28, side elevation 27 and end face 28 orthogonal, the inclined-plane 29 of wedge is arc surface, be provided with circular groove 30 between adjacent two gear teeth, one end that wedge thickness is large is tooth root.Like this, driving lever 11 can be stirred more easily and become magnetic sheave 10 and rotate.
as shown in accompanying drawing 5,6,7,8, above-mentioned change magnetic sheave 10 is circumferentially evenly equipped with four gear teeth.Like this, when becoming magnetic absorbing unit 2 through driving lever 11, driving lever 11 can drive change magnetic sheave 10 to rotate 90 degree, realizes the change becoming magnetic absorbing unit 2 magnetic force direction, thus realizes the switch becoming magnetic force between magnetic absorbing unit 2 and wind-power tower surface.
as shown in accompanying drawing 5,6,7,8,9,10, the outer wall of the outer wall of above-mentioned upper yoke 4, the left outer wall every magnetic patch 6, lower yoke 5 fixedly mounts rubber sleeve 26.Rubber coating 26 wraps and becomes magnetic absorbing unit 2, can prevent becoming magnetic absorbing unit 2 and firmly contact with wind-power tower surface, avoid becoming the lacquer painting that magnetic absorbing unit 2 destroys wind-power tower surface.
as shown in Figure 8, above-mentioned right end cap 9 is connected by keyway with permanent magnet 3.Employing key connects, and structure is simple, and transmission is convenient.
above technical characteristic constitutes embodiment of the present utility model, and it has stronger comformability and implementation result, can increase and decrease non-essential technical characteristic according to actual needs, meet the demand of different situations.
the use procedure of the utility model most preferred embodiment:
as shown in Figure 9, magnetic line of force is in the horizontal direction formed between the N pole of change magnetic absorbing unit 2 and S pole, upper yoke 4 and lower yoke 5 are all positioned on magnetic line of force, the magnetic force between this change magnetic absorbing unit 2 and wind-power tower surface can be strengthened, now, become magnetic absorbing unit 2 and be adsorbed on wind-power tower on the surface.
as shown in Figure 10, the permanent magnet 3 now becoming magnetic absorbing unit 2 rotates 90 degree, magnetic line of force is vertically formed between the N pole of change magnetic absorbing unit 2 and S pole, a left side is all positioned on magnetic line of force every magnetic patch 7 every magnetic patch 6 and the right side, the magnetic force become between magnetic absorbing unit 2 and wind-power tower surface is very little, now, become magnetic absorbing unit 2 and be in non-adsorbed state with wind-power tower surface, become magnetic absorbing unit 2 and be separated with wind-power tower surface.
Claims (9)
1. a climbing robot absorption chassis, it is characterized in that comprising frame, crawler belt and change magnetic absorbing unit, crawler belt can be arranged in frame rotationally, the outer wall of crawler belt is installed with the change magnetic absorbing unit being no less than two, become magnetic absorbing unit and comprise permanent magnet, upper yoke, lower yoke, left every magnetic patch, right every magnetic patch, left door, right end cap, upper yoke, lower yoke, left every magnetic patch, right joining end to end every magnetic patch surrounds a hollow cylinder, permanent magnetism physical efficiency is arranged in hollow cylinder along own axis, left door is fixedly mounted on the left end of hollow cylinder, right end cap can be arranged on the right-hand member of hollow cylinder rotationally, right end cap is installed with and becomes magnetic sheave, right end cap is fixedly connected with permanent magnet, the front-end and back-end of frame are installed with and the driving lever becoming magnetic sheave and match respectively.
2. climbing robot absorption chassis according to claim 1, it is characterized in that the rear end of frame is provided with axle drive shaft, axle drive shaft is installed with drive sprocket, the front end of frame is provided with driven shaft, driven shaft is installed with driven sprocket, and crawler belt is chain, and chain is arranged on drive sprocket and driven sprocket, the rear end of frame is installed with servo deceleration machine, and the clutch end of servo deceleration machine is connected with the power intake of axle drive shaft.
3. climbing robot absorption chassis according to claim 1, it is characterized in that the left side of frame is installed with left side wing plate, the right side of frame is installed with right side wing plate, between the rear end of left side wing plate and the rear end of right side wing plate, axle drive shaft is installed, the left end of axle drive shaft is installed with the first drive sprocket, and the right-hand member of axle drive shaft is installed with the second drive sprocket; The front end of left side wing plate is provided with the first driven shaft, and the first driven shaft is installed with the first driven sprocket, the front end of right side wing plate is provided with the second driven shaft, the second driven shaft is installed with the second driven sprocket; Crawler belt comprises the first chain and the second chain, first chain is arranged on the first drive sprocket and the first driven sprocket, second chain is arranged on the second drive sprocket and the second driven sprocket, the outer wall of the first chain is installed with the change magnetic absorbing unit being no less than two, the outer wall of the second chain is installed with the change magnetic absorbing unit being no less than two, the rear end of frame is installed with servo deceleration machine, and the clutch end of servo deceleration machine is connected with the power intake of axle drive shaft.
4. climbing robot absorption chassis according to claim 1, it is characterized in that the left side of frame is installed with left side wing plate, the right side of frame is installed with right side wing plate, the rear end of left side wing plate is provided with the first axle drive shaft, first axle drive shaft is installed with the first drive sprocket, the rear end of right side wing plate is provided with the second axle drive shaft, the second axle drive shaft is installed with the second drive sprocket; The front end of left side wing plate is provided with the first driven shaft, and the first driven shaft is installed with the first driven sprocket, the front end of right side wing plate is provided with the second driven shaft, the second driven shaft is installed with the second driven sprocket; Crawler belt comprises the first chain and the second chain, first chain is arranged on the first drive sprocket and the first driven sprocket, second chain is arranged on the second drive sprocket and the second driven sprocket, the outer wall of the first chain is installed with the change magnetic absorbing unit being no less than two, the outer wall of the second chain is installed with the change magnetic absorbing unit being no less than two; The rear end of frame is installed with the first servo deceleration machine and the second servo deceleration machine, the clutch end of the first servo deceleration machine is connected with the power intake of the first axle drive shaft, and the clutch end of the second servo deceleration machine is connected with the power intake of the second axle drive shaft.
5. the climbing robot absorption chassis according to claim 1 or 2 or 3 or 4, it is characterized in that becoming magnetic sheave is provided with the gear teeth being no less than two, the gear teeth are wedge, one end that wedge thickness is little is provided with side elevation, one end that wedge thickness is large is provided with end face, side elevation and end face orthogonal, the inclined-plane of wedge is arc surface, be provided with circular groove between adjacent two gear teeth, one end that wedge thickness is large is tooth root.
6. climbing robot absorption chassis according to claim 5, is characterized in that change magnetic sheave is circumferentially evenly equipped with four gear teeth.
7. the climbing robot absorption chassis according to claim 1 or 2 or 3 or 4, the outer wall that it is characterized in that the outer wall of yoke, the left outer wall every magnetic patch, lower yoke fixedly mounts rubber sleeve; Or/and right end cap and permanent magnet are connected by keyway.
8. climbing robot according to claim 5 absorption chassis, the outer wall that it is characterized in that the outer wall of yoke, the left outer wall every magnetic patch, lower yoke fixedly mounts rubber sleeve; Or/and right end cap and permanent magnet are connected by keyway.
9. climbing robot according to claim 6 absorption chassis, the outer wall that it is characterized in that the outer wall of yoke, the left outer wall every magnetic patch, lower yoke fixedly mounts rubber sleeve; Or/and right end cap and permanent magnet are connected by keyway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520799882.2U CN205168685U (en) | 2015-10-16 | 2015-10-16 | Wall climbing robot adsorbs chassis |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520799882.2U CN205168685U (en) | 2015-10-16 | 2015-10-16 | Wall climbing robot adsorbs chassis |
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| CN205168685U true CN205168685U (en) | 2016-04-20 |
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| CN201520799882.2U Expired - Fee Related CN205168685U (en) | 2015-10-16 | 2015-10-16 | Wall climbing robot adsorbs chassis |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105172930A (en) * | 2015-10-16 | 2015-12-23 | 新疆新能钢结构有限责任公司 | Adsorbing base plate of wall-climbing robot |
| CN105774935A (en) * | 2016-05-24 | 2016-07-20 | 邵萌 | Obstacle-crossing wall-climbing robot |
| CN105835977A (en) * | 2016-05-24 | 2016-08-10 | 邵萌 | Crawler-type wall climbing robot |
| CN105882780A (en) * | 2016-05-24 | 2016-08-24 | 邵萌 | Magnetic absorption device |
| CN105923061A (en) * | 2016-05-24 | 2016-09-07 | 邵萌 | Crawler type wall climbing robot capable of moving horizontally and freely |
| CN105945894A (en) * | 2016-05-24 | 2016-09-21 | 邵萌 | Track type wall climbing robot capable of randomly steering |
| CN107310625A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of transmission mechanism for crawler type electromagnetic adsorption climbing robot |
| CN109625114A (en) * | 2019-01-14 | 2019-04-16 | 哈尔滨盛迪电力设备有限公司 | Automatic rotary magnetic force adjusts Operation Van |
| CN111086568A (en) * | 2019-12-24 | 2020-05-01 | 山东科技大学 | Crawler-type steel wall climbing robot |
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2015
- 2015-10-16 CN CN201520799882.2U patent/CN205168685U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105172930A (en) * | 2015-10-16 | 2015-12-23 | 新疆新能钢结构有限责任公司 | Adsorbing base plate of wall-climbing robot |
| CN107310625A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of transmission mechanism for crawler type electromagnetic adsorption climbing robot |
| CN105882780A (en) * | 2016-05-24 | 2016-08-24 | 邵萌 | Magnetic absorption device |
| CN105835977A (en) * | 2016-05-24 | 2016-08-10 | 邵萌 | Crawler-type wall climbing robot |
| CN105923061A (en) * | 2016-05-24 | 2016-09-07 | 邵萌 | Crawler type wall climbing robot capable of moving horizontally and freely |
| CN105945894A (en) * | 2016-05-24 | 2016-09-21 | 邵萌 | Track type wall climbing robot capable of randomly steering |
| CN105774935A (en) * | 2016-05-24 | 2016-07-20 | 邵萌 | Obstacle-crossing wall-climbing robot |
| CN105774935B (en) * | 2016-05-24 | 2019-05-17 | 北京史河科技有限公司 | A kind of barrier-crossing wall-climbing robot |
| CN105945894B (en) * | 2016-05-24 | 2020-07-31 | 北京史河科技有限公司 | Crawler-type wall climbing robot capable of steering randomly |
| CN109625114A (en) * | 2019-01-14 | 2019-04-16 | 哈尔滨盛迪电力设备有限公司 | Automatic rotary magnetic force adjusts Operation Van |
| CN109625114B (en) * | 2019-01-14 | 2024-04-16 | 哈尔滨盛迪电力设备有限公司 | Automatic rotary magnetic force adjusting operation vehicle |
| CN111086568A (en) * | 2019-12-24 | 2020-05-01 | 山东科技大学 | Crawler-type steel wall climbing robot |
| CN111086568B (en) * | 2019-12-24 | 2020-10-30 | 山东科技大学 | Crawler-type steel wall climbing robot |
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