CN205186352U - Magnetism adsorbs wall climbing robot - Google Patents
Magnetism adsorbs wall climbing robot Download PDFInfo
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- CN205186352U CN205186352U CN201521070450.4U CN201521070450U CN205186352U CN 205186352 U CN205186352 U CN 205186352U CN 201521070450 U CN201521070450 U CN 201521070450U CN 205186352 U CN205186352 U CN 205186352U
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Abstract
The utility model provides a magnetism adsorbs wall climbing robot, it relates to a robot, it is nimble inadequately in order to solve current wall climbing robot major structure, the shock resistance is poor, distance between the relative two -wheeled can not be adjusted, it is poor to satisfy actual task user demand and adaptive capacity to environment, go upward the easy landing of having good luck at the perpendicular wall of water -cooling wall, obstacle climbing ability is not enough, wall climbing robot's the bearing force and the problem of reliability have been reduced, it is including buffering guiding mechanism, two motors, two drive wheel carriers, two are supported the wheel carrier, two sets of guide bars, two direction sliders, four electric magnetic wheel and four uninterrupted power source, buffering guiding mechanism includes lead screw, nut and four shock -absorbing springs, two drives wheel carrier and two support on the wheel carrier each and rotate and install an electric magnetic wheel, and the motor is installed on the drive wheel carrier, the output of motor and electric magnetic wheel's wheel hub connection, a direction slider is equipped with to each set on two sets of guide bars. The utility model belongs to the technical field of the robot.
Description
Technical field
The utility model relates to a kind of robot, is specifically related to a kind of magnetic adsorption wall climbing robot.
Background technology
Along with the progress of science and technology, industrial robot obtains in every field and uses widely, and wherein, climbing robot more and more receives the concern of people at the outstanding advantages of the industries such as nuke industry, building, fire-fighting with it.But in prior art there is following defect in the design plan of climbing robot: agent structure is one piece rigid structure, this structure underaction, distance between relative two-wheeled can not regulate, actual task user demand can not be met, as the needs of the very maintenance of miscellaneous goods such as conical and cylindrical iron flask, cleaning and detection, flaw detection can not be met, especially the distance between boiler water-wall tube not etc., can not well be adsorbed on become track width Bailey wall on creep; Adaptive capacity to environment is poor in addition, and easy landing when the larger Bailey wall of face area or large tank or hull vertical walls are walked, obstacle climbing ability is not enough, and wall shock resistance is poor, and stability is bad, reduces load-carrying capacity and the reliability of climbing robot.
Utility model content
The utility model is for solving existing climbing robot agent structure underaction, shock resistance is poor, distance between relative two-wheeled can not regulate, actual task user demand can not be met and adaptive capacity to environment poor, easy landing when Bailey wall vertical walls is walked, obstacle climbing ability is not enough, reduces the load-carrying capacity of climbing robot and the problem of reliability, and then provides a kind of magnetic adsorption wall climbing robot.
The utility model is the technical scheme taked that solves the problem: a kind of magnetic adsorption wall climbing robot comprise buffer adjustment mechanism, two motors, two drive wheel carriers, two support wheel carriers, two groups of pilot bars, two guide runners, four Electromagnetic wheels and four uninterrupted power supply (UPS)s;
Buffer adjustment mechanism comprises leading screw, nut and four damper springs; Two drive wheel carrier and two support wheels to be configured to a quadra structure, two drive wheel carrier and two support wheel carriers separately just to setting, two driving wheel carriers and two support wheel carriers are respectively rotatablely equipped with an Electromagnetic wheel, two driving wheel carriers and two support wheel carriers are respectively provided with a uninterrupted power supply (UPS), motor is arranged on and drives on wheel carrier, and the mouth of motor is connected with the wheel shaft of Electromagnetic wheel; Uninterrupted power supply (UPS) is electrically connected with Electromagnetic wheel by the electric slip ring be arranged on the wheel shaft of Electromagnetic wheel;
Electromagnetic wheel direct of travel drives between wheel carrier and a support wheel carrier at one of same side and is provided with one group of pilot bar, buffer adjustment mechanism and two groups of pilot bars are arranged in quadra structure;
One end of leading screw has screwed nut, scalablely between the other end of leading screw and the other end of two groups of pilot bars to be connected, one end of two groups of pilot bars is respectively set with a guide runner, one end and the nut of four damper springs are affixed, wherein the other end of two damper springs and two guide runners are rotationally connected, and the residue other end of two damper springs and the middle part of two groups of pilot bars are rotationally connected.
The beneficial effects of the utility model are: one, the utility model devises recoil spring and lead screw pair structure, one piece rigid structure is compared in the design of recoil spring, framework is flexible, adaptive capacity to environment is strong, vibration resistance is high, two relative Electromagnetic wheel spacing can be realized adjustable, meet the walking of different wall to need and actual task user demand, the maintenance of the very miscellaneous goods such as conical and cylindrical iron flask can be realized, cleaning and detection, the needs of flaw detection, especially due to the distance between boiler water wall not etc., can well be adsorbed on become track width Bailey wall on creep, realize the cleaning of Bailey wall, detect and flaw detection operation, two, the use of Electromagnetic wheel ensure that climbing robot can be adsorbed in vertical walls, magnetic suck efficiency is high, walk reliable and stable, not easily easily landing, improve and adapt to different operating mode ability, be suitable for the larger Bailey wall of face area or large tank or hull vertical walls are walked, obstacle climbing ability is high, improves load-carrying capacity and the reliability of climbing robot.Three, the utility model is easy to use, and structure is simple, and cost of manufacture is lower, is with a wide range of applications.
Accompanying drawing explanation
Fig. 1 is mounting structure birds-eye view of the present utility model.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 illustrates, a kind of magnetic adsorption wall climbing robot of present embodiment comprises buffer adjustment mechanism, two 1, two, motors drive wheel carrier 2, two to support wheel carrier 3, two groups of pilot bars 4, two guide runners 5, four Electromagnetic wheels 6 and four uninterrupted power supply (UPS)s 15;
Buffer adjustment mechanism comprises leading screw 7-1, a nut 7-2 and four damper spring 7-3; Two drive wheel carrier 2 and two support wheel carriers 3 to form a quadra structure, two drive wheel carrier 2 and two support wheel carriers 3 separately just to setting, two driving wheel carriers 2 and two support wheel carriers 3 are respectively rotatablely equipped with an Electromagnetic wheel 6, two driving wheel carriers 2 and two support wheel carriers 3 are respectively provided with a uninterrupted power supply (UPS) 15, motor 1 is arranged on and drives on wheel carrier 2, and the mouth of motor 1 is connected with the wheel shaft of Electromagnetic wheel 6; Uninterrupted power supply (UPS) 15 is electrically connected with Electromagnetic wheel 6 by the electric slip ring 16 be arranged on the wheel shaft of Electromagnetic wheel 6;
Electromagnetic wheel 6 direct of travel drives between wheel carrier 2 and a support wheel carrier 3 at one of same side and is provided with one group of pilot bar 4, buffer adjustment mechanism and two groups of pilot bars 4 are arranged in quadra structure;
One end of leading screw 7-1 has screwed nut 7-2, scalablely between the other end of leading screw 7-1 and the other end of two groups of pilot bars 4 to be connected, one end of two groups of pilot bars 4 is respectively set with a guide runner 5, one end and the nut 7-2 of four damper spring 7-3 are affixed, wherein the other end of two damper spring 7-3 and two guide runners 5 are rotationally connected, and the residue other end of two damper spring 7-3 and the middle part of two groups of pilot bars 4 are rotationally connected.
Between the other end of the leading screw 7-1 of present embodiment and the other end of two groups of pilot bars 4, the scalable parallel-crank mechanism consisted of damper spring and elastic steel sheet that is connected realizes scalable connection.
Detailed description of the invention two: composition graphs 1 illustrates, the motor 1 of present embodiment is DC servo motor, and DC servo motor is connected with Electromagnetic wheel 6 by bevel-gear pair 9.During use, the configurable servo-driver 14 of servomotor realizes the control of the rotating speed of servomotor, is applicable to high-precision transmission location.Other is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1 illustrates, the damper spring 7-3 of present embodiment is rubber spring or complex spring.Rubber spring is a kind of macromolecular elastomer, has Self-heating little, and rebound resilience is good, stable mechanical performance, long service life, low cost and other advantages; Complex spring is by metal coil spring and the rubber combined elastic body be integrated, integrate the advantage of metal spring and rubber spring, and overcome both shortcomings, shape and stable mechanical performance, heavy lift and aximal deformation value can be born, there is vibration insulation and noise reduction effective, stable working, the advantages such as the mistake resonance range time is short.Other is identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 1 illustrates, a kind of magnetic adsorption wall climbing robot of present embodiment also comprises the auxiliary guide runner 10 of auxiliary nut 12, two and four auxiliary damper springs 11, and the other end of leading screw 7-1 has screwed auxiliary nut 12; Nut 7-2 and auxiliary nut 12 do the contrary rectilinear movement in direction along leading screw 7-1, the other end of two groups of pilot bars 4 is respectively set with an auxiliary guide runner 10, one end and the auxiliary nut 12 of four auxiliary damper springs 11 are affixed, wherein one end of two auxiliary damper springs 11 and two auxiliary guide runners 10 are rotationally connected, and remain the other end of two auxiliary damping springs 11 and the middle part of two groups of pilot bars 4 is rotationally connected.Setting like this, nut 7-2 is contrary with auxiliary nut 12 rotation direction, the other end of leading screw 7-1 realizes being connected by four auxiliary damper springs with between two groups of pilot bars 4, both the rotary motion of leading screw had been achieved, nut and auxiliary nut is driven to make the contrary straight-line motion in direction, serve again scalable between leading screw 7-1 and two group pilot bar 4 flexibly connecting, ensure work stable and reliable operation.Other is identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 1 illustrates, a kind of magnetic adsorption wall climbing robot of present embodiment also comprises two supplemental support seats 14, the middle part often organizing pilot bar 4 is provided with a supplemental support seat 14, the residue other end of two damper spring 7-3 and the middle part of two supplemental support seats 14 are rotationally connected, and remain the other end of two auxiliary damper springs 11 and the middle part of two supplemental support seats 14 is rotationally connected.The design of supplemental support seat, the connection being conducive to damper spring and auxiliary damper spring uses, and supplemental support seat 14 can slide on pilot bar 4.Other is identical with detailed description of the invention four.
Detailed description of the invention six: composition graphs 1 illustrates, a kind of magnetic adsorption wall climbing robot of present embodiment also comprises two ultrasonic thickness gauges 13, and each supplemental support seat 14 is provided with ultrasonic thickness gauge 13.The probe 2 of each ultrasonic thickness gauge 13 vertically arranges and is arranged on the first probe bracket 1, first probe bracket 1 is fixed on the second probe bracket 3, second probe bracket 3 is connected with support wheel carrier 3,2 pairs of measured objects (as pipeline or water screen tube or tank container) thickness of popping one's head in carries out acquisition of signal, information is passed to the main frame of ultrasonic thickness gauge 13, realize thickness measuring to Bailey wall, monitor they in use corroded after thinning degree.Ultrasonic thickness gauge is convenient to the thickness can measuring metal and other multiple material, and can measure the velocity of sound of material.Thickness measurement can be carried out to pipeline various in production facilities and pressure container, monitor they in use corroded after thinning degree, also can do accurately to measure to various sheet material and various processing parts, as the Bailey wall for Long-Time Service, because corrosion or erosion easily cause pipe wall thickness to change, even there is damage in inner surface of tube wall, and then the problem that generation Bailey wall easily leaks, therefore, need to detect the wall thickness of the Bailey wall that there is potential safety hazard, thus eliminate safe hidden trouble.Other is identical with detailed description of the invention five.
Working process: composition graphs 1 illustrates, the utility model climbing robot is assembled during use, according to actual condition, manual rotation leading screw, the adjustment of two relative Electromagnetic wheel spacing is realized by lead screw pair mechanism, uninterrupted power supply (UPS) is energized to Electromagnetic wheel, prevent Electromagnetic wheel coil blackout, slip ring is water proof and dust proof slip ring, arranging of slip ring ensures Electromagnetic wheel normal operation, climbing robot is positioned on boiler water wall or large tank or hull wall, utilize the magnetic suck effect after the energising of Electromagnetic wheel, climbing robot is adsorbed on firmly on metal wall, starter motor, driving Electromagnetic wheel is walked, supporting installation miscellaneous equipment, the cleaning of wall is realized according to technological requirement, maintenance, the operations such as detection or flaw detection.
Claims (6)
1. a magnetic adsorption wall climbing robot, is characterized in that: it comprises buffer adjustment mechanism, two motors (1), two drivings wheel carrier (2), two supports wheel carrier (3), two groups of pilot bars (4), two guide runners (5), four Electromagnetic wheels (6) and four uninterrupted power supply (UPS)s (15);
Buffer adjustment mechanism comprises leading screw (7-1), nut (7-2) and four damper springs (7-3); Two drive wheel carrier (2) and two supports wheel carrier (3) to form a quadra structure, two drive wheel carrier (2) and two supports wheel carrier (3) separately just to setting, two drivings wheel carrier (2) and two supports wheel carrier (3) are respectively rotatablely equipped with an Electromagnetic wheel (6), two drivings wheel carrier (2) and two supports wheel carrier (3) are respectively provided with a uninterrupted power supply (UPS) (15), motor (1) is arranged on and drives on wheel carrier (2), and the mouth of motor (1) is connected with the wheel shaft of Electromagnetic wheel (6); Uninterrupted power supply (UPS) (15) is electrically connected with Electromagnetic wheel (6) by the electric slip ring (16) be arranged on the wheel shaft of Electromagnetic wheel (6);
Electromagnetic wheel (6) direct of travel is positioned between driving wheel carrier (2) of same side and support wheel carrier (3) and is provided with one group of pilot bar (4), buffer adjustment mechanism and two groups of pilot bars (4) are arranged in quadra structure;
One end of leading screw (7-1) has screwed nut (7-2), scalablely between the other end of leading screw (7-1) and the other end of two groups of pilot bars (4) to be connected, one end of two groups of pilot bars (4) is respectively set with a guide runner (5), one end and the nut (7-2) of four damper springs (7-3) are affixed, wherein the other end of two damper springs (7-3) and two guide runners (5) are rotationally connected, and the middle part of the other end and two groups of pilot bars (4) that remain two damper springs (7-3) is rotationally connected.
2. a kind of magnetic adsorption wall climbing robot according to claim 1, is characterized in that: motor (1) is DC servo motor, and DC servo motor is connected with Electromagnetic wheel (6) by bevel-gear pair (9).
3. a kind of magnetic adsorption wall climbing robot according to claim 1 and 2, is characterized in that: damper spring (7-3) is rubber spring or complex spring.
4. a kind of magnetic adsorption wall climbing robot according to claim 3, it is characterized in that: it also comprises auxiliary nut (12), two auxiliary guide runners (10) and four auxiliary damper springs (11), and the other end of leading screw (7-1) has screwed auxiliary nut (12); Nut (7-2) and auxiliary nut (12) do the contrary rectilinear movement in direction along leading screw (7-1), the other end of two groups of pilot bars (4) is respectively set with an auxiliary guide runner (10), one end and the auxiliary nut (12) of four auxiliary damper springs (11) are affixed, wherein one end of two auxiliary damper springs (11) and two auxiliary guide runners (10) are rotationally connected, and the middle part of the other end and two groups of pilot bars (4) that remain two auxiliary damping springs (11) is rotationally connected.
5. a kind of magnetic adsorption wall climbing robot according to claim 4, it is characterized in that: it also comprises two supplemental support seats (14), the middle part often organizing pilot bar (4) is provided with a supplemental support seat (14), the middle part of the other end and two supplemental support seats (14) that remain two damper springs (7-3) is rotationally connected, and the middle part of the other end and two supplemental support seats (14) that remain two auxiliary damper springs (11) is rotationally connected.
6. a kind of magnetic adsorption wall climbing robot according to claim 5, is characterized in that: it also comprises two ultrasonic thickness gauges (13), and each supplemental support seat (14) is provided with ultrasonic thickness gauge (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521070450.4U CN205186352U (en) | 2015-12-18 | 2015-12-18 | Magnetism adsorbs wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521070450.4U CN205186352U (en) | 2015-12-18 | 2015-12-18 | Magnetism adsorbs wall climbing robot |
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| Publication Number | Publication Date |
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| CN205186352U true CN205186352U (en) | 2016-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201521070450.4U Active CN205186352U (en) | 2015-12-18 | 2015-12-18 | Magnetism adsorbs wall climbing robot |
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| CN (1) | CN205186352U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310645A (en) * | 2017-08-01 | 2017-11-03 | 河北工业大学 | A kind of adjustable climbing robot of damping |
| CN109517956A (en) * | 2018-12-04 | 2019-03-26 | 中国石油大学(华东) | A kind of Portable welding joint strengthening device based on high pressure water jet |
| CN109823434A (en) * | 2019-03-04 | 2019-05-31 | 温广胜 | A kind of self-propelled robot of high flexibility ratio |
| CN109909972A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | The adjustable water-cooling wall of wheelspan detects robot |
| CN113086044A (en) * | 2021-04-26 | 2021-07-09 | 彼合彼方机器人(天津)有限公司 | Magnetic wheel type wall-climbing robot for detecting boiler water wall |
-
2015
- 2015-12-18 CN CN201521070450.4U patent/CN205186352U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310645A (en) * | 2017-08-01 | 2017-11-03 | 河北工业大学 | A kind of adjustable climbing robot of damping |
| CN107310645B (en) * | 2017-08-01 | 2023-08-04 | 河北工业大学 | Wall climbing robot with adjustable shock absorption |
| CN109517956A (en) * | 2018-12-04 | 2019-03-26 | 中国石油大学(华东) | A kind of Portable welding joint strengthening device based on high pressure water jet |
| CN109823434A (en) * | 2019-03-04 | 2019-05-31 | 温广胜 | A kind of self-propelled robot of high flexibility ratio |
| CN109909972A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | The adjustable water-cooling wall of wheelspan detects robot |
| CN109909972B (en) * | 2019-04-17 | 2024-04-12 | 华电电力科学研究院有限公司 | Wheel tread adjustable water-cooled wall detection robot |
| CN113086044A (en) * | 2021-04-26 | 2021-07-09 | 彼合彼方机器人(天津)有限公司 | Magnetic wheel type wall-climbing robot for detecting boiler water wall |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: No.1, 4th floor, unit 1, Longyue building, Hongqi Street, Nangang concentration District, Harbin Economic Development Zone, Heilongjiang Province Patentee after: Harbin Keneng Cladding Technology Co., Ltd Address before: 150040 Lesong square, Xiangfang District, Harbin City, Heilongjiang Province Patentee before: HARBIN KENENG CLADDING TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address |