CN205203191U - Magnetic wheel climbs arm robot forever with gas pole buffering - Google Patents
Magnetic wheel climbs arm robot forever with gas pole buffering Download PDFInfo
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- CN205203191U CN205203191U CN201521069221.0U CN201521069221U CN205203191U CN 205203191 U CN205203191 U CN 205203191U CN 201521069221 U CN201521069221 U CN 201521069221U CN 205203191 U CN205203191 U CN 205203191U
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- gas bar
- gas
- buffering
- arm robot
- fixedly mounted
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Abstract
The utility model provides a magnetic wheel climbs arm robot forever with gas pole buffering, the utility model relates to a magnetic wheel climbs the arm robot forever, the utility model discloses a still there is not the appearance can carry out the magnetic wheel climbs arm robot forever with gas pole buffering who creeps on the water -cooling wall in solving prior art to and not have appear through magnetic wheel climbs arm robot forever with gas pole buffering in to the circulating fluidized bed boiler water -cooling wall carry out the robot that checks, it includes gas pole buffering coupling mechanism, two probe supporting mechanisms, two connecting rods, two body frame bodies, two initiatively travelling wheel mechanism, two driven travelling wheel mechanism and two driving motor, driven travelling wheel mechanism include permanent magnetism from driving wheel, trailing axle with from the driving wheel mount, initiative travelling wheel mechanism includes driving motor fixed plate, permanent magnetism action wheel, drive sprocket axle, action wheel mount and two bevel gear, gas pole buffering coupling mechanism includes two sets of alternately gas pole subassemblies, every group alternately gas pole subassembly includes two gas poles, two mountings and a plurality of pin, the utility model is used for water -cooling wall inspection field.
Description
Technical field
The utility model relates to a kind of permanent magnetic wheels and climbs arm robot, is specifically related to a kind of permanent magnetic wheels with gas bar buffering and climbs arm robot.
Background technology
Bailey wall is main pressure-containing member in CFBB, be mainly used in absorption boiler radiations heat energy, in CFBB operational process, the solid material dirty along inboard wall of burner hearth face produces the change of flow direction at juncture area, thus Bailey wall surface is produced and wash away, cause Bailey wall transducer wall ' s abrasion thinning through washing away for a long time, intensity declines, in addition in transitional region because the solid material dirty along wall is contrary with the movement of solid material of upward movement in stove, eddy current is produced in local, wearing and tearing are produced to Bailey wall, shorten the service life of Bailey wall.Therefore need regularly to check Bailey wall, the permanent magnetic wheels with gas bar buffering also not occurring in prior art can carrying out on Bailey wall creeping climbs arm robot, and not have appearance to climb by the permanent magnetic wheels cushioned with gas bar the robot that arm robot checks Bailey wall in CFBB.
Utility model content
The utility model is solve in prior art also not occur that the permanent magnetic wheels with gas bar buffering can carrying out creeping on Bailey wall climbs arm robot, and do not have to occur climbing by permanent magnetic wheels cushion with gas bar the robot that arm robot checks Bailey wall in CFBB, and then propose a kind of permanent magnetic wheels cushioned with gas bar and climb arm robot.
The utility model is the technical scheme taked that solves the problem: it comprises gas bar buffering bindiny mechanism, Liang Ge probe support mechanism, two pipe links, two main frame bodies, Liang Ge positive transport wheel mechanism, two driven traveling wheel mechanisms and two drive motor, driven traveling wheel mechanism comprises permanent magnetism flower wheel, follower shaft and flower wheel fixed mount, positive transport wheel mechanism comprises drive motor adapter plate, permanent magnetism driving wheel, drive sprocket axle, driving wheel fixed mount and two finishing bevel gear cuters, gas bar buffering bindiny mechanism comprises two groups of intersection gas bar assemblies, often group intersection gas bar assembly comprises two gas bars, two connecting elements and multiple pin, the shell of two gas bars is arranged in a crossed manner, and the shell of two gas bars is rotationally connected by pin, in each gas bar, the top of bar is rotationally connected by pin and is provided with a connecting element, permanent magnetism flower wheel is fixedly installed on one end of follower shaft, and permanent magnetism flower wheel and follower shaft are rotationally connected, the other end of follower shaft is fixedly mounted on flower wheel fixed mount, permanent magnetism driving wheel is fixedly mounted on one end of drive sprocket axle, the other end of drive sprocket axle is arranged on driving wheel fixed mount, and the other end of drive sprocket axle and driving wheel fixed mount are rotationally connected, on drive sprocket axle, fixed cover is equipped with a finishing bevel gear cuter, drive motor adapter plate is fixedly mounted on driving wheel fixed mount, one end of drive motor is fixedly mounted on drive motor adapter plate, the mouth of drive motor rotating shaft is through drive motor adapter plate and fixed cover is equipped with a finishing bevel gear cuter, and two finishing bevel gear cuter tooth engagements, one end of each pipe link is provided with a flower wheel fixed mount, the other end of each pipe link is installed with a driving wheel fixed mount, two pipe links be arranged in parallel, two flower wheel fixed mounts are oppositely arranged, two driving wheel fixed mounts are oppositely arranged, each pipe link is provided with a main frame body, and each main frame body is fixedly mounted on the middle part of pipe link, the other end of drive motor is fixedly mounted on main frame body, often on group intersection gas bar assembly, two connecting elements are fixedly mounted on two pipe links respectively, one group of one end intersecting a gas bar shell on gas bar assembly is organized by pin and another and is intersected one end of a gas bar shell on gas bar assembly and be rotationally connected and be arranged on a main frame body, and one group of one end intersecting another gas bar shell on gas bar assembly is organized by pin and another and is intersected one end of another gas bar shell on gas bar assembly and be rotationally connected and be arranged on another main frame body, each flower wheel fixed mount is installed with a probe support mechanism.
The beneficial effects of the utility model are: 1, robot of the present invention can carry out climbing arm walking on Bailey wall, make to climb arm robot ensure that when carrying out bending Bailey wall is creeped robot can normally be walked by gas bar buffering bindiny mechanism 8.
2, gas bar buffering bindiny mechanism 8 can play buffer action at robot when creeping, and slight deformation occurs the gas bar 15 in gas bar buffering bindiny mechanism 8, and the interior bar of gas bar 15 is mobile in the shell of gas bar 15 ensures that robot can be walked on bending Bailey wall.
3, the present invention adjusts distance between two pipe links 7 and the distance between adjacent two permanent magnetism driving wheels 16 by the distance of adjustment two nuts 23 on leading screw 21, increases the Applicable scope of the utility model robot.
4, can be walked in order on Bailey wall by robot of the present invention, ultrasonic thickness gauge 20 pairs of Bailey wall check, preventing Bailey wall from occurring when checking omitting the place checked, ensureing that Bailey wall checks comprehensive.
5, the utility model also has structure advantage simply convenient to use.
Accompanying drawing explanation
Fig. 1 is the integrally-built front view of the utility model.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 illustrates present embodiment, described in present embodiment, a kind of permanent magnetic wheels with gas bar buffering climbs arm robot, and it comprises gas bar buffering bindiny mechanism 8, Liang Ge probe support mechanism 4, two pipe links 7, two main frame bodies 10, the driven traveling wheel mechanism 13 of 12, two, Liang Ge positive transport wheel mechanism and two drive motor 19, driven traveling wheel mechanism 13 comprises permanent magnetism flower wheel 14, follower shaft 5 and flower wheel fixed mount 6, positive transport wheel mechanism 12 comprises drive motor adapter plate 9, permanent magnetism driving wheel 16, drive sprocket axle 17, driving wheel fixed mount 24 and two finishing bevel gear cuters 11, gas bar buffering bindiny mechanism 8 comprises two groups of intersection gas bar assemblies, often group intersection gas bar assembly comprises two gas bars 15, two connecting elements 18 and multiple pin 22, the shell of two gas bars 15 is arranged in a crossed manner, and the shell of two gas bars 15 is rotationally connected by pin 22, the top of the interior bar of each gas bar 15 is rotationally connected by pin 22 and is provided with a connecting element 18, permanent magnetism flower wheel 14 is fixedly installed on one end of follower shaft 5, and permanent magnetism flower wheel 14 and follower shaft 5 are rotationally connected, the other end of follower shaft 5 is fixedly mounted on flower wheel fixed mount 6, permanent magnetism driving wheel 16 is fixedly mounted on one end of drive sprocket axle 17, the other end of drive sprocket axle 17 is arranged on driving wheel fixed mount 24, and the other end of drive sprocket axle 17 and driving wheel fixed mount 24 are rotationally connected, on drive sprocket axle 17, fixed cover is equipped with a finishing bevel gear cuter 11, drive motor adapter plate 9 is fixedly mounted on driving wheel fixed mount 24, one end of drive motor 19 is fixedly mounted on drive motor adapter plate 9, the mouth of drive motor 19 rotating shaft is through drive motor adapter plate 9 and fixed cover is equipped with a finishing bevel gear cuter 11, and two finishing bevel gear cuter 11 tooth engagements, one end of each pipe link 7 is provided with a flower wheel fixed mount 6, the other end of each pipe link 7 is installed with a driving wheel fixed mount 24, two pipe links 7 be arranged in parallel, two flower wheel fixed mounts 6 are oppositely arranged, two driving wheel fixed mounts 24 are oppositely arranged, each pipe link 7 is provided with a main frame body 10, and each main frame body 10 is fixedly mounted on the middle part of pipe link 7, the other end of drive motor 19 is fixedly mounted on main frame body 10, often on group intersection gas bar assembly, two connecting elements 18 are fixedly mounted on two pipe links 7 respectively, one group of one end intersecting gas bar 15 shell on gas bar assembly is organized by pin 22 and another and is intersected one end of gas bar 15 shell on gas bar assembly and be rotationally connected and be arranged on a main frame body 10, and one group of one end intersecting another gas bar 15 shell on gas bar assembly is organized by pin 22 and another and is intersected one end of another gas bar 15 shell on gas bar assembly and be rotationally connected and be arranged on another main frame body 10, each flower wheel fixed mount 6 is installed with a probe support mechanism 4.
Detailed description of the invention two: composition graphs 1 illustrates present embodiment, described in present embodiment, a kind of permanent magnetic wheels with gas bar buffering climbs arm robot, described gas bar buffering bindiny mechanism 8 also comprises leading screw 21 and two nuts 23, on described often group intersection gas bar assembly, the shell infall of two gas bars 15 is provided with a nut 23, leading screw 21 is threaded and is arranged on two groups and intersects on two nuts 23 of gas bar assemblies, and the rotation direction of two nuts 23 contrary (namely is minus thread, and is right-hand screw thread).Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1 illustrates present embodiment, described in present embodiment, a kind of permanent magnetic wheels with gas bar buffering climbs arm robot, described probe support mechanism 4 comprises the first probe bracket 1, probe sleeve 2 and the second probe bracket 3, first probe bracket 1 is fixedly mounted on the second probe bracket 3, probe sleeve 2 is inserted on the first probe bracket 1, other composition and annexation identical with detailed description of the invention two.
Detailed description of the invention four: composition graphs 1 illustrates present embodiment, described in present embodiment, a kind of permanent magnetic wheels with gas bar buffering climbs arm robot, it also comprises two ultrasonic thickness gauges 20, and each ultrasonic thickness gauge 20 is all fixedly mounted on a main frame body 10.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention five: composition graphs 1 illustrates present embodiment, described in present embodiment, a kind of permanent magnetic wheels with gas bar buffering climbs arm robot, and described drive motor 19 is DC servo motor.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention six: composition graphs 1 illustrates present embodiment, described in present embodiment, a kind of permanent magnetic wheels with gas bar buffering climbs arm robot, and one end of described leading screw 21 is processed with handle.The distance between two nuts 23 is adjusted by turning handle.Other composition and annexation identical with detailed description of the invention two.
Principle of work
When the present invention works, robot is placed on Bailey wall, and each permanent magnetism flower wheel 14 and each permanent magnetism driving wheel 16 are placed on Bailey wall, be adsorbed on Bailey wall by permanent magnetism flower wheel 14 and permanent magnetism driving wheel 16, power is provided by drive motor 19, a finishing bevel gear cuter 11 is driven to rotate by drive motor 19, another finishing bevel gear cuter 11 is driven to rotate, and then drive drive sprocket axle 17 to rotate, permanent magnetism driving wheel 16 is driven to rotate by drive sprocket axle 17, Robot Bailey wall is driven to move by permanent magnetism driving wheel 16, checked by ultrasonic thickness gauge 20 pairs of Bailey wall, and then reach the purpose of this utility model.
Claims (6)
1. the permanent magnetic wheels with gas bar buffering climbs an arm robot, it is characterized in that: it comprises gas bar buffering bindiny mechanism (8), Liang Ge probe support mechanism (4), two pipe links (7), two main frame bodies (10), Liang Ge positive transport wheel mechanism (12), two driven traveling wheel mechanisms (13) and two drive motor (19), driven traveling wheel mechanism (13) comprises permanent magnetism flower wheel (14), follower shaft (5) and flower wheel fixed mount (6), positive transport wheel mechanism (12) comprises drive motor adapter plate (9), permanent magnetism driving wheel (16), drive sprocket axle (17), driving wheel fixed mount (24) and two finishing bevel gear cuters (11), gas bar buffering bindiny mechanism (8) comprises two groups of intersection gas bar assemblies, often group intersection gas bar assembly comprises two gas bars (15), two connecting elements (18) and multiple pin (22), the shell of two gas bars (15) is arranged in a crossed manner, and the shell of two gas bars (15) is rotationally connected by pin (22), the top of the interior bar of each gas bar (15) is rotationally connected by pin (22) and is provided with a connecting element (18), permanent magnetism flower wheel (14) is fixedly installed on one end of follower shaft (5), and permanent magnetism flower wheel (14) and follower shaft (5) are rotationally connected, the other end of follower shaft (5) is fixedly mounted on flower wheel fixed mount (6), permanent magnetism driving wheel (16) is fixedly mounted on one end of drive sprocket axle (17), the other end of drive sprocket axle (17) is arranged on driving wheel fixed mount (24), and the other end of drive sprocket axle (17) and driving wheel fixed mount (24) are rotationally connected, the upper fixed cover of drive sprocket axle (17) is equipped with a finishing bevel gear cuter (11), drive motor adapter plate (9) is fixedly mounted on driving wheel fixed mount (24), one end of drive motor (19) is fixedly mounted on drive motor adapter plate (9), the mouth of drive motor (19) rotating shaft is through drive motor adapter plate (9) and fixed cover is equipped with a finishing bevel gear cuter (11), and two finishing bevel gear cuter (11) tooth engagements, one end of each pipe link (7) is provided with a flower wheel fixed mount (6), the other end of each pipe link (7) is installed with a driving wheel fixed mount (24), two pipe links (7) be arranged in parallel, two flower wheel fixed mounts (6) are oppositely arranged, two driving wheel fixed mounts (24) are oppositely arranged, each pipe link (7) is provided with a main frame body (10), and each main frame body (10) is fixedly mounted on the middle part of pipe link (7), the other end of drive motor (19) is fixedly mounted on main frame body (10), often on group intersection gas bar assembly, two connecting elements (18) are fixedly mounted on two pipe links (7) respectively, one group of one end intersecting gas bar (15) shell on gas bar assembly is organized by pin (22) and another and is intersected one end of gas bar (15) shell on gas bar assembly and be rotationally connected and be arranged on a main frame body (10), and one group of one end intersecting another gas bar (15) shell on gas bar assembly is organized by pin (22) and another and is intersected one end of another gas bar (15) shell on gas bar assembly and be rotationally connected and be arranged on another main frame body (10), each flower wheel fixed mount (6) is installed with a probe support mechanism (4).
2. a kind of permanent magnetic wheels with gas bar buffering climbs arm robot according to claim 1, it is characterized in that: described gas bar buffering bindiny mechanism (8) also comprises leading screw (21) and two nuts (23), on described often group intersection gas bar assembly, the shell infall of two gas bars (15) is provided with a nut (23), leading screw (21) is threaded and is arranged on two groups and intersects on two nuts (23) of gas bar assemblies, and the rotation direction of two nuts (23) is contrary.
3. a kind of permanent magnetic wheels with gas bar buffering climbs arm robot according to claim 1, it is characterized in that: described probe support mechanism (4) comprises the first probe bracket (1), probe sleeve (2) and the second probe bracket (3), first probe bracket (1) is fixedly mounted on the second probe bracket (3), and probe sleeve (2) is inserted on the first probe bracket (1).
4. a kind of permanent magnetic wheels with gas bar buffering climbs arm robot according to claim 1, it is characterized in that: it also comprises two ultrasonic thickness gauges (20), each ultrasonic thickness gauge (20) is fixedly mounted on a main frame body (10).
5. a kind of permanent magnetic wheels with gas bar buffering climbs arm robot according to claim 1, it is characterized in that: described drive motor (19) is DC servo motor.
6. a kind of permanent magnetic wheels with gas bar buffering climbs arm robot according to claim 2, it is characterized in that: one end of described leading screw (21) is processed with handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521069221.0U CN205203191U (en) | 2015-12-18 | 2015-12-18 | Magnetic wheel climbs arm robot forever with gas pole buffering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521069221.0U CN205203191U (en) | 2015-12-18 | 2015-12-18 | Magnetic wheel climbs arm robot forever with gas pole buffering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205203191U true CN205203191U (en) | 2016-05-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521069221.0U Active CN205203191U (en) | 2015-12-18 | 2015-12-18 | Magnetic wheel climbs arm robot forever with gas pole buffering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205203191U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105416431A (en) * | 2015-12-18 | 2016-03-23 | 哈尔滨科能熔敷科技有限公司 | Permanent magnetic wheel climbing robot with gas rod buffering function |
| CN113428252A (en) * | 2021-08-17 | 2021-09-24 | 深圳市人工智能与机器人研究院 | Cable climbing robot |
-
2015
- 2015-12-18 CN CN201521069221.0U patent/CN205203191U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105416431A (en) * | 2015-12-18 | 2016-03-23 | 哈尔滨科能熔敷科技有限公司 | Permanent magnetic wheel climbing robot with gas rod buffering function |
| CN113428252A (en) * | 2021-08-17 | 2021-09-24 | 深圳市人工智能与机器人研究院 | Cable climbing robot |
| CN113428252B (en) * | 2021-08-17 | 2022-07-12 | 深圳市人工智能与机器人研究院 | Cable climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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. |
|
| CP03 | Change of name, title or address |