CN206358243U - The magnetic suck of magnetic adsorption wall climbing robot and driving integrated module - Google Patents
The magnetic suck of magnetic adsorption wall climbing robot and driving integrated module Download PDFInfo
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- CN206358243U CN206358243U CN201621272717.2U CN201621272717U CN206358243U CN 206358243 U CN206358243 U CN 206358243U CN 201621272717 U CN201621272717 U CN 201621272717U CN 206358243 U CN206358243 U CN 206358243U
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- magnetic
- belt
- climbing robot
- wall climbing
- integrated module
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Abstract
The utility model discloses a kind of magnetic suck of magnetic adsorption wall climbing robot and driving integrated module, flexibility for improving magnetic adsorption wall climbing robot, it is suitable for various work requirements, including frame, driving wheel and magnetic absorbing unit are set in the frame, the driving wheel is furnished with motor, and the frame is provided with installation axle, and the outer end of the installation axle is provided with outer connector.The utility model is a composite module of magnetic adsorption wall climbing robot, two or more modules are subjected to free assembling using installation axle, and specific workpiece is equipped with, the multi-functional demand of multi-state just can be met, has the advantages that easy to assembly, flexibility ratio is high.
Description
Technical field
The utility model is related to robotic technology field, and in particular to a kind of magnetic suck of magnetic adsorption wall climbing robot with
Drive integrated module.
Background technology
Magnetic adsorption wall climbing robot belongs to specialized robot, is used under severe, dangerous, limiting condition, in magnetic conduction wall
Upper progress is such as detected, overhauled, welding or polishing operations specific.Current magnetic adsorption wall climbing robot is in nuclear industry, petrochemical industry work
Industry, building industry, fire department, shipbuilding industry etc. are widely used in the production and construction based on steel construction.
Existing climbing robot is generally complete machine, what load or even function were all to determine, and its flexibility is not enough, works as wall-climbing device
Workpiece on people changes or working conditions change is, it is necessary to when climbing robot provides bigger absorption affinity or driving force, existing
Robot cannot meet requirement.
Utility model content
In order to improve the flexibility of magnetic adsorption wall climbing robot, it is suitable for various work requirements, the utility model is provided
It is a kind of can flexible assembling magnetic adsorption wall climbing robot magnetic suck with driving integrated module.
The technical solution adopted in the utility model is as follows：
Drive is set in a kind of magnetic suck of magnetic adsorption wall climbing robot and driving integrated module, including frame, the frame
Driving wheel and magnetic absorbing unit, the driving wheel are furnished with motor, and the frame is provided with installation axle, and the outer end of the installation axle is provided with outer
Connector.
The frame two ends are respectively equipped with a rotating shaft, No. two rotating shafts, and the motor is arranged on central rack, the driving
Wheel is arranged in a rotating shaft, and a belt wheel, No. two belt wheels, the output shaft of the motor and one are fixed with No. two rotating shafts
A belt is set between number belt wheel, described No. two set No. two belts between belt wheel and driving wheel.
The driving wheel is arranged on the two ends of a rotating shaft, and No. two belt wheels are arranged on the two ends of No. two rotating shafts, described
No. two belts are wide belt, and the frame, motor are arranged in the inner side of No. two belts.
The driving wheel, belt wheel, No. two belt wheels are gear, and a belt corresponds to synchronous with No. two belts
Band.
The magnetic absorbing unit is arranged in a rotating shaft, and gap is provided between magnetic absorbing unit and No. two belts, described
Magnetic absorbing unit includes middle permanent magnet, and two end faces of the permanent magnet are magnetic pole, described two magnetic pole end faces of permanent magnet
It is close to the yoke for being provided with annular, the external diameter of the yoke is more than the external diameter of permanent magnet.
The timing belt part that No. two belts are engaged including both sides with driving wheel, and middle correspondence magnetic absorbing unit
Flat belt part.
A number belt and No. two belts are respectively provided with an adjustable tensioning wheel and No. two tensioning wheels.
The motor is stepper motor or servomotor, and equipped with harmonic speed reducer.
The installation axle is set through frame, and the two ends of the installation axle are equipped with outer connector.
The outside of the driving wheel is provided with supporting to take turns, and the support wheel is fixed in a rotating shaft, described to support the outer of wheel
Footpath is more than driving wheel and wraps up the external diameter after No. two belts.
The beneficial effects of the utility model are：
The utility model is a composite module of magnetic adsorption wall climbing robot, using installation axle by two or more moulds
Block carries out free assembling, and is equipped with specific workpiece, with regard to that can meet the multi-functional demand of multi-state, with it is easy to assembly,
The high advantage of flexibility ratio.
Brief description of the drawings
Fig. 1 is the sectional view of the utility model embodiment.
Fig. 2 is the semi-cutaway of the utility model embodiment.
Fig. 3 is the top view of the utility model embodiment.
Fig. 4 is the front view of the utility model embodiment.
Fig. 5 is the enlarged drawing at A in the utility model embodiment.
Fig. 6 is that the utility model embodiment combines a schematic diagram.
Fig. 7 is that the utility model embodiment combines two schematic diagrames.
Fig. 8 is that the utility model embodiment combines three schematic diagrames.
Frame 1, driving wheel 2, magnetic absorbing unit 3, motor 4, installation axle 5, rotating shaft 6, No. two rotating shafts 7, a belt wheels
8th, No. two belt wheels 9, belt 10, No. two belts 11, permanent magnet 12, yoke 13, timing belt part 14, flat belt part 15,
Number tensioning wheel 16, No. two tensioning wheels 17, a support wheels 18.
Embodiment
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of magnetic suck of magnetic adsorption wall climbing robot and driving one
Change and driving wheel 2 and magnetic absorbing unit 3 are set in module, including frame 1, the frame 1, the driving wheel 2 is furnished with motor 4, described
Frame 1 is provided with installation axle 5, and the outer end of the installation axle 5 is provided with outer connector.The utility model is magnetic adsorption wall climbing robot
Two or more modules are carried out free assembling by one composite module using installation axle 5, and are equipped with specific workpiece,
The multi-functional demand of multi-state just can be met, has the advantages that easy to assembly, flexibility ratio is high.The present embodiment is magnetic adsorption wall climbing machine
Two or more modules are carried out free assembling, and be equipped with specific work by the composite module of device people using installation axle
Part, just can meet the multi-functional demand of multi-state, have the advantages that easy to assembly, flexibility ratio is high.Such as Fig. 6, Fig. 7, Fig. 8 institute
Show, be the different combinations of the present embodiment, by the fixed relationship that frame 1 is mutual, complete magnetic suck can be constituted
Climbing robot, user can also select other combinations according to self-demand.Outer connector in the present embodiment can be used
Flange, screw thread, clip or other forms connection.
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, the two ends of frame 1 be respectively equipped with a rotating shaft 6, No. two turn
Axle 7, the motor 4 is arranged on the middle part of frame 1, and the driving wheel 2 is arranged in a rotating shaft 6, fixed in No. two rotating shafts 7
There are a belt wheel 8, No. two belt wheels 9, a belt 10, No. two bands are set between the output shaft of the motor 4 and a belt wheel 8
No. two belts 11 are set between wheel 9 and driving wheel 2.The present embodiment structure, motor 4 is arranged on the inside of frame 1, makes whole module
More compact structure, performance is more stable.
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, the driving wheel 2 is arranged on the two ends of a rotating shaft 6, described
No. two belt wheels 9 are arranged on the two ends of No. two rotating shafts 7, and No. two belts 11 are wide belt, and the frame 1, motor 4 are arranged in
The inner side of No. two belts 11.No. two belts 11 of the present embodiment can not only play a part of transmission, driving, moreover it is possible to play in protection
Portion mechanism, dust-proof effect.
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, the driving wheel 2, belt wheel 8, No. two belt wheels 9 are gear,
A number belt 10 and No. two belts 11 correspond to timing belt.The present embodiment due to unspecial steering mechanism, machine
The steering of people has the rotating speed of motor to control, so accurate gearratio is must assure that, so toothed belt transmission is preferable choosing
Select.
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, the magnetic absorbing unit 3 is arranged in a rotating shaft 6, magnetic
Gap is provided between coupon member 3 and No. two belts 11, the magnetic absorbing unit 3 includes middle permanent magnet 12, the permanent magnet
12 two end faces are magnetic pole, and described 12 two magnetic pole end faces of permanent magnet are close to the yoke 13 for being provided with annular, the yoke 13
External diameter be more than permanent magnet 12 external diameter.The magnetic absorbing unit 3 of the present embodiment is by the permanent magnet 12 of centre and the yoke 13 of both sides
Combine, due to external diameter of the external diameter more than permanent magnet 12 of yoke 13, the distance of yoke 13 and work adsorption plane is closer to permanent magnetism
The magnetic line of force of body 12 can enter work adsorption plane by the yoke 13 of side, then return to permanent magnet 12 and shape by opposite side yoke 13
Into loop, the absorption affinity of permanent magnet 12 and work adsorption plane is significantly increased.
In embodiment, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, No. two belts 11 are nibbled including both sides with driving wheel 2
The timing belt part 14 of conjunction, and the middle flat belt part 15 for corresponding to magnetic absorbing unit 3.No. two belts 11 in the present embodiment
For special Composite Skin band, it is made up of the timing belt part 14 and middle flat belt part 15 of both sides, this structure makes magnetic
Gap between coupon member 3 and No. two belts 11 is smaller, and magnetic adsorbability is improved as far as possible.
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, a belt 10 is respectively provided with adjustable with No. two belts 11
A tensioning wheel 16 and No. two tensioning wheels 17.A number tensioning wheel 16 of the present embodiment and No. two tensioning wheels 17 are used to adjust No. one
Belt 10 is elastic with No. two belts 11, to ensure good transmission effect
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, the installation axle 5 is set through frame 1, the installation axle 5
Two ends are equipped with outer connector.The structure of the present embodiment, it is ensured that the both sides of frame may serve to splicing and change integrated module, increases
Flexibility and versatility are added.
In embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, the outside of the driving wheel 2 is described to support provided with wheel 18 is supported
Wheel 18 is fixed in a rotating shaft 6, described to support the external diameter of wheel 18 to be more than driving wheel 2 and wrap up the external diameter after No. two belts 11.It is real
The support wheel 18 of example is applied so that No. two belts 11 reduce abrasion, reduction cost depletions without contacting work adsorption plane.
The motor 4 in embodiment is stepper motor or servomotor, and is furnished with harmonic speed reducer, the present embodiment,
The output shaft of motor 4 and a belt wheel 8, No. two belt wheels 9 constitute two grades of V belt translation deceleration devices together with driving wheel 2, but its
Speed reducing ratio, slewing range are all limited, harmonic speed reducer has that speed reducing ratio is big, precision is high, small volume the characteristics of, with two grades of V belt translations
Deceleration device is combined, and constitutes complete reducing gear；In addition stepper motor or servomotor are easy to accurate speed governing, also allow for reality
The steering of existing robot.
Obviously, above-described embodiment of the present utility model is merely to illustrate that the utility model example, and not
Restriction to embodiment of the present utility model.For those of ordinary skill in the field, on the basis of described above
On can also make other various forms of changes or variation.There is no need and unable to give poor example to all embodiments.
And these belong to the obvious changes or variations that connotation of the present utility model amplifies out and still fall within the utility model
Protection domain.
Claims (10)
1. a kind of magnetic suck of magnetic adsorption wall climbing robot and driving integrated module, it is characterised in that：Including frame（1）, institute
State frame（1）On set driving wheel（2）With magnetic absorbing unit（3）, the driving wheel（2）Equipped with motor（4）, the frame（1）If
There is installation axle（5）, the installation axle（5）Outer end be provided with outer connector.
2. the magnetic suck of magnetic adsorption wall climbing robot according to claim 1 and driving integrated module, it is characterised in that：
The frame（1）Two ends are respectively equipped with a rotating shaft（6）, No. two rotating shafts（7）, the motor（4）Installed in frame（1）Middle part,
The driving wheel（2）Installed in a rotating shaft（6）On, No. two rotating shafts（7）On be fixed with a belt wheel（8）, No. two belt wheels
（9）, the motor（4）Output shaft and a belt wheel（8）Between set a belt（10）, No. two belt wheels（9）With driving
Wheel（2）Between set No. two belts（11）.
3. the magnetic suck of magnetic adsorption wall climbing robot according to claim 2 and driving integrated module, it is characterised in that：
The driving wheel（2）Installed in a rotating shaft（6）Two ends, No. two belt wheels（9）Installed in No. two rotating shafts（7）Two ends,
No. two belts（11）For wide belt, the frame（1）, motor（4）It is arranged in No. two belts（11）Inner side.
4. the magnetic suck of magnetic adsorption wall climbing robot according to claim 3 and driving integrated module, it is characterised in that：
The driving wheel（2）, a belt wheel（8）, No. two belt wheels（9）For gear, a belt（10）With No. two belts（11）It is right
It should be timing belt.
5. the magnetic suck of magnetic adsorption wall climbing robot according to claim 4 and driving integrated module, it is characterised in that：
The magnetic absorbing unit（3）Installed in a rotating shaft（6）On, magnetic absorbing unit（3）With No. two belts（11）Between be provided with gap,
The magnetic absorbing unit（3）Including middle permanent magnet（12）, the permanent magnet（12）Two end faces be magnetic pole, the permanent magnetism
Body（12）Two magnetic pole end faces are close to the yoke for being provided with annular（13）, the yoke（13）External diameter be more than permanent magnet（12）'s
External diameter.
6. the magnetic suck of magnetic adsorption wall climbing robot according to claim 5 and driving integrated module, it is characterised in that：
No. two belts（11）Including both sides and driving wheel（2）The timing belt part of engagement（14）, and middle correspondence magnetic coupon
Member（3）Flat belt part（15）.
7. the magnetic suck of the magnetic adsorption wall climbing robot according to any one of claim 2 ~ 6 and driving integrated module,
It is characterized in that：A number belt（10）With No. two belts（11）It is respectively provided with an adjustable tensioning wheel（16）With No. two
Bearing up pulley（17）.
8. the magnetic suck of the magnetic adsorption wall climbing robot according to any one of claim 1 ~ 6 and driving integrated module,
It is characterized in that：The motor（4）For stepper motor or servomotor, and equipped with harmonic speed reducer.
9. the magnetic suck of magnetic adsorption wall climbing robot according to claim 1 and driving integrated module, it is characterised in that：
The installation axle（5）Through frame（1）Set, the installation axle（5）Two ends be equipped with outer connector.
10. the magnetic suck of magnetic adsorption wall climbing robot according to claim 1 exists with driving integrated module, its feature
In：The driving wheel（2）Outside provided with support take turns（18）, it is described to support wheel（18）It is fixed on a rotating shaft（6）On, the branch
Hold wheel（18）External diameter be more than driving wheel（2）Wrap up No. two belts（11）External diameter afterwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621272717.2U CN206358243U (en) | 2016-11-25 | 2016-11-25 | The magnetic suck of magnetic adsorption wall climbing robot and driving integrated module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621272717.2U CN206358243U (en) | 2016-11-25 | 2016-11-25 | The magnetic suck of magnetic adsorption wall climbing robot and driving integrated module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206358243U true CN206358243U (en) | 2017-07-28 |
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ID=59373095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621272717.2U Active CN206358243U (en) | 2016-11-25 | 2016-11-25 | The magnetic suck of magnetic adsorption wall climbing robot and driving integrated module |
Country Status (1)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106364583A (en) * | 2016-11-25 | 2017-02-01 | 浙江嘉蓝海洋电子有限公司 | Magnetic attraction and driving integrated module of magnetic attraction wall-climbing robot |
-
2016
- 2016-11-25 CN CN201621272717.2U patent/CN206358243U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106364583A (en) * | 2016-11-25 | 2017-02-01 | 浙江嘉蓝海洋电子有限公司 | Magnetic attraction and driving integrated module of magnetic attraction wall-climbing robot |
| CN106364583B (en) * | 2016-11-25 | 2018-09-11 | 浙江嘉蓝海洋电子有限公司 | The magnetic suck of magnetic adsorption wall climbing robot and driving integrated module |
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