CN206579730U - It is a kind of that there is the climbing robot chassis for being servo-actuated universal wheel - Google Patents
It is a kind of that there is the climbing robot chassis for being servo-actuated universal wheel Download PDFInfo
- Publication number
- CN206579730U CN206579730U CN201720292908.3U CN201720292908U CN206579730U CN 206579730 U CN206579730 U CN 206579730U CN 201720292908 U CN201720292908 U CN 201720292908U CN 206579730 U CN206579730 U CN 206579730U
- Authority
- CN
- China
- Prior art keywords
- bearing
- servo
- actuated
- supporting roller
- universal wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 21
- 239000002184 metal Substances 0.000 claims abstract description 18
- 238000010521 absorption reaction Methods 0.000 claims abstract description 8
- 230000013011 mating Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of climbing robot chassis for having and being servo-actuated universal wheel, including magnetic drive wheel group, indicator lamp, vehicle frame and universal wheel, it is threadedly coupled between the screwed hole on bearing block and vehicle frame on the universal wheel, and the inner chamber of bearing block is provided with upper bearing (metal) and lower bearing, the upper bearing (metal) and lower bearing, which are rotated, is socketed in supporting roller rotating shaft, the upper end of supporting roller rotating shaft is connected with slotted nut, this has climbing robot chassis structure of servo-actuated universal wheel simple, has very big advantage when by narrow and small limited operating area；The servo-actuated universal wheel unit that robot has, magnet is enclosed in wheel, is attached by biside plate, upper shaft is connected with bearing block by bearing, so as to form the universal wheel of servo-actuated magnetic absorption function；While providing reliable and stable absorption affinity for climbing robot, robot flexibly creeping on magnetic conductivity wall is not influenceed, realizes robot flexibly creeping in wall.
Description
Technical field
The utility model is related to robotic technology field, specially a kind of to have the climbing robot bottom for being servo-actuated universal wheel
Disk.
Background technology
With continuing to develop for science and technology, the development that machinery industry is advanced by leaps and bounds, wherein robot are used as the comparison in machinery
Part and parcel, climbing robot can carrying operation instrument, assist or substitution the mankind various limit operations are completed on wall, its
Industry, petroleum chemical enterprise, shipbuilding industry and other dangerous industries are widely used in, with the continuous progressive and work of human sciences's technology
The increasingly increase of power cost, robot replaces the manually performing simple repetition, danger is high, labor intensity the is big of task to be increasingly becoming
A kind of trend；The features such as climbing robot is with its high efficiency, low cost, steady quality accelerates process of industrialization, large area
Steel surface pre-processes the special climbing robot of the demand driving of (such as marine surface derusting, large-scale storage tank surface paint removal)
Design；As task difficulty complication and operating environment are hazardous, a kind of multi-functional climbing robot walking chassis dress is needed badly
Put and carry out operation for carrying difference in functionality module, it can not only realize operating personnel in the case of away from operating environment also
It can guarantee that operation quality, moreover it is possible to be easy to the operating area by noncontinuity, fast quick-detach and assembling can be achieved, therefore, proposing
It is a kind of that there is the climbing robot chassis for being servo-actuated universal wheel.
Utility model content
The purpose of this utility model is to provide a kind of climbing robot chassis for having and being servo-actuated universal wheel, above-mentioned to solve
The problem of being proposed in background technology.
To achieve the above object, the utility model provides following technical scheme：
A kind of climbing robot chassis with servo-actuated universal wheel, including magnetic drive wheel group, indicator lamp, vehicle frame and universal
It is threadedly coupled between the screwed hole on bearing block and vehicle frame on wheel, the universal wheel, and the inner chamber of bearing block is provided with axle
Hold and lower bearing, the upper bearing (metal) and lower bearing, which are rotated, is socketed in supporting roller rotating shaft, and the upper end of supporting roller rotating shaft is connected with out
Groove nut, gap between the slotted nut regulation upper bearing (metal) and lower bearing, the bottom of the supporting roller rotating shaft and supporting roller connect
Be interference fitted connection between fishplate bar, the both sides of supporting roller connecting plate by clamping screw be connected to left servo-actuated wheel support and
The servo-actuated wheel support in the right side, the lower end square hole and the right lower end square hole for being servo-actuated wheel support of the left servo-actuated wheel support respectively with absorbing unit
Square shaft on fixed rotating shaft two ends is in mating connection, and the two ends of the absorbing unit fixed rotating shaft are respectively sleeved on magnetic absorbing unit
Floating bearing, the outer ring of magnetic absorbing unit floating bearing is installed with supporting roller hub and supporting roller cap, the supporting roller
If the excircle part of cap is fixedly connected by bolt stem with supporting roller hub, the outside point of the magnetic absorbing unit floating bearing
Two bearing (ball) covers are not installed, two bearing (ball) covers pass through bolt phase with supporting roller cap and supporting roller hub respectively
Connect, and by the locking axially position on absorbing unit rotating shaft clamping screw, the top of the absorbing unit retainer is offered
With the square hole being connected that is mutually matched of absorbing unit fixed rotating shaft two ends square shaft, the bottom of the absorbing unit retainer is by inhaling
Coupon member fixing bolt and the connection of supporting roller absorbing unit.
It is preferred that, the left servo-actuated wheel support and right servo-actuated wheel support are symmetrical arranged on slotted nut.
It is preferred that, the number of the absorbing unit fixing bolt has two, and two absorbing unit fixing bolts are located at together
On one horizontal line.
It is preferred that, the upper bearing (metal) and lower bearing be arranged in parallel, and upper bearing (metal) and the concentric setting of lower bearing.
It is preferred that, the upper end lateral wall of the bearing block is provided with annular protrusion.
Compared with prior art, the beneficial effects of the utility model are：This has the climbing robot bottom of servo-actuated universal wheel
Dish structure is simple, and moving body is based on modular design method with carrying various mechanical arms, can be achieved to moving body and machine
The fast quick-detach of tool arm and restructuring, moving body also may be split into that two structures are identical, symmetrical standalone module, especially exist
There is very big advantage during by narrow and small limited operating area；The servo-actuated universal wheel unit that robot has, magnet is enclosed in
In wheel, it is attached, supporting roller rotating shaft, upper bearing (metal) and lower bearing syntagmatic, is inhaled so as to form servo-actuated magnetic by biside plate
The universal wheel of attached function, while providing reliable and stable absorption affinity for climbing robot, robot is not influenceed in magnetic conductivity wall
On flexibly creep, realize robot wall flexibly creeping.
Brief description of the drawings
Fig. 1 is the utility model structural representation；
Fig. 2 is servo-actuated Universal wheel structure schematic diagram；
Fig. 3 is servo-actuated Universal wheel structure sectional view.
In figure：Magnetic drive wheel group 1, indicator lamp 2, vehicle frame 3, servo-actuated universal wheel 4, supporting roller rotating shaft 401, slotted nut
402nd, upper bearing (metal) 403, lower bearing 404, supporting roller connecting plate 405, left servo-actuated wheel support 406, supporting roller hub 407, supporting roller
Absorbing unit 408, absorbing unit fixing bolt 409, absorbing unit retainer 410, supporting roller cap 411, absorbing unit are fixed
Rotating shaft 412, absorbing unit rotating shaft clamping screw 413, bearing (ball) cover 414, right servo-actuated wheel support 415, hub cap connecting bolt
416th, clamping screw 417, bearing block 418, magnetic absorbing unit floating bearing 419.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment；Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
Fig. 1-3 are referred to, the utility model provides a kind of technical scheme：
It is a kind of that there is the climbing robot chassis for being servo-actuated universal wheel, including magnetic drive wheel group 1, indicator lamp 2, the and of vehicle frame 3
It is threadedly coupled between the screwed hole on bearing block 418 and vehicle frame 3 on universal wheel 4, universal wheel 4, on the outside of the upper end of bearing block 418
Wall is provided with annular protrusion, and the annular protrusion is easy to be fixed on the upper limit of vehicle frame 3, and the inner chamber of bearing block 418 is provided with upper bearing (metal)
403 and lower bearing 404, upper bearing (metal) 403 and lower bearing 404 be arranged in parallel, and upper bearing (metal) 403 and lower bearing 404 is concentric sets,
Upper bearing (metal) 403 and lower bearing 404 rotate and are socketed in supporting roller rotating shaft 401, and the upper end of supporting roller rotating shaft 401 is connected with fluting spiral shell
Mother 402, gap, the bottom of supporting roller rotating shaft 401 and supporting roller between the regulation upper bearing (metal) 403 of slotted nut 402 and lower bearing 404
Connection is interference fitted between connecting plate 405, the both sides of supporting roller connecting plate 405 are connected to a left side by clamping screw 417
Servo-actuated wheel support 406 and right servo-actuated wheel support 415, the servo-actuated wheel support 406 in a left side and right servo-actuated wheel support 415 are on slotted nut
402 are symmetrical arranged, and the lower end square hole of the lower end square hole of the servo-actuated wheel support 406 in a left side and right servo-actuated wheel support 415 is single with absorption respectively
Square shaft on first two ends of fixed rotating shaft 412 is in mating connection, and the two ends of absorbing unit fixed rotating shaft 412 are respectively sleeved on magnetic suck
Unit rotary bearing 419, the outer ring of magnetic absorbing unit floating bearing 419 is installed with supporting roller hub 407 and servo-actuated hub
Lid 411, if the excircle part of supporting roller cap 411 is fixedly connected by bolt stem with supporting roller hub 407, magnetic absorbing unit is returned
The outside that rotating shaft holds 419 is separately installed with two bearing (ball) covers 414, two bearing (ball) covers 414 respectively with supporting roller cap 411 and
Supporting roller hub 407 is connected by bolt, and by the locking axially position on absorbing unit rotating shaft clamping screw 413, is inhaled
The top of coupon member retainer 410 is offered is mutually matched the square hole being connected with absorbing unit fixed rotating shaft 412 two ends square shaft,
The bottom of absorbing unit retainer 410 is connected by absorbing unit fixing bolt 409 and supporting roller absorbing unit 408, and absorption is single
The number of first fixing bolt 409 has two, and two absorbing unit fixing bolts 409 are located in same horizontal line.
Robot chassis in the utility model is in movement, and nimbly and freely, moving body is with carrying various mechanical arms
Modular design method is based on, the fast quick-detach to moving body and mechanical arm and restructuring can be achieved, moving body is also removable
It is divided into that two structures are identical, symmetrical standalone module, especially there is very big excellent when by narrow and small limited operating area
Gesture；The servo-actuated universal wheel 4 that robot has, magnet is enclosed in wheel, is attached by biside plate, supporting roller rotating shaft 401,
Upper bearing (metal) 403 and the syntagmatic of lower bearing 404, are wall-climbing device so as to form the servo-actuated universal wheel 4 of servo-actuated magnetic absorption function
While people provides reliable and stable absorption affinity, robot flexibly creeping on magnetic conductivity wall is not influenceed, realizes that robot exists
The flexible of wall creeps.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out in the case where not departing from principle of the present utility model and spirit a variety of changes, repaiies
Change, replace and modification, scope of the present utility model is defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of have the climbing robot chassis for being servo-actuated universal wheel, including magnetic drive wheel group（1）, indicator lamp（2）, vehicle frame
（3）And universal wheel（4）, it is characterised in that：The universal wheel（4）On bearing block（417）And vehicle frame（3）On screwed hole between
Threaded connection, and bearing block（417）Inner chamber upper bearing (metal) is installed（403）And lower bearing（404）, the upper bearing (metal)（403）With
Lower bearing（404）Rotate and be socketed in supporting roller rotating shaft（401）, supporting roller rotating shaft（401）Upper end be connected with slotted nut
（402）, the slotted nut（402）Adjust upper bearing (metal)（403）And lower bearing（404）Between gap, the supporting roller rotating shaft
（401）Bottom and supporting roller connecting plate（405）Between be interference fitted connection, supporting roller connecting plate（405）Both sides pass through
Clamping screw（417）It is connected to left servo-actuated wheel support（406）With the servo-actuated wheel support in the right side（415）, the left servo-actuated wheel support
（406）Lower end square hole and right servo-actuated wheel support（415）Lower end square hole respectively with absorbing unit fixed rotating shaft（412）On two ends
Square shaft it is in mating connection, the absorbing unit fixed rotating shaft（412）Two ends be respectively sleeved on magnetic absorbing unit floating bearing
（419）, magnetic absorbing unit floating bearing（419）Outer ring be installed with supporting roller hub（407）With supporting roller cap
（411）, the supporting roller cap（411）If excircle part pass through bolt stem and supporting roller hub（407）It is fixedly connected, it is described
Magnetic absorbing unit floating bearing（419）Outside be separately installed with two bearing (ball) covers（414）, two bearing (ball) covers
（414）Respectively with supporting roller cap（411）And supporting roller hub（407）It is connected by bolt, and passes through absorbing unit rotating shaft
Clamping screw（413）On locking axially position, the absorbing unit retainer（410）Top offer it is solid with absorbing unit
Determine rotating shaft（412）The square hole for being mutually matched connection of two ends square shaft, the absorbing unit retainer（410）Bottom pass through absorption
Unit fixing bolt（409）With supporting roller absorbing unit（408）Connection.
2. a kind of climbing robot chassis with servo-actuated universal wheel according to claim 1, it is characterised in that：The left side
Servo-actuated wheel support（406）With the servo-actuated wheel support in the right side（415）On slotted nut（402）It is symmetrical arranged.
3. a kind of climbing robot chassis with servo-actuated universal wheel according to claim 1, it is characterised in that：It is described to inhale
Coupon member fixing bolt（409）Number have two, and two absorbing unit fixing bolts（409）In same horizontal line.
4. a kind of climbing robot chassis with servo-actuated universal wheel according to claim 1, it is characterised in that：On described
Bearing（403）And lower bearing（404）It is arranged in parallel, and upper bearing (metal)（403）And lower bearing（404）It is concentric to set.
5. a kind of climbing robot chassis with servo-actuated universal wheel according to claim 1, it is characterised in that：The axle
Bearing（418）Upper end lateral wall be provided with annular protrusion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292908.3U CN206579730U (en) | 2017-03-24 | 2017-03-24 | It is a kind of that there is the climbing robot chassis for being servo-actuated universal wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292908.3U CN206579730U (en) | 2017-03-24 | 2017-03-24 | It is a kind of that there is the climbing robot chassis for being servo-actuated universal wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206579730U true CN206579730U (en) | 2017-10-24 |
Family
ID=60115017
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720292908.3U Expired - Fee Related CN206579730U (en) | 2017-03-24 | 2017-03-24 | It is a kind of that there is the climbing robot chassis for being servo-actuated universal wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206579730U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480448A (en) * | 2019-09-03 | 2019-11-22 | 浙江省特种设备科学研究院 | A kind of large-scale storage tank climbs wall milling robot |
-
2017
- 2017-03-24 CN CN201720292908.3U patent/CN206579730U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480448A (en) * | 2019-09-03 | 2019-11-22 | 浙江省特种设备科学研究院 | A kind of large-scale storage tank climbs wall milling robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204622048U (en) | A kind of mechanical arm for assembling securing member | |
| CN105690401A (en) | Flexible steel-made wall-climbing robot | |
| CN204355187U (en) | Curved surface adaptive safety precaution climbing robot device | |
| CN201455595U (en) | Welding rotary worktable | |
| CN103171640A (en) | Wall-climbing robot based on permanent magnet adsorption structure | |
| CN206579730U (en) | It is a kind of that there is the climbing robot chassis for being servo-actuated universal wheel | |
| CN104723329A (en) | Mechanical arm for assembly of fastening parts | |
| CN106882285A (en) | A kind of climbing robot chassis with servo-actuated universal wheel | |
| CN202542387U (en) | Steering synchronization system of multi-wheel system mobile robot | |
| CN103600280A (en) | Pressure vessel connecting pipe intersecting line welding seam abrasive belt grinding machine | |
| CN206480306U (en) | A kind of four-degree-of-freedom teaching robot | |
| CN212099126U (en) | Three-wheel magnetic adsorption type wall-climbing robot | |
| CN104723087A (en) | Wrist structure of manipulator arm used for assembling fasteners | |
| CN110509258B (en) | Parallel adsorption type processing robot | |
| CN204735899U (en) | Frame upset machine | |
| CN217327252U (en) | Integral oil production wellhead assembly | |
| CN204673263U (en) | For assembling the wrist portion structure of the mechanical arm of securing member | |
| CN203902718U (en) | Robot platform with integrated-formed base plate | |
| CN104384989A (en) | Bevel gear shell positioning hole and mounting hole machining tool | |
| CN206031739U (en) | Modular novel tiller | |
| CN104874951A (en) | Wall-climbing welding machine for shell plate of large-scale ship | |
| CN103465215A (en) | Tool for dismounting and mounting main shaft seal of main pump of 300MW nuclear power station | |
| CN107363270A (en) | A kind of large-scale roller surface repairs anti-deformation truning fixture | |
| CN206913182U (en) | A kind of robot base partial joint structure | |
| CN202137553U (en) | Fixing chuck for welding grid plates |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171024 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |