CN206663223U - A kind of wheeled magnetic adsorption wall climbing robot of modularization - Google Patents

A kind of wheeled magnetic adsorption wall climbing robot of modularization Download PDF

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Publication number
CN206663223U
CN206663223U CN201621480122.6U CN201621480122U CN206663223U CN 206663223 U CN206663223 U CN 206663223U CN 201621480122 U CN201621480122 U CN 201621480122U CN 206663223 U CN206663223 U CN 206663223U
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China
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box
cover plate
magnetic conduction
magnetic
fixed
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CN201621480122.6U
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Chinese (zh)
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张卫
黄哲轩
张庆华
禹青
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Luoyang Shengrui Intelligent Robot Co Ltd
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Luoyang Shengrui Intelligent Robot Co Ltd
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Abstract

It the utility model is related to Industrial Robot Technology field, a kind of disclosed wheeled magnetic adsorption wall climbing robot of modularization, including two separate car body modules and four groups of structure identical wheel-type permanent-magnet absorbing units, two separate car body modules are divided into structure identical left body module and right body module, it is arranged symmetrically centered on the two connection plane, wherein left body module passes through left box body motor driver by the left box body motor in left box body, left box body decelerator is connected with left box body front output shaft, left box body front output shaft passes through left box body timing belt, left box body synchronous pulley, connected and composed with left box body rear output shaft.The utility model can carry out the corresponding limit operations such as derusting, spray painting, detection on all kinds of magnetic conduction faces by discontinuous operating area or narrow transport space.Be provided simultaneously with dustproof and waterproof function, and can rapid disassembling, transport with docking, it is moved, and manipulation of turning is easy, and mobility is high.

Description

A kind of wheeled magnetic adsorption wall climbing robot of modularization
Technical field
It the utility model is related to Industrial Robot Technology field, and in particular to it is a kind of climbing robot, more particularly to A kind of wheeled magnetic adsorption wall climbing robot of modularization.The climbing robot can be applied to all kinds of magnetic conductivity walls(As pipe surface, Oil tank wall, Ship body etc.), flexibly creeping on complicated magnetic conduction face can be realized, and can be according to different mission requirements Different type mechanical arm or operation module are carried, carries out corresponding limit operation on all kinds of magnetic conductivity walls(Such as carry corresponding machine After tool arm operation module, the related operation such as manually derusted, painted to oil tank wall, detected can be replaced).The climbing robot Device is mainly separate by two based on modular design method using permanent magnetic suck form and four-wheel four-drive transmission scheme Car body module composition, each intermodule mechanical electric is completely isolated, is provided simultaneously with independent dustproof and waterproof function, narrow and small limited When carrying out operation Deng special operation space, the rapid disassembling of robot, transport can be realized according to job requirements with docking, logical There is extremely strong advantage in terms of crossing discontinuous operating area or narrow transport space.
Background technology
The field such as national economy and national defense construction is seen everywhere by all kinds of large complicated of the magnetic conductive materials such as steel structure Equipment(Such as petroleum pipeline, chemical storage tank, large ship), for the safe handling of Support Equipment, countries in the world need to put into every year Substantial amounts of manpower and materials periodically carry out the upkeep operations such as cleaning, detection to these equipments.At present, widely used biography in world wide The manual work method of system carries out corresponding upkeep operation, do not only exist labor intensity is big, operating efficiency is low, the work period is long, The problems such as maintenance cost is high, operating personnel are susceptible to suffer from occupational disease, and when be often accompanied by security incident.Therefore, research and development one are needed badly Set can be in all kinds of complicated magnetic conduction faces(Such as pipe surface, oil tank wall, Ship body)On flexibly creep, can be according to different Mission requirements carry different type mechanical arm or operation module, the intellectuality for carrying out corresponding upkeep operation on all kinds of magnetic conduction faces are climbed Wall robot system.
Climbing robot needs emphasis to solve adsorption form and two key problems of walking mechanism.It is existing for adsorption form Robot is mainly using electromagnetic adsorption and two kinds of forms of permanent magnetic suck, and wherein electromagnetic adsorption structure is relative complex, in operation process Additional electrical energy need to be consumed, and potential safety hazard caused by accident power-off be present, therefore using relatively fewer on climbing robot, with electricity Magnetic suck is compared, and permanent magnetic suck has the advantages that simple in construction, absorption is not consumed energy, is unaffected by removing electrical power.It is existing for walking mechanism There is robot mainly to use track structure or wheeled construction, wherein track structure is relative complex, and exercise performance is not good enough, especially It is that, because contact area is big between crawler belt and magnetic conduction wall, steering drag is big, and turning radius is big when carrying out divertical motion, turns It is poor to flexibility, and wheeled construction then has the advantages that simple in construction, the speed of travel is fast, it is easy to turn, and compares and is adapted to each Realized on class magnetic conduction face flexibly mobile.
Found through the literature search to prior art, application number 201410628337.7, applying date 2014.11.11's Patent of invention discloses a kind of magnetically adsorbed wall climbing robot, though it is using four-wheel walking mechanism and permanent magnetic suck form, The robot four-wheel is independently driven by four sets of motors, and by be arranged in the permanent magnetic strong magnetic block group below car body realize robot with The absorption in magnetic conduction face, not only structure is relative complex, and manufacturing cost is higher, and is influenceed by magnetic signature, and magnetic block group need to be with leading Magnetic surface low coverage is arranged, limits the obstacle performance of robot.What is more important robot does not possess dustproof and waterproof function, does not examine Consider modular design method, can not be split, so that robot is difficult to, by carrying out corresponding operation after narrow and small transport space, limit The use range of robot.
A kind of magnetic adsorption wall climbing robot that the patent document of Application No. 201410645993.8 is related to, the robot use The Split type box body structure that can not be split, left and right two tanks are connected by fixed rotating shaft, and realization is arranged in two tanks permanent magnetism shoe Band is adaptive to magnetic conduction curved surface.Though the robot can solve the adjustment to magnetic conduction curved surface to a certain extent, but still deposit In inevitable complicated, many limitations such as manufacturing cost is high, steering flexibility is poor of crawler-type wall climbing robot.Together When, the robot does not possess dustproof and waterproof function yet, can not be split, so that robot is difficult to by being opened after narrow and small transport space Corresponding operation is opened up, limits the use range of robot.
In summary, existing climbing robot generally existing exercise performance is not good enough, structure is excessively complicated, manufacturing cost is higher Etc. problems, while modular design method is not considered, it is difficult to rapid disassembling, transport and installation, do not possess dustproof and waterproof work( Can, so that being difficult in adapt to the job requirements in various limit operation spaces.
The content of the invention
For above-mentioned technical deficiency, the utility model proposes a kind of wheeled magnetic adsorption wall climbing robot of modularization, this practicality It is new to carry different type mechanical arm or operation module according to different mission requirements based on climbing robot, led all kinds of Carry out the corresponding limit operations such as derusting, spray painting, detection on magnetic surface.The climbing robot uses permanent magnetic suck form and four-wheel four-drive Transmission scheme, based on modular design method, mainly by two separate car body module compositions, each intermodule mechanical electric It is completely isolated, independent dustproof and waterproof function is provided simultaneously with, when carrying out operation in narrow and small limited grade special operation space, Neng Gougen The rapid disassembling of robot, transport are realized according to job requirements and is docked, and are easy to empty by discontinuous operating area or narrow transport Between.
For achieving the above object, the utility model adopts the following technical scheme that
A kind of wheeled magnetic adsorption wall climbing robot of modularization, including two separate car body modules and four groups of structure phases With wheel-type permanent-magnet absorbing unit, described two separate car body modules are divided into left body module and right body module, two Person's structure is identical, and profile and internal structure by the two be connected plane centered on be arranged symmetrically, wherein left body module by Left box body motor 103 in left box body passes through left box body motor driver, left box body decelerator 101 and left car Casing front output shaft connect, left box body front output shaft by left box body timing belt 106, left box body synchronous pulley 109, 111st, connected and composed with left box body rear output shaft 104.
A kind of wheeled magnetic adsorption wall climbing robot of modularization, the left box body is by left box body upper cover plate, left box body Balustrade deching, left box body bottom cover plate, left box body inside cover plate, left box body cover board of front end, left box body rear end tails Cover plate, left box body outer handle 102, left box body rear end tails handle 107, left box body front end handle, left box body drive Dynamic motor 103 and the left support member of box body decelerator 101, the left hold-down support of box body decelerator 101, the driving of left box body motor Device support fixed support, left front end cap, left back end cap, locating piece the moon 110, locating piece sun 119 are formed;
The left box body balustrade deching, left box body bottom cover plate, left box body cover board of front end, left box body rear end tail Portion's cover plate, left box body outer handle, left box body rear end tails handle and left box body front end handle are arranged in left car Casing surrounding, form an integrally closed structure;The left box body upper cover plate and left box body inside cover plate are consolidated through screw Dingan County is on left box body upper surface and inner side end;Left box body upper cover plate lower right position has been vertically arranged four sizes Different waterproof anti-explosion plug holes, it is isolated for car body integral sealed cabling and machinery with electric;
The left box body motor 103 and the left support member of box body decelerator 101 are fixed on left box body through screw Inside, a kind of cage structure is formed, motor 103 and decelerator 101 are positioned over inside cage, the support that can not only stablize Motor and decelerator can also improve car body strengths in tension and compression.
Left box body motor driver support fixed support is fixed on left box body inside chassis side protuberance through screw Position, left box body motor driver are fixedly installed on left box body motor driver support fixed support through screw.Left railway carriage Body decelerator hold-down support upper end is fixed on the mounting flange of left box body decelerator, and bottom is fixed on left box body through screw In bottom cover plate, for realizing the fixation and positioning of left box body decelerator.The left front end cap exports before being located at left box body The outer fix that axle is in contact with left box body side cover plate, left back end cap are located at left box body rear output shaft and left box body side cover The outer fix that plate is in contact;
A kind of wheeled magnetic adsorption wall climbing robot of modularization, the left front end cap and left back end cap of the left box body are with output The axle position that is in contact is sound double containment, is kept apart for realizing inside left box body with left box body external environment condition;I.e. left car Casing opens up rectangular seal groove in the upper surface that it is contacted with left box body upper cover plate and side cover plate and side end face, its with Left front end cap and left back end cap junction open up ring packing groove centered on output shaft, itself and left box body upper cover plate, side The connection of cover plate, left front end cap and left back end cap, the overall static seal of car body is realized by the O-ring arranged in sealed groove; Export rear axle be in contact position and left box body of left front cover plate in left box body front output shaft and be in contact position with left back cover plate Ring packing groove is offered, for placing rubber o-ring, the rotary dynamic sealing of car body is realized, reaches whole car body and seal entirely The sealing of enclosed.
A kind of wheeled magnetic adsorption wall climbing robot of modularization, the left box body rear end tails handle 107 and left box body Front end handle upper side position has been vertically arranged one group of through hole, right box body rear end tails handle 107 and right box body front end Handle upper side position has similarly been vertically arranged one group of through hole, is stitched together, is located at for the box body module of left and right two Through hole on left and right box body front end handle and rear end tails handle 107 aligns alignment, and bolt coordinates through the through hole with nut, Realize the rapid and convenient splicing of left and right box body;It is in contact in left box body bottom cover plate with left box body inside cover plate position In the middle part of chassis, locating piece the moon 110 is fixed with through screw, is in contact in right box body bottom cover plate with right box body inside cover plate position In the middle part of the chassis put, locating piece sun 119 is mounted with through screw;The locating piece sun 119 is one with bulge-structure, locating piece The moon 110 is a band sunk structure, and three groups of screwed holes being distributed vertically are distributed with locating piece sun 119 and locating piece the moon 110, use It is combined together in positive 119 bossings of locating piece with cloudy 110 sunk parts of locating piece, aligns left and right box body and be assembled in one Rise, then together with through screw, locating piece sun 119 is tightened to locating piece the moon 110;Through handle side through hole bolt with The combination of nut and locating piece sun 119 and locating piece the moon 110 is connected, for realizing the quick splicing of left and right box body.
A kind of wheeled magnetic adsorption wall climbing robot of modularization, the left box body motor 103 and left box body slow down After device 101 is fixed together, it is arranged vertically at left box body motor and left box body decelerator support member 105 builds composition Cage structure inside;Left box body decelerator hold-down support 108 is a "convex" shaped shape, and its upper end is slowed down through left box body The fixation flange aperture of device is fixed on 101 on left box body decelerator, and its bottom is fixed in left box body bottom cover plate, for reality Now by the fixation and positioning of motor 103 and decelerator 101;Left box body front output shaft runs through left box body decelerator 101 It is fixed on bearing spider, left railway carriage daughter output rear axle 104 exports that front axle is parallel to be fixed on bearing spider with left box body, Left box body synchronous pulley 109,111 is fixed in left box body front output shaft and 104 equal one end of left box body rear output shaft, and one end is solid Fixed wheel formula permanent magnetic suck unit 210,220, left box body timing belt 106 is tensioned between two left box body synchronous pulleys 109,111, Power and torque for left box body motor to be exported are delivered to left box body output rear axle 104, realize unilateral car body The synchronized rotation of two magnet-wheels 210,220, realize the four-wheel four-drive form of whole car body.
A kind of wheeled magnetic adsorption wall climbing robot of modularization, the wheel-type permanent-magnet absorbing unit is by annular permanent magnet 217, outer Side magnetic conduction heel piece 211, inner side magnetic conduction heel piece 213, positioning sleeve 219 and magnet-wheel outer rubber 212 are formed, the annular permanent magnet 217 by strong magnetic material:The cyclic structure that neodymium iron boron is prepared, the cyclic structure are axial charging state, the annular permanent magnet Body is used to provide the strong magnetic environment for producing absorption affinity;The outside magnetic conduction heel piece 211 is column " mountain " character form structure, wherein the heart Position is fixed with the round outside but spuare inside quill shaft for magnetic wheel driven automatic scan and assembling, and the medial surface of outside magnetic conduction heel piece 211 has four rings Shape array screwed hole, for coordinating inner side magnetic conduction heel piece 213 side four screwed hole to realize the assembling of magnet-wheel;Inner side magnetic conduction heel piece 213 be column " king " character form structure, and heart position is equally fixed with a round outside but spuare inside quill shaft wherein, assembles and drives for magnet-wheel It is dynamic;The medial surface of inner side magnetic conduction heel piece 213 has the different annular array hole of two groups of radiuses, that larger group annular array hole of radius 214 dismounting and maintenance for realizing annular permanent magnet, that less group annular array hole 215 of radius, for passing through screw Realize the fixation and positioning of outside magnetic conduction heel piece 211 and inner side magnetic conduction heel piece 213, outside magnetic conduction heel piece 211 and inner side conductive magnetic yoke Iron 213 is by high-permeability material:Silicon steel, iron-nickel alloy are prepared, and play a part of dredging and gather magnetic induction line.The positioning Set 219 be one made of non-permeable material setting element, one part be enclosed on outside magnetic conduction heel piece 211 round outside but spuare inside axle On cylindrical, hold out against outside magnetic conduction heel piece, another part be enclosed on inner side 213 round outside but spuare inside axle of magnetic conduction heel piece it is cylindrical on, for protecting The axiality of card outside magnetic conduction heel piece and inner side magnetic conduction heel piece;The annular permanent magnet 217 be embedded in outside magnetic conduction heel piece 211 with In groove between inner side magnetic conduction heel piece 213, inner and outer magnetic conduction heel piece wraps the side of annular permanent magnet 217 and cylinder Face;Outside magnetic conduction heel piece 211 is fixed together through shaft end screw with magnetic wheel driven automatic scan axle 216, outside yoke 211 and inner side conductive magnetic yoke Iron 213 is fixed through screw by the screwed hole of respective side and tightened;It is coated on outside magnetic conduction heel piece 211 and inner side magnetic conduction heel piece Magnet-wheel outer rubber 212 on 213 outer surfaces, the situation for avoiding permanent magnet high temperature from demagnetizing occur, and prevent magnet-wheel from turning There is skidding during dynamic.
Due to using technical scheme as described above, the utility model has following superiority:
(1)The utility model is based on modularized car body design philosophy, and it is identical, left that climbing robot is designed as into two structures Right symmetrical independent car body module, and two intermodules are mechanically and electrically completely isolated, two modules have independent dust-proof simultaneously Water-proof function.Modularized design causes climbing robot when running into the narrow and small confined space, can realize dismounting, fortune easily and fast Defeated and splicing, well adapting to property.
(2)Wheel-type permanent-magnet body absorbing unit, it uses " sandwich " structure, and annular permanent magnet is embedded between magnetic conduction heel piece Groove in, the interlayer structure can effectively gather the magnetic induction line of permanent magnet, make its magnetic induction line through magnetic conductivity wall formed closure Magnetic strength line loop, improve the utilization rate of permanent magnet magnetic induction line so that the stronger absorption of climbing robot is in magnetic conductivity wall On.
(3)The side body module of climbing robot two uses toothed belt transmission, realizes the fortune of whole car body four-wheel four-drive Dynamic form.Power and torque are delivered on car body front output shaft by car body motor after decelerator slows down, then synchronized band, are passed It is delivered on the car body rear output shaft with car body front output shaft parallel arrangement, is respectively mounted on car body front output shaft and car body rear output shaft It is fixed with wheel-type permanent-magnet absorbing unit.It is identical with the magnetic drive wheel speed of side body two so as to realize, reach car body four-wheel four-drive Forms of motion.The drive mechanism simple and compact, robot movement, which is turned, manipulates simplicity, there is very high mobility.
(4) car body integral seal.Box body is in the upper surface and side that it is contacted with box body upper cover plate and side cover plate Face opens up rectangular seal groove, and ring packing ditch is opened up centered on output shaft in itself and drive end bearing bracket and rear end cap junction Groove, it is real by the O-ring arranged in sealed groove when it is connected with box body upper cover plate, side cover plate, drive end bearing bracket and rear end cap The overall static seal of existing car body.Rear axle is exported with bonnet be in contact position and box body of front shroud in left box body front output shaft The plate position that is in contact offers ring packing groove, for placing rubber o-ring, realizes the rotary dynamic sealing of car body.Sound Double containment causes climbing robot still to have good sealing during mobile climb, and realizes that whole car body totally enclosed type is close Envelope.Integral seal effectively prevents the immersion of the impurity such as water, dust, improves its adaptability and extends the work longevity of parts Life.
Brief description of the drawings
Fig. 1 is wheel-type permanent-magnet absorbing unit overall appearance axonometric drawing in the utility model;
Fig. 2 is the utility model wheel-type permanent-magnet absorbing unit left view;
Fig. 3 is the utility model wheel-type permanent-magnet absorbing unit right view;
Fig. 4 is the utility model wheel-type permanent-magnet absorbing unit internal view;
Fig. 5 is the utility model locating piece the moon overall appearance axonometric drawing;
Fig. 6 the utility model locating piece sun overall appearance axonometric drawings;
Fig. 7 the utility model box body internal structure top views;
Fig. 8 is the utility model box body inner side view;
Fig. 9 is the utility model box body and upper cover plate sealed structure chart;
Figure 10 is the utility model box body and balustrade deching sealer composition;
Figure 11 is the utility model car body driving rear axle movable sealing structure figure;
Figure 12 is the utility model car body driving front axle movable sealing structure figure.
In figure:101 left side casing decelerators, 102 left side box body outer handles, 103 left side box body motors, 104 left side box body rear output shafts, 105 left side drive motors and decelerator fixed support, 106 left side timing belts, 107 left side cars Box back afterbody handle, 108 left side decelerator hold-down supports, 109 left side box body front pulleys, 110 locating pieces are cloudy, 111 left sides Belt wheel, 112 right side box body rear end tails handles, 113 right side drive motors and decelerator fixed support, 114 after the box body of side Right side box body rear output shaft, 115 right side box body motors, 116 right side box body outer handles, 117 right side casings subtract Fast device, 118 left side decelerator hold-down supports, 119 locating pieces sun, 120 right side car body upper cover plates are sealed, covered on 121 left side car bodies Plate sealing, 122 car bodies driving rear output shaft static seal, 123 car bodies driving front output shaft static seal, 124 left side box body drivings Rear output shaft dynamic sealing, 125 right side box body driving rear output shaft dynamic sealings, 125 left side box body driving front output shafts move close Envelope, 126 right side box body driving front output shaft dynamic sealings.211 outside magnetic conduction heel pieces, 212 wheel body outer rubbers, 213 inner sides are led Magnetic vibrating feeder yoke, 214 inner side magnetic conduction heel piece removal holes, 215 inner side magnetic conduction heel pieces are threadedly coupled screw, 216 magnetic with outside magnetic conduction heel piece It is wheel drive shaft, 217 annular permanent magnets, screw on the outside of 218 shaft ends, 219 positioning sleeves, 210 left front magnet-wheel absorbing units, 220 left back Magnet-wheel absorbing unit behind magnet-wheel absorbing unit, 240 right sides before magnet-wheel absorbing unit, 230 right sides.
Embodiment
As shown in Figures 1 to 12, the wheeled magnetic adsorption wall climbing robot of a kind of modularization, can basis based on climbing robot Different mission requirements carry different type mechanical arm or operation module, carry out derusting, spray painting, detection etc. on all kinds of magnetic conduction faces Corresponding limit operation.The climbing robot is thought using permanent magnetic suck form and four-wheel four-drive transmission scheme based on modularized design Think, mainly by two separate car body module compositions, each intermodule mechanical electric is completely isolated, is provided simultaneously with independent anti- Dirt water-proof function, when carrying out operation in narrow and small limited grade special operation space, the fast of robot can be realized according to job requirements Speed is disassembled, transports and docked, and is easy to by discontinuous operating area or narrow transport space.
The wheeled magnetic adsorption wall climbing robot of the modularization mainly includes two separate car body modules and four groups of structures Identical wheel-type permanent-magnet absorbing unit.The car body module is broadly divided into left body module and right body module, the two structure base This is identical, and appearance and size and internal structure by the two be connected plane centered on be arranged symmetrically, wherein left body module master Will be by defeated before left box body, left box body motor, left box body motor driver, left box body decelerator, left box body Shaft, left box body timing belt, left box body synchronous pulley, left box body rear output shaft are formed.
The left box body is mainly by left box body upper cover plate, left box body balustrade deching, left box body bottom cover plate, a left side Box body inside cover plate, left box body cover board of front end, left box body rear end tails cover plate, left box body outer handle, left railway carriage Body rear end tails handle, left box body front end handle, the support member of left box body motor and decelerator, left box body slow down Device hold-down support, left box body motor driver fixed support, left front end cap, left back end cap, locating piece are cloudy, locating piece sun structure Into.The left box body balustrade deching, left box body bottom cover plate, left box body cover board of front end, left box body rear end tails lid Plate, left box body outer handle, left box body rear end tails handle and left box body front end handle are looped around left box body respectively Surrounding relevant position, form the semi-enclosed structure of an entirety.The left box body upper cover plate and left box body inside cover plate For movable members, after the parts inside left box body install, the two is fixed on left box body upper surface respectively And inner side end.Four circular holes of different sizes are distributed with left box body upper cover plate lower right position vertically, for realizing car body Integral sealed cabling designs and function that is mechanical and being electrically isolated.The left box body motor and decelerator support member It is fixed on through screw inside left box body, is built into a kind of cage structure, the support motor and decelerator that can not only stablize Car body tension and compression strength can also be improved, left box body motor is placed in the cage structure with decelerator.Left box body Motor driver fixed support is fixed on left box body inside chassis side protruding parts, left box body motor driver through screw It is fixedly installed in through screw on left box body motor driver fixed support.Left box body decelerator hold-down support upper end is fixed on On the mounting flange of left box body decelerator, bottom is fixed on left box body motor and decelerator support member through screw, For realizing the fixation and positioning of left box body decelerator.The left front end cap is located at left box body front output shaft and left box body The outer fix that balustrade deching is in contact, left back end cap are located at left box body rear output shaft and are in contact with left box body balustrade deching Outer fix, left front end cap and left back end cap use dynamic and static double containment with the output shaft position that is in contact, so as to realize left car Box house and car body external environment condition are kept apart.The left box body opens up at it with the upper surface that left box body upper cover plate contacts There is rectangular seal groove, ring packing groove opened up centered on output shaft in itself and left front end cap and left back end cap junction, It is real by the rubber o-ring arranged in sealed groove when it is connected with left box body upper cover plate, left front end cap and left back end cap The overall static seal of existing car body.Left box body front output shaft with left front cover plate be in contact position and left box body output rear axle with The left back cover plate opening position that is in contact offers ring packing groove, and for placing rubber o-ring, it is close to realize that car body rotatably moves Envelope.It is finally reached the purpose of whole car body totally enclosed type sealing.
The left box body rear end tails handle has been vertically arranged one group with left box body front end handle side position and led to Hole, right box body rear end tails handle have similarly been vertically arranged one group of through hole with right box body front end handle side position, After when left and right two, box body module is stitched together, the through hole pair on left and right box body front end handle and rear end tails handle Positive alignment, bolt coordinate through the through hole with nut, realize the rapid and convenient splicing of left and right box body.In left box body bottom cover Plate is in contact with left box body inside cover plate in the middle part of the chassis of position, locating piece the moon is mounted with through screw, in right box body Bottom cover plate is in contact with right box body inside cover plate in the middle part of the chassis of position, and locating piece sun is mounted with through screw.Positioning Block sun is a band bulge-structure, and cloudy locating piece is a band sunk structure, and three groups are distributed with locating piece sun and locating piece the moon The screwed hole being distributed vertically, divide when locating piece male bosses and be combined together with locating piece the moon sunk part, left and right box body pair Just fit together, then tighten locating piece sun with locating piece the moon through screw.Through handle side through hole bolts and nuts with And the quick splicing of left and right box body is realized in the dual fixation of locating piece male and female.
The left box body motor is arranged vertically at left railway carriage after together with left box body decelerator fixing assembling Body motor and left box body decelerator support member are built inside the cage structure of composition.Left box body decelerator hold-down support For "convex" shaped shape, fixation flange aperture of its upper end through left box body decelerator is fixed on left box body decelerator, its bottom End is fixed on left box body bottom plate, realizes the fixation and positioning of left box body motor and decelerator.Before left box body Output shaft is fixedly mounted on bearing spider after running through left box body decelerator, and left railway carriage daughter output rear axle and left box body are defeated Go out that front axle is parallel to be fixed on bearing spider, left box body front output shaft and the equal one end of left box body rear output shaft are fixedly mounted left Box body synchronous pulley, one end are fixedly mounted wheel-type permanent-magnet absorbing unit, left railway carriage are tensioned between two left box body synchronous pulleys Body timing belt, so as to which the power of left box body motor output and torque are delivered on left box body output rear axle, so as to real The synchronized rotation of the existing unilateral magnet-wheel of car body two, realize the four-wheel four-drive form of whole car body.
The wheel-type permanent-magnet absorbing unit is mainly by annular permanent magnet, outside magnetic conduction heel piece, inner side magnetic conduction heel piece, positioning Set, magnet-wheel outer rubber are formed.The annular permanent magnet is by strong magnetic material(Such as neodymium iron boron)It is prepared, for providing strong magnetic Environment, and use axial charging mode.Outside magnetic conduction heel piece is column " mountain " character form structure, during central shaft is round outside but spuare inside Hollow structure, for magnetic wheel driven automatic scan and assembling, and outside magnetic conduction heel piece medial surface has four annular array screwed holes, outer for coordinating The screwed hole of side magnetic conduction heel piece side four, which is realized in magnet-wheel assembling process, is positioned at fixation.Inner side magnetic conduction heel piece is column " king " Character form structure, wherein heart position be equally fixed with a round outside but spuare inside quill shaft, for magnet-wheel assemble and drive.Inner side magnetic conduction Yoke medial surface has the different annular array hole of two groups of radiuses, and that larger group annular array hole of radius is used to realize annular forever The dismounting and maintenance of magnet, that less group annular array hole of radius, for realizing outside magnetic conduction heel piece and interior by screw The fixation and positioning of side magnetic conduction heel piece, outside magnetic conduction heel piece and inner side magnetic conduction heel piece are by high-permeability material(Such as silicon steel, iron nickel Alloy)It is prepared, plays a part of dredging and gather magnetic induction line.The positioning sleeve is that member is positioned made of non-permeable material Part, its one end are enclosed on the round outside but spuare inside axle of outside magnetic conduction heel piece center, and it is cylindrical interior that the other end is enclosed on inner side magnetic conduction heel piece Square shaft it is cylindrical on, for ensureing the axiality of outside magnetic conduction heel piece and inner side magnetic conduction heel piece.The annular permanent magnet is embedded in In groove between outside magnetic conduction heel piece and inner side magnetic conduction heel piece, inner and outer magnetic conduction heel piece wraps annular permanent magnet body side surface And the face of cylinder.Outside magnetic conduction heel piece is fixed together through shaft end screw with magnetic wheel driven automatic scan axle, outside yoke and inner side magnetic conduction heel piece Fixed and tightened through screw by the screwed hole of respective side.Magnet-wheel outer rubber is coated on outside magnetic conduction heel piece and inner side conductive magnetic yoke On iron outer surface, avoid producing the situation for being coated on and causing the demagnetization of permanent magnet high temperature on permanent magnet, magnet-wheel outer rubber is used for increasing Big magnet-wheel frictional force, prevents magnet-wheel from occurring skidding in rotation process, realizes climbing robot on magnetic conduction wall flexibly It is mobile.
When the sandwich wheel-type permanent-magnet absorbing unit works, the magnetic induction line of annular permanent magnet flows out from N poles, through outside magnetic conduction Yoke is dredged gather after, through magnetic conductivity wall, flow through inner side magnetic conduction heel piece, finally flow back to annular permanent magnet S poles, form and close Magnetic strength line loop is closed, magnetic strength line use ratio is improved, increases absorption affinity of the climbing robot on magnetic conduction wall.Avoid magnetic There is skidding in rotation process in wheel, realizes climbing robot flexibly creeping on magnetic conductivity wall.
Designed based on modularized car body, climbing robot is designed as two separate, symmetrical car body modules. Two car body module appearance and sizes and internal structure connect plane using both and are arranged symmetrically as symmetry axis, and two module room machines With electrically it is completely isolated, be provided simultaneously with independent dustproof and waterproof function.When running into narrow and small restricted clearance, the robot is torn open Unload, transport, be easy to assembly quick.Different mechanical arms can be selectively carried according to different mission requirements, changed conveniently.Module Change the portability that design concept improves climbing robot, be easy to pass through small space(Such as pass through oil tank outer surface circular hole), carry High its adaptability and operating efficiency.
The wheel-type permanent-magnet absorbing unit uses interlayer structure.The side and the face of cylinder of annular permanent magnet are by the magnetic conduction of both sides Yoke fully wraps up, and leaves the air gap of one fixed width on the face of cylinder of permanent magnet, forms a kind of interlayer structure.Annular permanent magnet Its magnetic induction line flows through outside magnetic conduction heel piece, through after magnetic conductivity wall, flows through inner side magnetic conduction heel piece, finally flow back to from N poles Annular permanent magnet S poles.The sandwich type structural makes annular permanent magnet magnetic induction line gather together, and magnetic induction line is passed through magnetic conductivity wall Closed-loop path is formed, the utilization rate of annular permanent magnet magnetic induction line is substantially improved, climbing robot is more firmly adsorbed and leading On magnetic wall.
The robot integrally uses four-wheel four-drive forms of motion, and the unilateral magnet-wheel of car body two rotates at the same speed.The robot or so Both sides gear unit uses toothed belt transmission, and car body motor is delivered to car body after decelerator slows down, by power and torque On front output shaft.Car body front output shaft and car body rear output shaft parallel arrangement, and car body synchronous pulley is fixedly mounted in one end, separately Wheel-type permanent-magnet absorbing unit is fixedly mounted in one end.Car body timing belt is tensioned between two car body synchronous pulleys, so as to be exported before car body Power and torque on axle are delivered on car body rear output shaft, so as to realize the synchronized rotation of the same magnet-wheel of side body two, the left and right sides It is driven identical, realizes the four-wheel four-drive forms of motion of whole car body.
Car body uses integral seal, and it is close that left box body at it with the upper surface that left box body upper cover plate contacts opens up rectangle Groove is sealed, ring packing groove is opened up centered on output shaft in itself and drive end bearing bracket and rear end cap junction, when itself and left railway carriage Realize that the entirety of car body is quiet close by the rubber o-ring arranged in sealed groove when body upper cover plate, drive end bearing bracket connect with rear end cap Envelope.Drive end bearing bracket inside the drive end bearing bracket and rear end cap of front output shaft, rear end cap and rear output shaft relative rotation position with offering Ring packing groove, for placing rubber o-ring, the rotary dynamic sealing of car body is realized, is finally reached whole car body totally enclosed type The purpose of sealing.Overall static seal and rotary dynamic sealing make climbing robot vehicle body and external environment completely isolated, make Good sealing can still be kept in Quick-climbing on magnetic conductivity wall by obtaining robot, realize robot in adverse circumstances Under normal operation.
The wheeled magnetic adsorption wall climbing robot of the modularization, specifically include two separate car body modules and four groups of structures Identical wheel-type permanent-magnet absorbing unit.The car body module is broadly divided into left body module and right body module, the two structure base This is identical, and appearance and size and internal structure by the two be connected plane centered on be arranged symmetrically, wherein left body module master Will be by left box body, left box body motor 103, left box body motor driver, left box body decelerator 101, left railway carriage Body front output shaft, left box body timing belt 106, left box body synchronous pulley 109 and 111, the left structure of box body rear output shaft 104 Into.
The left box body is mainly by left box body upper cover plate, left box body balustrade deching, left box body bottom cover plate, a left side Box body inside cover plate, left box body cover board of front end, left box body rear end tails cover plate, left box body outer handle 102, left car Box back afterbody handle 107, left box body front end handle, left box body motor 103 and left box body decelerator 101 Support member, the left hold-down support of box body decelerator 101, left box body motor driver support fixed support, left front end cap, left back end Lid, locating piece the moon 110, locating piece sun 119 are formed.The left box body balustrade deching, left box body bottom cover plate, left box body Cover board of front end, left box body rear end tails cover plate, left box body outer handle, left box body rear end tails handle and left box body Front end handle is arranged in left box body surrounding, forms an integrally closed structure.The left box body upper cover plate and a left side Box body inside cover plate is fixedly mounted on left box body upper surface and inner side end through screw.The left box body upper cover plate lower right corner Position is vertically arranged four waterproof anti-explosion plug holes of different sizes, for realizing the design of car body integral sealed cabling and machine The function that tool is electrically isolated.The left box body motor 103 and the left support member of box body decelerator 101 are fixed through screw Inside left box body, a kind of cage structure is formed, motor 103 and decelerator 101 are positioned over inside cage, can not only Stable support motor and decelerator can also improve car body strengths in tension and compression.Left box body motor driver supports fixed support Left box body inside chassis side protruding parts is fixed on through screw, left box body motor driver is fixedly installed in a left side through screw On box body motor driver support fixed support.Left box body decelerator hold-down support upper end is fixed on left box body decelerator Mounting flange on, bottom is fixed in left box body bottom cover plate through screw, for realizing the fixation of left box body decelerator With positioning.The left front end cap is located at the outer fix that left box body front output shaft is in contact with left box body side cover plate, left back End cap be located at the outer fix that left box body rear output shaft is in contact with left box body side cover plate, left front end cap and left back end cap with The output shaft position that is in contact uses sound double containment, so as to realize inside left box body and the isolation of left box body external environment condition Open.The left box body opens up rectangular seal in the upper surface that it is contacted with left box body upper cover plate and side cover plate and side end face Groove, ring packing groove is opened up centered on output shaft in itself and left front end cap and left back end cap junction, when itself and left car Car body is realized by the O-ring arranged in sealed groove when box cover plate, side cover plate, left front end cap connect with left back end cap Overall static seal.Rear axle is exported with left back cover plate be in contact position and left box body of left front cover plate in left box body front output shaft The position that is in contact offers ring packing groove, for placing rubber o-ring, realizes the rotary dynamic sealing of car body.Finally reach To the purpose of whole car body totally enclosed type sealing.
The left box body rear end tails handle 107 has been vertically arranged one with left box body front end handle upper side position Group through hole, right box body rear end tails handle 107 have similarly been vertically arranged with right box body front end handle upper side position One group of through hole, after box body module is stitched together when left and right two, positioned at left and right box body front end handle and rear end tails handle Through hole on 107 aligns alignment, and bolt coordinates through the through hole with nut, realizes the rapid and convenient splicing of left and right box body. Left box body bottom cover plate is in contact with left box body inside cover plate in the middle part of the chassis of position, and locating piece is mounted with through screw The moon 110, it is in contact in right box body bottom cover plate with right box body inside cover plate in the middle part of the chassis of position, through screw installation fixation There is locating piece sun 119.The locating piece sun 119 is a band bulge-structure, and locating piece the moon 110 is a band sunk structure, is being positioned Three groups of screwed holes being distributed vertically are distributed with block sun 119 and locating piece the moon 110, when positive 119 bossings of locating piece are with positioning Block 110 sunk parts of the moon are combined together, and left and right box body, which aligns, to be fitted together, then by locating piece sun 119 and are determined through screw Position block the moon 110 is screwed together.Bolts and nuts and locating piece sun 119 through handle side through hole realizes a left side with the moon 110 The quick splicing of right box body.
After the left box body motor 103 and left box body decelerator 101 are fixed on together, it is arranged vertically at Left box body motor and left box body decelerator support member 105 are built inside the cage structure of composition.Left box body slows down Device hold-down support 108 is a "convex" shaped shape, and fixation flange aperture of its upper end through left box body decelerator is fixed on left railway carriage 101 on body decelerator, its bottom is fixed in left box body bottom cover plate, realizes consolidating motor 103 and decelerator 101 Fixed and positioning.Left box body front output shaft is fixedly mounted on bearing spider after running through left box body decelerator 101, left railway carriage Body exports rear axle 104 and left box body and exports that front axle is parallel to be fixed on bearing spider, left box body front output shaft and left railway carriage Left box body synchronous pulley 109 and 111 is fixedly mounted in 104 equal one end of body rear output shaft, and wheel-type permanent-magnet absorption is fixedly mounted in one end Unit 210 and 220, left box body timing belt 106 is tensioned between two left box body synchronous pulleys 109 and 111, so as to by left railway carriage The power and torque of body motor output are delivered on left box body output rear axle 104, so as to realize the unilateral magnet-wheel 210 of car body two With 220 synchronized rotation, realize the four-wheel four-drive form of whole car body.
The wheel-type permanent-magnet absorbing unit is mainly by annular permanent magnet 217, outside magnetic conduction heel piece 211, inner side magnetic conduction heel piece 213rd, positioning sleeve 219 and magnet-wheel outer rubber 212 are formed.The annular permanent magnet 217 is by strong magnetic material(Such as neodymium iron boron) The cyclic structure being prepared, and axial charging mode is taken, the annular permanent magnet is used to provide the strong magnetic for producing absorption affinity Environment.Outside magnetic conduction heel piece 211 is column " mountain " character form structure, and heart position is fixed with for magnetic wheel driven automatic scan and assembling wherein Round outside but spuare inside quill shaft, and the medial surface of outside magnetic conduction heel piece 211 has four annular array screwed holes, for coordinating inner side conductive magnetic yoke Iron 213 side four screwed hole realizes the assembling of magnet-wheel.Inner side magnetic conduction heel piece 213 is column " king " character form structure, wherein the heart Position is equally fixed with a round outside but spuare inside quill shaft, assembles and drives for magnet-wheel.The medial surface of inner side magnetic conduction heel piece 213 has two groups The different annular array hole of radius, that larger group annular array hole 214 of radius be used to realizing the dismounting of annular permanent magnet with Safeguard, that less group annular array hole 215 of radius, for realizing outside magnetic conduction heel piece 211 and inner side magnetic conduction by screw The fixation and positioning of yoke 213, outside magnetic conduction heel piece 211 and inner side magnetic conduction heel piece 213 are by high-permeability material(As silicon steel, Iron-nickel alloy)It is prepared, plays a part of dredging and gather magnetic induction line.The positioning sleeve 219 is one by non-permeable material system Into setting element, one part be enclosed on outside 211 round outside but spuare inside axle of magnetic conduction heel piece it is cylindrical on, hold out against outside magnetic conduction heel piece, Another part be enclosed on inner side 213 round outside but spuare inside axle of magnetic conduction heel piece it is cylindrical on, for ensureing outside magnetic conduction heel piece and inner side magnetic conduction The axiality of yoke.The annular permanent magnet 217 is embedded in recessed between outside magnetic conduction heel piece 211 and inner side magnetic conduction heel piece 213 In groove, inner and outer magnetic conduction heel piece wraps the side of annular permanent magnet 217 and the face of cylinder.Outside magnetic conduction heel piece 211 is through shaft end Screw is fixed together with magnetic wheel driven automatic scan axle 216, the screw thread that outside yoke 211 and inner side magnetic conduction heel piece 213 pass through respective side Hole is fixed through screw and tightened.Magnet-wheel outer rubber 212 is coated on outside magnetic conduction heel piece 211 and the outer surface of inner side magnetic conduction heel piece 213 On, avoid producing the situation for being coated on and causing the demagnetization of permanent magnet high temperature on permanent magnet, magnet-wheel outer rubber 212 is used for increasing magnet-wheel Frictional force, prevent magnet-wheel from occurring skidding in rotation process, realize that climbing robot flexibly moves on magnetic conduction wall.

Claims (6)

1. a kind of wheeled magnetic adsorption wall climbing robot of modularization, it is characterized in that:Including two separate car body modules and four Group structure identical wheel-type permanent-magnet absorbing unit, described two separate car body modules are divided into left body module and right body Module, the two structure is identical, and profile and internal structure by the two be connected plane centered on be arranged symmetrically, wherein left body Module is by the left box body motor in left box body(103)Pass through left box body motor driver, left box body decelerator (101)It is connected with left box body front output shaft, left box body front output shaft passes through left box body timing belt(106), left box body Synchronous pulley(109 、111)With left box body rear output shaft(104)Connect and compose.
2. the wheeled magnetic adsorption wall climbing robot of a kind of modularization according to claim 1, it is characterized in that:The left box body By left box body upper cover plate, left box body balustrade deching, left box body bottom cover plate, left box body inside cover plate, left box body Cover board of front end, left box body rear end tails cover plate, left box body outer handle(102), left box body rear end tails handle (107), left box body front end handle, left box body motor(103)With left box body decelerator(101)Support member, left car Casing decelerator(101)Hold-down support, left box body motor driver support fixed support, left front end cap, left back end cap, positioning Block is cloudy(110), locating piece sun(119)Form;
The left box body balustrade deching, left box body bottom cover plate, left box body cover board of front end, left box body rear end tails lid Plate, left box body outer handle, left box body rear end tails handle and left box body front end handle are arranged in left box body Surrounding, form an integrally closed structure;The left box body upper cover plate and left box body inside cover plate are fixed through screw pacifies On left box body upper surface and inner side end;Left box body upper cover plate lower right position be vertically arranged four it is of different sizes Waterproof anti-explosion plug hole, for car body integral sealed cabling and machinery with electrically be isolated;
The left box body motor(103)With left box body decelerator(101)Support member is fixed on left box body through screw Inside, a kind of cage structure is formed, by motor(103)And decelerator(101)It is positioned over inside cage, can not only stablizes Support motor and decelerator can also improve car body strengths in tension and compression,
Left box body motor driver support fixed support is fixed on left box body inside chassis side protruding parts through screw, left Box body motor driver is fixedly installed on left box body motor driver support fixed support through screw, and left box body slows down Device hold-down support upper end is fixed on the mounting flange of left box body decelerator, and bottom is fixed on left box body bottom cover through screw On plate, for realizing the fixation and positioning of left box body decelerator, the left front end cap is located at left box body front output shaft and a left side The outer fix that box body side cover plate is in contact, left back end cap are located at left box body rear output shaft and connected with left box body side cover plate Tactile outer fix.
3. the wheeled magnetic adsorption wall climbing robot of a kind of modularization according to claim 2, it is characterized in that:The left box body Left front end cap and left back end cap with the output shaft position that is in contact be sound double containment, for realize inside left box body with left car Casing external environment condition is kept apart;I.e. left box body is in the upper surface and side end face that it is contacted with left box body upper cover plate and side cover plate Rectangular seal groove is opened up, ring packing ditch is opened up centered on output shaft in itself and left front end cap and left back end cap junction Groove, its connection with left box body upper cover plate, side cover plate, left front end cap and left back end cap, passes through the O shapes arranged in sealed groove Circle realizes the overall static seal of car body;After left box body front output shaft is in contact position and the output of left box body with left front cover plate Axle offers ring packing groove with the left back cover plate position that is in contact, and for placing rubber o-ring, realizes that car body rotatably moves Sealing, reaches the fully closed sealing of whole car body.
4. the wheeled magnetic adsorption wall climbing robot of a kind of modularization according to claim 2, it is characterized in that:The left box body Rear end tails handle(107)One group of through hole has been vertically arranged with left box body front end handle upper side position, after right box body Hold afterbody handle(107)One group of through hole is similarly vertically arranged with right box body front end handle upper side position, for a left side Right two box body modules are stitched together, positioned at left and right box body front end handle and rear end tails handle(107)On through hole pair Positive alignment, bolt coordinate through the through hole with nut, realize the rapid and convenient splicing of left and right box body;In left box body bottom cover Plate is in contact with left box body inside cover plate in the middle part of the chassis of position, and locating piece the moon is fixed with through screw(110), in right box body Bottom cover plate is in contact with right box body inside cover plate in the middle part of the chassis of position, and locating piece sun is mounted with through screw(119); The locating piece sun(119)It is cloudy for a band bulge-structure, locating piece(110)It is positive in locating piece for a band sunk structure(119)With Locating piece is cloudy(110)On three groups of screwed holes being distributed vertically are distributed with, for locating piece sun(119)Bossing is cloudy with locating piece (110)Sunk part is combined together, and is aligned left and right box body and is fitted together, then through screw that locating piece is positive(119)With Locating piece is cloudy(110)It is tightened to together;Through bolts and nuts and the locating piece sun of handle side through hole(119)With determining Position block is cloudy(110)Combination connection, for realizing the quick splicing of left and right box body.
5. the wheeled magnetic adsorption wall climbing robot of a kind of modularization according to claim 1, it is characterized in that:The left box body Motor(103)With left box body decelerator(101)After being fixed together, left box body motor and a left side are arranged vertically at Box body decelerator support member(105)Build inside the cage structure of composition;Left box body decelerator hold-down support(108)For one "convex" shaped shape, fixation flange aperture of its upper end through left box body decelerator are fixed on left box body decelerator(101), its Bottom is fixed in left box body bottom cover plate, for realizing motor(103)With decelerator(101)Fixation with it is fixed Position;Left box body front output shaft runs through left box body decelerator(101)It is fixed on bearing spider, left railway carriage daughter exports rear axle (104)Front axle is parallel is fixed on bearing spider with the output of left box body, is exported after left box body front output shaft and left box body Axle(104)Left box body synchronous pulley is fixed in equal one end(109、111), wheeled permanent magnetic suck unit is fixed in one end(210、220), Two left box body synchronous pulleys(109、111)Between be tensioned left box body timing belt(106), for by left box body motor The power and torque of output are delivered to left box body output rear axle(104)On, realize the unilateral magnet-wheel of car body two(210、220)It is synchronized Rotate, realize the four-wheel four-drive form of whole car body.
6. the wheeled magnetic adsorption wall climbing robot of a kind of modularization according to claim 5, it is characterized in that:The wheel-type permanent-magnet Absorbing unit is by annular permanent magnet(217), outside magnetic conduction heel piece(211), inner side magnetic conduction heel piece(213), positioning sleeve(219)And magnetic Take turns outer rubber(212)Form, the annular permanent magnet(217)By strong magnetic material:The cyclic structure that neodymium iron boron is prepared, The cyclic structure is axial charging state, and the annular permanent magnet is used to provide the strong magnetic environment for producing absorption affinity;Lead in the outside Magnetic vibrating feeder yoke(211)For column " mountain " character form structure, heart position is fixed with for the round outside but spuare inside of magnetic wheel driven automatic scan and assembling wherein Quill shaft, and outside magnetic conduction heel piece(211)Medial surface has four annular array screwed holes, for coordinating inner side magnetic conduction heel piece (213)The screwed hole of side four realizes the assembling of magnet-wheel;Inner side magnetic conduction heel piece(213)For column " king " character form structure, wherein Heart position is equally fixed with a round outside but spuare inside quill shaft, assembles and drives for magnet-wheel;Inner side magnetic conduction heel piece(213)Medial surface has The different annular array hole of two groups of radiuses, that larger group annular array hole of radius(214)For realizing annular permanent magnet Dismounting and maintenance, that less group annular array hole of radius(215), for realizing outside magnetic conduction heel piece by screw(211) With inner side magnetic conduction heel piece(213)Fixation and positioning, outside magnetic conduction heel piece(211)With inner side magnetic conduction heel piece(213)By high magnetic Conductivity material:Silicon steel, iron-nickel alloy are prepared, and play a part of dredging and gather magnetic induction line, the positioning sleeve(219)For one by Setting element made of non-permeable material, one part are enclosed on outside magnetic conduction heel piece(211)Round outside but spuare inside axle it is cylindrical on, top Tight outside magnetic conduction heel piece, another part are enclosed on inner side magnetic conduction heel piece(213)Round outside but spuare inside axle it is cylindrical on, for ensure outside lead The axiality of magnetic vibrating feeder yoke and inner side magnetic conduction heel piece;The annular permanent magnet(217)It is embedded in outside magnetic conduction heel piece(211)With inner side Magnetic conduction heel piece(213)Between groove in, inner and outer magnetic conduction heel piece wraps annular permanent magnet(217)Side and cylinder Face;Outside magnetic conduction heel piece(211)Through shaft end screw with magnetic wheel driven automatic scan axle(216)It is fixed together, outside yoke(211)And inner side Magnetic conduction heel piece(213)Fixed and tightened through screw by the screwed hole of respective side;It is coated on outside magnetic conduction heel piece(211)And inner side Magnetic conduction heel piece(213)Magnet-wheel outer rubber on outer surface(212), for the situation generation for avoiding permanent magnet high temperature from demagnetizing, and Prevent magnet-wheel from occurring skidding in rotation process.
CN201621480122.6U 2016-12-30 2016-12-30 A kind of wheeled magnetic adsorption wall climbing robot of modularization Withdrawn - After Issue CN206663223U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106514609A (en) * 2016-12-30 2017-03-22 洛阳圣瑞智能机器人有限公司 Modular wheel type magnetic-attraction wall-climbing robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106514609A (en) * 2016-12-30 2017-03-22 洛阳圣瑞智能机器人有限公司 Modular wheel type magnetic-attraction wall-climbing robot
CN106514609B (en) * 2016-12-30 2019-03-05 洛阳圣瑞智能机器人有限公司 A kind of wheeled magnetic adsorption wall climbing robot of modularization

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