CN207089479U - A kind of magnetic structure and climbing device beneficial to crawler belt absorption transmission - Google Patents
A kind of magnetic structure and climbing device beneficial to crawler belt absorption transmission Download PDFInfo
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- CN207089479U CN207089479U CN201720577916.2U CN201720577916U CN207089479U CN 207089479 U CN207089479 U CN 207089479U CN 201720577916 U CN201720577916 U CN 201720577916U CN 207089479 U CN207089479 U CN 207089479U
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- permanent magnet
- vehicle frame
- magnetic
- crawler belt
- yoke
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Abstract
The utility model discloses a kind of magnetic structure and climbing device beneficial to crawler belt absorption transmission, climbing device, including vehicle frame, crawler driving whell, permanent magnetic suck crawler belt, crawler belt driven pulley and motor, permanent magnetic suck crawler belt is made up of the link of some grouser shoe assemblies, grouser shoe permanent magnet is provided with grouser shoe assembly, vehicle frame permanent magnet is provided with vehicle frame, relative to the magnetic conduction scope of operation, the magnetic line of force outer circulation of both grouser shoe permanent magnet and vehicle frame permanent magnet is folded and collective effect is in the magnetic conduction scope of operation；Between grouser shoe permanent magnet and vehicle frame permanent magnet, identical charges repel each other sets for magnetic pole, and grouser shoe permanent magnet can produce a pair of repulsive forces acted on along moving direction in opposite direction equal in magnitude in into or out vehicle frame permanent magnet.The utility model permanent magnet arrangement is ingenious, by increasing capacitance it is possible to increase magnetic force and can enough forms the magnetic line of force and offseted, and reduces the negative influence to motor work.Its is simple in construction, good reliability, climbs efficiency high.
Description
Technical field
Robotic technology field is the utility model is related to, more particularly to one kind can move on large scale equipment magnetic conduction surface
Be beneficial to crawler belt absorption transmission magnetic structure and climbing device.
Background technology
Climbing robot, which can substitute, manually carries out climbing operation, and can provide fixed operation for follow-up operation and put down
Platform, effectively solves the problem of currently associated industry work high above the ground danger coefficient is high, and efficiency is low.
All there is larger difference in the structural principle and ground running mechanism of climbing robot, its operation in function and structure
When gravity need to be overcome to influence, different motor patterns need to be taken according to different scope of operation features.Be directed to current China's wind-powered electricity generation,
Thermoelectricity, oil-gas pipeline, large scale equipment detection and the climbing job requirements of maintenance, climbing device need to be horizontal or vertical along equipment wall surface
Directly creep, therefore absorption affinity for climbing device and reliability have higher requirement.
The surfaces such as wind tower tower, apparatus of thermo-electric power boiler, oil-gas pipeline, large-scale hull, tank body are detected at present in China
During with upkeep operation, the height of all kinds of required maintenance equipments is general higher, and the mostly less arc surface of plane or curvature.
It is reported that such as equipment detection of the equipment line service of the industry such as the current electric power in China, oil is imaged, equipment fault is reconnoitred,
During corrective maintenance is safeguarded, typically carried and by installing Abseiling device by manually carrying out lifting upkeep operation, and possessed by worker
The detection device or accessory of constant weight, then need to carry out operation using equipment such as pulley, electric block, cranes, not only
Waste time and energy, risk is larger, and less efficient.
Being shown from data disclosed in existing Chinese patent, permanent magnetism crawler belt appears in 1998 for the first time,
CN98110551.3《Automatically moving X-ray flaw detector for welded seam of ship tank》, flaw detection main frame be flexible coupling by hinge formula on movable machine frame forever
Magnetic crawler belt attractive chain is driven climbing mechanism；The patent application document relevant with climbing and magnetic force discloses plants related skill more 50
Art.
Such as Changchun University of Science and Technology CN201310528724.9《A kind of magnetic force climbing car》, magnetic is installed on the magnetic suction disc
Body, for magnetic force climbing car to be adsorbed to the tower wall made of ferrous materials in the tower to be climbed by magnetic force.
Zhejiang Polytechnical University CN201610299159.7《A kind of self-driving type permanent magnetism runner suitable for wall adsorption climbing》,
Including wheel hub, toroidal magnet and stator shaft core, annular magnetic patch, stator shaft core are co-axially mounted in described wheel hub, and stator shaft core is passed through
The centre bore of described annular magnetic patch is worn, the both ends of stator shaft core are stretched out from the central through hole of wheel hub forms installation end；Wheel hub
Including solid tire, left wheel hub and right wheel hub, left wheel hub and the opposite affixed center for forming the annular magnet-wheel of receiving of right wheel hub
Cavity, solid tire are enclosed on wheel hub outer ring；Stator shaft core includes dead axle, coil winding, left claw disk and right pawl disk, left claw
Disk, right pawl disk, which cooperate, to be arranged on described dead axle, and is formed annular claw under the constraint of the dead axle shaft shoulder and circled or whirl in the air chamber.The present invention
Beneficial effect be：Realize that magnet-wheel voluntarily operates in the case where not installing external drive additional；A kind of magnet of multiaction power is proposed,
The loop configuration of magnet-wheel inner magnet, driving force is internally provided, absorption affinity is externally provided, absorption climbing can be realized to wall.
Nanchang Institute Of Technology CN201610379710.9《The climbing cleaning robot of adsorbent equipment and the application adsorbent equipment
People》The inside of sleeve is sequentially provided with the first electromagnet, magnetic sheet, sliding shoe and the second electromagnet, above-mentioned adsorbent equipment from top to bottom
Adsorption capacity is strong, and adsorbs and depart from switching simple and fast, is easy to practical.
It is seen that the application of permanent magnetism crawler belt and permanent magnetism caterpillar robot is constantly expanding from the public technology of correlation.
The utility model is also to be engaged in the research and development in this direction.Especially for the permanent magnet in climbing device, one kind is designed
It is superimposed and is amplified by the magnetic line of force so that crawler belt can produces firm absorption affinity with stronger magnetic force, will be master of the present utility model
The avatar of creative work is wanted, so as to realize the utility model purpose.
Utility model content
For the maintenance and detection operation demand to equipment surface domestic at present, devise a kind of be superimposed by the magnetic line of force and put
Greatly so that crawler belt can produce firm absorption affinity with stronger magnetic force, and the crawler belt that is beneficial to that can be quickly climbed along the magnetic conduction scope of operation is inhaled
The magnetic structure and climbing device of attached transmission.The device has that Stability Analysis of Structures is reliable, and climbing speed is fast, stable, loads energy
The characteristics of power is stronger.
One of technical solutions of the utility model：A kind of magnetic structure beneficial to crawler belt absorption transmission, including on crawler belt
Mobile grouser shoe permanent magnet and fixed vehicle frame permanent magnet on vehicle frame, grouser shoe permanent magnet and vehicle frame permanent magnet
Magnetic pole is arranged to：Relative to the magnetic conduction scope of operation, the magnetic line of force outer circulation of both grouser shoe permanent magnet and vehicle frame permanent magnet is folded simultaneously
Collective effect is in the magnetic conduction scope of operation；Between grouser shoe permanent magnet and vehicle frame permanent magnet, magnetic pole identical charges repel each other set, crawler belt
Carrier bar permanent magnet can produce a pair and equal in magnitude in opposite direction be moved through in crawler belt in into or out vehicle frame permanent magnet
The repulsive force acted in degree.
Further, the grouser shoe permanent magnet is arranged in grouser shoe assembly by carrier bar yoke, vehicle frame permanent magnet
It is arranged on by vehicle frame permanent magnet yoke in vehicle frame, grouser shoe permanent magnet is moved to cross-section when below vehicle frame permanent magnet
State is relative one by one for the south poles of grouser shoe permanent magnet and the south poles of vehicle frame permanent magnet.
Further, the grouser shoe permanent magnet is arranged on the side yoke groove of carrier bar yoke by crawler belt permanent magnet retaining plate
In, the opposite side of carrier bar yoke is provided with silicone rubber plate, and silicone rubber plate contacts with the magnetic conduction scope of operation, and grouser shoe assembly includes silicon
Sheet rubber, carrier bar yoke, grouser shoe permanent magnet and crawler belt permanent magnet retaining plate.
Further, the vehicle frame permanent magnet is arranged on by main magnet cover plate in the side yoke groove of vehicle frame permanent magnet yoke,
The yoke notch of vehicle frame permanent magnet yoke is towards the magnetic conduction scope of operation.
The two of technical solutions of the utility model：A kind of permanent magnetic suck climbing device of crawler haulage, including vehicle frame, crawler belt drive
Driving wheel, permanent magnetic suck crawler belt, crawler belt driven pulley and motor, permanent magnetic suck crawler belt is by some grouser shoe assembly link-groups
Into, grouser shoe permanent magnet is provided with the grouser shoe assembly, is provided with vehicle frame permanent magnet in vehicle frame, grouser shoe permanent magnet and
The magnetic pole of vehicle frame permanent magnet is arranged to：Relative to the magnetic conduction scope of operation, the magnetic force of both grouser shoe permanent magnet and vehicle frame permanent magnet
Line outer circulation is folded and collective effect is in the magnetic conduction scope of operation；Between grouser shoe permanent magnet and vehicle frame permanent magnet, the magnetic pole same sex
Repel each other setting, grouser shoe permanent magnet in into or out vehicle frame permanent magnet, can produce a pair it is equal in magnitude in opposite direction
Crawler belt movement excessively in effect repulsive force.
Further, the grouser shoe permanent magnet is arranged in grouser shoe assembly by carrier bar yoke, vehicle frame permanent magnet
It is arranged on by vehicle frame permanent magnet yoke in vehicle frame, grouser shoe permanent magnet is moved to cross-section when below vehicle frame permanent magnet
State is relative one by one for the south poles of grouser shoe permanent magnet and the south poles of vehicle frame permanent magnet.
Further, the grouser shoe assembly includes silicone rubber plate, carrier bar yoke, grouser shoe permanent magnet and crawler belt permanent magnetism
Body fixed plate, grouser shoe permanent magnet are arranged on by crawler belt permanent magnet retaining plate in the side yoke groove of carrier bar yoke, carrier bar magnetic
The opposite side of yoke is provided with silicone rubber plate, and silicone rubber plate contacts with the magnetic conduction scope of operation.
Further, the vehicle frame includes vehicle frame permanent magnet yoke and two pieces of vehicle frames for being arranged on vehicle frame permanent magnet yoke both sides
Supporting plate, vehicle frame permanent magnet are arranged on by main magnet cover plate in the side yoke groove of vehicle frame permanent magnet yoke, vehicle frame permanent magnet magnetic
The yoke notch of yoke is towards the magnetic conduction scope of operation；The length of vehicle frame permanent magnet is the length on the permanent magnetic suck surface of permanent magnetic suck crawler belt
Degree.
Further, row's crawler tensioning machine is respectively equipped between vehicle frame permanent magnet yoke yoke groove both sides and vehicle frame supporting plate
Structure.
Further, the output shaft of the motor is arranged on the middle part of vehicle frame, and crawler driving whell and crawler belt driven pulley are set
Put at both ends.
Contain multiple carrier bars on the utility model permanent magnetic suck crawler belt, contain minitype permanent-magnet and yoke in each carrier bar.
Side of the vehicle frame in the climbing scope of operation is equipped with large-scale permanent magnet and yoke.Therefore, carrier bar magnetic field and car can be passed through
The magnetic field in frame magnetic field is set so that via magnetic conduction working face circulating after magnetic force superposition line amplification so that crawler belt can with compared with
Strong suction adsorption is on tower body wall.Meanwhile grouser shoe assembly can produce in just into or out vehicle frame permanent magnet
Raw a pair of repulsive forces acted on along moving direction in opposite direction equal in magnitude, this pair of repulsive forces can just cancel each other,
So as to not interfere with the driving of motor.Under motor and synchronous belt drive mechanism effect, it can guarantee that in the scope of operation
Even running so that whole device can quickly move forward along operation.
Equipped with the silicone rubber plate rationally designed on grouser shoe assembly so that whole moving process leaves no trace, stably without
Impact and do not damage the magnetic conduction scope of operation.The adhesive force of contact surface can be increased by the effect of magnetic force so that climbing moving process
Leave no trace, steadily without impact and do not damage climbing the scope of operation surface paint.
Link plate tensioning device is made up of row's roller, by the tensioning and support to carrier bar in the scope of operation, can strengthen carrying out
The structural strength and adsorption capacity of the close scope of operation side of band, lift the load capacity of whole device.
Synchronous pulley is installed on motor and reduction gearbox output shaft, and power is transferred to by crawler belt by timing belt and driven
On driving wheel.
Sum it up, the utility model permanent magnet arrangement is ingenious, magnetic line of force superposition can be formed and in outside ringing
Magnetic circuit in the magnetic conduction scope of operation, and can enough form the magnetic line of force and offset and internally act on, and reduce and motor work is disappeared
Pole influences.It is easy to by the large-scale permanent magnet fixed while crawler belt permanent magnetism weight is mitigated with crawler belt permanent magnet in yoke
Magnetic line of force guiding function ensures the load capacity of whole device.Its is simple in construction, good reliability, climbs efficiency high.Climbing is made
Industry carries out manually carrying out work high above the ground when safeguarding with detection operation, safe.
Brief description of the drawings
Fig. 1 is the structural representation of the permanent magnetic suck climbing device of crawler haulage of the present utility model；
Fig. 2 is the permanent magnetic suck caterpillar belt structure schematic diagram of the permanent magnetic suck climbing device of crawler haulage of the present utility model；
Fig. 3 is the grouser shoe assembly structure schematic diagram of permanent magnetic suck crawler belt of the present utility model；
Fig. 4 is the body frame structure for automotive schematic diagram of the permanent magnetic suck climbing device of crawler haulage of the present utility model；
Fig. 5 is the partial structural diagram of the permanent magnetic suck climbing device of crawler haulage of the present utility model；
Fig. 6 is magnetic structure schematic diagram of the present utility model.
Description of reference numerals：The magnetic conduction scope of operation 1, vehicle frame 2, crawler driving whell 3, permanent magnetic suck crawler belt 4, motor 5, carry out
Band driven pulley 6, grouser shoe assembly 7, silicone rubber plate 8, carrier bar yoke 9, grouser shoe permanent magnet 10, crawler belt permanent magnet retaining plate
11, vehicle frame supporting plate 12, main magnet cover plate 13, vehicle frame permanent magnet 14, vehicle frame permanent magnet yoke 15, track tension device 16, magnetic
The line of force 17.
Embodiment
Embodiment of the present utility model is described in detail below in conjunction with accompanying drawing, but the utility model can be by right
It is required that the multitude of different ways for limiting and covering is implemented.
Embodiment 1：
Fig. 1 is the structural representation of the permanent magnetic suck climbing device of the crawler haulage described according to the present embodiment.
As shown in figure 1, a kind of permanent magnetic suck climbing device of crawler haulage, including：It is adsorbed in the magnetic conduction scope of operation 1 forever
Magnetic suck crawler belt 4, permanent magnetic suck crawler belt 4 is arranged on crawler driving whell 3 and crawler belt driven pulley 6, by motor 5 via one
Crawler driving whell 3 is driven after group timing belt so that whole device can move forward along magnetic conduction operation 1.
Specifically, as shown in Figure 2, Figure 3, Figure 4, permanent magnetic suck crawler belt 4 is made up of multiple grouser shoe assemblies 7, crawler belt
Carrier bar assembly 7 contains grouser shoe permanent magnet 10 and carrier bar yoke 9, and grouser shoe permanent magnet 10 is one piece of less neodymium iron boron band
The strong magnetic of magnetic pole, is installed and fixed to carrier bar yoke 9 by crawler belt permanent magnet retaining plate 11.Installed in vehicle frame permanent magnet yoke 15
There is one piece of larger longer vehicle frame permanent magnet 14, vehicle frame permanent magnet 14 is also equally the neodymium iron boron band strong magnetic of magnetic pole, and install one piece
Main magnet cover plate 13 is fixed, while vehicle frame permanent magnet yoke 15 and two pieces of vehicle frame supporting plates 12 collectively form the bone of vehicle frame 2
Frame, and motor 5, crawler driving whell 3, crawler belt driven pulley 6 are attached on vehicle frame 2.
As shown in Figure 5, Figure 6, during the device operation, permanent magnetic suck crawler belt 4 passes through the crawler tensioning machine on vehicle frame 2
Structure 16 causes permanent magnetic suck crawler belt 4 to be tensioned so as to strengthen the transmission performance of its contact surface.Grouser shoe assembly 7 is in shuttling movement
During to vehicle frame 14 lower section of permanent magnet, its grouser shoe permanent magnet 10 can pass through with the vehicle frame permanent magnet 14 on vehicle frame 2
Vehicle frame permanent magnet yoke 15 and carrier bar yoke 9 so that simultaneously collective effect in the magnetic conduction scope of operation 1, makes both magnetic field superpositions
, can be with stronger magnetic-adsorption in the magnetic conduction scope of operation 1 when obtaining whole device below vehicle frame permanent magnet 14.Vehicle frame permanent magnet
14 length is the length on the permanent magnetic suck surface of permanent magnetic suck crawler belt 4.It is by the driving crawler driving whell 3 of motor 5
It may be such that whole device moves forward operation along in the magnetic conduction scope of operation.Equipped with the silicon rubber rationally designed on grouser shoe assembly 7
Piece 8, the air gap between grouser shoe and the scope of operation can be reduced under the plastic deformation of silicon rubber, increase the same of magnetic circuit absorption affinity
When whole moving process is left no trace, steadily without impact and infringement will not be produced to the surface of the magnetic conduction scope of operation 1.
Grouser shoe assembly 7 is when shuttling movement enters vehicle frame 14 magnetic line of force of permanent magnet simultaneously, due to the arrangement of its magnetic pole,
While magnetic line of force outer circulation is superimposed, grouser shoe permanent magnet 10 in grouser shoe assembly 7 and vehicle frame permanent magnet 14 can be because
For the magnetic pole principle that identical charges repel each other, grouser shoe permanent magnet 10 is at the magnetic field being prepared to enter into below vehicle frame permanent magnet 14, vehicle frame
The meeting of permanent magnet 14 with grouser shoe permanent magnet 10 to being produced along the reverse repulsive force in crawler travel direction, and grouser shoe permanent magnet
10 when preparing to exit the magnetic field below vehicle frame permanent magnet 14, and vehicle frame permanent magnet 14 equally can also produce to grouser shoe permanent magnet 10
The raw repulsive force positive along crawler travel direction, the two reverse and positive repulsive force just size equidirectionals are opposite and carrying out
Take and cancel out each other, so that driving force will not be influenceed by magnetic field repulses power, would not also influence the drive of motor 5
It is dynamic.
The present embodiment ensures the load capacity of whole device using permanent magnet and the magnetic circuit rationally designed.Permanent magnetic suck is climbed
Device reliable and stable can be adsorbed on tower body wall, and can quickly be moved along tower body wall.With the steady reliable nothing of operation
The advantages of impact, movement leave no trace, and operating efficiency is high, and load capacity is strong.
Obviously, above technology can carry out multiple technologies combination under the guiding of embodiment 1.Therefore, embodiment described above
Presently filed embodiment is only expressed, its description is more specific and detailed, but therefore can not be interpreted as to this practicality newly
The limitation of type scope.It should be pointed out that for the person of ordinary skill of the art, the utility model design is not being departed from
On the premise of, various modifications and improvements can be made, these belong to the scope of protection of the utility model.Therefore, this practicality
The protection domain of new patent should be determined by the appended claims.
Claims (10)
1. a kind of magnetic structure beneficial to crawler belt absorption transmission, it is characterised in that including the grouser shoe moved on crawler belt
Permanent magnet（10）With vehicle frame permanent magnet fixed on vehicle frame（14）, grouser shoe permanent magnet（10）With vehicle frame permanent magnet（14）
Magnetic pole be arranged to：Relative to the magnetic conduction scope of operation（1）, grouser shoe permanent magnet（10）With vehicle frame permanent magnet（14）Both magnetic force
Line outer circulation is folded and collective effect is in the magnetic conduction scope of operation（1）On；In grouser shoe permanent magnet（10）With vehicle frame permanent magnet（14）It
Between, magnetic pole identical charges repel each other set.
A kind of 2. magnetic structure beneficial to crawler belt absorption transmission according to claim 1, it is characterised in that the caterpillar chain
Plate permanent magnet（10）Pass through carrier bar yoke（9）Installed in grouser shoe assembly（7）In, vehicle frame permanent magnet（14）Pass through vehicle frame permanent magnetism
Body yoke（15）Installed in vehicle frame（2）In, grouser shoe permanent magnet（10）It is moved to vehicle frame permanent magnet（14）It is transversal during lower section
Surface state is grouser shoe permanent magnet（10）South poles and vehicle frame permanent magnet（14）South poles it is relative one by one.
A kind of 3. magnetic structure beneficial to crawler belt absorption transmission according to claim 2, it is characterised in that the caterpillar chain
Plate permanent magnet（10）Pass through crawler belt permanent magnet retaining plate（11）Installed in carrier bar yoke（9）Side yoke groove in, carrier bar yoke（9）
Opposite side silicone rubber plate is installed（8）, silicone rubber plate（8）With the magnetic conduction scope of operation（1）Contact, grouser shoe assembly（7）Including
Silicone rubber plate（8）, carrier bar yoke（9）, grouser shoe permanent magnet（10）With crawler belt permanent magnet retaining plate（11）.
A kind of 4. magnetic structure beneficial to crawler belt absorption transmission according to Claims 2 or 3, it is characterised in that the car
Frame permanent magnet（14）Pass through main magnet cover plate（13）Installed in vehicle frame permanent magnet yoke（15）Side yoke groove in, vehicle frame permanent magnet
Yoke（15）Yoke notch towards the magnetic conduction scope of operation（1）.
5. a kind of climbing device beneficial to crawler belt absorption transmission, including vehicle frame（2）, crawler driving whell（3）, permanent magnetic suck crawler belt
（4）, crawler belt driven pulley（6）And motor（5）, permanent magnetic suck crawler belt（4）By some grouser shoe assemblies（7）Link composition,
Characterized in that, the grouser shoe assembly（7）In be provided with grouser shoe permanent magnet（10）, vehicle frame（2）In be provided with vehicle frame permanent magnetism
Body（14）, grouser shoe permanent magnet（10）With vehicle frame permanent magnet（14）Magnetic pole be arranged to：Relative to the magnetic conduction scope of operation（1）, carry out
Belt chain plate permanent magnet（10）With vehicle frame permanent magnet（14）Both magnetic line of force outer circulations are folded and collective effect is in the magnetic conduction scope of operation（1）
On；In grouser shoe permanent magnet（10）With vehicle frame permanent magnet（14）Between, magnetic pole identical charges repel each other set.
A kind of 6. climbing device beneficial to crawler belt absorption transmission according to claim 5, it is characterised in that the caterpillar chain
Plate permanent magnet（10）Pass through carrier bar yoke（9）Installed in grouser shoe assembly（7）In, vehicle frame permanent magnet（14）Pass through vehicle frame permanent magnetism
Body yoke（15）Installed in vehicle frame（2）In, grouser shoe permanent magnet（10）It is moved to vehicle frame permanent magnet（14）It is transversal during lower section
Surface state is grouser shoe permanent magnet（10）South poles and vehicle frame permanent magnet（14）South poles it is relative one by one.
A kind of 7. climbing device beneficial to crawler belt absorption transmission according to claim 6, it is characterised in that the caterpillar chain
Plate assembly（7）Including silicone rubber plate（8）, carrier bar yoke（9）, grouser shoe permanent magnet（10）With crawler belt permanent magnet retaining plate
（11）, grouser shoe permanent magnet（10）Pass through crawler belt permanent magnet retaining plate（11）Installed in carrier bar yoke（9）Side yoke groove in,
Carrier bar yoke（9）Opposite side silicone rubber plate is installed（8）, silicone rubber plate（8）With the magnetic conduction scope of operation（1）Contact.
A kind of 8. climbing device beneficial to crawler belt absorption transmission according to claim 6 or 7, it is characterised in that the car
Frame（2）Including vehicle frame permanent magnet yoke（15）And two pieces be arranged on vehicle frame permanent magnet yoke（15）The vehicle frame supporting plate on both sides
（12）, vehicle frame permanent magnet（14）Pass through main magnet cover plate（13）Installed in vehicle frame permanent magnet yoke（15）Side yoke groove in, car
Frame permanent magnet yoke（15）Yoke notch towards the magnetic conduction scope of operation（1）；Vehicle frame permanent magnet（14）Length be permanent magnetic suck carry out
Band（4）Permanent magnetic suck surface length.
9. a kind of climbing device beneficial to crawler belt absorption transmission according to claim 6 or 7, it is characterised in that vehicle frame is forever
Magnet yoke（15）Yoke groove both sides and vehicle frame supporting plate（12）Between be respectively equipped with row's track tension device（16）.
A kind of 10. climbing device beneficial to crawler belt absorption transmission according to claim 8, it is characterised in that the driving
Motor（5）Output shaft be arranged on vehicle frame（2）Middle part, crawler driving whell（3）With crawler belt driven pulley（6）It is arranged on both ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720577916.2U CN207089479U (en) | 2017-05-23 | 2017-05-23 | A kind of magnetic structure and climbing device beneficial to crawler belt absorption transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720577916.2U CN207089479U (en) | 2017-05-23 | 2017-05-23 | A kind of magnetic structure and climbing device beneficial to crawler belt absorption transmission |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207089479U true CN207089479U (en) | 2018-03-13 |
Family
ID=61551057
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720577916.2U Withdrawn - After Issue CN207089479U (en) | 2017-05-23 | 2017-05-23 | A kind of magnetic structure and climbing device beneficial to crawler belt absorption transmission |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207089479U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106995014A (en) * | 2017-05-23 | 2017-08-01 | 湖南沄耀中创科技有限公司 | A kind of magnetic structure and climbing device that transmission is adsorbed beneficial to crawler belt |
| WO2022236704A1 (en) * | 2021-05-08 | 2022-11-17 | 广东工业大学 | Magnetically controllable permanent magnet continuous track wheel and robot provided with same |
| JP7516727B2 (en) | 2020-11-06 | 2024-07-17 | 三菱ジェネレーター株式会社 | Magnetically attracted crawler type mobile device, multiple-type magnetically attracted crawler type mobile device, and generator inspection robot |
-
2017
- 2017-05-23 CN CN201720577916.2U patent/CN207089479U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106995014A (en) * | 2017-05-23 | 2017-08-01 | 湖南沄耀中创科技有限公司 | A kind of magnetic structure and climbing device that transmission is adsorbed beneficial to crawler belt |
| CN106995014B (en) * | 2017-05-23 | 2022-12-16 | 湖南沄耀中创科技有限公司 | Magnetic circuit structure beneficial to crawler adsorption transmission and climbing device |
| JP7516727B2 (en) | 2020-11-06 | 2024-07-17 | 三菱ジェネレーター株式会社 | Magnetically attracted crawler type mobile device, multiple-type magnetically attracted crawler type mobile device, and generator inspection robot |
| WO2022236704A1 (en) * | 2021-05-08 | 2022-11-17 | 广东工业大学 | Magnetically controllable permanent magnet continuous track wheel and robot provided with same |
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Granted publication date: 20180313 Effective date of abandoning: 20221216 |
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| AV01 | Patent right actively abandoned |
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