CN207257823U

CN207257823U - A kind of crawler type magnetic adsorption wall climbing robot

Info

Publication number: CN207257823U
Application number: CN201721076260.2U
Authority: CN
Inventors: 陈武琼
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-08-25
Filing date: 2017-08-25
Publication date: 2018-04-20
Anticipated expiration: 2027-08-25

Abstract

The utility model discloses a kind of crawler type magnetic adsorption wall climbing robot, including babinet, the inside outer wall of the babinet is equipped with switch, the inner wall of the babinet is provided with the first AC servo motor, the right side of second bevel gear is equipped with the first bevel gear, the lower section of first bevel gear is equipped with partition plate, and first bevel gear is engaged with the second bevel gear to be connected, and first bevel gear is connected by shaft with the inner wall of babinet.The crawler type magnetic adsorption wall climbing robot, by the cooperation between the first bevel gear and second gear, under the drive of the first AC servo motor, performed in complex environment and reconnoitre task, it greatly strengthen obstacle crossing function, when robot, which runs into stop, to topple, the body of robot by adjusting the position of leading screw and screw, can be supported, adjust the angle, so as to prevent robot from losing the ability reconnoitred because toppling, improve work efficiency, avoid waste.

Description

A kind of crawler type magnetic adsorption wall climbing robot

Technical field

Industrial machine technical field is the utility model is related to, is specially a kind of crawler type magnetic adsorption wall climbing robot.

Background technology

At present, customs shipping clearance scene to container class cargo in addition to H986, still with by manually based on, especially Be when in case cargo it is more, relatively completely when, move cargo human and material resources expend it is huge, customs inspection climbing robot is to be based on Customs inspection business needs the special purpose robot that develops, robot by play its compact flexibly, anti-corrosion gas defence, adapt to it is more The mechanical properties such as kind of environment, realize people be not readily accomplished or the small space of more difficult completion, adverse circumstances under examination work, In the prior art, such as the utility model patent of Application No. 201620506528.0 includes car body, and the car body is flat The area of cube structure, wherein upper and lower surfaces is larger, and the car body is fabricated to the cavity of closure using aluminium alloy, internal Equipped with control system, permanent magnet and travel driving system, travel driving system includes motor and wheel carries out the motion structure combined, car Body both sides are used to walk and turn to equipped with four wheels and two crawler belts, and Vehicular body front, rear portion and the center at top fill There is camera, be arranged with two groups of light sources for imaging to investigate beside the camera of top, image transmitting is housed among the wheel of both sides Antenna and control antenna, although the utility model has unique structure, there are many deficiencies and defect, in use, no It can be suitable only in spacious straight environment, if running into annular space or other nonmetallic spaces, which will lose Use value is gone, causes to waste, and the utility model no effective structure design in terms of obstacle detouring and overturn-preventing, because This, to avoid above-mentioned technical problem, it is necessory to provide a kind of crawler type magnetic adsorption wall climbing robot, to overcome in the prior art The defect.

Utility model content

The purpose of this utility model is to provide a kind of crawler type magnetic adsorption wall climbing robot, to solve above-mentioned background technology The problem of middle proposition.

To achieve the above object, the utility model provides following technical solution：A kind of crawler type magnetic adsorption wall climbing robot, Including babinet, the inside outer wall of the babinet is equipped with switch, and the inner wall of the babinet is provided with the first AC servo motor, described The right end of first AC servo motor is provided with the second bevel gear, and the right side of second bevel gear is equipped with the first umbrella shape tooth Wheel, the lower section of first bevel gear are equipped with partition plate, and first bevel gear is engaged with the second bevel gear to be connected, described First bevel gear is connected by shaft with the inner wall of babinet, and the top outer wall of second bevel gear is socketed with the first tooth Wheel, the right side of the first gear are equipped with second gear, and the second gear is engaged with first gear to be connected, the second gear It is connected by the first Athey wheel with crawler belt, first Athey wheel is connected by crawler belt with the second Athey wheel, second crawler belt The right side of wheel is equipped with connecting rod, and the connecting rod is connected with the inner wall of babinet, and the top of the connecting rod is equipped with the second exchange and watches Motor is taken, second AC servo motor is connected with the inner wall of partition plate, and the left end of second AC servo motor is provided with Bearing block, the bearing block are connected by leading screw with the inner wall of screw, and the outer wall of the screw is provided with support base, the support The top of seat is provided with short axle, and the top of the short axle is connected with the outer wall of supporting rod, and the outer wall of the supporting rod is socketed with pressure Contracting spring, the top of the compression spring are connected with the outer wall of babinet, and the bottom of the supporting rod is provided with connecting plate, the company The outer wall of fishplate bar is socketed with crawler belt, and the outer wall bottom of the screw is provided with nut seat, and the left end of the nut seat is provided with angle Contact ball bearing, the left side of the angular contact ball bearing are equipped with bearing cap, and the bearing cap is connected with the outer wall of babinet.

Preferably, the bottom of the babinet is equipped with groove, and the inner wall of the groove is equipped with connecting shaft, the connecting shaft it is outer Wall is socketed with dead ring, and the bottom of the connecting shaft is provided with backplate, and the inner wall of the backplate is provided with universal wheel, described universal Wheel is connected by roller bearing with backplate.

Preferably, the right side of first Athey wheel is equipped with dust suction interface tube.

Preferably, the outer wall of the leading screw is socketed with packing ring.

Preferably, it is equipped with collecting box on the right side of the inner wall of the babinet.

Compared with prior art, the beneficial effects of the utility model are：The crawler type magnetic adsorption wall climbing robot, passes through Cooperation between one bevel gear, the second bevel gear, first gear and second gear, in the drive of the first AC servo motor Under, the first Athey wheel, crawler belt and the second Athey wheel rotate together, allow the robot to advance, and perform and survey in complex environment Task is looked into, greatly strengthen obstacle crossing function, and under the action of three pedipulators, can be made in tube wall or annular space Industry, also can be not against permanent magnetic device operation, by between leading screw, screw and bearing block in the environment of nonmetallic work surface Coordinate, under the action of the second AC servo motor, leading screw drives screw and nut seat to move back and forth, and drives short axle and supporting rod Lifting, so as to aid in the balance of control robot itself, can be by adjusting leading screw and silk when robot, which runs into stop, to topple Female position, supports the body of robot, adjusts the angle, so as to prevent robot from losing the ability reconnoitred because toppling, carries High work efficiency, avoids waste.

Brief description of the drawings

Fig. 1 is the utility model structure diagram；

Fig. 2 is the structure diagram of the utility model babinet；

Fig. 3 is the structure diagram of the utility model leading screw；

Fig. 4 is the structure diagram of the utility model universal wheel.

In figure：1st, bearing cap, 2, babinet, 3, supporting rod, 4, crawler belt, 5, first gear, 6, compression spring, the 7, second tooth Wheel, the 8, first Athey wheel, the 9, first bevel gear, 10, dust suction interface tube, 11, partition plate, the 12, second bevel gear, 13, connection Plate, the 14, first AC servo motor, the 15, second Athey wheel, 16, connecting rod, 17, shaft, the 18, second AC servo motor, 19th, packing ring, 20, bearing block, 21, leading screw, 22, screw, 23, angular contact ball bearing, 24, nut seat, 25, support base, 26, universal Wheel, 27, switch, 28, collecting box, 29, roller bearing, 30, backplate, 31, connecting shaft, 32, dead ring, 33, short axle, 34, groove.

Embodiment

The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work All other embodiments obtained, shall fall within the protection scope of the present invention.

- 4 are please referred to Fig.1, the utility model provides a kind of technical solution：A kind of crawler type magnetic adsorption wall climbing robot, bag Babinet 2 is included, babinet 2 is used to be connected the various components inside pedipulator and installation casing 2, is equipped with and collects on the right side of the inner wall of babinet 2 Case 28, collecting box 28 can be used for installing dust exhaust apparatus, and the bottom of babinet 2 is equipped with groove 34, for installing universal wheel 26, prevents machine Device people topples, once toppling, can make robot can by adjusting the support between top pedipulator and universal wheel 26 To continue on, the inner wall of groove 34 is equipped with connecting shaft 31, and connecting shaft 31 is used to make backplate 30 to rotate horizontally with 360, connection The outer wall of axis 31 is socketed with dead ring 32, and dead ring 32 is used for fixed connection shaft 31, connecting shaft 31 is not come off in traveling, The bottom of connecting shaft 31 is provided with backplate 30, for limiting the movement of universal wheel 26, universal wheel 26 is not shifted, backplate 30 inner wall is provided with universal wheel 26, and universal wheel 26 is used for the position for adjusting robot, and robot is toppled makes have support Point, no support dead angle, universal wheel 26 are connected by roller bearing 29 with backplate 30, make universal wheel 26 and backplate 30 together 360 degree of levels Rotation, the inside outer wall of babinet 2 are equipped with switch 27, for the opening and closing for controlling robot to advance, the inner wall installation of babinet 2 There are the first AC servo motor 14, the model DJ-SFDJ09 of the first AC servo motor 14, the first AC servo motor 14 is led It is used to lead to overpowering adjusting and then adjusts rotating speed, robot is advanced with speed change, the right side of the first AC servo motor 14 End is provided with the second bevel gear 12, and the second bevel gear 12 is used to transmit power, and the right side of the second bevel gear 12 is equipped with First bevel gear 9, the first bevel gear 9 are used to drive first gear 5 to rotate, and the lower section of the first bevel gear 9 is equipped with partition plate 11, the inside of babinet 2 is hierarchy, is divided into both sides up and down, and the first bevel gear 9 is engaged with the second bevel gear 12 to be connected, By way of engagement, the second bevel gear 12 drives the first bevel gear 9 together to rotate, and the first bevel gear 9 passes through shaft 17 are connected with the inner wall of babinet 2, and shaft 17 is used to connect the first bevel gear 9 and first gear 5, makes 9 He of the first bevel gear First gear 5 is more stablized at work, and the top outer wall of the second bevel gear 12 is socketed with first gear 5, and first gear 5 is used In driving second gear 7 to rotate, the right side of first gear 5 is equipped with second gear 7, and second gear 7 is used to drive the first Athey wheel 8 Together rotate, second gear 7 is engaged with first gear 5 to be connected, and first gear 5 drives second gear 7 one by way of engagement With rotating, second gear 7 is connected by the first Athey wheel 8 with crawler belt 4, and second gear 7 drives the first Athey wheel 8 to rotate, and first Athey wheel 8 drives crawler belt 4 to rotate, and the right side of the first Athey wheel 8 is equipped with dust suction interface tube 10, for connecting cleaner, first Athey wheel 8 is connected by crawler belt 4 with the second Athey wheel 15, and the first Athey wheel 8 drives the second Athey wheel 15 together to transport by crawler belt 4 Dynamic, the right side of the second Athey wheel 15 is equipped with connecting rod 16, and connecting rod 16 is used to connecting connecting plate 13 and babinet 2, connecting rod 16 and The inner wall of babinet 2 is connected, and the first Athey wheel 8,4 and second Athey wheel 15 of crawler belt is worked more and stablizes, the top of connecting rod 16 Equipped with the second AC servo motor 18, the model DJ-SFDJ08 of the second AC servo motor 18, for adjusting rotating speed, controls Lifting speed, the second AC servo motor 18 are connected with the inner wall of partition plate 11, for make the second AC servo motor 18 work when More stablize, the left end of the second AC servo motor 18 is provided with bearing block 20, for connecting 18 He of the second AC servo motor Nut seat 24, bearing block 20 are connected by leading screw 21 with the inner wall of screw 22, for alloing bearing block 20 with screw 22 1 With movement, the outer wall of leading screw 21 is socketed with packing ring 19, and for limiting the movement of leading screw 21, the outer wall of screw 22 is provided with support base 25, support base 25 is used to drive short axle 33 to move back and forth, and the top of support base 25 is provided with short axle 33, and short axle 33 is used to drive branch 3 one lifting of strut, the top of short axle 33 are connected with the outer wall of supporting rod 3, for connection support bar 3 and with supporting rod 3 one With lifting, the outer wall of supporting rod 3 is socketed with compression spring 6, and the coefficient of elasticity of compression spring 6 is 4N/CM, compresses the top of spring 6 End is connected with the outer wall of babinet 2, for connecting babinet 2, pedipulator and babinet 2 is formed an entirety, the bottom peace of supporting rod 3 Equipped with connecting plate 13, connecting plate 13 is used to connect short axle 33, and the outer wall of connecting plate 13 is socketed with crawler belt 4, is made by compressing spring 6 Short axle 33 can make crawler belt 4 play cushioning effect when running into barrier, and the outer wall bottom of screw 22 is provided with nut seat 24, Nut seat 24 is used for fixed supporting seat 25, support base 25 is together moved with nut seat 24, the left end peace of nut seat 24 Equipped with angular contact ball bearing 23, for limiting leading screw 21 position will not occur in the case of high-speed motion for angular contact ball bearing 23 Move, the left side of angular contact ball bearing 23 is equipped with bearing cap 1, and bearing cap 1 is connected with the outer wall of babinet 2, and bearing cap 1 is used for shielding angle Contact ball bearing 23, prevents angular contact ball bearing 23 from entering clothing or coming off in addition.

In preliminry basic research, by lower switch 27, the power supply of the first AC servo motor of connection robot 14, the first exchange is watched Take motor 14 to start to work, drive the first bevel gear 9 to rotate, the first bevel gear 9 drives the second umbrella by way of engagement Shape gear 12 together rotates, and with first gear 5 with being socketed in shaft 17, the second bevel gear 12 drives the second bevel gear 12 First gear 5 together rotates, and first gear 5 drives second gear 7 together to rotate by way of engagement, and second gear 7 drives First Athey wheel 8 together rotates, and the first Athey wheel 8, which by crawler belt 4 connects the second Athey wheel 15 and formed, to be interlocked, and makes robot can be with Speed change moves, and is driven by the second AC servo motor 18, and leading screw 21 does toward movement, screw 22 in 22 inner wall of screw and drives support Seat 25 together moves, and support base 25 drives short axle 33 and supporting rod 3 to move together, enables pedipulator landing, leading screw 21 it is outer Wall socket installation angular contact ball bearing, can be such that leading screw 21 is not subjected to displacement in the case of quick rotation, support base 25 drives short Axis 33 and supporting rod 3 adjust robot Equilibrium and prevent robot from overturning.

While there has been shown and described that the embodiment of the utility model, for the ordinary skill in the art, It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from the principle of the utility model and spirit, repaiied Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.

Claims

1. a kind of crawler type magnetic adsorption wall climbing robot, including babinet (2), it is characterised in that：The inside outer wall of the babinet (2) Equipped with switch (27), the inner wall of the babinet (2) is provided with the first AC servo motor (14), first AC servo motor (14) right end is provided with the second bevel gear (12), and the right side of second bevel gear (12) is equipped with the first bevel gear (9), the lower section of first bevel gear (9) is equipped with partition plate (11), first bevel gear (9) and the second bevel gear (12) engagement is connected, and first bevel gear (9) is connected by shaft (17) with the inner wall of babinet (2), second umbrella shape The top outer wall of gear (12) is socketed with first gear (5), and the right side of the first gear (5) is equipped with second gear (7), described Second gear (7) is engaged with first gear (5) to be connected, and the second gear (7) passes through the first Athey wheel (8) and crawler belt (4) phase Even, first Athey wheel (8) is connected by crawler belt (4) with the second Athey wheel (15), the right side of second Athey wheel (15) Equipped with connecting rod (16), the connecting rod (16) is connected with the inner wall of babinet (2), and the top of the connecting rod (16) is equipped with second AC servo motor (18), second AC servo motor (18) are connected with the inner wall of partition plate (11), and second exchange is watched The left end for taking motor (18) is provided with bearing block (20), the inner wall phase that the bearing block (20) passes through leading screw (21) and screw (22) Even, the outer wall of the screw (22) is provided with support base (25), and the top of the support base (25) is provided with short axle (33), described The top of short axle (33) is connected with the outer wall of supporting rod (3), and the outer wall of the supporting rod (3) is socketed with compression spring (6), described The top of compression spring (6) is connected with the outer wall of babinet (2), and the bottom of the supporting rod (3) is provided with connecting plate (13), described The outer wall of connecting plate (13) is socketed with crawler belt (4), and the outer wall bottom of the screw (22) is provided with nut seat (24), the screw The left end of seat (24) is provided with angular contact ball bearing (23), and the left side of the angular contact ball bearing (23) is equipped with bearing cap (1), institute The outer wall that bearing cap (1) is stated with babinet (2) is connected.

A kind of 2. crawler type magnetic adsorption wall climbing robot according to claim 1, it is characterised in that：The babinet (2) Bottom is equipped with groove (34), and the inner wall of the groove (34) is equipped with connecting shaft (31), and the outer wall of the connecting shaft (31) is socketed with Dead ring (32), the bottom of the connecting shaft (31) are provided with backplate (30), and the inner wall of the backplate (30) is provided with universal wheel (26), the universal wheel (26) is connected by roller bearing (29) with backplate (30).

A kind of 3. crawler type magnetic adsorption wall climbing robot according to claim 1, it is characterised in that：First Athey wheel (8) right side is equipped with dust suction interface tube (10).

A kind of 4. crawler type magnetic adsorption wall climbing robot according to claim 1, it is characterised in that：The leading screw (21) Outer wall is socketed with packing ring (19).

A kind of 5. crawler type magnetic adsorption wall climbing robot according to claim 1, it is characterised in that：The babinet (2) Collecting box (28) is equipped with the right side of inner wall.