CN207860311U - Crawler belt suspension mechanism - Google Patents
Crawler belt suspension mechanism Download PDFInfo
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- CN207860311U CN207860311U CN201820024976.6U CN201820024976U CN207860311U CN 207860311 U CN207860311 U CN 207860311U CN 201820024976 U CN201820024976 U CN 201820024976U CN 207860311 U CN207860311 U CN 207860311U
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- guide plate
- crawler belt
- driving
- wheel
- suspension mechanism
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Abstract
The utility model is related to crawler belt suspension mechanisms, belong to magnetic adsorption wall climbing robot field, it includes driving wheel, driven wheel and intermediate guide plate, and the driving wheel and driven wheel for suspension and tensioned tracks and drive crawler belt to rotate, and the intermediate guide plate is between the driving wheel and driven wheel.The utility model is provided with intermediate guide plate on crawler belt suspension mechanism, it can be coordinated with the guiding escapement on crawler belt, intermediate guide plate is in the guiding escapement on crawler belt, it ensure that the straight smooth operating of crawler belt, and it can prevent crawler belt from deviating from, while tensioned tracks can be played the role of.Magnetic suck crawler belt climbing robot is used for using crawler belt suspension mechanism disclosed in the utility model, magnetic suck crawler belt climbing robot can be made to have heavy－duty ability, makes the lifting capacity of robot in 150kg or more, pushes climbing robot to industrial level applications.
Description
Technical field
The utility model is related to magnetic adsorption wall climbing robot technical field more particularly to a kind of crawler belt suspension mechanisms.
Background technology
Magnetic adsorption wall climbing robot belongs to specialized robot, is chiefly used under severe, dangerous, limiting condition, in magnetic conduction wall surface
Upper progress is such as detected, overhauled, welding or polishing operations specific.At present magnetic suck robot nuclear industry, petrochemical industry,
Building industry, fire department, shipbuilding industry etc. are widely used in the production and construction based on steel construction.Such as number of patent application
A kind of wall-climbing robot on surface of iron based tank disclosed in Chinese utility model patent application for 200710016408.8, wherein
Chain crawler belt is hung by former and later two sprocket wheels, further includes sprocket support and tensioning wheel etc..
Utility model content
The technical problem to be solved by the utility model is to provide a kind of crawler belt suspension mechanisms.
To solve the above problems, technical solution adopted in the utility model is：
A kind of crawler belt suspension mechanism, key technology are：It includes driving wheel, driven wheel and intermediate guide plate, described
Driving wheel and driven wheel for hanging and tensioned tracks and crawler belt being driven to rotate, the intermediate guide plate be located at the driving wheel with
Between driven wheel.
Axis hole is provided in the middle part of the intermediate guide plate as a further improvement of the utility model, intermediate guide plate is logical
It crosses the axis hole to be arranged in fixing axle, intermediate guide plate can be swung in the fixing axle.
The front and back end of the intermediate guide plate is both provided with the guiding of protrusion as a further improvement of the utility model,
Plate.
The directing plate is fusiformis structure as a further improvement of the utility model,.
The intermediate guide plate includes that guide plate mainboard and setting are led described as a further improvement of the utility model,
To the guide plate subplate of plate mainboard both sides.
The intermediate guide plate further includes being fixed at the guide plate master as a further improvement of the utility model,
Deep floor on plate.
The driving wheel includes drive sprocket ontology as a further improvement of the utility model, the drive sprocket sheet
The axle center of body offers drive shaft hole, and the drive sprocket ontology is equipped with more than two drive chain wheel discs, at least one set of adjacent
Two drive chain wheel discs between be provided with driving guide plate, the driving guide plate and the drive sprocket ontology form rotation
Cooperation.
The driving guide plate is cam shape as a further improvement of the utility model, further includes nutted rod, described
Tight bar one end is hinged with the intermediate guide plate, and the other end is hinged with the protruding end on driving guide plate, by adjusting described
The hinge position of the length of tight bar or itself and driving guide plate can adjust the angle of the driving guide plate.
The protruding end of the driving guide plate is provided with tension wheel shaft as a further improvement of the utility model, described
The both ends of tension wheel shaft are equipped with tensioning wheel.
As a further improvement of the utility model, it is described driving guide plate protrusion end margin be provided with for it is described
The location hole of nutted rod connection, the location hole are a slot hole or multiple are disposed in parallel in circular hole.
It is using advantageous effect caused by above-mentioned technical proposal：
The utility model is provided with intermediate guide plate on crawler belt suspension mechanism, can be with the anti-off line of guiding on crawler belt
Structure is coordinated, and intermediate guide plate ensure that the straight smooth operating of crawler belt in the guiding escapement on crawler belt, and
And can prevent crawler belt from deviating from, while tensioned tracks can be played the role of.It is hung using crawler belt disclosed in the utility model
Mechanism is used for magnetic suck crawler belt climbing robot, and magnetic suck crawler belt climbing robot can be made to have heavy－duty ability, make machine
The lifting capacity of people pushes climbing robot to industrial level applications in 150kg or more.
Description of the drawings
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific implementation mode or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the structural schematic diagram of intermediate guide plate.
Fig. 3 is the main structure diagram of the utility model.
Fig. 4 is the schematic cross-sectional view of driving wheel.
Fig. 5 is the main structure diagram of driving wheel.
Fig. 6 is the schematic cross-sectional view of driven wheel.
Fig. 7 is the practical status architecture schematic diagram of the utility model.
1 driving wheel, 1-1 drive sprockets ontology, 1-2 drive chains wheel disc, 1-3 drivings guide plate, 1-4 drive shaft holes, 1-5 open
Bearing up pulley axis, 1-6 tensioning wheels, 1-7 location holes, 1-8 bearings, 1-9 drive shafts, 2 driven wheels, 2-1 driven sprockets ontology, 2-2 from
The driven guide plate of movable sprocket disk, 2-3,2-4 follower shafts, 2-5 bearings, 3 intermediate guide plates, 3-1 axis holes, 3-2 directing plates, 3-3
Lightening hole, 3-4 guide plates mainboard, 3-5 guide plates subplate, 3-6 deep floors, 4 nutted rods, 5 tensioning pole sockets, 100 magnetic sucks are carried out
Band, 101 chains.
Specific implementation mode
To keep the purpose of this utility model, technical solution and advantage clearer, in the following with reference to the drawings and specific embodiments
Clear, complete description is carried out to utility model.
Crawler belt suspension mechanism disclosed in the present embodiment is set suitable for magnetic adsorption wall climbing robot on the inside of magnetic suck crawler belt
It is equipped with the case where being oriented to escapement.
Crawler belt suspension mechanism as shown in Figs. 1-3 comprising driving wheel 1, driven wheel 2 and intermediate guide plate 3, the driving
Wheel 1 and the front and back setting of driven wheel 2, for suspension and tensioned tracks and drive crawler belt to rotate, the intermediate guide plate 3 is located at described
Between driving wheel 1 and driven wheel 2.
3 middle part of the intermediate guide plate is provided with axis hole 3-1, and intermediate guide plate 3 is arranged by the axis hole 3-1 in fixation
On axis, intermediate guide plate 3 can be swung in the fixing axle, and intermediate guide plate 3 is swung with the fluctuating of crawler belt, can be practical
The smaller operating mode of the curvature of the out-of-flatness of magnetizer panel surfaces or curved surface, can ensure the magnetic suck on crawler belt in working environment
Mechanism adequately and magnetizer panel surfaces Contact-sorption, to keep device stable and reliable in work.
The directing plate 3-2, the directing plate 3-2 that the front and back end of the intermediate guide plate 3 is both provided with protrusion are fusiformis knot
Structure, the structure can guide the intermediate guide plate 3 accurately to enter in the guiding escapement of crawler belt, ensure device
The stability of operation.
As shown in Fig. 2, the intermediate guide plate 3 includes guide plate mainboard 3-4 and is arranged in the guide plate mainboard 3-4 two
The guide plate subplate 3-5 of side, the intermediate guide plate 3 further include the ribs being fixed on the guide plate mainboard 3-4
Plate 3-6, deep floor 3-6 are vertically fixed at the top of guide plate mainboard 3-4, increase by 3 integrally-built stability of intermediate guide plate.
The guide plate mainboard 3-4 is the support frame of entire intermediate guide plate 3, and the guide plate subplate 3-5 of both sides setting is stainless
Steel material, guide plate subplate 3-5 has the characteristics that smooth abrasion-proof, can ensure the service life of intermediate guide plate 3, and uses
The structure type of guide plate subplate 3-5 is set, guide plate subplate 3-5 is convenient for changing.
It is provided with arc groove in the middle part of the bottom edge of the intermediate guide plate 3, is divided into front and back two parts, one side energy
Enough reduce frictional resistance, on the other hand intermediate guide plate 3 can be made more flexible, is convenient for the cross-domain obstacle of device.
As shown in Figure 1, several lightening hole 3-3 are provided in the intermediate guide plate 3, by the way that the lightening hole 3-3 is arranged,
The weight that device can be substantially reduced facilitates the operation of device, specifically, in guide plate mainboard 3-4, guide plate subplate 3-5, adding
It is respectively provided with multiple lightening hole 3-3 on strong floor 3-6.
As shown in Figures 4 and 5, the driving wheel 1 includes drive sprocket ontology 1-1, the axle center of the drive sprocket ontology 1-1
Drive shaft hole 1-4 is offered, the drive shaft hole 1-4 is connect by flat key with drive shaft 1-9.The drive sprocket ontology 1-
1 is equipped with more than two drive chain wheel disc 1-2, and being provided with driving between at least one set of two adjacent drive chain wheel disc 1-2 leads
To plate 1-3, the driving guide plate 1-3 and drive sprocket ontology 1-1 formation are rotatably assorted.In the present embodiment, the drive
A drive chain wheel disc 1-2 is respectively set at left and right sides of movable sprocket ontology 1-1, forms a double drive sprocket, two drivings
Setting driving guide plate 1-3 among chain sprocket 1-2, driving guide plate 1-3 are connect by copper sheathing with drive sprocket ontology 1-1, and
And driving guide plate 1-3 can be freely rotated on drive sprocket ontology 1-1.That is drive shaft 1-9 rotations drive drive sprocket
Ontology 1-1 and when two drive chain wheel disc 1-2 rotations thereon, driving guide plate 1-3 can not be rotated.
The driving guide plate 1-3 is cam shape, and it is identical as the shape of cam that the cam shape refers to its shape outer profile, tool
Body can be pyriform or 8-shaped, and in the present embodiment, driving guide plate 1-3 is pyriform.The present apparatus further includes nutted rod 4, described
Tight 4 one end of bar is hinged with the intermediate guide plate 3, and the other end is hinged with the protruding end on driving guide plate 1-3, by adjusting institute
The length of nutted rod 4 or the hinge position of itself and driving guide plate 1-3 are stated, the angle of the driving guide plate 1-3 can be adjusted.
Tensioning pole socket 5 is additionally provided in the intermediate guide plate 3, the nutted rod 4 is hinged with tensioning pole socket 5.
The protruding end of the driving guide plate 1-3 is provided with the both ends assembly of tension wheel shaft 1-5, the tension wheel shaft 1-5
There are tensioning wheel 1-6, the tensioning wheel 1-6 to be rotatably arranged on the tension wheel shaft 1-5 by bearing 1-8, tensioning wheel 1-6 is used for
Play the role of tensioning with crawler belt interior side contacts.Tensioning wheel 1-6 uses the material of wear-resisting lubrication, such as polytetrafluoroethylene (PTFE).
The protrusion end margin of the driving guide plate 1-3 is provided with the location hole 1-7 for being connect with the nutted rod 4,
The location hole 1-7 be a slot hole or it is multiple be disposed in parallel in circular hole, the nutted rod 4 is by changing with location hole 1-7's
Link position can adjust the angle of driving guide plate 1-3, and as shown in Figure 3 and 7, when tie point moves up, then driving is led
It is moved down to the protruding end of plate 1-3, reduces height, while tensioning wheel 1-6 is also adjusted downwards, and crawler belt is made to be in relaxed state,
Conversely, then being capable of further tensioned tracks.4 both ends of the nutted rod are screw thread auxiliary structure, can be adjusted and be opened by rotating nuts
The length of tight bar 4, can also realize the adjustment of driving guide plate 1-3 and the positions tensioning wheel 1-6, realize the elastic adjustment of crawler belt.
The adjustment of nutted rod 4 and driving guide plate 1-3 link positions realizes crawler belt tighting tune jointly in conjunction with the adjustment of 4 length of nutted rod
It is whole, keep operation more convenient accurate.
As shown in fig. 6, the driven wheel 2 includes the driven sprocket ontology 2-1 for being provided with axis hole, the driven sprocket ontology
2-1 is coordinated by bearing 2-5 and follower shaft 2-4, and the left and right ends driven sprocket ontology 2-1 are fixedly installed driven chain wheel disc 2-
2, middle part is fixedly installed driven guide plate 2-3, and the driven guide plate 2-3 is circle, has a diameter larger than driven chain wheel disc 2-2
Outer profile diameter.
It is illustrated in figure 7 the practical state of the utility model, wherein the outside of magnetic suck crawler belt 100 is provided with magnet etc.
Absorbing unit, inside are two parallel chains, are to be oriented to escapement between two chains, the guiding escapement can be
Guide sleeve is arranged on column in two columns arranged side by side.On the driving wheel 1 two drive chain wheel disc 1-2 respectively with magnetic
The chain of 100 both sides of attached crawler belt engages, and driving guide plate 1-3 thereon is in the guiding escapement, drive shaft
The driving mechanism of 1-9 and climbing robot connects.
Two driven chain wheel disc 2-2 on the driven wheel 2 are engaged with the chain of 100 both sides of magnetic suck crawler belt respectively,
On driven guide wheel 2-3 in the guiding escapement of magnetic suck crawler belt 100, follower shaft 2-4 on driven wheel 2 with
Climbing robot is fixedly connected.
Intermediate guide plate 3 between driving wheel 1 and driven wheel 2 is climbing wall machine by axis hole 3-1 thereon with setting
Fixing axle suit on device people, enables intermediate guide plate 3 to be swung in fixing axle, 3 lower end of intermediate guide plate is embedded at magnetic
In the guiding escapement of attached crawler belt 100.
Make the driving guide plate 1-3 connections between intermediate guide plate 3 and driving wheel 1 by nutted rod 4, forms a linkage
Structure can either realize the tensioning of crawler belt, while the also fitness of adjustment driving guide plate 1-3 and crawler belt, and integral form is also
Convenient for the installing and dismounting of crawler belt.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It can still modify to the technical solution recorded in previous embodiment, or be equal to which part technical characteristic
It replaces；And these modifications or replacements, the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution
Spirit and scope.
Claims (9)
1. a kind of crawler belt suspension mechanism, it is characterised in that：It includes driving wheel（1）, driven wheel（2）And intermediate guide plate（3）, institute
State driving wheel（1）And driven wheel（2）For suspension and tensioned tracks and crawler belt is driven to rotate, the intermediate guide plate（3）It is located at
The driving wheel（1）And driven wheel（2）Between；The intermediate guide plate（3）Middle part is provided with axis hole（3-1）, intermediate guide plate
（3）Pass through the axis hole（3-1）It is arranged in fixing axle, intermediate guide plate（3）It can be swung in the fixing axle.
2. crawler belt suspension mechanism according to claim 1, it is characterised in that：The intermediate guide plate（3）Front and back end it is equal
It is provided with the directing plate of protrusion（3-2）.
3. crawler belt suspension mechanism according to claim 2, it is characterised in that：The directing plate（3-2）For fusiformis structure.
4. crawler belt suspension mechanism according to claim 1, it is characterised in that：The intermediate guide plate（3）Including guide plate
Mainboard（3-4）With setting in the guide plate mainboard（3-4）The guide plate subplate of both sides（3-5）.
5. crawler belt suspension mechanism according to claim 4, it is characterised in that：The intermediate guide plate（3）Further include fixing
It is arranged in the guide plate mainboard（3-4）On deep floor（3-6）.
6. crawler belt suspension mechanism according to claim 1, it is characterised in that：The driving wheel（1）Including drive sprocket sheet
Body（1-1）, the drive sprocket ontology（1-1）Axle center offer drive shaft hole（1-4）, the drive sprocket ontology（1-1）
It is equipped with more than two drive chain wheel discs（1-2）, at least one set of two adjacent drive chain wheel discs（1-2）Between be provided with driving
Guide plate（1-3）, the driving guide plate（1-3）With the drive sprocket ontology（1-1）Formation is rotatably assorted.
7. crawler belt suspension mechanism according to claim 6, it is characterised in that：The driving guide plate（1-3）For cam shape,
It further include nutted rod（4）, the nutted rod（4）One end and the intermediate guide plate（3）It is hinged, the other end and driving guide plate
（1-3）On protruding end be hinged, pass through and adjust the nutted rod（4）Length or itself and driving guide plate（1-3）Hinge position
It sets, the driving guide plate can be adjusted（1-3）Angle.
8. crawler belt suspension mechanism according to claim 7, it is characterised in that：The driving guide plate（1-3）Protruding end
It is provided with tension wheel shaft（1-5）, the tension wheel shaft（1-5）Both ends be equipped with tensioning wheel（1-6）.
9. crawler belt suspension mechanism according to claim 7, it is characterised in that：The driving guide plate（1-3）Protruding end
Edge be provided with for the nutted rod（4）The location hole of connection（1-7）, the location hole（1-7）For a slot hole or more
It is a to be disposed in parallel in circular hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820024976.6U CN207860311U (en) | 2018-01-08 | 2018-01-08 | Crawler belt suspension mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820024976.6U CN207860311U (en) | 2018-01-08 | 2018-01-08 | Crawler belt suspension mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207860311U true CN207860311U (en) | 2018-09-14 |
Family
ID=63464973
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820024976.6U Active CN207860311U (en) | 2018-01-08 | 2018-01-08 | Crawler belt suspension mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207860311U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533054A (en) * | 2018-12-30 | 2019-03-29 | 杭州白泽方舟科技有限公司 | Magnetic suck running gear and magnetic adsorption wall climbing robot |
-
2018
- 2018-01-08 CN CN201820024976.6U patent/CN207860311U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533054A (en) * | 2018-12-30 | 2019-03-29 | 杭州白泽方舟科技有限公司 | Magnetic suck running gear and magnetic adsorption wall climbing robot |
| CN109533054B (en) * | 2018-12-30 | 2021-03-19 | 杭州白泽方舟科技有限公司 | Magnetic adsorption walking device and magnetic adsorption wall-climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191231 Address after: 271000 231 South China Street, Taishan Zhuang Industrial Park, Taishan, Tai'an. Patentee after: Polar Robot Technology Co., Ltd. Address before: 271400 Chen Village, Xiangyin Township, Ningyang County, Tai'an, Shandong Co-patentee before: Zhou Zhenlong Patentee before: Sun Zhong |
|
| TR01 | Transfer of patent right | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 271000 231 South China Street, Taishan Zhuang Industrial Park, Taishan, Tai'an. Patentee after: Jichuang robot intelligent technology (Shandong) Co., Ltd Address before: 271000 231 South China Street, Taishan Zhuang Industrial Park, Taishan, Tai'an. Patentee before: JICHUANG ROBOT TECHNOLOGY Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |