CN208881956U - Adaptive cambered surface magnetic suck climbing robot - Google Patents
Adaptive cambered surface magnetic suck climbing robot Download PDFInfo
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- CN208881956U CN208881956U CN201821577138.8U CN201821577138U CN208881956U CN 208881956 U CN208881956 U CN 208881956U CN 201821577138 U CN201821577138 U CN 201821577138U CN 208881956 U CN208881956 U CN 208881956U
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- magnetic suck
- cambered surface
- climbing robot
- car body
- adaptive
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Abstract
The utility model proposes a kind of adaptive cambered surface magnetic suck climbing robots, by the way that magnetic suck pedrail mechanism is hinged with car body, and damper is set, when needs are when steel pipe inner arc or outer arc do wide-angle, vertical crawling, magnetic suck pedrail mechanism does adaptability rotation around car body with landing ground radian, damper plays the role of support and damping, to adapt to the steel pipe or cambered surface of different radians；Further, it by the way that motor to be set in chain crawler belt, without installing complicated gear shift, runs more stable；Setting driving gear and driven gear, and the two spacing can be adjusted according to actual needs, facilitate adjusting track tension；Guiding mechanism is set, up-and-down ground can be fitted, reduces the impact force in walking process.
Description
Technical field
The utility model relates to climbing robot field more particularly to a kind of adaptive cambered surface magnetic suck climbing robots.
Background technique
Pipe robot be one kind can inside or outside small sized pipeline automatically walk, carry one or more sensors and
Detection device carries out mechanical, electrical, the instrument of a series of pipeline operations under the remote control operation or computer controlled automatic of staff
Integral system.
Current magnetic suck climbing robot on the market, can only move in the plane, can not be in cambered steel pipe intrados
Or extrados is mobile, when needs are when steel pipe inner arc or outer arc do wide-angle, vertical crawling, because self structure reason, causes
Adsorption capacity is inadequate, so that so that crawl device is fallen down causes safety accident and loss, in order to realize wide-angle, vertical shifting on steel pipe
It is dynamic, it is generally used the steel pipe or arc that magnetic crawler belt or magnet-wheel are made into the cambered surface of radian known to steel pipe and meet identical radian measure
Face, such robot need to result in the need for frequently replacing magnetic crawler belt or magnet-wheel with various types of magnetic crawler belts or magnet-wheel.
Utility model content
In view of this, the utility model proposes a kind of adaptive cambered surface magnetic suck climbing robots.
The technical solution of the utility model is achieved in that the utility model provides a kind of adaptive cambered surface magnetic suck
Climbing robot comprising car body (1) and two magnetic suck pedrail mechanisms (2), magnetic suck pedrail mechanism (2) include rack (21),
Drive gear (22), driven gear (23) and chain crawler belt (24), drive gear (22), driven gear (23) respectively with rack
(21) it is rotatably connected and is engaged with chain crawler belt (24), further include at least two dampers (3), two racks (21) are set to vehicle
Body (1) two sides are simultaneously hinged therewith, and damper (3) both ends are hinged car body (1) and rack (21) respectively.
On the basis of above technical scheme, it is preferred that the damper (3) includes two hinged seats (31), a screw rod
(32) it is threadedly coupled respectively with two hinged seats (31) with spring (33), screw rod (32) both ends, spring (33) is nested in screw rod (32)
Upper and both ends support two hinged seats (31) respectively, and two hinged seats (31) are hinged with car body (1) and rack (21) respectively.
On the basis of above technical scheme, it is preferred that the rack (21) includes two bearing plates disposed in parallel
(211), a fixed plate (212), a bending plate (213) and an articulated slab (214), two drivings gear (22) and two driven gears
(23) it is respectively arranged at two bearing plate (211) heads and two sides of tail, fixed plate (212) is parallel with articulated slab (214) fixed
It is arranged in bearing plate (211), bending plate (213) both ends are respectively fixedly connected with fixed plate (212) and articulated slab (214), fixed plate
(212) it is fixedly installed with bearing plate (211), articulated slab (214) is hinged with car body (1) and damper (3) respectively.
It is further preferred that car body (1) side is provided with support column (11), support column (11) end face and articulated slab (214)
Mutually support.
It is further preferred that further including shaft coupling (4), T-type gear-box (5) and motor (6), motor (6) is fixed in parallel
It is sequentially connected between two bearing plates (211) and with shaft coupling (4) and T-type gear-box (5), T-type gear-box (5) is fixed on two
Gear (22) axis connections are driven between bearing plate (211) and with two.
It is further preferred that the magnetic suck pedrail mechanism (2) further include limited block (25), it is tension screw (26), driven
Axis (27) and opening bearing (28), bearing plate (211) tail portion are provided with strip loose slot (215), and driven shaft (27) passes through strip
Loose slot (215) and both ends nesting fix two driving gears (22), and tension screw (26) is vertically arranged and holds with driven shaft (27)
Portion is fixedly connected with opening bearing (28), and opening bearing (28) is nested on driven shaft (27), tension screw (26) and limited block
(25) it is threadedly coupled, limited block (25) is fixedly installed between two bearing plates (211).
It is further preferred that further including guiding mechanism (29), guiding mechanism (29) includes two tripods (291), a pivot
Axis (292) and four directive wheels (293), tripod (291) be in isosceles triangle, two tripods (291) it is arranged in parallel and
Corner position is connected and fixed by pivotal axis (292), and pivotal axis (292) is set between two bearing plates (211) and can turn therewith
Dynamic connection, four directive wheels (293) are respectively arranged at tripod (41) base angle position and roll with chain crawler belt (24) and connect.
Still more preferably, there are four guiding mechanism (29) settings, driving gear (22) and driven tooth are set to
It is symmetrical arranged between wheel (23) and two-by-two up and down.
The adaptive cambered surface magnetic suck climbing robot of the utility model has the advantages that compared with the existing technology
(1) by the way that magnetic suck pedrail mechanism to be hinged with car body, and damper is set, when needing in steel pipe inner arc or outer
When arc does wide-angle, vertical crawling, magnetic suck pedrail mechanism does adaptability rotation around car body with landing ground radian, and damper plays
The effect of support and damping, to adapt to the steel pipe or cambered surface of different radians；
(2) further, by the way that motor to be set in chain crawler belt, without installing complicated gear shift, fortune
Row is more stable；
(3) setting driving gear and driven gear, and the two spacing can be adjusted according to actual needs, facilitate adjusting crawler belt
Rate of tension；
(4) guiding mechanism is set, up-and-down ground can be fitted, reduces the impact force in walking process.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the perspective view of the adaptive cambered surface magnetic suck climbing robot of the utility model；
Fig. 2 is the explosive view of the adaptive cambered surface magnetic suck climbing robot of the utility model；
Fig. 3 is the side view of the magnetic suck pedrail mechanism of the adaptive cambered surface magnetic suck climbing robot of the utility model；
Fig. 4 is the perspective view of the drive part of the adaptive cambered surface magnetic suck climbing robot of the utility model；
Fig. 5 is the perspective view of the guiding mechanism of the adaptive cambered surface magnetic suck climbing robot of the utility model；
Fig. 6 is the front view of the damper of the adaptive cambered surface magnetic suck climbing robot of the utility model.
Specific embodiment
Below in conjunction with the utility model embodiment, the technical solution in the utility model embodiment is carried out clear
Chu is fully described by, it is clear that and described embodiment is only a part of embodiment of the utility model, rather than all
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative work
Under the premise of every other embodiment obtained, fall within the protection scope of the utility model.
As shown in Figure 1, in conjunction with Fig. 5, the adaptive cambered surface magnetic suck climbing robot of the utility model comprising car body 1,
Two magnetic suck pedrail mechanisms 2, at least two dampers 3, shaft coupling 4, T-type gear-box 5 and motor 6.
Car body 1 carries feature operation equipment.
Damper 3 limits the relative position of rack 21 and car body 1, plays cushioning effect.3 both ends of damper are hinged respectively
Car body 1 and rack 21.Specifically, the damper 3 includes two hinged seats 31, a screw rod 32 and spring 33,32 both ends of screw rod point
It is not threadedly coupled with two hinged seats 31, spring 33 is nested on screw rod 32 and both ends support two hinged seats 31, two hinged seats respectively
31 are hinged with car body 1 and rack 21 respectively.
Magnetic suck pedrail mechanism 2 is the walking mechanism of car body 1.As shown in Fig. 2, in conjunction with Fig. 3 and Fig. 4 comprising rack
21, gear 22, driven gear 23, chain crawler belt 24, limited block 25, tension screw 26, driven shaft 27, opening 28 and of bearing are driven
Guiding mechanism 29.
Wherein, gear 22, driven gear 23 is driven to be rotatably connected and engage with chain crawler belt 24, machine with rack 21 respectively
Frame 21 is hinged with car body 1.Specifically, rack 21 includes two bearing plates 211 disposed in parallel, a fixed plate 212, one bending
Plate 213 and an articulated slab 214, two driving gears 22 and two driven gears 23 are respectively arranged at two 211 heads of bearing plate and tail
Portion two sides, fixed plate 212 is parallel with articulated slab 214 to be fixed on the setting of bearing plate 211, and 213 both ends of bending plate are respectively fixedly connected with
Fixed plate 212 and articulated slab 214, fixed plate 212 and bearing plate 211 are fixedly installed, articulated slab 214 respectively with car body 1 and damping
Device 3 is hinged.In this way, articulated slab 214 can be rotated around car body 1, to adapt to the surface of different arcs.Bending plate 213 guarantees machine
There are enough spaces between frame 21 and car body 1, is rotated convenient for articulated slab 214.Specifically, 1 side of car body is provided with support column 11,
11 end face of support column is mutually supported with articulated slab 214.In this way, limited support can be played the role of to articulated slab 214.
As shown in figure 3, adjusting the rate of tension of chain crawler belt 24 for convenience, 211 tail portion of bearing plate is provided with strip activity
Slot 215, driven shaft 27 passes through strip loose slot 215 and both ends nesting fixes two driving gears 22, tension screw 26 and driven shaft
27 be vertically arranged and end be fixedly connected opening bearing 28, opening bearing 28 be nested on driven shaft 27, tension screw 26 and limit
Position block 25 is threadedly coupled, and limited block 25 is fixedly installed between two bearing plates 211.In this way, by rotation tension screw 26, just
Driven shaft 27 can be driven to be moved forward and backward in strip loose slot 215, to adjust driving gear 22, driven gear 23 and chain
The rate of tension of crawler belt 24.
As drive part, motor 6 and rack 21 are fixed and are sequentially connected with driving gear 22.Specifically, motor 6 is parallel
It is fixed between two bearing plates 211 and is sequentially connected with shaft coupling 4 and T-type gear-box 5, T-type gear-box 5 is fixed on two and holds
22 axis connections of gear are driven between weight plate 211 and with two.
In order to adapt to the up-and-down situation in ground, as shown in figure 5, guiding mechanism 29 is pivoted including two tripods 291, one
Axis 292 and four directive wheels 293, tripod 291 are in isosceles triangle, and two tripods 291 are arranged in parallel and corner position
It is connected and fixed by pivotal axis 292, pivotal axis 292 is set between two bearing plates 211 and is rotatably connected therewith, four guiding
Wheel 293 is respectively arranged at 41 base angle position of tripod and rolls with chain crawler belt 24 and connects.In this way, when encountering hypsography,
Tripod 291 can be rotated around bearing plate 211, reduce the impact force that chain crawler belt 24 is subject to.Specifically, the guiding mechanism 29 is set
There are four setting, it is set between driving gear 22 and driven gear 23 and is symmetrical arranged two-by-two up and down.
The external motor type pipeline climbing robot mode of action of the utility model is as follows:
Motor 6 drives driving gear 22 to rotate, and the circulation of drive chain crawler belt 24 is advanced；
At the ground for encountering fluctuating, tripod 291 can be rotated around bearing plate 211, and what reduction chain crawler belt 24 was subject to rushes
Power is hit, meanwhile, damper 3 can play the role of damping.
The foregoing is merely the better embodiments of the utility model, are not intended to limit the utility model, it is all
Within the spirit and principles of the utility model, it is practical new to should be included in this for any modification, equivalent replacement, improvement and so on
Within the protection scope of type.
Claims (8)
1. a kind of adaptive cambered surface magnetic suck climbing robot comprising car body (1) and two magnetic suck pedrail mechanisms (2), magnetic
Attached pedrail mechanism (2) includes rack (21), driving gear (22), driven gear (23) and chain crawler belt (24), drives gear
(22), driven gear (23) is rotatably connected with rack (21) respectively and engages with chain crawler belt (24), it is characterised in that: also wraps
It includes at least two dampers (3), two racks (21) are set to car body (1) two sides and are hinged therewith, damper (3) both ends difference
It is hinged car body (1) and rack (21).
2. adaptive cambered surface magnetic suck climbing robot as described in claim 1, it is characterised in that: damper (3) packet
Two hinged seats (31), a screw rod (32) and spring (33) are included, screw rod (32) both ends are threadedly coupled with two hinged seats (31) respectively, bullet
Spring (33) is nested on screw rod (32) and both ends support two hinged seats (31) respectively, two hinged seats (31) respectively with car body (1) with
Rack (21) is hinged.
3. cambered surface magnetic suck climbing robot as described in claim 1 adaptive, it is characterised in that: the rack (21) includes
Two bearing plate (211), a fixed plate (212), a bending plate (213) and an articulated slabs (214) disposed in parallel, two sliding tooths
Wheel (22) and two driven gears (23) are respectively arranged at two bearing plate (211) heads and two sides of tail, fixed plate (212) and hinge
Fishplate bar (214) is fixed on bearing plate (211) setting in parallel, and bending plate (213) both ends are respectively fixedly connected with fixed plate (212) and hinge
Fishplate bar (214), fixed plate (212) and bearing plate (211) are fixedly installed, articulated slab (214) respectively with car body (1) and damper
(3) it is hinged.
4. adaptive cambered surface magnetic suck climbing robot as claimed in claim 3, it is characterised in that: the setting of car body (1) side
Have support column (11), support column (11) end face is mutually supported with articulated slab (214).
5. cambered surface magnetic suck climbing robot as claimed in claim 3 adaptive, it is characterised in that: further include shaft coupling (4),
T-type gear-box (5) and motor (6), motor (6) in parallel be fixed between two bearing plates (211) and with shaft coupling (4) and T-type
Gear-box (5) is sequentially connected, and T-type gear-box (5) is fixed between two bearing plates (211) and connects with two driving gear (22) axis
It connects.
6. adaptive cambered surface magnetic suck climbing robot as claimed in claim 3, it is characterised in that: the magnetic suck tracked machine
Structure (2) further includes limited block (25), tension screw (26), driven shaft (27) and opening bearing (28), and bearing plate (211) tail portion is set
It is equipped with strip loose slot (215), driven shaft (27) passes through strip loose slot (215) and both ends nesting fixes two driving gears
(22), tension screw (26) is vertically arranged with driven shaft (27) and end is fixedly connected with opening bearing (28), is open bearing (28)
It is nested on driven shaft (27), tension screw (26) is threadedly coupled with limited block (25), and limited block (25) is fixedly installed on two
Between bearing plate (211).
7. adaptive cambered surface magnetic suck climbing robot as claimed in claim 3, it is characterised in that: further include guiding mechanism
(29), guiding mechanism (29) includes two tripods (291), a pivotal axis (292) and four directive wheels (293), tripod (291)
In isosceles triangle, two tripods (291) are arranged in parallel and corner position is connected and fixed by pivotal axis (292), pivotal axis
(292) it is set between two bearing plates (211) and is rotatably connected therewith, four directive wheels (293) are respectively arranged at triangle
Frame (41) base angle position and with chain crawler belt (24) roll connect.
8. adaptive cambered surface magnetic suck climbing robot as claimed in claim 7, it is characterised in that: the guiding mechanism (29)
There are four settings, is set between driving gear (22) and driven gear (23) and is symmetrical arranged two-by-two up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821577138.8U CN208881956U (en) | 2018-09-26 | 2018-09-26 | Adaptive cambered surface magnetic suck climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821577138.8U CN208881956U (en) | 2018-09-26 | 2018-09-26 | Adaptive cambered surface magnetic suck climbing robot |
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| Publication Number | Publication Date |
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| CN208881956U true CN208881956U (en) | 2019-05-21 |
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ID=66514042
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821577138.8U Active CN208881956U (en) | 2018-09-26 | 2018-09-26 | Adaptive cambered surface magnetic suck climbing robot |
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| CN (1) | CN208881956U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018054A (en) * | 2018-09-26 | 2018-12-18 | 武汉力博物探有限公司 | Adaptive cambered surface magnetic suck climbing robot |
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
| WO2021012426A1 (en) * | 2019-07-22 | 2021-01-28 | 朱家义 | Anti-fall wall climbing robot and walking method thereof |
| CN112810719A (en) * | 2021-03-08 | 2021-05-18 | 浙江水利水电学院 | Arc steel gate panel chassis of crawling |
| WO2021128623A1 (en) * | 2019-12-24 | 2021-07-01 | 山东科技大学 | Crawler-type steel wall climbing robot |
-
2018
- 2018-09-26 CN CN201821577138.8U patent/CN208881956U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018054A (en) * | 2018-09-26 | 2018-12-18 | 武汉力博物探有限公司 | Adaptive cambered surface magnetic suck climbing robot |
| CN109018054B (en) * | 2018-09-26 | 2024-05-14 | 武汉力博物探有限公司 | Self-adaptive arc surface magnetic adsorption crawling robot |
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
| WO2021012426A1 (en) * | 2019-07-22 | 2021-01-28 | 朱家义 | Anti-fall wall climbing robot and walking method thereof |
| WO2021128623A1 (en) * | 2019-12-24 | 2021-07-01 | 山东科技大学 | Crawler-type steel wall climbing robot |
| CN112810719A (en) * | 2021-03-08 | 2021-05-18 | 浙江水利水电学院 | Arc steel gate panel chassis of crawling |
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