CN208935650U - Magnetic suck climbing robot pedrail mechanism - Google Patents
Magnetic suck climbing robot pedrail mechanism Download PDFInfo
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- CN208935650U CN208935650U CN201821577770.2U CN201821577770U CN208935650U CN 208935650 U CN208935650 U CN 208935650U CN 201821577770 U CN201821577770 U CN 201821577770U CN 208935650 U CN208935650 U CN 208935650U
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- climbing robot
- magnetic suck
- pedrail mechanism
- rack
- suck climbing
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Abstract
The utility model proposes a kind of magnetic suck climbing robot pedrail mechanisms, by the way that directive wheel is arranged, and idler wheel is set in track unit, in transverse shifting, pair of rollers directive wheel is played a supporting role, and crawler belt stress is transmitted in rack, and the two rolls connection, friction can be greatly lowered, prevent crawler belt impaired, to adapt to lateral walking；The protection board of polyurethane material is set, can play the role of protecting magnet, increasing friction force, even closer, ease of assembly is bonded with pipe surface to avoid magnet and metal surface direct friction；Leading truck is set, the bumps and fluctuating of bottom surface are suitable for, reduces the impact force being subject to when quickly walking.
Description
Technical field
The utility model relates to climbing robot field more particularly to a kind of magnetic suck climbing robot pedrail mechanisms.
Background technique
Pipe robot be one kind can inside or outside small sized pipeline automatically walk, carry one or more sensors and
Operation is mechanical, under the remote control operation or computer controlled automatic of staff, carries out mechanical, electrical, the instrument of a series of pipeline operations
Integral system.
Current magnetic suck climbing robot on the market is generally mutually nibbled using magnetic caterpillar belt structure, idler wheel and crawler belt radially
It closes, stress intensity is higher, but axial direction stress is more weak, therefore, in vertically disposed steel pipe intrados or extrados
When lateral movement, idler wheel and crawler belt axial direction frictional force are very big, cause magnetic crawler belt or magnet-wheel to be easy impaired, need frequent
Replace magnetic crawler belt or magnet-wheel.
Utility model content
In view of this, the utility model proposes a kind of magnetic sucks that idler wheel Yu the friction of crawler belt axial direction is greatly lowered
Climbing robot pedrail mechanism.
The technical solution of the utility model is achieved in that the utility model provides a kind of magnetic suck climbing robot
Pedrail mechanism comprising rack (1), gear (2) and chain crawler belt (3), gear (2) are rotatably connected with rack (1), further include
Directive wheel (5), chain crawler belt (3) include several track units (30), each track unit (30) include a fixed plate (31),
Several magnets (32), two transmission chains (33), two shafts (34) and two idler wheels (35), two shafts (34) are vertically installed in fixed plate
(31) it upper surface and being nested with respectively idler wheel (35), several magnets (32) are set to fixed plate (31) lower surface and fixed thereto,
Two transmission chains (33) are individually fixed in fixed plate (31) upper surface, and the transmission chain (33) of adjacent track unit (30) is mutually hinged
It connects, gear (2) and transmission chain (33) are intermeshed, and directive wheel (5) and rack (1) is rotatably connected, surface and fixed plate (31)
Upper surface mutually supports, side and idler wheel (35) support.
On the basis of above technical scheme, it is preferred that the track unit (30) further includes a protection board (36), described
Fluted (37) are arranged in protection board (36) surface, and magnet (32) is arranged in groove (37), and fixed plate (31) following table cover is located at
It is on protection board (36) and fixed thereto.It is further preferred that the protection board (36) uses polyurethane material.
On the basis of above technical scheme, it is preferred that the track unit (30) further includes two bolts (38), two bolts
(38) it is threadedly connected to two shafts (34) end face respectively, and two idler wheels (35) are limited respectively.
On the basis of above technical scheme, it is preferred that further include leading truck (4), leading truck (4) includes two tripods
(41) and a pivotal axis (42), tripod (41) is in isosceles triangle, and two tripods (41) are arranged in parallel and corner position
It is connected and fixed by pivotal axis (42), pivotal axis (42) is rotatably connected with rack (1), and four directive wheels (5) are respectively arranged at three
Corner bracket (41) base angle position.
It is further preferred that two directive wheel (5) medial surfaces of same tripod (41) base angle position and same crawler belt list
Idler wheel (35) on first (30) mutually supports, two directive wheels (5) be respectively arranged at two idler wheels (35) and two transmission chains (33) it
Between.
It is further preferred that being set to rack (1) head and the tail two sides two-by-two respectively there are four gear (2) settings.
It is further preferred that there are four the leading truck (4) settings, it is set between head and the tail gear (2) and up and down two-by-two
It is symmetrical arranged.
The magnetic suck climbing robot pedrail mechanism of the utility model has the advantages that compared with the existing technology
(1) by setting directive wheel, and idler wheel is set in track unit, in transverse shifting, pair of rollers directive wheel is risen
To supporting role, crawler belt stress is transmitted in rack, and the two rolls connection, and friction can be greatly lowered, prevent crawler belt
It is impaired, to adapt to lateral walking；
(2) protection board of polyurethane material is set, can protect magnet, increasing friction force, be bonded more with pipe surface
Closely, ease of assembly；
(3) leading truck is set, the bumps and fluctuating of bottom surface are suitable for, reduces the impact force being subject to when quickly walking.
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 magnetic suck climbing robot pedrail mechanism of the utility model；
Fig. 2 is the side view of the magnetic suck climbing robot pedrail mechanism of the utility model；
Fig. 3 is directive wheel and the chain crawler belt coupling part of the magnetic suck climbing robot pedrail mechanism of the utility model
Perspective view；
Fig. 4 is the perspective view of the track unit of the magnetic suck climbing robot pedrail mechanism of the utility model；
Fig. 5 is the explosive view of the track unit of the magnetic suck climbing robot pedrail mechanism 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. 2 and Fig. 3, the magnetic suck climbing robot pedrail mechanism of the utility model, including rack
1, gear 2, chain crawler belt 3, leading truck 4 and directive wheel 5.
Rack 1 is stressed member, is connected with each other with climbing robot car body.
Gear 2 connects motor, is rotatably connected with rack 1, plays the role of power output.Specifically, the gear 2
There are four settings, is set to 1 head and the tail two sides of rack two-by-two respectively, and two of them gear 2 is coaxially disposed, and motor is connected, as drive
Moving gear, other two coaxial arrangement, as driven gear.
Chain crawler belt 3, promptly ground, plays the role of power output.It includes several track units 30, such as Fig. 4 institute
Show, in conjunction with Fig. 5, each track unit 30 includes a fixed plate 31, several magnets 32, two transmission chains 33, two shafts 34 and two rollings
Take turns 35, one protection board 36 and two bolts 38.
Two shafts 34 are vertically installed in 31 upper surface of fixed plate and are nested with idler wheel 35 respectively, and two bolts 38 are distinguished screw thread and connected
It is connected to two shafts, 34 end face, and two idler wheels 35 are limited respectively.It can only 34 rotation around the shaft in this way, limiting idler wheel 35.
Several magnets 32 are set to 31 lower surface of fixed plate and fixed thereto, specifically, 36 surface of the protection board is arranged
Fluted 37, magnet 32 is arranged in groove 37, and 31 following table cover of fixed plate is located on protection board 36 and fixed thereto.Specifically
, the protection board 36 uses polyurethane material, even closer, ease of assembly can be bonded with pipe surface with increasing friction force.
Specifically, the 32 mining strong magnet of magnet.
Two transmission chains 33 are individually fixed in 31 upper surface of fixed plate, and the transmission chain 33 of adjacent track unit 30 is mutually hinged
It connecing, all transmission chains 33 positioned at 31 the same side of fixed plate are mutually hinged cyclization, meanwhile, gear 2 is mutually nibbled with transmission chain 33
It closes, 3 cycle rotation of drive chain crawler belt is advanced.
Directive wheel 5 is rotatably connected with rack 1, and surface is mutually supported with 31 upper surface of fixed plate.Specifically, such as Fig. 3 institute
Show, leading truck 4 includes two tripods 41 and a pivotal axis 42, and tripod 41 is in isosceles triangle, and two tripods 41 are parallel to each other
It is arranged and corner position is connected and fixed by pivotal axis 42, pivotal axis 42 is rotatably connected with rack 1, and four directive wheels 5 are set respectively
It is placed in 41 base angle position of tripod.In this way, tripod 41 can be rotated around pivotal axis 42 when encountering up-and-down ground, from
And the ground of out-of-flatness is adapted to, the impact force of crawler belt and ground when reducing walking.Specifically, there are four the settings of leading truck 4,
It is set between head and the tail gear 2 and is symmetrical arranged two-by-two up and down.
5 side of directive wheel is supported with idler wheel 35, in this way, when walking, 5 side of directive wheel is made by the support of idler wheel 35
With robot overall weight being transmitted in rack 1 by crawler belt, in addition, idler wheel 35 can be relatively rotated with directive wheel 5, reduction rubs
Power is wiped, prevents crawler belt impaired, to adapt to lateral walking.Specifically, in two directive wheels 5 of same 41 base angle position of tripod
Side is mutually supported with the idler wheel 35 in same track unit 30, and two directive wheels 5 are respectively arranged at two idler wheels 35 and two transmissions
Between chain 33.
The magnetic suck climbing robot pedrail mechanism mode of action of the utility model is as follows:
In laterally walking, motor drives the circulation of track unit 30 and ground face contact by gear 2, travels forward, and is oriented to
Robot overall weight, will be transmitted in rack 1 by supporting role of the wheel 5 by idler wheel 35 by crawler belt；Meanwhile directive wheel 5 exists
When walking between each idler wheel 35, the relative rolling between idler wheel 35 reduces friction.
Encounter road surface it is uneven when, tripod 41 can be rotated around pivotal axis 42, to adapt to the ground of out-of-flatness, be dropped
The impact force of crawler belt and ground when low row is walked.
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 magnetic suck climbing robot pedrail mechanism comprising rack (1), gear (2) and chain crawler belt (3), gear (2)
It is rotatably connected with rack (1), it is characterised in that: further include directive wheel (5), chain crawler belt (3) includes several track units
(30), each track unit (30) include a fixed plate (31), several magnets (32), two transmission chains (33), two shafts (34) and
Two idler wheels (35), two shafts (34) are vertically installed in fixed plate (31) upper surface and are nested with idler wheel (35), several magnets respectively
(32) it is set to fixed plate (31) lower surface and fixed thereto, two transmission chains (33) are individually fixed in fixed plate (31) upper surface,
The transmission chain (33) of adjacent track unit (30) is mutually hinged, and gear (2) and transmission chain (33) are intermeshed, directive wheel (5)
It is rotatably connected with rack (1), surface and fixed plate (31) upper surface mutually supports, side and idler wheel (35) support.
2. magnetic suck climbing robot pedrail mechanism as described in claim 1, it is characterised in that: the track unit (30) is also
Including a protection board (36), fluted (37) are arranged in protection board (36) surface, and magnet (32) is arranged in groove (37), Gu
Fixed board (31) following table cover is located on protection board (36) and fixed thereto.
3. magnetic suck climbing robot pedrail mechanism as claimed in claim 2, it is characterised in that: the protection board (36) uses
Polyurethane material.
4. magnetic suck climbing robot pedrail mechanism as described in claim 1, it is characterised in that: the track unit (30) is also
Including two bolts (38), two bolts (38) are threadedly connected to two shafts (34) end face respectively, and carry out respectively to two idler wheels (35)
Limit.
5. magnetic suck climbing robot pedrail mechanism as described in claim 1, it is characterised in that: further include leading truck (4), lead
It include two tripods (41) and a pivotal axis (42) to frame (4), tripod (41) is in isosceles triangle, and two tripods (41) are mutual
It is arranged in parallel and corner position is connected and fixed by pivotal axis (42), pivotal axis (42) is rotatably connected with rack (1), four guiding
Wheel (5) is respectively arranged at tripod (41) base angle position.
6. magnetic suck climbing robot pedrail mechanism as claimed in claim 5, it is characterised in that: same tripod (41) base angle
Two directive wheel (5) medial surfaces of position are mutually supported with the idler wheel (35) on same track unit (30), two directive wheels (5)
It is respectively arranged between two idler wheels (35) and two transmission chains (33).
7. magnetic suck climbing robot pedrail mechanism as claimed in claim 5, it is characterised in that: the gear (2) is provided with
Four, it is set to rack (1) head and the tail two sides two-by-two respectively.
8. magnetic suck climbing robot pedrail mechanism as claimed in claim 5, it is characterised in that: leading truck (4) setting
There are four, it is set between head and the tail gear (2) and is symmetrical arranged two-by-two up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821577770.2U CN208935650U (en) | 2018-09-26 | 2018-09-26 | Magnetic suck climbing robot pedrail mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821577770.2U CN208935650U (en) | 2018-09-26 | 2018-09-26 | Magnetic suck climbing robot pedrail mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208935650U true CN208935650U (en) | 2019-06-04 |
Family
ID=66722659
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821577770.2U Active CN208935650U (en) | 2018-09-26 | 2018-09-26 | Magnetic suck climbing robot pedrail mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN208935650U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109027517A (en) * | 2018-09-26 | 2018-12-18 | 武汉力博物探有限公司 | Magnetic suck climbing robot pedrail mechanism |
-
2018
- 2018-09-26 CN CN201821577770.2U patent/CN208935650U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109027517A (en) * | 2018-09-26 | 2018-12-18 | 武汉力博物探有限公司 | Magnetic suck climbing robot pedrail mechanism |
| CN109027517B (en) * | 2018-09-26 | 2024-03-22 | 武汉力博物探有限公司 | Magnetic adsorption crawler robot track mechanism |
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