CN209258281U - Guiding mechanism and magnetic adsorption wall climbing robot - Google Patents
Guiding mechanism and magnetic adsorption wall climbing robot Download PDFInfo
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- CN209258281U CN209258281U CN201822274723.7U CN201822274723U CN209258281U CN 209258281 U CN209258281 U CN 209258281U CN 201822274723 U CN201822274723 U CN 201822274723U CN 209258281 U CN209258281 U CN 209258281U
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- guiding mechanism
- guide plate
- track assembly
- magnetic adsorption
- wall climbing
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Abstract
The utility model provides a kind of guiding mechanism and magnetic adsorption wall climbing robot, is related to the technical field of magnetic adsorption wall climbing robot.A kind of guiding mechanism is suitable for magnetic adsorption wall climbing robot, comprising: guide plate and rolling element；Magnetic adsorption wall climbing robot includes absorption track assembly, and guide plate is set to the inside of absorption track assembly；Multipair rolling element is arranged successively in the inside of absorption track assembly, and guide plate is located between two rolling elements of each centering, and two rolling elements of each centering are abutted with two sides of guide plate respectively.A kind of magnetic adsorption wall climbing robot, including guiding mechanism.The purpose of this utility model is to provide a kind of guiding mechanism and magnetic adsorption wall climbing robots, to alleviate the problem of guide frame in the prior art can not provide relatively stable guiding role.
Description
Technical field
The utility model relates to the technical fields of magnetic adsorption wall climbing robot, more particularly, to a kind of guiding mechanism and magnetic
Attached climbing robot.
Background technique
Magnetic adsorption wall climbing robot belongs to specialized robot, is chiefly used under severe, dangerous, limiting condition, in magnetic conduction wall surface
Upper progress such as detection is overhauled, welding, polishing operations specific.Currently, magnetic adsorption wall climbing robot is in nuclear industry, petrochemical industry work
Industry, building industry, fire department, shipbuilding industry etc. are widely used in the production and construction based on steel construction.Magnetic suck is climbed
Wall robot needs solution absorption, driving, steering, obstacle detouring, the small curvature surface of adaptation, workpiece to load and be in engineer application
To a series of problems, such as automatic control, constantly magnetic suck robot is optimized currently, people are directed to above-mentioned aspect.
The adsorption capacity of absorption crawler belt at work in magnetic adsorption wall climbing robot is very strong, thus, so that on body
Guide frame can not to absorption crawler belt relatively stable guiding role be provided.
Based on problem above, propose a kind of to be particularly important with the guiding mechanism for stablizing guiding role.
The information disclosed in the background technology section is intended only to deepen the reason to the general background technology of the utility model
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Utility model content
The purpose of this utility model is to provide a kind of guiding mechanism and magnetic adsorption wall climbing robots, to alleviate the prior art
In guide frame the problem of relatively stable guiding role can not be provided.
In order to solve the above-mentioned technical problem, the technological means that the utility model is taken are as follows:
A kind of guiding mechanism provided by the utility model is suitable for magnetic adsorption wall climbing robot, comprising: guide plate and rolling
Body；
The magnetic adsorption wall climbing robot includes absorption track assembly, and the guide plate is set to the absorption track assembly
Inside；
The multipair rolling element is connected to the inside of the absorption track assembly in succession, and the guide plate is located at each centering
Between two rolling elements, and two rolling elements of each centering are abutted with two sides of the guide plate respectively.
As a kind of further technical solution, the absorption track assembly includes drive chain and fixed plate；
The drive chain is used to connect the driving wheel and driven wheel of the magnetic adsorption wall climbing robot；
Fixed plate described in muti-piece is arranged in the outside of the drive chain；
Two rolling elements of each centering are arranged at intervals in the fixed plate.
As a kind of further technical solution, the rolling element is deep groove ball bearing.
As a kind of further technical solution, the absorption track assembly includes magnet steel, and the magnet steel is fixedly connected on
The outside of the fixed plate.
As a kind of further technical solution, the absorption track assembly includes resilient cushion, and the resilient cushion is fixed to be connected
It is connected to the outside of the fixed plate.
As a kind of further technical solution, the resilient cushion is two groups, and it is wide to be located at the absorption track assembly
Spend the two sides in direction.
As a kind of further technical solution, mounting base is provided on the outside of the drive chain；
The fixed plate is fixedly connected with the mounting base, and has gap between the fixed plate and the guide plate.
As a kind of further technical solution, it is provided with fixed structure in the mounting base, correspondingly, the fixed plate
On be provided with fixed hole position, the fixed structure can be coupled with the fixed hole position.
As a kind of further technical solution, the guide plate uses high-strength steel sheet.
A kind of magnetic adsorption wall climbing robot provided by the utility model, including the guiding mechanism.
Compared with prior art, possessed by a kind of guiding mechanism and magnetic adsorption wall climbing robot provided by the utility model
Technical advantage are as follows:
A kind of guiding mechanism provided by the utility model is suitable for magnetic adsorption wall climbing robot, including guide plate and multipair rolling
Kinetoplast, wherein the magnetic adsorption wall climbing robot includes the absorption track assembly being arranged in a ring, and guide plate is then arranged and is adsorbing
The inside of track assembly；Multipair rolling element is connected to the inside of absorption track assembly in succession, and the edge of guide plate is then located at each right
In two rolling elements between, also, the surface of two rolling elements of each centering is also abutted against with the two sides of guide plate respectively.
As a result, when magnetic adsorption wall climbing robot is walked, absorption track assembly is moved relative to guide plate, at this point, rolling element can be
It is rolled on the side of guide plate.
Guiding mechanism provided by the utility model is greatly reduced by being used in conjunction with each other for guide plate and rolling element
It adsorbs between track assembly and guide plate due to the degree of wear caused by there are frictional force；Simultaneously as rolling element and guiding
The side of plate pushes against, under the guiding role of guide plate, adsorb be able to maintain between track assembly and guide plate it is stable opposite
Movement, and be not in shake, further improve the stability of absorption track assembly movement.
Therefore, guide plate can play entire absorption track assembly supporting role simultaneously, and can play unique guiding
And position-limiting action, compared with the prior art, which has higher reliability, stability；In addition, due to the Guiding machine
Structure is mainly being used in conjunction with each other for guide plate and rolling element, and in configuration aspects, components are less, and structure is compact to design small and exquisite,
Design, manufacturing cost can also be reduced.
A kind of magnetic adsorption wall climbing robot provided by the utility model, including above-mentioned guiding mechanism, the magnetic suck is climbed as a result,
Wall robot technical advantage achieved and effect include above-mentioned guiding mechanism technical advantage achieved and effect, herein no longer
It repeats.
Detailed description of the invention
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 embodiment 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, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic diagram of magnetic adsorption wall climbing robot provided by the embodiment of the utility model；
Fig. 2 is guiding mechanism provided by the embodiment of the utility model and the schematic diagram for adsorbing track assembly；
Fig. 3 is the partial enlarged view in Fig. 2 at A.
Icon:
100- guiding mechanism；110- guide plate；120- rolling element；
200- walking mechanism；210- adsorbs track assembly；211- drive chain；212- fixed plate；213- magnet steel；
214- resilient cushion；215- mounting base；220- driving wheel；230- driven wheel.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
The utility model is further described in detail below through specific implementation examples and in conjunction with the accompanying drawings.
Specific structure is as shown in Figure 1-Figure 3.
A kind of guiding mechanism 100 provided in this embodiment is suitable for magnetic adsorption wall climbing robot, including guide plate 110 and more
To rolling element 120, wherein the magnetic adsorption wall climbing robot includes the absorption track assembly 210 being arranged in a ring, and guide plate
110 are arranged in the inside of absorption track assembly 210；Multipair rolling element 120 is connected to the interior of absorption track assembly 210 in succession
Side, the edge of guide plate 110 are then located between two rolling elements 120 of each centering, also, two rolling elements 120 of each centering
Two sides of the surface also respectively with guide plate 110 abut against.As a result, when magnetic adsorption wall climbing robot is walked, crawler belt is adsorbed
Component 210 is moved relative to guide plate 110, at this point, rolling element 120 can roll on the side of guide plate 110.
Guiding mechanism 100 provided in this embodiment, by being used in conjunction with each other for guide plate 110 and rolling element 120, significantly
It reduces between absorption track assembly 210 and guide plate 110 due to the degree of wear caused by there are frictional force；Simultaneously as
The side of rolling element 120 and guide plate 110 pushes against, under the guiding role of guide plate 110, absorption track assembly 210 and guiding
It is able to maintain stable relative motion between plate 110, and is not in shake, further improves absorption track assembly 210 and transports
Dynamic stability.
Therefore, guide plate 110 can play entire absorption 210 supporting role of track assembly simultaneously, and can play uniqueness
Guiding and position-limiting action, compared with the prior art, the guiding mechanism 100 have higher reliability, stability；In addition, by
In the guiding mechanism 100 be mainly being used in conjunction with each other for guide plate 110 and rolling element 120, in configuration aspects, components compared with
Few, structure is compact to design small and exquisite, additionally it is possible to reduce design, manufacturing cost.
In the optional technical solution of the present embodiment, absorption track assembly 210 includes drive chain 211 and fixed plate 212；Driving
Chain 211 is used to connect the driving wheel 220 and driven wheel 230 of magnetic adsorption wall climbing robot；Muti-piece fixed plate 212 is arranged in drive chain
211 outside；Two rolling elements 120 of each centering are arranged at intervals in fixed plate 212.
In the optional technical solution of the present embodiment, rolling element 120 is deep groove ball bearing.
Specifically, magnetic adsorption wall climbing robot includes two groups of walking mechanisms 200 being arranged at left and right sides of body, the walking
Mechanism 200 includes driving assembly, absorption track assembly 210, driving wheel 220 and driven wheel 230, wherein driving wheel 220 and driven
Wheel 230 is arranged along body front-rear direction interval, and the output shaft and driving wheel 220 of driving assembly are sequentially connected, and can drive actively
220 rotation of wheel, it is preferable that driving assembly includes driving motor and retarder；Absorption track assembly 210 is set in driving wheel 220
On driven wheel 230, so, under the driving effect of driving assembly, the rotation of driving wheel 220 can drive absorption crawler belt group
Part 210 moves, to realize the walking of magnetic adsorption wall climbing robot.
Further, absorption track assembly 210 include drive chain 211 and fixed plate 212, drive chain 211 then directly with master
Driving wheel 220 (sprocket wheel) and driven wheel 230 (sprocket wheel) are meshed, and fixed plate 212 is then arranged in along the length direction of drive chain 211
Its outside, and adsorption structure is then arranged in fixed plate 212, so, under the action of driving wheel 220,211 energy of drive chain
Enough drive fixed plate 212 and thereon adsorption structure movement, with realize adsorption wall climbing act.
Further, in a pair of of rolling of the inside of each piece of fixed plate 212 (inside of absorption track assembly 210) one end setting
Kinetoplast 120, and two rolling elements 120 of each centering can clamp the two sides at 110 edge of guide plate, thus, in absorption crawler belt
When component 210 moves, fixed plate 212 is moved relative to guide plate 110, at this point, rolling element 120 can be in the side of guide plate 110
Face roll, in turn, guide plate 110 can play support and guiding role to rolling element 120, meanwhile, by rolling element 120 with lead
To being used cooperatively for plate 110, it can reduce guide plate 110 and adsorb the abrasion between track assembly 210, further improve magnetic
The service life of adsorption wall climbing robot.
In the present embodiment preferably, rolling element 120 uses deep groove ball bearing, to reduce abrasion, improves the service life.
In the optional technical solution of the present embodiment, absorption track assembly 210 includes magnet steel 213, and magnet steel 213 is fixedly connected on
The outside of fixed plate 212.
In the present embodiment, movement is adsorbed on steel construction in order to enable to adsorb track assembly 210, it is preferable that at each piece
The outside of fixed plate 212 corresponds to mounting magnetic steel 213, specifically, being provided with installation hole location in fixed plate 212, is arranged on magnet steel 213
There is stepped hole, by the stepped hole on magnet steel 213 and the installation hole location in fixed plate 212 to just, then passes through fastener and installation
Hole location is coupled, to realize the fastening of magnet steel 213.
In the optional technical solution of the present embodiment, absorption track assembly 210 includes resilient cushion 214, and resilient cushion 214 is fixed to be connected
It is connected to the outside of fixed plate 212.
In the optional technical solution of the present embodiment, resilient cushion 214 is two groups, is located at absorption 210 width of track assembly
The two sides in direction.
Biggish noise and shake are generated in view of colliding between steel construction in absorption 210 motion process of track assembly
It is dynamic, it is provided with resilient cushion 214 (resilient cushion 214 is chosen from the prior art) in the outside of fixed plate 212 in the present embodiment, is passed through
Resilient cushion 214 can reduce noise and vibration between absorption track assembly 210 and steel construction, to reduce the shadow of noise on human
It rings.Specifically, being provided with stepped hole on resilient cushion 214, installation hole location is provided in fixed plate 212, by the rank on resilient cushion 214
Then installation hole location on terraced hole and fixed plate 212 is coupled, to realize resilient cushion to just by fastener and installation hole location
214 fastening.
It is further preferred that resilient cushion 214 is respectively set in the two sides of 212 upper magnetic steel 213 of fixed plate, with improve damping,
Noise reduction effect.
In the optional technical solution of the present embodiment, the outside of drive chain 211 is provided with mounting base 215；Fixed plate 212 and peace
Dress seat 215 is fixedly connected, and has gap between fixed plate 212 and guide plate 110.
In the optional technical solution of the present embodiment, fixed structure (fixed column) is provided in mounting base 215, correspondingly, solid
Fixed hole position is provided on fixed board 212, fixed structure can be coupled with fixed hole position.
In order to realize the installation to fixed plate 212, arrange multiple groups mounting base in the present embodiment in the outside of drive chain 211
215, and fixed structure is set in mounting base 215, it is coupled by fixed structure and the installation hole location in fixed plate 212,
In order to which fixed plate 212 to be firmly mounted on to the outside of drive chain 211.
Further, it is contemplated that the fixed plate 212 in 211 outside of drive chain is located at the outside of guide plate 110, works as drive chain
When 211 drive fixed plates 212 move, fixed plate 212 may be contacted with guide plate 110, on the one hand generate noise, another party
The abrasion of the two is accelerated in face.Based on this, fixed plate 212 can be increased in the present embodiment by mounting base 215, in order to make
There is gap between fixed plate 212 and guide plate 110, contacts between the two to alleviate and generate noise and increase abrasion
The problem of.
In the optional technical solution of the present embodiment, guide plate 110 uses high-strength steel sheet, has intensity height, wearability good
The advantages that, to play the frame supporting role of entire walking mechanism 200, also, play guiding and position-limiting action.
A kind of magnetic adsorption wall climbing robot provided in this embodiment, including above-mentioned guiding mechanism 100, the as a result, magnetic suck
Climbing robot technical advantage achieved and effect include above-mentioned guiding mechanism 100 technical advantage achieved and effect, this
Place repeats no more.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of guiding mechanism is suitable for magnetic adsorption wall climbing robot characterized by comprising guide plate and rolling element；
The magnetic adsorption wall climbing robot includes absorption track assembly, and the guide plate is set to the interior of the absorption track assembly
Side；
The multipair rolling element is connected to the inside of the absorption track assembly in succession, and the guide plate is located at two of each centering
Between the rolling element, and two rolling elements of each centering are abutted with two sides of the guide plate respectively.
2. guiding mechanism according to claim 1, which is characterized in that the absorption track assembly includes drive chain and fixation
Plate；
The drive chain is used to connect the driving wheel and driven wheel of the magnetic adsorption wall climbing robot；
Fixed plate described in muti-piece is arranged in the outside of the drive chain；
Two rolling elements of each centering are arranged at intervals in the fixed plate.
3. guiding mechanism according to claim 2, which is characterized in that the rolling element is deep groove ball bearing.
4. guiding mechanism according to claim 2, which is characterized in that the absorption track assembly includes magnet steel, the magnetic
Steel is fixedly connected on the outside of the fixed plate.
5. guiding mechanism according to claim 2 or 4, which is characterized in that the absorption track assembly includes resilient cushion, institute
State the outside that resilient cushion is fixedly connected on the fixed plate.
6. guiding mechanism according to claim 5, which is characterized in that the resilient cushion is two groups, is located at the suction
The two sides of attached track assembly width direction.
7. guiding mechanism according to claim 2, which is characterized in that be provided with mounting base on the outside of the drive chain；
The fixed plate is fixedly connected with the mounting base, and has gap between the fixed plate and the guide plate.
8. guiding mechanism according to claim 7, which is characterized in that be provided with fixed structure in the mounting base, accordingly
, fixed hole position is provided in the fixed plate, the fixed structure can be coupled with the fixed hole position.
9. guiding mechanism described in any one of -4,7,8 according to claim 1, which is characterized in that the guide plate uses
High-strength steel sheet.
10. a kind of magnetic adsorption wall climbing robot, which is characterized in that including the described in any item guiding mechanisms of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822274723.7U CN209258281U (en) | 2018-12-30 | 2018-12-30 | Guiding mechanism and magnetic adsorption wall climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822274723.7U CN209258281U (en) | 2018-12-30 | 2018-12-30 | Guiding mechanism and magnetic adsorption wall climbing robot |
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| CN209258281U true CN209258281U (en) | 2019-08-16 |
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| CN201822274723.7U Active CN209258281U (en) | 2018-12-30 | 2018-12-30 | Guiding mechanism and magnetic adsorption wall climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110803230A (en) * | 2019-11-20 | 2020-02-18 | 西安理工大学 | Bionic adhesion-absorption combined type crawler wall-climbing robot |
-
2018
- 2018-12-30 CN CN201822274723.7U patent/CN209258281U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110803230A (en) * | 2019-11-20 | 2020-02-18 | 西安理工大学 | Bionic adhesion-absorption combined type crawler wall-climbing robot |
| CN110803230B (en) * | 2019-11-20 | 2021-09-10 | 西安理工大学 | Bionic adhesion-absorption combined type crawler wall-climbing robot |
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