CN209535267U - Creeper undercarriage, crawler body and corresponding robot device - Google Patents
Creeper undercarriage, crawler body and corresponding robot device Download PDFInfo
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- CN209535267U CN209535267U CN201921505166.3U CN201921505166U CN209535267U CN 209535267 U CN209535267 U CN 209535267U CN 201921505166 U CN201921505166 U CN 201921505166U CN 209535267 U CN209535267 U CN 209535267U
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- electromagnet
- crawler belt
- creeper undercarriage
- needle bearings
- crawler
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Abstract
The utility model relates to be used to carry the attached magnetic adsorption type crawler body of robot body on crawler body and creeper undercarriage more particularly to robot device.The crawler body includes at least one creeper undercarriage, the creeper undercarriage includes: driving wheel, multiple scroll wheels, around crawler belt made of being interlinked as multiple pedrail mould groups of driving wheel and multiple scroll wheels, and it is placed in multiple electromagnet mode groups on the inside of crawler belt, each electromagnet mode group includes shock-proof spring, electromagnet and Duo Gen needle bearing, the plane for being axially perpendicular to crawler belt of electromagnet, more needle bearings are arranged between electromagnet and pedrail mould group, more needle bearings are arranged parallel and are parallel to the plane of crawler belt, and the direction for being axially perpendicular to crawler belt operation of more needle bearings.Crawler body is realized to the controllable adsorption of various wall surfaces, crawler body caused by traditional permanent magnetic suck mode is avoided together with robot body and is difficult to the problem of removing.
Description
Technical field
The utility model relates to robot devices, more particularly, to carry the attached magnetic adsorption type track bottom of robot body
Disk and creeper undercarriage.
Background technique
After railway, highway, water transport, air transportation, pipeline transportation be petroleum, chemical industry, natural gas, water conservancy and hydropower,
The important means of transportation of the one kind generallyd use in the fields such as communications and transportation and water transfer pipe network engineering.Most long-distance transportations
The expectation service life of pipeline can be up to the decades even upper century-old time.However, since the laying of these pipelines is buried mostly
In underground, seabed etc., therefore the corrosion of landform movement, pressure change, inside and outside medium etc., inevitably pipeline is caused to damage
It is bad.If Pipeline damage is not found in time, leakage accident may cause, cause extremely serious consequence, such as large area
Environmental pollution or even detonation.Therefore, pipeline inspection technology is studied, the convenience and reliability of detection is improved, reinforces the inspection of pipeline
It surveys, is of great significance to the safety for improving pipeline transportation.
For the detection of relatively long distance pipeline and cleaning, Work robot is a kind of common solution in pipeline,
Pipe robot can carry a variety of workpieces such as camera, can be than completing a series of pipeline inspections under relatively rugged environment
Survey operation.Since pipe diameter is not of uniform size, has bend and geneva cross etc., when robot is run in the duct, often
The problems such as correct posture can often be deviateed, or even turned on one's side.Therefore, complicated pipeline is constructed to robot traveling comfort
Have high requirements.Currently, it is a solution for preventing from deviateing and turning on one's side that robot chassis, which is adsorbed on iron wall surface,.This
Outside, for the iron wall surface of pipeline obliquely or vertically, robot is if it is intended to complete detection work, the chassis of robot also must
So need to be adsorbed on iron wall surface.What is generallyd use now is permanent magnetic adsorption-type crawler body, and adhesion property is good, operation is flat
Stability is good, obstacle climbing ability is strong, tractive force is big, can keep good operating status under muddy, protrusion, the pipeline environment of greasy dirt.
Continuous exploration with the mankind to ocean, in order to preferably recognize, develop and protect marine resources, 20th century are later half
The underwater robot that leaf is born is a kind of robot for moving and working under water.It, which can pull the plug, completes some spies instead of people
Fixed operation is mainly used in maritime search and rescue, investigates in water, exploration and amusement etc..Due to underwater environment complexity, exist much not
Know danger, the diving depth of people is limited, so underwater robot has become the important tool of ocean exploration.Equally for steady
Property consider, the crawler body of underwater robot also tends to allow to using permanent magnetic adsorption-type crawler body in the prior art
Hull surface, surface of oil storage tank, steel cylinder concrete, iron gate guide etc. are steadily mobile.Specifically, being applied to iron wall
When the detection work on surface, permanent magnetic adsorption-type crawler body can magnetize iron wall surface, to make crawler body and iron wall surface
Mutually absorption, ensure that robot can be walked and be moved in inclined wall or vertical wall surface uplink.
Crawler body is made of creeper undercarriage, and Fig. 1 shows a shoe of existing permanent magnetic adsorption-type crawler body
Band walking mechanism a, comprising: driving wheel 101, multiple scroll wheel 102(are also referred to as driven wheel), and surround driving wheel and rolling
The crawler belt 105 of wheel.
Crawler belt 105 is linked together equipped with the pedrail mould group 104 of permanent magnetic suck module 103 by many pieces of outsides and is formed.Often
Block permanent magnetic suck module is made of permanent magnet (for example, magnet steel).
The creeper undercarriage further comprises the motor (Fig. 1 is not shown) being connected by motor shaft with driving wheel, motor
It can be battery powered, or be powered by cable power supply or other modes as known to those skilled in the art.When electrical power rotates
When drive driving wheel rotation, and then drive crawler belt rotary motion, make for direction of advance in that rearmost block forever
Magnetic suck module is detached from appended iron wall surface, and that block permanent magnetic suck module in foremost is made to be adsorbed onto the iron wall simultaneously
Surface.To at any time, a certain number of permanent magnetic suck modules be maintained and contacted with iron wall surface, so that machine
People's smooth motion on iron wall surface.It is mounted with that the movement velocity of the robot of permanent magnetic adsorption-type crawler body can pass through change
Driving motor revolving speed changes to realize.
As it can be seen that existing permanent magnetic adsorption-type crawler body can provide good running stability for such robot.But
It is when the motor of pipe robot, which breaks down, to be moved, permanent magnetic adsorption-type crawler body will continue to firmly be adsorbed on pipeline
Inner surface can not be removed, and the pipe robot that can not be moved becomes an obstacle for being difficult to remove and hidden danger in pipeline instead.
It is adsorbed on iron wall surface accordingly, it is now desired to which a kind of new method solves robot when motor breaks down and can not take
Under problem, and then improve robot work reliability.
Utility model content
To solve the above problems, realizing controllable adsorption, avoid crawler body caused by traditional permanent magnetic suck mode together with machine
Device human body is difficult to the problem of removing, and the utility model provides a kind of creeper undercarriage, which includes: to drive
Driving wheel, multiple scroll wheels, around crawler belt made of being interlinked as multiple pedrail mould groups of driving wheel and multiple scroll wheels, and
The multiple electromagnet mode groups being placed on the inside of crawler belt, each electromagnet mode group include shock-proof spring, electromagnet and Duo Gen needle bearing.
Pedrail mould group is made by magnetizing material fast and that demagnetization is fast, such as soft iron or silicon steel.
Electromagnet mode group is by battery or passes through cable power supply.Electromagnet includes strip iron core and the coil around iron core,
Iron core is made by the material for magnetizing fast and fast demagnetization soft iron or silicon steel etc..The axial direction of iron core, the i.e. axis of electromagnet
To perpendicular to the plane of crawler belt.
More needle bearings are arranged between electromagnet and pedrail mould group, more needle bearings be arranged parallel and
It is parallel to the plane of crawler belt, and the direction for being axially perpendicular to crawler belt operation of more needle bearings.
Shock-proof spring is arranged at side of the electromagnet mode group far from pedrail mould group, is compressed spring, has circular transversal
There is gap in face between the adjacent each circle of compressed spring.
The creeper undercarriage further comprises the energization for controlling the electromagnet mode group by manual or stored program control system
With the magnet switching circuit control device of power-off.
The utility model further provides, the crawler body including at least one above-mentioned creeper undercarriage.Work as presence
In the case where two or more above-mentioned creepers undercarriage, each creeper undercarriage is arranged in parallel.Crawler travel machine
The size for the robot that the quantity of structure carries as needed determines.
The utility model further provides, the robot device including above-mentioned crawler body.It can be pipeline machine
The robots such as people, amphibious machine people, underwater robot.
Detailed description of the invention
In order to which mode used in the features described above of the disclosure is well understood, it may be considered that come from many aspects
Content described above is further described in more detail, some of aspects illustrate in the accompanying drawings.It should be noted that attached drawing
Certain typical patterns of the disclosure are merely depicted, so should not be considered as limiting its range, because this description allows for
Other equally effective aspect.
Fig. 1 is the side view of the single creeper undercarriage of the permanent magnetic adsorption-type crawler body in current technology；
Fig. 2 is the side view according to the single creeper undercarriage of the attached magnetic adsorption type crawler body of the utility model；
Fig. 3 is the side view according to the single electromagnet mode group of the utility model；
Fig. 4 is the perspective view according to a visual angle of the attached magnetic adsorption type crawler body of the utility model；
Fig. 5 is the perspective view according to another visual angle of the attached magnetic adsorption type crawler body of the utility model.
Specific embodiment
The illustrative embodiments of the utility model are more fully described below with reference to accompanying drawings.Although being shown in attached drawing
The illustrative embodiments of the utility model, it being understood, however, that may be realized in various forms this utility model without answering
It is limited by the embodiments set forth herein.It is to be able to thoroughly understand book reality on the contrary, providing these embodiments
With novel, and the scope of the utility model can be fully disclosed to those skilled in the art.It should be noted that removing
Non- to be otherwise noted, technical term or scientific term used in this application are understood logical by the application one of ordinary skill in the art
Chang Yiyi.
In view of the above problems in the prior art, it realizes controllable adsorption, avoids track bottom caused by traditional permanent magnetic suck mode
Disk is difficult to the problem of removing together with robot body, and the embodiments of the present invention provide a kind of attached magnetic for robot
Attached formula crawler body and its creeper undercarriage.It can control attached magnetic by the on-off and the size of electric current for controlling electric current
Attached formula crawler body it is magnetic whether there is or not with magnetic size.
The main attached magnetic device of attached magnetic adsorption type crawler body is made of electromagnet mode group, when in magnet switching circuit control
When electromagnet mode group is powered under the control of device, due to the magnetic effect of electric current, the electromagnet mode group of energization can generate magnetic field, so that crawler belt
Be adsorbed onto iron wall pipeline, hull surface, surface of oil storage tank, steel cylinder concrete, on iron gate guide.To ensure that robot
It can smoothly be moved in a manner of absorption.
When motor break down crawler body can not move when, can be under the control of magnet switching circuit control device
Electromagnet mode group is powered off, electromagnet mode group no longer generates magnetic field, and crawler belt is for iron wall pipeline, hull surface, surface of oil storage tank, Tie Zha
Door guide rail etc. loses adsorption capacity, so that robot and its crawler body are displaced from scene with can be convenient.
In addition, may include shock-proof spring in each electromagnet mode group, when robot is by there is protrusion to enhance stationarity
Surface when, shock-proof spring can be absorbed impact generate energy, so that robot is not generated biggish concussion, robot operating ratio
It is relatively steady, it can preferably complete Detection task.
As shown in Fig. 2, a creeper undercarriage of attached magnetic adsorption type crawler body according to the present utility model includes carrying out
Band 205, driving wheel 201, multiple scroll wheels 202, multiple electromagnet mode groups 206.
Crawler belt is interlinked by multiple pedrail mould groups 204.Each pedrail mould group soft iron be (purity > 98%
Iron) it is made, electromagnet of the soft iron in electromagnet mode group under the action of, can be magnetized rapidly, generate adsorption capacity.Electromagnet power-off
Later, soft iron can demagnetize rapidly.
Driving wheel makes rotating motion driven by the motor, and revolving speed and torque are adjustable, and driving wheel drives crawler belt fortune
Dynamic, further, crawler belt drives scroll wheel to make rotating motion.
Multiple electromagnet mode groups are placed on the inside of crawler belt, and positioned at one side of the wall close to crawler belt absorption, each electromagnet mode group is mutual
Between be arranged in parallel, make the iron core of each electromagnet mode group perpendicular to the plane of crawler belt.Preferably, multiple electromagnet mode groups are advanced along crawler belt
Direction is arranged to a file.
Electromagnet mode group shown in Figure 2 is 5, however, it will be understood by those skilled in the art that the difference according to crawler belt is long
It is all feasible that degree, which selects any appropriate number of electromagnet mode group,.
Creeper undercarriage further comprises the magnet switching for controlling the power on/off of the electromagnet in electromagnet mode group
Circuit control device (Fig. 2 is not shown), power supply mode can be by battery or by cable or other those skilled in the art
The mode that member knows.
The control of magnet switching circuit control device can be carried out by cable with wired mode, or wirelessly be led to
Remote control is crossed to carry out.
The control of magnet switching circuit control device, which can be, manually to be carried out, and is also possible to through preset program certainly
It is dynamic to carry out.
Manually controlling can refer to when staff has found robot device's failure, and magnet switching circuit is manually operated
Control device controls the power-off of the electromagnet in electromagnet mode group.Such manual operation can be carried out by remote controller.It is distant
Control device is wire or wirelessly connected with magnet switching circuit control device.
Include but is not limited to by the stored program control system that preset program carries out automatically controlling: in magnet switching circuit control
Device, which receives robot device, to be occurred automatically controlling power-off when predetermined failure code, is sent out in magnet switching circuit control device
Existing its is powered off with automatic control when robot device's lost contact.Other any of control modes can be contemplated.
Fig. 3 shows single electromagnet mode group 206 according to the present utility model and part crawler belt 205.
As shown in figure 3, single electromagnet mode group 206 includes: electromagnet 310, shock-proof spring 320 and needle bearing 330.
Electromagnet includes strip iron core and its coil that is externally wrapped with, fabrication of iron core grow up strip the purpose of be to make iron core more
Add easy magnetization.In order to make electromagnet power off demagnetization immediately, using the material that magnetization is fast and demagnetization is fast, such as soft iron or silicon steel
Material makes iron core.In this way, electromagnet is magnetic at once when being powered, it is magnetic after power-off just to disappear therewith.The on-off of coil
Electricity is controlled by magnet switching circuit control device.The power supply mode of coil can by battery or by cable or its
Its mode as known to those skilled in the art carries out.
Common form can be used in shock-proof spring, for example, by using steel wire compressed spring, i.e. pressure spring, is primarily subjected to axial compressive force,
Material section used is circle, has certain gap between adjacent each circle of compressed spring.Shock-proof spring is arranged on electromagnetism
Far from the side of track module in mould group.When by external applied load, spring contraction deformation, storage deformation energy can mitigate crawler belt
The concussion on chassis.
In order to prevent electromagnet and pedrail mould group absorption cause crawler belt can not motion problems generation, in electromagnet and crawler belt
Installed more parallel needle bearings between mould group additional, needle bearing bears its radial load, play isolation electromagnet and
The effect of pedrail mould group.It is continuous neither to influence magnetic force biography, pedrail mould group is not allowed to be adsorbed and can not be moved completely by electromagnet yet.More rollings
The plane for being axially parallel to crawler belt of needle bearing, and perpendicular to the direction of crawler belt operation.
Fig. 4 and Fig. 5 respectively illustrates two different perspectivess of attached magnetic adsorption type crawler body according to the present utility model
Perspective view.Crawler belt 205, driving wheel 201, multiple scroll wheels 202 and multiple electromagnet modes as previously described are respectively included in figure
Group 206.
Needle bearing and electromagnet in the electromagnet mode group of diagram are surrounded by clamshell, and it is right that the material of clamshell can choose those
There is the material of function of shielding in electromagnetic field, but clamshell is not required.
In Fig. 4 and Fig. 5, a creeper undercarriage is shown as having 3 electromagnet mode groups, however, those skilled in the art
Member is it is appreciated that according to robot body size and length, and the creeper undercarriage of different length is using any appropriate number of
Electromagnet mode group is all feasible.
Fig. 4 and Fig. 5 illustrates the attached magnetic adsorption type track bottom being made of two creepers undercarriage being arranged in parallel
Consolidation body, it will be appreciated by those skilled in the art that according to the size and width of robot body, using the shoe of other quantity
It is all feasible that it is whole that attached magnetic adsorption type crawler body is constituted with walking mechanism.For example, three parallel creepers undercarriage,
Or single creeper undercarriage.
The utility model is adsorbed in outside pedrail mould group in the prior art by being replaced with the electromagnet mode group being placed in inside crawler belt
The permanent magnetic suck module in portion realizes crawler body to iron wall pipeline, hull surface, surface of oil storage tank, steel cylinder concrete, Tie Zha
The controllable adsorption of door guide rail etc..Crawler body caused by permanent magnetic suck mode is avoided to ask together with what robot body was difficult to remove
Topic.
Above embodiments are only to illustrate the technical solution of the application, rather than its limitations.The ordinary skill people of this field
Member is it should be appreciated that can modify to technical solution documented by previous embodiment, or to some or all of skills
Art feature is equivalently replaced；And these are modified or replaceed, the application that it does not separate the essence of the corresponding technical solution is implemented
The range of example technical solution, should all cover in claims hereof and the range of specification.
Claims (11)
1. a kind of creeper undercarriage, comprising:
Driving wheel；
Multiple scroll wheels；
Around the crawler belt of the driving wheel and the multiple scroll wheel, the crawler belt is interlinked by multiple pedrail mould groups；
And
The multiple electromagnet mode groups being placed on the inside of the crawler belt, each electromagnet mode group include:
Electromagnet；And
More needle bearings,
The wherein plane for being axially perpendicular to the crawler belt of the electromagnet, the more needle bearings are arranged in the electromagnet
Between the pedrail mould group, the more needle bearings are arranged parallel and are parallel to the plane of the crawler belt, and
The direction for being axially perpendicular to the crawler belt operation of the more needle bearings.
2. creeper undercarriage as described in claim 1, which is characterized in that the electromagnet mode group further comprises shock-absorbing bullet
Spring, the shock-proof spring are placed in that side far from the pedrail mould group of the electromagnet mode group.
3. creeper undercarriage as claimed in claim 2, which is characterized in that the shock-proof spring is compressed spring, has circle
There is gap in the cross section of shape between the adjacent each circle of the compressed spring.
4. creeper undercarriage as described in claim 1, which is characterized in that the pedrail mould group is by magnetizing fast and demagnetizing fastly
Material is made.
5. creeper undercarriage as described in claim 1, which is characterized in that the electromagnet includes iron core and around iron core
Coil, the iron core are made by magnetizing material fast and that demagnetization is fast.
6. creeper undercarriage as described in claim 4 or 5, which is characterized in that the magnetization is fast and the fast material that demagnetizes is
Soft iron.
7. creeper undercarriage as described in claim 4 or 5, which is characterized in that the magnetization is fast and the fast material that demagnetizes is
Silicon steel.
8. creeper undercarriage as described in claim 1, which is characterized in that the electromagnet mode group is by battery or passes through cable
Power supply, the creeper undercarriage further comprise the magnet switching electricity for controlling energization and the power-off of the electromagnet mode group
Road control device.
9. a kind of crawler body is made of at least one creeper undercarriage, the creeper undercarriage includes:
Driving wheel；
Multiple scroll wheels；
Around the crawler belt of the driving wheel and the multiple scroll wheel, the crawler belt is interlinked by multiple pedrail mould groups；
And
The multiple electromagnet mode groups being placed on the inside of the crawler belt, each electromagnet mode group include:
Electromagnet；And
More needle bearings,
The wherein plane for being axially perpendicular to the crawler belt of the electromagnet, the more needle bearings are arranged in the electromagnet
Between the pedrail mould group, the more needle bearings are arranged parallel and are parallel to the plane of the crawler belt, and
The direction for being axially perpendicular to the crawler belt operation of the more needle bearings.
10. crawler body as claimed in claim 9, by the creeper undercarriage structure of two or more parallel arrangements
At.
11. a kind of robot device, comprising:
Robot body；And
Crawler body, the crawler body are made of at least one creeper undercarriage, and the creeper undercarriage includes:
Driving wheel；
Multiple scroll wheels；
Around the crawler belt of the driving wheel and the multiple scroll wheel, the crawler belt is interlinked by multiple pedrail mould groups；
And
The multiple electromagnet mode groups being placed on the inside of the crawler belt, each electromagnet mode group include:
Electromagnet；And
More needle bearings,
The wherein plane for being axially perpendicular to the crawler belt of the electromagnet, the more needle bearings are arranged in the electromagnet
Between the pedrail mould group, the more needle bearings are arranged parallel and are parallel to the plane of the crawler belt, and
The direction for being axially perpendicular to the crawler belt operation of the more needle bearings.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921505166.3U CN209535267U (en) | 2019-09-11 | 2019-09-11 | Creeper undercarriage, crawler body and corresponding robot device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921505166.3U CN209535267U (en) | 2019-09-11 | 2019-09-11 | Creeper undercarriage, crawler body and corresponding robot device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111761519A (en) * | 2020-06-03 | 2020-10-13 | 武汉理工大学 | Wall-climbing robot for derusting inner wall of buried oil tank |
| CN112192096A (en) * | 2020-09-27 | 2021-01-08 | 中国一冶集团有限公司 | Welding device and welding method for cooling wall sealing box |
| CN114593308A (en) * | 2022-03-15 | 2022-06-07 | 樊清垒 | Robot chassis for oil smoke pipeline detection |
| FR3138645A1 (en) | 2022-08-02 | 2024-02-09 | Elwedys | Robot assistance module including a winch and a box including an electromagnet |
-
2019
- 2019-09-11 CN CN201921505166.3U patent/CN209535267U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111761519A (en) * | 2020-06-03 | 2020-10-13 | 武汉理工大学 | Wall-climbing robot for derusting inner wall of buried oil tank |
| CN112192096A (en) * | 2020-09-27 | 2021-01-08 | 中国一冶集团有限公司 | Welding device and welding method for cooling wall sealing box |
| CN114593308A (en) * | 2022-03-15 | 2022-06-07 | 樊清垒 | Robot chassis for oil smoke pipeline detection |
| CN114593308B (en) * | 2022-03-15 | 2023-11-24 | 江苏大发建设工程有限公司 | Robot chassis for detecting oil smoke pipeline |
| FR3138645A1 (en) | 2022-08-02 | 2024-02-09 | Elwedys | Robot assistance module including a winch and a box including an electromagnet |
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