CN212099126U - Three-wheel magnetic adsorption type wall-climbing robot - Google Patents
Three-wheel magnetic adsorption type wall-climbing robot Download PDFInfo
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- CN212099126U CN212099126U CN202020265868.5U CN202020265868U CN212099126U CN 212099126 U CN212099126 U CN 212099126U CN 202020265868 U CN202020265868 U CN 202020265868U CN 212099126 U CN212099126 U CN 212099126U
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Abstract
The utility model relates to a three-wheel magnetic adsorption type wall-climbing robot, wherein the bottom of the front end of a frame is fixedly provided with universal magnetic wheels, and the two sides of the rear end are symmetrically provided with driving wheel systems; the driving wheel system comprises a rear wheel support, the top of the rear wheel support is connected with a frame through a limiting device, the limiting device comprises a hinge and a tension spring, the rear wheel support can overturn around the relative frame of the hinge, the tension spring is used for resetting the rear wheel support to provide power, the bottom of the rear wheel support is fixedly provided with a rotatable permanent magnet wheel, the rear wheel support is internally fixedly provided with a motor, and an output shaft of the motor is in transmission connection with a central rotating shaft of the permanent magnet wheel. This kind of robot passes through permanent magnetism wheel adsorption metal surface and realizes the climbing, and further drive wheel can overturn in certain angle, can adapt to the working surface that has certain radian well, and two sets of independent driving motor can be accurate control robot's direction of motion simultaneously.
Description
Technical Field
The utility model belongs to the technical field of the robot technique and specifically relates to a wall robot is climbed to tricycle magnetism absorption formula that says so.
Background
There are more steel construction equipment in industrial field, work such as the great and inconvenient manual work of some equipment detects, is convenient for the operation on steel construction equipment, has then produced the magnetism and has adsorbed formula wall climbing robot. The wall climbing robot of magnetism absorption formula extensively applies to trades such as chemical industry, shipbuilding, and along with the development of science and technology, labour cost improves, for reduce cost, reduces artifical climbing's danger, improves work efficiency, and various magnetism absorption formula wall climbing robots are in charge of.
The current common magnetic adsorption type wall-climbing robot mainly comprises a crawler type robot, a wheel type robot and the like according to a walking mode. The crawler-type structure robot is heavy and difficult to steer, the robot is high in cost, and the wheel-type structure is convenient to steer. According to the adsorption mode, magnetic adsorption type wall climbing robot divide into electromagnetic adsorption and permanent magnetism and adsorbs, and wheeled magnetic adsorption type wall climbing robot generally adopts the permanent magnetism wheel. The permanent magnet wheel type wall climbing robot needs a plurality of motors to drive the robot to walk and turn, so that the robot has heavier mass and increased cost. The two-wheeled wall-climbing robot cannot complete differential steering, so that an additional motor is needed for steering, and the stability of the robot is poor. At present, most of wall-climbing robots are fixed in magnetic wheel angle and cannot adapt to working surfaces with certain radian well, so that the wall-climbing robots which are adjustable in magnetic wheel angle and adaptable to different working surfaces are needed.
Disclosure of Invention
The to-be-solved technical problem of the utility model is to provide a wall robot is climbed to tricycle magnetism adsorption type adsorbs metal surface through the permanent magnetism wheel and realizes the climbing, and further drive wheel can overturn in an angle, can adapt to the working surface that has certain radian well, and two sets of independent driving motor can be accurate control robot's direction of motion simultaneously.
In order to solve the technical problem, the utility model discloses a technical scheme does:
the utility model provides a three-wheeled magnetism adsorbs formula wall climbing robot, characterized by: the magnetic wheel type vehicle comprises a vehicle frame, wherein universal magnetic wheels are fixedly arranged at the bottom of the front end of the vehicle frame, and driving wheel systems are symmetrically arranged on two sides of the rear end of the vehicle frame;
the driving wheel system include the rear wheel support, rear wheel support top pass through stop device and connected to the frame, stop device include hinge and extension spring, the rear wheel support can center on the relative frame upset of hinge, the extension spring be used for providing power for the rear wheel support resets, rear wheel support bottom fixed mounting have rotatable permanent magnet wheel, rear wheel support internal fixation install the motor, the output shaft of motor be connected with the transmission of the central pivot of permanent magnet wheel.
The two ends of the central shaft of the universal magnetic wheel are fixedly arranged at the bottom of the front wheel support through a universal magnetic wheel bearing, a small flange cover is fixedly arranged on the outer end face of the universal magnetic wheel bearing, a thrust ball bearing is arranged above the front wheel support, a universal magnetic wheel bolt sequentially penetrates through a top plate of the front wheel support, the thrust ball bearing and a universal magnetic wheel nut, the top end of the universal magnetic wheel bolt is fixedly connected with the bottom surface of the front wheel block through threads, and the top end of the front wheel block is fixedly connected with the lower surface of the frame;
the bolt gasket is arranged between the bottom end face of the thrust ball bearing and the front wheel support, the bearing cover is arranged on the top end face of the thrust ball bearing, the universal magnetic wheel gasket is arranged between the universal magnetic wheel nut and the bearing cover, and the universal magnetic wheel nut is used for enabling the front wheel support, the thrust ball bearing and the bearing cover to be in close contact with each other.
The rotation axis fixed mounting of hinge in rear wheel support one side, the frame pass through the rotation axis fixed connection of diaphragm and hinge, extension spring fixed mounting in hinge below, extension spring one end pass through extension spring seat and rear wheel support fixed connection, the other end passes through extension spring seat and frame fixed connection.
The end part of the tension spring is fixedly connected with the cylindrical pin at one end of the tension spring seat.
The center of the permanent magnet wheel is axially and fixedly provided with a permanent magnet wheel shaft, one end of the permanent magnet wheel shaft is fixedly provided with a synchronous belt wheel, the end part of an output shaft of the motor is fixedly provided with the synchronous belt wheel, and two synchronous belt wheels in the same driving wheel system are driven by a synchronous belt.
The tensioning device comprises a tensioning device support, the tensioning device support is fixed to the side face of the rear wheel support through a tensioning support nut and a tensioning support bolt in a matched mode, the tensioning device support comprises a vertical plate and a transverse plate, the vertical plate is in close contact with the side face of the rear wheel support, the transverse plate is located at the top end of the vertical plate, a through groove extending in the vertical direction is machined in the surface of the vertical plate, one end of a tensioning bearing shaft is fixedly installed in the through groove, the tensioning bearing shaft can move in the length direction along the through groove, a tensioning bearing is fixedly installed at the other end of the tensioning bearing shaft, the outer surface of the tensioning bearing is tightly attached to a synchronous belt, and the tensioning bearing is fixedly installed at the end portion of the tensioning bearing shaft through a screw and a;
the lateral wall in close contact with of diaphragm and tensioning bearing axle that tensioning bolt tip passed tensioning nut, overspeed device tensioner support in proper order, the tensioning bolt is used for promoting the tensioning bearing axle and removes at length direction along leading to the groove, the tensioning nut be used for spacing to the tensioning bolt.
The permanent magnet wheel shaft is fixedly provided with two groups of bearings which are respectively positioned at two sides of the permanent magnet wheel, the outer ring of each bearing is fixedly connected with a flange cover, and the flange cover is fixedly connected with the rear wheel support through a flange cover bolt and a flange cover nut. And two groups of elastic check rings are arranged on the permanent magnet wheel shaft and are used for positioning the inner ring of the bearing.
And an expansion sleeve is arranged between the inner wall of the permanent magnet wheel and the outer wall of the permanent magnet wheel shaft and is used for realizing the tight connection between the permanent magnet wheel and the permanent magnet wheel shaft.
A key is arranged between the shaft end of the permanent magnet wheel shaft and the synchronous belt wheel and used for eliminating circumferential rotation between the permanent magnet wheel shaft and the synchronous belt wheel, a shaft end gasket is arranged at the shaft end of the permanent magnet wheel shaft and fixed through a shaft end screw axially arranged along the permanent magnet wheel shaft, and the shaft end gasket is used for realizing axial limiting on the synchronous belt wheel.
A key is arranged between the output shaft end of the motor and the synchronous belt pulley, the key is used for eliminating circumferential rotation between the output shaft of the motor and the synchronous belt pulley, a shaft end gasket is arranged at the output shaft end of the motor, the shaft end gasket is fixed through a shaft end screw axially arranged along the output shaft of the motor, and the shaft end gasket is used for realizing axial limiting on the synchronous belt pulley.
This kind of tricycle magnetism adsorbs formula wall climbing robot can reach beneficial effect do: first, adopt the permanent magnetism wheel as the adsorption mode of climbing to adopt two sets of relatively independent drive wheelsets as the power supply, can drive the robot and can also accurate direction when climbing. Secondly, synchronous belt transmission is adopted between each group of motors and the driving wheels, and the stability of power transmission is guaranteed. Thirdly, each group of synchronous belts are matched with a tensioning device, and the synchronous belts are tightened or loosened by adjusting tensioning bolts. Fourthly, the permanent magnet wheels can be turned over within a certain angle due to the arrangement of the hinges and the tension springs, and the two sets of wheel sets are relatively independent and can be arranged on the working surface with a certain radian.
Drawings
Fig. 1 is the utility model relates to a three-wheel magnetic adsorption type wall-climbing robot's structural principle diagram.
Fig. 2 is the utility model relates to a structural principle of tricycle magnetism adsorption type wall climbing robot driving wheel system.
Fig. 3 is the utility model relates to a cross-sectional view of three-wheeled magnetism adsorbs formula wall climbing robot driving wheel system.
Fig. 4 is the utility model relates to a three-wheeled magnetic adsorption type wall climbing robot rear wheel support and flange cover's structural principle diagram.
Fig. 5 is the utility model relates to a tricycle magnetism adsorbs formula wall climbing robot overspeed device tensioner's structural principle diagram.
Fig. 6 is the utility model relates to a structure schematic diagram of universal magnetic wheel group of tricycle magnetism adsorption type wall climbing robot.
Fig. 7 is the utility model relates to a cross-sectional view of three-wheeled magnetic adsorption type wall climbing robot universal magnetic wheel group.
Fig. 8 is the utility model relates to a connection structure picture of three-wheeled magnetism adsorbs formula wall climbing robot extension spring.
Illustration of the drawings: 1. synchronous belt wheel, 2 synchronous belt, 3 permanent magnetic wheel, 4 rear wheel support, 5 tensioning device support, 6 hinge, 7 tension spring, 8 tension spring seat, 9 vehicle frame, 10 universal magnetic wheel, 11 motor, 12 flange cover, 13 tensioning bearing, 14 bearing, 15 elastic retainer ring, 16 expansion sleeve, 17 permanent magnetic wheel shaft, 18 flange cover bolt, 19 flange cover nut, 20 key, 21 shaft end screw, 22 shaft end gasket, 23 tensioning support nut, 24 tensioning support bolt, 25 tensioning nut, 26 tensioning bolt, 27 gasket, 28 screw, 29 tensioning bearing shaft, 30 small flange cover, 31 front wheel support, 32 universal magnetic wheel bolt, 33 universal magnetic wheel nut, 34 universal magnetic wheel gasket, 35 bearing cover, 36 thrust ball bearing, 37 universal magnetic wheel bearing, 38 universal bolt gasket, 39. front wheel block, 40 cylindrical pin.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments.
As shown in fig. 1, a three-wheel magnetic adsorption type wall-climbing robot is characterized in that: the magnetic wheel type vehicle comprises a vehicle frame 9, wherein universal magnetic wheels 10 are fixedly arranged at the bottom of the front end of the vehicle frame 9, and driving wheel systems are symmetrically arranged on two sides of the rear end of the vehicle frame 9;
the drive wheel system include rear wheel support 4, 4 tops of rear wheel support be connected with frame 9 through stop device, stop device include hinge 6 and extension spring 7, rear wheel support 4 can overturn around the relative frame 9 of hinge 6, extension spring 7 be used for providing power for rear wheel support 4 resets, 4 bottom fixed mounting of rear wheel support have rotatable permanent magnetism wheel 3, rear wheel support 4 in fixed mounting have motor 11, motor 11's output shaft and permanent magnetism wheel 3's central pivot transmission be connected.
In the embodiment, as shown in fig. 6 and 7, two ends of a central shaft of a universal magnetic wheel 10 are fixedly mounted at the bottom of a front wheel support 31 through a universal magnetic wheel bearing 37, a small flange cover 30 is fixedly mounted on an outer end face of the universal magnetic wheel bearing 37, a thrust ball bearing 36 is arranged above the front wheel support 31, a universal magnetic wheel bolt 32 sequentially penetrates through a top plate of the front wheel support 31, the thrust ball bearing 36 and a universal magnetic wheel nut 33, the top end of the universal magnetic wheel bolt 32 is fixedly connected with a bottom surface of a front wheel block 39 through threads, and the top end of the front wheel block 39 is fixedly connected with the lower surface of a frame 9; a bolt gasket 38 is arranged between the bottom end face of the thrust ball bearing 36 and the front wheel support 31, a bearing cover 35 is arranged on the top end face of the thrust ball bearing 36, a universal magnetic wheel gasket 34 is arranged between the magnetic wheel nut 33 and the bearing cover 35, and the magnetic wheel nut 33 is used for enabling the front wheel support 31, the thrust ball bearing 36 and the bearing cover 35 to be in close contact with each other.
Two ends of the thrust ball bearing 36 are positioned by the front wheel support 31 and the bearing cover 35, the bearing cover 35 is screwed with the universal magnetic wheel bolt 32 through the universal magnetic wheel nut 33 and the universal magnetic wheel gasket 34 for positioning, and the top end of the front wheel block 39 is fixedly connected with the frame 9 through four groups of screws.
In this embodiment, as shown in fig. 1, the rotation axis of the hinge 6 is fixedly installed at one side of the rear wheel support 4, the frame 9 is fixedly connected with the rotation axis of the hinge 6 through the transverse plate, the tension spring 7 is fixedly installed below the hinge 6, one end of the tension spring 7 is fixedly connected with the rear wheel support 4 through the tension spring seat 8, and the other end of the tension spring is fixedly connected with the frame 9 through the tension spring seat 8.
The frame 9 has guaranteed through the rotation axis fixed connection of diaphragm and hinge 6 that rear wheel support 4 has the upset space when the rotation axis upset along hinge 6, therefore rear wheel support 4 can be to being close to frame 9 one side upset, also can be to keeping away from frame 9 one side upset, and the length under the general extension spring 7 normal condition is the same with diaphragm length, all can provide power for rear wheel support 4 resets when extension spring 7 is stretched or is compressed.
In this embodiment, as shown in fig. 8, the end of the tension spring 7 is fixedly connected to a cylindrical pin 40 at one end of the tension spring seat 8.
The two ends of the tension spring 7 are provided with hook rings, and the cylindrical pin 40 can be sleeved in the hook rings to realize connection, so that the tension spring 7 can be conveniently detached and replaced.
In this embodiment, as shown in fig. 2, a permanent magnet wheel shaft 17 is axially and fixedly installed at the center of the permanent magnet wheel 3, a synchronous pulley 1 is fixedly installed at one end of the permanent magnet wheel shaft 17, a synchronous pulley 1 is fixedly installed at the end of an output shaft of the motor 11, and two synchronous pulleys 1 in the same driving wheel system are driven by a synchronous belt 2.
In this embodiment, as shown in fig. 5, a tensioning device is fixedly mounted on a side surface of the rear wheel support 4, the tensioning device includes a tensioning device support 5, the tensioning device support 5 is fixed on the side surface of the rear wheel support 4 through a tensioning support nut 23 and a tensioning support bolt 24 in a matching manner, the tensioning device support 5 includes a vertical plate tightly contacting with the side surface of the rear wheel support 4 and a transverse plate located at the top end of the vertical plate, a through groove extending in the vertical direction is processed on the surface of the vertical plate, one end of a tensioning bearing shaft 29 is fixedly mounted in the through groove, the tensioning bearing shaft 29 can move in the length direction along the through groove, the other end of the tensioning bearing shaft 29 is fixedly mounted with a tensioning bearing 13, the outer surface of the tensioning bearing 13 is tightly attached to the synchronous belt 2, and the tensioning bearing 13 is fixedly mounted at an end portion of the tensioning bearing; the end part of the tensioning bolt 26 sequentially penetrates through the tensioning nut 25 and the transverse plate of the tensioning device bracket 5 to be in close contact with the side wall of the tensioning bearing shaft 29, the tensioning bolt 26 is used for pushing the tensioning bearing shaft 29 to move along the through groove in the length direction, and the tensioning nut 25 is used for limiting the tensioning bolt 26.
The tensioning bearing shaft 29 is fixed with the through groove through a screw, and a cover screw sequentially penetrates through the side face of the rear wheel support 4 and the side wall of the tensioning device support 5. Furthermore, the top of the side wall of the tensioning bearing shaft 29 can be flattened, and the tensioning bolt 26 is abutted against the flattened surface of the tensioning bearing shaft 29, so that the structural stability is improved.
In this embodiment, as shown in fig. 4, two sets of bearings 14 are fixedly mounted on a permanent magnet wheel shaft 17, the two sets of bearings 14 are respectively located at two sides of a permanent magnet wheel 3, an outer ring of each bearing 14 is fixedly connected to a flange cover 12, and the flange cover 12 is fixedly connected to a rear wheel support 4 through a flange cover bolt 18 and a flange cover nut 19. Two groups of elastic check rings 15 are mounted on the permanent magnet wheel shaft 17, and the elastic check rings 15 are used for positioning the inner ring of the bearing 14.
The permanent magnet wheel shaft 17 is a stepped shaft, the permanent magnet wheel shaft 17 is connected with the flange cover 12 through the bearing 14, in order to prevent axial movement of the permanent magnet wheel shaft 17, the outer ring of the bearing 14 is positioned by the flange cover 12, and the inner ring of the bearing is positioned by the elastic retainer ring 15. In order to facilitate the installation of the permanent magnet wheel 3 and the permanent magnet wheel shaft 17, openings are formed in two sides of the rear wheel support 4 and are connected through the flange covers 12, and two sides of the rear wheel support 4 are respectively connected with the flange covers 12 through three flange cover bolts 18 and three flange cover nuts 19.
In this embodiment, as shown in fig. 3, an expansion sleeve 16 is disposed between the inner wall of the permanent magnet wheel 3 and the outer wall of the permanent magnet wheel shaft 17, and the expansion sleeve 16 is used for realizing tight connection between the permanent magnet wheel 3 and the permanent magnet wheel shaft 17.
The two sides of the permanent magnet wheel 3 are respectively sleeved with one expansion sleeve 16, the permanent magnet wheel shaft 17 is inserted into the two expansion sleeves 16 and then screws on the expansion sleeves 16, and the expansion sleeves 16 are adsorbed on the two sides of the permanent magnet wheel 3 by means of the suction force of the permanent magnet wheel 3 and are used for fixedly connecting the permanent magnet wheel shaft 17 with the permanent magnet wheel 3.
In this embodiment, the connection modes of the shaft ends of the permanent magnet wheel shaft 17 and the output shaft of the motor 11 and the synchronous pulley 1 are the same. The synchronous pulley comprises a permanent magnet wheel shaft 17, a synchronous pulley 1, a key 20, a shaft end gasket 22 and a shaft end gasket 22, wherein the key 20 is arranged between the shaft end of the permanent magnet wheel shaft 17 and the synchronous pulley 1, the key 20 is used for eliminating circumferential rotation between the permanent magnet wheel shaft 17 and the synchronous pulley 1, the shaft end gasket 22 is arranged at the shaft end of the permanent magnet wheel shaft 17, the shaft end gasket 22 is fixed through a shaft end screw 21 axially arranged along the permanent magnet wheel shaft 17, and the shaft end gasket 22 is used for. A key 20 is arranged between the output shaft end of the motor 11 and the synchronous pulley 1, the key 20 is used for eliminating circumferential rotation between the output shaft of the motor 11 and the synchronous pulley 1, a shaft end gasket 22 is arranged at the output shaft end of the motor 11, the shaft end gasket 22 is fixed through a shaft end screw 21 axially arranged along the output shaft of the motor 11, and the shaft end gasket 22 is used for axially limiting the synchronous pulley 1.
This kind of wall robot is climbed to magnetism adsorption type is used for moving at the working face of steel construction, and the front wheel of robot is an universal magnetic wheel 10, has certain adsorption affinity, does not need motor drive, and the rear wheel is the permanent magnetism wheel 3 constitution of two structure symmetries, and every permanent magnetism wheel 3 passes through hold-in range 2 drive by a motor 11 respectively, and the robot can realize advancing, retreating and turning to at the working face according to the positive and negative rotation of motor.
The rear wheel is connected with the frame 9 by a hinge, and one end of the hinge is respectively fixed on the rear wheel support 4 and the frame 9 by bolts. A tension spring seat 8 is fixed on a hinge 6 on a rear wheel support 4 and a frame 9 through bolts respectively, a cylindrical pin is arranged on the tension spring seat 8, and two ends of a tension spring 7 hook the cylindrical pin 40, so that the phenomenon that two rear wheels of the robot have overlarge two-wheel opening angle due to the self weight or load of the robot is avoided, and the robot is shown in fig. 8. Because the effect of extension spring 7, the robot can be at the working surface steady removal that has certain radian, and permanent magnetism wheel 3 can be with the better contact of working surface.
Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, a plurality of modifications and decorations without departing from the principle of the present invention should be considered as the protection scope of the present invention.
Claims (10)
1. The utility model provides a three-wheeled magnetism adsorbs formula wall climbing robot, characterized by: the magnetic wheel type vehicle comprises a vehicle frame (9), wherein universal magnetic wheels (10) are fixedly arranged at the bottom of the front end of the vehicle frame (9), and driving wheel systems are symmetrically arranged on two sides of the rear end of the vehicle frame (9);
the drive wheel system include rear wheel support (4), rear wheel support (4) top be connected with frame (9) through stop device, stop device include hinge (6) and extension spring (7), rear wheel support (4) can overturn around hinge (6) relative frame (9), extension spring (7) be used for providing power for rear wheel support (4) reset, rear wheel support (4) bottom fixed mounting have rotatable permanent magnet wheel (3), rear wheel support (4) internal fixation install motor (11), the output shaft of motor (11) be connected with the central pivot transmission of permanent magnet wheel (3).
2. The three-wheeled magnetic-adsorption wall-climbing robot of claim 1, wherein: the two ends of a central shaft of the universal magnetic wheel (10) are fixedly mounted at the bottom of a front wheel support (31) through a universal magnetic wheel bearing (37), a small flange cover (30) is fixedly mounted on the outer end face of the universal magnetic wheel bearing (37), a thrust ball bearing (36) is arranged above the front wheel support (31), a universal magnetic wheel bolt (32) sequentially penetrates through a top plate of the front wheel support (31), the thrust ball bearing (36) and a universal magnetic wheel nut (33), the top end of the universal magnetic wheel bolt (32) is fixedly connected with the bottom face of a front wheel block (39) in a threaded manner, and the top end of the front wheel block (39) is fixedly connected with the lower surface of a frame (9);
the front wheel bearing is characterized in that a bolt gasket (38) is arranged between the bottom end face of the thrust ball bearing (36) and the front wheel support (31), a bearing cover (35) is arranged on the top end face of the thrust ball bearing (36), a universal magnetic wheel gasket (34) is arranged between the universal magnetic wheel nut (33) and the bearing cover (35), and the universal magnetic wheel nut (33) is used for enabling the front wheel support (31), the thrust ball bearing (36) and the bearing cover (35) to be in close contact with each other.
3. The three-wheeled magnetic-adsorption wall-climbing robot of claim 1, wherein: the rotation axis fixed mounting of hinge (6) in rear wheel support (4) one side, frame (9) pass through the rotation axis fixed connection of diaphragm and hinge (6), extension spring (7) fixed mounting in hinge (6) below, extension spring (7) one end pass through extension spring seat (8) and rear wheel support (4) fixed connection, the other end passes through extension spring seat (8) and frame (9) fixed connection.
4. The three-wheeled magnetic-adsorption wall-climbing robot of claim 3, wherein: the end part of the tension spring (7) is fixedly connected with a cylindrical pin (40) at one end of the tension spring seat (8).
5. The three-wheeled magnetic-adsorption wall-climbing robot of claim 1, wherein: the permanent magnet wheel system is characterized in that a permanent magnet wheel shaft (17) is axially and fixedly arranged at the center of the permanent magnet wheel (3), a synchronous pulley (1) is fixedly arranged at one end of the permanent magnet wheel shaft (17), the synchronous pulley (1) is fixedly arranged at the end part of an output shaft of the motor (11), and the two synchronous pulleys (1) in the same driving wheel system are driven by a synchronous belt (2).
6. The three-wheeled magnetic-adsorption wall-climbing robot of claim 5, wherein: a tensioning device is fixedly arranged on the side surface of the rear wheel support (4), the tensioning device comprises a tensioning device bracket (5), the tensioning device bracket (5) is fixed on the side surface of the rear wheel support (4) through a tensioning support nut (23) and a tensioning support bolt (24) in a matching way, the tensioning device bracket (5) comprises a vertical plate closely contacted with the side surface of the rear wheel support (4) and a transverse plate positioned at the top end of the vertical plate, a through groove extending in the vertical direction is processed on the surface of the vertical plate, one end of a tensioning bearing shaft (29) is fixedly arranged in the through groove, the tensioning bearing shaft (29) can move along the through groove in the length direction, the other end of the tensioning bearing shaft (29) is fixedly provided with a tensioning bearing (13), the outer surface of the tensioning bearing (13) is tightly attached to the synchronous belt (2), the tensioning bearing (13) is fixedly arranged at the end part of a tensioning bearing shaft (29) through a screw (28) and a gasket (27);
the end part of the tensioning bolt (26) sequentially penetrates through the tensioning nut (25) and a transverse plate of the tensioning device bracket (5) to be in close contact with the side wall of the tensioning bearing shaft (29), the tensioning bolt (26) is used for pushing the tensioning bearing shaft (29) to move in the length direction along the through groove, and the tensioning nut (25) is used for limiting the tensioning bolt (26).
7. The three-wheeled magnetic-adsorption wall-climbing robot of claim 5, wherein: the rear wheel bearing is characterized in that two groups of bearings (14) are fixedly mounted on the permanent magnet wheel shaft (17), the two groups of bearings (14) are respectively located on two sides of the permanent magnet wheel (3), the outer ring of each bearing (14) is fixedly connected with the flange cover (12), the flange cover (12) is fixedly connected with the rear wheel support (4) through the flange cover bolt (18) and the flange cover nut (19), two groups of elastic check rings (15) are mounted on the permanent magnet wheel shaft (17), and the elastic check rings (15) are used for positioning the inner ring of each bearing (14).
8. The three-wheeled magnetic-adsorption wall-climbing robot of claim 5, wherein: an expansion sleeve (16) is arranged between the inner wall of the permanent magnet wheel (3) and the outer wall of the permanent magnet wheel shaft (17), and the expansion sleeve (16) is used for realizing the tight connection between the permanent magnet wheel (3) and the permanent magnet wheel shaft (17).
9. The three-wheeled magnetic-adsorption wall-climbing robot of claim 5, wherein: a key (20) is arranged between the shaft end of the permanent magnet wheel shaft (17) and the synchronous pulley (1), the key (20) is used for eliminating circumferential rotation between the permanent magnet wheel shaft (17) and the synchronous pulley (1), a shaft end gasket (22) is arranged at the shaft end of the permanent magnet wheel shaft (17), the shaft end gasket (22) is fixed through a shaft end screw (21) axially arranged along the permanent magnet wheel shaft (17), and the shaft end gasket (22) is used for axially limiting the synchronous pulley (1).
10. The three-wheeled magnetic-adsorption wall-climbing robot of claim 9, wherein: a key (20) is arranged between the shaft end of an output shaft of the motor (11) and the synchronous pulley (1), the key (20) is used for eliminating circumferential rotation between the output shaft of the motor (11) and the synchronous pulley (1), a shaft end gasket (22) is arranged at the shaft end of the output shaft of the motor (11), and the shaft end gasket (22) is fixed through a shaft end screw (21) arranged along the axial direction of the output shaft of the motor (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020265868.5U CN212099126U (en) | 2020-03-06 | 2020-03-06 | Three-wheel magnetic adsorption type wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020265868.5U CN212099126U (en) | 2020-03-06 | 2020-03-06 | Three-wheel magnetic adsorption type wall-climbing robot |
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| CN212099126U true CN212099126U (en) | 2020-12-08 |
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| CN202020265868.5U Active CN212099126U (en) | 2020-03-06 | 2020-03-06 | Three-wheel magnetic adsorption type wall-climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113212585A (en) * | 2021-06-16 | 2021-08-06 | 燕山大学 | Wall-climbing robot adapting to variable-curvature vertical face |
| CN113501047A (en) * | 2021-06-25 | 2021-10-15 | 机械工业第九设计研究院有限公司 | Drive supporting structure for bearing AGV |
-
2020
- 2020-03-06 CN CN202020265868.5U patent/CN212099126U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113212585A (en) * | 2021-06-16 | 2021-08-06 | 燕山大学 | Wall-climbing robot adapting to variable-curvature vertical face |
| CN113501047A (en) * | 2021-06-25 | 2021-10-15 | 机械工业第九设计研究院有限公司 | Drive supporting structure for bearing AGV |
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