CN212332807U

CN212332807U - Magnetic attraction type vertical face walking mechanism

Info

Publication number: CN212332807U
Application number: CN201922180526.3U
Authority: CN
Inventors: 秦昌伟
Original assignee: Chengdu Shugong Machinery Manufacturing Co ltd
Current assignee: Chengdu Shugong Machinery Manufacturing Co ltd
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2021-01-12
Anticipated expiration: 2029-12-06

Abstract

The utility model discloses a formula facade running gear is inhaled to magnetism, inhale chassis main part including magnetism, inhale at least one side in the chassis main part direction of travel front and back and install helping hand magnetism and inhale the device, the device is inhaled to helping hand magnetism articulates and inhales chassis main part, the device is inhaled to helping hand magnetism includes connecting plate and strong magnet plate, the connecting plate is fixed in magnetism and is inhaled chassis main part, install the polylith strong magnet on the working face of strong magnet plate, the strong magnet plate is kept away from the one side of strong magnet and is installed a set ofly and connecting plate articulated connecting piece at least. The utility model discloses a set up the adsorption affinity on device multiplicable magnetism and inhale the chassis is inhaled to helping hand magnetism on the chassis is inhaled to magnetism, for magnetism inhale the chassis and provide sufficient holding power when crossing strengthening rib, corner, turn, very big reduction the risk that the complete machine skidded or falls.

Description

Magnetic attraction type vertical face walking mechanism

Technical Field

The utility model relates to a running gear field especially relates to a formula facade running gear is inhaled to magnetism.

Background

With the development of the times, robots are increasingly used by people in various industries, and climbing robots are devices which replace manual work to move on large-scale vertical surfaces. Most of the existing climbing robots adopt a magnetic attraction chassis to move on the surface of an iron building, such as a ship, an oil storage tank and the like.

However in real environment, the steel construction surface industrial and mining that the robot removed is comparatively complicated, can process welding multichannel strengthening rib often on oil storage tank outer wall or boats and ships, and some strengthening ribs still can intersect, these strengthening ribs influence the removal efficiency of robot, though climbing robot can climb the high lower strengthening rib more through magnetism crawler, but can influence climbing robot's motion efficiency, climbing robot is when climbing the strengthening rib more in addition, magnetism is inhaled the crawler because less with building surface adsorption plane, then cause climbing robot to skid easily or drop, thereby lead to climbing robot intelligence to carry out the surface treatment of some simple operating modes.

Disclosure of Invention

An object of the utility model is to provide a walking is stable and be applicable to the formula facade running gear is inhaled to magnetism on multiple surface.

The utility model aims at realizing through the following technical scheme:

magnetic attraction type vertical face walking mechanism comprises a magnetic attraction chassis main body, wherein a power-assisted magnetic attraction device is installed on at least one of the front side and the rear side of the magnetic attraction chassis main body in the advancing direction.

The power-assisted magnetic attraction device is hinged to the magnetic attraction chassis main body.

The power-assisted magnetic attraction device comprises a connecting plate and a strong magnetic plate, the connecting plate is fixed on the magnetic attraction chassis body, a plurality of strong magnets are installed on the working surface of the strong magnetic plate, and at least one connecting piece hinged with the connecting plate is installed on one surface, far away from the strong magnets, of the strong magnetic plate.

The gap between adjacent strong magnets is filled with a partition plate, and a universal ball bearing for moving the strong magnet plates is further installed on the strong magnet plates outside the plurality of strong magnets.

At least one threaded hole is processed on the ferromagnetic plate, a screw rod is connected to each threaded hole in a threaded mode, and a universal ball bearing is installed at one end, close to the ferromagnetic, of each threaded rod.

The working surface of the universal ball bearing is 1-8 mm higher than that of the strong magnet.

And an anti-collision plate is arranged on the outer edge of the strong magnetic plate.

The connecting piece includes splice bar and at least splice bar down, goes up splice bar one end and connecting plate articulated, and go up the splice bar on process have with the lower splice bar through-hole that quantity equals, at least one splice bar is vertical to be fixed on the strong magnetic plate down, all processes on every splice bar down to have the bar hole that is used for adjusting strong magnetic plate height, and the bar hole on every splice bar down aligns with the through-hole that corresponds the position on the last splice bar to concatenate through the bolt.

And a lifting ring is also arranged on the connecting plate.

The magnetic attraction chassis body is provided with an installation part penetrating through the magnetic attraction chassis.

The utility model discloses has following effect:

(1) the power-assisted magnetic attraction device is arranged on the magnetic attraction chassis, so that the attraction force of the magnetic attraction chassis can be increased, sufficient supporting force is provided for the magnetic attraction chassis when the magnetic attraction chassis crosses the reinforcing ribs, corners and turns, and the risk of slipping or falling of the whole machine is greatly reduced;

(2) the universal ball bearing is arranged at the bottom of the strong magnetic plate, so that the strong magnetic plate can be prevented from being fixed on a working surface through the ball bearing, and meanwhile, the strong magnetic plate can be conveniently moved, and the stability of the strong magnetic plate is improved;

(3) the relative height of the strong magnetic plate and the magnetic suction chassis can be adjusted by arranging the connecting piece with the strip-shaped hole so as to increase the adaptability of the magnetic suction chassis to different surfaces;

(4) the anti-collision plate is arranged on the outer edge of the strong magnetic plate, so that the strong magnetic plate can be prevented from being broken due to collision when the magnetic suction chassis moves, and the adsorption capacity of the magnetic suction chassis can be ensured;

(5) by arranging the lifting ring on the connecting plate, the travelling mechanism can be lifted to the surface to be treated by the winch, so that the travelling efficiency is improved;

(6) through set up the installation department in the chassis main part is inhaled to magnetism, make the chassis of inhaling to magnetism carry on multiple equipment and detect, processing etc. handle, improved the application scope of the chassis of inhaling to magnetism.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of the power-assisted magnetic attraction device of the present invention.

Fig. 3 is a bottom view of the ferromagnetic plate of the present invention.

Fig. 4 is a schematic structural view of the screw of the present invention.

Reference numerals: 1. the chassis main body is magnetically attracted; 11. an installation part; 2. a connecting plate; 21. a hoisting ring; 3. a ferromagnetic plate; 31. strong magnets; 32. a partition plate; 33. a ball-transfer bearing; 34. a threaded hole; 35. a screw; 4. a connecting member; 41. upper connecting ribs; 42. a through hole; 43. a lower connecting rib; 44. a strip-shaped hole; 45. a bolt; 5. an anti-collision plate.

Detailed Description

Examples

As shown in fig. 1 to 4, the magnetic attraction type vertical traveling mechanism provided in this embodiment includes a magnetic attraction chassis main body 1, a power-assisted magnetic attraction device is installed on at least one of front and rear sides of the magnetic attraction chassis main body 1 in the traveling direction, and provides a magnetic attraction force for the magnetic attraction chassis main body 1 during operation through the power-assisted magnetic attraction device, so as to prevent the magnetic attraction chassis main body 1 from slipping or falling off on a vertical surface, the conventional magnetic attraction chassis main body 1 includes an assembly bracket and two magnetic attraction tracks on two sides of the assembly bracket, a driving mechanism for driving the magnetic attraction tracks to move is installed on the assembly bracket, the power-assisted magnetic attraction device includes a connecting plate 2 and a strong magnetic plate 3, the connecting plate 2 is fixed on the magnetic attraction chassis main body 1, a plurality of strong magnets 31 are installed on a working surface of the strong magnetic plate 3, the strong magnets 31 are preferably rare earth magnets, and at least one connecting piece, the strong magnetic plate 3 is hinged on the connecting plate 2 through a pin.

Connecting piece 4 includes splice bar 41 and three lower splice bars 43, it is articulated with connecting plate 2 to go up splice bar 41 one end, and go up splice bar 41 and go up the processing have with splice bar 43 quantity equal through-hole 42 down, three lower splice bars 43 are vertical to be fixed on ferromagnetic slab 3, all process on every lower splice bar 43 and be used for adjusting 3 high bar holes 44 of ferromagnetic slab, bar hole 44 on every lower splice bar 43 aligns with the through-hole 42 that corresponds the position on the last splice bar 41, and concatenate through bolt 45. The relative height of the strong magnetic plate 3 and the magnetic suction chassis can be adjusted through the strip-shaped holes 44 on the lower connecting ribs 43, so that the magnetic suction chassis can move in a plurality of planes.

The clearance intussuseption of adjacent strong magnet 31 is filled with baffle 32, still installs the universal ball bearing 33 that supplies strong magnet plate 3 to remove on the strong magnet plate 3 in the polylith strong magnet 31 outside, through a plurality of universal ball bearings 33, can make strong magnet plate 3 when providing the adsorption affinity, still have the function of plane movement to guarantee that running gear can be normal march.

Because rare earth magnet's suction is big, consequently when dismantling ferromagnetic slab 3 when using, in order to avoid workman's hand to receive ferromagnetic slab 3's extrusion, consequently processing has three screw hole 34 on the ferromagnetic slab 3, and equal threaded connection has screw rod 35 in every screw hole 34, universal ball bearing 33 is installed to the one end that the screw rod is close to strong magnet 31, when dismantling ferromagnetic slab 3, rotatory screw rod 35, through screw rod 35 jack-up ferromagnetic slab 3, makes ferromagnetic slab 3 break away from the facade.

In order to move the ferromagnetic plate 3 on a plane, the working surface of the ball-transfer bearing 33 is 1 to 8mm higher than the working surface of the ferromagnetic plate 31, and the smaller the distance between the working surface of the ball-transfer bearing 33 and the working surface of the ferromagnetic plate 31, the larger the attraction force.

The anti-collision plate 5 is arranged on the outer edge of the strong magnetic plate 3, so that the strong magnetic plate 3 can be protected, the phenomenon that the strong magnetic plate 3 is impacted due to the fact that the moving speed of the magnetic chassis main body 1 is too high is avoided, and the safety of the strong magnetic plate 3 is improved.

The connecting plate 2 is also provided with a hanging ring 21, so that when the magnetic suction chassis is difficult to reach (more reinforcing ribs are arranged in the path), the magnetic suction chassis can be hung and conveyed to the surface to be processed by a crane, a tractor or manpower.

The magnetic attraction chassis main body 1 is provided with an installation part 11 penetrating through the magnetic attraction chassis, the installation part 11 can be an installation hole or an installation frame, and equipment required by a vertical face, such as a shot blasting machine, a camera, a small welding machine and the like, can be installed on the installation part 11 for processing.

The utility model discloses a use method is:

fixing the connecting plate 2 on the lateral wall of the two ends of the magnetic suction chassis main body 1, then hinging the strong magnetic plate 3 on the connecting plate 2 through a pin, then moving the magnetic suction chassis to the iron vertical surface to be processed, such as a ship, a crude oil tank and the like, wherein the magnetic suction chassis main body 1 and the strong magnetic plate 3 are on the iron vertical surface, and the walking mechanism can be moved on the plane by controlling the magnetic suction chassis main body 1. The ball bearings 33 on the ferromagnetic plate 3 are slidable on the vertical surface, and the ferromagnetic plate 31 is prevented from directly contacting the vertical surface by the ball bearings 33.

When moving to the corner, arrange in magnetism and inhale strong magnetic plate 3 of chassis main part 1 front end and remove another wall in advance on, then magnetism inhale chassis main part 1 because the contact surface of magnetism crawler and facade reduces when the cambered surface corner is inhaled, suction reduces, strong magnetic plate 3 through both ends provides supplementary suction this moment, in order to prevent to inhale chassis main part 1 and drop, magnetism inhales the strong magnetic plate 3 at chassis main part 1 both ends in addition and articulates on magnetism inhales chassis main part 1, consequently when the corner, the adsorption area of running gear and facade can be guaranteed to strong magnetic plate 3, thereby guarantee stable magnetic attraction.

When strong magnetic plate 3 is dismantled from the facade to needs, through rotatory screw rod 35, make screw rod 35 jack-up strong magnetic plate 3 for reduce strong magnet 31's suction, take off the pin on connecting strong magnetic plate 3 and the connecting plate 2 at last, pull down strong magnetic plate 3 from magnetism and inhale chassis main part 1.

The above is only the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any modification and replacement based on the technical solution and the utility model should be covered in the protection scope of the present invention.

Claims

1. Formula facade running gear is inhaled to magnetism inhales chassis main part, its characterized in that including magnetism: the utility model discloses a magnetism inhale chassis body, including chassis body, helping hand magnetism, connecting plate, strong magnet, connecting plate, the device is inhaled to magnetism is installed helping hand magnetism in both sides around the chassis body advancing direction at least one side in the both sides and is inhaled the device, the device is inhaled to helping hand magnetism articulates in magnetism and inhales chassis body, the device is inhaled to helping hand magnetism includes connecting plate and strong magnet plate, the connecting plate is fixed on magnetism and is inhaled chassis body, install the polylith strong magnet on the working face of strong magnet plate.

2. The magnetic attraction type vertical surface traveling mechanism according to claim 1, characterized in that: the gap between adjacent strong magnets is filled with a partition plate, and a universal ball bearing for moving the strong magnet plates is further installed on the strong magnet plates outside the plurality of strong magnets.

3. The magnetic attraction type vertical surface traveling mechanism according to claim 2, characterized in that: at least one threaded hole is machined in the ferromagnetic plate, a screw rod is connected to each threaded hole in a threaded mode, and a universal ball bearing is installed at one end, close to the ferromagnetic, of each screw rod.

4. The magnetic attraction type vertical surface traveling mechanism according to claim 2 or 3, characterized in that: the working surface of the universal ball bearing is 1-8 mm higher than that of the strong magnet.

5. The magnetic vertical surface traveling mechanism according to claim 4, wherein: and an anti-collision plate is arranged on the outer edge of the strong magnetic plate.

6. The magnetic attraction type vertical surface traveling mechanism according to claim 1, characterized in that: the connecting piece includes splice bar and at least splice bar down, goes up splice bar one end and connecting plate articulated, and go up the splice bar on process have with the lower splice bar through-hole that quantity equals, at least one splice bar is vertical to be fixed on the strong magnetic plate down, all processes on every splice bar down to have the bar hole that is used for adjusting strong magnetic plate height, and the bar hole on every splice bar down aligns with the through-hole that corresponds the position on the last splice bar to concatenate through the bolt.

7. The magnetic attraction type vertical surface traveling mechanism according to claim 1, characterized in that: and a lifting ring is also arranged on the connecting plate.

8. The magnetic attraction type vertical surface traveling mechanism according to claim 1, characterized in that: the magnetic attraction chassis body is provided with an installation part penetrating through the magnetic attraction chassis.