CN221623843U - Electromagnetic crawler type marine wall climbing robot adsorption running gear - Google Patents
Electromagnetic crawler type marine wall climbing robot adsorption running gear Download PDFInfo
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- CN221623843U CN221623843U CN202420388453.5U CN202420388453U CN221623843U CN 221623843 U CN221623843 U CN 221623843U CN 202420388453 U CN202420388453 U CN 202420388453U CN 221623843 U CN221623843 U CN 221623843U
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- robot
- electromagnetic
- wall climbing
- spring
- crawler belt
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 47
- 230000009194 climbing Effects 0.000 title claims abstract description 38
- 238000004140 cleaning Methods 0.000 claims abstract description 30
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 14
- 229910052742 iron Inorganic materials 0.000 description 7
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 5
- 230000005389 magnetism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000004922 lacquer Substances 0.000 description 3
- 239000003973 paint Substances 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000004381 surface treatment Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses an electromagnetic crawler type marine wall climbing robot adsorption walking device, which relates to the technical field of robots and comprises: the driving wheel and the driven wheel are connected with a driving system of the robot; the crawler belt is connected between the driving wheel and the driven wheel; the electromagnets are all arranged on the surface of the crawler belt and are connected with a control system of the robot; the utility model discloses a robot with a wall climbing function, which is characterized in that a plurality of auxiliary adsorption auxiliary structures are arranged on the surface of a crawler belt, a cleaning structure contacted with an electromagnet is arranged on the surface of the robot, when the wall climbing robot moves on a ship body, the electromagnet can be adsorbed on the surface of the ship body through the action of the electromagnetic crawler belt, when the electromagnetic crawler belt encounters a concave-convex condition, a magnetic movable piece can be adsorbed on the ship body, the movable piece can stretch a telescopic rod and a first spring to be well clung to the ship body, and the robot is flexible and can adapt to different conditions so as to improve the adsorption effect of the electromagnetic crawler belt.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to an electromagnetic crawler type marine wall climbing robot adsorption walking device.
Background
The adsorption structure of the wall climbing robot for the ship is a core technology and a difficult point of the whole robot, different adsorption structures also determine the whole structure of the robot, the wall climbing robot for the ship is mostly applied to the work of overhauling, maintaining, detecting and the like of a ship body, and the ship wall has a large inclination angle, so that the adsorption structure such as magnetic adsorption, vacuum adsorption and the like is needed to be utilized for the operation of adsorbing the wall on the ship wall.
Reference is made to the existing patent publication No.: CN211844675U, an electromagnetic crawler type marine wall climbing robot adsorption walking device, which comprises an electromagnetic adsorption device and a crawler, wherein the crawler adopts a double-row bent plate chain, the double-row bent plate chain is composed of a chain bent plate, and the electromagnetic adsorption device is fixedly connected with the chain bent plate; the electromagnetic adsorption device comprises an electromagnet, an electromagnetic controller and an electromagnetic controller protective shell, wherein the electromagnetic controller is positioned in the electromagnetic controller protective shell, the electromagnetic controller is connected with the electromagnetic iron, the problem of adjustable magnetic force can be fundamentally solved by adopting electromagnetic adsorption, magnetic force adjustment can be carried out according to different working conditions and advancing states of the robot, and the marine wall climbing robot carrying the electromagnetic adsorption is used for replacing different surface treatment modules when carrying out different surface treatment works.
However, in the actual use process of the existing adsorption walking device, as the surface of the ship body is uneven, the flatness is poor, pits or protruding foreign matters are easy to exist on the surface of the ship body, so that the crawler belt of the wall climbing robot is easy to fall off when moving, and the adsorption effect is poor; meanwhile, when the wall climbing robot is adsorbed on the ship body through electromagnetism, the electromagnetic crawler belt has certain magnetism, scrap iron or paint rust and the like on the ship body are easy to adsorb and adhere on the surface of the electromagnetic crawler belt, and therefore the magnetic adsorption effect of the electromagnetic crawler belt is easy to reduce in the long time.
Disclosure of utility model
The utility model aims to solve the defects in the prior art, and provides an electromagnetic crawler type marine wall climbing robot adsorption running gear. The utility model can assist the electromagnetic crawler belt to adsorb through the auxiliary structure, reduce the falling-off condition of the wall climbing robot, and can stab the electromagnetic crawler belt to clean through the cleaning structure, thereby reducing the adsorption of the dirt on the ship body and affecting the magnetic adsorption effect of the electromagnetic crawler belt.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
An electromagnetic track type marine wall climbing robot adsorption walking device, comprising:
The driving wheel and the driven wheel are connected with a driving system of the robot;
the crawler belt is connected between the driving wheel and the driven wheel;
The electromagnets are all arranged on the surface of the crawler belt and are connected with a control system of the robot;
the surface mounting of track has a plurality of auxiliary structures of supplementary absorption, and the surface mounting of robot has the clearance structure that contacts with the electromagnetism iron.
The utility model is further arranged that the auxiliary structure comprises: the telescopic rod, the first spring, the auxiliary piece and the movable piece;
The telescopic links are all installed in the surface outside of track and plane contact, first spring is installed at the surface of track, the auxiliary member is installed in the one end that the track was kept away from to the telescopic links, the movable part is the inside that the partial protrusion setting was installed at the auxiliary member.
The utility model further provides that the first spring is positioned on the outer side of the telescopic rod, and one end of the first spring, which is far away from the crawler belt, is connected with the auxiliary piece.
The utility model further provides that the first spring and the telescopic rod are both positioned between two adjacent electromagnets, and the horizontal height of the auxiliary piece is higher than that of the electromagnets.
The utility model is further arranged such that the cleaning structure comprises: the cleaning device comprises a fixing piece, a connecting piece, a cleaning part, a chute and a second spring;
The utility model discloses a robot, including the surface of robot, the mounting, the cleaning part, the connecting piece, the mounting is all installed on the surface of robot and is located the top of track, the spout is all offered in the inboard that the mounting is relative, the inside at the spout is all installed to the second spring, the top at the second spring is installed and is located between the mounting to the connecting piece, the surface at the connecting piece is installed to the cleaning part.
The utility model further provides that the cleaning part is contacted with the electromagnet, and the cleaning part is cylindrical.
The utility model is further arranged that the diameters of the driving wheel and the driven wheel are different, and the crawler belt is obliquely arranged.
The beneficial effects of the utility model are as follows: the utility model can assist the electromagnetic crawler belt to adsorb through the auxiliary structure, reduce the falling-off condition of the wall climbing robot, and can stab the electromagnetic crawler belt to clean through the cleaning structure, thereby reducing the adsorption of the dirt on the ship body and affecting the magnetic adsorption effect of the electromagnetic crawler belt.
1. This marine wall climbing robot of electromagnetism track type adsorbs running gear, through being provided with auxiliary structure, when wall climbing robot removes on the hull, through the effect of electromagnetism track, the electro-magnet can adsorb on the hull surface, and when the electromagnetism track runs into unsmooth condition, have magnetic movable part when the bow member position is sunken can adsorb on the hull, and movable part can tensile telescopic link and first spring and the better hugging closely of hull, when the bow member position has the protrusion, the movable part also can adsorb on the hull and compress telescopic link and first spring, it is comparatively nimble, can adapt to different circumstances, in order to improve the adsorption efficiency of electromagnetism track.
2. This marine wall climbing robot of electromagnetism track formula adsorbs running gear through being provided with clearance structure, when wall climbing robot removed on the hull, owing to be provided with the clearance structure that is located the track top at wall climbing robot's surface for clearance portion in the clearance structure can clean the surface of track and handle, in order to clean iron fillings or lacquer rust etc. on track surface, avoid adhering more and influence the magnetism adsorption effect of electro-magnet.
Drawings
Fig. 1 is a schematic diagram of the overall structure of an electromagnetic crawler type marine wall climbing robot adsorption traveling device;
fig. 2 is a schematic diagram of an auxiliary structure of an adsorption traveling device of an electromagnetic crawler type marine wall-climbing robot;
Fig. 3 is a schematic diagram of the whole front section structure of the electromagnetic crawler type marine wall climbing robot adsorption traveling device;
Fig. 4 is a schematic structural diagram of a cleaning structure of an adsorption walking device of an electromagnetic crawler type marine wall climbing robot.
In the figure: 1. a driving wheel; 2. driven wheel; 3. a track; 4. an electromagnet; 5. an auxiliary member; 6. a movable member; 7. a first spring; 8. a telescopic rod; 9. a cleaning part; 10. a fixing member; 11. a connecting piece; 12. a chute; 13. and a second spring.
Detailed Description
The technical scheme of the patent is further described in detail below with reference to the specific embodiments.
Embodiments of the present patent are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the patent and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be configured and operated in a particular orientation, and are therefore not to be construed as limiting the patent.
In the description of this patent, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "disposed" are to be construed broadly, and may be fixedly connected, disposed, detachably connected, disposed, or integrally connected, disposed, for example. The specific meaning of the terms in this patent will be understood by those of ordinary skill in the art as the case may be.
Referring to fig. 1 to 4, an electromagnetic track type marine wall climbing robot adsorption traveling device comprises: the driving wheel 1 and the driven wheel 2 are connected with a driving system of the robot; a crawler belt 3 connected between the driving wheel 1 and the driven wheel 2; the electromagnets 4 are all arranged on the surface of the crawler belt 3 and are connected with a control system of the robot; the surface mounting of track 3 has a plurality of auxiliary adsorption's auxiliary structure, can improve the adsorption efficiency of wall climbing robot and hull through auxiliary structure, improves adsorption strength, and the surface mounting of robot has the clearance structure that contacts with electro-magnet 4 to clean electro-magnet 4's surface through the clearance structure, avoid electro-magnet 4 surface to pile up and have more iron fillings or lacquer rust etc. and influence the adsorption efficiency of electromagnetic track.
Referring to fig. 1-2, the auxiliary structure includes: a telescopic rod 8, a first spring 7, an auxiliary member 5 and a movable member 6; the telescopic link 8 is all installed in the surface outside of track 3 and plane contact, first spring 7 installs the surface at track 3, the one end at track 3 is kept away from to auxiliary member 5 is installed to telescopic link 8, moving part 6 is the part protrusion setting and installs the inside at auxiliary member 5, the part protrusion of moving part 6 is on the surface of auxiliary member 5, make moving part 6 also can slide or roll relative auxiliary member 5, through setting up auxiliary structure on the surface of track 3, make track 3 also can drive auxiliary structure and remove together when removing, in order to improve auxiliary structure's result of use, moving part 6 can be for having structures such as magnet of certain magnetism, can strengthen its adsorption affinity to the hull, make the robot can walk steadily on smoother or wet smooth surface, adaptability and job stabilization nature under the complex environment of robot have been improved.
Referring to fig. 1-2, the first spring 7 is located outside the telescopic rod 8, and the first spring 7 can be further limited through the telescopic rod 8, so that the first spring 7 shakes when the auxiliary structure moves along with the track 3, stability of the auxiliary structure is improved, one end, far away from the track 3, of the first spring 7 is connected with the auxiliary piece 5, and the auxiliary piece 5 can drive the first spring 7 to move along with the telescopic rod 8.
Referring to fig. 1, the first spring 7 and the telescopic rod 8 are both located between two adjacent electromagnets 4, and the level of the auxiliary member 5 is higher than the level of the electromagnets 4, when the electromagnetic crawler 3 encounters the concave-convex condition, the movable member 6 with magnetism when the boat surface is sunken can be adsorbed on the boat body, and the movable member 6 can stretch the telescopic rod 8 and the first spring 7 to be well attached to the boat body, and when the boat surface is protruded, the movable member 6 can also be adsorbed on the boat body and compress the telescopic rod 8 and the first spring 7, so that the boat is flexible and can adapt to different conditions.
Referring to fig. 4, the cleaning structure includes: the cleaning device comprises a fixing piece 10, a connecting piece 11, a cleaning part 9, a sliding chute 12 and a second spring 13; the mounting 10 is all installed on the surface of robot and is located the top of track 3, spout 12 is all offered in the inboard that mounting 10 is relative, the inside at spout 12 is all installed to second spring 13, connecting piece 11 is installed on the top of second spring 13 and is located between the mounting 10, cleaning part 9 is installed at the surface of connecting piece 11, be provided with the clearance structure that is located the track 3 top at the surface of climbing wall robot for cleaning part 9 in the clearance structure can clean the surface of track, clean iron fillings or lacquer rust etc. with track surface, avoid adhering more and influence the magnetic adsorption effect of electro-magnet.
Referring to fig. 1, 3 and 4, the cleaning part 9 contacts with the electromagnet 4, the cleaning part 9 is cylindrical, the diameters of the driving wheel 1 and the driven wheel 2 are set to be different, the crawler belt 3 is inclined, the wheels with different sizes are designed to enable the robot to adapt to different hull surfaces and complex working environments, the pressure distribution of the robot when the robot walks on the hull surfaces can be effectively distributed by adjusting the size proportion of the driving wheel and the driven wheel, the damage to the hull surfaces is reduced, dirt on the surface of the electromagnet 4 is regularly cleaned by the cleaning part 9, higher adsorption efficiency can be kept, stable walking and operation of the robot on the hull surfaces are ensured, and the arrangement of the cleaning part enables the electromagnetic crawler type wall climbing robot to work effectively in various environments.
Working principle: when the utility model is used, when the wall climbing robot moves on a ship body, the controller connected with the robot can control the electromagnet 4, so that the crawler 3 can be adsorbed on the ship body through the electromagnet 4, when the electromagnetic crawler 3 encounters a concave-convex condition, the movable part 6 with magnetism when the ship surface part is concave can be adsorbed on the ship body, the movable part 6 can stretch the telescopic rod 8 and the first spring 7 to be well attached to the ship body, when the ship surface part is convex, the movable part 6 can also be adsorbed on the ship body and compress the telescopic rod 8 and the first spring 7, the wall climbing robot is flexible, can adapt to different conditions to improve the adsorption effect of the electromagnetic crawler 3, and when the wall climbing robot moves on the ship body, the cleaning part 9 in the cleaning structure can clean the surface of the crawler so as to clean scrap iron or paint rust on the surface of the crawler, and the like, so that the adsorption effect of the electromagnet is prevented from being more attached.
The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.
Claims (7)
1. An electromagnetic track type marine wall climbing robot adsorption traveling device is characterized by comprising:
the driving wheel (1) and the driven wheel (2) are connected with a driving system of the robot;
A crawler belt (3) connected between the driving wheel (1) and the driven wheel (2);
The electromagnets (4) are all arranged on the surface of the crawler belt (3) and are connected with a control system of the robot;
The surface mounting of track (3) has a plurality of auxiliary structures of supplementary absorption, and the surface mounting of robot has the clearance structure that contacts with electro-magnet (4).
2. The electromagnetic track type marine wall climbing robot adsorbing and walking device according to claim 1, wherein the auxiliary structure comprises: a telescopic rod (8), a first spring (7), an auxiliary piece (5) and a movable piece (6);
the telescopic rod (8) is arranged on the outer side of the surface of the crawler belt (3) in plane contact, the first spring (7) is arranged on the outer surface of the crawler belt (3), the auxiliary piece (5) is arranged at one end, far away from the crawler belt (3), of the telescopic rod (8), and the movable piece (6) is arranged in the auxiliary piece (5) in a partially protruding mode.
3. The electromagnetic crawler type marine wall climbing robot adsorption traveling device according to claim 2, wherein the first spring (7) is located at the outer side of the telescopic rod (8), and one end of the first spring (7) far away from the crawler (3) is connected with the auxiliary piece (5).
4. A wall climbing robot adsorption traveling device for a ship according to claim 3, wherein the first spring (7) and the telescopic rod (8) are both positioned between two adjacent electromagnets (4), and the level of the auxiliary member (5) is higher than the level of the electromagnets (4).
5. The electromagnetic track type marine wall climbing robot adsorbing and walking device according to claim 1, wherein the cleaning structure comprises: the cleaning device comprises a fixing piece (10), a connecting piece (11), a cleaning part (9), a chute (12) and a second spring (13);
The utility model discloses a robot, including fixed part (10), cleaning part (9), connecting piece (11), connecting piece (10) and cleaning part (9) are installed on the surface of robot and are located the top of track (3), spout (12) are all offered in the inboard that fixed part (10) is relative, inside spout (12) is all installed to second spring (13), connecting piece (11) are installed on the top of second spring (13) and are located between fixed part (10).
6. The electromagnetic crawler type marine wall climbing robot adsorption traveling device according to claim 5, wherein the cleaning part (9) is in contact with the electromagnet (4), and the cleaning part (9) is cylindrical.
7. The electromagnetic crawler type marine wall climbing robot adsorption traveling device according to claim 1, wherein the diameters of the driving wheel (1) and the driven wheel (2) are different, and the crawler (3) is obliquely arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420388453.5U CN221623843U (en) | 2024-02-29 | 2024-02-29 | Electromagnetic crawler type marine wall climbing robot adsorption running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420388453.5U CN221623843U (en) | 2024-02-29 | 2024-02-29 | Electromagnetic crawler type marine wall climbing robot adsorption running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221623843U true CN221623843U (en) | 2024-08-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202420388453.5U Active CN221623843U (en) | 2024-02-29 | 2024-02-29 | Electromagnetic crawler type marine wall climbing robot adsorption running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221623843U (en) |
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- 2024-02-29 CN CN202420388453.5U patent/CN221623843U/en active Active
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