CN2405719Y - Track-type permanent-magnet clambing mechanism - Google Patents
Track-type permanent-magnet clambing mechanism Download PDFInfo
- Publication number
- CN2405719Y CN2405719Y CN 00200795 CN00200795U CN2405719Y CN 2405719 Y CN2405719 Y CN 2405719Y CN 00200795 CN00200795 CN 00200795 CN 00200795 U CN00200795 U CN 00200795U CN 2405719 Y CN2405719 Y CN 2405719Y
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- CN
- China
- Prior art keywords
- vehicle body
- car body
- permanent magnet
- work
- climbing mechanism
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Abstract
The utility model relates to a track-type permanent-magnet climbing mechanism, which belongs to the field of robots and is composed of a vehicle body, a power part, and running mechanisms. The vehicle body is a box-shaped flexible structure, and the power part is arranged inside. The power part is two motors and retarding mechanisms thereof. Output shafts respectively drive driving sprockets on both sides of the vehicle body. The running mechanisms are positioned on both sides of the vehicle body and is composed of driving sprockets, guide wheels, permanent magnets and a chain tensioning mechanism. Each driving sprocket drives three closed chains. Permanent magnets are uniformly arranged in two gaps among the three chains along the chain length and according to the load. The climbing mechanism with simple structure can automatically complete sand blasting work, paint spraying work, dust removing work, welding work, etc., after corresponding tools are arranged on a cover plate of the vehicle body.
Description
The utility model relates to the climbing mechanism that moves on magnetic component.Belong to the robot field.
The relatively poor work of a lot of working conditions is arranged in industrial production at present, as the welding of workpiece such as large-scale hull, spherical tank, Storage Tank, large-scale pipeline, eliminate rust, spray paint, work such as detection, the workman will be at the hand-held instrument of fitting mutually in tens meters high-altitude, sometimes also will enter workpiece inside and carry out work, working condition is very abominable.If a kind of climbing mechanism that can creep on magnetic component is arranged, the corresponding parts of equipment in this mechanism can far distance controlled carry out work, improve workman's working condition greatly.
The purpose of this utility model provides a kind of climbing mechanism that moves on magnetic component.
The utility model crawler-type permanent magnet iron climbing mechanism is by car body, and power section and walking mechanism three parts are formed.Car body is a box-shaped flexible member, and in the positioned inside power section, power section is two motor and reducing gear thereof, and its output shaft drives the drive sprocket of the walking mechanism of car body both sides respectively.Walking mechanism is placed in the car body both sides, is made up of drive sprocket, guide wheel, chain, permanent magnet and chain tensioning mechanism.Each drive sprocket drives three enclosed chains, and two gaps between three chains are looked every limit of bearing a heavy burden along the chain total length and evenly arranged permanent magnet, and permanent magnet is with chain movement.Car body is placed on the magnetic material member, above car body promptly can be adsorbed on, starter motor, car body can be creeped on member.
Illustrate that accompanying drawing is as follows: Fig. 1 covers belt permanent magnet climbing mechanism general illustration for the utility model.Fig. 2 is the permanent magnet structural representation.
Accompanying drawings embodiment is as follows:
Fig. 1 is the utility model crawler-type permanent magnet iron climbing mechanism general illustration.Wherein 1 is car body (cover plate and base plate are not shown), end at car body is settled two motors and reducing gear (2) thereof, the output shaft of motor and reducing gear (2) stretches out outside, car body both sides, a drive sprocket (3) respectively is installed on its output shaft, the other end at car body is installed guide wheel (4), go up installation three driving chains (5) at drive sprocket (3) and guide wheel (4), space (6) between three chains (5) is located to look the different permanent magnets (7) of evenly arranging that bear a heavy burden along the chain total length, go up installation chain tensioning mechanism (8) (see figure 1) at the axle of guide wheel (4), to regulate the elasticity of chain (5).Two regulating blocks (10) (each one on every limit) are housed on guide wheel shaft (9), screwed hole is arranged on regulating block, the adjusting screw(rod) (11) of can packing into is equipped with fixed block (12) on car body, porose on fixed block, can penetrate screw rod (11).When the adjusting chain tension was spent, rotating nut (13) got final product mobile idler pulley axle (9), and the chain tension degree is changed.Permanent magnet (7) is a rectangular magnet (see figure 2).Guide wheel shaft (9) is a flexible shaft, and there is universal joint (14) centre.
The power supply of torque motor is placed in the car body outside, has cable to introduce car body.
Originally the course of work of covering belt permanent magnet climbing mechanism is as follows:
Climbing mechanism is adsorbed on the magnetic component by the magnetic force of permanent magnet, and after motor (2) energising, drive sprocket (3) promptly drives chain (5) motion.When climbing mechanism need turn to, then can control two rotating speed of motor respectively, the chain movement speed on car body both sides is not waited.Can finish go to action.
On the cover plate of car body, instruments such as welding machine, sand blasting unit, wire brush can be installed by need of work.Finish different work posts.
The utility model crawler-type permanent magnet iron climbing mechanism is simple in structure, after corresponding tool is installed on its car body cover plate, can walk automatically, finishes sandblast, sprays paint, multiple work such as rust cleaning, welding.
Claims (2)
1. crawler-type permanent magnet iron climbing mechanism, it is characterized in that by car body, power section and walking mechanism three parts are formed, car body is a box-shaped flexible member, power section is installed in inside, power section is two motor and reducing gear thereof, its output shaft drives the drive sprocket of car body both sides respectively, walking mechanism is installed in the car body both sides, form by drive sprocket, guide wheel, permanent magnet and chain tensioning mechanism, each drive sprocket drives three closed chains, and the gap between three chains is looked to bear a heavy burden along the chain total length and evenly arranged permanent magnet.
2. according to the said crawler-type permanent magnet iron of claim 1 climbing mechanism, it is characterized in that said guide wheel shaft is a flexible shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00200795 CN2405719Y (en) | 2000-01-26 | 2000-01-26 | Track-type permanent-magnet clambing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00200795 CN2405719Y (en) | 2000-01-26 | 2000-01-26 | Track-type permanent-magnet clambing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2405719Y true CN2405719Y (en) | 2000-11-15 |
Family
ID=33570179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 00200795 Expired - Lifetime CN2405719Y (en) | 2000-01-26 | 2000-01-26 | Track-type permanent-magnet clambing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2405719Y (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005016602A1 (en) * | 2003-08-19 | 2005-02-24 | Jiluan Pan | Control methods and systems for an caterpillar belts type autonomous arcwelding robot with permanent magnet wheels |
| CN1321781C (en) * | 2005-09-09 | 2007-06-20 | 清华大学 | Non-contact magnetically adsorbed wall climbing robot |
| CN101863292A (en) * | 2010-05-20 | 2010-10-20 | 常州华通焊丝有限公司 | Crawler-type permanent magnet crawling vehicle |
| CN102575443A (en) * | 2009-10-14 | 2012-07-11 | 雷斯昂公司 | Hull robot drive system |
| US9038557B2 (en) | 2012-09-14 | 2015-05-26 | Raytheon Company | Hull robot with hull separation countermeasures |
| CN104874951A (en) * | 2015-05-08 | 2015-09-02 | 浙江海洋学院 | Wall-climbing welding machine for shell plate of large-scale ship |
| US9254898B2 (en) | 2008-11-21 | 2016-02-09 | Raytheon Company | Hull robot with rotatable turret |
| US9440717B2 (en) | 2008-11-21 | 2016-09-13 | Raytheon Company | Hull robot |
| CN107662162A (en) * | 2017-08-30 | 2018-02-06 | 江苏工程职业技术学院 | A kind of adsorbed wall-climbing robot reinforcing bar derusting method |
-
2000
- 2000-01-26 CN CN 00200795 patent/CN2405719Y/en not_active Expired - Lifetime
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7498542B2 (en) | 2003-08-19 | 2009-03-03 | Jiluan Pan | Control method and system for a trackless autonomous crawling all-position arc welding robot with wheels and permanent magnet caterpillar belts |
| WO2005016602A1 (en) * | 2003-08-19 | 2005-02-24 | Jiluan Pan | Control methods and systems for an caterpillar belts type autonomous arcwelding robot with permanent magnet wheels |
| CN1321781C (en) * | 2005-09-09 | 2007-06-20 | 清华大学 | Non-contact magnetically adsorbed wall climbing robot |
| US9254898B2 (en) | 2008-11-21 | 2016-02-09 | Raytheon Company | Hull robot with rotatable turret |
| US9440717B2 (en) | 2008-11-21 | 2016-09-13 | Raytheon Company | Hull robot |
| CN102575443A (en) * | 2009-10-14 | 2012-07-11 | 雷斯昂公司 | Hull robot drive system |
| US9233724B2 (en) | 2009-10-14 | 2016-01-12 | Raytheon Company | Hull robot drive system |
| CN102575443B (en) * | 2009-10-14 | 2015-02-18 | 雷斯昂公司 | Hull robot drive system |
| CN101863292A (en) * | 2010-05-20 | 2010-10-20 | 常州华通焊丝有限公司 | Crawler-type permanent magnet crawling vehicle |
| US9038557B2 (en) | 2012-09-14 | 2015-05-26 | Raytheon Company | Hull robot with hull separation countermeasures |
| US9051028B2 (en) | 2012-09-14 | 2015-06-09 | Raytheon Company | Autonomous hull inspection |
| US9061736B2 (en) | 2012-09-14 | 2015-06-23 | Raytheon Company | Hull robot for autonomously detecting cleanliness of a hull |
| US9180934B2 (en) | 2012-09-14 | 2015-11-10 | Raytheon Company | Hull cleaning robot |
| CN104874951A (en) * | 2015-05-08 | 2015-09-02 | 浙江海洋学院 | Wall-climbing welding machine for shell plate of large-scale ship |
| CN104874951B (en) * | 2015-05-08 | 2017-01-25 | 浙江海洋学院 | Wall-climbing welding machine for shell plate of large-scale ship |
| CN107662162A (en) * | 2017-08-30 | 2018-02-06 | 江苏工程职业技术学院 | A kind of adsorbed wall-climbing robot reinforcing bar derusting method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20001115 |