CN110053679A - A kind of strong magnetic suck snake section type crawler attachment applied to climbing robot - Google Patents
A kind of strong magnetic suck snake section type crawler attachment applied to climbing robot Download PDFInfo
- Publication number
- CN110053679A CN110053679A CN201910222438.7A CN201910222438A CN110053679A CN 110053679 A CN110053679 A CN 110053679A CN 201910222438 A CN201910222438 A CN 201910222438A CN 110053679 A CN110053679 A CN 110053679A
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- China
- Prior art keywords
- chain
- snake
- permanent magnetism
- section type
- creeper tread
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- 241000270295 Serpentes Species 0.000 title claims abstract description 93
- 230000009194 climbing Effects 0.000 title claims abstract description 26
- 230000005389 magnetism Effects 0.000 claims abstract description 88
- 241000219098 Parthenocissus Species 0.000 claims abstract description 82
- 238000001179 sorption measurement Methods 0.000 claims abstract description 15
- 230000003447 ipsilateral effect Effects 0.000 claims abstract description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 19
- 230000003014 reinforcing effect Effects 0.000 claims description 5
- 239000003292 glue Substances 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 7
- 238000010521 absorption reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005728 strengthening Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000013467 fragmentation Methods 0.000 description 1
- 238000006062 fragmentation reaction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Non-Mechanical Conveyors (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of strong magnetic suck snake section type crawler attachments applied to climbing robot, including track frame, creeper tread driven wheel, creeper tread driving wheel, track drive shaft, snake section type magnetic field-intensification chain and permanent magnetism track chain with magnetic block；Creeper tread driving wheel, creeper tread driven wheel and permanent magnetism track chain form crawler haulage structure, creeper tread driving wheel is connected with track drive shaft, creeper tread driven wheel, creeper tread driving wheel are separately fixed at the both ends of track frame, snake section type magnetic field-intensification chain is located at the interior bottom of track frame, and the both ends of snake section type magnetic field-intensification chain are separately fixed at the both ends of track frame；Permanent magnetism track chain below track frame passes through the groove of snake section type magnetic field-intensification chain bottom, and creeper tread magnetic block is identical as the ipsilateral magnetic pole magnetic of snake pitch chain magnetic block.The present invention realizes larger adsorption capacity with lesser volume and weight cost and load effect is promoted, and magnetic block is avoided directly to be in contact with adsorption plane.
Description
Technical field
The present invention relates to climbing robot fields, are specifically related to a kind of strong magnetic suck snake section applied to climbing robot
Formula crawler attachment.
Background technique
Current climbing robot, mainly in magnetizer apparent motion, carries a fixed load based on permanent magnetic suck technology
Equipment be used to replacing it is artificial carry out upkeep operation work, and the permanent magnetic suck technology of climbing robot on creeper tread to add
Based on the crawler belt absorption for filling magnetic block.Magnetic block is installed on track surface and directly contacts with operation surface, and the magnetic field of magnetic block is big
The small load capacity for directly determining climbing robot.Presently, there are the problem of be climbing robot often since it is desired that reinforce
Load capacity and increase magnetic patch, thus be self-possessed volume increase so that load promotion effect be not obvious so that equipment use and
Maintenance cost is higher, and obstacle climbing ability is because the volume increase of magnetic patch is restricted, and safety is lower, and magnetic block is more crisp, for a long time
Direct contact be easy so that magnetic patch fragmentation is to influencing adsorption effect.
Summary of the invention
To solve the above-mentioned problems, the object of the present invention is to provide a kind of adsorption capacities by force, avoids magnetic block and adsorption plane
The strong magnetic suck snake section type crawler attachment applied to climbing robot directly contacted.
The technical solution adopted by the present invention is that:
A kind of strong magnetic suck snake section type crawler attachment applied to climbing robot, comprising: track frame, creeper tread are driven
Wheel, creeper tread driving wheel, track drive shaft, snake section type magnetic field-intensification chain and permanent magnetism track chain, the permanent magnetism track chain
It is inside provided with creeper tread magnetic block, snake pitch chain magnetic block is provided in the snake section type magnetic field-intensification chain；The creeper tread
Driving wheel is connected to be used to form crawler haulage structure, the creeper tread driving with creeper tread driven wheel by permanent magnetism track chain
Wheel is connected to drive driving wheel rotation for connecting driving motor with track drive shaft, and the creeper tread driven wheel, creeper tread drive
Driving wheel is separately fixed at the both ends of track frame, and the snake section type magnetic field-intensification chain is located at the interior bottom of track frame, snake section
The both ends of formula magnetic field-intensification chain are separately fixed at the both ends of track frame with for snake section type magnetic field-intensification chain to be straightened, snake
The setting of section formula magnetic field-intensification chain bottom is fluted；It is strong that permanent magnetism track chain below the track frame passes through snake section type magnetic field
Change the groove of chain bottom, the creeper tread magnetic block is identical as the ipsilateral magnetic pole magnetic of snake pitch chain magnetic block, for making
The magnetic field superposition of snake section type magnetic field-intensification chain and permanent magnetism track chain improves magnetic adsorbability.
Further, the permanent magnetism track chain further includes several permanent magnetism creeper treads, is arranged in adjacent two pieces of permanent magnetism crawler belts
Several creeper tread joint pins between plate, the creeper tread magnetic block are fixedly mounted on permanent magnetism creeper tread, and the two of arbitrary neighborhood
Block permanent magnetism creeper tread is rotatably connected by creeper tread joint pin.
Further, the snake section type magnetic field-intensification chain includes that the permanent magnetism of several built-in snake pitch chain magnetic blocks is strengthened
Block and several permanent magnetism are set strengthen the hook plate chain that block sides are used to for several permanent magnetism reinforcing block being linked to be snake section type integral structure
Item.
Further, it further includes strong magnetically fixed pedestal, snake locking nub cover board, the strong magnetic of snake pitch chain item that the permanent magnetism, which strengthens block,
Block is located between strong magnetically fixed pedestal and snake locking nub cover board, and the strong magnetically fixed pedestal and snake locking nub cover board pass through the fixed spiral shell of cover board
Bolt is fixedly connected so that for fixing snake pitch chain magnetic block, the strong magnetically fixed base bottom opens up fluted for making permanent magnetism
Track chain passes through.
Further, it is described hook plate chain include several sides be cross-linked it is long hook plate and short hooks plate and hook plate consolidate
Determine bolt, long hook is rotatably connected between plate and short hook plate by hooking plate pin shaft, long to hook on plate and the short side for hooking plate all
Through-hole is offered, the hook plate fixing bolt passes through through-hole and is fixedly connected with permanent magnetism reinforcing block, for fixing hook plate chain
Strengthen the side of block in permanent magnetism, long hook plate/short bottom edge for hooking plate is vertical with side and extends to the lower section that permanent magnetism strengthens block, with
Groove for preventing permanent magnetism track chain and permanent magnetism from strengthening block bottom is detached from.
Further, the permanent magnetism, which is strengthened, offers blind hole on block side wall, and the hook plate fixing bolt protrudes into blind hole simultaneously
And it is Nian Jie with permanent magnetism reinforcing block by glue.
Further, the creeper tread driven wheel includes driven wheel profile, profile bearing and driven wheel support shaft, it is described from
Driving wheel profile is fixedly connected with from the support shaft that moves in turn, and the profile bearing is mounted on the inner ring two sides of driven wheel profile for making
The rotation of creeper tread driven wheel, the driven wheel support shaft pass through profile bearing and are rotatably connected with track frame.
Further, the creeper tread driving wheel includes driving wheel profile and spring bearing, and the spring bearing, which is located at, to be driven
To be used to form rolling support, the creeper tread drive shaft can be rotated by spring bearing and track frame for the two sides of driving wheel profile
Connection.
Further, the both ends of the snake section type magnetic field-intensification chain pass through the side both ends of fixed pin shaft and track frame
It is connected.
The beneficial effects of the present invention are:
The present invention uses caterpillar belt structure, can make crawler belt rotation to push climbing by the pulling of driving wheel and driven wheel
Robot motion, and magnetic absorption is generated by being mounted on the creeper tread magnetic block on the inside of permanent magnetism track chain, carry out permanent magnetism
Band chain is saved while passing through snake section type magnetic field-intensification chain bottom groove by the snake inside snake section type magnetic field-intensification chain
Chain magnetic block reinforces the magnetic circuit of permanent magnetism track chain, improves permanent magnetism track chain in the adsorption capacity of adsorption plane.
And the elasticity and deformation for passing through permanent magnetism track chain and snake section type magnetic field-intensification chain, so that entire crawler attachment
Can have good obstacle climbing ability, the present apparatus only increases one section of snake section type magnetic field-intensification chain of bottom in track frame
Volume and weight, larger adsorption capacity and load effect are realized with lesser volume and weight cost and promoted, and can be had
The protection magnetic block of effect, avoids it from being directly in contact with adsorption plane, improves the service life of magnetic block.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the strong magnetic suck snake section type crawler attachment of the present invention；
Fig. 2 is the structural schematic diagram of permanent magnetism track chain and snake section type magnetic field-intensification chain in the present invention；
Fig. 3 is the structural schematic diagram that permanent magnetism strengthens block, hooks plate chain and permanent magnetism creeper tread in the present invention；
Fig. 4 is the structural representation of track frame, creeper tread driven wheel, creeper tread driving wheel, track drive shaft in the present invention
Figure；
Fig. 5 is the sectional view of permanent magnetism track chain and snake section type magnetic field-intensification chain in the present invention.
Specific embodiment
To explain the technical content, the achieved purpose and the effect of the present invention in detail, below in conjunction with embodiment and cooperate attached
Figure is explained.
It is as shown in Figure 1 a kind of strong magnetic suck snake section type crawler attachment applied to climbing robot of the invention, comprising:
Track frame 1, creeper tread driven wheel 2, creeper tread driving wheel 3, track drive shaft 4, snake section type magnetic field-intensification chain 5 and permanent magnetism are carried out
With chain 6, it is provided with creeper tread magnetic block 61 in permanent magnetism track chain 6, is provided with snake pitch chain in snake section type magnetic field-intensification chain 5
Magnetic block 51.
Creeper tread driving wheel 3 is connected by permanent magnetism track chain 6 with creeper tread driven wheel 2, and permanent magnetism track chain 6 is around shoe
Band plate driving wheel 3 and the circle of creeper tread driven wheel 2 one are to form crawler haulage structure, creeper tread driving wheel 3 and 4 phase of track drive shaft
Even, driving motor drives creeper tread driving wheel 3 to rotate by track drive shaft 4, and creeper tread driven wheel 2, creeper tread driving wheel 3 divide
The both ends for not being fixed on track frame 1 form stable support construction, and snake section type magnetic field-intensification chain 5 is located at track frame 1
Interior bottom；The both ends of snake section type magnetic field-intensification chain 5 are connected by fixed pin shaft 7 with the side both ends of track frame 1, to be used for
Snake section type magnetic field-intensification chain 5 is straightened, the setting of 5 bottom of snake section type magnetic field-intensification chain is fluted, and 1 lower section of track frame is forever
Magnetic track chain 6 passes through the groove of 5 bottom of snake section type magnetic field-intensification chain.
As shown in figure 5, creeper tread magnetic block 61 is identical as the ipsilateral magnetic pole magnetic of snake pitch chain magnetic block 51, so that snake is saved
The magnetic energy of chain magnetic block 51 enough passes through strong magnetically fixed pedestal 521 and penetrates with the contact of permanent magnetism creeper tread 62 to permanent magnetism creeper tread 62
Outside and adsorption plane magnetizer generate magnetic field outer loop so that integrally-built magnetic flux increase so that permanent magnetism
Creeper tread 62 generates sufficiently large magnetic force when permanent magnetism is strengthened in 52 bottom groove of block.
As shown in Fig. 2-Fig. 3, permanent magnetism track chain 6 includes several permanent magnetism creeper treads 62, setting in adjacent two blocks of permanent magnetism shoe
Several creeper tread joint pins 63 and creeper tread magnetic block 61 between band plate 62, creeper tread magnetic block 61 are carried out by glue and permanent magnetism
62 fixed bonding of band plate can also be buckled with through-hole or other modes are fixed, and adjacent permanent magnetism creeper tread 62 passes through creeper tread hinge
Pin 63 forms mutual hinge arrangement, the connection one whole permanent magnetism track chain 6 of composition of muti-piece permanent magnetism creeper tread 62.
As shown in figure 3, snake section type magnetic field-intensification chain 5 includes that several permanent magnetism are strengthened block 52 and are arranged in several permanent magnetism
Strengthen the hook plate chain 53 that 52 side of block is used to for several permanent magnetism reinforcing block 52 being linked to be snake section type integral structure.Permanent magnetism strengthens block 52
It is located at strong magnetic including strong magnetically fixed pedestal 521, snake locking nub cover board 522 and snake pitch chain magnetic block 51, snake pitch chain magnetic block 51
Between firm banking 521 and snake locking nub cover board 522, strong magnetically fixed pedestal 521 and snake locking nub cover board 522 pass through cover board fixing bolt
523 are fixedly connected so that for fixing snake pitch chain magnetic block 51, strong magnetically fixed 521 bottom of pedestal opens up fluted for making forever
Magnetic track chain 6 passes through, and groove inner wall of the top and two sides of creeper tread magnetic block 61 with strong magnetically fixed pedestal 521 keeps one
Fixed gap, creeper tread magnetic block 61 rubs with strong magnetically fixed pedestal 521 when crawler belt being avoided to rotate, strong magnetically fixed pedestal
521 and the material of permanent magnetism creeper tread 62 be steel, can also have the material of magnetic conduction ability using other.
Hook plate chain 53 include it is long hook plate 531 and short hooks plate 532 and hook plate fixing bolt 533, long hook plate 531 with it is short
Hook plate 532 side edge shape it is consistent, be in the present embodiment it is trapezoidal, other shapes can also be used；It is long to hook plate 531 and short hook plate
532 are rotatably connected by hooking plate pin shaft 534, and the long plate 531 that hooks is cross-linked with short hook plate 532, and the long plate 531 that hooks is located at short hook plate
532 front, strong magnetically fixed pedestal 521 are fixedly connected with the long short hook plate 532 of plate 531/ that hooks of side respectively, and one is long and the other is short for formation
Staggeredly link configuration, thus formed one it is whole can with movement deformation snake section type magnetic field-intensification chain 5.
The long both ends hooked below plate 531 and the short side for hooking plate 532, which are offered, hooks the logical of plate pin shaft 534 for passing through
Hole, long hook also offer through-hole above plate 531 and the short side for hooking plate 532, hook plate fixing bolt 533 and pass through the through-hole and strong magnetic
Firm banking 521 is fixedly connected, for making hook plate chain 53 be fixed on the side that permanent magnetism strengthens block 52；It is long to hook the short hook of plate 531/
The bottom edge of plate 532 is vertical with side and extends to the lower section that permanent magnetism strengthens block 52, for catching in strong magnetically fixed pedestal 521
The permanent magnetism creeper tread 62 slided in bottom groove, the groove for preventing permanent magnetism track chain and permanent magnetism from strengthening block bottom are detached from, thus
Guarantee have the intensity that lesser gap is able to maintain magnetic field during magnetic field superposition.Because the long plate 531 that hooks is located at short hook plate 532
Front, therefore the long bottom edge for hooking plate 531 is longer than the short bottom edge for hooking plate 532, the long bottom edge end for hooking plate 531 and short hook plate 532
Bottom edge end it is parallel.
As shown in figure 4, creeper tread driven wheel 2 includes driven wheel profile 21, profile bearing 22 and driven wheel support shaft 23, from
Driving wheel profile 21 is fixedly connected with from the support shaft that moves in turn, and profile bearing 22 is mounted on the inner ring two sides of driven wheel profile 21 to be used for
Rotate creeper tread driven wheel 2, driven wheel support shaft 23 passes through profile bearing 22 and is rotatably connected with track frame 1.Crawler belt
Plate driving wheel 3 includes driving wheel profile 31 and spring bearing 32, and spring bearing 32 is located at the two sides of driving wheel profile 31 to be used for
Rolling support is formed, creeper tread drive shaft 4 is rotatably connected by spring bearing 32 with track frame 1.
In conclusion the present invention use caterpillar belt structure, can be made by the pulling of driving wheel and driven wheel crawler belt rotation from
And climbing robot is pushed to move, and the creeper tread magnetic block 61 by being mounted on 6 inside of permanent magnetism track chain generates magnetism
Absorption makes permanent magnetism track chain 6 while passing through snake section type magnetic field-intensification 5 bottom groove of chain, strong by snake section type magnetic field
Changing the snake pitch chain magnetic block 51 inside chain 5 reinforces the magnetic circuit of permanent magnetism track chain 6, improves permanent magnetism track chain 6 and exists
The adsorption capacity of adsorption plane, while the chain structure of permanent magnetism track chain 6 and snake section type magnetic field-intensification chain 5 is able to maintain centainly
Tensile force and elasticity so that permanent magnetism track chain 6 and snake section type magnetic field-intensification chain 5 can have flexural oscillations deformation, from
And it can adapt to surface of different shapes during the motion.
And pass through the elasticity and deformation of permanent magnetism track chain 6 and snake section type magnetic field-intensification chain 5, so that entire crawler belt dress
Good obstacle climbing ability can be had by setting, and the present apparatus only increases one section of snake section type magnetic field-intensification chain of bottom in track frame
The volume and weight of item realizes larger adsorption capacity with lesser volume and weight cost and load effect is promoted, and can
Magnetic block is effectively protected, it is avoided directly to be in contact with adsorption plane, improves the service life of magnetic block.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalents made by bright specification and accompanying drawing content are applied directly or indirectly in relevant technical field, similarly include
In scope of patent protection of the invention.
Claims (9)
1. a kind of strong magnetic suck snake section type crawler attachment applied to climbing robot characterized by comprising track frame
(1), creeper tread driven wheel (2), creeper tread driving wheel (3), track drive shaft (4), snake section type magnetic field-intensification chain (5) and permanent magnetism
Track chain (6), the permanent magnetism track chain (6) is interior to be provided with creeper tread magnetic block (61), the snake section type magnetic field-intensification chain
Snake pitch chain magnetic block (51) is provided in item (5)；The creeper tread driving wheel (3) passes through permanent magnetism track chain (6) and crawler belt
Plate driven wheel (2) is connected to be used to form crawler haulage structure, and the creeper tread driving wheel (3) is connected with track drive shaft (4)
To drive driving wheel rotation for connecting driving motor, the creeper tread driven wheel (2), creeper tread driving wheel (3) are fixed respectively
At the both ends of track frame (1), the snake section type magnetic field-intensification chain (5) is located at the interior bottom of track frame (1), snake section type magnetic
The both ends of field strength chain (5) are separately fixed at the both ends of track frame with for snake section type magnetic field-intensification chain (5) to be straightened,
The setting of snake section type magnetic field-intensification chain (5) bottom is fluted, and the permanent magnetism track chain (6) below the track frame (1) passes through
The groove of snake section type magnetic field-intensification chain (5) bottom；The creeper tread magnetic block (61) and snake pitch chain magnetic block (51) are ipsilateral
Magnetic pole magnetic it is identical, with for make the magnetic field superposition of snake section type magnetic field-intensification chain (5) and permanent magnetism track chain (6) raising magnetic
Adsorption capacity.
2. the strong magnetic suck snake section type crawler attachment according to claim 1 applied to climbing robot, it is characterised in that:
The permanent magnetism track chain (6) further includes several permanent magnetism creeper treads (62), is arranged between adjacent two pieces of permanent magnetism creeper treads (62)
Several creeper tread joint pins (63), the creeper tread magnetic block (61) is fixedly mounted on permanent magnetism creeper tread (62), any phase
Two pieces of adjacent permanent magnetism creeper treads (62) are rotatably connected by creeper tread joint pin (63).
3. the strong magnetic suck snake section type crawler attachment according to claim 1 applied to climbing robot, it is characterised in that:
The snake section type magnetic field-intensification chain (5) include several built-in snake pitch chain magnetic blocks (51) permanent magnetism strengthen block (52) and
It is arranged and strengthens the hook plate that block (52) side is used to for several permanent magnetism reinforcing block (52) being linked to be snake section type integral structure in several permanent magnetism
Chain (53).
4. the strong magnetic suck snake section type crawler attachment according to claim 3 applied to climbing robot, it is characterised in that:
It further includes strong magnetically fixed pedestal (521), snake locking nub cover board (522), the snake pitch chain magnetic block that the permanent magnetism, which strengthens block (52),
(51) it is located between strong magnetically fixed pedestal (521) and snake locking nub cover board (522), the strong magnetically fixed pedestal (521) and snake locking nub
Cover board (522) is fixedly connected to be used to fix snake pitch chain magnetic block (51) by cover board fixing bolt (523), and the strong magnetic is solid
Determine pedestal (521) bottom open up it is fluted with for passing through permanent magnetism track chain (6).
5. the strong magnetic suck snake section type crawler attachment according to claim 3 applied to climbing robot, it is characterised in that:
Hook plate chain (53) include long hook plate (531) and short hook plate (532) and hook the fixed spiral shell of plate that several sides are cross-linked
Bolt (533), long hook is rotatably connected between plate (531) and short hook plate (532) by hooking plate pin shaft (534), long to hook plate
(531) and on the short side for hooking plate (532) through-hole is all offered, the hook plate fixing bolt (533) passes through through-hole and permanent magnetism is strong
Change block (52) to be fixedly connected, for making hook plate chain (53) be fixed on the side that permanent magnetism strengthens block 52；Long hook plate (531)/short
The bottom edge of hook plate (532) is vertical with side and extends to the lower section that permanent magnetism strengthens block (52), for preventing permanent magnetism caterpillar chain
The groove that item (6) and permanent magnetism strengthen block (52) bottom is detached from.
6. the strong magnetic suck snake section type crawler attachment according to claim 2 applied to climbing robot, it is characterised in that:
The creeper tread magnetic block (61) passes through glue and permanent magnetism creeper tread (62) fixed bonding.
7. the strong magnetic suck snake section type crawler attachment according to claim 1 applied to climbing robot, it is characterised in that:
The creeper tread driven wheel (2) includes driven wheel profile (21), profile bearing (22) and driven wheel support shaft (23), described driven
Wheel profile (21) is fixedly connected with from the support shaft that moves in turn, and the profile bearing (22) is mounted on the inner ring two of driven wheel profile (21)
Side is with for rotating creeper tread driven wheel (2), the driven wheel support shaft (23) passes through profile bearing (22) and and tracked machine
Frame (1) is rotatably connected.
8. the strong magnetic suck snake section type crawler attachment according to claim 1 applied to climbing robot, it is characterised in that:
The creeper tread driving wheel (3) includes driving wheel profile (31) and spring bearing (32), and the spring bearing (32) is located at driving
The two sides of profile (31) are taken turns to be used to form rolling support, the creeper tread drive shaft (4) passes through spring bearing (32) and crawler belt
Rack (1) is rotatably connected.
9. the strong magnetic suck snake section type crawler attachment according to claim 1 applied to climbing robot, it is characterised in that:
The both ends of the snake section type magnetic field-intensification chain (5) are connected by fixed pin shaft (7) with the side both ends of track frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910222438.7A CN110053679B (en) | 2019-03-22 | 2019-03-22 | Strong magnetic adsorption snake section type crawler device applied to climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910222438.7A CN110053679B (en) | 2019-03-22 | 2019-03-22 | Strong magnetic adsorption snake section type crawler device applied to climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110053679A true CN110053679A (en) | 2019-07-26 |
| CN110053679B CN110053679B (en) | 2024-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910222438.7A Active CN110053679B (en) | 2019-03-22 | 2019-03-22 | Strong magnetic adsorption snake section type crawler device applied to climbing robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109854464A (en) * | 2019-03-22 | 2019-06-07 | 湖南沄耀中创科技有限公司 | A kind of magnetic climbing robot applied to blower fan tower barrel cleaning detection |
| CN111216815A (en) * | 2020-03-20 | 2020-06-02 | 浙江大学 | A magnetic climbing four-DOF crawler robot for power grid tower detection |
| CN111776098A (en) * | 2020-06-23 | 2020-10-16 | 陕西宝智通科技发展有限公司 | Crawler Excitation Adsorption Wall Climbing Robot |
| CN112078681A (en) * | 2020-08-10 | 2020-12-15 | 浙江大学 | A Magnetic Climbing Robot for Wire Breeze Vibration Detection |
| CN113276975A (en) * | 2021-05-08 | 2021-08-20 | 广东工业大学 | Controllable permanent magnetism athey wheel of magnetic force and have its robot |
| CN113460182A (en) * | 2021-07-27 | 2021-10-01 | 北方工业大学 | Flexible crawler-type magnetic adsorption mechanism for wall-climbing robot |
| CN113734310A (en) * | 2021-09-08 | 2021-12-03 | 湖南沄耀中创科技有限公司 | Permanent magnet adsorption crawler device and permanent magnet adsorption robot |
| CN113757485A (en) * | 2021-09-01 | 2021-12-07 | 西安石油大学 | Long-distance oil and gas pipeline inspection bionic snake robot |
| EP4242089A4 (en) * | 2020-11-06 | 2023-11-29 | Mitsubishi Electric Corporation | Magnetic-adsorption-method crawler-type moving device, multiple-linked-type magnetic-adsorption-method crawler-type moving device, and electricity generator inspection robot |
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| CN109854464A (en) * | 2019-03-22 | 2019-06-07 | 湖南沄耀中创科技有限公司 | A kind of magnetic climbing robot applied to blower fan tower barrel cleaning detection |
| CN109854464B (en) * | 2019-03-22 | 2024-02-23 | 湖南沄耀中创科技有限公司 | Be applied to magnetism climbing robot that fan tower section of thick bamboo washd and detected |
| CN111216815A (en) * | 2020-03-20 | 2020-06-02 | 浙江大学 | A magnetic climbing four-DOF crawler robot for power grid tower detection |
| CN111776098A (en) * | 2020-06-23 | 2020-10-16 | 陕西宝智通科技发展有限公司 | Crawler Excitation Adsorption Wall Climbing Robot |
| CN111776098B (en) * | 2020-06-23 | 2021-10-08 | 陕西宝智通科技发展有限公司 | Crawler Excitation Adsorption Wall Climbing Robot |
| CN112078681A (en) * | 2020-08-10 | 2020-12-15 | 浙江大学 | A Magnetic Climbing Robot for Wire Breeze Vibration Detection |
| EP4242089A4 (en) * | 2020-11-06 | 2023-11-29 | Mitsubishi Electric Corporation | Magnetic-adsorption-method crawler-type moving device, multiple-linked-type magnetic-adsorption-method crawler-type moving device, and electricity generator inspection robot |
| CN113276975A (en) * | 2021-05-08 | 2021-08-20 | 广东工业大学 | Controllable permanent magnetism athey wheel of magnetic force and have its robot |
| CN113276975B (en) * | 2021-05-08 | 2022-07-12 | 广东工业大学 | Controllable permanent magnetism athey wheel of magnetic force and have its robot |
| CN113460182A (en) * | 2021-07-27 | 2021-10-01 | 北方工业大学 | Flexible crawler-type magnetic adsorption mechanism for wall-climbing robot |
| CN113757485A (en) * | 2021-09-01 | 2021-12-07 | 西安石油大学 | Long-distance oil and gas pipeline inspection bionic snake robot |
| CN113734310A (en) * | 2021-09-08 | 2021-12-03 | 湖南沄耀中创科技有限公司 | Permanent magnet adsorption crawler device and permanent magnet adsorption robot |
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