Wall climbing robot with permanent magnetic chains and elastic steel sheets

A wall-climbing robot and elastic steel sheet technology, applied in the field of wall-climbing robots, can solve problems such as inflexible movement, and achieve the effects of flexible movement, stable wall climbing, and good adsorption

Active Publication Date: 2016-04-06
HARBIN KENENG CLADDING TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the existing wall-climbing robot has inflexible movement due to its own rigid structure, and cannot be well adsorbed on the water wall pipe with variable track width for crawling detection, and then provides a belt Permanent magnet chain wall climbing robot with elastic steel sheet

Method used

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  • Wall climbing robot with permanent magnetic chains and elastic steel sheets
  • Wall climbing robot with permanent magnetic chains and elastic steel sheets
  • Wall climbing robot with permanent magnetic chains and elastic steel sheets

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specific Embodiment approach 1

[0021] Specific implementation mode one: combine Figure 1-Figure 4 Describe this embodiment, this embodiment is a permanent magnet chain wall climbing robot with elastic steel sheets, it includes a first wall climbing leg, a second wall climbing leg and an elastic buffer connector, the first wall climbing leg and the second wall climbing leg The wall-climbing legs are radially arranged left and right, and the first wall-climbing leg and the second wall-climbing leg are connected by elastic buffer connectors.

[0022] The structure of the first wall-climbing leg and the second wall-climbing leg is the same, and the first wall-climbing leg includes a probe 1, a probe sleeve 2, a probe bracket 3, at least one slide rail 4, a plurality of slide sleeves 5, a first slide rail Frame 6, second slide rail frame 7, DC servo motor 8, driving shaft 9, driving bevel gear 11, driven bevel gear 10, driving sprocket 12, driven shaft 13, driven sprocket 14, permanent magnet chain assembly 15...

specific Embodiment approach 2

[0023] Specific implementation mode two: combination figure 1 Describe this embodiment, the elastic buffer connector of this embodiment includes a first steel sheet 17 and a second steel sheet 18, the first steel sheet 17 and the second steel sheet 18 are arranged crosswise, the first steel sheet 17 and the second steel sheet The two ends of 18 are respectively hinged with a sliding sleeve 5, and the intersection of the first steel sheet 17 and the second steel sheet 18 is hinged. So set, through the hinge of the first steel sheet 17 and the second steel sheet 18, when the wall-climbing robot travels the distance between the two pipelines becomes larger or smaller, the first wall-climbing leg and the second wall-climbing leg gradually In the state of contraction or gradual expansion, the first steel sheet 17 and the second steel sheet 18 automatically adapt to the change of the distance between the two pipes to produce elastic changes, preventing the invariance caused by the r...

specific Embodiment approach 3

[0024] Specific implementation mode three: combination figure 1 Describe this embodiment, the elastic buffer connector of this embodiment also includes a third steel sheet 19 and a fourth steel sheet 20, the third steel sheet 19 and the fourth steel sheet 20 are arranged crosswise, the third steel sheet 19 and the fourth steel sheet The two ends of the sheet 20 are respectively hinged with a sliding sleeve 5, and the intersection of the third steel sheet 19 and the fourth steel sheet 20 is hinged, and one end of the first steel sheet 17 and one end of the third steel sheet 19 share a sliding sleeve 5 , One end of the second steel sheet 18 and one end of the fourth steel sheet 20 share a sliding sleeve 5 . Set in this way, the second specific embodiment is a set of elastic buffers. On the basis of a set of elastic buffers, this embodiment adds a set of elastic buffers to make the buffer more stable, resistant to rapid wall climbing and encountering between two pipe walls. In t...

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Abstract

The invention relates to a wall climbing robot and discloses a wall climbing robot with permanent magnetic chains and elastic steel sheets in order to solve the problems that existing wall climbing robots move inflexibly caused by the rigid structure of the existing wall climbing robots and cannot be adsorbed on water wall pipelines of variable track widths for climbing and detecting. Each first sliding rail frame and each second sliding rail frame are connected through at least one sliding rail. The sliding rails can be sleeved with a plurality of sliding sleeves in a sliding mode. Direct current servomotors are installed on the second sliding rail frames. Driving shafts can be installed in the second sliding rail frames rotationally. Driving chain wheels are installed on the driving shafts. Driven shafts can be installed in the second sliding rail frames rotationally. Driven chain wheels are installed on the driven shafts. The driving chain wheels are connected with the driven chain wheels through permanent magnetic chain assemblies. Ultrasonic thickness instruments are installed in the middles of the sliding rails. Elastic buffer connecting pieces are hinged to the multiple sliding sleeves of a first wall climbing leg and a second wall climbing leg. The wall climbing robot with the permanent magnetic chains and the elastic steel sheets is used for water wall climbing.

Description

technical field [0001] The invention relates to a wall-climbing robot, in particular to a permanent magnet chain wall-climbing robot with elastic steel sheets. Background technique [0002] A wall-climbing robot is an automated robot that can climb and complete tasks on vertical walls. The wall-climbing robot is also called the wall mobile robot. Because the vertical wall operation exceeds the human limit, it is also called the limit operation robot abroad. Wall-climbing robots are mainly used in petrochemical companies for flaw detection or painting treatment of cylindrical tanks, or for cleaning and painting of buildings. It is used in nuclear industry to check thickness measurement, etc. It can also be used in industries such as fire protection and shipbuilding. [0003] The water wall is the main heating part of the boiler, which is composed of several rows of steel pipes and distributed around the boiler furnace. Its inside is flowing water or steam, and the outside ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/075B62D55/108B62D55/265G01B17/02
CPCB62D55/075B62D55/108B62D55/265G01B17/02
Inventor 王俊明马洪文杨晓东王坤严勤展乾朱丽华
Owner HARBIN KENENG CLADDING TECH
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