CN104058017A - Three crawler wheel parallel crawler for wall climbing robot - Google Patents
Three crawler wheel parallel crawler for wall climbing robot Download PDFInfo
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- CN104058017A CN104058017A CN201410228641.2A CN201410228641A CN104058017A CN 104058017 A CN104058017 A CN 104058017A CN 201410228641 A CN201410228641 A CN 201410228641A CN 104058017 A CN104058017 A CN 104058017A
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- wheel
- track adjusting
- climbing robot
- crawler
- adjusting wheel
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Abstract
The invention discloses a three crawler wheel parallel crawler for a wall climbing robot. The three crawler wheel parallel crawler comprises a closed crawler body and crawler wheels, wherein the crawler wheels are arranged inside the closed crawler body; internal teeth are arranged on the inner wall of the closed crawler body; each crawler wheel comprises a driving wheel, a first guide wheel and a second guide wheel; outer teeth are arranged on two ends of the outer walls of the driving wheel, the first guide wheel and the second guide wheel; the outer teeth faces directly toward the internal teeth and are meshed with the internal teeth; the closed crawler body and the crawler wheels perform relative movement through the outer teeth and the internal teeth. Through the manner, a driving wheel and two trailing wheels, symmetrically arranged with respect to the driving wheel, are adopted; the crawler is not in direct contact with the wall surface, is uniform in force bearing, and is not easy to wear; the wall climbing robot can move stably and quickly through the relative movement by meshing the internal teeth and the outer teeth.
Description
Technical field
The present invention relates to a kind of three Athey wheel parallel caterpillars for climbing robot.
Background technology
Along with scientific and technological progress, industrial robot has obtained using widely in every field.Wherein, with it, the outstanding advantages in industries such as nuke industry, building, fire-fightings more and more receives people's concern to climbing robot.On climbing robot, be generally provided with crawler belt, the crawler belt inside on general climbing robot is only provided with a driving wheel and a flower wheel, crawler belt integral discontinuity, and crawler belt directly contacts with wall, easily wearing and tearing, therefore, existing crawler belt design can not meet people's demand.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of three Athey wheel parallel caterpillars for climbing robot, adopts a driving wheel and two about the symmetrically arranged flower wheel of driving wheel, and crawler belt directly contact with wall and be stressed even, is not easy to wear and tear; Carry out relative motion by interior external tooth engagement, can make climbing robot steadily move rapidly.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of three Athey wheel parallel caterpillars for climbing robot are provided, comprise closed crawler belt main body and Athey wheel, described closed crawler belt body interior arranges described Athey wheel, the inwall of described closed crawler belt main body is provided with internal tooth, described Athey wheel comprises drive wheel, the first track adjusting wheel and the second track adjusting wheel, described drive wheel, the outer wall two ends of the first track adjusting wheel and the second track adjusting wheel are equipped with external tooth, described external tooth just engages to described internal tooth and with described internal tooth, between described closed crawler belt main body and Athey wheel, pass through described external tooth, internal tooth carries out relative motion.
In a preferred embodiment of the present invention, described drive wheel is between described the first track adjusting wheel and the second track adjusting wheel.
In a preferred embodiment of the present invention, being centered close on same straight line of described drive wheel, the first track adjusting wheel, the second track adjusting wheel.
In a preferred embodiment of the present invention, described the first track adjusting wheel and the second track adjusting wheel are symmetrical arranged about described drive wheel.
In a preferred embodiment of the present invention, the cross-sectional plane size of described drive wheel, the first track adjusting wheel and the second track adjusting wheel is identical.
In a preferred embodiment of the present invention, the outer wall middle part of described drive wheel, the first track adjusting wheel and the second track adjusting wheel is equipped with annular groove.
In a preferred embodiment of the present invention, the degree of depth of described annular groove is 30-55mm, and the cross-sectional diameter of described drive wheel, the first track adjusting wheel and the second track adjusting wheel is 70-100mm.
In a preferred embodiment of the present invention, on described endless track, be further provided with mounting hole, described mounting hole is just to described annular groove.
In a preferred embodiment of the present invention, described closed crawler belt main body is connected with sucker by described mounting hole.
In a preferred embodiment of the present invention, described closed crawler belt main body is in exceptionally straight state.
The invention has the beneficial effects as follows: the present invention adopts a driving wheel and two about the symmetrically arranged flower wheel of driving wheel, crawler belt directly contact with wall and is stressed even, is not easy to wear and tear; Carry out relative motion by interior external tooth engagement, can make climbing robot steadily move rapidly.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing, wherein:
Fig. 1 is the structural representation of a preferred embodiment of the present invention.
In accompanying drawing, the mark of each parts is as follows: 1, closed crawler belt main body; 2, internal tooth; 3, drive wheel; 4, the first track adjusting wheel; 5, the second track adjusting wheel; 6, external tooth; 7, annular groove; 8, mounting hole.
Detailed description of the invention
To the technical scheme in the embodiment of the present invention be clearly and completely described below, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making all other embodiment that obtain under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1, the embodiment of the present invention comprises:
A kind of three Athey wheel parallel caterpillars for climbing robot, comprise closed crawler belt main body 1 and Athey wheel, described closed crawler belt main body 1 is in exceptionally straight state, described closed crawler belt main body 1 inside arranges described Athey wheel, the inwall of described closed crawler belt main body 1 is provided with internal tooth 2, described Athey wheel comprises drive wheel 3, the first track adjusting wheel 4 and the second track adjusting wheel 5, described drive wheel 3, the outer wall two ends of the first track adjusting wheel 4 and the second track adjusting wheel 5 are equipped with external tooth 6, described external tooth 6 just engages to described internal tooth 2 and with described internal tooth 2, between described closed crawler belt main body 1 and Athey wheel, pass through described external tooth 6, internal tooth 2 carries out relative motion.
Wherein, described drive wheel 3 is between described the first track adjusting wheel 4 and the second track adjusting wheel 5.Being centered close on same straight line of described drive wheel 3, the first track adjusting wheel 4, the second track adjusting wheel 5.Described the first track adjusting wheel 4 and the second track adjusting wheel 5 are symmetrical arranged about described drive wheel 3.Described drive wheel 3, the first track adjusting wheel 4 are identical with the cross-sectional plane size of the second track adjusting wheel 5.This design of Athey wheel can strengthen the stability of climbing robot.
In addition, the outer wall of described drive wheel 3, the first track adjusting wheel 4 and the second track adjusting wheel 5 middle part is equipped with annular groove 7.The degree of depth of described annular groove 7 is 30-55mm, and the cross-sectional diameter of described drive wheel 3, the first track adjusting wheel 4 and the second track adjusting wheel 5 is 70-100mm.On described endless track, be further provided with mounting hole 8, described closed crawler belt main body 1 is connected with sucker by described mounting hole 8.Described mounting hole 8 just arranges described annular groove 7, thereby prevents that sucker from contacting with Athey wheel.
When use, described sucker is adsorbed on wall to ensure that climbing robot does not drop from wall, described drive wheel 3 work drive closed crawler belt main body 1 to move, described the first track adjusting wheel 4 and the second track adjusting wheel 5 are moved in the same way with described closed crawler belt main body 1, thereby climbing robot are advanced or retreat.
In sum, the present invention adopts a driving wheel and two about the symmetrically arranged flower wheel of driving wheel, and crawler belt directly contact with wall and be stressed even, is not easy to wear and tear; Carry out relative motion by interior external tooth 6 engagements, can make climbing robot steadily move rapidly.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes description of the present invention to do; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. three Athey wheel parallel caterpillars for climbing robot, it is characterized in that, comprise closed crawler belt main body (1) and Athey wheel, described closed crawler belt body interior arranges described Athey wheel, the inwall of described closed crawler belt main body is provided with internal tooth (2), described Athey wheel comprises drive wheel (3), the first track adjusting wheel (4) and the second track adjusting wheel (5), described drive wheel, the outer wall two ends of the first track adjusting wheel and the second track adjusting wheel are equipped with external tooth (6), described external tooth just engages to described internal tooth and with described internal tooth, between described closed crawler belt main body and Athey wheel, pass through described external tooth, internal tooth carries out relative motion.
2. the three Athey wheel parallel caterpillars for climbing robot according to claim 1, is characterized in that, described drive wheel is between described the first track adjusting wheel and the second track adjusting wheel.
3. the three Athey wheel parallel caterpillars for climbing robot according to claim 1, is characterized in that, being centered close on same straight line of described drive wheel, the first track adjusting wheel, the second track adjusting wheel.
4. the three Athey wheel parallel caterpillars for climbing robot according to claim 3, is characterized in that, described the first track adjusting wheel and the second track adjusting wheel are symmetrical arranged about described drive wheel.
5. the three Athey wheel parallel caterpillars for climbing robot according to claim 1, is characterized in that, the cross-sectional plane size of described drive wheel, the first track adjusting wheel and the second track adjusting wheel is identical.
6. the three Athey wheel parallel caterpillars for climbing robot according to claim 1, is characterized in that, the outer wall middle part of described drive wheel, the first track adjusting wheel and the second track adjusting wheel is equipped with annular groove (7).
7. the three Athey wheel parallel caterpillars for climbing robot according to claim 6, is characterized in that, the degree of depth of described annular groove is 30-55mm, and the cross-sectional diameter of described drive wheel, the first track adjusting wheel and the second track adjusting wheel is 70-100mm.
8. the three Athey wheel parallel caterpillars for climbing robot according to claim 1, is characterized in that, on described endless track, be further provided with mounting hole (8), described mounting hole is just to described annular groove.
9. the three Athey wheel parallel caterpillars for climbing robot according to claim 8, is characterized in that, described closed crawler belt main body is connected with sucker by described mounting hole.
10. the three Athey wheel parallel caterpillars for climbing robot according to claim 1, is characterized in that, described closed crawler belt main body is in exceptionally straight state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410228641.2A CN104058017A (en) | 2014-05-28 | 2014-05-28 | Three crawler wheel parallel crawler for wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410228641.2A CN104058017A (en) | 2014-05-28 | 2014-05-28 | Three crawler wheel parallel crawler for wall climbing robot |
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| Publication Number | Publication Date |
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| CN104058017A true CN104058017A (en) | 2014-09-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410228641.2A Pending CN104058017A (en) | 2014-05-28 | 2014-05-28 | Three crawler wheel parallel crawler for wall climbing robot |
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| Country | Link |
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| CN (1) | CN104058017A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106568410A (en) * | 2016-11-07 | 2017-04-19 | 常州大学 | Fluidized bed boiler water cooling wall abrasion detection robot |
| CN109436116A (en) * | 2018-12-21 | 2019-03-08 | 北京史河科技有限公司 | Crawler attachment and climbing robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101804639A (en) * | 2009-02-16 | 2010-08-18 | 西北工业大学 | Motion adsorption unit of wall-climbing robot |
| CN202920086U (en) * | 2012-09-21 | 2013-05-08 | 苏州工业园区职业技术学院 | Control system of wireless wall surface cleaning robot |
| CN202987317U (en) * | 2013-01-10 | 2013-06-12 | 刘汪 | Robot crawler-type advancing device |
| CN104029743A (en) * | 2014-05-21 | 2014-09-10 | 苏州工业园区职业技术学院 | Caterpillar band running system for wall-climbing robot |
| CN104071247A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Crawler belt sucker type wall-climbing robot |
| CN204056033U (en) * | 2014-05-28 | 2014-12-31 | 苏州工业园区职业技术学院 | A kind of three Athey wheel parallel caterpillars for climbing robot |
-
2014
- 2014-05-28 CN CN201410228641.2A patent/CN104058017A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101804639A (en) * | 2009-02-16 | 2010-08-18 | 西北工业大学 | Motion adsorption unit of wall-climbing robot |
| CN202920086U (en) * | 2012-09-21 | 2013-05-08 | 苏州工业园区职业技术学院 | Control system of wireless wall surface cleaning robot |
| CN202987317U (en) * | 2013-01-10 | 2013-06-12 | 刘汪 | Robot crawler-type advancing device |
| CN104071247A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Crawler belt sucker type wall-climbing robot |
| CN104029743A (en) * | 2014-05-21 | 2014-09-10 | 苏州工业园区职业技术学院 | Caterpillar band running system for wall-climbing robot |
| CN204056033U (en) * | 2014-05-28 | 2014-12-31 | 苏州工业园区职业技术学院 | A kind of three Athey wheel parallel caterpillars for climbing robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106568410A (en) * | 2016-11-07 | 2017-04-19 | 常州大学 | Fluidized bed boiler water cooling wall abrasion detection robot |
| CN109436116A (en) * | 2018-12-21 | 2019-03-08 | 北京史河科技有限公司 | Crawler attachment and climbing robot |
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Application publication date: 20140924 |