CN104787144B - Magnetic-adsorption multifunctional flaw detection robot - Google Patents
Magnetic-adsorption multifunctional flaw detection robot Download PDFInfo
- Publication number
- CN104787144B CN104787144B CN201510189324.9A CN201510189324A CN104787144B CN 104787144 B CN104787144 B CN 104787144B CN 201510189324 A CN201510189324 A CN 201510189324A CN 104787144 B CN104787144 B CN 104787144B
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- housing
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- flaw detection
- fixed mount
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- 238000001514 detection method Methods 0.000 title claims abstract description 26
- 238000001179 sorption measurement Methods 0.000 title abstract description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000007667 floating Methods 0.000 claims abstract description 6
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 63
- 239000004917 carbon fiber Substances 0.000 claims description 63
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 63
- 230000003287 optical effect Effects 0.000 claims description 14
- 229910000838 Al alloy Inorganic materials 0.000 claims description 9
- 239000004677 Nylon Substances 0.000 claims description 6
- 229920001778 nylon Polymers 0.000 claims description 6
- 239000004816 latex Substances 0.000 claims description 3
- 229920000126 latex Polymers 0.000 claims description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims 1
- 239000000463 material Substances 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000013480 data collection Methods 0.000 abstract 1
- 229910052799 carbon Inorganic materials 0.000 description 11
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 10
- 239000000835 fiber Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 230000002745 absorbent Effects 0.000 description 1
- 239000002250 absorbent Substances 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000036772 blood pressure Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a magnetic-adsorption multifunctional flaw detection robot and belongs to the technical field of robot manufacturing. The magnetic-adsorption multifunctional flaw detection robot is mainly used for flaw detection of large ships and tanks, data collection of a dangerous point and the like and is efficient, simple, flexible and high in carrying capacity. The magnetic-adsorption multifunctional flaw detection robot comprises a shell and a remote control handle arranged outside the shell, wherein a floating mechanism, a transmission mechanism, a controller, a motor and at least two magnetic wheels are arranged in the shell; the floating mechanism, the transmission mechanism, the controller and the motor are fixed in the shell; the power output end of the motor is fixedly connected with a wheel shaft of the magnetic wheels through the transmission mechanism; the control end of the motor is connected with the controller; a wireless emitter is arranged in the remote control handle; a wireless receiver is arranged in the shell, corresponds to the wireless emitter and is connected with the controller; a camera is arranged on the shell and connected with an external display screen through an image transmission module.
Description
Technical field
The invention belongs to robot building technical field is and in particular to a kind of multi-functional flaw detection robot of magnetic suck, mainly
It is applied to the flaw detection of large ship, tank body, data acquisition of dangerous spot etc..
Background technology
Oil tank and ship are common large-scale steel surfaces, due to the effect of pressure and the erosion of rainwater and oil product, wall
Face may produce the defects such as pit, crackle, inner void, these defects easily cause peril generation it is therefore necessary to
Periodically detected.At present, to the detection 97% of large tank and marine surface by manually realizing, scaffold, efficiency need to be built
Very low and dangerous.Under special environment, the such as leakage of toxic gas, the nuclear leakage of nuclear power station etc., robot replaces the mankind
Go to complete some tasks to be particularly important.
But how in conceptual phase, practicality is poor or cannot apply for the magnetic suck machine National People's Congress domestic at present at all.Now
The magnetic suck machine National People's Congress generally can be divided into crawler type and wheeled two kinds；Crawler type: if notification number is the China of cn201633804u
Patent " climbing robot ", it has the shortcomings that, and complex structure, inefficiency, traveling be dumb, maintenance difficult and cost are high,
Poor practicability；Wheeled: as Publication No. cn101947776a Chinese patent " climbing robot ", due to its permanent magnet with inhaled
There is distance in subordinate list face, therefore absorbability is strong not to mention carries other equipment it is difficult to safely in work general work,
Therefore can not use in real environment well.This results in the relatively blank of domestic market, domestic be badly in need of practical,
Cheap specialized robot, to replace workman to complete high-altitude detection operation, to fill up this blank.
Content of the invention
The problem existing for prior art, present invention offer is a kind of efficiently, simple, flexible, carry the strong magnetic of ability
Attached multi-functional flaw detection robot.
To achieve these goals, the present invention adopts the following technical scheme that, a kind of multi-functional flaw detection robot of magnetic suck, bag
Include housing and be arranged on remote-control handle outside housing, be provided with relocation mechanism, drive mechanism, controller, electricity in described housing
Machine and at least two magnetic wheels；Described relocation mechanism, drive mechanism, controller and motor are fixed in housing, motor dynamic
Power outfan is fixedly connected with the wheel shaft of magnetic wheel through drive mechanism, and the control end of motor is connected with controller；Described
It is provided with wireless transmitter in remote-control handle, in housing, be provided with wireless receiver, described wireless transmitter and wireless receiving
Device is corresponding, and wireless receiver is connected with controller；Photographic head is provided with housing, photographic head through image transmission module with
Outside display screen is connected.
Described housing is made using carbon fiber sheet.
Described relocation mechanism includes wheel fixed mount, and omni-directional wheel is arranged on wheel fixed mount by horizontally disposed optical axis b
On, and can rotate on wheel fixed mount；It is respectively arranged with slide block fixed mount in the both sides of wheel fixed mount, slide block passes through perpendicular
The optical axis a of straight setting is arranged on slide block fixed mount, and can slide on optical axis a；The slide block of both sides is fixed with wheel respectively
The both sides of frame are fixedly connected, and are provided with spring, described slide block fixed mount outside the optical axis a between slide block top and slide block fixed mount
It is fixed in housing, the bottom of housing is provided with the groove corresponding with the bottom of described omni-directional wheel, the bottom energy of omni-directional wheel
Enough it is arranged on outside housing through groove.
Described relocation mechanism is set to two sets, and two sets of relocation mechanisms are separately positioned on front side and the rear side of housing.
Described drive mechanism includes first bevel gear and second bevel gear, and first bevel gear is solid with the clutch end of motor
Fixed connection, first bevel gear is meshed with second bevel gear, and second bevel gear is fixedly connected with the wheel shaft of magnetic wheel, described magnetic
The wheel shaft of property wheel is arranged in housing by bearing flange.
Described magnet pulley attached bag includes the annular permanent magnet being magnetized by thickness direction, two ring magneto conducting piece, aluminum alloy inner rings
And the outer back-up ring of nylon, two ring magneto conducting piece are separately positioned on n pole and the s pole of annular permanent magnet；The outer back-up ring setting of described nylon
Between two ring magneto conducting piece, the outside of annular permanent magnet, aluminum alloy inner ring is arranged between two ring magneto conducting piece, annular
The inner side of permanent magnet, is provided with wheel shaft in the center of described magnetic wheel.
The multi-functional flaw detection robot of described magnetic suck also includes marking mechanism, and described marking mechanism is arranged in housing,
It includes steering wheel, steering wheel and marking pen, and described steering wheel is fixed in housing, and the clutch end of steering wheel is fixedly connected with steering wheel,
Steering wheel is flexibly connected with marking pen.
Described steering wheel and marking pen are flexibly connected by latex tubing.
Beneficial effects of the present invention:
Compared with conventional wheeled magnetic suck robot, the invention has the advantages that
1. that wheel is made band is magnetic for the present invention, makes adsorbed surface and absorbent bodies directly contact, makes energy of adsorption
Power maximizes, and remains wheeled motility again；
2. the present invention is integrated with the function that wall, wireless remote control, wireless image transmission and marked are climbed by robot.
Present invention improves the absorption property of magnetic suck robot and performance of running stability, improve service efficiency and the work of the energy
Make efficiency, and simple structure greatly reduce the manufacturing cost of robot, make this kind of robot have wide prospect of the application and
Good generalization.
Brief description
Fig. 1 removes the structural representation after housing carbon fibre top board for one embodiment of the present of invention；
Fig. 2 is the axonometric chart of the relocation mechanism of the present invention；
Fig. 3 is the front view of Fig. 2；
Fig. 4 is the structural representation of the drive mechanism of the present invention；
Fig. 5 is the structural representation of the magnetic wheel of the present invention；
Fig. 6 is the structural representation of the marking mechanism of the present invention；
Fig. 7 is the flow chart of the traveling control process of the present invention；
Fig. 8 is the flow chart of the image transmitting process of the present invention；
In figure: 1- first motor flange, 2- second motor flange, 3- motor, front carbon fiber plate in 4-, 5- photographic head, before 6-
Wheel relocation mechanism, carbon fiber plate before 7- is outer, the outer left front carbon fiber plate of the outer carbon fiber plate connector a of 8-, 9-, front carbon fiber plate connector in 10-,
The outer carbon fiber plate connector b of 11-, 12- aluminium alloy square frame, the outer left carbon fiber plate of 13-, left carbon fiber plate in 14-, before the outer right side of 15-, carbon is fine
Plate, the outer left back carbon fiber plate of the outer carbon fiber plate connector c of 16-, 17-, rear carbon fiber plate connector in 18-, the outer carbon fiber plate connector d of 19-,
Carbon fiber plate after outside 20-, rear carbon fiber plate in 21-, 22- trailing wheel relocation mechanism, 23- carbon fibre base plate, the outer back-up ring of 24- nylon, 25- aluminum closes
Golden inner ring, 26- annular permanent magnet, right carbon fiber plate in 27-, 28- ring magneto conducting piece, 29- wheel fixed mount, 30- omni-directional wheel, 31-
Slide block fixed mount, 32- screw, 33- slide block, 34- spring, 35- optical axis a, 36- the-bevel gear, 37- second bevel gear, 38- magnetic
Property wheel, 39- the-bearing flange, 40- second bearing flange, 41- wheel shaft, 42- steering wheel, 43- marking pen, 44- steering wheel, 45- mark
Note mechanism, carbon fiber plate in the outer right side of 46- optical axis b, 47-, carbon fiber plate behind the outer right side of 48-, the right drive mechanism of 49-, 50- housing, the left biography of 51-
Motivation structure, 52- jackscrew.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 1～Fig. 5, a kind of multi-functional flaw detection robot of magnetic suck, including housing 50 and be arranged on outside housing 50
Remote-control handle, described housing 50 made using carbon fiber sheet；It is provided with relocation mechanism, drive mechanism, control in housing 50
Device processed, motor 3 and at least two magnetic wheels 38, the present embodiment adopts two magnetic wheels 38；Described relocation mechanism, driver
Structure, controller and motor 3 are fixed in housing 50, the clutch end of motor 3 wheel shaft through drive mechanism and magnetic wheel 38
41 are fixedly connected, and the control end of motor 3 is connected with controller；It is provided with wireless transmitter in described remote-control handle, in shell
It is provided with wireless receiver, described wireless transmitter is corresponding with wireless receiver, wireless receiver and controller phase in body 50
Connect；Photographic head 5 is provided with housing 50, photographic head 5 is turned av module through hdmi and is connected with the transmitting terminal of image transmission module
Connect, the receiving terminal of image transmission module is arranged on ground, it is corresponding with the transmitting terminal of image transmission module, and with outside av
Display screen is connected.
Described housing 50 includes outer carbon fiber plate, interior carbon fiber plate, carbon fibre base plate 23 and carbon fibre top board, and described outer carbon fiber plate is by outer
Front carbon fiber plate 7, outer rear carbon fiber plate 20, outer left front carbon fiber plate 9, outer left carbon fiber plate 13, outer left back carbon fiber plate 17, carbon is fine before the outer right side
Plate 15, outer the right side in carbon fiber plate 47 and outer the right side after carbon fiber plate 48 form；Carbon before front carbon fiber plate 7 and outer left front carbon fiber plate 9 and the outer right side outward
Fine plate 15 is attached by outer carbon fiber plate connector a8, carbon fiber plate in outer left carbon fiber plate 13 and outer left front carbon fiber plate 9, the outer right side
47 with the outer right side before carbon fiber plate 15 be attached by outer carbon fiber plate connector b11, outer left carbon fiber plate 13 and outer left back carbon fiber plate
17th, in the outer right side carbon fiber plate 47 with outer right after carbon fiber plate 48 be attached by outer carbon fiber plate connector c16, outer left back carbon fiber plate 17
It is attached by outer carbon fiber plate connector d19 with outer rear carbon fiber plate 20 with carbon fiber plate 48 behind the outer right side.Described interior carbon fiber plate is by interior
Front carbon fiber plate 4, interior left carbon fiber plate 14, interior right carbon fiber plate 27 and interior rear carbon fiber plate 21 form, interior front carbon fiber plate 4 and interior left carbon fiber plate
14 and interior right carbon fiber plate 27 be attached by interior front carbon fiber plate connector 10, interior rear carbon fiber plate 21 and interior left carbon fiber plate 14 and interior
Right carbon fiber plate 27 is attached by interior rear carbon fiber plate connector 18.Also set up with spiral shell between outer carbon fiber plate and interior carbon fiber plate
The aluminium alloy square frame 12 of pit, is attached by countersunk head soket head cap screw between each part.Install carbon fibre base plate 23 He again
After carbon fibre top board, described housing 50 defines a relatively airtight space as the inside of robot.
In the present embodiment, described relocation mechanism is set to two sets, respectively front-wheel floating mechanism 6 and trailing wheel relocation mechanism
22, front-wheel floating mechanism 6 and trailing wheel relocation mechanism 22 are separately positioned on front side and the rear side of housing 50；Front-wheel floating mechanism 6 He
Trailing wheel relocation mechanism 22 structure is identical, all includes wheel fixed mount 29, and omni-directional wheel 30 is arranged on by horizontally disposed optical axis b46
On wheel fixed mount 29, and can rotate on wheel fixed mount 29；It is respectively arranged with slide block in the both sides of wheel fixed mount 29
Fixed mount 31, the optical axis a35 that slide block 33 passes through to be vertically arranged is arranged on slide block fixed mount 31, and can slide on optical axis a35
Dynamic, described slide block 33 adopts aluminium alloy slide block；It is solid that the slide block 33 of both sides passes through screw 32 with the both sides of wheel fixed mount 29 respectively
Fixed connection, is provided with spring 34, described slide block fixed mount 31 outside the optical axis a35 between slide block 33 top and slide block fixed mount 31
It is fixed in housing 50, the carbon fibre base plate 23 of housing 50 is provided with the groove corresponding with the bottom of described omni-directional wheel 30,
The bottom of omni-directional wheel 30 can be arranged on outside housing 50 through groove.
In the present embodiment, described drive mechanism is set to two sets, respectively Left Drive mechanism 51 and right drive mechanism 49, left
Drive mechanism 51 is identical with right drive mechanism 49 structure, all includes first bevel gear 36 and second bevel gear 37, first bevel gear
36 are fixedly connected with the clutch end of motor 3 by jackscrew 52, and first bevel gear 36 is meshed with second bevel gear 37；Second
Bevel gear 37 is connected on the wheel shaft 41 of magnetic wheel 38 by jackscrew 52 and carries out axially position, by bonded in magnetic wheel
Carry out circumferentially positioned on 38 wheel shaft 41；The wheel shaft 41 of described magnetic wheel 38 passes through clutch shaft bearing flange 39 and second bearing method
Blue 40 are arranged in housing 50, and clutch shaft bearing flange 39 and second bearing flange 40 are passed through screw and fixed even with carbon fibre base plate 23
Connect.
The annular that 26, two No. 45 steel of annular permanent magnet that described magnetic wheel 38 includes being magnetized by thickness direction are made is led
The outer back-up ring 24 of magnetic sheet 28, aluminum alloy inner ring 25 and nylon, two ring magneto conducting piece 28 are separately positioned on the n pole of annular permanent magnet 26
With s pole；The outer back-up ring 24 of described nylon is arranged between two ring magneto conducting piece 28, the outside of annular permanent magnet 26, in aluminium alloy
Circle 25 is arranged between two ring magneto conducting piece 28, the inner side of annular permanent magnet 26；Set in the center of described magnetic wheel 38
It is equipped with wheel shaft 41, wheel shaft 41 and magnetic wheel 38 pass through bonded；Two ring magneto conducting piece 28 are contacted with adsorbed face.
The multi-functional flaw detection robot of described magnetic suck also includes marking mechanism 45, and described marking mechanism 45 is arranged on housing
In 50, it includes steering wheel 42, steering wheel 44 and marking pen 43, and the power of marking mechanism 45 is provided by steering wheel 42, and described steering wheel 42 leads to
Cross screw to be fixed in the interior right carbon fiber plate 27 of housing 50, the clutch end of steering wheel 42 is fixing even by screw with steering wheel 44
Connect, steering wheel 44 is flexibly connected by latex tubing with marking pen 43, steering wheel 42 is connected with controller.
The traveling control process of the present invention, as shown in fig. 6, the remote-control handle of the present invention adopts the world to fly 6, controllers are led to
Cross and stir the rocking bar of remote-control handle and make wireless transmitter launch ppm ripple, ppm signal is demodulated into by the wireless receiver in housing 50
Six road pwm signals, then to be entered by the capturing function (capture pwm signal low and high level saltus step) of pwm module and timer module
Interrupt, the signal that controller process receives, and the speed according to the corresponding magnetic wheel 38 of the signal change receiving, complete to machine
Device people control out of shape.
The image transmitting process of the present invention, as shown in fig. 7, the present embodiment adopts 5.8g image transmission module, this image passes
Defeated module is divided into transmitting terminal and receiving terminal, is respectively necessary for 12v and powers.Photographic head 5 connects the hdmi port that hdmi turns av module,
Hdmi turns the transmitting terminal of the av port connection image transmission module of av module, and the receiving terminal of image transmission module is arranged on ground,
It is connected with outside av display screen, and av display screen is used for display image.
The main control chip of the controller of the present invention is lpc1768, and the present invention is controlled as the core of circuit with this chip
Device, this chip external vp230 bus transceiver and max3232, vp230 is used for can and communicates, and max3232 is used for lpc1768
Ttl level signal be converted into 232 level signals, so that lpc1768 can be communicated with PC, convenient debug.
The power pack of the present invention adopts the li-po battery that rated voltage is 22.2v, in addition also has several blood pressure lowerings on circuit
Voltage stabilizing module, for each module for power supply of circuit, including mp2482dn, ams1117-3.3, lm2576-adj and lm2576-
5.0；Wherein, mp2482dn and ams1117-3.3 is used for 22.2v and 5v photovoltaic conversion is 3.3v, and lm2576-adj is used for will
22.2v photovoltaic conversion is 12v, and it is 5v voltage that lm2576-5.0 is used for 22.2v photovoltaic conversion.
On supplying cell, the present invention has supervisory circuit above, and this circuit equally has a microprocessor,
Stm32f103c8t6, has electric power detection module and power detection module simultaneously, and electric power detection is by stm32f103c8t6
Adc pin realize, power detection uses max4080, and whole supervisory circuit can realize the monitoring to battery.
The motor that the present invention uses has 12v steering wheel and 24v brush direct current motor, and steering wheel is that main control chip lpc1768 is direct
Controlled by pwm ripple, brush direct current motor is that main control chip passes through can Control on Communication driver, thus being controlled by driver
Brush direct current motor processed.
Claims (6)
1. a kind of multi-functional flaw detection robot of magnetic suck is it is characterised in that including housing and being arranged on remote-control handle outside housing,
It is provided with relocation mechanism, drive mechanism, controller, motor and at least two magnetic wheels in described housing；Described floating engine
Structure, drive mechanism, controller and motor are fixed in housing, the clutch end of the motor wheel through drive mechanism and magnetic wheel
Axle is fixedly connected, and the control end of motor is connected with controller；It is provided with wireless transmitter in described remote-control handle, in housing
Inside it is provided with wireless receiver, described wireless transmitter is corresponding with wireless receiver, and wireless receiver is connected with controller；
Photographic head is provided with housing, photographic head is connected with outside display screen through image transmission module；
Described relocation mechanism includes wheel fixed mount, and omni-directional wheel is arranged on wheel fixed mount by horizontally disposed optical axis b, and
Can rotate on wheel fixed mount；It is respectively arranged with slide block fixed mount in the both sides of wheel fixed mount, slide block passes through vertically to set
The optical axis a putting is arranged on slide block fixed mount, and can slide on optical axis a；The slide block of both sides respectively with wheel fixed mount
Both sides are fixedly connected, and are provided with spring, described slide block fixed mount is fixed outside the optical axis a between slide block top and slide block fixed mount
In housing, the bottom of housing is provided with the groove corresponding with the bottom of described omni-directional wheel, the bottom of omni-directional wheel can be worn
Cross groove to be arranged on outside housing；
Described magnet pulley attached bag includes the annular permanent magnet being magnetized by thickness direction, two ring magneto conducting piece, aluminum alloy inner ring and Buddhist nun
The outer back-up ring of dragon, two ring magneto conducting piece are separately positioned on n pole and the s pole of annular permanent magnet；The outer back-up ring of described nylon is arranged on two
Between individual ring magneto conducting piece, the outside of annular permanent magnet, aluminum alloy inner ring is arranged between two ring magneto conducting piece, annular permanent magnet
The inner side of ferrum, is provided with wheel shaft in the center of described magnetic wheel.
2. the multi-functional flaw detection robot of magnetic suck according to claim 1 is it is characterised in that described housing adopts carbon fiber
Sheet material is made.
3. the multi-functional flaw detection robot of magnetic suck according to claim 1 is it is characterised in that described relocation mechanism is set to
Two sets, two sets of relocation mechanisms are separately positioned on front side and the rear side of housing.
4. the multi-functional flaw detection robot of magnetic suck according to claim 1 is it is characterised in that described drive mechanism includes
One bevel gear and second bevel gear, first bevel gear is fixedly connected with the clutch end of motor, and first bevel gear is bored with second
Gear is meshed, and second bevel gear is fixedly connected with the wheel shaft of magnetic wheel, and the wheel shaft of described magnetic wheel passes through bearing flange
It is arranged in housing.
5. the multi-functional flaw detection robot of magnetic suck according to claim 1 is it is characterised in that described magnetic suck is multi-functional
Flaw detection robot also includes marking mechanism, and described marking mechanism is arranged in housing, and it includes steering wheel, steering wheel and marking pen, institute
State steering wheel to be fixed in housing, the clutch end of steering wheel is fixedly connected with steering wheel, steering wheel is flexibly connected with marking pen.
6. the multi-functional flaw detection robot of magnetic suck according to claim 5 is it is characterised in that described steering wheel is led to marking pen
Cross latex tubing flexible connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510189324.9A CN104787144B (en) | 2015-04-20 | 2015-04-20 | Magnetic-adsorption multifunctional flaw detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510189324.9A CN104787144B (en) | 2015-04-20 | 2015-04-20 | Magnetic-adsorption multifunctional flaw detection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104787144A CN104787144A (en) | 2015-07-22 |
| CN104787144B true CN104787144B (en) | 2017-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510189324.9A Expired - Fee Related CN104787144B (en) | 2015-04-20 | 2015-04-20 | Magnetic-adsorption multifunctional flaw detection robot |
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| WO2019014059A1 (en) * | 2017-07-12 | 2019-01-17 | Saudi Arabian Oil Company | Compact magnetic crawler vehicle with anti-rocking supports |
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| CN105114397A (en) * | 2015-09-06 | 2015-12-02 | 哈尔滨工业大学 | Fluid artificial muscle driving and controlling system |
| CN105857428B (en) * | 2016-03-31 | 2018-06-22 | 华北理工大学 | A kind of Magnetic driving climbs wall device motion and movement technique |
| CN109229299A (en) * | 2018-09-30 | 2019-01-18 | 友联船厂（蛇口）有限公司 | The magnetic structure of climbing robot magneto crawler belt |
| CN110481655A (en) * | 2019-09-12 | 2019-11-22 | 无锡金诚工程技术服务有限公司 | Crawler belt magnetic suck steel construction climbs row detection robot |
| CN111650122B (en) * | 2020-05-08 | 2023-04-18 | 舟山市污水处理有限公司 | Hull shell plane color difference vision technology device |
| US11760127B2 (en) | 2020-12-03 | 2023-09-19 | Saudi Arabian Oil Company | Two-wheel compact inspection crawler with automatic probe normalization |
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| CN2108007U (en) * | 1991-11-27 | 1992-06-24 | 曾德文 | Climbing device on iron wall |
| JPH07225191A (en) * | 1994-02-10 | 1995-08-22 | Tokyo Gas Co Ltd | Movement-type flaw detection robot |
| CN101293541A (en) * | 2008-03-31 | 2008-10-29 | 浙江大学 | Telecontrol wall-climbing cleaning robot |
| CN201382780Y (en) * | 2009-04-10 | 2010-01-13 | 东营市科威智能技术有限公司 | Automatic detection machine for internal coating of pipeline |
| CN101531217A (en) * | 2009-04-15 | 2009-09-16 | 江苏工业学院 | Spirally driven walking robot in pipe |
| CN102901772A (en) * | 2012-06-12 | 2013-01-30 | 过宾 | Robot for intelligent tracking ultrasonic detection of welding line, and software analysis system therefor |
| CN102963454A (en) * | 2012-10-31 | 2013-03-13 | 上海交通大学 | Dual-sliding shaft floatation supporting mechanism of omnibearing movable AGV (Automatic Guided Vehicle) |
| CN102897241A (en) * | 2012-11-09 | 2013-01-30 | 哈尔滨工业大学 | Magnetic adsorption principle based small wheel-type wall-climbing robot platform |
| CN203705959U (en) * | 2013-12-24 | 2014-07-09 | 中国东方电气集团有限公司 | Mecanum wheel-based omni-directional movement platform |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019014059A1 (en) * | 2017-07-12 | 2019-01-17 | Saudi Arabian Oil Company | Compact magnetic crawler vehicle with anti-rocking supports |
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