CN109436116A - Crawler attachment and climbing robot - Google Patents
Crawler attachment and climbing robot Download PDFInfo
- Publication number
- CN109436116A CN109436116A CN201811574523.1A CN201811574523A CN109436116A CN 109436116 A CN109436116 A CN 109436116A CN 201811574523 A CN201811574523 A CN 201811574523A CN 109436116 A CN109436116 A CN 109436116A
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- China
- Prior art keywords
- bracket
- connection frame
- along
- track member
- length direction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 230000009194 climbing Effects 0.000 title claims abstract description 20
- 238000001179 sorption measurement Methods 0.000 claims description 48
- 239000003463 adsorbent Substances 0.000 claims description 20
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 125000000623 heterocyclic group Chemical group 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of crawler attachment and climbing robot, wherein crawler attachment includes: bracket, and the bracket is equipped with limit plate, and the limit plate extends along the length direction and short transverse of the bracket；Driving wheel is connect by drive sprocket axle with the holder pivots, and the drive sprocket axle is arranged along the width direction of the bracket；Driven wheel is connect by follower shaft with the holder pivots, parallel with the drive sprocket axle and length direction interval setting along the bracket of the follower shaft；Track member, it is set on the outside of the driving wheel and driven wheel and is meshed with the driving wheel and driven wheel, the track member inner surface is convexly equipped with limiting section, the limiting section can be in contact with the limit plate, be moved with limiting the track member with limit plate cooperation along the width direction of the bracket.The reliability that crawler attachment and climbing robot use can be improved in the present invention.
Description
Technical field
The present invention relates to walking arrangement technology more particularly to a kind of crawler attachments and climbing robot.
Background technique
With the high speed development of modern society and science and technology, climbing robot is just increasingly used in various multiple
Heterocycle border.
Existing climbing robot includes the robot body being connected and crawler attachment, crawler attachment include driving wheel,
The surface of track member is arranged in track member and magnetic devices, magnetic devices, and track member can be adsorbed on work by magnetic devices
On face, in addition, track member is arranged on the drive wheel and engages with driving wheel, driving wheel is for driving track member to operate, to make
Crawler attachment can walk on working face, and then robot body is driven to move along working face.
However, existing climbing robot is on working face when moving, since track member is adsorbed on work by magnetic devices
Make on face, therefore, when magnetic devices are separated with working face, track member will receive adsorption force and be easy to occur with driving wheel
Deviate or be detached from, reduces the reliability used.
Summary of the invention
The present invention provides a kind of crawler attachment and climbing robot, to improve the reliability used.
One aspect of the present invention provides a kind of crawler attachment, comprising:
Bracket, the bracket are equipped with limit plate, and the limit plate prolongs along the length direction and short transverse of the bracket
It stretches；
Driving wheel is connect by drive sprocket axle with the holder pivots, and the drive sprocket axle is along the width side of the bracket
To setting；
Driven wheel is connect by follower shaft with the holder pivots, and the follower shaft is parallel with the drive sprocket axle
And it is arranged along the length direction interval of the bracket；
Track member is set on the outside of the driving wheel and driven wheel and is meshed with the driving wheel and driven wheel, described
Track member inner surface is convexly equipped with limiting section, and the limiting section can be in contact with the limit plate, to cooperate with the limit plate
The width direction that the track member is limited along the bracket moves.
Another aspect of the present invention provides a kind of climbing robot, including robot body and crawler belt provided by the present invention dress
It sets, the robot body connect with the bracket.
Based on above-mentioned, crawler attachment provided by the present invention, when walking on working face, driving wheel and driven wheel are driven
Track member operating, when track member the trend deviateed occurs relative to driving wheel and driven wheel, positioned at the limit of track member inner surface
Position portion can be in contact with the limit plate on bracket, so that the width direction for limiting track member along the bracket moves, it is effectively anti-
Only track member is further offset from, and then track member is avoided to be separated with driving wheel and driven wheel, improves crawler attachment use
Reliability.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of climbing robot provided in an embodiment of the present invention；
Fig. 2 is a kind of local perspective view of climbing robot provided in an embodiment of the present invention；
Fig. 3 is a kind of partial cutaway view of climbing robot provided in an embodiment of the present invention；
Fig. 4 is a kind of partial structural diagram of climbing robot provided in an embodiment of the present invention；
Fig. 5 is a kind of front elevation of the adsorbent equipment of climbing robot provided in an embodiment of the present invention；
Fig. 6 is a kind of perspective view of the adsorbent equipment of climbing robot provided in an embodiment of the present invention.
Appended drawing reference:
100: adsorbent equipment；101: adsorption piece；102: connecting plate；
103: elastic component；104: guiding device；105: connecting rod；
106: the first pin shafts；107: perforation；108: locating part；
109: directive wheel；110: the second pin shafts；111: frame；
112: magnetic patch；201: bracket；202: limit plate；
203: driving wheel；204: drive sprocket axle；205: driven wheel；
206: follower shaft；207: track member；208: limiting section；
209: the first connection frames；210: the second connection frames；211: positioning system；
212: positioning region；213: screw rod；214: limiting device；
215: threaded hole；216: pilot hole；301: robot body.
Specific embodiment
To keep the purpose of the present invention, feature, advantage more obvious and understandable, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Fig. 1-4 is please referred to, the embodiment of the present invention provides a kind of crawler attachment, comprising: bracket 201 is set on the bracket 201
There is limit plate 202, the limit plate 202 extends along the length direction and short transverse of the bracket 201；Driving wheel 203, passes through
Drive sprocket axle 204 and the bracket 201 are rotatablely connected, and the drive sprocket axle 204 is arranged along the width direction of the bracket 201；
Driven wheel 205 is rotatablely connected by follower shaft 206 and the bracket 201, the follower shaft 206 and the drive sprocket axle
204 are arranged in parallel and along the length direction interval of the bracket 201；Track member 207 is set in the driving wheel 203 and driven
205 outside of wheel is simultaneously meshed with the driving wheel 203 and driven wheel 205, and 207 inner surface of track member is convexly equipped with limiting section
208, the limiting section 208 can be in contact with the limit plate 202, to limit the crawler belt with the limit plate 202 cooperation
Part 207 is moved along the width direction of the bracket 201.
Crawler attachment in the embodiment of the present invention, when walking on working face, driving wheel 203 and driven wheel 205 are driven
Track member 207 operates, and when track member 207 trend deviateed occurs relative to driving wheel 203 and driven wheel 205, is located at crawler belt
The limiting section 208 of 207 inner surface of part can be in contact with the limit plate 202 on bracket 201, to limit track member 207 along institute
The width direction for stating bracket 201 is mobile, effectively prevent further offsetting from for track member 207, and then avoids track member 207 and active
Wheel 203 and driven wheel 205 are separated, and improve the reliability that crawler attachment uses.
In the present embodiment, it is preferred that along the circumferentially extending of the track member 207, the limiting section 208 is limiting section 208
Multiple, multiple limiting sections 208 are arranged along the width direction interval of the bracket 201, and the limit plate 202 is located at adjacent two
Between a limiting section 208.Since limiting section 208 is along the circumferentially extending of track member 207, it is conducive to increase and limit plate
202 contact area, to improve limit effect.In addition, since limit plate 202 is between two neighboring limiting section 208, because
This, can limit way moving of the track member 207 in the width direction of bracket 201, further improve limit effect.
Fig. 5 and Fig. 6 are please referred to, in the present embodiment, it is preferred that crawler attachment further includes adsorbent equipment 100, the absorption dress
Setting 100 includes adsorption piece 101, connecting plate 102 and elastic component 103, and the adsorption piece 101 is described for being adsorbed on working face
The both ends of elastic component 103 are connected with the adsorption piece 101 and connecting plate 102 respectively, and the elastic component 103 is supported on the company
So that the connecting plate 102 and the adsorption piece 101 are able to maintain relative positioning shape between fishplate bar 102 and the adsorption piece 101
State；The track member 207 is equipped with interconnecting piece, and the interconnecting piece is connected with the connecting plate 102,103 edge of elastic component
The track member 207 radially extends so that the adsorption piece 101 is located at 207 outside of track member.Due to passing through elastic component
103 flexible or bending, can be such that adsorption piece 101 and connecting plate 102 relatively moves, when crawler attachment is on non-planar working face
When walking, adsorption piece 101 will receive the pressure of working face, under the action of pressure and the elastic force of elastic component 103, adsorption piece
101 meetings and it is mobile relative to connecting plate 102, so that adsorption piece 101 be enable to fit with working face, and then be conducive to improve absorption
Part 101 prevents crawler attachment to be detached from and fall with working face, improves the reliability used for the adsorption capacity of working face.Together
When, under the supporting role of elastic component 103, it can guarantee the stability of crawler attachment walking.
In the present embodiment, it is preferred that crawler attachment further includes guiding device 104, and the guiding device 104 includes connecting rod
105 and first pin shaft 106, the first end of the connecting rod 105 is hinged by first pin shaft 106 and the adsorption piece 101,
The setting direction of first pin shaft 106 and the elastic component 103 is perpendicular；The connecting plate 102 is equipped with perforation 107, institute
It states connecting plate 102 to be set between the first end and second end of the connecting rod 105 by the perforation 107, the connecting rod
105 can stretch in the perforation 107；The connecting rod 105 is the limiting section 208, the second end of the connecting rod 105
It can be in contact with the limit plate 202, to limit the track member 207 along the bracket 201 with the limit plate 202 cooperation
Width direction it is mobile.When crawler attachment is walked on non-planar working face, adsorption piece 101 will receive the pressure of working face,
Under the action of pressure and the elastic force of elastic component 103, adsorption piece 101 will drive connecting rod 105 and stretch in perforation 107, and
Adsorption piece 101 can be rotated centered on the first pin shaft 106 relative to connecting plate 102, to enable adsorption piece 101 and working face
It fits, and then is conducive to improve adsorption piece 101 for the adsorption capacity of working face, crawler attachment is prevented to be detached from and fall with working face
It falls, improves the reliability used.In addition, guiding device 104 limits the side that adsorption piece 101 and connecting plate 102 relatively move
To improve the support force of adsorbent equipment 100.In addition, connecting rod 105 is regard as limiting section 208, without individually setting
Limiting section 208 is set, conducive to the structure for simplifying crawler attachment.
In the present embodiment, it is preferred that connecting plate 102 is arranged along the width direction of the bracket 201, the first pin shaft 106 with
The width direction of bracket 201 is perpendicular, the guiding device 104 be it is multiple, multiple guiding devices 104 are along the bracket
201 width direction interval setting, the limit plate 202 be located at the two neighboring guiding device 104 connecting rod 105 it
Between.Since the width direction of the first pin shaft 106 and bracket 201 is perpendicular, guiding device 104 limits 101 He of adsorption piece
Relative movement of the connecting plate 102 on the direction of the width direction of radial direction and bracket 201 perpendicular to track member 207, further
Improve the support force of adsorbent equipment 100.Multiple guiding devices 104 are arranged along the width direction interval of bracket 201, can be effective
It prevents adsorption piece 101 from rotating centered on connecting rod 105 relative to connecting plate 102, improves the stabilization that adsorbent equipment 100 uses
Property and reliability.In addition, be located between the connecting rod 105 of two neighboring guiding device 104 due to limit plate 202, it can
Way moving of the track member 207 in the width direction of bracket 201 is limited, limit effect is further improved.
In the present embodiment, it is preferred that adsorbent equipment 100 is multiple, circumferential direction of multiple adsorbent equipments 100 along track member 207
It is alternatively arranged setting.Crawler attachment is adsorbed by the cooperation of multiple adsorbent equipments 100 and is supported on working face, can be improved crawler belt
Device for working face absorption dynamics, to improve the reliability and stability that crawler attachment is walked on working face.
In the present embodiment, it is preferred that adsorbent equipment 100 further includes locating part 108, and locating part 108 is connected to connecting rod 105
Second end and connecting plate 102 between it is mobile with the second end for limiting connecting plate 102 towards connecting rod 105；Elastic component 103 is bullet
Spring, spring is arranged in each connecting rod 105, and spring is used to apply elastic pressure to adsorption piece 101 and connecting plate 102 so as to inhale
Attachment 101 and connecting plate 102 are able to maintain relative positioning state.102 He of connecting plate can be limited by locating part 108 as a result,
Spacing between adsorption piece 101 so that spring be made to keep compressive state, and then enables spring to adsorption piece 101 and connecting plate
102 application elastic pressures improve adsorbent equipment 100 so that adsorption piece 101 and connecting plate 102 are able to maintain relative positioning state
Support force.Since spring is set in connecting rod 105, connecting rod 105 can provide support force to spring, prevent spring mistake
Degree is deformed and is damaged, and improves the reliability that adsorbent equipment 100 uses.In addition, since multiple guiding devices 104 are along bracket 201
Width direction interval setting, therefore, be set in the spring in connecting rod 105 naturally also along the width direction interval of bracket 201
Setting, therefore can be improved the support force for adsorption piece 101 and connecting plate 102, enable connecting plate 102 and adsorption piece 101
Relative positioning state is preferably kept, the reliability that adsorbent equipment 100 uses is improved.
In the present embodiment, it is preferred that locating part 108 is stop nut, and connecting rod 105 is equipped with thread segment, stop nut
It is threadedly engaged with thread segment.In 100 assembling process of adsorbent equipment, connecting rod 105 first can be passed through into the first pin shaft 106 and absorption
Part 101 is hinged, and spring is set in connecting rod 105 later, then connecting plate 102 is set in connecting rod 105 by perforation 107
On, stop nut is set on thread segment again later, making stop nut by rotary stopper nut, threadingly section is mobile to press
Connecting plate 102 is held, so that spring be made to keep compressive state, adsorbent equipment 100 is thus made to assemble, is easy to adjust.Certainly, locating part
108 be also the spacing block set being arranged in connecting rod 105.
In the present embodiment, it is preferred that adsorbent equipment 100 further includes directive wheel 109, width of the adsorption piece 101 along bracket 201
Direction extends, and directive wheel 109 is connected to the end of adsorption piece 101, the second pin shaft 110 and the first pin shaft by the second pin shaft 110
106 is parallel.When crawler attachment is walked on non-planar working face, adsorption piece 101 will receive the pressure of working face, in pressure
Under the action of the elastic force of elastic component 103, adsorption piece 101 can be revolved centered on the first pin shaft 106 relative to connecting plate 102
Turn, in adsorption piece 101 relative in 102 rotary course of connecting plate, directive wheel 109 can be in contact and on working face with working face
Sliding, at this point, directive wheel 109 can be rotated centered on the second pin shaft 110 relative to adsorption piece 101, to effectively avoid inhaling
The end of attachment 101 is damaged with working face direct collision, and keeps movement of the crawler attachment on working face more smoothly.
In the present embodiment, it is preferred that the bottom surface of adsorption piece 101 with working face for being in contact, the bottom end position of directive wheel 109
In the subjacent of adsorption piece 101, thus, it is possible to reduce the friction of adsorption piece 101 Yu working face.
In the present embodiment, it is preferred that adsorption piece 101 includes frame 111 and magnetic patch 112, frame 111 and the equal edge of magnetic patch 112
The width direction of bracket 201 extends, and directive wheel 109 is connected to the both ends of frame 111, magnetic patch 112 and frame by the second pin shaft 110
Frame 111 connects and is located between the both ends of frame 111, and magnetic patch 112 is for being adsorbed on working face.Make 101 knot of adsorption piece as a result,
Structure is simple, adsorption reliability, easy to assembly.Certainly, magnetic patch 112 also can be replaced vacuum absorption device 100.
In the present embodiment, it is preferred that bracket 201 includes the first connection frame 209, the second connection frame 210 and positioning system
211, first connection frame 209 is connect with the follower shaft 206, second connection frame 210 and the drive sprocket axle 204
It is connected, length direction of first connection frame 209 with second connection frame 210 along the bracket 201 is slidably connected, institute
State the first connection frame 209 and the second connection frame 210 can be adjusted along the opposite sliding of length direction of the bracket 201 it is described from
The distance between driving wheel axis 206 and drive sprocket axle 204, the positioning system 211 are connect with first connection frame 209 and second
Frame 210 is connected, for making first connection frame 209 and 210 relative positioning of the second connection frame.
When needing to install track member 207, the first connection frame 209 and the second connection frame 210 can be made along bracket 201
Length direction it is opposite slide, to shorten the distance between follower shaft 206 and drive sprocket axle 204, thus can easily by
Track member 207 is set on follower shaft 206 and drive sprocket axle 204, can make the first connection frame 209 and the second connection frame later
210 along bracket 201 length direction it is opposite slide to increase the distance between follower shaft 206 and drive sprocket axle 204, thus will
Track member 207 is tensioned, can be by positioning system 211 by the first connection frame 209 and the second connection frame after the tensioning of track member 207
210 relative positionings.When needing to dismantle track member 207, positioning system 211 need to only released for the first connection frame 209 and the
The positioning of two connection frames 210 can make the first connection frame 209 opposite sliding along the length direction of bracket 201 with the second connection frame 210
It is dynamic, so as to shorten the distance between follower shaft 206 and drive sprocket axle 204, convenient for track member 207 is unloaded.Make crawler belt as a result,
Part 207 is easy for assemble or unload, improves the convenience that crawler attachment uses.
In the present embodiment, it is preferred that positioning system 211 includes positioning region 212, screw rod 213 and limiting device 214, described
Positioning region 212 is arranged on first connection frame 209, and the length direction along the bracket 201 is offered on institute positioning region 212
The threaded hole 215 of extension, the limiting device 214 are arranged on second connection frame 210, and the screw rod 213 is along the branch
The length direction of frame 201 is arranged, and the screw rod 213, which is threaded through in the threaded hole 215 and rotates with the limiting device 214, to be connected
It connects, the limiting device 214 can limit the screw rod 213 on the length direction of the bracket 201 relative to the limit
The movement of device 214, the screw rod 213 are used to centered on axis rotate relative to the limiting device 214 described to drive
Positioning region 212 is mobile relative to the limiting device 214 on the length direction of the bracket 201, to make described first to connect
Connecing frame 209 and the second connection frame 210 can be along the opposite sliding of length direction of the bracket 201.
When needing to install track member 207, rotatable screw rod 213, to drive positioning region 212 in bracket 201
It is mobile relative to the limiting device 214 on length direction, to drive the first connection frame 209 and the second connection frame 210 along branch
The length direction of frame 201 is opposite to be slided, and to shorten the distance between follower shaft 206 and drive sprocket axle 204, therefore can be facilitated
Track member 207 is set on follower shaft 206 and drive sprocket axle 204, rotatable screw rod 213 later, to drive positioning region
212 is mobile relative to the limiting device 214 on the length direction of bracket 201, to drive the first connection frame 209 and second
Connection frame 210 is slided relatively along the length direction of bracket 201 to increase the distance between follower shaft 206 and drive sprocket axle 204,
To which track member 207 to be tensioned, simultaneously as being threadedly engaged between positioning region 212 and screw rod 213 can make positioning region 212
It is positioned with limiting device 214, and then the first connection frame 209 and the second connection frame 210 is positioned.When needing to dismantle track member
When 207, rotary screw 213 is only needed, positioning region 212 can be driven to fill on the length direction of bracket 201 relative to the limit
It is mobile to set 214, thus drive the first connection frame 209 and the second connection frame 210 along bracket 201 length direction it is opposite slide, into
And shorten the distance between follower shaft 206 and drive sprocket axle 204, convenient for track member 207 is unloaded.Make track member 207 as a result,
It is easy for assemble or unload, and 211 structure of positioning system is simple, it is easy to operate.
In the present embodiment, it is preferred that the first connection frame 209 is inner sleeve, and second connection frame 210 is outer sleeve, institute
State that inner sleeve is threaded through in the outer sleeve and the length direction along the bracket 201 is slidably connected with the outer sleeve, it is described
Pilot hole 216 is offered on outer sleeve, the pilot hole 216 extends along the length direction of the bracket 201, the positioning region
212 are threaded through in the pilot hole 216 and are slidably connected with the pilot hole 216.Outer sleeve can be to inner sleeve along branch as a result,
Guiding role is played in the sliding of 201 length direction of frame, can also be limited by sliding of the positioning region 212 in pilot hole 216 interior
Relative rotation between sleeve and outer sleeve.
The embodiment of the present invention provides a kind of climbing robot, including robot body 301 and any embodiment of that present invention institute
The crawler attachment stated, the robot body 301 connect with the bracket 201.
Climbing robot in the embodiment of the present invention, when walking on working face, 205 band of driving wheel 203 and driven wheel
Dynamic track member 207 operates, and when track member 207 trend deviateed occurs relative to driving wheel 203 and driven wheel 205, is located at and carries out
The limiting section 208 of 207 inner surface of strips can be in contact with the limit plate 202 on bracket 201, to limit 207 edge of track member
The width direction of the bracket 201 is mobile, effectively prevent further offsetting from for track member 207, and then avoids track member 207 and master
Driving wheel 203 and driven wheel 205 are separated, and improve the reliability that climbing robot uses.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of crawler attachment characterized by comprising
Bracket, the bracket are equipped with limit plate, and the limit plate extends along the length direction and short transverse of the bracket；
Driving wheel is connect by drive sprocket axle with the holder pivots, and the drive sprocket axle is set along the width direction of the bracket
It sets；
Driven wheel is connect by follower shaft with the holder pivots, the follower shaft simultaneously edge parallel with the drive sprocket axle
The length direction interval of the bracket is arranged；
Track member is set on the outside of the driving wheel and driven wheel and is meshed with the driving wheel and driven wheel, the crawler belt
Part inner surface is convexly equipped with limiting section, and the limiting section can be in contact with the limit plate, is limited with cooperating with the limit plate
The track member is moved along the width direction of the bracket.
2. crawler attachment according to claim 1, which is characterized in that the limiting section prolongs along the circumferential direction of the track member
Stretch, the limiting section be it is multiple, multiple limiting sections are arranged along the width direction interval of the bracket, and the limit plate is located at
Between the two neighboring limiting section.
3. crawler attachment according to claim 1, which is characterized in that further include adsorbent equipment, the adsorbent equipment includes
Adsorption piece, connecting plate and elastic component, the adsorption piece for being adsorbed on working face, the both ends of the elastic component respectively with it is described
Adsorption piece is connected with connecting plate, and the elastic component is supported between the connecting plate and the adsorption piece so that the connecting plate
Relative positioning state is able to maintain with the adsorption piece；
The track member is equipped with interconnecting piece, and the interconnecting piece is connected with the connecting plate, and the elastic component is along the crawler belt
Part radially extends so that the adsorption piece is located on the outside of the track member.
4. crawler attachment according to claim 3, which is characterized in that further include guiding device, the guiding device includes
The first end of connecting rod and the first pin shaft, the connecting rod is hinged by first pin shaft and the adsorption piece, and described first
Pin shaft and the setting direction of the elastic component and the width direction of the bracket are perpendicular；
The connecting plate is equipped with perforation, and the connecting plate is set in the first end and second of the connecting rod by described perforate
Between end, the connecting rod can stretch in the perforation；
The connecting rod is the limiting section, and the second end of the connecting rod can be in contact with the limit plate, with it is described
Limit plate cooperation limits the track member and moves along the width direction of the bracket.
5. crawler attachment according to claim 4, which is characterized in that the connecting plate is set along the width direction of the bracket
Set, the guiding device be it is multiple, multiple guiding devices along the bracket width direction interval be arranged, the limit plate
Between the connecting rod of the two neighboring guiding device.
6. crawler attachment according to claim 3, which is characterized in that the adsorbent equipment is multiple, multiple absorption
Device is arranged along the circumferentially-spaced of the track member.
7. any crawler attachment in -6 according to claim 1, which is characterized in that the bracket include the first connection frame,
Second connection frame and positioning system, first connection frame are connect with the follower shaft, second connection frame and the master
Driving wheel axis is connected, and first connection frame is slidably connected with second connection frame along the length direction of the bracket, described
First connection frame and the second connection frame can along the bracket the opposite sliding of length direction to adjust the follower shaft and master
The distance between driving wheel axis, the positioning system are connected with first connection frame and the second connection frame, for making described
One connection frame and the second connection frame relative positioning.
8. crawler attachment according to claim 7, which is characterized in that the positioning system includes positioning region, screw rod and limit
Position device, the positioning region are arranged on first connection frame, and the length direction along the bracket is offered on institute positioning region
The threaded hole of extension, the limiting device are arranged on second connection frame, length direction of the screw rod along the bracket
Setting, the screw rod are threaded through in the threaded hole and are rotatablely connected with the limiting device, and the limiting device can limit
Movement of the screw rod on the length direction of the bracket relative to the limiting device, the screw rod be used for axis be
The heart is rotated relative to the limiting device to drive the positioning region on the length direction of the bracket relative to the limit
Device is mobile, so that first connection frame and the second connection frame be enable to slide along the length direction of the bracket is opposite.
9. crawler attachment according to claim 8, which is characterized in that first connection frame be inner sleeve, described second
Connection frame is outer sleeve, and the inner sleeve is threaded through in the outer sleeve and along the length direction of the bracket and the outer sleeve
It is slidably connected, pilot hole is offered on the outer sleeve, the pilot hole extends along the length direction of the bracket, the positioning
Portion is threaded through in the pilot hole and is slidably connected with the pilot hole.
10. a kind of climbing robot, which is characterized in that including the crawler belt any in robot body and claim 1-9
Device, the robot body connect with the bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811574523.1A CN109436116A (en) | 2018-12-21 | 2018-12-21 | Crawler attachment and climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811574523.1A CN109436116A (en) | 2018-12-21 | 2018-12-21 | Crawler attachment and climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109436116A true CN109436116A (en) | 2019-03-08 |
Family
ID=65534824
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811574523.1A Pending CN109436116A (en) | 2018-12-21 | 2018-12-21 | Crawler attachment and climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109436116A (en) |
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| CN110861722A (en) * | 2019-10-29 | 2020-03-06 | 河北工业大学 | Wall-climbing robot |
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