CN206766176U - A kind of magnetic track climbing robot adaptively contacted - Google Patents

Abstract

The utility model discloses a kind of magnetic track climbing robot adaptively contacted, including track drive motor, power driving module, magnetic track train, Track gear mounting assembly, the Track gear pretension component installed on main body rack and main body rack, track drive motor is connected by power driving module with magnetic track train power transmission, and power driving module includes differential and moves drive mechanism and change transmission direction mechanism；Magnetic track train is connected by Track gear mounting assembly with main body rack, and Track gear mounting assembly includes the swing mechanism that magnetic track train is independent or links；Main body rack carries out pretension by Track gear pretension component to magnetic track train, and Track gear pretension component includes elastic mechanism.The utility model has good surface contact adaptability and steering capability, while magnetic power superposition amplification, can realize larger permanent magnetic suck power.

Description

A kind of magnetic track climbing robot adaptively contacted

Technical field

Robotic technology field is the utility model is related to, more particularly to one kind can move on large scale equipment magnetic conduction surface Adaptive contact magnetic track climbing robot.

Background technology

Climbing robot, which can substitute, manually carries out climbing operation, and can provide fixed operation for follow-up operation and put down Platform, effectively solves the problem of currently associated industry work high above the ground danger coefficient is high, and efficiency is low.

All there is larger difference in the structural principle and ground running mechanism of climbing robot, its operation in function and structure When gravity need to be overcome to influence, different motor patterns need to be taken according to different scope of operation features.Be directed to current China's wind-powered electricity generation, Thermoelectricity, oil-gas pipeline, large scale equipment detection and the climbing job requirements of maintenance, climbing device need to be horizontal or vertical along equipment wall surface Directly creep, therefore absorption affinity for climbing device and reliability have higher requirement.

When in China, the equipment such as current large-scale hull, tank body, pipeline, tower carries out inspection and repair system operation, typically by people Work industry is climbed and ascended a height to carry out equipment surface and internal detection and maintenance activity, and its working environment is more severe, The security of upkeep operation worker is difficult to ensure that, it is not only less efficient, and also risk is larger.And its surface of in general large scale equipment The generally iron plate of magnetic conduction or steel plate, mostly plane or cambered surface, and the inspection of the upkeep operation such as welding quality for equipment Survey, carrying out flaw detection, derusting, spray painting etc., it can be achieved by the way of magnetic or vacuum adsorption type climbing dolly, but at present Vacuum adsorption type climbing dolly is difficult to overcome the barriers such as the weld seam of equipment surface, riveting, bolt.

Being shown from data disclosed in existing Chinese patent, permanent magnetism crawler belt appears in 1998 for the first time, CN98110551.3《Automatically moving X-ray flaw detector for welded seam of ship tank》, flaw detection main frame be flexible coupling by hinge formula on movable machine frame forever Magnetic crawler belt attractive chain is driven climbing mechanism；The patent application document relevant with climbing and magnetic force discloses plants related skill more 50 Art.

Such as Changchun University of Science and Technology CN201310528724.9《A kind of magnetic force climbing car》, magnetic is installed on the magnetic suction disc Body, for magnetic force climbing car to be adsorbed to the tower wall made of ferrous materials in the tower to be climbed by magnetic force.

Zhejiang Polytechnical University CN201610299159.7《A kind of self-driving type permanent magnetism runner suitable for wall adsorption climbing》, Including wheel hub, toroidal magnet and stator shaft core, annular magnetic patch, stator shaft core are co-axially mounted in described wheel hub, and stator shaft core is passed through The centre bore of described annular magnetic patch is worn, the both ends of stator shaft core are stretched out from the central through hole of wheel hub forms installation end；Wheel hub Including solid tire, left wheel hub and right wheel hub, left wheel hub and the opposite affixed center for forming the annular magnet-wheel of receiving of right wheel hub Cavity, solid tire are enclosed on wheel hub outer ring；Stator shaft core includes dead axle, coil winding, left claw disk and right pawl disk, left claw Disk, right pawl disk, which cooperate, to be arranged on described dead axle, and is formed annular claw under the constraint of the dead axle shaft shoulder and circled or whirl in the air chamber.The present invention Beneficial effect be：Realize that magnet-wheel voluntarily operates in the case where not installing external drive additional；A kind of magnet of multiaction power is proposed, The loop configuration of magnet-wheel inner magnet, driving force is internally provided, absorption affinity is externally provided, absorption climbing can be realized to wall.

Nanchang Institute Of Technology CN201610379710.9《The climbing cleaning robot of adsorbent equipment and the application adsorbent equipment People》The inside of sleeve is sequentially provided with the first electromagnet, magnetic sheet, sliding shoe and the second electromagnet, above-mentioned adsorbent equipment from top to bottom Adsorption capacity is strong, and adsorbs and depart from switching simple and fast, is easy to practical.

Guangzhou institute of South China Science ＆ Engineering University CN201620390050.X《A kind of crawler-type multifunctional climbing robot》, use Pin foot formula structure crawler type, is adsorbed using magnechuck, so as to realize the walking of robot on the wall.By flexible pipe by ground Paint or cleaning fluid deliver to absorption operational module on the wall, so as to realize rendering or cleaning function, improve rendering speed and Quality, solves the problems, such as manually to clean that labor intensity is big, efficiency is low.

It is seen that the application of permanent magnetism crawler belt and permanent magnetism caterpillar robot is constantly expanding from the public technology of correlation. Magnetic absorption dolly is mostly magnetic crawler type, wants to produce larger absorption affinity, then need to install on creeper tread larger permanent magnet or Person's electromagnet, its heavier and volume of conducting oneself with dignity are larger.Therefore, for the demand of current magnetic absorption operation climbing robot, design What a kind of magnetic circuit was strengthened, by flexible member adaptive magnetic conductor surface and it can realize the functions such as quick mobile, steering Magnetic track transmission machinery people, will be the avatar of central inventive work of the present utility model, so as to realize that this practicality is new Type purpose.

Utility model content

For the maintenance and detection operation demand to equipment surface domestic at present, devise a kind of be superimposed by the magnetic line of force and put Greatly so that crawler belt can produce firm absorption affinity, the adaptive contact that can be quickly climbed along the magnetic conduction scope of operation with stronger magnetic force Magnetic track climbing robot.The device has that Stability Analysis of Structures is reliable, and climbing speed is fast, and stable, load capacity is stronger The characteristics of.

Technical solutions of the utility model：

A kind of magnetic track climbing robot adaptively contacted, including the crawler belt installed on main body rack and main body rack Motor, power driving module, magnetic track train, Track gear mounting assembly, Track gear pretension component, track drive Motor is connected by power driving module with magnetic track train power transmission, and power driving module includes differential and moves driving machine Structure and change transmission direction mechanism；Magnetic track train is connected by Track gear mounting assembly with main body rack, Track gear Mounting assembly includes the swing mechanism that magnetic track train is independent or links；Main body rack passes through Track gear pretension component pair Magnetic track train carries out pretension, and Track gear pretension component includes elastic mechanism.

Further, the power driving module includes T-shaped differential case, gimbal coupling and crawler belt wheel shaft, T The both sides output shaft of type differential case is connected to the crawler belt wheel shaft on both sides by the universal drive shaft shaft coupling on both sides respectively, carries out Power input shaft of the belt wheel transmission axle as magnetic track train, the difference of T-shaped differential case left and right sides output shaft Output forms differential and moves drive mechanism, and gimbal coupling is as change transmission direction mechanism.

Further, the Track gear mounting assembly includes Track gear support and Track gear travel(l)ing rest, Athey wheel It is that support is connected by connecting rod with main body rack；Track gear travel(l)ing rest is by Track gear left support pipe and the right branch of Track gear Stay tube forms, and Track gear left support pipe and Track gear right support pipe respectively have the front and rear two pin support tubes set, each pin branch Stay tube is inner to form the slip and rotation connection that individually or link with main body rack, and pin support tube outer end connects with magnetic track train Connect.

Further, the pin support tube uses telescopic extension slide construction.

Further, described each pin support tube the inner is connected by one, two or more support tube rotary shaft and main body rack Connect, sliding support and rear spacing branch after front limit support and limiting plate front slide support and limiting plate are installed on main body rack Sliding support and rear limiting bracket are equipped with vertical type sliding after frame, front limit support and limiting plate front slide support and limiting plate Groove, each vertical type sliding groove form one group, two or more sets rotary shaft chutes, and each pin support tube the inner passes through one, two or more Root support tube rotary shaft is slided up and down with vertical type sliding groove and is connected, meanwhile, each pin support tube the inner passes through one, two or more Support tube rotary shaft is rotatablely connected with vertical type sliding groove.

Further, slided after the limiting plate front slide support and limiting plate between sliding support provided with one piece, two pieces or Polylith limiting plate, limiting plate slide up and down company by guide pillar or guide groove with sliding support after limiting plate front slide support and limiting plate Connect, by the spacing connection of limiting plate when each pin support tube the inner is slided up and down by support tube rotary shaft and vertical type sliding groove.

When further, using same root support tube rotary shaft, axis hole and one group rotation of the support tube rotary shaft through limiting plate Rotating shaft slide and rotation connection；During using the two support tube rotary shafts in left and right, the support tube rotary shaft of left and right two is worn respectively Cross axis hole and the two groups of rotary shaft slides in left and right and the rotation connection of the two pieces of limiting plates in left and right；Using more support tube rotary shafts When, each pin support tube the inner rotates axis connection with an independent support tube respectively, and each independent support tube rotary shaft insertion is independent Limiting plate axis hole in, independent limiting plate forms the combination of spacing sliding block, spacing sliding block combination by guide pillar or Guide groove is slided up and down with sliding support after limiting plate front slide support and limiting plate and is connected.

Further, the Track gear pretension component includes gas spring mounting bracket and gas spring, is provided with main body rack Gas spring mounting bracket, gas spring upper end are rotatablely connected with gas spring mounting bracket, and gas spring lower end is fastened with magnetic track wheel Track gear holder pivots connection.

It is preferred that：Provided with sliding support after limiting plate front slide support and limiting plate, limiting plate front slide branch in main body rack The upper end of sliding support is provided with gas spring mounting bracket after frame and limiting plate.

Further, the magnetic track train includes Athey wheel, crawler belt and the Athey wheel support of bearing, and crawler belt is by polylith permanent magnetism Creeper tread link composition, Athey wheel are fixed to the Track gear support in Track gear mounting assembly by the Athey wheel support of bearing In, the crawler belt wheel shaft power connector in the Athey wheel and power driving module in magnetic track train；Magnetic track train On the one hand connected by the Track gear support in Track gear mounting assembly and Track gear travel(l)ing rest with main body rack installation Connect；On the other hand connected by the Track gear support in Track gear mounting assembly and connecting rod with main body rack installation；Crawler belt Train support is connected by the gas spring in Track gear pretension component with main body rack pretension.

It is preferred that Track gear support is arranged on the periphery of the Athey wheel support of bearing；Track gear travel(l)ing rest and Athey wheel It is that support and the Athey wheel support of bearing form installation connection.

It is preferred that the upper surface of Track gear support is connected provided with connecting rod base with link rotatable；The upper end of Track gear support Face is additionally provided with spring base and is rotatablely connected with gas spring.

It is preferred that Track gear support is connected to form magnetic track with Track gear travel(l)ing rest, connecting rod and gas spring respectively Three gearing installing mechanisms of train.

Further, magnetic absorption mechanism is provided with the magnetic track train, magnetic absorption mechanism includes creeper tread permanent magnetism Body and fixed permanent magnet, relative to adsorption operation face, the magnetic line of force of fixed permanent magnet is relative with the magnetic line of force of creeper tread permanent magnet In adsorption operation face formed be superimposed, between fixed permanent magnet and creeper tread permanent magnet, magnetic pole identical charges repel each other set, creeper tread is forever Magnet can produce a pair of works in crawler belt movement excessively in opposite direction equal in magnitude in into or out fixed permanent magnet Repulsive force；The length of fixed permanent magnet is the length on the permanent magnetic suck surface of magnetic track train.

It is preferred that creeper tread permanent magnet is arranged in the permanent magnetism creeper tread yoke in permanent magnetism creeper tread, fixed permanent magnet installation In crawler rack yoke in crawler belt wheel support.

It is preferred that two row's creeper tread pinch rollers are installed in crawler rack yoke, and relative to adsorption operation face, fixed permanent magnetism Body is in the top of creeper tread permanent magnet, and creeper tread pinch rollers are towards adsorption operation face.

It is preferred that the cross-sectional state that creeper tread permanent magnet is moved to when below fixed permanent magnet is the south of creeper tread permanent magnet The south poles of the arctic and fixed permanent magnet are relative one by one.

Track drive motor described in the utility model is connected on main body rack by motor mounting rack and passes through gear The magnetic track train of the left and right sides is respectively connecting to after case with two gimbal couplings, rotation is provided for magnetic track train Power, magnetic track train are attached on Track gear support, and Track gear support passes through fixed seat connecting rod and Track gear Four group of two linkage that connecting rod is formed is connected to main body rack, while Track gear support also passes through gas spring and gas spring Mounting bracket is connected, and gas spring mounting bracket is connected on main body rack again so that magnetic track train can be joined with universal drive shaft The pin of axle device pivots about so that left and right magnetic track train can be adaptive by the elastic reaction of gas spring With the rugged absorption surface of certain radian or the left and right sides.Track gear support also passes through Track gear activity simultaneously Support is connected on main body rack, and Track gear support can be slided so as to meet the fortune of two connecting rods on Track gear travel(l)ing rest It is dynamic to require, further improve the connection rigidity of Track gear support.

The track drive motor output shaft by universal drive shaft shaft coupling be connected to the Athey wheel of magnetic track train so as to Driving crawler belt rotation generation is creeped power, and T-shaped differential case can realize the difference of left and right sides output shaft by automatically controlled Output, so as to realize the Differential Driving of left and right sides magnetic track train, so as to realize the steering of magnetic track climbing robot Function.

The main body rack limiting plate can be attached to by linear steering axle slides back and forth on support and can carry out straight line cunning Dynamic, the both ends of limiting plate are connected by rotary pin shaft with Track gear travel(l)ing rest respectively, while are also equipped with main body rack Front limit support and rear limiting bracket are used for the sliding distance for limiting limiting plate, so as to limit the swing of Track gear travel(l)ing rest Angle, main body rack is set not collided with contacting surface.

The Track gear travel(l)ing rest can be slided by set inner telescoping tube of the structure of support tube in Track gear support It is dynamic, after Track gear travel(l)ing rest is connected to limiting plate, the only of the left and right sides can be carried out by the support tube rotary shaft of limiting plate Vertical rotary oscillation, so as to change angle of the left and right sides magnetic track train relative to main body rack so that magnetic track train It can adapt to the rugged adsorption operation face of curved surface and the left and right sides.

The magnetic absorption structure of the magnetic track train is made up of polylith permanent magnetism creeper tread and crawler rack yoke, forever It is attached between magnetic creeper tread by creeper tread joint pin, crawler rack yoke is fixed in Track gear support and is provided with One piece of fixed permanent magnet, the length of fixed permanent magnet are the length on the permanent magnetic suck surface of magnetic track train.

The magnetic line of force of the magnetic line of force of the fixed permanent magnet and creeper tread permanent magnet by crawler rack yoke and can be made For yoke permanent magnetism creeper tread carry out the magnetic line of force superposition magnetic field is amplified after circulated below permanent magnetism creeper tread so that permanent magnetism carry out Band plate can be with stronger magnetic-adsorption to adsorption operation face, so as to reduce creeper tread forever below fixed permanent magnet The volume and weight of magnet can also realize larger permanent magnetic suck power simultaneously.

The crawler belt wheel shaft is used for transmitting rotary power so as to drive Athey wheel to drive permanent magnetism creeper tread to be rotated Motion.

Two groups of magnetic track trains can pass through connecting rod, gas according to the shape in adsorption operation face used by the utility model The regulation that spring and sliding equipment are adaptively contacted, a variety of absorption surfaces can be adapted to, while two groups of magnetic are carried out Band train can also independently drive realization to turn to so that there is magnetic track climbing robot good surface contact to adapt to energy Power and steering capability, while magnetic track train is put by the superposition of the magnetic line of force of fixed permanent magnet and creeper tread permanent magnet Greatly, larger permanent magnetic suck power can be realized in the case where reducing the effect of creeper tread weight and creeper tread permanent magnet volume, simultaneously By the permanent magnetic suck area of greater depth, the crawler belt occurred so as to solve absorption affinity deficiency skids, magnetic track climbing Robot obstacle climbing ability deficiency, or even the problems such as absorption failure.

Brief description of the drawings

Fig. 1 is the structural representation according to the magnetic track climbing robot of the present utility model adaptively contacted；

Fig. 2 is the internal structure schematic diagram according to the magnetic track climbing robot of the present utility model adaptively contacted；

Fig. 3 is illustrated according to the adaptation function of the magnetic track climbing robot of the present utility model adaptively contacted Figure；

Fig. 4 is the magnetic track structural representation according to the magnetic track climbing robot of the present utility model adaptively contacted Figure；

Fig. 5 is illustrated according to the permanent magnetic suck principle of the magnetic track climbing robot of the present utility model adaptively contacted Figure；

Fig. 6 is the Track gear structural representation according to the magnetic track climbing robot of the adaptive contact of the present invention.

Description of reference numerals：Track drive motor 1, motor mounting rack 2, main body rack 3, gimbal coupling 4, magnetic Property Track gear 5, fixed seat connecting rod 6, Track gear connecting rod 7, Track gear support 8, gas spring 9, Track gear travel(l)ing rest 10, gas spring mounting bracket 11, T-shaped differential case 12, front limit support 13, limiting plate front slide support 14, limiting plate 15, Sliding support 16 after limiting plate, rear limiting bracket 17, Track gear left support pipe 18, support tube rotary shaft 19, Track gear are right Support tube 20, adsorption operation face 21, permanent magnetism creeper tread 22, creeper tread joint pin 23, crawler rack yoke 24, fixed permanent magnet 25, creeper tread permanent magnet 26, creeper tread pinch rollers 27, the magnetic line of force 28, Athey wheel 29, the Athey wheel support of bearing 30, Athey wheel Power transmission shaft 31.

Embodiment

Embodiment of the present utility model is described in detail below in conjunction with accompanying drawing, but the utility model can be by right It is required that the multitude of different ways for limiting and covering is implemented.

Embodiment 1：

As shown in figure 1, a kind of magnetic track climbing robot adaptively contacted, including track drive motor 1, motor peace Fill support 2, main body rack 3, gimbal coupling 4, magnetic track train 5, fixed seat connecting rod 6, Track gear connecting rod 7, crawler belt Train support 8, gas spring 9, Track gear travel(l)ing rest 10, gas spring mounting bracket 11 form.Track drive motor 1 passes through drive Dynamic magnetic track train 5, so that magnetic track climbing robot can move on adsorption operation face.

Specifically, as shown in figure 1, track drive motor 1 is attached on motor mounting rack 2, while motor installation branch Frame 2 is connected with main body rack 3 again, has a T-shaped differential case 12 to be connected with motor 1 and will drive inside main body rack 3 The power of dynamic motor 1 is exported by two coupled gimbal couplings 4, and gimbal coupling 4 is respectively connecting to The magnetic track train 5 of the left and right sides simultaneously drives Track gear 5 to move, and magnetic track train 5 is attached to Track gear support 8 On, two Track gear supports 8 are respectively further through two groups of two companies being made up of fixed seat connecting rod 6 and Track gear connecting rod 7 Linkage is connected to main body rack 3, while Track gear support 8 also passes through gas spring 9 and the gas bullet being attached on main body rack 3 Spring mounting bracket 11 is connected so that Track gear support 8 can be by two linkages and the elastic force of gas spring, can be around universal The pin of section shaft coupling 4 pivots about so that left and right magnetic track train 5 can by the elastic reaction of gas spring 9 from Adaptation has the rugged absorption surface of certain radian or the left and right sides.

As shown in Figure 1, Figure 2, Figure 3 shows, Track gear support 8 is also connected to main body rack by Track gear travel(l)ing rest 10 3, Track gear travel(l)ing rest 10 is made up of Track gear left support pipe 18 and Track gear right support pipe 20, Track gear activity Support 10 can pass through the structure of support tube telescopic slide, Track gear travel(l)ing rest 10 in the sleeve pipe in Track gear support 8 It is connected to the support tube rotary shaft 19 at the both ends of limiting plate 15 and can be rotated around it, by main body rack 3 Front limit support 13 and rear limiting bracket 17 can limit the pendulum of Track gear travel(l)ing rest 10 to the spacing of support tube rotary shaft 19 Dynamic angle, while support tube rotary shaft 19 can drive limiting plate 15 in the limiting plate front slide support being installed in main body rack 3 14 and limiting plate after moved up and down on sliding support 16, for balancing the swing of Track gear travel(l)ing rest 10, make master Body support frame 3 will not collide with contacting surface, and by the support tube rotary shaft 19 of limiting plate 15, Track gear support 10 can enter The independent rotary oscillation of the row left and right sides and the slip by Track gear support 8 on Track gear travel(l)ing rest 10, can expire The movement needs of two connecting rods of foot, further improve the connection rigidity of Track gear support 8, and can be changed by the elastic force of gas spring 9 Become angle of the left and right sides magnetic track train 5 relative to main body rack 3 so that magnetic track train 5 can adapt to curved surface with And the rugged adsorption operation face 21 in the left and right sides.

As shown in Fig. 2 the output of track drive motor 1 is pivotally connected to T-shaped differential case 12, T-shaped differential case 12 is pacified Inside main body rack 3, the output shaft of T-shaped differential case 12 is connected to magnetic track train 5 by universal drive shaft shaft coupling 4 Athey wheel so as to drive crawler belt rotation generation to creep power, T-shaped differential case 12 can realize left and right two by automatically controlled The output respectively of side output shaft, so as to realize the dynamic driving of the differential of left and right sides magnetic track train 5, so as to realize magnetic track The turning function of climbing robot.

As Fig. 4 shows, the magnetic absorption structure of magnetic track train 5 is by polylith permanent magnetism creeper tread 22 and crawler rack yoke 24 form, and are attached between permanent magnetism creeper tread 22 by creeper tread joint pin 23, crawler rack yoke 24 is fixed to Athey wheel It is in support 8 and one piece of fixed permanent magnet 25 is installed.

As shown in figure 5, installation creeper tread permanent magnet 26 in permanent magnetism creeper tread 22, creeper tread permanent magnet 26 is in Track gear When passing through 25 lower section of fixed permanent magnet under driving, the magnetic line of force of the magnetic line of force and creeper tread permanent magnet 26 of fixed permanent magnet 25 passes through Crawler rack yoke 24 and can as yoke permanent magnetism creeper tread 22 carry out the magnetic line of force superposition amplification and in permanent magnetism creeper tread 22 outer circulations, between fixed permanent magnet 25 and creeper tread permanent magnet 26, identical charges repel each other sets for magnetic pole, and creeper tread permanent magnet 26 exists During into or out fixed permanent magnet 25, a pair of effects in crawler belt movement excessively in opposite direction equal in magnitude can be produced Repulsive force.That is creeper tread permanent magnet 26 at the magnetic field being prepared to enter into below fixed permanent magnet 25, fixed permanent magnet 25 can to Creeper tread permanent magnet 26 is produced along the reverse repulsive force in crawler travel direction, and creeper tread permanent magnet 26 is preparing to exit fixation forever During the magnetic field of the lower section of magnet 25, fixed permanent magnet 25 equally can also produce positive along crawler travel direction to creeper tread permanent magnet 26 Repulsive force, the two reverse and positive repulsive force just size equidirectionals are opposite and cancelled out each other on crawler belt so that Obtaining driving force will not be influenceed by magnetic field repulses power, would not also influence the driving of track drive motor 1；Crawler rack simultaneously Two row's creeper tread pinch rollers 27 are installed so that permanent magnetism creeper tread 22 can be adjacent to adsorption operation face all the time in yoke 24 21 so that permanent magnetism creeper tread 22 can be with less air gap and stronger magnetic-adsorption extremely below fixed permanent magnet 25 Adsorption operation face 21.

As shown in fig. 6, permanent magnetism creeper tread 22 is connected into after chain structure by creeper tread joint pin 23 is connected to two shoes Belt wheel 29, Athey wheel 29 are fixed on Track gear support 8 by the Athey wheel support of bearing 30, while are also installed on Athey wheel 29 There is crawler belt wheel shaft 31 to be used for transmitting rotary power so as to drive Athey wheel 29 to drive permanent magnetism creeper tread 22 to be rotated.

In other embodiments, each pin support tube the inner passes through two or more support tube rotary shafts 19 and main body rack 3 Connect, the He of sliding support 16 after front limit support 13 and limiting plate front slide support 14 and limiting plate is installed on main body rack 3 Sliding support 16 and rear limiting bracket after limiting bracket 17 afterwards, front limit support 13 and limiting plate front slide support 14 and limiting plate 17 are equipped with vertical type sliding groove, and each vertical type sliding groove forms two or more sets rotary shaft chutes, and each pin support tube the inner passes through two Root or more support tube rotary shafts 19 are slided up and down with vertical type sliding groove and are connected, meanwhile, each pin support tube the inner by two or More support tube rotary shafts 19 are rotatablely connected with vertical type sliding groove.

Slided after limiting plate front slide support 14 and limiting plate between sliding support 16 and be provided with two pieces or polylith limiting plate 15, Limiting plate 15 is slided up and down with sliding support 16 after limiting plate front slide support 14 and limiting plate by guide pillar or guide groove and is connected, respectively By 15 spacing connection of limiting plate when pin support tube the inner is slided up and down by support tube rotary shaft 19 and vertical type sliding groove.

During using the two support tube rotary shafts 19 in left and right, the support tube rotary shaft 19 of left and right two is each passed through two pieces of left and right limit The axis hole of position plate 15 and the two groups of rotary shaft slides in left and right and rotation connection；During using more support tube rotary shafts 19, each pin Support tube the inner is connected with an independent support tube rotary shaft 19 respectively, and each independent support tube rotary shaft is inserted independent spacing In the axis hole of plate, independent limiting plate forms the combination of spacing sliding block, spacing sliding block combination by guide pillar or guide groove with Sliding support 16 slides up and down connection after limiting plate front slide support 14 and limiting plate.

The utility model strengthen and optimize by two groups of magnetic force after magnetic track train, and pass through magnetic track train Linkage and elastic deformability realize magnetic-adsorption and adaptive adjustment, have been provided simultaneously with differential steering function, have been A kind of simple in construction, lighter in weight, operation and maintenance is convenient while lower-cost magnetic track climbing robot.

Obviously, above technology can carry out multiple technologies combination under the guiding of embodiment 1.Therefore, embodiment described above Presently filed embodiment is only expressed, its description is more specific and detailed, but therefore can not be interpreted as to this practicality newly The limitation of type scope.It should be pointed out that for the person of ordinary skill of the art, the utility model design is not being departed from On the premise of, various modifications and improvements can be made, these belong to the scope of protection of the utility model.Therefore, this practicality New protection domain should be determined by the appended claims.

Claims (10)

1. a kind of magnetic track climbing robot adaptively contacted, it is characterised in that including main body rack（3）And main body rack （3）The track drive motor of upper installation（1）, power driving module, magnetic track train（5）, Track gear mounting assembly, crawler belt Train pretension component, track drive motor（1）Pass through power driving module and magnetic track train（5）Power transmission connects, and moves Power transmission component includes differential and moves drive mechanism and change transmission direction mechanism；Magnetic track train（5）Pass through Track gear Mounting assembly and main body rack（3）Connection, Track gear mounting assembly include the swing that magnetic track train is independent or links Mechanism；Main body rack（3）By Track gear pretension component to magnetic track train（5）Carry out pretension, Track gear pretension group Part includes elastic mechanism.

2. a kind of magnetic track climbing robot adaptively contacted according to claim 1, it is characterised in that described dynamic Power transmission component includes T-shaped differential case（12）, gimbal coupling（4）With crawler belt wheel shaft（31）, T-shaped differential gearing Case（12）Both sides output shaft pass through the universal drive shaft shaft coupling on both sides respectively（4）It is connected to the crawler belt wheel shaft on both sides（31）, Crawler belt wheel shaft（31）As magnetic track train（5）Power input shaft, T-shaped differential case（12）The left and right sides The output respectively of output shaft forms differential and moves drive mechanism, gimbal coupling（4）As change transmission direction mechanism.

A kind of 3. magnetic track climbing robot adaptively contacted according to claim 1, it is characterised in that the shoe Band train mounting assembly includes Track gear support（8）With Track gear travel(l)ing rest（10）, Track gear support（8）Pass through company Bar and main body rack（3）Connection；Track gear travel(l)ing rest（10）By Track gear left support pipe（18）With the right branch of Track gear Stay tube（20）Composition, Track gear left support pipe（18）With Track gear right support pipe（20）Respectively there are two pin branch of front and rear setting Stay tube, each pin support tube the inner and main body rack（3）Formed individually or linkage slip and rotation connection, pin support tube outer end with Magnetic track train（5）Connection.

A kind of 4. magnetic track climbing robot adaptively contacted according to claim 3, it is characterised in that the pin Support tube uses telescopic extension slide construction.

5. a kind of magnetic track climbing robot adaptively contacted according to claim 3, it is characterised in that described each Pin support tube the inner passes through one, two or more support tube rotary shaft（19）With main body rack（3）Connection, main body rack（3） On front limit support is installed（13）With limiting plate front slide support（14）And sliding support after limiting plate（16）With rear spacing branch Frame（17）, front limit support（13）With limiting plate front slide support（14）And sliding support after limiting plate（16）With rear limiting bracket （17）Vertical type sliding groove is equipped with, each vertical type sliding groove forms one group, two or more sets rotary shaft chutes, and each pin support tube is inner Pass through one, two or more support tube rotary shaft（19）Slide up and down and be connected with vertical type sliding groove, meanwhile, in each pin support tube End passes through one, two or more support tube rotary shaft（19）It is rotatablely connected with vertical type sliding groove.

A kind of 6. magnetic track climbing robot adaptively contacted according to claim 5, it is characterised in that the limit Position plate front slide support（14）With sliding support after limiting plate（16）Between slide be provided with one piece, two pieces or polylith limiting plate （15）, limiting plate（15）Pass through guide pillar or guide groove and limiting plate front slide support（14）And sliding support after limiting plate（16）Up and down It is slidably connected, each pin support tube the inner passes through support tube rotary shaft（19）Pass through limiting plate when being slided up and down with vertical type sliding groove （15）Spacing connection.

7. a kind of magnetic track climbing robot adaptively contacted according to claim 6, it is characterised in that using same A piece support tube rotary shaft（19）When, support tube rotary shaft（19）Through limiting plate（15）Axis hole and one group of rotary shaft chute slide Dynamic and rotation connection；Using the support tube rotary shaft of left and right two（19）When, the support tube rotary shaft of left and right two（19）It is each passed through Two pieces of left and right limiting plate（15）Axis hole and left and right two groups of rotary shaft slides and rotation connection；Rotated using more support tubes Axle（19）When, each pin support tube the inner respectively with an independent support tube rotary shaft（19）Connection, each independent support tube rotation Axle is inserted in the axis hole of independent limiting plate, and independent limiting plate forms spacing sliding block combination, spacing sliding block combination Pass through guide pillar or guide groove and limiting plate front slide support（14）And sliding support after limiting plate（16）Slide up and down connection.

A kind of 8. magnetic track climbing robot adaptively contacted according to claim 1, it is characterised in that the shoe Band train pretension component includes gas spring mounting bracket（11）And gas spring（9）, main body rack（3）In be provided with gas spring installation branch Frame（11）, gas spring（9）Upper end and gas spring mounting bracket（11）Rotation connection, gas spring（9）Lower end and magnetic track train （5）On Track gear support（8）Rotation connection.

A kind of 9. magnetic track climbing robot adaptively contacted according to claim 1, it is characterised in that the magnetic Property Track gear（5）Including Athey wheel（29）, crawler belt and the Athey wheel support of bearing（30）, crawler belt is by polylith permanent magnetism creeper tread（22） Link composition, Athey wheel（29）Pass through the Athey wheel support of bearing（30）The Track gear branch being fixed in Track gear mounting assembly Frame（8）In, magnetic track train（5）In Athey wheel（29）With the crawler belt wheel shaft in power driving module（31）Power connects Connect；Magnetic track train（5）On the one hand the Track gear support in Track gear mounting assembly is passed through（8）And Track gear activity Support（10）With main body rack（3）Installation connection；On the other hand the Track gear support in Track gear mounting assembly is passed through（8） And connecting rod and main body rack（3）Installation connection；Track gear support（8）Pass through the gas spring in Track gear pretension component（9） With main body rack（3）Pretension connects.

10. a kind of magnetic track climbing robot adaptively contacted according to claim 9, it is characterised in that described Magnetic track train（5）In be provided with magnetic absorption mechanism, magnetic absorption mechanism includes creeper tread permanent magnet（26）With fixed permanent magnetism Body（25）, relative to adsorption operation face（21）, fixed permanent magnet（25）The magnetic line of force and creeper tread permanent magnet（26）The magnetic line of force Relative to adsorption operation face（21）Superposition is formed, in fixed permanent magnet（25）With creeper tread permanent magnet（26）Between, the magnetic pole same sex Repel each other setting, fixed permanent magnet（25）Length be magnetic track train permanent magnetic suck surface length.