CN101612731B - Compact-type active driving wheel device for wall-climbing robots - Google Patents
Compact-type active driving wheel device for wall-climbing robots Download PDFInfo
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- CN101612731B CN101612731B CN2009103046928A CN200910304692A CN101612731B CN 101612731 B CN101612731 B CN 101612731B CN 2009103046928 A CN2009103046928 A CN 2009103046928A CN 200910304692 A CN200910304692 A CN 200910304692A CN 101612731 B CN101612731 B CN 101612731B
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Abstract
The invention provides a compact-type active driving wheel device for wall-climbing robots, and relates to an active driving wheel device for wall-climbing robots. The invention solves the problem that the prior driving wheel device for wall-climbing robots is large in size, heavy in dead weight and complex in structure for simultaneously driving front and rear wheels. A bracket cylinder is sleeved on a driving motor; a driving wheel bracket is fixedly arranged on the end face of the open end of the bracket cylinder; a driving wheel is sleeved on the bracket cylinder; two bearings are arranged between the inner wall of the driving wheel and the outer wall of the bracket cylinder; a clamp shaft is fixedly arranged on an output shaft of the driving motor; a clamp sleeve is sleeved on the clamp shaft and is fixedly connected with the driving wheel; and a driving belt pulley is fixedly arranged on the clamp sleeve. The device has the advantages of reducing the axial space of an integral structure of the active driving wheel device, having simple structure, reducing dead weight, and passing the output of the driving motor to a driven wheel through the driving belt pulley at the same time during self rotation so as to simultaneously drive the front and rear wheels. In addition, the device also has the advantage of reliable transmission.
Description
Technical field
The present invention relates to a kind of climbing robot active drive wheel apparatus.
Background technology
Climbing robot is mainly used at building metope, aircraft surfaces etc. and scouts, cleans the class operation.Its specific operating environment makes the running on wheels mode become the very suitable a kind of walking manner of this robotlike.But common driving wheel device mostly is part and is arranged in juxtaposition on axle, and physical dimension is bigger, from great, and realizes the complex structure that front and back wheel drives simultaneously.In light weight with climbing robot, compact conformation, front and back wheel drives the requirement of simple and flexible simultaneously and disagrees.So, be necessary to design a kind of simple and compact for structure, in light weight and can realize the frame for movement that front and back wheel drives simultaneously at climbing robot.
Summary of the invention
The objective of the invention is for solve the size that existing climbing robot driving wheel device exists big, from great and realize the baroque problem that front and back wheel drives simultaneously, and then provide a kind of compact-type active driving wheel device for wall-climbing robots.
Technical scheme of the present invention is: compact-type active driving wheel device for wall-climbing robots comprises the driving wheel support, drive motors, driving wheel, driving pulley, locking nut, two bearings, axis, cutting ferrule and rack tube, described rack tube is sleeved on the drive motors, and be fixed on the shoulder end face of output shaft of drive motors, described driving wheel support is packed on the end face of opening end of rack tube, described driving wheel is sleeved on the rack tube, the uncovered direction of driving wheel is identical with the uncovered direction of rack tube, and driving wheel is positioned at the inside of driving wheel support, be provided with two bearings between the inwall of described driving wheel and the outer wall of rack tube, described axis is packed on the output shaft of drive motors, described locking nut is threaded with axis, axis is connected by key with cutting ferrule, cutting ferrule and driving wheel are affixed, and driving pulley is fixedly mounted on the cutting ferrule.
The present invention compared with prior art has following beneficial effect: the present invention adopts driving wheel, drive motors and the nested installation of rack tube three, thereby shortened the integrally-built axial space of active drive wheel apparatus, simple in structure, alleviated deadweight simultaneously, its appearance and size is 128mm * 70mm * 58mm, deadweight is 500g, by driving pulley the output of drive motors is passed to driven pulley to realize that front and back wheel drives simultaneously in the time of the present invention self rotation.In addition, the present invention also has the advantage of reliable transmission.
Description of drawings
Fig. 1 is a perspective view of the present invention, and Fig. 2 is an overall structure cutaway view of the present invention.
The specific embodiment
The specific embodiment one: present embodiment is described in conjunction with Fig. 1 and Fig. 2, the compact-type active driving wheel device for wall-climbing robots of present embodiment comprises driving wheel support 1, drive motors 2, driving wheel 3, driving pulley 4, locking nut 5, two bearings 6, axis 7, cutting ferrule 8 and rack tube 9, described rack tube 9 is sleeved on the drive motors 2, and be fixed on the shoulder end face of output shaft 2-1 of drive motors 2, described driving wheel support 1 is packed on the end face of opening end of rack tube 9, described driving wheel 3 is sleeved on the rack tube 9, the uncovered direction of driving wheel 3 is identical with the uncovered direction of rack tube 9, and driving wheel 3 is positioned at the inside of driving wheel support 1, be provided with two bearings 6 between the outer wall of the inwall of described driving wheel 3 and rack tube 9, described axis 7 is packed on the output shaft 2-1 of drive motors 2, described locking nut 5 is threaded with axis 7, described cutting ferrule 8 is sleeved on the axis 7 and is affixed with driving wheel 3, and driving pulley 4 is fixedly mounted on the cutting ferrule 8.
The specific embodiment two: present embodiment is described in conjunction with Fig. 2, the active drive wheel apparatus of present embodiment also increases bearing spacer sleeve 10, described bearing spacer sleeve 10 is sleeved on two rack tubes 9 between the bearing 6, and the two ends of bearing spacer sleeve 10 all lean with bearing 6.So be provided with, effectively prevented the play of bearing 6.Other composition is identical with the specific embodiment one with annexation.
Operation principle (referring to Fig. 1 and Fig. 2): driving wheel 3, drive motors 2 and the nested installation of rack tube 9 threes, drive motors 2 usefulness bolts are installed in the cylindrical chamber of rack tube 9, rack tube 9 is in the cylindrical chamber of driving wheel 3, and support by bearing 6, its structure has shortened axial space greatly when satisfying rigidity.Driving pulley 4 is connected by screw and driving wheel 3 and cutting ferrule 8, has realized the synchronous rotation of driving wheel 3 and driving pulley 4, and is simple in structure, reliable.The output shaft 2-1 of drive motors 2 drives axis 7 and rotates, axis 7 and cutting ferrule 8 are connected by key, when screwing locking nut 5, axis 7 and the relative slip tensioning of cutting ferrule 8 by the opening conical surface, make the driving wheel 3, driving pulley 4, the cutting ferrule 8 that are fixed together together rotate with drive motors 2, axis 7 is held the output shaft 2-1 of drive motors 2 tightly simultaneously, and axial float does not take place, simple in structure, reliable transmission.
Claims (2)
1. compact-type active driving wheel device for wall-climbing robots, it comprises driving wheel support (1), drive motors (2), driving wheel (3), driving pulley (4), locking nut (5), two bearings (6), axis (7), cutting ferrule (8) and rack tube (9), it is characterized in that: described rack tube (9) is sleeved on the drive motors (2), and be fixed on the shoulder end face of output shaft (2-1) of drive motors (2), described driving wheel support (1) is packed on the end face of opening end of rack tube (9), described driving wheel (3) is sleeved on the rack tube (9), the uncovered direction of driving wheel (3) is identical with the uncovered direction of rack tube (9), and driving wheel (3) is positioned at the inside of driving wheel support (1), be provided with two bearings (6) between the outer wall of the inwall of described driving wheel (3) and rack tube (9), described axis (7) is packed on the output shaft (2-1) of drive motors (2), described locking nut (5) is threaded with axis (7), axis (7) is connected by key with cutting ferrule (8), cutting ferrule (8) is affixed with driving wheel (3), and driving pulley (4) is fixedly mounted on the cutting ferrule (8).
2. according to the described compact-type active driving wheel device for wall-climbing robots of claim 1, it is characterized in that: described active drive wheel apparatus also comprises bearing spacer sleeve (10), described bearing spacer sleeve (10) is sleeved on the rack tube (9) between two bearings (6), and the two ends of bearing spacer sleeve (10) all lean with bearing (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103046928A CN101612731B (en) | 2009-07-23 | 2009-07-23 | Compact-type active driving wheel device for wall-climbing robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103046928A CN101612731B (en) | 2009-07-23 | 2009-07-23 | Compact-type active driving wheel device for wall-climbing robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101612731A CN101612731A (en) | 2009-12-30 |
| CN101612731B true CN101612731B (en) | 2010-12-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN2009103046928A Active CN101612731B (en) | 2009-07-23 | 2009-07-23 | Compact-type active driving wheel device for wall-climbing robots |
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| CN (1) | CN101612731B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639547B (en) * | 2016-07-21 | 2020-06-12 | 上海交通大学 | Sealing cover for automatic sand blasting and rust removing |
| CN106948593B (en) * | 2017-02-28 | 2019-12-27 | 深圳市特辰科技股份有限公司 | Wheeled robot climbs frame |
| CN111267980B (en) * | 2020-02-10 | 2020-12-15 | 山东国兴智能科技股份有限公司 | High-load explosion-proof driving device |
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2009
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| CN101612731A (en) | 2009-12-30 |
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| C06 | Publication | ||
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| C14 | Grant of patent or utility model | ||
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Assignee: HARBIN ZD ROBOT AUTOMATION CO., LTD. Assignor: Harbin Institute of Technology Contract record no.: 2012230000136 Denomination of invention: Compact-type active driving wheel device for wall-climbing robots Granted publication date: 20101201 License type: Exclusive License Open date: 20091230 Record date: 20120323 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160721 Address after: 150001 postal street, Nangang District, Heilongjiang, China, No. 434, No. Patentee after: Harbin Institute of Technology Asset Investment Management Co., Ltd. Patentee after: Li Mantian Patentee after: Wang Pengfei Address before: 150001 Harbin, Nangang, West District, large straight street, No. 92 Patentee before: Harbin Institute of Technology |
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| C41 | Transfer of patent application or patent right or utility model | ||
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Effective date of registration: 20161128 Address after: Room D810, Shenzhen Institute of aerospace technology No. 6 building, 518057 Guangdong city of Shenzhen province Nanshan District Guangdong science and technology street ten South Road Patentee after: Longhai Shenzhen Robot Technology Co., Ltd. Address before: 150001 postal street, Nangang District, Heilongjiang, China, No. 434, No. Patentee before: Harbin Institute of Technology Asset Investment Management Co., Ltd. Patentee before: Li Mantian Patentee before: Wang Pengfei |
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| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Room B701, Shenzhen Institute of Space Science and Technology Innovation Building, No. 6 Nanshi Road, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province, 518000 Patentee after: Shenzhen Aerospace Longhaite Intelligent Equipment Co.,Ltd. Address before: Room D810, Shenzhen Aerospace Science and Technology Innovation Research Institute building, No. 6, Keji South 10th Road, Yuehai street, Nanshan District, Shenzhen Patentee before: SHENZHEN LONG-HIT ROBOT TECHNOLOGY Co.,Ltd. |