CN107031748A - The universal drive module and its general driving unit of a kind of climbing robot - Google Patents
The universal drive module and its general driving unit of a kind of climbing robot Download PDFInfo
- Publication number
- CN107031748A CN107031748A CN201710278688.3A CN201710278688A CN107031748A CN 107031748 A CN107031748 A CN 107031748A CN 201710278688 A CN201710278688 A CN 201710278688A CN 107031748 A CN107031748 A CN 107031748A
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- China
- Prior art keywords
- drive module
- climbing robot
- module
- tensioning wheel
- universal drive
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- 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.)
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Classifications
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- 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
Abstract
The present invention provides a kind of universal drive module of climbing robot, including：Support frame, drive module, tensioning wheel module and magnetic suck module, drive module and tensioning wheel module are separately mounted to the two ends of support frame, wherein, tensioning wheel module includes transmission belt, and transmission belt is included positioned at the timing belt part of both sides and positioned at middle flat belt part；Drive module includes two synchronous pulleys, and two synchronous pulleys are meshed with timing belt part respectively, and magnetic suck module is arranged between two synchronous pulleys, correspondence flat belt part.The universal drive module for climbing robot of the present invention, compared with prior art, multiple modules are subjected to independent assortment using connecting shaft, the form that can also change connecting shaft meets the functional requirement of various working, have the advantages that easy to assembly, flexibility ratio is high, strong applicability.
Description
Technical field
The present invention relates to a kind of universal drive module of climbing robot, the invention further relates to a kind of the logical of climbing robot
With driver element, belong to robot field.
Background technology
Climbing robot belongs to the important branch of robot research field, integrated use robot mobile technology and absorption
Technology.It can be in vertical wall, inclined wall even the inner top surface flexible motion of building or container, and it is complete to carry instrument
Into certain task.
Climbing robot belongs to specialized robot, has begun to be applied to that severe, danger, the limit etc. are a variety of to be not suitable for the mankind
In the adverse circumstances of operation, wherein magnetically adsorbed wall-climbing robot due to the high reason of absorption stability in chemical industry, build, make
The industries such as ship, fire-fighting are widely used.
Existing climbing robot is generally complete machine structure, and function load is determined, applicable working condition is single, when facing job task
Or workplace when changing, it is necessary to climbing robot provides different degrees of driving force and absorption affinity, or even need to change
Become the complete machine structure of robot, often flexibility and applicability are not enough for existing climbing robot, it is impossible to meet and require.
The content of the invention
It is an object of the invention to provide a kind of universal drive module of climbing robot and its general driving unit, to carry
The flexibility ratio and applicability of high climbing robot.
Present invention employs following technical scheme：
A kind of universal drive module of climbing robot, it is characterised in that including：Support frame, drive module, tensioning wheel mould
Block and magnetic suck module, drive module and tensioning wheel module are separately mounted to the two ends of support frame, wherein, tensioning wheel module bag
Transmission belt is included, transmission belt is included positioned at the timing belt part of both sides and positioned at middle flat belt part；Drive module includes two
Individual synchronous pulley, two synchronous pulleys are meshed with timing belt part respectively, magnetic suck module be arranged on two synchronous pulleys it
Between, correspondence flat belt part.
Preferably, the universal drive module of the climbing robot of the present invention, can also have the feature that：Wherein,
Multiple circumferential auxiliary support wheels are provided with support frame, auxiliary support wheel is supported on the inside of flat belt part.
Preferably, the universal drive module of the climbing robot of the present invention, can also have the feature that：Wherein,
Drive module includes motor, planetary reduction gear, worm type of reduction gearing, rotation shaft of wheel, and inflated wheel, motor with
Planetary reduction gear is connected, and planetary reduction gear is arranged in the input end flanges of worm type of reduction gearing, worm type of reduction gearing peace
On support frame, the output shaft of worm type of reduction gearing and the synchronous pulley of both sides are connected, and synchronous pulley passes through rotation shaft of wheel
It is connected with the inflated wheel for being arranged on outside.
Preferably, the universal drive module of the climbing robot of the present invention, can also have the feature that：Wherein,
Tensioning wheel module includes two connecting plates, tensioning wheel and tensioning wheel rotating shaft, and connecting plate is arranged on support frame；Tensioning wheel is installed
In the centre of two connecting plates, tensioning wheel rotating shaft passes through tensioning wheel, and two ends are arranged on two connecting plates.
Preferably, the universal drive module of the climbing robot of the present invention, can also have the feature that：Tensioning wheel
Module also includes：Regulating bolt, tensioning wheel rotating shaft is arranged on the chute of connecting plate.
Preferably, the universal drive module of the climbing robot of the present invention, can also have the feature that：Wherein,
Magnetic suck module includes sector electromagnet and magnet mounting bracket.
Preferably, the universal drive module of the climbing robot of the present invention, can also have the feature that, also have
Have：Connecting shaft, through support frame, the two ends of connecting shaft set adpting flange.
Preferably, the universal drive module of the climbing robot of the present invention, can also have the feature that：Wherein,
Worm type of reduction gearing has auto-lock function.
The general driving unit of the invention that a kind of climbing robot is also provided, including at least two above-mentioned climbing robots
Universal drive module, it is characterised in that：Also include installation axle, be connected to two relative mounting flanges of universal drive module it
Between.
Preferably, the general driving unit of the climbing robot of the present invention, can also have the feature that：Wherein,
Use and be hinged between adpting flange and installation axle.
The beneficial effect of invention
The present invention is a kind of universal drive module for climbing robot, compared with prior art, using connecting shaft
Multiple modules are subjected to independent assortment, the form that can also change connecting shaft meets the functional requirement of various working, with assembling
Convenient, flexibility ratio is high, the advantage of strong applicability.
The universal drive module of the climbing robot of the present invention, because the structure of transmission belt is that both sides are timing belt part,
Centre is flat belt part, therefore brings two advantages, and one is to only have one layer of flat belt between magnet-wheel and working face, is so improved
Absorption affinity, two be that flat belt has blocked internal structure, play a part of protection.
Brief description of the drawings
Fig. 1 is the top view of universal drive module；
Fig. 2 is the side view of universal drive module；
Fig. 3 is the internal structure schematic diagram under Fig. 2 visual angles；
Fig. 4 is the BB ' profiles of universal drive module in figure 3；
Fig. 5 is the partial enlarged drawing of a-quadrant in Fig. 4；
Fig. 6 is the structural representation of general driving unit；
Fig. 7 is another structural representation of general driving unit.
Embodiment
Illustrate the embodiment of the present invention below in conjunction with accompanying drawing.
As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the universal drive module of climbing robot includes：Support frame 1, support
Frame 1 is provided with drive module 2, tensioning wheel module 3 and magnetic suck module 4.
As shown in figure 3, support frame 1 is provided with connecting shaft 6, connecting shaft 6 runs through support frame, and two ends are equipped with adpting flange；
Multiple modules can be subjected to independent assortment, the form that can also change connecting shaft 6 meets the functional requirement of various working.Such as Fig. 6
It is shown, the general driving unit that two universal drive modules are combined into climbing robot is docked using installation axle 61.Two
Caster bracket 7 is additionally provided between individual universal drive module.As shown in fig. 7, in other embodiments by installation axle 61
Hinge format is changed to, is formed after hinge installation axle 62, climbing robot is suitable for ENVIRONMENTS WITH CURVED SURFACES.
As shown in Figures 2 and 3, drive module 2 include motor 21, planetary reduction gear 22, worm type of reduction gearing 23,
Synchronous pulley 24, rotation shaft of wheel 25 and inflated wheel 26.Motor 21 is connected with planetary reduction gear 22；Planetary reduction gear 22 is installed
In the input end flanges of worm type of reduction gearing 23；Worm type of reduction gearing 23 is arranged on the middle part of two support frames 1；Worm gear
Worm reducer 23 has auto-lock function, makes total compacter, and performance is more stablized.
As shown in figure 4, the output shaft of worm type of reduction gearing 23 is connected with both sides synchronous pulley 24；Synchronous pulley 24 and car
Wheel rotating shaft 25 is connected；Rotation shaft of wheel 25 is connected with inflated wheel 26；The external diameter of inflated wheel 26 is more than synchronous pulley 24 and wraps up transmission belt
External diameter after 34, prevents transmission belt 34 from being contacted with work wall, produces abrasion.
As shown in Figure 3 and Figure 4, tensioning wheel module 3 includes connecting plate 31, tensioning wheel 32, tensioning wheel rotating shaft 33, transmission belt 34
With regulating bolt 35.Connecting plate 31 is arranged on support frame 1；Tensioning wheel 32 is arranged on the middle part of two connecting plates 31；Tensioning wheel
Rotating shaft 33 is arranged on the chute of two connecting plates 31；Transmission belt 34 includes the timing belt part that both sides are engaged with synchronous pulley 24
341, and middle correspondence magnetic suck module 4 flat belt part 342, such structure causes magnetic suck module and work wall
Gap reduce, magnetic adsorbability is improved as far as possible.Transmission belt 34 not only acts as gearing, moreover it is possible to protect internal structure.
Regulating bolt 35 is arranged on the boss of connecting plate 31, and tensioning wheel rotating shaft 33 is promoted in connection by regulating bolt 35
Moved in the chute of plate 31, so as to control the elastic of transmission belt 34, it is ensured that the efficiency of transmission.
As shown in figure 3, magnetic suck module 4 includes sector electromagnet 41 and magnet mounting bracket 42.Sector electromagnet 41 is permanent magnet,
Gap is provided between transmission belt 34；Sector electromagnet 41 is arranged on magnet mounting bracket 42；Magnet mounting bracket 42 is arranged on both sides
The middle part of support frame 1.
As shown in Figure 3 and Figure 5, it is additionally provided with auxiliary support wheel 5 on support frame 1.5 points of auxiliary support wheel as shown in Figure 3 is multigroup
It is symmetrically mounted on support frame 1.As shown in figure 5, auxiliary support wheel 5 is supported on flat belt part 342, to of transmission belt 34
Tightly play booster action.
Claims (10)
1. a kind of universal drive module of climbing robot, it is characterised in that including：
Support frame, drive module, tensioning wheel module and magnetic suck module,
The drive module and the tensioning wheel module are separately mounted to the two ends of support frame as described above,
Wherein, the tensioning wheel module includes transmission belt, and the transmission belt is included in being located at the timing belt part of both sides and being located at
Between flat belt part；
The drive module includes two synchronous pulleys, and two synchronous pulleys are meshed with the timing belt part respectively, described
Magnetic suck module is arranged between two synchronous pulleys, correspondence flat belt part.
2. the universal drive module of climbing robot as claimed in claim 1, it is characterised in that：
Wherein, multiple circumferential auxiliary support wheels are provided with support frame as described above, the auxiliary support wheel is supported on institute
State the inside of flat belt part.
3. the universal drive module of climbing robot as claimed in claim 1, it is characterised in that：
Wherein, the drive module includes
Motor, planetary reduction gear, worm type of reduction gearing, rotation shaft of wheel, and inflated wheel,
The motor is connected with planetary reduction gear, and the planetary reduction gear is arranged on the input hold-carrying of worm type of reduction gearing
Lan Shang, the worm type of reduction gearing is arranged on support frame, and the output shaft of the worm type of reduction gearing is synchronous with both sides
Belt wheel is connected, and the synchronous pulley is connected by rotation shaft of wheel with being arranged on the inflated wheel in outside.
4. the universal drive module of climbing robot as claimed in claim 1, it is characterised in that：
Wherein, the tensioning wheel module includes two connecting plates, tensioning wheel and tensioning wheel rotating shaft,
The connecting plate is arranged on support frame as described above；
The tensioning wheel is arranged on the centre of two connecting plates,
The tensioning wheel rotating shaft passes through the tensioning wheel, and two ends are arranged on two connecting plates.
5. the universal drive module of climbing robot as claimed in claim 4, it is characterised in that：
The tensioning wheel module also includes：Regulating bolt, tensioning wheel rotating shaft is arranged on the chute of connecting plate.
6. the universal drive module of climbing robot as claimed in claim 1, it is characterised in that：
Wherein, the magnetic suck module includes sector electromagnet and magnet mounting bracket.
7. the universal drive module of climbing robot as claimed in claim 1, it is characterised in that also have：
Connecting shaft, through support frame, the two ends of connecting shaft set adpting flange.
8. the universal drive module of climbing robot as claimed in claim 1, it is characterised in that:
Wherein, the worm type of reduction gearing has auto-lock function.
9. a kind of general driving unit of climbing robot, includes the universal drive module of at least two above-mentioned climbing robots,
It is characterized in that：Also include
Installation axle, is connected between two relative mounting flanges of universal drive module.
10. the general driving unit of climbing robot as claimed in claim 9, it is characterised in that：
Wherein, use and be hinged between the adpting flange and the installation axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710278688.3A CN107031748A (en) | 2017-04-25 | 2017-04-25 | The universal drive module and its general driving unit of a kind of climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710278688.3A CN107031748A (en) | 2017-04-25 | 2017-04-25 | The universal drive module and its general driving unit of a kind of climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107031748A true CN107031748A (en) | 2017-08-11 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710278688.3A Pending CN107031748A (en) | 2017-04-25 | 2017-04-25 | The universal drive module and its general driving unit of a kind of climbing robot |
Country Status (1)
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| CN (1) | CN107031748A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628139A (en) * | 2017-08-22 | 2018-01-26 | 浙江大学 | Magnetically adsorbed wall-climbing wheel |
| CN108454722A (en) * | 2018-03-07 | 2018-08-28 | 深圳市行知行机器人技术有限公司 | The wheeled climbing robot of permanent magnetism |
| CN109050705A (en) * | 2018-08-22 | 2018-12-21 | 浙江大学 | Wall wheel is climbed in a kind of inflation of the magnetic adsorption type that deformation is stable |
| CN110155202A (en) * | 2019-06-03 | 2019-08-23 | 洛阳圣瑞智能机器人有限公司 | A kind of walking chassis device of transition face Pa Bi magnetic suck robot |
| WO2024065946A1 (en) * | 2022-09-29 | 2024-04-04 | 江苏镌极特种设备有限公司 | Adaptive magnetic-attraction-type traveling wheel set |
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| CN205989766U (en) * | 2016-08-31 | 2017-03-01 | 王萍 | A kind of on-line automatic adjustable type magnetically adsorbed wall-climbing wheel |
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Patent Citations (10)
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| US6328120B1 (en) * | 1999-11-16 | 2001-12-11 | Forschungszentrum Karlsruhe Gmbh | Stair climbing vehicle |
| US20120261200A1 (en) * | 2006-10-06 | 2012-10-18 | Ohm Timothy R | Maneuvering robotic vehicles having a positionable sensor head |
| CN102556196A (en) * | 2011-12-22 | 2012-07-11 | 北京理工大学 | Magnetic absorption type wall climbing robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628139A (en) * | 2017-08-22 | 2018-01-26 | 浙江大学 | Magnetically adsorbed wall-climbing wheel |
| CN108454722A (en) * | 2018-03-07 | 2018-08-28 | 深圳市行知行机器人技术有限公司 | The wheeled climbing robot of permanent magnetism |
| CN108454722B (en) * | 2018-03-07 | 2023-12-29 | 深圳市行知行机器人技术有限公司 | Permanent magnet wheel type wall climbing robot |
| CN109050705A (en) * | 2018-08-22 | 2018-12-21 | 浙江大学 | Wall wheel is climbed in a kind of inflation of the magnetic adsorption type that deformation is stable |
| CN110155202A (en) * | 2019-06-03 | 2019-08-23 | 洛阳圣瑞智能机器人有限公司 | A kind of walking chassis device of transition face Pa Bi magnetic suck robot |
| WO2024065946A1 (en) * | 2022-09-29 | 2024-04-04 | 江苏镌极特种设备有限公司 | Adaptive magnetic-attraction-type traveling wheel set |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170811 |
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| RJ01 | Rejection of invention patent application after publication |