CN111824281A - Wall all-round moving mechanism - Google Patents

Wall all-round moving mechanism Download PDF

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Publication number
CN111824281A
CN111824281A CN202010698553.4A CN202010698553A CN111824281A CN 111824281 A CN111824281 A CN 111824281A CN 202010698553 A CN202010698553 A CN 202010698553A CN 111824281 A CN111824281 A CN 111824281A
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CN
China
Prior art keywords
handed
output shaft
vehicle body
bevel gear
bearing seat
Prior art date
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Pending
Application number
CN202010698553.4A
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Chinese (zh)
Inventor
李斌
韩世凯
王聪
刘铜
梁志达
刘启宇
刘春�
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Application filed by Shenyang Institute of Automation of CAS filed Critical Shenyang Institute of Automation of CAS
Priority to CN202010698553.4A priority Critical patent/CN111824281A/en
Publication of CN111824281A publication Critical patent/CN111824281A/en
Pending legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/12—Roller-type wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/86—Optimisation of rolling resistance, e.g. weight reduction 

Abstract

The invention belongs to the field of mechanical automation engineering, and particularly relates to a wall all-directional moving mechanism which comprises a left-handed driving device, a right-handed driving device and a vehicle body adsorption device, wherein the left-handed driving device and the right-handed driving device are respectively provided with two parts, and diagonal lines are arranged on the vehicle body adsorption device; the left-handed driving device and the right-handed driving device are similar in structure, and the driving motor drives the Mecanum wheel to rotate through bevel gear transmission to realize the motion of the whole device; the left-handed driving device and the right-handed driving device are matched with the vehicle body adsorption device to realize the all-dimensional movement of the mechanism on the steel wall surface, and the left-handed driving device and the right-handed driving device are matched to realize the all-dimensional movement of the mechanism on the wall surface such as forward and backward movement, left-handed movement and right-handed movement, oblique movement, turning movement and the like. The invention has the characteristics of light structure, integration, strong wall surface environment adaptability, easy installation and accurate control.

Description

Wall all-round moving mechanism
Technical Field
The invention belongs to the field of mechanical automation engineering, and particularly relates to a wall surface all-directional moving mechanism.
Background
The wall-climbing moving mechanism is a special mechanism combining a moving technology and a wall surface adsorption technology, can move in dangerous environments such as a vertical wall surface and a ceiling wall surface, can carry tools to complete certain operation tasks, and greatly expands the application range of the wall-climbing moving mechanism. At present, most of the existing wall-climbing moving mechanisms are complex in structure and low in moving efficiency, and can only move forwards and backwards when the wall surface does not move flexibly, and the turning radius is large, so that the wall-climbing moving mechanisms cannot move transversely or obliquely. When climbing arc-shaped or curved steel wall surfaces, the adsorption reliability is not high, and the adaptability on the steel wall surfaces is poor due to the fact that the all-dimensional movement cannot be realized. The research on a novel wall surface all-directional moving mechanism is an urgent issue to be solved.
Disclosure of Invention
In order to solve the problems of climbing an arc-shaped or curved steel wall surface by the conventional wall climbing moving mechanism and improve the motion efficiency and the wall surface moving flexibility of the wall climbing moving mechanism, the invention aims to provide the wall surface all-directional moving mechanism which can climb on the inner wall, the outer wall and various curved surfaces of a cylinder.
The purpose of the invention is realized by the following technical scheme:
the invention comprises a right-handed driving device, a left-handed driving device and a vehicle body adsorption device, wherein the number of the right-handed driving device and the number of the left-handed driving device are two, and the two right-handed driving devices and the two left-handed driving devices are arranged at diagonal positions of the vehicle body adsorption device in a staggered manner; the right-hand driving device comprises a right-hand motor, a right-hand input bearing seat, a right-hand transmission mechanism, a right-hand output bearing seat, a right-hand output shaft and a right-hand Mecanum wheel, the left-handed driving device comprises a left-handed motor, a left-handed input bearing seat, a left-handed transmission mechanism, a left-handed output bearing seat, a left-handed output shaft and a left-handed Mecanum wheel, the right-handed input bearing seat, the right-handed output bearing seat, the left-handed input bearing seat and the left-handed output bearing seat are respectively arranged on the vehicle body adsorption device, the right-handed motor and the left-handed motor are respectively arranged in the vehicle body adsorption device, the output shaft of the right-hand motor is rotationally connected with the right-hand input bearing seat, the right-hand output shaft is rotationally connected with the right-hand output bearing seat, the output shaft of the right-hand motor is connected with one end of a right-hand output shaft through the right-hand transmission mechanism, and the other end of the right-hand output shaft is connected with a right-hand Mecanum wheel; the output shaft of the left-handed motor is rotationally connected with a left-handed input bearing seat, the left-handed output shaft is rotationally connected with a left-handed output bearing seat, the output shaft of the left-handed motor is connected with one end of the left-handed output shaft through the left-handed transmission mechanism, and the other end of the left-handed output shaft is connected with a left-handed Mecanum wheel.
Wherein: the right-handed transmission mechanism comprises a small right-handed bevel gear and a large right-handed bevel gear, one end of the small right-handed bevel gear is a bevel gear in meshing transmission with the large right-handed bevel gear, the inner ring of the other end of the small right-handed bevel gear is connected with the output shaft of the right-handed motor, and the outer ring of the other end of the small right-handed bevel gear is rotationally connected with the right-handed input bearing seat.
The right-handed output shaft is rotatably connected with the right-handed output shaft bearing seat through a right-handed output bearing, a right-handed shaft sleeve is installed on the right-handed output shaft, one end of the right-handed shaft sleeve is abutted to the right-handed output bearing, and the other end of the right-handed shaft sleeve is abutted to the right-handed Mecanum wheel.
The left-handed transmission mechanism comprises a left-handed small bevel gear and a left-handed large bevel gear, one end of the left-handed small bevel gear is a bevel gear in meshing transmission with the left-handed large bevel gear, the inner ring of the other end of the left-handed small bevel gear is connected with the output shaft of the left-handed motor, and the outer ring of the other end of the left-handed small bevel gear is rotationally connected with the left-handed input bearing seat.
The left-handed output shaft is rotatably connected with the left-handed output shaft bearing seat through a left-handed output bearing, a left-handed shaft sleeve is mounted on the left-handed output shaft, one end of the left-handed shaft sleeve is abutted to the left-handed output bearing, and the other end of the left-handed shaft sleeve is abutted to the left-handed Mecanum wheel.
The vehicle body adsorption device comprises a vehicle body and an electromagnet, wherein the electromagnet which generates suction force when being electrified is installed on the outer surface of a vehicle body bottom plate, so that the vehicle body adsorption device is adsorbed on the wall surface.
The electromagnets are uniformly arranged on the outer surface of the vehicle body bottom plate in a matrix shape; the size of the suction force of the vehicle body adsorption device is adjusted through the electrifying quantity of the electromagnets, and the position of the magnetic adsorption point of the vehicle body adsorption device is adjusted through the electrification of the electromagnets at different positions.
The invention has the advantages and positive effects that:
1. the invention provides a novel wall all-directional movement mechanism driven by electromagnetic adsorption and Mecanum wheels, which realizes all-directional movement on a steel wall.
2. The invention can change the rotation direction of the left-handed driving device and the right-handed driving device according to the difference of the wall surface structure forms, and realize the all-round movement of the mechanism, such as advancing and retreating, left-handed and right-handed movement, oblique movement, turning movement, and the like.
3. The invention adopts the wheel type mobile platform, and can implement detection and other works on complex working interfaces such as curved surfaces, circular arcs and the like.
4. The novel moving mechanism facing the steel wall surface environment is light in weight, integrated, high in environmental adaptability, easy to install and accurate in operation and control.
5. The invention can realize variable suction force adsorption and variable position adsorption and is convenient to move.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of a right-handed driving device according to the present invention;
FIG. 3 is a schematic perspective view of the left-hand driving device of the present invention;
FIG. 4 is a schematic structural view of the vehicle body adsorption device of the present invention;
FIG. 5a is a schematic view of the control of the omnibearing moving motion of the present invention by adsorption on the wall surface;
FIG. 5b is a second schematic view of the control of the omnibearing moving motion of the present invention by attaching to the wall surface;
FIG. 5c is a third schematic view of the control of the omni-directional movement of the wall surface adsorption according to the present invention;
FIG. 5d is a fourth schematic view illustrating the control of the omnibearing moving motion of the present invention by attaching to the wall surface;
FIG. 5e is a fifth schematic view illustrating the control of the omnibearing moving motion of the present invention by the adsorption on the wall surface;
FIG. 5f is a sixth schematic view of the present invention showing the control of the wall-mounted omni-directional movement;
FIG. 5g is a seventh schematic view illustrating the control of the omni-directional movement of the present invention;
FIG. 5h is an eighth schematic view illustrating the control of the omni-directional movement of the wall surface adsorption of the present invention;
FIG. 5i is a ninth schematic view illustrating the control of the omni-directional movement of the wall surface adsorption according to the present invention;
FIG. 5j is a ten-dimensional schematic diagram illustrating the control of the omni-directional movement of the present invention;
wherein: the device comprises a right-handed driving device 1, a left-handed driving device 2, a vehicle body adsorption device 3, a right-handed motor 4, a right-handed input bearing 5, a right-handed input bearing seat 6, a right-handed small bevel gear 7, a right-handed large bevel gear 8, a right-handed output bearing seat 9, a right-handed output bearing seat 10, a right-handed shaft sleeve 11, a right-handed output shaft 12, a right-handed Mecanum wheel 13, a left-handed motor 14, a left-handed input bearing 15, a left-handed input bearing seat 16, a left-handed small bevel gear 17, a left-handed large bevel gear 18, a left-handed output bearing seat 19, a left-handed output bearing 20, a left-handed shaft sleeve 21, a left-handed output shaft 22, a left-handed Mecanum wheel 23, a front mounting plate 24, a top plate 25, a side plate 26, a rear mounting plate 27, a bottom plate 28 and an electromagnet.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the present invention includes a right-handed driving device 1, a left-handed driving device 2 and a vehicle body adsorption device 3, wherein the right-handed driving device 1 and the left-handed driving device 2 are both two and are used for generating a propelling force of a moving mechanism, the two right-handed driving devices 1 and the two left-handed driving devices 2 are alternately installed at diagonal positions of the vehicle body adsorption device 3, that is, the two right-handed driving devices 1 are respectively installed at the left rear and the right front of the vehicle body adsorption device 3, and the two left-handed driving devices 2 are respectively installed at the left front and the right rear of the vehicle body adsorption device 3.
As shown in fig. 2, the right-hand driving device 1 of the present embodiment includes a right-hand motor 4, a right-hand input bearing 5, a right-hand input bearing seat 6, a right-hand transmission mechanism, a right-hand output bearing seat 9, a right-hand output bearing 10, a right-hand shaft sleeve 11, a right-hand output shaft 12, and a right-hand mecanum wheel 13, where the right-hand input bearing seat 6 and the right-hand output shaft seat 9 are respectively mounted on the vehicle body adsorption device 3, the right-hand motor 4 is mounted in the vehicle body adsorption device 3, an output shaft of the right-hand motor 4 is rotatably connected to the right-hand input bearing seat 6 through the right-hand input bearing 5, the right-hand output shaft 12 is rotatably connected to the right-hand output shaft seat 9 through the right-hand output bearing 10, an output shaft of. The right-handed transmission mechanism of the embodiment comprises a small right-handed bevel gear 7 and a large right-handed bevel gear 8, one end of the small right-handed bevel gear 7 is a bevel gear in meshing transmission with the large right-handed bevel gear 8, the inner ring of the other end of the small right-handed bevel gear is connected with the output shaft of the right-handed motor 4, and the outer ring of the other end of the small right-handed bevel gear is installed on the right-handed input bearing seat 6 and rotates relative to the right-. In the present embodiment, a right-hand shaft sleeve 11 is mounted on the right-hand output shaft 12, one end of the right-hand shaft sleeve 11 abuts against the right-hand output bearing 10, and the other end abuts against the right-hand mecanum wheel 13.
As shown in fig. 3, the left-hand drive device 2 of the present embodiment includes a left-hand motor 14, a left-hand input bearing 15, a left-hand input bearing block 16, a left-hand transmission mechanism, a left-hand output bearing block 19, a left-hand output bearing 20, a left-hand shaft sleeve 21, a left-hand output shaft 22, and a left-hand mecanum wheel 23, wherein the left-hand input bearing block 16 and the left-hand output bearing block 19 are respectively mounted on the vehicle body adsorption device 3, the left-hand motor 14 is mounted in the vehicle body adsorption device 3, an output shaft of the left-hand motor 14 is rotatably connected to the left-hand input bearing block 16 through the left-hand input bearing 15, the left-hand output shaft 22 is rotatably connected to the left-hand output bearing block 19 through the left-hand output bearing 20, an output shaft of the left-hand motor 14 is connected to one end of the left-hand output shaft 12 through the left. The left-handed transmission mechanism of the embodiment comprises a left-handed small bevel gear 17 and a left-handed large bevel gear 18, wherein one end of the left-handed small bevel gear 17 is a bevel gear in meshing transmission with the left-handed large bevel gear 1), the inner ring of the other end of the left-handed small bevel gear is connected with the output shaft of the left-handed motor 14, and the outer ring of the other end of the left-handed small bevel gear is mounted on a left-handed input bearing seat 16 and rotates relative to the left-handed input bearing seat 16. In the present embodiment, a left-hand sleeve 21 is attached to a left-hand output shaft 22, and one end of the left-hand sleeve 21 abuts against a left-hand output bearing 20 and the other end abuts against a left-hand mecanum wheel 23.
As shown in fig. 4, the vehicle body adsorption device 3 of the present embodiment includes a vehicle body and an electromagnet 29, the vehicle body is a hollow rectangular parallelepiped composed of a front mounting plate 24, a top plate 25, side plates 26, a rear mounting plate 27, and a bottom plate 28, the electromagnet 29 is mounted on an outer surface of the bottom plate 28 of the vehicle body, and the vehicle body adsorption device 3 is adsorbed on a wall surface. A plurality of electromagnets 29 are uniformly arranged on the outer surface of the bottom plate 28 in a matrix shape; nine electromagnets 29 of the present embodiment are arranged in a matrix of three rows and three columns, and when the electromagnets 29 are energized, suction force is generated, so that the vehicle body suction device 3 is entirely sucked onto the wall surface. The size of the suction force generated by the vehicle body adsorption device 3 can be controlled by controlling the quantity of the electrified electromagnets 29, and the position of the magnetic adsorption point of the vehicle body adsorption device 3 can be controlled by controlling the electrification of the electromagnets 29 at different positions. The electromagnet 29 may be powered by a power source mounted inside the vehicle body.
Both the right-hand mecanum wheel 13 and the left-hand mecanum wheel 23 of the present invention are prior art.
The working principle of the invention is as follows:
the two left-handed driving devices 2 and the two right-handed driving devices 1 are diagonally arranged on the vehicle body adsorption device 3, a left-handed motor 14 in the left-handed driving device 2 transmits motion to a left-handed Mecanum wheel 23 through transmission of a left-handed small bevel gear 17 and a left-handed large bevel gear 18, and a right-handed motor 4 in the right-handed driving device 1 transmits motion to a right-handed Mecanum wheel 13 through transmission of a right-handed small bevel gear 7 and a right-handed large bevel gear 8. Through the cooperation of adjusting the rotation directions of the left-handed Mecanum wheels 23 in the two left-handed driving devices 2 and the right-handed Mecanum wheels 13 in the two right-handed driving devices 1, and simultaneously, the electromagnets 29 in the vehicle body adsorption device 3 are electrified to generate suction force to be adsorbed on the steel wall surface, the all-dimensional movement of the mechanism on the steel wall surface, such as forward and backward movement, left and right movement, oblique movement, turning movement and the like, can be realized. In particular to
As shown in fig. 5a to 5j, the schematic diagrams of the control of the omni-directional movement by absorbing on the wall surface are shown, wherein, in fig. 5a, two left-handed mecanum wheels 23 at the left front and right rear of the car body absorbing device 3 and two right-handed mecanum wheels 13 at the left rear and right front of the car body absorbing device 3 rotate forward at a constant speed to realize the forward movement of the moving mechanism; fig. 5b shows that the two left-handed mecanum wheels 23 at the left front and the right rear of the vehicle body adsorption device 3 and the two right-handed mecanum wheels 13 at the left rear and the right front of the vehicle body adsorption device 3 rotate reversely at the same speed to realize the backward movement of the moving mechanism; fig. 5c shows that the two left-handed mecanum wheels 23 at the front left and the rear right of the car body adsorption device 3 rotate forward at a constant speed, and the two right-handed mecanum wheels 13 at the front left and the front right of the car body adsorption device 3 rotate backward at a constant speed, so that the moving mechanism moves rightward; fig. 5d shows that the two left-handed mecanum wheels 23 at the left front and the right rear of the vehicle body adsorption device 3 rotate reversely at a constant speed, and the two right-handed mecanum wheels 13 at the left rear and the right front of the vehicle body adsorption device 3 rotate positively at a constant speed, so that the moving mechanism moves leftwards; fig. 5e shows that the left-hand mecanum wheel 23 at the left front of the vehicle body adsorption device 3 and the right-hand mecanum wheel 13 at the left rear of the vehicle body adsorption device 3 rotate reversely at a constant speed, and simultaneously, the right-hand mecanum wheel 13 at the right front of the vehicle body adsorption device 3 and the left-hand mecanum wheel 23 at the right rear of the vehicle body adsorption device 3 rotate forwardly at a constant speed, so that the left-turning motion of the moving mechanism is realized; fig. 5f shows that the left-hand mecanum wheel 23 at the left front of the vehicle body adsorption device 3 and the right-hand mecanum wheel 13 at the left rear of the vehicle body adsorption device 3 rotate forward at a constant speed, and simultaneously, the right-hand mecanum wheel 13 at the right front of the vehicle body adsorption device 3 and the left-hand mecanum wheel 23 at the right rear of the vehicle body adsorption device 3 rotate backward at a constant speed, so that the right-hand turning motion of the moving mechanism is realized; fig. 5g shows that the two right-handed mecanum wheels 13 at the left rear and right front of the car body adsorption device 3 rotate forward at a constant speed, and the two left-handed mecanum wheels 23 at the left front and right rear of the car body adsorption device 3 do not rotate, so that the moving mechanism moves obliquely to the left front; fig. 5h shows that the two left-handed mecanum wheels 23 at the front left and the rear right of the car body adsorption device 3 are reversely rotated at a constant speed, and the two right-handed mecanum wheels 13 at the front left and the front right of the car body adsorption device 3 are not rotated, so that the moving mechanism moves obliquely to the rear left; fig. 5i shows that the two left-handed mecanum wheels 23 at the left front and the right rear of the vehicle body adsorption device 3 rotate positively at a constant speed, and the two right-handed mecanum wheels 13 at the left rear and the right front of the vehicle body adsorption device 3 do not rotate, so that the moving mechanism moves obliquely and rightwards; fig. 5j shows that the two right-handed mecanum wheels 13 on the left rear side and the right front side of the vehicle body adsorption device 3 rotate in a constant speed, and the two left-handed mecanum wheels 23 on the left front side and the right rear side of the vehicle body adsorption device 3 do not rotate, so that the moving mechanism moves obliquely to the right rear side.
The invention has the advantages of small volume, convenience, rapidness, omnibearing movement and the like, and can realize the carrying and use of various instruments and equipment.

Claims (7)

1. A wall all direction movement mechanism is characterized in that: the vehicle body adsorption device comprises a right-handed driving device (1), a left-handed driving device (2) and a vehicle body adsorption device (3), wherein the number of the right-handed driving device (1) and the number of the left-handed driving device (2) are two, and the two right-handed driving devices (1) and the two left-handed driving devices (2) are installed on the diagonal position of the vehicle body adsorption device (3) in a staggered mode; the right-handed driving device (1) comprises a right-handed motor (4), a right-handed input bearing seat (6), a right-handed transmission mechanism, a right-handed output bearing seat (9), a right-handed output shaft (12) and a right-handed Mecanum wheel (13), the left-handed driving device (2) comprises a left-handed motor (14), a left-handed input bearing seat (16), a left-handed transmission mechanism, a left-handed output bearing seat (19), a left-handed output shaft (22) and a left-handed Mecanum wheel (23), the right-handed input bearing seat (6), the right-handed output bearing seat (9), the left-handed input bearing seat (16) and the left-handed output bearing seat (19) are respectively installed on the vehicle body adsorption device (3), the right-handed motor (4) and the left-handed motor (14) are respectively installed in the vehicle body adsorption device (3), and the output shaft of the right-handed motor (4, the right-handed output shaft (12) is rotationally connected with a right-handed output bearing seat (9), the output shaft of the right-handed motor (4) is connected with one end of the right-handed output shaft (12) through the right-handed transmission mechanism, and the other end of the right-handed output shaft (12) is connected with a right-handed Mecanum wheel (13); the output shaft of the left-handed motor (14) is rotationally connected with a left-handed input bearing seat (16), the left-handed output shaft (22) is rotationally connected with a left-handed output bearing seat (19), the output shaft of the left-handed motor (14) is connected with one end of the left-handed output shaft (22) through the left-handed transmission mechanism, and the other end of the left-handed output shaft (22) is connected with a left-handed Mecanum wheel (23).
2. The wall omni-directional movement mechanism according to claim 1, wherein: the right-handed transmission mechanism comprises a small right-handed bevel gear (7) and a large right-handed bevel gear (8), one end of the small right-handed bevel gear (7) is a bevel gear in meshing transmission with the large right-handed bevel gear (8), the inner ring of the other end of the small right-handed bevel gear is connected with the output shaft of the right-handed motor (4), and the outer ring of the other end of the small right-handed bevel gear is rotationally connected with the right-handed input bearing seat (6).
3. The wall omni-directional movement mechanism according to claim 1, wherein: dextrorotation output shaft (12) are rotated through dextrorotation output bearing (10) and dextrorotation output bearing frame (9) and are connected, install dextrorotation axle sleeve (11) on this dextrorotation output shaft (12), the one end of dextrorotation axle sleeve (11) with dextrorotation output bearing (10) butt, the other end with dextrorotation mecanum wheel (13) butt.
4. The wall omni-directional movement mechanism according to claim 1, wherein: the left-handed transmission mechanism comprises a left-handed small bevel gear (17) and a left-handed large bevel gear (18), one end of the left-handed small bevel gear (17) is a bevel gear in meshing transmission with the left-handed large bevel gear (18), the inner ring of the other end of the left-handed small bevel gear is connected with the output shaft of the left-handed motor (14), and the outer ring of the other end of the left-handed small bevel gear is rotationally connected with the left-handed input bearing seat (16).
5. The wall omni-directional movement mechanism according to claim 1, wherein: the left-handed output shaft (22) is rotatably connected with a left-handed output bearing seat (19) through a left-handed output bearing (20), a left-handed shaft sleeve (21) is mounted on the left-handed output shaft (22), one end of the left-handed shaft sleeve (21) is abutted to the left-handed output bearing (20), and the other end of the left-handed shaft sleeve is abutted to the left-handed Mecanum wheel (23).
6. The wall omni-directional movement mechanism according to claim 1, wherein: the vehicle body adsorption device (3) comprises a vehicle body and an electromagnet (29), wherein the electromagnet (29) which generates suction force when being electrified is installed on the outer surface of the vehicle body bottom plate, and the vehicle body adsorption device (3) is adsorbed on the wall surface.
7. The wall surface omni-directional movement mechanism according to claim 6, wherein: the electromagnets (29) are uniformly arranged on the outer surface of the vehicle body bottom plate in a matrix shape; the size of the suction force of the vehicle body adsorption device (3) is adjusted through the electrification number of the electromagnets (29), and the position of the magnetic adsorption point of the vehicle body adsorption device (3) is adjusted through the electrification of the electromagnets (29) at different positions.
CN202010698553.4A 2020-07-20 2020-07-20 Wall all-round moving mechanism Pending CN111824281A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114916797A (en) * 2022-05-17 2022-08-19 淄博职业学院 Display cabinet applying superconducting magnetic suspension technology

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