CN210235141U

CN210235141U - Rotor wing adsorption type wall-climbing robot

Info

Publication number: CN210235141U
Application number: CN201921025515.1U
Authority: CN
Inventors: Hao Wu; 吴昊; Weifeng Chen; 陈炜峰; Wangping Zhou; 周旺平
Original assignee: Nanjing University of Information Science and Technology
Current assignee: Nanjing University of Information Science and Technology
Priority date: 2019-07-03
Filing date: 2019-07-03
Publication date: 2020-04-03
Anticipated expiration: 2029-07-03

Abstract

The utility model relates to a rotor adsorbs formula wall climbing robot, include bottom plate, gyro wheel, rotor motor, steering wheel and be the annular circle frame of circle, the bottom plate middle part is equipped with and is the circular shape through-hole, through-hole diameter is greater than the circle frame external diameter, the steering wheel is fixed in the through-hole inboard, and the circle frame is fixed on the steering wheel output shaft to rotate through the steering wheel and connect in the through-hole inboard, circle frame middle part is equipped with the diaphragm, rotor motor fixes on the diaphragm, the rotor is connected on rotor motor output shaft, the gyro wheel sets up in the bottom plate bottom, and this robot can creep on unevenness's wall.

Description

Rotor wing adsorption type wall-climbing robot

Technical Field

The utility model relates to a rotor adsorbs formula wall climbing robot belongs to the robotechnology field.

Background

In recent years, robots have been widely used and developed in various fields. The traditional wall climbing robot can be divided into two forms of vacuum adsorption and magnetic adsorption according to the adsorption function; however, both of these adsorption methods have high requirements for wall surfaces and cannot be adapted to various complicated wall surfaces. Both of these absorption modes fail, for example, on such uneven walls of concrete.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a solve the problem that exists among the prior art, provide a robot that can crawl on unevenness's wall.

In order to achieve the above object, the utility model provides a technical scheme does: the utility model provides a rotor adsorbs formula wall climbing robot, includes bottom plate, gyro wheel, rotor motor, steering wheel and is the annular circle frame of circle, the bottom plate middle part is equipped with and is the circular shape through-hole, the through-hole diameter is greater than the circle frame external diameter, the steering wheel is fixed in the through-hole inboard, and the circle frame is fixed on the steering wheel output shaft to rotate through the steering wheel and connect in the through-hole inboard, be equipped with the diaphragm in the middle part of the circle frame, rotor motor fixes on the diaphragm, the rotor is connected on rotor motor output shaft, the gyro wheel sets up in the bottom.

The technical scheme is further designed as follows: the outer side of the round frame is fixed on the steering engine output shaft, a rotating shaft is fixed on the other side, opposite to the steering engine, of the round frame, one end of the rotating shaft is rotatably connected to the inner side of the through hole, and the setting direction of the rotating shaft and the setting direction of the steering engine output shaft are located on the same straight line.

The plane of the rotor wing is parallel to the plane of the circular frame.

The rotor wing adsorption type wall climbing robot further comprises a main control board, the main control board is fixed on the bottom plate and comprises a main control chip and a storage battery, and the main control chip is electrically connected with the storage battery, the steering engine and the rotor wing motor respectively.

The rotor adsorption type wall-climbing robot further comprises a wireless receiving module, and the wireless receiving module is electrically connected with the main control chip.

The utility model has the advantages that:

the utility model discloses a robot supports the gyro wheel on the wall, and the bottom plate is parallel with the wall, utilizes the steering wheel to make circle frame and rotor rotate to and be certain contained angle between the bottom plate, starts the rotor, makes the rotor produce the ascending thrust of slope to the bottom plate, makes the bottom plate can hug closely the wall and can follow wall rebound again.

The utility model discloses a robot and wall contact be the gyro wheel, the gyro wheel roll can reduce the frictional force with the wall, and simultaneously when the wall unevenness, the gyro wheel still can roll on the wall to the realization is crawled at unevenness's wall, the wall of adaptable multiple complicacy.

Drawings

Fig. 1 is a schematic structural view of the present invention;

figure 2 is a climbing schematic diagram of the present invention;

fig. 3 is a schematic block diagram of the present invention.

In the figure: the device comprises a base plate 1, a roller 2, a round frame 3, a transverse plate 4, a rotor wing 5, a rotor wing motor 6, a steering engine 7, a rotating shaft 8 and a main control board 9.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Examples

As shown in fig. 1, the rotor adsorbs formula wall climbing robot of this embodiment, include bottom plate 1, gyro wheel 2, rotor 5, rotor motor 6, steering wheel 7 and be the annular circle frame 3 of circle, 1 middle part of bottom plate is equipped with and is the circular shape through-hole, the through-hole diameter is greater than 3 external diameters of circle frame, and circle frame 3 can overturn in the through-hole, steering wheel 7 is fixed at the through-hole inboardly, and the 3 outsides of circle frame are fixed on steering wheel output shaft to rotate through steering wheel 7 and connect in the through-hole inboardly, circle frame 3 is fixed with pivot 8 at the opposite side relative with

steering wheel

7, 8 one end of pivot is rotated and is connected in the through-hole inboardly, pivot 8 sets up the direction and is located same straight line with steering wheel 7 output shaft setting direction, then circle frame 3 can drive down in the through-hole along pivot.

In this embodiment, circular frame 3 middle part is equipped with diaphragm 4, rotor motor 6 is fixed on diaphragm 4, and rotor motor 6's output shaft setting direction is mutually perpendicular with circular frame 3 place plane, rotor 5 is connected on rotor motor 6 output shaft, rotor 5 place plane and circular frame 3 place plane parallel.

The rotor adsorption type wall-climbing robot shown in the combined figure 3 further comprises a main control board 9, the main control board 9 is fixed on the bottom plate 1, the main control board 9 comprises a main control chip, a storage battery and a wireless receiving module, the main control chip is respectively electrically connected with the storage battery, the wireless receiving module, a steering engine and a rotor motor, and the storage battery is respectively electrically connected with the wireless receiving module, the steering engine and the rotor motor for providing a power supply.

In the embodiment, an STM32 series is used as a main control chip, a 2200mah 11.1V lithium battery is used as a storage battery to supply power for the whole control system and a motor thereof, and a driving circuit of a steering engine 7 and a driving circuit of a rotor motor 6 are integrated on the main control board 1; the rotor wing motor 6 is a new Xida 22121000 kv motor, the rotor wing 5 can be driven by the rotor wing motor 6 to generate reverse thrust to enable the robot to cling to the wall, the rotor wing 5 and the rotor wing motor are fixed at the middle position of the transverse plate 4, namely the circle center position of the circular frame 3, and the circular frame 3 can rotate with the steering engine 3 at a certain angle; the rollers 2 are four and are respectively arranged at four corners of the bottom plate 1. The rollers 2 can enable the wall-climbing robot to move up and down on the wall.

As shown in fig. 2, which is a schematic view of the wall-climbing robot moving on a vertical wall, in combination with the control schematic block diagram of fig. 3, when an external wireless signal is sent to the wireless receiving module of the control system, the wireless receiving module sends the control information to the main control chip for processing, and the main control chip sends the control signal to the driving circuit of the steering engine and the driving circuit of the rotor to realize control of the rotor and the steering engine; the rotation of the circular frame 3 and the rotor wing 5 by a certain angle theta is realized through the steering engine 7; when a certain angle theta is formed, the rotor wing 5 rotates to generate upward thrust, the thrust is decomposed into partial thrust parallel to the wall surface and partial thrust perpendicular to the wall surface, the robot is tightly attached to the wall surface, upward movement of the robot can be achieved at the same time, therefore, the movement of the rollers is driven without redundant motors, and meanwhile, the robot can have smaller dead weight and higher movement efficiency.

The technical scheme of the utility model is not limited to above-mentioned each embodiment, and the technical scheme that all adopt to equate substitution mode to obtain all falls the utility model discloses the within range that claims.

Claims

1. The utility model provides a rotor adsorbs formula wall climbing robot which characterized in that: including bottom plate, gyro wheel, rotor motor, steering wheel and be the annular circle frame of circle, the bottom plate middle part is equipped with and is the circular shape through-hole, the through-hole diameter is greater than the circle frame external diameter, the steering wheel is fixed in the through-hole inboard, and the circle frame is fixed on the steering wheel output shaft to rotate through the steering wheel and connect in the through-hole inboard, be equipped with the diaphragm in the middle part of the circle frame, rotor motor fixes on the diaphragm, the rotor is connected on rotor motor output shaft, the gyro wheel sets up in the bottom plate bottom.

2. The rotary wing adsorption type wall-climbing robot according to claim 1, characterized in that: the outer side of the round frame is fixed on the steering engine output shaft, a rotating shaft is fixed on the other side, opposite to the steering engine, of the round frame, one end of the rotating shaft is rotatably connected to the inner side of the through hole, and the setting direction of the rotating shaft and the setting direction of the steering engine output shaft are located on the same straight line.

3. The rotary wing adsorption type wall-climbing robot according to claim 1, characterized in that: the plane of the rotor wing is parallel to the plane of the circular frame.

4. The rotary wing adsorption type wall-climbing robot according to claim 1, characterized in that: the main control board is fixed on the bottom plate and comprises a main control chip and a storage battery, and the main control chip is electrically connected with the storage battery, the steering engine and the rotor motor respectively.

5. The rotary wing adsorption type wall-climbing robot according to claim 4, characterized in that: the wireless receiving module is electrically connected with the main control chip.