CN210555241U - Wheel-foot type walking mechanism of magnetic adsorption wall-climbing robot - Google Patents
Wheel-foot type walking mechanism of magnetic adsorption wall-climbing robot Download PDFInfo
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- CN210555241U CN210555241U CN201921494196.9U CN201921494196U CN210555241U CN 210555241 U CN210555241 U CN 210555241U CN 201921494196 U CN201921494196 U CN 201921494196U CN 210555241 U CN210555241 U CN 210555241U
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Abstract
The utility model discloses a wheel-foot type walking mechanism of a magnetic adsorption wall-climbing robot, which comprises a lifting arm component, a supporting arm component, a driving arm component and a walking wheel; one part of the lifting arm assembly is arranged on a frame of the wall-climbing robot to be installed, and the other part of the lifting arm assembly is connected with the upper part of the driving arm assembly; one part of the supporting arm assembly is connected with a frame of the wall-climbing robot to be installed, the other part of the supporting arm assembly is connected with the lower part of the driving arm assembly, and the tail end of the driving arm assembly is provided with a traveling wheel; the distance between the two installation positions of the lifting arm assembly and the support arm assembly on the driving arm assembly is equal to the distance between the two installation positions of the lifting arm assembly and the support arm assembly on the frame of the wall climbing robot to be installed. The walking mechanism is retracted after walking and lifting and is in contact with the wall surface again in the whole process, and the walking wheels are always parallel to the side surface of the frame of the wall-climbing robot.
Description
Technical Field
The utility model relates to the technical field of robots, specifically a sufficient running gear of wheel of magnetism adsorption wall climbing robot.
Background
With the development of economy, the requirements of construction operations such as rust removal, paint spraying and detection on large equipment such as petrochemical storage tanks and ships on environmental protection, personal safety and low cost and high efficiency are increasingly strict, the requirements cannot be met by only depending on manual operation, and the wall-climbing robot is taken as automatic equipment capable of being adsorbed on a wall surface to move, so that the wall-climbing robot has a wide application prospect.
At present, most of wall climbing robots are wheel type or crawler type, the wheel type wall climbing robots have high moving speed and high moving stability, the crawler type wall climbing robots have high adsorption capacity, the crawler type wall climbing robots and the crawler type wall climbing robots have certain wall surface self-adaptive capacity, but do not have excellent obstacle crossing performance, and the adaptability to curved surfaces and obstacles on large-scale equipment such as petrochemical storage tanks and ships is poor.
The chinese patent with application number 201810188342.9 discloses a permanent magnet wheel type wall-climbing robot, which adopts a synchronous belt type walking driving mechanism to realize the crawling of the whole robot without using a chain track; however, the whole walking driving mechanism cannot be lifted upwards relative to the frame, so that the height of the wheels relative to the wall surface cannot be adjusted, the wall-climbing robot has poor capability of crossing large obstacles, and a wheel clamping phenomenon may occur when the wall-climbing robot crosses small obstacles.
The Chinese patent with the application number of 201711158187.8 discloses a multifunctional wall-climbing robot capable of crossing obstacles, wherein the rotation of two vehicle bodies relative to a middle platform is realized through two limiting joints with two degrees of freedom, so that the wall-climbing robot has good self-adaptive capacity to the change of the curvature of a wall surface; adopt the hold-in range to realize the walking of whole wall climbing robot, running gear can not upwards promote moreover, makes the ability that wall climbing robot strides across the barrier relatively poor.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is to provide a wheel-foot type running gear of a magnetic adsorption wall-climbing robot.
The utility model provides a technical scheme that technical problem adopted is:
a wheel-foot type walking mechanism of a magnetic adsorption wall-climbing robot is characterized by comprising a lifting arm assembly, a supporting arm assembly, a driving arm assembly and walking wheels; one part of the lifting arm assembly is arranged on a frame of the wall-climbing robot to be installed, and the other part of the lifting arm assembly is connected with the upper part of the driving arm assembly; one part of the supporting arm assembly is connected with a frame of the wall-climbing robot to be installed, the other part of the supporting arm assembly is connected with the lower part of the driving arm assembly, and the tail end of the driving arm assembly is provided with a traveling wheel; the lifting arm assembly and the supporting arm assembly are jointly used for lifting the travelling mechanism, and the driving arm assembly is used for driving the travelling wheel to travel; the distance between the two mounting positions of the lifting arm assembly and the support arm assembly on the driving arm assembly is equal to the distance between the two mounting positions of the lifting arm assembly and the support arm assembly on the wall climbing robot frame to be mounted;
the lifting arm assembly comprises a lifting arm driving motor, a speed reducer and a lifting arm; the lifting arm driving motor is arranged on a frame of the wall-climbing robot to be installed, an output shaft of the lifting arm driving motor is connected with an input end of the speed reducer, an output end of the speed reducer is fixedly connected with one end of the lifting arm through a key, and an output shaft of the speed reducer is positioned on a joint on the lifting arm; the other end of the lifting arm is hinged to a hinged support at the upper part of the driving arm assembly through a first connecting shaft, the lifting arm and the hinged support at the upper part of the driving arm assembly form a revolute pair, and the position of the first connecting shaft is a lower joint of the lifting arm;
the support arm assembly comprises a support arm, a second connecting shaft and a third connecting shaft; one end of the supporting arm is hinged to a frame of the wall-climbing robot to be installed through a second connecting shaft, the supporting arm and the frame form a revolute pair, and the position of the second connecting shaft is a joint on the supporting arm; the other end of the supporting arm is hinged to a hinged support at the lower part of the driving arm assembly through a third connecting shaft, the supporting arm and the hinged support at the lower part of the driving arm assembly form a revolute pair, and the third connecting shaft is arranged at the lower joint of the supporting arm;
the four joints are enclosed to form a parallelogram structure.
Compared with the prior art, the beneficial effects of the utility model are that:
1) the lifting arm, the first driving arm, the second driving arm, the third driving arm, the supporting arm and the frame of the wall-climbing robot to be installed jointly form a parallelogram link mechanism, so that the walking mechanism is guaranteed to be withdrawn after walking and lifting in the whole process of being in re-contact with the wall surface, the walking wheel and the side surface of the frame of the wall-climbing robot are always kept parallel, the bending moment borne by the output shaft of the right-angle speed reducer in the process of re-contact between the walking wheel and the wall surface is reduced, and the service life of the right-angle speed reducer is prolonged; in the process that the travelling wheels travel on the wall surface, the lifting arms and the supporting arms bear the acting force of mutual extrusion between the wall surface and the frame of the wall-climbing robot together, so that the torque borne by the output shaft of the speed reducer is reduced, and the service life of the speed reducer is prolonged; meanwhile, a motor used for keeping the walking wheels parallel to the side face of the frame of the wall-climbing robot at the lower joint of the lifting arm can be omitted, so that the walking mechanism is lighter and simpler to control.
2) When the obstacle is crossed, because whole running gear can upwards promote, can reduce the height of the whole barycenter of the wall climbing robot of the running gear of this application of installation, improve the antidumping performance of wall climbing robot.
3) The utility model adopts the right-angle reducer to change the force transmission direction of the walking drive motor, and further drives the walking wheel to move forward; compared with the transmission that the relative positions of the walking driving motor and the walking wheels are vertical by adopting a common speed reducer, the universal coupling for changing the force transmission direction can be omitted, the structure is simpler, and the walking mechanism is lighter.
4) The walking mechanism solves the problem that the obstacle crossing capability of the existing wall-climbing robot is poor when the existing wall-climbing robot crosses a large obstacle during operation, so that the wall-climbing robot has the advantages of high moving speed, good stability and flexible steering of a wheeled robot, has good walking capability of a foot type robot, and can meet the requirements of movement and operation in a complex environment.
Drawings
Fig. 1 is a schematic view of an installation structure of the travelling mechanism of the invention on a wall-climbing robot;
FIG. 2 is a schematic view of the overall structure of the traveling mechanism of the present invention;
fig. 3 is a schematic structural view of a driving arm of the present invention;
fig. 4 is a schematic structural view of the second driving arm of the present invention;
fig. 5 is a schematic structural view of three portions of the driving arm of the present invention;
FIG. 6 is a front view of the wall-climbing robot with the traveling mechanism of the present invention installed when not lifted upward;
fig. 7 is a front view of the wall-climbing robot when the traveling mechanism of the present invention is lifted to the maximum height;
in the figure: 1-a vehicle frame; 2-a traveling mechanism; 21-a lift arm assembly; 22-a support arm assembly; 23-a drive arm assembly; 24-road wheels; 211-lift arm drive motor; 212-a reducer; 213-lift arms; 214-first connecting shaft; 221-a support arm; 222-a second connecting shaft; 223-a third connecting shaft; 231-a drive arm portion; 232-driving arm two part; 233-driving arm three; 234-drive arm four; 235-a walking driving motor; 236-right angle reducer; 2311-a first hinge support; 2321-second hinge support; 2331-third hinge support.
Detailed Description
In order to make the present invention more popular and easy to understand, the present invention will be further explained below with reference to the embodiments and the accompanying drawings.
The utility model provides a wheel-foot type walking mechanism (a walking mechanism for short, see figures 1-7) of a magnetic adsorption wall-climbing robot, which comprises a lifting arm component 21, a supporting arm component 22, a driving arm component 23 and walking wheels 24; one part of the lifting arm assembly 21 is arranged on the frame 1 of the wall climbing robot to be installed, and the other part is connected with the upper part of the driving arm assembly 23; one part of the supporting arm component 22 is connected with the frame 1 of the wall-climbing robot to be installed, the other part is connected with the lower part of the driving arm component 23, and the tail end of the driving arm component 23 is provided with a traveling wheel 24; the lifting arm assembly 21 and the supporting arm assembly 22 are used for lifting the travelling mechanism together, and the driving arm assembly 23 is used for driving the travelling wheels 24 to travel; the distance between the two mounting positions of the lifting arm assembly and the support arm assembly on the driving arm assembly is equal to the distance between the two mounting positions of the lifting arm assembly and the support arm assembly on the wall climbing robot frame to be mounted;
the lift arm assembly 21 includes a lift arm drive motor 211, a reducer 212, and a lift arm 213; the lifting arm driving motor 211 is arranged on the frame 1 of the wall-climbing robot to be installed, the output shaft of the lifting arm driving motor 211 is connected with the input end of the speed reducer 212, the output end of the speed reducer 212 is fixedly connected with one end of the lifting arm 213 through a key, and the position of the output shaft of the speed reducer is a joint on the lifting arm 213; the other end of the lifting arm 213 is hinged on a hinged support at the upper part of the driving arm assembly through a first connecting shaft 214, the lifting arm 213 and the hinged support at the upper part of the driving arm assembly form a revolute pair, and the position of the first connecting shaft is a lower joint of the lifting arm 213;
the support arm assembly 22 includes a support arm 221, a second coupling shaft 222, and a third coupling shaft 223; one end of the supporting arm 221 is hinged to the frame 1 of the wall-climbing robot to be installed through a second connecting shaft 222, the supporting arm 221 and the frame 1 form a revolute pair, and the position of the second connecting shaft is a joint on the supporting arm 221; the other end of the supporting arm 221 is hinged to a hinged support 2321 at the lower part of the driving arm assembly through a third connecting shaft 223, the supporting arm 221 and the hinged support at the lower part of the driving arm assembly form a revolute pair, and the third connecting shaft is a lower joint of the supporting arm 221;
the four joints are enclosed to form a parallelogram structure.
Example 1
The wheel-foot type walking mechanism of the magnetic adsorption wall-climbing robot comprises a lifting arm assembly 21, a supporting arm assembly 22, a driving arm assembly 23 and walking wheels 24; one part of the lifting arm assembly 21 is arranged on the frame 1 of the external wall-climbing robot, and the other part is connected with the upper part of the driving arm assembly 23; one part of the supporting arm assembly 22 is connected with the frame 1 of the external wall-climbing robot, the other part is connected with the lower part of the driving arm assembly 23, and the tail end of the driving arm assembly 23 is provided with a traveling wheel 24;
the driving arm assembly 23 comprises a driving arm first part 231, a driving arm second part 232, a driving arm third part 233, a driving arm fourth part 234, a walking driving motor 235 and a right-angle reducer 236; the walking driving motor 235 is arranged in the first driving arm part 231, a right-angle reducer 236 is arranged on an output shaft of the walking driving motor 235, and one end, connected with the walking driving motor 235, of the right-angle reducer 236 is limited through a shaft shoulder on the first driving arm part 231; the output end of the right-angle reducer 236 is provided with a traveling wheel 24, the right-angle reducer 236 is sleeved with a driving arm four part 234 connected with a driving arm one part 231, and an output flange of the right-angle reducer 236 is fixedly connected with the driving arm four part 234;
the second driving arm part 232 and the third driving arm part 233 are symmetrically arranged at two sides of the first driving arm part 231 by taking the central axis of the first driving arm part 231 as a symmetry axis, and both parts are coated on the right-angle speed reducer 236; one end of the driving arm second part 232 and one end of the driving arm third part 233 are fixedly connected with the driving arm first part 231 respectively, the other end of the driving arm second part 232 and the other end of the driving arm third part 233 are fixedly connected with the driving arm fourth part 234 respectively, and the driving arm first part 231, the driving arm second part 232, the driving arm third part 233 and the driving arm fourth part 234 jointly play a role in fixing the right-angle reducer 236;
the lift arm assembly 21 includes a lift arm drive motor 211, a reducer 212, and a lift arm 213; the lifting arm driving motor 211 is installed on the frame 1 of the external wall-climbing robot, the output shaft of the lifting arm driving motor 211 is connected with the input end of the speed reducer 212, and the output end of the speed reducer 212 is fixedly connected with one end of the lifting arm 213 through a key to form an upper joint of the lifting arm 213; the other end of the lifting arm 213 is hinged on two first hinged supports 2311 of the first driving arm part 231 through the first connecting shaft 214, and the lifting arm 213 and the first driving arm part 231 form a rotating pair, so that a lower joint of the lifting arm 213 is formed; two ends of the first connecting shaft 214 respectively form interference fit with the two first hinge supports 2311, and the first connecting shaft 214 is limited through nuts;
the support arm assembly 22 includes a support arm 221, a second coupling shaft 222, and a third coupling shaft 223; one end of the supporting arm 221 is hinged to the frame 1 of the external wall-climbing robot through a second connecting shaft 222, and the supporting arm 221 and the frame 1 of the external wall-climbing robot form a revolute pair so as to form an upper joint of the supporting arm 221; the other end of the supporting arm 221 is hinged to the second hinged support 2321 of the second driving arm part 232 and the third hinged support 2331 of the third driving arm part 233 through the third connecting shaft 223, and the supporting arm 221, the second driving arm part 232 and the third driving arm part 233 form a revolute pair, so that a lower joint of the supporting arm 221 is formed; both ends of the second connecting shaft 222 form interference fit with the frame 1 of the external wall-climbing robot, and the second connecting shaft 222 is limited through nuts; two ends of the third connecting shaft 223 respectively form interference fit with the second hinged support 2321 and the third hinged support 2331, and the third connecting shaft 223 is limited by nuts;
wherein, the center distance between the upper joint and the lower joint of the lifting arm 213 is equal to the center distance between the upper joint and the lower joint of the supporting arm 221, and both are 10 cm; the center distance between the upper joint of the lifting arm 213 and the upper joint of the supporting arm 221 is equal to the center distance between the lower joint of the lifting arm 213 and the lower joint of the supporting arm 221, and both the center distances are 13 cm; the four joints and corresponding parts connected with each joint form a parallelogram link mechanism together, so that the walking wheel 24 is always parallel to the side surface of the frame 1 of the wall-climbing robot in the whole process that the walking mechanism is retracted to be in contact with the wall surface again after walking and lifting, and the bending moment born by the output shaft of the right-angle reducer 236 in the process that the walking wheel 24 is in contact with the wall surface again is reduced; in the process of walking on the wall surface by the walking wheels 24, the torque borne by the output shaft of the speed reducer 212 is reduced because the lifting arm 213 and the supporting arm 221 bear the mutual extrusion acting force between the wall surface and the frame 1 of the wall-climbing robot together.
The obstacle crossing height of the travelling mechanism is related to the rotating angle of the lifting arm 213, and when the wall-climbing robot provided with the travelling mechanism of the application does not cross the obstacle, the lifting arm 213 is parallel to the side surface of the frame 1 of the wall-climbing robot; when the wall climbing robot crosses the obstacle, the lifting arm 213 rotates relative to the frame 1 of the wall climbing robot, the lifting arm 213 is lifted upwards, when the lifting arm 213 rotates 90 degrees, namely the lifting arm 213 is vertical to the side surface of the frame 1 of the wall climbing robot, the traveling mechanism has the maximum obstacle crossing height of 10-13cm, wherein the passive obstacle crossing height of the traveling wheels 24 is 2-3 cm.
The second driving arm part 232 and the third driving arm part 233 are symmetrical in structure and are both similar to J.
A plurality of grooves are formed on the side wall of the first driving arm part 231 to reduce the weight of the first driving arm part 231; the side surface of the driving arm four portion 234 has a plurality of hollowed portions to reduce the weight of the driving arm four portion 234.
The lift arm 213 has a through groove for reducing weight.
The tire of the road wheel 24 is made of a material with a high friction coefficient, preferably made of silicon rubber, so that the friction coefficient between the tire and the wall surface is greater than or equal to 0.4, and the walking mechanism is prevented from sliding off the wall surface.
The utility model discloses a theory of operation and work flow are:
when the wall climbing robot is used, the traveling mechanisms are symmetrically arranged on two sides of the wall climbing robot, when the wall climbing robot normally travels, the lifting arm driving motors 211 are in a braking state, and the traveling driving motors 235 normally work to drive the corresponding traveling wheels 24 to rotate, so that the wall climbing robot normally travels; when the wall climbing robot encounters an obstacle, the walking driving motor 235 stops working, the lifting arm driving motor 211 starts to run, the lifting arm 213 rotates relative to the frame 1 of the wall climbing robot, the driving arm first part 231, the driving arm second part 232, the driving arm third part 233 and the supporting arm 221 are driven to rotate relative to the frame 1 of the wall climbing robot, the whole walking mechanism and the walking wheel 24 are lifted upwards together, and obstacle crossing of the wall climbing robot is achieved; after the obstacle is crossed, the lifting arm driving motor 211 rotates reversely to enable the lifting arm 213 to rotate, the whole walking mechanism descends, and the walking wheels 24 are enabled to be in contact with the wall surface again (in the process, the process of keeping vertical adjustment in the contact process is added); the walking driving motor 235 is started again to drive the wall climbing robot to continue walking.
The utility model discloses the nothing is mentioned the part and is applicable to prior art.
Claims (6)
1. A wheel-foot type walking mechanism of a magnetic adsorption wall-climbing robot is characterized by comprising a lifting arm assembly, a supporting arm assembly, a driving arm assembly and walking wheels; one part of the lifting arm assembly is arranged on a frame of the wall-climbing robot to be installed, and the other part of the lifting arm assembly is connected with the upper part of the driving arm assembly; one part of the supporting arm assembly is connected with a frame of the wall-climbing robot to be installed, the other part of the supporting arm assembly is connected with the lower part of the driving arm assembly, and the tail end of the driving arm assembly is provided with a traveling wheel; the lifting arm assembly and the supporting arm assembly are jointly used for lifting the travelling mechanism, and the driving arm assembly is used for driving the travelling wheel to travel; the distance between the two mounting positions of the lifting arm assembly and the support arm assembly on the driving arm assembly is equal to the distance between the two mounting positions of the lifting arm assembly and the support arm assembly on the wall climbing robot frame to be mounted;
the lifting arm assembly comprises a lifting arm driving motor, a speed reducer and a lifting arm; the lifting arm driving motor is arranged on a frame of the wall-climbing robot to be installed, an output shaft of the lifting arm driving motor is connected with an input end of the speed reducer, an output end of the speed reducer is fixedly connected with one end of the lifting arm through a key, and an output shaft of the speed reducer is positioned on a joint on the lifting arm; the other end of the lifting arm is hinged to a hinged support at the upper part of the driving arm assembly through a first connecting shaft, the lifting arm and the hinged support at the upper part of the driving arm assembly form a revolute pair, and the position of the first connecting shaft is a lower joint of the lifting arm;
the support arm assembly comprises a support arm, a second connecting shaft and a third connecting shaft; one end of the supporting arm is hinged to a frame of the wall-climbing robot to be installed through a second connecting shaft, the supporting arm and the frame form a revolute pair, and the position of the second connecting shaft is a joint on the supporting arm; the other end of the supporting arm is hinged to a hinged support at the lower part of the driving arm assembly through a third connecting shaft, the supporting arm and the hinged support at the lower part of the driving arm assembly form a revolute pair, and the third connecting shaft is arranged at the lower joint of the supporting arm;
the four joints are enclosed to form a parallelogram structure.
2. The traveling mechanism according to claim 1, wherein the driving arm assembly comprises a driving arm first part, a connecting frame consisting of a driving arm second part, a driving arm third part and a driving arm fourth part, a traveling driving motor and a right-angle reducer; the walking driving motor and the right-angle speed reducer are both installed in the connecting frame, the right-angle speed reducer is installed on an output shaft of the walking driving motor, and the walking wheel is installed at the output end of the right-angle speed reducer.
3. The traveling mechanism according to claim 2, wherein the second driving arm portion and the third driving arm portion are both J-like in structure.
4. The walking mechanism of claim 2, wherein the driving arm has a plurality of grooves formed on a side wall of a portion thereof, and a plurality of hollowed portions formed on a side surface of four portions thereof.
5. The walking mechanism of claim 1, wherein the center distance between the upper joint and the lower joint of the lifting arm and the center distance between the upper joint and the lower joint of the support arm are both 10cm, and the center distance between the upper joint of the lifting arm and the upper joint of the support arm and the center distance between the lower joint of the lifting arm and the lower joint of the support arm are both 13 cm.
6. The travel mechanism of claim 1, wherein the lift arm includes a through slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201921494196.9U CN210555241U (en) | 2019-09-10 | 2019-09-10 | Wheel-foot type walking mechanism of magnetic adsorption wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921494196.9U CN210555241U (en) | 2019-09-10 | 2019-09-10 | Wheel-foot type walking mechanism of magnetic adsorption wall-climbing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111483278A (en) * | 2020-06-28 | 2020-08-04 | 之江实验室 | Vertical buffer integrated suspension-steering mechanism |
| CN111661188A (en) * | 2020-06-04 | 2020-09-15 | 大连理工大学 | Universal translation magnetic wall-climbing robot for decontamination of hull plates and working method |
| CN114036747A (en) * | 2021-11-08 | 2022-02-11 | 北京华航唯实机器人科技股份有限公司 | Model assembly building method and device, electronic device and storage medium |
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2019
- 2019-09-10 CN CN201921494196.9U patent/CN210555241U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111661188A (en) * | 2020-06-04 | 2020-09-15 | 大连理工大学 | Universal translation magnetic wall-climbing robot for decontamination of hull plates and working method |
| CN111661188B (en) * | 2020-06-04 | 2022-09-06 | 大连理工大学 | Universal translation magnetic wall-climbing robot for decontamination of hull plates and working method |
| CN111483278A (en) * | 2020-06-28 | 2020-08-04 | 之江实验室 | Vertical buffer integrated suspension-steering mechanism |
| CN111483278B (en) * | 2020-06-28 | 2020-10-13 | 之江实验室 | Vertical buffer integrated suspension-steering mechanism |
| CN114036747A (en) * | 2021-11-08 | 2022-02-11 | 北京华航唯实机器人科技股份有限公司 | Model assembly building method and device, electronic device and storage medium |
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Effective date of registration: 20210407 Address after: 300401 2-1 Yougu Xinke Park, east of Jingfu Road, medical and medical equipment Industrial Park, Beichen economic and Technological Development Zone, Tianjin Patentee after: BHP robot (Tianjin) Co.,Ltd. Address before: 300130 No. 8, Hebei University of Technology, Tianjin, Hongqiao No. 330 Patentee before: Hebei University of Technology |
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