CN211582898U - A motion mechanism for walking on smooth surfaces - Google Patents

Abstract

The utility model relates to a moving mechanism for a robot walking on a smooth and clean surface. A moving mechanism for walking on a smooth surface comprises a first moving unit, a second moving unit, a telescopic mechanism, a rotating mechanism, a first moving unit sucker, a second moving unit sucker and a control chip, wherein the first moving unit and the second moving unit are connected through the telescopic mechanism, the first moving unit sucker is installed at the bottom of the first moving unit, the second moving unit sucker is installed at the bottom of the second moving unit, the rotating mechanism is fixedly installed on the upper portion of the first moving unit sucker or the second moving unit sucker, the first moving unit sucker or the second moving unit sucker installed on the rotating mechanism is rotatably connected with the first moving unit or the second moving unit on the first moving unit sucker or the second moving unit sucker, the first moving unit sucker and the second moving unit sucker are sequentially adsorbed on the smooth surface, the moving is realized under the action of the telescopic mechanism, and the rotating is realized under the action of the rotating mechanism.

Description

A motion mechanism for walking on smooth surfaces

technical field

The utility model relates to a moving mechanism of a robot for walking on a smooth surface.

Background technique

With the continuous development of the construction industry and photovoltaic power plants, many buildings with glass, ceramics and other smooth objects as the surface have more and more equipment and facilities. These facilities usually have the characteristics of large area, high height, and no attachments on the surface. The cleaning and cleaning of these facilities can often only be done manually, which is not only inefficient, costly, but also extremely dangerous.

The existing small glass cleaning robots are basically divided into two moving methods: one is a single suction suction cup, which relies on the friction between the bottom crawler and the glass to realize the movement of the robot. Its adsorption is not very reliable, and it is easy to fall off when cleaning the outside of the window. Phenomenon. The second is two suction suction cups, which twist and move forward through alternate adsorption. Although the robot in this way greatly enhances the robot's adsorption capacity and improves the security, its forward trajectory is not clear, the repeated wiping area is large, and the efficiency is low. .

Therefore, how to design a moving mechanism with a clear action trajectory, reliable adsorption, high efficiency, and can walk on a smooth surface is a problem that we urgently need to solve.

Utility model content

The technical problem to be solved by the utility model is: how to propose a motion mechanism that can walk on a smooth surface.

The technical scheme adopted by the utility model is: a motion mechanism for walking on a smooth surface, comprising a first motion unit 1, a second motion unit 4, a telescopic mechanism 2, a rotation mechanism 3, a first motion unit suction cup, a second motion unit The motion unit suction cup 401, the control chip, the first motion unit 1 and the second motion unit 4 are connected by the telescopic mechanism 2, the first motion unit suction cup is installed at the bottom of the first motion unit 1, and the second motion unit suction cup is installed at the bottom of the second motion unit 4 401, the rotating mechanism 3 is fixedly installed on the upper part of the first motion unit suction cup or the second motion unit suction cup 401, and the first motion unit suction cup or the second motion unit suction cup 401 of the rotating mechanism 3 is installed with the first motion unit 1 or the second motion unit on it. The moving unit 4 is connected in rotation. The suction cups of the first moving unit and the suction cups 401 of the second moving unit are sequentially adsorbed on the smooth surface.

The telescopic mechanism 2 includes a straight driving motor 201, a driving gear 202 mounted on the output shaft of the straight driving motor 201, a driven gear 203 meshing with the driving gear 202, a driving arm 204 fixedly connected with the gear plate of the driven gear 203, The driven arm 206 of the arm 204 is crisscrossed and rotationally connected, and the fixed shaft pin 207, which is fixedly installed on one end of the active arm 204 and the driven arm 206 and is installed on the first motion unit 1 and the second motion unit 4 by rotational connection, respectively. The sliding grooves on the first motion unit 1 and the second motion unit 4, the sliding shaft pins in the sliding grooves installed on the other ends of the driving arm 204 and the driven arm 206 respectively, and the first The code wheel 214, the first travel switch 210 for locating the starting position and the second travel switch 211 for locating the end position are installed in the chute.

The straight drive motor 201 , the driving gear 202 and the driven gear 203 are all mounted on the second motion unit 4 , the fixed shaft pin 207 of the driving arm 204 is coaxial with the central axis of the driven gear 203 , and the fixed shaft pin of the driven arm 206 207 Rotately connect and install the first movement unit 1, the first sliding shaft pin 213 on the active arm 204 is in the first chute 212 on the first movement unit 1, and the second sliding shaft pin 209 of the driven arm 206 moves the second In the second chute 208 on the unit 4 , the driving arm 204 and the driven arm 206 are rotatably connected through the movement shaft pin 205 .

The rotating mechanism 3 includes a second moving unit suction cup 401 , a rotating driving motor 301 , a rotating driving motor pulley 302 mounted on the output shaft of the rotating driving motor 301 , a rotating transmission belt 303 , and a rotating driven pulley fixed on the second moving unit suction cup 401 304. The suction cup guide shaft 305 fixed on the suction cup 401 of the second movement unit, the bearing 306 installed on the suction cup guide shaft 305, the rotary joint 309, the second code disc 307, the rotary drive motor 301 is fixed on the second movement unit 4 , the suction cup catheter shaft 305 is rigidly connected with the suction cup 401 of the second motion unit and the rotary joint 309, and is connected with the second motion unit 4 through the bearing 306, so that the combination of the suction cup catheter shaft 305, the suction cup 401 and the rotary joint 309 can be relatively The moving unit 4 performs a rotating motion, and the rotating joint 309 is rotatably connected with the suction cup catheter shaft 305 to ensure that the vacuum air path is not affected during the rotation. The second code wheel 307 is used to measure the angle of movement of the rotating mechanism.

There are three suction cups of the first moving unit, which are the first suction cup 101 of the first moving unit, the second suction cup 102 of the first moving unit, and the third suction cup 103 of the first moving unit.

The beneficial effects of the utility model are: when the motion mechanism of the utility model moves straight, the suction cups fixed on the two motion units act alternately, ensuring that the motion mechanism can be reliably adsorbed on the smooth surface during motion, and the reciprocating action of the telescopic mechanism makes the motion Institutions go straight. When turning is required, the suction cup of the first moving unit fixed to the first moving unit is released, the suction cup of the second moving unit fixed to the second moving unit is sucked, the rotating mechanism operates, and the moving mechanism rotates around the suction cup of the second moving mechanism.

Description of drawings

Fig. 1 is the overall schematic diagram of the utility model mechanism;

Figure 2 is a schematic diagram of the position of the suction cup of the present invention;

Fig. 3 is the top view of the straight travel related mechanism of the present invention;

FIG. 4 is an axial side view of the straight travel related mechanism of the present invention;

Fig. 5 is the top view of the rotating mechanism of the present invention;

Fig. 6 is the axonometric view of the rotating mechanism of the present utility model;

Fig. 7 is the sectional view of the rotating mechanism of the present invention;

Among them, 1. the first motion unit, 2, the telescopic mechanism, 3, the rotation mechanism, 4, the second motion unit, 101, the first suction cup of the first motion unit, 102, the second suction cup of the first motion unit, 103, the first Movement unit third suction cup, 201, straight drive motor, 202, driving gear, 203, driven gear, 204, driving arm, 205, movement shaft pin, 206, driven arm, 208, second chute, 209, No. Two sliding shaft pins, 210, the first travel switch, 211, the second travel switch, 212, the first chute, 213, the first sliding shaft pin, 214, the first code disc, 215, the first counting slot type optocoupler , 301, rotary drive motor, 302, rotary drive motor pulley, 303, rotary drive belt, 304, rotary driven wheel, 305, suction cup guide shaft, 306 bearing, 307, second code disc, 308, second counting slot light Coupling, 309, rotary joint, suction cup of the second motion unit.

Detailed ways

A motion mechanism for walking on a smooth surface, comprising a first motion unit 1, a second motion unit 4, a telescopic mechanism 2, a rotation mechanism 3, a first motion unit suction cup, a second motion unit suction cup 401, a control chip common smartphone A chip can be used. The first motion unit 1 and the second motion unit 4 are connected by a telescopic mechanism 2. The bottom of the first motion unit 1 is a plane as a whole, and the upper part is a box body. The box cover is not drawn in the drawings of the present utility model. The first motion unit suction cup is installed on the plane, the bottom of the second motion unit 4 is a plane as a whole, and the upper part is a box body. The box cover is not drawn in the accompanying drawings of the present utility model. The second motion unit suction cup 401 is installed, and the first motion unit 1 and The second motion unit 4 can be of a rectangular structure or the shape shown in FIG. 1 . The rotating mechanism 3 is fixedly installed on the suction cup of the first motion unit or the upper part of the suction cup 401 of the second motion unit. The moving unit suction cup or the second moving unit suction cup 401 is rotatably connected with the first moving unit 1 or the second moving unit 4 on it. The first moving unit suction cup and the second moving unit suction cup 401 are sequentially adsorbed on the smooth surface and act on the telescopic mechanism 2 The movement is realized under the action of the rotating mechanism 3, and the rotation is realized under the action of the rotating mechanism 3.

The telescopic mechanism 2 includes a straight driving motor 201, a driving gear 202 mounted on the output shaft of the straight driving motor 201, a driven gear 203 meshing with the driving gear 202, a driving arm 204 fixedly connected with the gear plate of the driven gear 203, The driven arm 206 of the arm 204 is crisscrossed and rotationally connected, and the fixed shaft pin 207, which is fixedly installed on one end of the active arm 204 and the driven arm 206 and is installed on the first motion unit 1 and the second motion unit 4 by rotational connection, respectively. The sliding grooves on the first motion unit 1 and the second motion unit 4, the sliding shaft pins in the sliding grooves installed on the other ends of the driving arm 204 and the driven arm 206 respectively, and the first The code wheel 214, the first travel switch 210 for locating the starting position and the second travel switch 211 for locating the end position are installed in the chute.

The straight drive motor 201 , the driving gear 202 and the driven gear 203 are all mounted on the second motion unit 4 , the fixed shaft pin 207 of the driving arm 204 is coaxial with the central axis of the driven gear 203 , and the fixed shaft pin of the driven arm 206 207 Rotately connect and install the first movement unit 1, the first sliding shaft pin 213 on the active arm 204 is in the first chute 212 on the first movement unit 1, and the second sliding shaft pin 209 of the driven arm 206 moves the second In the second chute 208 on the unit 4 , the driving arm 204 and the driven arm 206 are rotatably connected through the movement shaft pin 205 .

The rotating mechanism 3 includes a second moving unit suction cup 401 , a rotating driving motor 301 , a rotating driving motor pulley 302 mounted on the output shaft of the rotating driving motor 301 , a rotating transmission belt 303 , and a rotating driven pulley fixed on the second moving unit suction cup 401 304. The suction cup guide shaft 305 fixed on the suction cup 401 of the second movement unit, the bearing 306 installed on the suction cup guide shaft 305, the rotary joint 309, the second code disc 307, the rotary drive motor 301 is fixed on the second movement unit 4 , the suction cup catheter shaft 305 is rigidly connected with the suction cup 401 of the second motion unit and the rotary joint 309, and is connected with the second motion unit 4 through the bearing 306, so that the combination of the suction cup catheter shaft 305, the suction cup 401 and the rotary joint 309 can be relatively The moving unit 4 performs a rotating motion, and the rotating joint 309 is rotatably connected with the suction cup catheter shaft 305 to ensure that the vacuum air path is not affected during the rotation. The second code wheel 307 is used to measure the angle of movement of the rotating mechanism.

There are three suction cups of the first moving unit, which are the first suction cup 101 of the first moving unit, the second suction cup 102 of the first moving unit, and the third suction cup 103 of the first moving unit.

When it needs to go straight, the robot is vertically or horizontally adsorbed on the smooth surface. First, the first motion unit sucks the first motion unit first sucker 101, the first motion unit second sucker 102, the first motion unit The third sucker 103, the first The suction cups 401 of the two moving units work together to fix the mechanism on the smooth surface. The control chip is electrically connected to the camera through the camera control chip installed on the first moving unit 1 and the second moving unit 4 to detect the moving direction. When the first moving unit moves in the direction, the suction cup of the first moving unit is released, and at the same time, the straight driving motor 201 drives the driven gear 203 to rotate clockwise. Since the second sliding shaft pin 209 can only move in the second chute 208, the first sliding The shaft pin 213 can only move in the first chute 212 , and the angle α between the driving arm 204 and the driven arm 206 becomes smaller, pushing the first moving unit 1 to move away from the second moving unit 4 . When the second sliding shaft pin 209 moves to the second travel switch 211, the second travel switch 211 is closed, the control system stops the movement of the straight driving motor 201, and then vacuumizes the suction cup of the first moving unit, so that the first moving unit 1 is adsorbed on the smooth and clean On the surface, after the first motion unit 1 is firmly adsorbed, the control chip controls the second motion unit suction cup 401 to release, the straight drive motor 201 drives the driven gear 203 to rotate counterclockwise, and the angle α between the driving arm 204 and the driven arm 206 becomes larger. , and pull the second motion unit 4 to approach the first motion unit 1 . The combination of the first code disc 214 and the first counting slot-type optocoupler 215 is used to measure and calculate the position and trajectory of the movement.

When the movement is reversed, the movement sequence of each mechanism is reversed.

When the device needs to rotate counterclockwise as a whole, the control chip drives the suction cup 401 of the second moving unit to pull in, and the suction cup of the first moving unit is released. After the suction is stable, the driving motor 301 is rotated.

By rotating the driving motor pulley 302 and the rotating transmission belt 303 to drive the rotating driven pulley 304 to rotate counterclockwise, since the second moving unit suction cup 401 has been firmly adsorbed on the smooth surface, the suction cup catheter shaft 305, the second moving unit suction cup 401 and the rotary joint 309 The combination cannot move, so with the counterclockwise rotation of the pulley 304, the combination of the suction cup catheter shaft 305, the second moving unit suction cup 401, and the rotary joint 309 rotates counterclockwise through the bearing 306. The angle of rotation can be detected by the combination of the second code disc 307 fixed on the suction cup guide shaft 305 and the second counting slot optocoupler 308. When the controller detects that the device rotates to the specified position, the rotation drive motor 302 stops, and the entire device stops rotating. sports.

Claims (4)

1. A motion mechanism for walking on a smooth surface, comprising: the device comprises a first movement unit (1), a second movement unit (4), a telescopic mechanism (2), a rotating mechanism (3), a first movement unit sucker, a second movement unit sucker (401) and a control chip, wherein the first movement unit (1) and the second movement unit (4) are connected through the telescopic mechanism (2), the first movement unit sucker is installed at the bottom of the first movement unit (1), the second movement unit sucker (401) is installed at the bottom of the second movement unit (4), the rotating mechanism (3) is fixedly installed on the upper portion of the first movement unit sucker or the second movement unit sucker (401), and the first movement unit sucker or the second movement unit sucker (401) of the rotating mechanism (3) is installed to be rotatably connected with the first movement unit (1) or the second movement unit (4) on the first movement unit sucker or the second movement unit sucker.

2. A motion mechanism for walking a clean surface, according to claim 1, wherein: the telescopic mechanism (2) comprises a straight driving motor (201), a driving gear (202) arranged on an output shaft of the driving motor (201), a driven gear (203) meshed with the driving gear (202), a driving arm (204) fixedly connected with a fluted disc of the driven gear (203), a driven arm (206) in cross rotating connection with the driving arm (204), fixed shaft pins (207) which are respectively and fixedly arranged at one ends of the driving arm (204) and the driven arm (206) and are arranged on a first movement unit (1) and a second movement unit (4) through rotating connection, sliding chutes respectively arranged on the first movement unit (1) and the second movement unit (4), sliding shaft pins which are respectively arranged at the other ends of the driving arm (204) and the driven arm (206) and are arranged in the sliding chutes, a first code disc (214) arranged on the driven gear (203), a first stroke switch (210) arranged in the sliding chutes and used for positioning a starting point and a second stroke switch (210) used for positioning an end point (211).

3. A motion mechanism for walking a clean surface, according to claim 2, wherein: the straight driving motor (201), the driving gear (202) and the driven gear (203) are all installed on the second moving unit (4), a fixing shaft pin (207) of the driving arm (204) is coaxial with a central shaft of the driven gear (203), the fixing shaft pin (207) of the driven arm (206) is rotatably connected with the first moving unit (1), a first sliding shaft pin (213) on the driving arm (204) is located in a first sliding groove (212) on the first moving unit (1), a second sliding shaft pin (209) of the driven arm (206) is located in a second sliding groove (208) on the second moving unit (4), and the driving arm (204) and the driven arm (206) are rotatably connected through a moving shaft pin (205).

4. A motion mechanism for walking a clean surface, according to claim 1, wherein: the rotating mechanism (3) comprises a second moving unit sucker (401), a rotating driving motor (301), a rotating driving motor belt pulley (302) arranged on an output shaft of the rotating driving motor (301), a rotating transmission belt (303), a rotating driven wheel (304) fixed on the second moving unit sucker (401), a sucker catheter shaft (305) fixed on the second moving unit sucker (401), a bearing (306) arranged on the sucker catheter shaft (305), a rotating joint (309) and a second coded disc (307), wherein the rotating driving motor (301) is fixed on the second moving unit (4), the sucker catheter shaft (305) is connected with the second moving unit sucker (401), and the rotating joint (309) is rigidly connected with the second moving unit (4) through the bearing (306).

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