CN212828751U

CN212828751U - Four-wheel drive wall surface mobile robot

Info

Publication number: CN212828751U
Application number: CN202021393115.9U
Authority: CN
Inventors: 李建伟; 李培兴; 左昱昱
Original assignee: Suzhou Jianshan Enterprise Management Partnership LP
Current assignee: Suzhou Jianshan Enterprise Management Partnership LP
Priority date: 2020-07-15
Filing date: 2020-07-15
Publication date: 2021-03-30
Anticipated expiration: 2030-07-15

Abstract

The utility model provides a four wheel drive wall mobile robot, it makes the robot can stably march along metal wall. The device comprises a control module, a fixed shaft module, a floating shaft module and a connecting module, wherein the control module is installed in an inwards concave supporting frame of the connecting module, the connecting module further comprises a first vertical plate and a second vertical plate, an outwards convex rotating shaft is fixedly connected to the exposed end face of the first vertical plate and is perpendicular to the first vertical plate, bearings are respectively sleeved at two ends of the rotating shaft in the length direction, the floating shaft module specifically comprises a floating shaft frame, a penetrating and avoiding hole is formed in the position, corresponding to the rotating shaft, of the floating shaft frame, the floating shaft frame is sleeved on the outer ring of the corresponding side bearing, walking wheels are respectively sleeved at two sides of the floating shaft frame through rotating bearings, and the exposed end face of the second vertical plate is fixedly connected with the connecting vertical plate of the fixed shaft module.

Description

Four-wheel drive wall surface mobile robot

Technical Field

The utility model relates to a technical field of robot structure specifically is a four wheel drive wall mobile robot.

Background

When an existing mobile robot moves on a metal wall surface, a permanent magnet needs to be arranged at the bottom, four wheels can only keep single flatness when the robot actually walks, once the wall surface has an uneven phenomenon, at least one wheel can be separated from the wall surface, and then the adsorption force of the whole robot and the wall surface is reduced, so that the loaded equipment cannot guarantee stable work, and therefore the robot structure capable of still keeping stable movement on the uneven wall surface is urgently needed.

Disclosure of Invention

To the above problem, the utility model provides a four wheel drive wall mobile robot, it makes the robot can stably march along metal wall.

A four-wheel drive wall surface mobile robot is characterized in that: the device comprises a control module, a fixed shaft module, a floating shaft module and a connecting module, wherein the control module is arranged in an inwards concave supporting frame of the connecting module, the connecting module further comprises a first vertical plate and a second vertical plate, an outwards convex rotating shaft is fixedly connected to the exposed end face of the first vertical plate and is arranged perpendicular to the first vertical plate, bearings are respectively sleeved at two ends of the rotating shaft in the length direction, the floating shaft module specifically comprises a floating shaft frame, a penetrating and avoiding hole is formed in the position, corresponding to the rotating shaft, of the floating shaft frame, the floating shaft frame is sleeved on the outer ring of the corresponding side bearing, walking wheels are respectively sleeved at two sides of the floating shaft frame through rotating bearings, the exposed end face of the second vertical plate is fixedly connected with the connecting vertical plate of the fixed shaft module, the fixed shaft module specifically comprises a fixed shaft frame, and a connecting vertical plate is arranged at the position, corresponding to the second vertical plate, of, the robot comprises a fixed shaft frame, a movable shaft frame, a fixed shaft, a permanent magnet, a movable shaft frame, a movable bearing, a movable; the inner cavity position of the fixed shaft frame corresponding to the walking wheels is provided with an independent driving motor, and the inner cavity position of the floating shaft frame corresponding to the walking wheels is provided with an independent driving motor, so that each walking wheel is provided with a motor independently, and stable and reliable driving is ensured.

It is further characterized in that:

an auxiliary connecting plate is fixedly arranged on the upper surface of the floating shaft frame, one end of the auxiliary connecting plate, far away from the first vertical plate, is forward-convex, a vertical limiting guide shaft is inserted in the forward-convex position of the auxiliary connecting plate, a buffer spring is sleeved in the lower area of the limiting guide shaft, the upper part of the buffer spring is abutted to the lower surface of the auxiliary connecting plate, and the lower end of the buffer spring is abutted to an upward convex central shaft of an auxiliary universal wheel and is used for improving the obstacle crossing function of the robot;

the upper part of the first vertical plate is provided with a convex limiting support, the lower part of a cross beam of the limiting support is provided with a hydraulic buffer spring, a position, corresponding to the cross beam of the limiting support, of the auxiliary connecting plate is provided with a rear convex stop block, the rear convex stop block partially extends into a limiting frame of the limiting support, and the bottom of the hydraulic buffer spring is pressed and attached to a corresponding upper surface area of the rear convex stop block and is used for reducing impact and vibration of the floating shaft frame in a swinging process relative to the rotating shaft;

each group of permanent magnets are fixedly arranged on the inner layer iron respectively, the inner layer iron is fixedly arranged on the magnet mounting piece, the magnet mounting piece is fixedly arranged at the bottom surface position of the corresponding frame, and the number of the permanent magnets is distributed according to requirements;

the control module mainly completes power supply and control of each driving part of the mobile robot, and realizes acquisition and processing of related detection data, the programmable controller is selected for main control of the control module, and the motor driver is selected in an integrated mode.

After the utility model is adopted, the floating shaft module and the control module are installed and connected through the rotating shaft and the first vertical plate; the auxiliary universal wheel is connected to the floating shaft module; a rotating pair is formed between the floating shaft module and the rotating shaft, so that the floating shaft frame can swing around the axis of the rotating shaft, the robot can be ensured to freely move on a complex curved surface, and the passing capacity of the system is improved; permanent magnets are fixedly arranged on the bottom surface of the concave supporting frame, the bottom surface of the floating shaft frame and the bottom surface of the fixed shaft frame respectively, and gaps are reserved between the bottom surfaces of the permanent magnets and the lowest surface of the travelling wheels; the robot has good passing ability, so that the robot can stably travel along the metal wall.

Drawings

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

fig. 2 is a schematic structural view of the utility model in a perspective view;

fig. 3 is a third schematic structural view of a perspective view of the present invention;

the names corresponding to the sequence numbers in the figure are as follows:

the device comprises a control module 1, a limiting support 2, a fixed shaft module 3, a floating shaft module 4, a connecting module 5, an inwards concave supporting frame 6, a first vertical plate 7, a second vertical plate 8, a rotating shaft 9, a bearing 10, a floating shaft frame 11, a walking wheel 12, a connecting vertical plate 13, a fixed shaft frame 14, a fixed shaft 15, an upwards convex connecting block 16, a cross beam 17, a backwards convex stop block 18, inner-layer iron 19, a permanent magnet 20, an auxiliary connecting plate 21, a limiting guide shaft 22, a buffer spring 23, an auxiliary universal wheel 24, an upwards convex central shaft 25 and a magnet mounting piece 26.

Detailed Description

A four-wheel drive wall-moving robot, see fig. 1-3: the device comprises a control module 1, a fixed shaft module 3, a floating shaft module 4 and a connecting module 5, wherein the control module 1 is arranged in an inward concave supporting frame 6 of the connecting module 5, the connecting module 5 further comprises a first vertical plate 7 and a second vertical plate 8, an outward convex rotating shaft 9 is fixedly connected to the exposed end surface of the first vertical plate 7, the rotating shaft 9 is arranged perpendicular to the first vertical plate 7, bearings 10 are respectively sleeved at two ends of the rotating shaft 9 in the length direction, the floating shaft module 4 specifically comprises a floating shaft frame 11, a through avoiding hole is formed in the position, corresponding to the rotating shaft 9, of the floating shaft frame 11, the outer ring of the corresponding side bearing 10 is sleeved with the floating shaft frame 11, walking wheels 12 are respectively sleeved at two sides of the floating shaft frame 11 through rotating bearings, the exposed end surface of the second vertical plate 8 is fixedly connected with a connecting vertical plate 13 of the module 3, the fixed shaft module 3 specifically comprises a fixed shaft frame 14, a connecting vertical plate 13 is arranged, two sides of the fixed shaft frame 14 are provided with fixed shafts 15 which are arranged in a length direction in a crossing manner, two ends of each fixed shaft 15 in the length direction are respectively sleeved with walking wheels 12 through rotating bearings, two sides of the upper surface of each fixed shaft 15 are respectively provided with an upper convex connecting block 16, and the upper convex connecting blocks 16 are respectively fixedly connected with an external assembly module; permanent magnets 20 are fixedly mounted on the bottom surface of the concave supporting frame 6, the bottom surface of the floating shaft frame 11 and the bottom surface of the fixed shaft frame 14 respectively, a gap is reserved between the bottom surface of the permanent magnet 20 and the lowest surface of the travelling wheel 12, and the permanent magnet 20 ensures that the robot can reliably travel on a metal wall surface; an independent driving motor (not shown in the figure and belonging to the prior mature technology) is arranged at the inner cavity position of the fixed shaft frame 14 corresponding to the walking wheels, and an independent driving motor is arranged at the inner cavity position of the floating shaft frame 11 corresponding to the walking wheels 12, so that each walking wheel 12 is provided with a motor independently, and stable and reliable driving is ensured.

An auxiliary connecting plate 21 is fixedly arranged on the upper surface of the floating shaft frame 11, one end, far away from the first vertical plate 7, of the auxiliary connecting plate 21 is forward convex, a vertical limiting guide shaft 22 is inserted into the forward convex position of the auxiliary connecting plate 21, a buffer spring 23 is sleeved in the lower area of the limiting guide shaft 22, the upper portion of the buffer spring 23 is jacked on the lower surface of the auxiliary connecting plate 21, the lower end of the buffer spring 23 is jacked on an upward convex central shaft 25 of an auxiliary universal wheel 24, and the buffer spring is used for improving the obstacle crossing function of the robot;

the upper part of the first vertical plate 7 is provided with a convex limiting support 2, the lower 27 part of a cross beam of the limiting support 2 is provided with a hydraulic buffer spring (shielded in the figure), the position of the auxiliary connecting plate 21 corresponding to the cross beam 17 of the limiting support 2 is provided with a rear convex stop block 18, the rear convex stop block 18 partially extends into a limiting frame of the limiting support 2, and the bottom of the hydraulic buffer spring is pressed and attached to the corresponding upper surface area of the rear convex stop block 18 and is used for reducing impact and vibration of the floating shaft frame 11 in the swinging process relative to the rotating shaft 9;

each group of permanent magnets 20 are fixedly arranged on the inner layer iron 19 respectively, the inner layer iron 19 is fixedly arranged on the magnet mounting piece 26, the magnet mounting piece 26 is fixedly arranged at the bottom position of the corresponding frame, and the number of the permanent magnets 20 is distributed according to requirements;

the control module 1 mainly completes power supply and control of each driving part of the mobile robot, and realizes acquisition and processing of related detection data, a programmable controller is selected for main control of the control module 1, and an integrated mode is selected for a motor driver.

The working principle is as follows: the floating shaft module and the control module are connected through a rotating shaft and a first vertical plate; the auxiliary universal wheel is connected to the floating shaft module; a rotating pair is formed between the floating shaft module and the rotating shaft, so that the floating shaft frame can swing around the axis of the rotating shaft, the robot can be ensured to freely move on a complex curved surface, and the passing capacity of the system is improved; permanent magnets are fixedly arranged on the bottom surface of the concave supporting frame, the bottom surface of the floating shaft frame and the bottom surface of the fixed shaft frame respectively, and gaps are reserved between the bottom surfaces of the permanent magnets and the lowest surface of the travelling wheels; the robot has good passing ability, which enables the robot to stably travel along the metal wall.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A four-wheel drive wall surface mobile robot is characterized in that: the device comprises a control module, a fixed shaft module, a floating shaft module and a connecting module, wherein the control module is arranged in an inwards concave supporting frame of the connecting module, the connecting module further comprises a first vertical plate and a second vertical plate, an outwards convex rotating shaft is fixedly connected to the exposed end face of the first vertical plate and is arranged perpendicular to the first vertical plate, bearings are respectively sleeved at two ends of the rotating shaft in the length direction, the floating shaft module specifically comprises a floating shaft frame, a penetrating and avoiding hole is formed in the position, corresponding to the rotating shaft, of the floating shaft frame, the floating shaft frame is sleeved on the outer ring of the corresponding side bearing, walking wheels are respectively sleeved at two sides of the floating shaft frame through rotating bearings, the exposed end face of the second vertical plate is fixedly connected with the connecting vertical plate of the fixed shaft module, the fixed shaft module specifically comprises a fixed shaft frame, and a connecting vertical plate is arranged at the position, corresponding to the second vertical plate, of, the robot comprises a fixed shaft frame, a movable shaft frame, a fixed shaft, a permanent magnet, a movable shaft frame, a movable bearing, a movable; the inner cavity position of the fixed shaft frame corresponding to the walking wheels is provided with an independent driving motor, and the inner cavity position of the floating shaft frame corresponding to the walking wheels is provided with an independent driving motor.

2. A four-wheel drive wall-moving robot as claimed in claim 1, wherein: the upper surface of the floating shaft frame is fixedly provided with an auxiliary connecting plate, one end of the auxiliary connecting plate, which is far away from the first vertical plate, is forward convex, a vertical limiting guide shaft is inserted in the forward convex position of the auxiliary connecting plate, a buffer spring is sleeved in the lower area of the limiting guide shaft, the upper part of the buffer spring is abutted to the lower surface of the auxiliary connecting plate, and the lower end of the buffer spring is abutted to an upward convex central shaft of the auxiliary universal wheel.

3. A four-wheel drive wall-moving robot as claimed in claim 2, wherein: the upper portion of the first vertical plate is provided with a convex limiting support, the lower portion of a cross beam of the limiting support is provided with a hydraulic buffer spring, a rear convex stop block is arranged at the position, corresponding to the cross beam of the limiting support, of the auxiliary connecting plate, the rear convex stop block extends into a limiting frame of the limiting support, and the bottom of the hydraulic buffer spring is pressed and attached to the corresponding upper surface area of the rear convex stop block.

4. A four-wheel drive wall-moving robot as claimed in claim 1, wherein: each group of permanent magnets are fixedly arranged on the inner layer iron respectively, the inner layer iron is fixedly arranged on the magnet mounting piece, the magnet mounting piece is fixedly arranged on the bottom surface of the corresponding frame, and the number of the permanent magnets is arranged according to requirements.

5. A four-wheel drive wall-moving robot as claimed in claim 1, wherein: the control module mainly completes power supply and control of each driving part of the mobile robot, and realizes acquisition and processing of related detection data, the programmable controller is selected for main control of the control module, and the motor driver is selected in an integrated mode.