CN218907445U - Joint deformation planet wheel connecting rod driving module and wall climbing robot - Google Patents
Joint deformation planet wheel connecting rod driving module and wall climbing robot Download PDFInfo
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- CN218907445U CN218907445U CN202320092678.1U CN202320092678U CN218907445U CN 218907445 U CN218907445 U CN 218907445U CN 202320092678 U CN202320092678 U CN 202320092678U CN 218907445 U CN218907445 U CN 218907445U
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Abstract
The utility model relates to a joint deformation planet wheel connecting rod driving module and a wall climbing robot, comprising: the frame is provided with: the first walking module and the second walking module are symmetrically arranged relative to the frame, and can be adsorbed on the wall surface and walk along the wall surface; the first driving unit comprises a first driving source, a first sun gear, a first planet carrier, a first gear ring, a first connecting rod, a first swing rod and a first rotating shaft, and the first walking module is arranged on the first rotating shaft; the second driving unit comprises a second driving source, a second sun gear, a second planet carrier, a second gear ring, a second connecting rod, a second swinging rod and a second rotating shaft, wherein the second planet carrier is connected with the second rotating shaft through the second connecting rod and the second swinging rod in sequence, and the second walking module is arranged on the second rotating shaft. The walking device can adapt to walking on a rugged wall, and is high in flexibility and good in stability.
Description
Technical Field
The utility model relates to the technical field of wall climbing robots, in particular to a joint deformation planet wheel connecting rod driving module and a wall climbing robot.
Background
With the development of society, the application of wall climbing robots is becoming more and more widespread. The wall climbing robot walks to all corners of the wall surface, so that unmanned detection can be realized, and various processing devices can be carried to walk and work along the wall surface.
In order to adapt to the walking of wall, most of the existing wall climbing robots are adsorption type wall climbing robots, the wall climbing robots are adsorbed on the wall in a magnetic or negative pressure mode and roll through a wheel body, so that the wall climbing robots walk forwards. The existing wall climbing robot is generally provided with a plurality of walking modules, and the walking modules can be adsorbed on a wall surface and roll to move forwards, so that the whole wall climbing robot is driven to walk. Generally, the plurality of walking modules are arranged in an array of 2×n, where n is the number of rows of walking modules, and the wall climbing robot is provided with 2 walking modules in a row, and the plurality of walking modules are located on the same plane and do not have joint deformation capability, so that the existing wall climbing robot cannot adapt to walking on a rugged wall surface, is easy to drop from the wall surface, and has poor stability.
Disclosure of Invention
Therefore, the technical problem to be solved by the utility model is to overcome the technical defect that the wall climbing robot in the prior art cannot walk on a rugged wall surface and is easy to fall off from the wall surface.
In order to solve the technical problems, the utility model provides a joint deformation planet wheel connecting rod driving module which comprises a frame, wherein the frame is provided with:
a first travel module;
the first walking module and the second walking module are symmetrically arranged relative to the frame, and can be adsorbed on the wall surface and walk along the wall surface;
the first driving unit comprises a first driving source, a first sun gear, first planet gears, a first planet carrier, a first gear ring, a first connecting rod, a first swing rod and a first rotating shaft, wherein the first driving source is connected with the first sun gear to drive the first sun gear to rotate, the first planet gears are multiple and are meshed with the first sun gear and evenly arranged around the circumference of the first sun gear, the first gear ring is fixedly arranged with the frame, the first planet gears are meshed with the gear ring, the first planet gears are evenly distributed on the first planet carrier, and the first planet carrier is sequentially connected with the first rotating shaft through the first connecting rod and the first swing rod to drive the first rotating shaft to rotate;
the second driving unit comprises a second driving source, a second sun gear, second planet gears, a second planet carrier, a second gear ring, a second connecting rod, a second swing rod and a second rotating shaft, wherein the second driving source is connected with the second sun gear to drive the second sun gear to rotate, the second planet gears are meshed with the second sun gear and uniformly arranged around the circumference of the second sun gear, the second gear ring is fixedly arranged with the frame, the second planet gears are meshed with the gear ring, the second planet gears are uniformly arranged on the second planet carrier, and the second planet carrier is sequentially connected with the second rotating shaft through the second connecting rod and the second swing rod to drive the second rotating shaft to rotate;
the first rotating shaft rotates to drive the first walking module to swing, and the second rotating shaft rotates to drive the second walking module to swing.
Preferably, the first planet carrier is sleeved on the wheel shaft of the first sun gear, and a first ball bearing is arranged between the first planet carrier and the wheel shaft of the first sun gear.
Preferably, the second planet carrier is sleeved on the axle of the second sun gear, and a second ball bearing is arranged between the second planet carrier and the axle of the second sun gear.
Preferably, a plurality of wheel shafts of the first planet gears are connected with the first planet carrier through a third ball bearing.
Preferably, the axles of the second planetary gears are connected with the second planetary carrier through a fourth ball bearing.
Preferably, one end of the first connecting rod is hinged with the first planet carrier, the other end of the first connecting rod is hinged with the first swing rod, and one end of the first swing rod, which is far away from the first connecting rod, is fixedly arranged with the first rotating shaft.
Preferably, two ends of the first rotating shaft are respectively arranged on the frame through first rotating bearings, and two ends of the second rotating shaft are respectively arranged on the frame through second rotating bearings.
Preferably, one end of the second connecting rod is hinged with the second planet carrier, the other end of the second connecting rod is hinged with the second swing rod, and one end of the second swing rod, which is far away from the second connecting rod, is fixedly arranged with the second rotating shaft.
Preferably, the first driving source and the second driving source are an integrated actuator.
The utility model discloses a wall climbing robot which comprises the joint deformation planet wheel connecting rod driving module.
Compared with the prior art, the technical scheme of the utility model has the following advantages:
1. the first driving source drives the first sun gear to rotate, and the first gear ring is fixed, so that the first planet gear is forced to rotate around the axis of the first planet gear and revolve around the first sun gear. The plurality of first planet gears revolve around the first sun gear synchronously, the revolution action forces the first planet carrier to rotate around the central shaft, then the first connecting rod is pushed to act, and the first swinging rod is driven to rotate by the first connecting rod. And because the first traveling module is arranged on the first rotating shaft, the first rotating shaft can drive the first traveling module to swing, so that the device is suitable for rugged wall surfaces and has strong flexibility.
2. Similarly, the second driving source drives the second sun gear to rotate, and the second gear ring is fixed, so that the second planet gear rotates around the axis of the second planet gear and revolves around the second sun gear. The plurality of second planet gears revolve around the second sun gear synchronously, the revolution action forces the second planet carrier to rotate around the central shaft, then the second connecting rod is pushed to act, and the second swinging rod is driven to rotate by the second connecting rod. And because the second walking module is arranged on the second rotating shaft, the second rotating shaft can drive the second walking module to swing, so that the device is suitable for rugged wall surfaces and has strong flexibility.
3. According to the utility model, the planet wheel, the sun wheel, the connecting rod and the swing rod are matched, so that the high-precision swing of the traveling module is realized, and compared with a traditional driving mode, the traveling module has better stability.
Drawings
In order that the utility model may be more readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings.
FIG. 1 is a schematic diagram of a driving module of a planet wheel and connecting rod with deformed joints in the utility model;
FIG. 2 is a schematic diagram of a deformed planet-link drive module with the upper cover and first planet carrier removed;
FIG. 3 is a front view of FIG. 2;
fig. 4 is a top view of fig. 2.
Description of the specification reference numerals: 10. a frame; 20. a first travel module; 30. a second walking module; 40. a first planet carrier; 41. a first support sleeve; 42. a first sun gear; 43. a first planet; 50. a first rotating shaft; 51. a second rotating shaft; 60. a first link; 61. a first swing rod; 70. a first driving source; 71. a second driving source; 72. a first connector; 73. and a second connecting piece.
Detailed Description
The present utility model will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the utility model and practice it.
Referring to fig. 1 to 4, the utility model discloses a joint deformation planetary gear connecting rod driving module, which comprises a frame 10, wherein a first walking module 20, a second walking module 30, a first driving unit and a second driving unit are arranged on the frame 10.
The first traveling module 20 and the second traveling module 30 are symmetrically disposed with respect to the frame 10, and both the first traveling module 20 and the second traveling module 30 can be adsorbed on the wall surface and travel along the wall surface.
The first driving unit includes a first driving source 70, a first sun gear 42, first planet gears 43, a first planet carrier 40, a first gear ring, a first link 60, a first swing link 61 and a first rotating shaft 50, the first driving source 70 is connected with the first sun gear 42 to drive the first sun gear 42 to rotate, the first planet gears 43 have a plurality of first planet gears 43 which are meshed with the first sun gear 42 and uniformly arranged around the circumference of the first sun gear 42, the first gear ring is fixedly arranged with the frame 10, the plurality of first planet gears 43 are meshed with the gear ring, the plurality of first planet gears 43 are uniformly distributed on the first planet carrier 40, the first planet carrier 40 is connected with the first rotating shaft 50 sequentially through the first link 60 and the first swing link 61 to drive the first rotating shaft 50 to rotate, and the first traveling module 20 is arranged on the first rotating shaft 50.
The second driving unit comprises a second driving source 71, a second sun gear, a second planet carrier, a second gear ring, a second connecting rod, a second swinging rod and a second rotating shaft 51, wherein the second driving source 71 is connected with the second sun gear to drive the second sun gear to rotate, the second planet gear is provided with a plurality of second planet gears, the plurality of second planet gears are meshed with the second sun gear and evenly arranged around the circumference of the second sun gear, the second gear ring is fixedly arranged with the frame 10, the plurality of second planet gears are meshed with the gear ring, the plurality of second planet gears are evenly distributed on the second planet carrier, and the second planet carrier is connected with the second rotating shaft 51 through the second connecting rod and the second swinging rod in sequence to drive the second rotating shaft 51 to rotate, and the second walking module 30 is arranged on the second rotating shaft 51.
The first rotating shaft 50 rotates to drive the first traveling module 20 to swing, and the second rotating shaft 51 rotates to drive the second traveling module 30 to swing.
The working principle of the utility model is as follows: the first drive source 70 drives the first sun gear 42 to rotate, while the first ring gear is stationary, forcing the first planet gears 43 to revolve around the first sun gear 42 while rotating around their axes. The plurality of first planet gears 43 revolve around the first sun gear 42 synchronously, and the revolution action forces the first planet carrier 40 to rotate around the central shaft, so as to push the first link 60 to act, and the first link 60 acts to enable the first swing rod 61 to drive the first rotating shaft 50 to rotate. Since the first traveling module 20 is disposed on the first rotating shaft 50, the first rotating shaft 50 rotates to drive the first traveling module 20 to swing, so as to adapt to the rugged wall surface.
Similarly, the second drive source 71 drives the second sun gear to rotate, and the second ring gear is stationary, forcing the second planetary gear to rotate about its axis while revolving around the second sun gear. The plurality of second planet gears revolve around the second sun gear synchronously, the revolution action forces the second planet carrier to rotate around the central shaft, then the second connecting rod is pushed to act, and the second swinging rod is driven to rotate by the second connecting rod to drive the second rotating shaft 51 to rotate. The second traveling module 30 is disposed on the second rotating shaft 51, and the second rotating shaft 51 rotates to drive the second traveling module 30 to swing, so as to adapt to the rugged wall surface.
According to the utility model, the planet wheel, the sun wheel, the connecting rod and the swing rod are matched, so that the high-precision swing of the traveling module is realized, and compared with a traditional driving mode, the traveling module has better stability.
In order to reduce friction, the first planet carrier 40 is sleeved on the axle of the first sun gear 42, and a first ball bearing is arranged between the first planet carrier 40 and the axle of the first sun gear 42. The second planet carrier is sleeved on the wheel shaft of the second sun gear, and a second ball bearing is arranged between the second planet carrier and the wheel shaft of the second sun gear. The first ball bearing and the second ball bearing may be deep groove ball bearings. Thus, the first carrier 40 can have a small friction force and good stability when rotating around the first gear wheel axle.
Further, the axles of the first plurality of planetary gears 43 are connected to the first carrier 40 through a third ball bearing. The wheel shafts of the second planetary gears are connected with the second planetary carrier through fourth ball bearings. The third ball bearing and the fourth ball bearing may also be deep groove ball bearings. Since the first planet 43 is connected to the first carrier 40 through the third ball bearing, the first planet 43 can rotate with a small friction force, and the revolution of the first planet 43 can drive the first carrier 40 to rotate around the axis of the first sun gear 42. Similarly, the second planet wheel is connected with the second planet carrier through the third ball bearing, the second planet wheel can rotate with smaller friction force, and the revolution of the second planet wheel can drive the second planet carrier to rotate around the axis of the second sun gear.
The present utility model converts the rotation of the first carrier 40 into the rotation of the first shaft 50 and converts the rotation of the second carrier into the rotation of the second shaft 51 by the link structure.
Specifically, one end of the first link 60 is hinged to the first planet carrier 40, the hinge point of the first link 60 and the first planet carrier 40 is located in a non-central area of the first planet carrier 40, the other end of the first link 60 is hinged to the first swing rod 61, the hinge point of the second link and the second planet carrier is located in a non-central area of the second planet carrier, and one end of the first swing rod 61 away from the first link 60 is fixedly arranged with the first rotating shaft 50. One end of the second connecting rod is hinged with the second planet carrier, the other end of the second connecting rod is hinged with the second swinging rod, and one end of the second swinging rod far away from the second connecting rod is fixedly arranged with the second rotating shaft 51. Thus, the first driving source 70 can drive the first shaft 50 to rotate, and the second driving source 71 can drive the second shaft 51 to rotate.
The first drive source 70 and the second drive source 71 in the present utility model may be an integrated actuator, or may be a drive source such as a motor or a rotary cylinder, as long as the sun gear can be driven to rotate.
In order to reduce the friction between the first rotating shaft 50 and the frame 10, two ends of the first rotating shaft 50 are respectively arranged on the frame 10 through first rotating bearings, and two ends of the second rotating shaft 51 are respectively arranged on the frame 10 through second rotating bearings.
In addition, the present utility model further includes a first pitch link, both ends of which are fixedly provided with the first rotation shaft 50, on which the first traveling module 20 is mounted. Because the both ends of first every single move connecting piece and first pivot 50 fixed setting, then when first pivot 50 rotated, first every single move connecting piece can the whole rotation, and stability is good.
To further improve the stability of the result, a first travel module 20 is mounted in the middle of the first pitch link. The first pitch connection may be provided in a U-shaped configuration.
The utility model further comprises a second pitching connecting piece, two ends of the second pitching connecting piece are fixedly arranged with the second rotating shaft 51, and the second walking module 30 is arranged on the second pitching connecting piece. Because both ends of the second pitching connecting piece are fixedly arranged with the second rotating shaft 51, when the second rotating shaft 51 rotates, the second pitching connecting piece can integrally rotate, and the stability is good.
To further improve the stability of the result, the second walking module 30 is mounted in the middle of the second pitch link 71. The second pitch connection may be provided in a U-shaped configuration.
The first traveling module 20 and the second traveling module 30 in the present utility model are of a wheel-shaped structure, and can roll on the wall surface to drive the robot to travel, and in addition, have a certain magnetic attraction force, and can be adsorbed on the wall surface. For example, the first walking module 20 and the second walking module 30 each include a permanent magnet adsorption wheel. Because the permanent magnet adsorption wheel is the prior art, the detailed description is not provided herein.
The utility model discloses a wall climbing robot which comprises the joint deformation planet wheel connecting rod driving module. Specifically, the wall climbing robot can be provided with a multi-joint deformation gear driving module, and free walking and obstacle surmounting of the wall climbing robot on a rugged wall surface are realized through the multi-joint deformation gear driving module.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present utility model will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the utility model.
Claims (10)
1. The utility model provides a joint deformation planet wheel connecting rod drive module, its characterized in that includes the frame, be provided with in the frame:
a first travel module;
the first walking module and the second walking module are symmetrically arranged relative to the frame, and can be adsorbed on the wall surface and walk along the wall surface;
the first driving unit comprises a first driving source, a first sun gear, first planet gears, a first planet carrier, a first gear ring, a first connecting rod, a first swing rod and a first rotating shaft, wherein the first driving source is connected with the first sun gear to drive the first sun gear to rotate, the first planet gears are multiple and are meshed with the first sun gear and evenly arranged around the circumference of the first sun gear, the first gear ring is fixedly arranged with the frame, the first planet gears are meshed with the gear ring, the first planet gears are evenly distributed on the first planet carrier, and the first planet carrier is sequentially connected with the first rotating shaft through the first connecting rod and the first swing rod to drive the first rotating shaft to rotate;
the second driving unit comprises a second driving source, a second sun gear, second planet gears, a second planet carrier, a second gear ring, a second connecting rod, a second swing rod and a second rotating shaft, wherein the second driving source is connected with the second sun gear to drive the second sun gear to rotate, the second planet gears are meshed with the second sun gear and uniformly arranged around the circumference of the second sun gear, the second gear ring is fixedly arranged with the frame, the second planet gears are meshed with the gear ring, the second planet gears are uniformly arranged on the second planet carrier, and the second planet carrier is sequentially connected with the second rotating shaft through the second connecting rod and the second swing rod to drive the second rotating shaft to rotate;
the first rotating shaft rotates to drive the first walking module to swing, and the second rotating shaft rotates to drive the second walking module to swing.
2. The joint deformation planet wheel connecting rod driving module according to claim 1, wherein the first planet carrier is sleeved on the wheel shaft of the first sun gear, and a first ball bearing is arranged between the first planet carrier and the wheel shaft of the first sun gear.
3. The joint deformation planet link driving module according to claim 1, wherein the second planet carrier is sleeved on the axle of the second sun gear, and a second ball bearing is arranged between the second planet carrier and the axle of the second sun gear.
4. The articulating planetary link drive module of claim 1 wherein a plurality of axles of the first planet gears are connected to the first planet carrier by a third ball bearing.
5. The articulating planetary link drive module of claim 1 wherein a plurality of axles of the second planetary gears are connected to the second planet carrier by fourth ball bearings.
6. The joint deformation planetary gear link driving module according to claim 1, wherein one end of the first link is hinged to the first planet carrier, the other end of the first link is hinged to the first swing rod, and one end of the first swing rod away from the first link is fixedly arranged with the first rotating shaft.
7. The joint deformation planetary gear link driving module according to claim 1, wherein two ends of the first rotating shaft are respectively arranged on the frame through first rotating bearings, and two ends of the second rotating shaft are respectively arranged on the frame through second rotating bearings.
8. The joint deformation planetary gear link driving module according to claim 1, wherein one end of the second link is hinged to the second planet carrier, the other end of the second link is hinged to the second swing rod, and one end of the second swing rod away from the second link is fixedly arranged with the second rotating shaft.
9. The joint deformation planet link drive module of claim 1, wherein the first drive source and the second drive source are an integral actuator.
10. A wall climbing robot comprising the articulated deformation planetary link drive module of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320092678.1U CN218907445U (en) | 2023-01-31 | 2023-01-31 | Joint deformation planet wheel connecting rod driving module and wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320092678.1U CN218907445U (en) | 2023-01-31 | 2023-01-31 | Joint deformation planet wheel connecting rod driving module and wall climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218907445U true CN218907445U (en) | 2023-04-25 |
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ID=86039042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320092678.1U Active CN218907445U (en) | 2023-01-31 | 2023-01-31 | Joint deformation planet wheel connecting rod driving module and wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218907445U (en) |
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2023
- 2023-01-31 CN CN202320092678.1U patent/CN218907445U/en active Active
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