CN219361202U - Adaptive Wall Stepping Mobile Robot - Google Patents

Abstract

The utility model provides a self-adaptation wall stepping mobile robot which characterized in that: the chassis bottom is provided with two sets of walking modules that are cross arrangement, and two ends of two sets of walking modules all are provided with the adsorption module, and the adsorption module includes lifting unit and installs the adsorption module at the lifting unit tip, and adopts universal connection between lifting unit and the adsorption module. By adopting the scheme, the lifting assembly and the adsorption assembly are connected in a universal mode, so that the wall surfaces with different radians can be self-adapted.

Description

Adaptive wall-stepping mobile robot

technical field

The utility model relates to the technical field of robots, in particular to an electromagnetic adsorption type adaptive wall surface stepping mobile robot.

Background technique

A wall-climbing robot is a robot that can climb on a vertical wall and complete its work. It is an automated robot. A wall-climbing robot must have two basic functions of adsorption and movement, and the common adsorption methods include negative pressure adsorption and permanent magnet adsorption. Among them, the negative pressure method can be adsorbed on the wall surface through the negative pressure generated in the suction cup, and is not limited by the wall surface material; the permanent magnet adsorption method has two methods: permanent magnet and electromagnet, which are only suitable for adsorption on the magnetically permeable wall surface.

For example, the Chinese invention patent application (CN105235764A) discloses a vacuum adsorption wall-climbing robot, which includes a box body, a transmission mechanism, a guiding mechanism, and an adsorption mechanism; Driven by a motor; the adsorption mechanism is installed at both ends of each synchronous belt, including the electric push rod and the suction cup group under the electric push rod. The suction cup group is controlled by a solenoid valve to absorb and release.

However, it is difficult for the above-mentioned vacuum adsorption wall-climbing robot to adapt to a wall with a certain curvature.

Utility model content

In order to overcome the deficiency of the background technology, the utility model provides an adaptive wall stepping mobile robot.

The technical solution adopted by the utility model: an adaptive wall stepping mobile robot, including a chassis, on which a plurality of installation grooves are formed; the bottom of the chassis is provided with two groups of walking modules arranged in a cross shape, Adsorption modules are installed at both ends of the two groups of walking modules, and the adsorption modules include a lifting assembly and an adsorption assembly installed at the end of the lifting assembly, and a universal connection is adopted between the lifting assembly and the adsorption assembly.

The walking module includes a linear track, a slider, and a connecting rod. There are two sliders, which are slidably arranged on the linear track, and the two sliders are connected into one body through a connecting rod; A rack is also provided, and a travel motor is installed on one of the sliders, the travel motor is driven and connected with a travel gear, and the travel gear is meshed with the rack.

The walking module also includes a guide rod, the guide rod is arranged parallel to the linear track, and the sliding block is slidably matched with the guide rod.

Each slider is provided with two groups of adsorption modules; the lifting assembly includes a lifting rod, a driving gear, a transmission gear, and a lifting motor; Teeth, the driving gear and the transmission gear are arranged on both sides of the lifting rod respectively, and are meshed with the lifting rod, and the lifting motor is fixedly installed on the slider, and is driven to connect with the driving gear.

There are two transmission gears, and the driving gear and the two transmission gears are distributed in a triangle.

The adsorption component adopts electromagnetic adsorption.

The beneficial effect of the utility model is that: adopting the above scheme, the universal connection is adopted between the lifting component and the adsorption component, so that the wall surface of different radians can be self-adapted.

Description of drawings

Fig. 1 is a schematic structural diagram of an adaptive wall stepping mobile robot according to an embodiment of the present invention.

2-3 are structural schematic diagrams of the walking module and the adsorption module of the embodiment of the utility model.

Fig. 4 is a schematic diagram of the structure at A-A in Fig. 3 .

FIG. 5 is an enlarged schematic view at point E in FIG. 4 .

Fig. 6 is a schematic diagram of the structure at B-B in Fig. 3 .

Detailed ways

Below in conjunction with accompanying drawing, the utility model embodiment is further described:

As shown in the figure, an adaptive wall stepping mobile robot includes a chassis 1, a walking module 2, and an adsorption module.

Described chassis 1 can be used as robot chassis, is formed with a plurality of installation grooves 11 on it, and installation groove 1 can be the arc-shaped installation groove that is evenly distributed in the circumferential direction, also can be the linear installation groove that is evenly distributed in the circumferential direction and extends along the radial direction, so that Various loading devices are installed to realize rich automation functions. For example, a robotic arm can be installed, and operations such as welding, grinding, spraying, and cleaning can be performed.

The walking modules 2 are provided in two groups, and are arranged at the bottom of the chassis 1, and the two groups of walking modules 2 are arranged in a cross shape. Each group of walking modules 2 includes a linear track 21, a slide block 22, and a connecting rod 23. connected into one; the linear track 21 is also provided with a rack 24, one of the sliders 22 is equipped with a travel motor 25, the travel motor 25 is driven and connected with a travel gear 26, and the travel gear 26 is in phase with the rack 24 engage. The traveling motor 25 drives the traveling gear 26 forward and reverse, and utilizes the transmission cooperation between the traveling gear 26 and the rack 24 to realize the reciprocating sliding of the slider 22 along the linear track 21 . Compared with the structure of the conventional synchronous belt, the structure is more stable and the action is smooth and reliable.

Further, the walking module 2 also includes a guide rod 27, the guide rod 27 is arranged parallel to the linear track 21, and the slider 22 is slidably matched with the guide rod 27, and is connected through the guide rod to further provide a guiding effect, so that The slide block 22 is stable and reliable in action, avoiding jamming between the slide block and the linear track, and the action is smooth and reliable.

Each slide block 22 is provided with two sets of adsorption modules, the adsorption modules include a lifting assembly 3 and an adsorption assembly 4 installed at the end of the lifting assembly 3, and a universal joint is used between the lifting assembly 3 and the adsorption assembly 4 Connection, each group of adsorption modules is independently controlled, and can adapt to uneven walls with small drops. At the same time, through universal connections, the adsorption module 4 can be adjusted within a certain angle, so that it can adapt to walls with different radians.

Wherein, the lifting assembly 3 includes a lifting rod 31, a driving gear 32, a transmission gear 33, and a lifting motor 34. The lifting rod 31 is slidably arranged on the slider 22, and teeth are formed on both sides of the lifting rod. The driving gear 32 and the transmission gear 33 are respectively arranged on both sides of the lifting rod 31 and meshed with the lifting rod 31 . The lifting motor 34 is fixedly installed on the slide block 22 and driven to connect the driving gear 32 .

The driving gear 32 is used for power transmission. The driving gear 32 is driven to rotate by the lifting motor 34 . The driving gear 32 can realize the lifting action of the driving gear 32 through the transmission cooperation with the lifting rod 31 . As for the transmission gear 33, there are two transmission gears. The driving gear 32 and the two transmission gears 33 are distributed in a triangle, mainly providing positioning and guiding functions, and ensuring the straight-line lifting action of the lifting rod 31.

In addition, the adsorption component 4 preferably adopts electromagnetic adsorption, and of course vacuum adsorption can also be used.

As shown in Figure 3, when the above-mentioned self-adaptive wall stepping mobile robot moves, one group of walking modules is set horizontally, and the other set of walking modules is set vertically. When walking horizontally on the wall, the specific process is as follows:

1. On the walking module D arranged vertically, the adsorption modules at both ends are kept in contact with the wall surface for adsorption;

2. On the walking module C arranged horizontally, its lifting component moves to separate the adsorption modules at both ends from the wall, and then the walking module C arranged horizontally moves along the horizontal direction. When it moves to the limit position, its lifting component Action to keep the adsorption modules at both ends in contact with the wall surface for adsorption;

3. On the walking module D arranged vertically, the lifting components act to separate the adsorption modules at both ends from the wall, and then the walking module C arranged horizontally moves so that the chassis 1 and the walking module D arranged vertically move along the transverse direction together. When it moves to the limit position, its lifting component moves to keep the adsorption modules at both ends in contact with the wall surface for adsorption;

4. Repeat steps 2-3, and the walking module D arranged vertically and the walking module C arranged horizontally move alternately in sequence to realize lateral movement.

When walking longitudinally on the wall, the principle process is similar, and will not be repeated here.

In the description of the present utility model, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention. Novel and simplified descriptions do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the utility model. In addition, the terms "first" and "second" are used for descriptive purposes only, and should not be understood as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a flexible connection. Detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model in specific situations. In addition, in the description of the present utility model, unless otherwise specified, "plurality" means two or more.

Notice to all technical personnel: Although the utility model has been described according to the above-mentioned specific embodiments, the utility model idea of the utility model is not limited to this utility model, and any modification using the utility model idea will be incorporated into the patent right of this patent within the scope of protection.

Claims (6)

1. An adaptive wall stepping mobile robot, comprising a chassis (1), and a plurality of installation grooves (11) are formed on the chassis (1); It is characterized in that: the bottom of the chassis (1) is provided with two groups of walking modules (2) arranged in a cross shape, and the two ends of the two groups of walking modules (2) are provided with adsorption modules, and the adsorption modules include lifting components (3) and the adsorption assembly (4) installed at the end of the lifting assembly (3), and the lifting assembly (3) and the adsorption assembly (4) are universally connected. 2. The adaptive wall stepping mobile robot according to claim 1, characterized in that: the walking module (2) includes a linear track (21), a slider (22), and a connecting rod (23), and the slider There are two blocks (22), which are slidably arranged on the linear track (21), and the two sliders (22) are connected into one body through a connecting rod (23); the linear track (21) is also set A rack (24) is arranged, and a travel motor (25) is installed on one of the sliders (22), the travel motor (25) is driven and connected with a travel gear (26), and the travel gear (26) and the rack (24) ) meshed. 3. The adaptive wall stepping mobile robot according to claim 2, characterized in that: the walking module (2) further includes a guide rod (27), and the guide rod (27) is parallel to the linear track (21) set, and the sliding block (22) is slidingly matched with the guide rod (27). 4. The adaptive wall stepping mobile robot according to claim 2, characterized in that: each slider (22) is provided with two groups of adsorption modules; the lifting assembly (3) includes a lifting rod (31) , driving gear (32), transmission gear (33), lifting motor (34), the lifting rod (31) is slidably arranged on the slider (22), and teeth are formed on both sides of it, the driving The gear (32) and the transmission gear (33) are arranged on both sides of the lifting rod (31) respectively, and are meshed with the lifting rod (31). The lifting motor (34) is fixedly installed on the slider (22) and drives Connect drive gear (32). 5. The self-adaptive wall stepping mobile robot according to claim 4, characterized in that: there are two transmission gears (33), and the driving gear (32) and the two transmission gears (33) form a triangle distributed. 6. The self-adaptive wall stepping mobile robot according to claim 1, characterized in that: the adsorption component (4) adopts electromagnetic adsorption.