CN219361202U - Self-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

Self-adaptive wall stepping mobile robot

Technical Field

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

Background

The wall climbing robot can climb on a vertical wall and complete the operation, and is an automatic robot. The wall climbing robot has two basic functions of adsorption and movement, and the common adsorption mode has two types of negative pressure adsorption and permanent magnetic adsorption. Wherein, the negative pressure mode can be absorbed on the wall surface by generating negative pressure in the sucker, and is not limited by the wall surface material; the permanent magnet adsorption mode is provided with a permanent magnet mode and an electromagnet mode, and is only suitable for adsorbing the magnetic permeability wall surface.

For example, chinese patent application (CN 105235764 a) discloses a vacuum adsorption wall climbing robot, which comprises a box, a transmission mechanism, a guiding mechanism and an adsorption mechanism; the transmission mechanism is divided into two groups of synchronous belts which are crossed in a cross shape, and each group of synchronous belts is driven by a motor; the adsorption mechanism is arranged at two ends of each group of synchronous belt and comprises an electric push rod and a sucker group below the electric push rod, and the sucker group is adsorbed and released under the control of an electromagnetic valve.

However, the vacuum adsorption wall climbing robot is difficult to adapt to a wall surface with a certain radian.

Disclosure of Invention

In order to overcome the defects of the background technology, the utility model provides a self-adaptive wall stepping mobile robot.

The utility model adopts the technical scheme that: the self-adaptive wall stepping mobile robot comprises a chassis, wherein a plurality of mounting grooves are formed in the chassis; the chassis bottom is provided with two sets of walking modules that are cross alternately and arranges, and the both ends of two sets of walking modules all are provided with the adsorption module, the adsorption module includes lifting unit and installs the adsorption module at the lifting unit tip, just adopt universal connection between lifting unit and the adsorption module.

The walking module comprises a linear track, two sliding blocks and a connecting rod, wherein the two sliding blocks are arranged on the linear track in a sliding manner and are connected into a whole through the connecting rod; the linear track is further provided with a rack, one of the sliding blocks is provided with a traveling motor, the traveling motor is connected with a traveling gear in a driving mode, and the traveling gear is meshed with the rack.

The walking module further comprises a guide rod, the guide rod is arranged in parallel with the linear track, and the sliding block is in sliding fit with the guide rod.

Each sliding block is provided with two groups of adsorption modules; the lifting assembly comprises a lifting rod, a driving gear, a transmission gear and a lifting motor, wherein the lifting rod is arranged on the sliding block in a sliding mode, teeth are formed on the side edges of two sides of the lifting rod respectively, the driving gear and the transmission gear are arranged on two sides of the lifting rod and meshed with the lifting rod, and the lifting motor is fixedly arranged on the sliding block and is in driving connection with the driving gear.

The transmission gears are 2, and the driving gears and the 2 transmission gears are distributed in a triangular shape.

The adsorption component adopts electromagnetic adsorption.

The beneficial effects of the utility model are as follows: 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.

Drawings

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

Fig. 2-3 are schematic structural diagrams of a walking module and an adsorption module according to an embodiment of the present 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 E in fig. 4.

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

Detailed Description

Embodiments of the utility model are further described below with reference to the accompanying drawings:

as shown in the figure, the self-adaptive wall stepping mobile robot comprises a chassis 1, a walking module 2 and an adsorption module.

The chassis 1 can be used as a robot chassis, a plurality of mounting grooves 11 are formed on the robot chassis, the mounting grooves 1 can be arc-shaped mounting grooves uniformly distributed in the circumferential direction, and can also be linear mounting grooves uniformly distributed in the circumferential direction and extending along the radial direction, so that various load devices can be conveniently mounted, and the rich automatic functions are realized. For example, a mechanical arm can be installed, and then welding, polishing, paint spraying, cleaning and other operations can be performed.

The walking modules 2 are provided with two groups and are arranged at the bottom of the chassis 1, and the two groups of walking modules 2 are in cross-shaped cross arrangement. Each group of walking modules 2 comprises a linear track 21, two sliding blocks 22 and a connecting rod 23, wherein the two sliding blocks 22 are arranged on the linear track 21 in a sliding manner, and the two sliding blocks 22 are connected into a whole through the connecting rod 23; the linear track 21 is further provided with a rack 24, one of the sliding blocks 22 is provided with a traveling motor 25, the traveling motor 25 is in driving connection with a traveling gear 26, and the traveling gear 26 is meshed with the rack 24. The traveling gear 26 is driven to rotate in the forward and reverse directions by the traveling motor 25, and the sliding block 22 slides back and forth along the linear track 21 by the transmission cooperation between the traveling gear 26 and the rack 24. Compared with the structure of a conventional synchronous belt, the structure is more stable and the action is stable and reliable by adopting a gear transmission mode.

Further, the walking module 2 further comprises a guide rod 27, the guide rod 27 is arranged in parallel with the linear rail 21, the sliding block 22 is in sliding fit with the guide rod 27, and the guide function is further provided through the connection of the guide rod, so that the sliding block 22 acts stably and reliably, the blocking phenomenon between the sliding block and the linear rail is avoided, and the action is smooth and reliable.

Each sliding block 22 is provided with two groups of adsorption modules, each adsorption module comprises a lifting assembly 3 and an adsorption assembly 4 arranged at the end part of the lifting assembly 3, the lifting assembly 3 and the adsorption assembly 4 are connected in a universal mode, each group of adsorption modules are independently controlled, the adsorption modules can adapt to wall surfaces with small drop height due to rugged unevenness, and meanwhile, the adsorption assemblies 4 can be adjusted in a certain angle through the universal connection, so that the adsorption modules can adapt to the wall surfaces with different radians.

The lifting assembly 3 comprises a lifting rod 31, a driving gear 32, a transmission gear 33 and a lifting motor 34, wherein the lifting rod 31 is slidably arranged on the sliding block 22, teeth are formed on two side edges of the lifting rod, the driving gear 32 and the transmission gear 33 are respectively arranged on two sides of the lifting rod 31 and meshed with the lifting rod 31, and the lifting motor 34 is fixedly arranged on the sliding block 22 and is in driving connection with 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, and the driving gear 32 is matched with the lifting rod 31 in a transmission manner, so that lifting action of the driving gear 32 can be realized. The number of the driving gears 33 is 2, the driving gears 32 and the 2 driving gears 33 are distributed in a triangle, and mainly provide positioning and guiding functions, so as to ensure the linear lifting action of the lifting rod 31.

The adsorption unit 4 preferably employs electromagnetic adsorption, but may employ vacuum adsorption.

As shown in fig. 3, when the self-adaptive wall stepping mobile robot acts, one group of walking modules are transversely arranged, and the other group of walking modules are longitudinally arranged, and when walking transversely on the wall, the specific process is as follows:

1. the adsorption modules at the two ends of the walking module D are kept in contact with the wall surface for adsorption;

2. the lifting assembly of the transversely arranged walking module C acts to separate the adsorption modules at the two ends of the transversely arranged walking module C from the wall surface, then the transversely arranged walking module C acts to move along the transverse direction, and when the transversely arranged walking module C moves to the limit position, the lifting assembly acts to enable the adsorption modules at the two ends of the transversely arranged walking module C to keep contact and adsorption with the wall surface;

3. the lifting assembly of the walking module D is operated to separate the adsorption modules at the two ends of the walking module D from the wall surface, and then the walking module C is operated to enable the chassis 1 and the walking module D arranged longitudinally to move along the transverse direction, and when the walking module D moves to the limit position, the lifting assembly is operated to enable the adsorption modules at the two ends of the walking module D to keep contact and adsorption with the wall surface;

4. and repeating the steps 2-3, and sequentially and alternately moving the longitudinally arranged walking modules D and the transversely arranged walking modules C to realize transverse movement.

The principle process is similar when running longitudinally on the wall, and the description will not be repeated here.

In the description of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

The skilled person will know: while the utility model has been described in terms of the foregoing embodiments, the inventive concepts are not limited to the utility model, and any modifications that use the inventive concepts are intended to be within the scope of the appended claims.

Claims (6)

1. The self-adaptive wall stepping mobile robot comprises a chassis (1), wherein a plurality of mounting grooves (11) are formed in the chassis (1);

the method is characterized in that: the chassis (1) bottom is provided with two sets of walking modules (2) that are cross alternately and arrange, and the both ends of two sets of walking modules (2) all are provided with adsorption module, adsorption module includes lifting unit (3) and installs at the adsorption module (4) of lifting unit (3) tip, just adopt universal connection between lifting unit (3) and adsorption module (4).

2. The adaptive wall stepping mobile robot of claim 1, wherein: the walking module (2) comprises a linear rail (21), two sliding blocks (22) and a connecting rod (23), wherein the two sliding blocks (22) are arranged on the linear rail (21) in a sliding manner, and the two sliding blocks (22) are connected into a whole through the connecting rod (23); the linear track (21) is further provided with a rack (24), one sliding block (22) is provided with a traveling motor (25), the traveling motor (25) is connected with a traveling gear (26) in a driving mode, and the traveling gear (26) is meshed with the rack (24).

3. The adaptive wall stepping mobile robot of claim 2, wherein: the walking module (2) further comprises a guide rod (27), the guide rod (27) is arranged in parallel with the linear track (21), and the sliding block (22) is in sliding fit with the guide rod (27).

4. The adaptive wall stepping mobile robot of claim 2, wherein: two groups of adsorption modules are arranged on each sliding block (22); lifting assembly (3) are including lifter (31), driving gear (32), drive gear (33), elevator motor (34), lifter (31) slip sets up on slider (22), and its both sides side all is formed with the tooth, driving gear (32) set up respectively in lifter (31) both sides with drive gear (33) to mesh with lifter (31), elevator motor (34) fixed mounting is on slider (22) to drive connection driving gear (32).

5. The adaptive wall stepping mobile robot of claim 4, wherein: the number of the transmission gears (33) is 2, and the driving gears (32) and the 2 transmission gears (33) are distributed in a triangular shape.

6. The adaptive wall stepping mobile robot of claim 1, wherein: the adsorption component (4) adopts electromagnetic adsorption.