A wall-crawling omnidirectional robot

Abstract

The present invention relates to a wall-crawling omnidirectional robot, which solves the problem that the existing wall-crawling robots are difficult to take into account every part of the wall, and at the same time solves the problem that the crawling robot has unilateral power input and poor stability. The device includes four independently controlled omnidirectional wheel mechanisms on a support plate, and the omnidirectional wheel mechanisms are sequentially provided with a walking motor, a gear box, a steering driven gear, and a wheel frame from top to bottom. A walking wheel is installed on the inner side of the wheel frame through a wheel axle, and the walking wheel is a permanent magnet wheel; the gear box is input from the upper side, and the gear box adopts a transverse through-type output shaft to synchronously output from the left and right side walls, and the two ends of the output shaft and the two ends of the wheel axle are synchronously driven by a synchronous belt. A steering driving gear meshing with the steering driven gear and a steering motor driving the steering driving gear are provided on the support plate. The crawling robot of the present invention can realize omnidirectional crawling, and the walking wheel adopts bilateral synchronous power input, and the driving method is more reliable and stable, ensuring that the robot's running trajectory is controllable.

Description

Technical Field

[0001] The invention belongs to the field of crawling devices, and relates to a robot capable of crawling on a wall by utilizing magnetic adsorption, and in particular to an omnidirectional wall crawling robot. Background Art

[0002] In the field of water conservancy and hydropower, the steel structure walls of gates, ships, etc. need regular maintenance, inspection, cleaning, rust removal and other operations. Traditional wall-crawling robots use crawler crawling or wheel crawling, but they usually turn along an arc when turning. This arc turning change mode requires a large turning radius. Even if the turning space is not sufficient, the large turning radius of this arc turning makes the wall-climbing robot have gaps between the trajectories of reciprocating motion, making it difficult to maintain every part of the wall, and some corners cannot be operated. In addition, the power of traditional robots that crawl on walking wheels is usually set on one side of the walking wheel, or input from one side of the walking wheel through a transmission mechanism. At locations with large crawling resistance, locations with curvature on the wall, or large and uneven loads, the walking wheel may slip or deflect due to the single-sided drive shaft drive, making the overall walking of the robot unstable and the walking trajectory deviating from expectations. Summary of the invention

[0003] The purpose of the present invention is to solve the problem that the existing wall-crawling robots use arc-shaped turns and are difficult to take into account every part of the wall. At the same time, it solves the problem that the traditional walking wheel crawling robot has one-sided power input and poor stability. A wall-crawling omnidirectional robot is provided, each walking wheel is provided with an independent driving and steering mechanism, and each walking wheel can be steered and driven individually to realize the omnidirectional crawling of the robot along the wall; the walking wheels use double-sided synchronous power input, and the driving method is more reliable and stable, ensuring that the robot's running trajectory is controllable.

[0004] A technical solution adopted by the present invention to solve its technical problems is: a wall-surface omnidirectional crawling robot, comprising a support plate, on which four independently controlled omnidirectional wheel mechanisms are arranged in a matrix arrangement, wherein a travel motor, a gear box, a steering driven gear, and a wheel frame are sequentially arranged from top to bottom, and a travel wheel is installed on the inner side of the wheel frame through a wheel axle, and the travel wheel is a permanent magnet wheel; the gear box is input from the upper side, and the gear box adopts a transversely penetrating output shaft to synchronously output from the left and right side walls, the gear box output shaft is parallel to the wheel axle of the travel wheel, and the two ends of the gear box output shaft are respectively connected to the two ends of the wheel axle of the travel wheel through synchronous belts to realize synchronous transmission at both ends; a steering driving gear meshing with the steering driven gear is provided on the support plate on the side of the omnidirectional wheel mechanism, and a steering motor driving the steering driving gear is provided on the support plate.

[0005] In this device, each walking wheel can independently control walking and steering. The walking wheel adopts a permanent magnet wheel, which can crawl on the steel wall by adsorption. If necessary, the surface of the walking wheel can be covered with a rubber surface to increase friction. The omnidirectional wheel mechanism can provide walking power, and the omnidirectional wheel mechanism as a whole can be driven by the steering active gear to rotate and realize steering. The four omnidirectional wheel mechanisms can realize the in-situ steering of the robot as a whole through synchronous control. The power output by the driving motor is transmitted through the gear box and converted into a horizontal output shaft. The two ends of the output shaft extend out of the gear box respectively, and can be synchronously driven with the two ends of the wheel axle of the walking wheel by belts. When the walking wheel walks on the metal wall, it can overcome the large friction and arc surface of the wall, keep the walking wheel stable and reliable, and avoid slipping and deflection of the walking wheel.

[0006] Preferably, the output shaft of the travel motor is connected to the gear box downward.

[0007] Preferably, a gear box bracket is provided between the gear box and the steering driven gear.

[0008] Preferably, a belt groove is provided on the surface of the steering driven gear corresponding to the two synchronous belts. The belt groove is a through groove that passes through from top to bottom, and the steering driven gear groove allows the synchronous belt to pass through, and the two rotate synchronously without interference.

[0009] Preferably, the synchronous belt is a toothed belt, and toothed belt pulleys are respectively provided on both ends of the output shaft of the gear box and both ends of the wheel axle of the traveling wheel.

[0010] Preferably, the support plate and the omnidirectional wheel mechanism are provided with a hollow hole that passes through from top to bottom, and a ring-shaped thin-walled bearing is attached below the steering driven gear. The thin-walled bearing is embedded in the hollow hole of the support plate, and the upper and lower sides of the thin-walled bearing are respectively provided with an upper bearing pressure ring and a lower bearing pressure ring fixed to the support plate. The upper bearing pressure ring is "C"-shaped, opening toward one side of the steering active gear, leaving space for the steering active gear and the steering driven gear to mesh, and the lower bearing pressure ring can be a part of the support plate, or it can be set independently. When the height of the thin-walled bearing is greater than the height of the support plate, a gasket can be used for height compensation.

[0011] Preferably, the steering driving gear and the steering motor are independently arranged corresponding to the four omnidirectional wheel mechanisms one by one; the steering driving gear is arranged on the upper surface of the support plate, and the steering motor is arranged on the lower surface of the support plate.

[0012] Preferably, the omnidirectional wheel mechanism is provided with a synchronously rotating reset rotating contact, and a reset rotating contact point is provided on a support plate on the side of the omnidirectional wheel mechanism. When the reset rotating contact and the reset rotating contact point are in contact, the omnidirectional wheel mechanism is in a reset position.

[0013] Preferably, the support plate is further provided with a controller, which is divided into a walking controller for controlling the walking motor and a steering controller for controlling the steering, wherein the walking controller is arranged on the upper surface of the support plate and the steering controller is arranged on the lower surface of the support plate for convenient wiring.

[0014] Preferably, a top plate is provided above the support plate, support columns are provided on the four sides between the top plate and the support plate, and avoidance holes are provided at positions corresponding to the top plate and the omnidirectional wheel mechanism. The top plate can protect the lower mechanism and is used to install maintenance execution components such as cameras and nozzles.

[0015] The crawling robot of the present invention can walk on a plane or along a vertical steel wall by magnetic adsorption. Each walking wheel can be steered and driven independently to realize omnidirectional crawling of the robot along the wall. The walking wheels adopt bilateral synchronous power input, and the driving method is more reliable and stable, ensuring that the robot's running trajectory is controllable. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described below in conjunction with the accompanying drawings.

[0017] Figure 1 It is a structural schematic diagram of the present invention.

[0018] Figure 2 It is a schematic diagram of a structure of the present invention with the top plate removed.

[0019] Figure 3 It is a schematic diagram of the bottom surface structure of a support plate of the present invention.

[0020] Figure 4 It is a cross-sectional schematic diagram of an omnidirectional wheel mechanism of the present invention.

[0021] Figure 5 It is an exploded schematic diagram of an omnidirectional wheel mechanism of the present invention.

[0022] In the figure: 1, support plate, 2, omnidirectional wheel mechanism, 3, top plate, 4, support column, 5, steering driving gear, 6, reset rotation contact, 7, reset rotation contact, 8, travel controller, 9, steering motor, 10, steering controller, 11, travel motor, 12, gear box, 13, gear box bracket, 14, steering driven gear, 15, bearing upper pressure ring, 16, bearing lower pressure ring, 17, thin-walled bearing, 18, wheel frame, 19, travel wheel, 20, wheel axle, 21, output shaft, 22, pulley, 23, synchronous belt. DETAILED DESCRIPTION

[0023] The present invention will be further described below through specific embodiments in conjunction with the accompanying drawings.

[0024] Embodiment: A wall-crawling robot, such as Figure 1 ,2 As shown. The device comprises a square support plate 1, and four independently controlled omnidirectional wheel mechanisms 2 are arranged in a matrix arrangement on the four corners of the support plate 1. A top plate 3 is arranged above the support plate 1, and support columns 4 are arranged on the four sides between the top plate and the support plate. Hollow holes are arranged at the corresponding positions of the support plate and the omnidirectional wheel mechanism. Avoidance holes are arranged at the corresponding positions of the top plate and the omnidirectional wheel mechanism.

[0025] like Figure 2 , 4 As shown in Figure 5, the omnidirectional wheel mechanism 2 is provided with a travel motor 11, a gear box 12, a steering driven gear 14, and a wheel frame 18 from top to bottom. A travel wheel 19 is installed on the inner side of the wheel frame 18 through a wheel axle 20. The travel wheel 19 is a permanent magnet wheel, and the wheel surface of the travel wheel is provided with a rubber anti-skid layer. The output shaft of the travel motor 11 is connected to the gear box downward, and the input is from the upper side of the gear box 11. The gear box 12 uses a horizontal through-type output shaft 21 to output synchronously from the left and right side walls. The output shaft 21 of the gear box is parallel to the wheel axle 20 of the travel wheel. Both ends of the output shaft 21 of the gear box and the two ends of the wheel axle 20 of the travel wheel are sleeved with pulleys 22, and the two ends are connected by synchronous belts 23 to realize synchronous transmission at both ends; the synchronous belt 23 is a toothed belt, and the pulley 22 is a toothed pulley. A belt groove is provided on the surface of the steering driven gear 14 corresponding to the two synchronous belts 22. An L-shaped gear box bracket 13 is provided between the gear box 12 and the steering driven gear 14. An annular thin-walled bearing 17 is attached below the steering driven gear 14 and is embedded in the hollow hole of the support plate 1 . An upper bearing pressure ring 15 and a lower bearing pressure ring 16 fixed to the support plate are clamped on the upper and lower sides of the thin-walled bearing.

[0026] The upper surface of the support plate 1 on the side of the omnidirectional wheel mechanism 2 is provided with a steering driving gear 5 meshing with the steering driven gear 14, and the lower surface of the support plate is provided with a steering motor 9 driving the steering driving gear. The steering driving gear and the steering motor are independently arranged corresponding to the four omnidirectional wheel mechanisms one by one. A controller is also arranged on the support plate 1, and the controller is divided into a walking controller for controlling the walking motor and a steering controller for controlling the steering. The walking controller 8 is arranged on the upper surface of the support plate, and the steering controller 10 is arranged on the lower surface of the support plate to facilitate wiring.

[0027] The omnidirectional wheel mechanism 2 is provided with a synchronously rotating reset rotating contact 7, and a reset rotating contact 6 is provided on the supporting plate on the side of the omnidirectional wheel mechanism. When the reset rotating contact and the reset rotating contact are in contact, the omnidirectional wheel mechanism 2 is in the reset position. Before each use of the robot, it can be reset to ensure that the walking trajectory is controllable.

Claims

1. A wall-crawling robot, comprising a support plate, characterized in that: The support plate is provided with four independently controlled omnidirectional wheel mechanisms in a matrix distribution. The omnidirectional wheel mechanism is provided with a travel motor, a gear box, a steering driven gear, and a wheel frame in order from top to bottom. A travel wheel is installed on the inner side of the wheel frame through a wheel axle, and the travel wheel is a permanent magnet wheel; the gear box is input from the upper side, and the gear box adopts a transverse through-type output shaft to synchronously output from the left and right side walls. The output shaft of the gear box is parallel to the wheel axle of the travel wheel, and the two ends of the output shaft of the gear box are respectively connected to the two ends of the wheel axle of the travel wheel through a synchronous belt to realize synchronous transmission at both ends; a steering driving gear meshing with the steering driven gear is provided on the support plate on the side of the omnidirectional wheel mechanism, and a steering motor driving the steering driving gear is provided on the support plate; The output shaft of the travel motor is connected to the gear box downward; a gear box bracket is provided between the gear box and the steering driven gear; a belt groove is provided on the surface of the steering driven gear corresponding to the two synchronous belts; the synchronous belt is a toothed belt, and toothed belt pulleys are respectively provided at both ends of the output shaft of the gear box and the two ends of the wheel axle of the travel wheel; a hollow hole that passes through from top to bottom is provided at the corresponding parts of the support plate and the omni-directional wheel mechanism, an annular thin-walled bearing is attached below the steering driven gear, the thin-walled bearing is embedded in the hollow hole of the support plate, and the upper and lower sides of the thin-walled bearing are respectively clamped with an upper bearing pressure ring and a lower bearing pressure ring fixed to the support plate; the steering driving gear and the steering motor are independently arranged one by one corresponding to the four omni-directional wheel mechanisms; the steering driving gear is arranged on the upper surface of the support plate, and the steering motor is arranged on the lower surface of the support plate; a reset rotating contact that rotates synchronously is provided on the omni-directional wheel mechanism, and a reset rotating contact is provided on the support plate on the side of the omni-directional wheel mechanism, and when the reset rotating contact contacts the reset rotating contact, the omni-directional wheel mechanism is in a reset position.

2. The wall-crawling omnidirectional robot according to claim 1, characterized in that: A controller is also arranged on the support plate.

3. The wall-crawling omnidirectional robot according to claim 1, characterized in that: A top plate is arranged above the support plate, support columns are arranged on four sides between the top plate and the support plate, and avoidance holes are arranged at positions corresponding to the top plate and the omnidirectional wheel mechanism.

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