Robot body structure

Abstract

The invention discloses a robot body structure. The device comprises a body frame and a walking device, wherein the body frame comprises a driving wheel beam, a driven wheel beam and a connecting frame; the connecting frame is installed on the driving wheel beam and provided with a steering mechanism, and the steering mechanism is connected with the driven wheel beam. The walking device comprises driving wheels installed on the two sides of the driving wheel beam, driven wheels installed on the two sides of the driven wheel beam and a walking driving module installed on the driving wheel beam. The connecting frame is in a U shape, a transition plate is arranged on the connecting frame, the steering mechanism is arranged on the transition plate and sequentially connected with a steering driving module and a control module, and the driven wheel beam is fixedly connected to the steering mechanism. The invention has the advantages that the body frame only consists of three beams, and is simple in structure, light in weight and convenient to install and maintain; the robot wheel shaft is driven by gear transmission to steer, and the steering torque is small; and the module mounting frame enables a user to customize and mount various modules according to working requirements, and the expansibility is high.

Description

Technical Field

[0001] The invention relates to a wall-climbing robot, in particular to a robot body structure. Background Art

[0002] The current special wall-climbing robots that use permanent magnetic adsorption to face metal walls usually require a large driving torque when turning due to their body weight and load weight. The steering torque is often larger than the upward or downward straight-moving torque during conventional operations. To solve this problem, a larger drive device is generally selected to provide a greater driving force to meet the steering requirements, but this often makes the robot heavy and expensive.

[0003] To solve the same problem, there is another idea, which is to reduce the resistance of the robot when turning, so that the selection specifications of the drive device can be reduced, thereby reducing the total weight and cost of the robot. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a robot body structure which is simple in structure, light in weight, low in cost and has a small steering torque.

[0005] In order to solve the above technical problems, the robot body structure of the present invention includes a body frame and a walking device, the body frame includes a driving wheel beam, a driven wheel beam and a connecting frame; the connecting frame is installed on the driving wheel beam, and a steering mechanism is provided on it, and the steering mechanism is connected to the driven wheel beam; the walking device includes driving wheels installed on both sides of the driving wheel beam, driven wheels installed on both sides of the driven wheel beam, and a walking drive module installed on the driving wheel beam.

[0006] The connecting frame is U-shaped and is provided with a transition plate. The steering mechanism is provided on the transition plate and is sequentially connected with a steering drive module and a control module. The driven wheel beam is fixedly connected to the steering mechanism.

[0007] The steering mechanism comprises a rotating shaft fixedly connected to the bottom of the transition plate and a sleeve sleeved on the rotating shaft by a bearing; the driven wheel beam is fixedly connected to the outer wall surface of the sleeve.

[0008] The steering drive module comprises a worm gear reducer and a motor which are connected to each other. A driving gear is arranged below the worm gear reducer, and a steering gear which matches the driving gear is arranged below the sleeve.

[0009] The driving wheel beam and the driven wheel beam are respectively provided with bearing seats at both ends above them, and the driving wheel and the driven wheel are respectively installed in the corresponding bearing seats.

[0010] The two travel drive modules are respectively installed in the bearing seats at the two ends above the driving wheel beam and are connected to the driving wheel.

[0011] Adsorption modules are respectively arranged at two ends below the driving wheel beam and the driven wheel beam.

[0012] A module mounting frame is arranged above the transition plate.

[0013] The advantages of the present invention are: the main body frame is composed of only three beams, with a simple structure, light weight, and easy installation and maintenance; the steering is achieved by using gear transmission to drive the robot's wheel axle, and the steering torque is small; the module mounting frame allows users to customize the installation of various modules according to work requirements, and has strong scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A perspective view of the present invention; Figure 2 A top view of the present invention; Figure 3 A bottom view of the present invention; Figure 4 It is a right side cross-sectional view of the present invention. DETAILED DESCRIPTION

[0015] The robot body structure of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0016] like Figure 1-4 As shown, the robot body structure of the present invention includes a body frame 1 and a walking device 2. The main body frame 1 includes a driving wheel beam 3, a driven wheel beam 4 and a connecting frame 5; the connecting frame 5 is U-shaped and installed on the driving wheel beam 3, on which a transition plate 10 is arranged; a steering mechanism 6 is arranged on the transition plate 10 and is connected to a steering drive module 11 and a control module 12 in sequence; the steering mechanism 6 includes a rotating shaft 13 vertically connected to the bottom of the transition plate 10 and a sleeve 14 connected to the rotating shaft 13 by a bearing; the outer wall surfaces of the driven wheel beam 4 and the sleeve 14 are fixedly connected; the steering drive module 11 includes a worm gear reducer 16 and a motor 17 connected to each other, a driving gear 18 is arranged below the worm gear reducer 16, and a steering gear 15 matching the driving gear 18 is arranged below the sleeve 14; under the control of the control module 12, the motor 17 drives the worm gear reducer 16 to rotate the driving gear 18, driving the steering gear 15 meshing with it to rotate, thereby driving the sleeve 14 and the driven wheel beam 4 fixedly connected thereto to rotate, thereby realizing the steering of the robot.

[0017] like Figure 1 , 2As shown, the walking device 2 includes a driving wheel 7, a driven wheel 8 and a walking driving module 9; the driving wheel beam 3 and the driven wheel beam 4 are provided with bearing seats 19 at both ends above, and the driving wheel 7 and the driven wheel 8 are installed in the corresponding bearing seats 19 respectively; the two walking driving modules 9 are installed in the bearing seats 19 at both ends above the driving wheel beam 3, and are connected to the driving wheel 7; the walking driving module 9 includes a motor and a reducer, which are also controlled by the control module 12 and are used to drive the robot to walk. Adsorption modules 20 are provided at both ends below the driving wheel beam 3 and the driven wheel beam 4, respectively, to provide the robot with adsorption force on the working surface.

[0018] A module mounting frame 21 made of aluminum alloy steel is arranged above the transition plate 10 for customizing the installation of various modules according to work requirements.

[0019] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A robot body structure, comprising a body frame (1) and a walking device (2), characterized in that: The main body frame (1) comprises a driving wheel beam (3), a driven wheel beam (4) and a connecting frame (5); the connecting frame (5) is mounted on the driving wheel beam (3) and is provided with a steering mechanism (6), the steering mechanism (6) being connected to the driven wheel beam (4); the walking device (2) comprises driving wheels (7) mounted on both sides of the driving wheel beam (3), driven wheels (8) mounted on both sides of the driven wheel beam (4), and a walking drive module (9) mounted on the driving wheel beam (3).

2. The robot body structure according to claim 1, characterized in that: The connecting frame (5) is U-shaped and has a transition plate (10) disposed thereon; the steering mechanism (6) is disposed on the transition plate (10) and is sequentially connected to a steering drive module (11) and a control module (12); and the driven wheel beam (4) is fixedly connected to the steering mechanism (6).

3. The robot body structure according to claim 2, characterized in that: The steering mechanism (6) comprises a rotating shaft (13) vertically connected to the bottom of the transition plate (10) and a sleeve (14) sleeved on the rotating shaft (13) by means of a bearing; the driven wheel beam (4) and the outer wall surface of the sleeve (14) are fixedly connected.

4. The robot body structure according to claim 3, characterized in that: The steering drive module (11) comprises a worm gear reducer (16) and a motor (17) which are connected to each other, a driving gear (18) being arranged below the worm gear reducer (16), and a steering gear (15) matching the driving gear (18) being arranged below the sleeve (14).

5. The robot body structure according to any one of claims 1 to 4, characterized in that: Bearing seats (19) are respectively provided at both ends above the driving wheel beam (3) and the driven wheel beam (4), and the driving wheel (7) and the driven wheel (8) are respectively installed in the corresponding bearing seats (19).

6. The robot body structure according to claim 5, characterized in that: The two travel drive modules (9) are respectively installed in the bearing seats (19) at the two ends above the drive wheel beam (3), and are connected to the drive wheel (7).

7. The robot body structure according to any one of claims 1 to 4 or 6, characterized in that: Adsorption modules (20) are respectively provided at two ends below the driving wheel beam (3) and the driven wheel beam (4).

8. The robot body structure according to any one of claims 2 to 4, characterized in that: A module mounting frame (21) is arranged above the transition plate (10).

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