Rear wheel follow-up wall-climbing robot

Abstract

The invention discloses a wall-climbing robot with follow-up rear wheels. The pair of driving wheels are arranged at the two ends of the front shaft and driven by different driving mechanisms respectively, the connecting frame is arranged on the front shaft, the rear shaft is connected to the connecting frame through a universal assembly and forms a follow-up relation with the front shaft, and the pair of driven wheels are arranged at the two ends of the rear shaft. A limiting assembly used for limiting the swing range of the rear axle is arranged on the universal assembly. The robot has the advantages that a universal assembly formed by a pair of hinged shafts which are arranged vertically is used as a hinged part, so that a rear shaft can swing in a self-adaptive manner to a certain degree when the robot works on an uneven wall surface, and the adaptability to the environment is higher; the front shaft and the rear shaft are hinged through the connecting rod, so that the two shafts form a linkage relation, and steering of the robot is simpler and more convenient; the limiting assembly is arranged on the universal assembly, the swing range of the rear axle is limited, the situation that the robot is difficult to control due to excessive steering is avoided, and the controllability of the robot is better especially when the robot climbs a wall and descends linearly.

Description

Technical Field

[0001] The invention relates to a wall-climbing robot, in particular to a rear-wheel follower wall-climbing robot. Background Art

[0002] When working on metal walls, lightweight, flexible wheeled robots are often used, usually three-wheel or four-wheeled. Three-wheeled robots generally use a combination of two drive wheels and a universal wheel to move. However, in some special cases, seam-riding operations are required, and conventional three-wheeled robots cannot meet the requirements.

[0003] Therefore, it is necessary to transform the four-wheel robot so that it can meet the operation requirements while also having the advantages of the three-wheel robot. Since the four-wheel robot requires a large driving torque for steering and a large amplitude when steering, it often has the problems of difficult steering and inconvenient control. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a rear-wheel follower wall-climbing robot which has simple steering and good controllability.

[0005] In order to solve the above technical problems, the rear-wheel follower wall-climbing robot of the present invention includes a front axle, a pair of driving wheels arranged at both ends of the front axle and driven by different driving mechanisms respectively, a connecting frame arranged on the front axle, a rear axle connected to the connecting frame through a universal joint assembly and forming a follow-up relationship with the front axle, and a pair of driven wheels arranged at both ends of the rear axle; a limit component is arranged on the universal joint assembly for limiting the swing range of the rear axle.

[0006] The universal joint assembly includes a pair of articulated shafts 1 and 2 which are vertically connected to each other; the articulated shaft 1 is arranged on the rear shaft, and the articulated shaft 2 is arranged on the connecting frame.

[0007] The hinge shaft 1 and the hinge shaft 2 are respectively provided with bearings, a rotating sleeve is provided outside the bearing, a pressure cover is provided above the rotating sleeve, and a locking nut is provided above the pressure cover.

[0008] The limiting assembly includes a limiting plate arranged on the rotating sleeve of the second articulated shaft and a limiting block arranged on the rear shaft; the rotating sleeve of the first articulated shaft is provided with a limiting groove corresponding to the limiting plate and a limiting cavity corresponding to the limiting block.

[0009] A connecting rod is arranged between the front axle and the rear axle; a hinge seat 1 is arranged on the front axle, and a hinge seat 2 is arranged on the rear axle; one end of the connecting rod is hinged in the hinge seat 1, and the other end is hinged in the hinge seat 2.

[0010] The front axle and the connecting frame are connected via an articulated shaft three; bearings are respectively arranged on the articulated shaft three and the articulated shaft two, a rotating sleeve is arranged outside the bearing, a pressure cover is arranged above the rotating sleeve, and a locking nut is arranged above the pressure cover.

[0011] Driving wheel bearing seats are arranged at both ends of the front axle, the driving wheel is arranged on the outside of the driving wheel bearing seat, and the driving mechanism is arranged on the inside of the driving wheel bearing seat; driven wheel bearing seats are arranged at both ends of the rear axle, and the driven wheel is arranged on the outside of the driven wheel bearing seat; magnetic tiles are arranged under the driving wheel bearing seat and the driven wheel bearing seat.

[0012] The driving mechanism comprises a reducer, a driving motor and a controller which are sequentially connected to the driving wheel bearing seat.

[0013] The advantages of the present invention are: a universal joint assembly composed of a pair of mutually perpendicular articulated shafts is used as an articulated component, so that the rear axle of the robot can swing adaptively to a certain extent when operating on an uneven wall surface, and the robot has stronger adaptability to the environment; a connecting rod is used to articulate the front axle and the rear axle, so that a linkage relationship is formed between the two axles, and the robot steering is easier; a limit position component is provided on the universal joint assembly, so that the swing range of the rear axle can be limited, avoiding difficulty in control due to over-steering, especially when climbing a wall and descending straight down, so that the robot is more controllable. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional diagram of the first embodiment of the present invention; Figure 2 A top view of the first embodiment of the present invention; Figure 3 It is a stereogram of the second embodiment of the present invention; Figure 4 It is a bottom view of the second embodiment of the present invention; Figure 5 It is a cross-sectional view of the universal joint assembly of the present invention. DETAILED DESCRIPTION

[0015] The rear-wheel follower wall-climbing robot of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Example

[0016] like Figure 1 As shown, the rear-wheel follower wall-climbing robot of the present invention includes a front axle 1, a pair of driving wheels 1-1 arranged at both ends of the front axle 1 and driven by different driving mechanisms respectively, a connecting frame 2 hinged to the front axle 1 through an articulated shaft 3 17, a rear axle 4 connected to the connecting frame 2 through a universal joint assembly 3 and forming a follower relationship with the front axle 1, and a pair of driven wheels 4-1 arranged at both ends of the rear axle 4.

[0017] like Figure 2 As shown, driving wheel bearing seats 1-3 are arranged at both ends of the front axle 1, the driving wheel 1-1 is arranged on the outside of the driving wheel bearing seat 1-3, and a driving mechanism is arranged on the inside of the driving wheel bearing seat 1-3; the driving mechanism includes a reducer 19, a driving motor 20 and a controller 21 which are sequentially connected to the driving wheel bearing seat 1-3, wherein the reducer 22 can select a general reducer or an elbow reducer according to different span requirements; under the control of the driver 21, the driving motor 20 drives the reducer 19 to drive the driving wheel 1-1 to rotate, so as to realize the walking of the robot, and realize the steering of the robot through the differential rotation of the two driving wheels 1-1; driven wheel bearing seats 4-3 are arranged at both ends of the rear axle 4, and the driven wheel 4-1 is arranged on the outside of the driven wheel bearing seat 4-3; magnetic tiles 18 for providing the robot with adsorption force on the metal wall are arranged below the driving wheel bearing seat 1-3 and the driven wheel bearing seat 4-3, and the magnetic tiles 18 have the same arc radius as the driving wheel 1-1 to facilitate its obstacle crossing.

[0018] An articulated seat 1-2 is provided on the front axle 1, and an articulated seat 2 4-2 is provided on the rear axle 4, wherein the distance between the articulated seat 1-2 and the middle of the front axle 1 is smaller than the distance between the articulated seat 2 4-2 and the middle of the rear axle 4; a connecting rod 16 is provided between the front axle 1 and the rear axle 4, one end of the connecting rod 16 is hinged in the articulated seat 1-2, and the other end is hinged in the articulated seat 2 4-2; under the action of the connecting rod 19, the rotation of the front axle 1 can drive the rear axle 4 to rotate in the same direction, thereby realizing the follow-up of the rear axle 4.

[0019] like Figure 2 , 5 As shown, the universal joint assembly 3 is used to enable the rear axle 4 to swing to a certain extent to adapt to the uneven wall surface, and includes a pair of articulated shafts 1 5 and 2 6 which are vertically connected to each other; the articulated shaft 1 5 is arranged in the middle of the rear axle 4, the articulated shaft 2 6 is arranged on the connecting frame 2, and the articulated shaft 3 17 is arranged in the middle of the front axle 1; the articulated shaft 1 5, the articulated shaft 2 6 and the articulated shaft 3 17 are stepped shafts, on which a pair of bearings 8 are arranged opposite to each other, respectively, a rotating sleeve 9 is arranged on the outside of the bearing 8, and a step is also arranged inside the rotating sleeve 9, and a pressure cover 10 is arranged above it, and a lock nut 11 is arranged above the pressure cover 10 through a gasket; wherein the bearings 8 used on the articulated shaft 1 5 and the articulated shaft 3 17 are tapered roller bearings, and the bearings 8 used on the articulated shaft 2 6 are angular contact ball bearings.

[0020] During assembly, first install the lower bearing on the stepped surface of the hinge shaft, then install the rotating sleeve 9 so that the lower stepped surface inside it contacts the upper surface of the lower bearing, then install the upper bearing on the hinge shaft in reverse until its lower surface contacts the upper stepped surface inside the rotating sleeve 9, then install the pressure cover 10 from above to hold the upper bearing, and install the anti-loosening nut 11 after passing the gasket on the hinge shaft until the pressure cover 10 is tightened. Example

[0021] like Figure 3 , 4 As shown, the rear-wheel follower wall-climbing robot of the present invention includes a front axle 1, a pair of driving wheels 1-1 arranged at both ends of the front axle 1 and driven by different driving mechanisms respectively, a connecting frame 2 fixedly connected to the front axle 1, a rear axle 4 connected to the connecting frame 2 through a universal joint assembly 3 and forming a follower relationship with the front axle 1, and a pair of driven wheels 4-1 arranged at both ends of the rear axle 4.

[0022] Driving wheel bearing seats 1-3 are arranged at both ends of the front axle 1, the driving wheel 1-1 is arranged on the outside of the driving wheel bearing seat 1-3, and a driving mechanism is arranged on the inside of the driving wheel bearing seat 1-3; the driving mechanism includes a reducer 19, a driving motor 20 and a controller 21 which are sequentially connected to the driving wheel bearing seat 1-3, wherein the reducer 22 can select a general reducer or an elbow reducer according to different span requirements; under the control of the driver 21, the driving motor 20 drives the reducer 19 to drive the driving wheel 1-1 to rotate, so as to realize the walking of the robot, and realize the steering of the robot through the differential rotation of the two driving wheels 1-1; driven wheel bearing seats 4-3 are arranged at both ends of the rear axle 4, and the driven wheel 4-1 is arranged on the outside of the driven wheel bearing seat 4-3; magnetic tiles 18 for providing the robot with adsorption force on the metal wall are arranged below the driving wheel bearing seat 1-3 and the driven wheel bearing seat 4-3, and the magnetic tiles 18 have the same arc radius as the driving wheel 1-1 to facilitate its obstacle crossing.

[0023] like Figure 3 , 4 As shown in , 5, the universal joint assembly 3 is used to enable the rear axle 4 to swing to a certain extent to adapt to the uneven wall surface, and includes a pair of articulated shafts 5 and articulated shafts 6 that are vertically connected to each other; the articulated shaft 1 5 is arranged in the middle of the rear axle 4, and the articulated shaft 2 6 is arranged on the connecting frame 2; the articulated shaft 1 5 and the articulated shaft 2 6 are stepped shafts, and a pair of bearings 8 are arranged thereon opposite to each other, and a rotating sleeve 9 is arranged on the outer side of the bearing 8, and a step is also arranged inside the rotating sleeve 9, and a pressure cover 10 is arranged above it, and a lock nut 11 is arranged above the pressure cover 10 through a gasket; wherein the bearing 8 used on the articulated shaft 1 5 is a tapered roller bearing, and the bearing 8 used on the articulated shaft 2 6 is an angular contact ball bearing.

[0024] The universal joint assembly 3 is also provided with a limit component for limiting the swing range of the rear axle 4, including a limit plate 12 arranged on the rotating sleeve 9 of the articulated shaft 2 6 and a square limit block 13 arranged on the rear axle 4; the rotating sleeve 9 of the articulated shaft 1 5 is provided with a limit groove 14 corresponding to the limit plate 12 and a funnel-shaped limit cavity 15 corresponding to the limit block 13; through the cooperation between the limit plate 12 and the limit groove 14 and the cooperation between the limit block 13 and the limit cavity 15, the swing range of the rear axle 4 can be limited, so that the movement of the robot is easier to control, especially when climbing a wall and descending straight down.

[0025] During assembly, first install the lower bearing on the stepped surface of the hinge shaft, then install the rotating sleeve 9 so that the lower stepped surface inside it contacts the upper surface of the lower bearing, then install the upper bearing on the hinge shaft in reverse until its lower surface contacts the upper stepped surface inside the rotating sleeve 9, then install the pressure cover 10 from above to hold the upper bearing, and install the anti-loosening nut 11 after passing the gasket on the hinge shaft until the pressure cover 10 is tightened.

[0026] 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 rear wheel follower wall climbing robot, characterized in that: The invention comprises a front axle (1), a pair of driving wheels (1-1) arranged at both ends of the front axle (1) and driven by different driving mechanisms respectively, a connecting frame (2) arranged on the front axle (1), a rear axle (4) connected to the connecting frame (2) via a universal joint assembly (3) and forming a follower relationship with the front axle (1), and a pair of driven wheels (4-1) arranged at both ends of the rear axle (4); a limit assembly for limiting the swing range of the rear axle (4) is arranged on the universal joint assembly (3).

2. The rear-wheel follower wall-climbing robot according to claim 1, characterized in that: The universal joint assembly (3) comprises a pair of mutually perpendicularly connected articulated shafts 1 (5) and 2 (6); the articulated shaft 1 (5) is arranged on the rear shaft (4), and the articulated shaft 2 (6) is arranged on the connecting frame (2).

3. The rear-wheel follower wall-climbing robot according to claim 2, characterized in that: The hinge shaft 1 (5) and the hinge shaft 2 (6) are respectively provided with bearings (8), a rotating sleeve (9) is provided outside the bearing (8), a pressure cover (10) is provided above the rotating sleeve (9), and a locking nut (11) is provided above the pressure cover (10).

4. The rear-wheel follower wall-climbing robot according to claim 3, characterized in that: The limiting assembly comprises a limiting plate (12) arranged on the rotating sleeve (9) of the second articulated shaft (6) and a limiting block (13) arranged on the rear shaft (4); the rotating sleeve (9) of the first articulated shaft (5) is provided with a limiting groove (14) corresponding to the limiting plate (12) and a limiting cavity (15) corresponding to the limiting block (13).

5. The rear-wheel follower wall-climbing robot according to any one of claims 1 to 4, characterized in that: A connecting rod (16) is provided between the front axle (1) and the rear axle (4); an articulated seat 1 (1-2) is provided on the front axle (1), and an articulated seat 2 (4-2) is provided on the rear axle (4); one end of the connecting rod (16) is hinged to the articulated seat 1 (1-2), and the other end is hinged to the articulated seat 2 (4-2).

6. The rear-wheel follower wall-climbing robot according to claim 5, characterized in that: The front axle (1) and the connecting frame (2) are connected via an articulated shaft three (17); a bearing (8) is provided on the articulated shaft three (17); a rotating sleeve (9) is provided on the outside of the bearing (8); a pressure cover (10) is provided above the rotating sleeve (9); and a locking nut (11) is provided above the pressure cover (10).

7. The rear-wheel follower wall-climbing robot according to claim 1, characterized in that: The front axle (1) is provided with a driving wheel bearing seat (1-3) at both ends, the driving wheel (1-1) is arranged on the outside of the driving wheel bearing seat (1-3), and the driving mechanism is arranged on the inside of the driving wheel bearing seat (1-3); the rear axle (4) is provided with a driven wheel bearing seat (4-3) at both ends, the driven wheel (4-1) is arranged on the outside of the driven wheel bearing seat (4-3); and magnetic tiles (18) are arranged below the driving wheel bearing seat (1-3) and the driven wheel bearing seat (4-3).

8. The rear-wheel follower wall-climbing robot according to claim 7, characterized in that: The driving mechanism comprises a reducer (19), a driving motor (20) and a controller (21) which are sequentially connected to the driving wheel bearing seat (1-3).

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