Transmission device of ball wheel type wall-climbing robot
Through the transmission device of dual servos and bevel gear sets, the problems of low stability and speed of existing magnetic adsorption wall-climbing robots are solved, higher control accuracy and movement flexibility are achieved, and the size of the robot is reduced.
Patent Information
- Application Number
- CN202511117025.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-11
- Publication Date
- 2025-09-16
AI Technical Summary
The transmission devices of existing magnetic adsorption wall-climbing robots have problems such as insufficient stability, poor mobility and low speed. In particular, the single-motor solution relies on a balancing module, and the dual-servo plus gear ring solution has low transmission efficiency.
Using dual servos as the power source, the wall-climbing robot can move forward, backward, and turn on the spot by controlling the rotation of the dual servos. The power is transmitted to the driving hemispherical shell through a bevel gear transmission mechanism. Combined with a 3D-printed frame-type fixing frame and thin-walled deep groove ball bearings, the structure is compact and the control accuracy is increased.
The control accuracy and driving stability of the wall-climbing robot are improved, the horizontal size is reduced, the movement speed and flexibility are increased, and diversified movement modes are realized.
Smart Images
Figure CN120646114A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a transmission device of a ball-wheel type wall-climbing robot in the technical field of wall-climbing robots. Background Art
[0002] A magnetic wall-climbing robot can adhere to metal walls and move freely on them. This robot is suitable for vertical, high-altitude, or complex wall environments, such as chemical energy storage tank inspection and maintenance, regular rust removal and painting of ship steel structures, and non-destructive testing of offshore platform facilities. However, existing technologies typically employ two transmission schemes for these robots. The first employs a single motor, built into one of the two balancing modules and fixedly connected to the central shaft. This central shaft drives the spherical shell, thereby driving the wall-climbing robot. The second employs a dual-servo and gear ring system. The two servos are placed horizontally within the robot and fixedly connected to spur gears. The inner ring gear is fixedly connected to the outer spherical shell. The meshing of the spur gears with the inner ring gear generates the outer shell's rotation, generating driving force. In the first scheme, the robot's balance during movement is heavily dependent on the balancing modules on both sides, resulting in insufficient stability. The robot can only move forward and backward, unable to turn on the wall, resulting in poor mobility. In the second scheme, the transmission ratio of the gears driving the inner ring gear is relatively large, resulting in lower robot speed and reduced efficiency. Summary of the Invention
[0003] The purpose of the present invention is to provide a transmission device for a spherical wheel wall-climbing robot, which greatly reduces the horizontal size of the wall-climbing robot, increases the compactness of the structure, and has a lower transmission, so that the movement speed of the wall-climbing robot is greatly improved.
[0004] To achieve the above-mentioned purpose, the present invention provides a transmission device for a spherical wheel wall-climbing robot, comprising a pair of fixed frames symmetrically arranged on both sides of a magnetic adsorption device, a servo provided on the fixed frames, the servo connected to the transmission mechanism, and the transmission mechanism connected to the driving hemispherical shells on both sides of the robot.
[0005] Compared with the existing technology, the beneficial effect of the present invention is that it uses dual servos as power sources, and controls the rotation of the dual servos to realize the forward, backward, on-the-spot turning and autonomous balance of the wall-climbing robot, thereby improving the control accuracy and driving stability of the wall-climbing robot, greatly reducing the horizontal size of the wall-climbing robot, increasing the structural compactness, and having a lower transmission, and the movement speed of the wall-climbing robot is greatly improved.
[0006] As a further improvement of the present invention, the fixing frame includes a back plate, and a U-shaped upper frame and a lower frame are fixedly provided on the upper and lower parts of the front of the back plate respectively. The servo is vertically placed between the upper fixing frame and the lower fixing frame, and the output shaft of the servo extends upward from the upper fixing frame. Positioning holes are opened on both sides of the upper fixing frame, which are fixedly connected to the upper sides of the servo by bolts, and the bottom of the servo is supported by the lower fixing frame.
[0007] In this way, the servo is placed in a longitudinal position, so that the servo can be located in the center of the wall-climbing robot, which increases the compactness of the structure and further reduces the overall horizontal size of the robot. The upper frame is a rectangular structure, which is bolted to the servo through the positioning holes on both sides. The rectangular structure of the lower frame supports the bottom of the servo and shares the torque generated by the servo with the upper frame to ensure structural strength.
[0008] As a further improvement of the present invention, a mounting post is provided on the back of the back plate, a mounting hole is opened in the middle of the bracket of the magnetic adsorption device, and the mounting post is inserted into the mounting hole and fixed by bolts.
[0009] In this way, the fixing frame of the servo can be close to the magnetic adsorption device and symmetrically arranged on both sides thereof, further increasing the compactness of the structure, reducing the overall horizontal size of the robot, and at the same time better ensuring that the center of gravity of the entire transmission device is at the center of the robot's axis, making the robot more balanced.
[0010] As a further improvement of the present invention, the transmission mechanism includes a driving bevel gear and a driven bevel gear, the driving bevel gear is sleeved on the output shaft of the servo, the driving bevel gear is vertically meshed with the driven bevel gear, a hollow shaft is provided at the center of the driving bevel gear, the hollow shaft is plugged into the transmission shaft at the center of the inner wall of the hemisphere of the driving hemisphere shell and fixed by bolts.
[0011] In this way, the driving bevel gear is engaged with the driven bevel gear, and the driven bevel gear is fixed to the shafts of the driving hemispherical shells on both sides, thereby realizing the transmission of power from the servo output shaft to the driving hemispherical shell and realizing the rotation of the driving hemispherical shell.
[0012] As a further improvement of the present invention, the driving hemispherical shell also includes a cylinder, the edge of the hemisphere is fixedly connected to the edge of one end of the cylinder, the cylinder is connected to the sealing shell through a bearing, the sealing shell is composed of three sections of cylinders, the outer diameters of the cylinders on both sides are the same and smaller than the outer diameter of the cylinder in the middle, the bearings are thin-walled deep groove ball bearings, the inner ring of the bearings are interference fit with the outer surfaces of the cylinders on both sides of the sealing shell, and the outer ring of the bearings are interference fit with the inner side surface of the cylinder of the driving hemispherical shell.
[0013] In this way, the driving hemispherical shell and the sealing shell are connected and fixed to form a complete sphere, in which the sealing shell remains stationary, while the driving hemispherical shell can rotate under the drive of the servo, thereby realizing the overall movement of the robot and achieving the connection effect of free relative rotation between the driving hemispherical shell and the sealing shell.
[0014] As a further improvement of the present invention, the outer side surface of the column is wrapped with rubber.
[0015] This can increase the friction and contact area through rubber, prevent the PC material from slipping on the metal surface, and make the robot's movement smoother.
[0016] As a further improvement of the present invention, the fixing frame is a frame structure made by 3D resin printing.
[0017] In this way, the entire fixing frame can ensure structural strength while reducing the weight to the greatest extent.
[0018] As a further improvement of the present invention, the servo is driven by PWM with a control accuracy of 3 μsec.
[0019] This is conducive to accurately controlling the movement of the wall-climbing robot and obtaining timely feedback information on the movement. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 It is a structural schematic diagram of the present invention.
[0021] Figure 2 This is an exploded view of the present invention.
[0022] Figure 3 It is an overall assembly diagram of the transmission device and the magnetic adsorption device of the present invention.
[0023] Figure 4 This is a schematic diagram of the disassembled structure of the fixing bracket and the magnetic adsorption device of the present invention.
[0024] Figure 5 It is a front view of the transmission device of the present invention.
[0025] Among them, 1 hemisphere, 2 sealing shell, 3 cylinder, 4 driving hemisphere shell, 5 bearing, 6 transmission shaft, 7 driving bevel gear, 8 driven bevel gear, 9 hollow shaft, 10 lower frame, 11 servo, 12 upper frame, 13 mounting column, 14 positioning hole, 15 back plate, 16 mounting hole, 17 magnetic adsorption device, 18 bracket. DETAILED DESCRIPTION
[0026] The present invention will be further described below in conjunction with the accompanying drawings: like Figure 1-4The transmission device of a ball-wheeled wall-climbing robot shown includes a pair of fixed frames, which are symmetrically arranged on both sides of the magnetic adsorption device 17. A servo 11 is provided on the fixed frame, and the servo 11 is connected to the transmission mechanism, and the transmission mechanism is connected to the driving hemispherical shells 4 on both sides of the robot.
[0027] The fixing frame includes a back plate 15, and the upper and lower front portions of the back plate 15 are fixedly provided with a U-shaped upper frame 12 and a lower frame 10, respectively. The servo 11 is vertically placed between the upper and lower fixing frames, and the output shaft of the servo 11 extends upward from the upper fixing frame. Positioning holes 14 are provided on both sides of the upper fixing frame, which are fixedly connected to the upper sides of the servo 11 by bolts. The bottom of the servo 11 is supported by the lower fixing frame.
[0028] Mounting posts 13 are provided on the back of backplate 15. Mounting holes 16 are defined in the center of bracket 18 of magnetic attraction device 17. Mounting posts 13 are inserted into mounting holes 16 and secured with bolts. The transmission mechanism includes a driving bevel gear 7 and a driven bevel gear 8. Driving bevel gear 7 is mounted on the output shaft of servo 11 and meshes perpendicularly with driven bevel gear 8. A hollow shaft 9 is provided at the center of driving bevel gear 7. Hollow shaft 9 is plugged into and secured to drive shaft 6 located at the center of the inner wall of hemispherical body 1 of driving hemispherical shell 4 via bolts.
[0029] The driving hemispherical shell 4 also includes a cylinder 3. The edge of the hemispherical shell 1 is fixedly connected to the edge of one end of the cylinder 3. The cylinder 3 is connected to the sealed shell 2 via a bearing 5. The sealed shell 2 is composed of three sections of cylinders 3. The outer diameters of the cylinders 3 on both sides are the same and smaller than the outer diameter of the cylinder 3 in the middle. The bearing 5 is a thin-walled deep groove ball bearing 5. The inner ring of the bearing 5 is interference fit with the outer surfaces of the cylinders 3 on both sides of the sealed shell 2, and the outer ring of the bearing 5 is interference fit with the inner side surface of the cylinder 3 of the driving hemispherical shell 4.
[0030] The outer surface of the column 3 is wrapped with rubber. The fixed frame is a frame structure made of 3D resin printing. The servo 11 is driven by PWM with a control accuracy of 3μsec.
[0031] In the invention, the magnetic adsorption device 17 is located in the middle of the robot in the horizontal direction, with transmission devices on both sides thereof. The transmission devices are connected to the driving hemispherical shells 4 on both sides. The magnetic adsorption device 17 and the transmission device are in the sealed spherical shell.
[0032] The transmission system consists of a servo 11, a mounting bracket, a driving bevel gear 7, and a driven bevel gear 8. The servo 11 is vertically mounted on the mounting bracket. The mounting post 13 on the mounting bracket is inserted into the mounting hole 16 in the middle of the bracket 18 of the magnetic adsorption device 17 and secured with bolts. The mounting bracket adopts an overall frame-type structural design and is manufactured using 3D resin printing to minimize weight. The upper frame 12 of the mounting bracket is bolted to the servo 11 through positioning holes 14 on both sides. The lower frame 10 of the mounting bracket supports the bottom of the servo 11 and, together with the upper frame 12, shares the torque generated by the servo 11 to ensure structural strength.
[0033] The output shaft of the servo 11 points vertically upward and is mounted with a driving bevel gear 7. The driving bevel gear 7 meshes with a driven bevel gear 8, which is fixed to the transmission shaft 6 on the inner wall of the driving hemispherical shell 4 on both sides, realizing the transmission of power from the output shaft of the servo 11 to the driving hemispherical shell 4. The transmission mechanism is a bevel gear set, consisting of the driving bevel gear 7 and the driven bevel gear 8. It changes the output force of the servo 11 by 90 degrees before transmitting it. The bevel gears are all made by 3D printing, and the transmission ratio of the bevel gear set is lower.
[0034] The driving hemispherical shell 4 is made of thin sheet metal. The overall structure consists of a hemispherical body 1 with an 85mm radius and a cylindrical body 3 with a 59.1mm radius and a length of 13.5mm. The shell is 1.6mm thick. A drive shaft 6 with an outer diameter of 10mm extends from the center of the inner side of the hemispherical body 1. This shaft connects to a hollow shaft 9 at the center of the driven bevel gear 8 via bolts. The outer surface of the cylindrical body 3 is tightly wrapped with rubber to contact the ground, increasing friction and contact area, preventing the PC material from slipping on metal surfaces and ensuring smoother robot movement.
[0035] The central sealed housing 2 is composed of three cylindrical sections 3. The outer diameter of the two side cylinders 3 is 95mm, the outer diameter of the middle cylinder 3 is 118mm, and the shell thickness is 1mm. The iron shell can still maintain a certain strength under the condition of being thin, without affecting the structural strength.
[0036] The sealed housing 2 and the driving hemispherical housing 4 are connected by bearings 5. These bearings are thin-walled, deep-groove ball bearings with an outer diameter of 115 mm, an inner diameter of 95 mm, and a width of 13 mm. The inner rings have an interference fit with the outer surfaces of the cylindrical bodies 3 on either side of the sealed housing 2, while the outer rings have an interference fit with the inner surface of the driving hemispherical housing 4. This allows for free relative rotation between the driving hemispherical housing 4 and the sealed housing 2.
[0037] like Figure 5As shown, when the robot needs to move forward, the left servo 11 rotates clockwise and the right servo 11 rotates counterclockwise, and the two have the same speed. At this time, the left active bevel gear 7 rotates clockwise to drive the left driven bevel gear 8 to rotate counterclockwise, thereby causing the driving hemispherical shell 4 on the left side of the robot to rotate counterclockwise, so that the left driving hemispherical shell 4 of the robot has a tendency to move forward, and the right active bevel gear 7 rotates counterclockwise to drive the right driven bevel gear 8 to rotate clockwise, thereby causing the driving hemispherical shell 4 on the right side of the robot to rotate clockwise, so that the right driving hemispherical shell 4 of the robot has a tendency to move forward. Since the two have the same speed, the robot achieves the purpose of moving forward.
[0038] When the robot needs to move backward, the left servo 11 rotates counterclockwise and the right servo 11 rotates clockwise, and the two have the same speed. At this time, the left active bevel gear 7 rotates counterclockwise to drive the left driven bevel gear 8 to rotate clockwise, thereby causing the driving hemispherical shell 4 on the left side of the robot to rotate clockwise. In this way, the left driving hemispherical shell 4 of the robot has a tendency to move backward, and the right active bevel gear 7 rotates clockwise to drive the right driven bevel gear 8 to rotate counterclockwise, thereby causing the driving hemispherical shell 4 on the right side of the robot to rotate counterclockwise. In this way, the right driving hemispherical shell 4 of the robot has a tendency to move backward. Since the two have the same speed, the robot achieves the purpose of moving backward.
[0039] When the robot needs to turn left in place, the left servo 11 rotates counterclockwise and the right servo 11 also rotates counterclockwise, and the two have the same rotation speed. The left active bevel gear 7 rotates counterclockwise to drive the left driven bevel gear 8 to rotate clockwise, thereby causing the driving hemispherical shell 4 on the left side of the robot to rotate clockwise, so that the left driving hemispherical shell 4 of the robot has a tendency to move backward, and the right active bevel gear 7 rotates counterclockwise to drive the right driven bevel gear 8 to rotate clockwise, thereby causing the driving hemispherical shell 4 on the right side of the robot to rotate clockwise, so that the right driving hemispherical shell 4 of the robot has a tendency to move forward. Since the two have the same speed, the robot achieves the purpose of turning left.
[0040] When the robot needs to turn right in place, the left servo 11 rotates clockwise and the right servo 11 also rotates clockwise, and the two have the same rotation speed. The left active bevel gear 7 rotates clockwise to drive the left driven bevel gear 8 to rotate counterclockwise, thereby causing the driving hemispherical shell 4 on the left side of the robot to rotate counterclockwise, so that the left driving hemispherical shell 4 of the robot has a tendency to move forward, and the right active bevel gear 7 rotates clockwise to drive the right driven bevel gear 8 to rotate counterclockwise, thereby causing the driving hemispherical shell 4 on the right side of the robot to rotate counterclockwise, so that the right driving hemispherical shell 4 of the robot has a tendency to move backward. Since the two have the same speed, the robot achieves the purpose of turning right.
[0041] The present invention utilizes dual servos 11 plus a bevel gear set. The two servos 11 are vertically positioned within the wall-climbing robot. The servos 11 are securely connected to the active bevel gear 7, while the hemispherical housing is securely connected to the driven bevel gear 8. The bevel gear set achieves 90° steering of the power, precisely transmitting the driving force to the driving hemispherical housing 4. The vertical placement of the servos 11 significantly reduces the horizontal dimensions of the wall-climbing robot and increases its structural compactness. The bevel gear set also reduces the transmission ratio compared to the gear ring, significantly increasing the robot's speed. The robot supports a variety of motion modes, including forward, backward, and in-place turning, enhancing its flexibility and enabling free movement on walls.
[0042] The present invention is not limited to the above-mentioned embodiments. On the basis of the technical solution disclosed herein, those skilled in the art can make some substitutions and modifications to some of the technical features therein according to the disclosed technical content without creative labor, and these substitutions and modifications are all within the protection scope of the present invention.
Claims
1. A transmission device for a ball-wheeled wall-climbing robot, characterized in that: The robot comprises a pair of fixing frames symmetrically arranged on both sides of the magnetic adsorption device. The fixing frames are provided with steering gears connected to the transmission mechanism, and the transmission mechanism is connected to the driving hemispherical shells on both sides of the robot.
2. The transmission device of a spherical wheel wall-climbing robot according to claim 1, characterized in that: The fixing frame includes a back plate, and the upper and lower front parts of the back plate are respectively fixed with a U-shaped upper frame and a lower frame. The servo is placed vertically between the upper and lower fixing frames, and the output shaft of the servo extends upward from the upper fixing frame. Positioning holes are opened on both sides of the upper fixing frame, which are fixedly connected to the upper sides of the servo by bolts, and the bottom of the servo is supported by the lower fixing frame.
3. The transmission device of a spherical wheel wall-climbing robot according to claim 2, characterized in that: A mounting post is provided on the back of the back plate, a mounting hole is opened in the middle of the bracket of the magnetic adsorption device, the mounting post is inserted into the mounting hole and fixed by bolts.
4. The transmission device of the ball-wheeled wall-climbing robot according to claim 3, characterized in that: The transmission mechanism includes a driving bevel gear and a driven bevel gear. The driving bevel gear is mounted on the output shaft of the servo. The driving bevel gear and the driven bevel gear are vertically meshed. A hollow shaft is provided at the center of the driving bevel gear. The hollow shaft is plugged into the transmission shaft at the center of the inner wall of the hemisphere of the driving hemisphere shell and fixed by bolts.
5. The transmission device of the ball-wheeled wall-climbing robot according to claim 4, characterized in that: The driving hemispherical shell also includes a cylinder, the edge of the hemisphere is fixedly connected to the edge of one end of the cylinder, and the cylinder is connected to the sealing shell through a bearing. The sealing shell is composed of three sections of cylinders. The outer diameters of the cylinders on both sides are the same and smaller than the outer diameter of the cylinder in the middle. The bearings are thin-walled deep groove ball bearings. The inner ring of the bearing is interference fit with the outer surfaces of the cylinders on both sides of the sealing shell, and the outer ring of the bearing is interference fit with the inner side surface of the cylinder of the driving hemispherical shell.
6. The transmission device of the spherical wheel wall-climbing robot according to claim 5, characterized in that: The outer side of the column is wrapped with rubber.
7. The transmission device of the ball-wheeled wall-climbing robot according to claim 6, characterized in that: The fixed frame is a frame structure made of 3D resin printing.
8. The transmission device of a spherical-wheeled wall-climbing robot according to any one of claims 1 to 7, characterized in that: The servo is driven by PWM with a control accuracy of 3μsec.