Omnidirectional mobile device

Abstract

The omni-directional moving device comprises a chassis, the chassis is provided with a driving side and a walking side which are opposite, four driving wheel sets are symmetrically installed on the chassis, the driving wheel sets protrude out of the walking side, and a first automatic telescopic element and a second automatic telescopic element are symmetrically installed on the driving side of the chassis; the four driving wheel sets are distributed in a square shape and sequentially comprise the first driving wheel set, the second driving wheel set, the third driving wheel set and the fourth driving wheel set, the telescopic end of the first automatic telescopic element is connected with a power shaft of the second driving wheel set, and the first driving wheel set and the second driving wheel set are matched in a linkage mode. The telescopic end of the second automatic telescopic element is connected with a power shaft of the fourth driving wheel set, and the third driving wheel set and the fourth driving wheel set are in linkage fit, so that the first automatic telescopic element and the second telescopic element can synchronously move to drive the four driving wheel sets to synchronously deflect by a preset angle in the preset direction. The omni-directional movement during wall climbing is achieved through the chassis, the structure is simple, and the stability is good.

Description

Technical Field

[0001] The present invention relates to the technical field of walking equipment, in particular to an omnidirectional mobile device for a wall-climbing robot. Background Art

[0002] In the existing technology, wall-climbing robots mostly adopt a fixed wheel structure or a crawler mobile structure, in which the fixed wheel group can only achieve unidirectional movement (such as forward and backward movement), and the posture needs to be frequently adjusted when turning on the vertical wall, which has the defects of complex operation and low work efficiency. In addition, due to the shift of the center of gravity during the turning process, both structural methods have the defect of easy imbalance of adsorption force, especially on curved surfaces or corners, and are very easy to fall off.

[0003] In addition, some solutions use multiple sets of independent steering motors to drive the wheel groups to achieve steering movement. However, these solutions have defects such as bloated structure, high power consumption and complex control logic. They not only take up a large space but are also inconvenient to maintain. Summary of the Invention

[0004] An embodiment of the present application provides an omnidirectional mobile device, which enables a wall-climbing robot to complete translation in any direction within an arc surface, as well as translation and turning in any direction within a plane without changing its own posture. It has a simple structure, low power consumption, convenient control, and easy maintenance.

[0005] An embodiment of the present application provides an omnidirectional mobile device for a wall-climbing robot. The omnidirectional mobile device includes a chassis having a driving side and a walking side opposite to each other. Four driving wheel sets are symmetrically mounted on the chassis, and the driving wheel sets protrude toward the walking side. A first automatic telescopic element and a second automatic telescopic element are symmetrically mounted on the driving side of the chassis. The four driving wheel groups are distributed in a square shape, and the four driving wheel groups are defined as a first driving wheel group, a second driving wheel group, a third driving wheel group and a fourth driving wheel group in sequence, wherein the telescopic end of the first automatic telescopic element is connected to the power shaft of the second driving wheel group, and the first driving wheel group and the second driving wheel group cooperate with each other, wherein the telescopic end of the second automatic telescopic element is connected to the power shaft of the fourth driving wheel group, and the third driving wheel group and the fourth driving wheel group cooperate with each other, so that the first automatic telescopic element and the second telescopic element can move synchronously and drive the first driving wheel group, the second driving wheel group, the third driving wheel group and the fourth driving wheel group to synchronously deflect by a predetermined angle in a predetermined direction, thereby realizing omnidirectional movement of the wall-climbing robot when climbing a wall through the chassis.

[0006] In a possible implementation, the chassis is a square chassis or a circular chassis.

[0007] In a possible implementation, both the first automatic telescopic element and the second automatic telescopic element are electric push rods.

[0008] In a possible implementation, the chassis is provided with a soft rubber sealing gasket along the outer circumference of the movable side, and the soft rubber sealing gasket protrudes from the chassis.

[0009] In a possible implementation, the side of the soft rubber sealing gasket away from the chassis is a concave arc structure, and the concave arc structure is centrally symmetrically distributed along a central axis position in a predetermined direction, wherein the central axis position is the lowest point.

[0010] In a possible implementation, the first automatic telescopic element and the second automatic telescopic element are symmetrically distributed between the first drive wheel group, the second drive wheel group, the third drive wheel group, and the fourth drive wheel group. The main body ends of the first automatic telescopic element and the second automatic telescopic element are respectively close to the first drive wheel group and the third drive wheel group. The first drive wheel group and the second drive wheel group are linked together by a first connecting rod structure, and the third drive wheel group and the fourth drive wheel group are linked together by a second connecting rod structure. The telescopic end of the first automatic telescopic element is connected to the power shaft of the second drive wheel group through a first swing arm, and the telescopic end of the second automatic telescopic element is connected to the power shaft of the fourth drive wheel group through a second swing arm.

[0011] In a possible implementation, the first swing arm and the second swing arm are symmetrical structures, and the first connecting rod structure and the second connecting rod structure are symmetrical structures; The first swing arm is provided with a first hinge portion, a rotating portion, and a second hinge portion in sequence along the extension direction, wherein a straight line formed by connecting the first hinge portion and the rotating portion and a straight line formed by connecting the second hinge portion and the rotating portion form an angle greater than 90°, the first hinge portion is connected to the telescopic end of the first automatic telescopic element, the rotating portion is coaxially fixedly connected to the power shaft of the second drive wheel set, and the first swing arm is perpendicular to the power shaft of the second drive wheel set; The first connecting rod structure includes a trapezoidal connecting rod and a connecting arm, one end of the connecting arm is vertically fixedly connected to the power shaft of the first driving wheel group, and the other end is hinged to the end of the trapezoidal connecting rod, and the other opposite end of the trapezoidal connecting rod is hinged to the second hinged part.

[0012] In one possible implementation, the chassis is symmetrically provided with supports on the driving side, and the main body ends of the first automatic telescopic element and the second automatic telescopic element are respectively connected to the supports, so as to support the first automatic telescopic element and the second automatic telescopic element to a predetermined height, thereby enabling the first swing arm and the first connecting rod structure to always move in a plane parallel to the chassis during operation.

[0013] In one possible implementation, the driving wheel set includes a wheel body and a wheel set mounting seat provided on the driving side of the chassis, the wheel set mounting seat is formed with a cavity suitable for accommodating the wheel body, and the power shaft of the driving wheel set passes through the wheel set mounting seat in a direction away from the walking side.

[0014] Beneficial effects: Compared with the existing technology, the omnidirectional mobile device provided by the present application can achieve translation in any direction within the arc surface, as well as translation and steering in any direction within the plane by setting a first automatic telescopic element, a second automatic telescopic element and a first drive wheel group, a second drive wheel group and a third drive wheel group, a fourth drive wheel group that are linked together. At the same time, it can eliminate the fluctuation of the adsorption force during the steering process, ensure the stability of wall climbing, and prevent it from falling off. In addition, this mechanical linkage structure can also reduce the number of actuators and improve the system operation reliability. The overall structure is simple, the power consumption is low, the control is convenient, and it is easy to maintain.

[0015] These and other objects, features and advantages of the present invention will be fully reflected in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure shows a schematic structural diagram of the omnidirectional mobile device of the present application.

[0017] Figure 2 A schematic diagram of the top view of the omnidirectional mobile device of the present application in the initial state is shown.

[0018] Figure 3 A schematic diagram of the structure of the omnidirectional mobile device of the present application in a fully extended state is shown from above.

[0019] Figure 4 A schematic diagram of the partial three-dimensional structure of the omnidirectional mobile device of the present application in the initial state is shown.

[0020] Figure 5 A schematic diagram of the partial three-dimensional structure of the omnidirectional mobile device of the present application in a fully extended state is shown. DETAILED DESCRIPTION

[0021] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are for illustrative purposes only, and those skilled in the art will readily appreciate other obvious variations. The basic principles of the present invention defined in the following description may be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0022] It should be understood by those skilled in the art that, in the disclosure of the specification, the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0023] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the elements may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0024] refer to Figures 1 to 5 The present invention provides an omnidirectional mobile device for a wall-climbing robot. The omnidirectional mobile device includes a chassis 10. The chassis 10 has a driving side and a walking side opposite to each other, wherein four driving wheel sets 20 are symmetrically mounted on the chassis 10, and the driving wheel sets 20 protrude from the walking side, wherein a first automatic telescopic element 30 and a second automatic telescopic element 40 are symmetrically mounted on the driving side of the chassis 10, wherein the first automatic telescopic element 30 and the second automatic telescopic element 40 are preferably implemented as electric push rods; The four drive wheel groups 20 are distributed in a square shape, and the four drive wheel groups 20 are defined as a first drive wheel group 21, a second drive wheel group 22, a third drive wheel group 23 and a fourth drive wheel group 24, respectively. The telescopic end of the first automatic telescopic element 30 is connected to the power shaft of the second drive wheel group 22, and the first drive wheel group 21 and the second drive wheel group 22 cooperate with each other, wherein the telescopic end of the second automatic telescopic element 40 is connected to the power shaft of the fourth drive wheel group 24, and the third drive wheel group 23 and the fourth drive wheel group 24 cooperate with each other, so that the first automatic telescopic element 30 and the second telescopic element 40 can move synchronously and drive the first drive wheel group 21, the second drive wheel group 22, the third drive wheel group 23 and the fourth drive wheel group 24 to synchronously deflect by a predetermined angle in a predetermined direction, that is, to deflect in the same direction and synchronously by a predetermined angle, thereby realizing omnidirectional movement of the wall-climbing robot when climbing a wall through the chassis.

[0025] Taking the retracted state of the first automatic telescopic element 30 and the second automatic telescopic element 40 as the initial state, when the wall-climbing robot turns, the first automatic telescopic element 30 and the second automatic telescopic element 40 are extended synchronously, wherein the first automatic telescopic element 30 drives the first drive wheel group 21 and the second drive wheel group 22 to automatically and synchronously deflect a predetermined angle, and at the same time, the second automatic telescopic element 40 drives the third drive wheel group 23 and the fourth drive wheel group 24 to automatically and synchronously deflect the same angle to realize automatic steering of the chassis. When the first automatic telescopic element 30 and the second automatic telescopic element 40 are extended into place, such as when they are fully extended, the first drive wheel group 21, the second drive wheel group 22, the third drive wheel group 23 and the fourth drive wheel group 24 From the initial state, it rotates 90° clockwise synchronously. At this point, the wall-climbing robot can change from the lateral travel mode to the longitudinal travel mode to achieve orthogonal deflection. Since the forward and backward movement of the chassis 10 only depends on the different rotation directions of the drive wheel group 20, in addition, the state between the initial state and the fully extended state of the first automatic telescopic element 30 and the second automatic telescopic element 40 will make the four drive wheel groups 20 maintain any walking angle in the range of 0°-90°. In conjunction with the wall-climbing robot, the deflection angle is measured in real time through the internal IMU, and real-time compensation is performed through the differential control method to achieve automatic correction. This enables the omnidirectional mobile device provided in the present application to achieve translation in any direction within the arc surface, as well as translation and steering in any direction within the plane.

[0026] The omnidirectional mobile device provided in the present application drives the four driving wheel groups 20 to rotate synchronously through linkage, which not only has a simpler overall structure, low power consumption, and easy maintenance, but also has higher steering stability and steering reliability. By replacing the traditional dual steering motors with electric push rods, the overall weight of the chassis 10 can be reduced by more than 10%.

[0027] In one embodiment, the chassis 10 is a square chassis or a circular chassis.

[0028] In one embodiment, the chassis 10 is provided with a soft rubber sealing gasket 11 along the outer circumference of the moving side, and the soft rubber sealing gasket 11 protrudes from the chassis 10, thereby improving the sealing reliability between the chassis 10 and the walking surface, reducing the leakage rate of the chassis 10 on the walking surface, and ensuring the adsorption stability of the chassis 10.

[0029] In one embodiment, the side of the soft rubber sealing pad 11 away from the chassis is a concave arc structure 111, and the concave arc structure is centrally symmetrically distributed along the central axis position in a predetermined direction, wherein the central axis position is the lowest point, and the predetermined direction is generally the direction in which the chassis 10 spends more time walking during the task. The concave arc surface structure can solve the problem of easy leakage of negative pressure on the curved surface, and reduce the leakage rate of the chassis 10 on the curved surface, so as to provide the wall-climbing robot with good curved surface adsorption stability.

[0030] In one embodiment, the first automatic telescopic element 30 and the second automatic telescopic element 40 are symmetrically distributed between the first drive wheel group 21, the second drive wheel group 22, the third drive wheel group 23, and the fourth drive wheel group 24. At the same time, the main body ends of the first automatic telescopic element 30 and the second automatic telescopic element 40 are close to the first drive wheel group 21 and the third drive wheel group 23, respectively, and the first drive wheel group 21 and the second drive wheel group 22 are linked by a first connecting rod structure 50, and the third drive wheel group 23 and the fourth drive wheel group 24 are linked by a second connecting rod structure 60. In addition, the telescopic end of the first automatic telescopic element 30 is connected to the power shaft of the second drive wheel group 22 through a first swing arm 31, and the telescopic end of the second automatic telescopic element 40 is connected to the power shaft of the fourth drive wheel group 24 through a second swing arm 41. In this way, the four drive wheel groups 20 are driven to rotate synchronously by the first automatic telescopic element 30 and the second automatic telescopic element 40 in a purely mechanical linkage manner, which has higher operational reliability and stronger steering stability.

[0031] In one embodiment, the first swing arm 31 and the second swing arm 41 are symmetrical structures, and the first connecting rod structure 50 and the second connecting rod structure 60 are symmetrical structures. That is, the first swing arm 31 and the second swing arm 41 have the same structure, and the first connecting rod structure 50 and the second connecting rod structure 60 have the same structure, and only differ in the distribution position, and are symmetrical between the two. Therefore, only the first swing arm 31 and the first connecting rod structure 50 are further described in detail below. Obviously, they are equivalent to the second swing arm 41 and the second connecting rod structure 60. The first swing arm 31 is provided with a first hinge portion 311, a rotating portion 312, and a second hinge portion 313 in sequence along the extension direction. The straight line formed by connecting the first hinge portion 311 and the rotating portion 312 and the straight line formed by connecting the second hinge portion 313 and the rotating portion 312 form an angle greater than 90°. The first hinge portion 311 is connected to the telescopic end of the first automatic telescopic element 30. The rotating portion 312 is coaxially fixedly connected to the power shaft of the second drive wheel set 22. The first swing arm 31 is perpendicular to the power shaft of the second drive wheel set 22. The first connecting rod structure 50 includes a trapezoidal connecting rod 51 and a connecting arm 52, wherein one end of the connecting arm 52 is vertically fixedly connected to the power shaft of the first driving wheel group 21, and the other end of the connecting arm 52 is hinged to the end of the trapezoidal connecting rod 51, and the other opposite end of the trapezoidal connecting rod 51 is hinged to the second hinge part 313.

[0032] More specifically, the telescopic end of the first automatic telescopic element 30, via the first hinged portion 311, drives the first swing arm 31 to yaw in a horizontal direction parallel to the chassis. This, with the rotating portion 312 as the center of rotation, drives the second hinged portion 313 to yaw in the same horizontal direction. This, in turn, drives the trapezoidal link 51 in the same horizontal direction via the second hinged portion 313. Ultimately, the connecting arm 52 drives the first drive wheel set 21 to yaw in the same horizontal direction, while the rotating portion 312 drives the second drive wheel set 22 to yaw synchronously in the same horizontal direction. Thus, the telescopic movement of the first automatic telescopic element 30 synchronously drives the first and second drive wheel sets 21, 22 to yaw synchronously in the horizontal direction, by a predetermined angle in a predetermined direction. Similarly, while the first automatic telescopic element 30 drives the first and second drive wheel sets 21, 22, the second automatic telescopic element 40 simultaneously drives the third and fourth drive wheel sets 23, 24 to yaw in the predetermined direction by a predetermined angle, achieving omnidirectional movement of the chassis through purely mechanical linkage. The direction and angle of the deflection are strictly positively correlated with the expansion and contraction amount of the automatic telescopic element, and the steering reliability is high.

[0033] In one embodiment, the chassis 10 is symmetrically provided with a support 12 on the driving side, and the main body ends of the first automatic telescopic element 30 and the second automatic telescopic element 40 are respectively connected to the support 12, so as to support the first automatic telescopic element 30 and the second automatic telescopic element 40 to a predetermined height, so that during the operation, the first swing arm 31 and the first connecting rod structure 50 can always move in a plane parallel to the chassis 10 to ensure the walking stability of the chassis 10. Similarly, during the operation, the second swing arm 41 and the second connecting rod structure 60 can also always move in a plane parallel to the chassis 10.

[0034] In one embodiment, the driving wheel group 20 includes a wheel body 210 and a wheel group mounting seat 220 provided on the driving side of the chassis 10, wherein the wheel group mounting seat 220 is formed with a cavity suitable for accommodating the wheel body 210, and at the same time, the power shaft of the driving wheel group 20 passes through the wheel group mounting seat 220 in a direction away from the walking side, so that the internal wheel body 210 can be protected by the wheel group mounting seat 220, and at the same time, it can also facilitate the connection of the power shaft of the driving wheel group 20, for example, the power shaft of the first driving wheel group 21 is connected to the connecting arm 52, the power shaft of the second driving wheel group 22 is connected to the first swing arm 31, the power shaft of the third driving wheel group 23 is connected to the connecting arm 52, and the power shaft of the fourth driving wheel group 24 is connected to the second swing arm 41.

[0035] It should be noted that the terms "first, second, third and fourth" in this application are used for descriptive purposes only and do not indicate any order. They cannot be understood as indicating or implying relative importance. These terms can be interpreted as names.

[0036] Those skilled in the art will appreciate that the embodiments of the present invention described above and shown in the accompanying drawings are intended to be illustrative only and are not intended to limit the present invention. The advantages of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and illustrated in the embodiments. Any variations or modifications may be made to the embodiments of the present invention without departing from the principles described.

Claims

1. Omnidirectional mobile device for wall-climbing robots, characterized in that: The omnidirectional mobile device includes a chassis having a driving side and a traveling side opposite to each other, four driving wheel sets symmetrically mounted on the chassis, the driving wheel sets protruding to the traveling side, and a first automatic telescopic element and a second automatic telescopic element symmetrically mounted on the driving side of the chassis; The four driving wheel groups are distributed in a square shape, and the four driving wheel groups are defined as a first driving wheel group, a second driving wheel group, a third driving wheel group and a fourth driving wheel group in sequence, wherein the telescopic end of the first automatic telescopic element is connected to the power shaft of the second driving wheel group, and the first driving wheel group and the second driving wheel group cooperate with each other, wherein the telescopic end of the second automatic telescopic element is connected to the power shaft of the fourth driving wheel group, and the third driving wheel group and the fourth driving wheel group cooperate with each other, so that the first automatic telescopic element and the second telescopic element can move synchronously and drive the first driving wheel group, the second driving wheel group, the third driving wheel group and the fourth driving wheel group to synchronously deflect by a predetermined angle in a predetermined direction, thereby realizing omnidirectional movement of the wall-climbing robot when climbing a wall through the chassis.

2. The omnidirectional mobile device according to claim 1, wherein The chassis is a square chassis or a circular chassis.

3. The omnidirectional mobile device according to claim 1, wherein The first automatic telescopic element and the second automatic telescopic element are both electric push rods.

4. The omnidirectional mobile device according to claim 1, wherein The chassis is provided with a soft rubber sealing pad along the outer circumference of the moving side, and the soft rubber sealing pad protrudes from the chassis.

5. The omnidirectional mobile device according to claim 4, wherein: The side of the soft rubber sealing gasket away from the chassis is an inward-concave arc structure, and the inward-concave arc structure is centrally symmetrically distributed along a central axis position in a predetermined direction, wherein the central axis position is the lowest point.

6. The omnidirectional mobile device according to claim 1, wherein The first automatic telescopic element and the second automatic telescopic element are symmetrically distributed between the first drive wheel group, the second drive wheel group, the third drive wheel group, and the fourth drive wheel group. The main body ends of the first automatic telescopic element and the second automatic telescopic element are respectively close to the first drive wheel group and the third drive wheel group. The first drive wheel group and the second drive wheel group are linked together by a first connecting rod structure, and the third drive wheel group and the fourth drive wheel group are linked together by a second connecting rod structure. The telescopic end of the first automatic telescopic element is connected to the power shaft of the second drive wheel group through a first swing arm, and the telescopic end of the second automatic telescopic element is connected to the power shaft of the fourth drive wheel group through a second swing arm.

7. The omnidirectional mobile device according to claim 6, wherein: The first swing arm and the second swing arm are symmetrical structures, and the first connecting rod structure and the second connecting rod structure are symmetrical structures; The first swing arm is provided with a first hinge portion, a rotating portion, and a second hinge portion in sequence along the extension direction, wherein a straight line formed by connecting the first hinge portion and the rotating portion and a straight line formed by connecting the second hinge portion and the rotating portion form an angle greater than 90°, the first hinge portion is connected to the telescopic end of the first automatic telescopic element, the rotating portion is coaxially fixedly connected to the power shaft of the second drive wheel set, and the first swing arm is perpendicular to the power shaft of the second drive wheel set; The first connecting rod structure includes a trapezoidal connecting rod and a connecting arm, one end of the connecting arm is vertically fixedly connected to the power shaft of the first driving wheel group, and the other end is hinged to the end of the trapezoidal connecting rod, and the other opposite end of the trapezoidal connecting rod is hinged to the second hinged part.

8. The omnidirectional mobile device according to claim 7, wherein: The chassis is symmetrically provided with supports on the driving side, and the main body ends of the first automatic telescopic element and the second automatic telescopic element are respectively connected to the supports, so as to support the first automatic telescopic element and the second automatic telescopic element to a predetermined height, thereby enabling the first swing arm and the first connecting rod structure to always move in a plane parallel to the chassis during operation.

9. The omnidirectional mobile device according to claim 7, wherein: The driving wheel set includes a wheel body and a wheel set mounting seat arranged on the driving side of the chassis. The wheel set mounting seat is formed with a cavity suitable for accommodating the wheel body. The power shaft of the driving wheel set passes through the wheel set mounting seat in a direction away from the walking side.

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