Swing type magnetic wheel wall-climbing robot driven by double motors

Abstract

The utility model belongs to the field of robots and vehicle engineering, and discloses a swing type double-motor-driven magnetic wheel wall-climbing robot which comprises a first connecting plate and a second connecting plate which are arranged side by side, and the side edges, close to each other, of the first connecting plate and the second connecting plate are rotationally connected; the connecting point is positioned at the midpoint of the side edges of the first connecting plate and the second connecting plate; two sets of wheels are rotationally connected to the side edge, away from the second connecting plate, of the first connecting plate, and two sets of wheels are rotationally connected to the side edge, away from the first connecting plate, of the second connecting plate; the wheels are magnetic wheels. The wall-climbing robot walks flexibly, meets magnetic adsorption stability in environments such as steel tanks and metal wall surfaces, is flexible in obstacle crossing, can conveniently carry a detection device, and can replace human beings to complete a large amount of dangerous or uncompleted work.

Description

Technical Field

[0001] The utility model belongs to the field of robot and vehicle engineering, and in particular relates to a swing-type double-motor driven magnetic wheel wall-climbing robot. Background Art

[0002] Wall-climbing robots are a type of mobile robots, mainly including robots in different environments such as pipes and walls; and based on the movement mode, they can be divided into tracked, wheeled, legged, and hybrid types; based on the adsorption method, they can be divided into four types: magnetic adhesion, pneumatic adhesion, bionic adhesion, and electrostatic adhesion; and each combination of movement mode and adsorption method can be used in different application scenarios and has its own characteristics.

[0003] Wall-climbing robots combine advanced materials science, mechanical design, intelligent sensing and other technologies. They have shown great potential for wide application in various industries. They can be used for industrial inspection and maintenance, building cleaning and maintenance, and search and rescue in dangerous areas.

[0004] But at the same time, at present, robots of various movement forms have their shortcomings. Tracked robots are prone to produce greater friction, which prevents rapid movement. They have complex mechanisms and may add extra weight. Legged robots have greater adaptability, but their gait planning is a major difficulty. Wheeled robots have a small contact area, are prone to slipping, and are more likely to overturn, causing mechanism failure, which is not conducive to wall-climbing robots working in special environments.

[0005] At the same time, the chassis of existing wall-climbing robots and engineering vehicles are mostly in an integrated form, which is not very flexible for climbing over obstacles. Utility Model Content

[0006] In view of the shortcomings of the prior art, the purpose of the utility model is to provide a swinging dual-motor driven magnetic wheel wall-climbing robot. The two sets of connecting plates of the wall-climbing robot can rotate slightly through hinges, so that the robot can have good obstacle crossing performance and mobile steering performance when operating in special environments. The wheels adopt permanent magnetic adsorption, are not easy to slip during work, and the adsorption is stable.

[0007] The purpose of the utility model can be achieved through the following technical solutions:

[0008] A swing-type dual-motor driven magnetic wheel wall-climbing robot, comprising:

[0009] A first connecting plate and a second connecting plate, wherein the first connecting plate and the second connecting plate are arranged side by side, and the first connecting plate and the second connecting plate are rotatably connected between sides close to each other, and the connection point is located at the midpoint of the sides of the first connecting plate and the second connecting plate;

[0010] Two sets of wheels are rotatably connected to one side of the first connecting plate away from the second connecting plate, and two sets of wheels are rotatably connected to one side of the second connecting plate away from the first connecting plate;

[0011] The wheels are magnetic wheels.

[0012] The above technical solution, its principle and technical effect:

[0013] Since the wheels are magnetic wheels, the wall-climbing robot can adhere when crawling on different environments such as metal pipes and metal walls. At the same time, when the driving source drives the wheels to rotate, the entire wall-climbing machine can adhere and crawl. Due to the rotating connection between the first connecting plate and the second connecting plate, it can rotate slightly, so that the robot can have good obstacle crossing performance and mobile steering performance when operating in special environments. Because it has a swingable characteristic, it can climb over different terrains to a certain extent, carry different devices, and complete corresponding tasks.

[0014] In a preferred example, the utility model can be further configured as follows: two groups of hinge bases are provided at the midpoint of one side edge where the first connecting plate and the second connecting plate are close to each other, the two groups of hinge bases are respectively fixedly connected to the upper surfaces of the first connecting plate and the second connecting plate, and a connecting shaft is rotatably connected between the two groups of hinge bases.

[0015] In a preferred example, the utility model can be further configured as follows: the wheel includes two groups of circular aluminum end blocks arranged overlapping each other, the circumferential sides of the circular aluminum end blocks are fixedly connected with iron rings, a magnet ring is embedded and fixedly connected between the two groups of iron rings, and a sealing rubber ring is fixedly connected to the magnet ring and the circumferential sides of the iron rings.

[0016] In a preferred example, the utility model can be further configured as follows: it also includes a wheel axle, one end of which is fixedly connected to two groups of circular aluminum end blocks, and the other end of which is fixedly connected to two groups of first bearing seats, and the first bearing seats are fixedly connected to the lower surface of the first connecting plate or the second connecting plate.

[0017] In a preferred example, the utility model can be further configured as follows: it also includes a drive shaft, which is arranged between two groups of wheel axles on the same side and parallel to the two groups of wheel axles, two groups of first synchronous pulleys are fixedly connected to the drive shaft, and a second synchronous pulley is fixedly connected to the wheel axle between the two groups of first bearing seats, and a synchronous belt is meshed between the first synchronous pulley and the corresponding second synchronous pulley.

[0018] In a preferred example, the utility model can be further configured as follows: the two ends of the drive shaft are rotatably connected to a second bearing seat and a bracket respectively, and the second bearing seat and the bracket are fixedly connected to the lower surface of the first connecting plate or the second connecting plate.

[0019] In a preferred example, the utility model can be further configured as follows: it also includes a driving motor, the driving motor is fixedly connected to the bracket, and the output end of the driving motor is fixedly connected to the driving shaft.

[0020] The nouns, conjunctions or adjectives involved in the above technical solution are explained as follows:

[0021] Fixed connection refers to a connection in which parts or components are fixed without any relative movement. There are two types of connection: detachable and non-detachable.

[0022] (1) A removable connection is a connection that uses screws, splines, wedge pins, etc. to hold parts together. This type of connection can be disassembled for maintenance without damaging the parts. However, the specifications of the connectors used must be correct (such as the length of the bolts, keys, and wedge pins) and they must be properly tightened.

[0023] (2) Non-detachable connections mainly refer to welding, riveting and tenoning. Since they need to be disassembled by forging, sawing or oxygen cutting for maintenance or replacement, spare parts generally cannot be reused. At the same time, when making connections, attention should be paid to process quality, technical inspection and remedial measures (such as calibration, polishing, etc.).

[0024] A threaded connection refers to a detachable connection in which the connected parts are connected together using threaded parts (or the threaded parts of the connected parts).

[0025] A sliding connection is when two groups of objects are in contact but not fixed, and can slide relative to each other.

[0026] A rotational connection is a connection between parts that allows the parts to rotate relative to each other.

[0027] Beneficial effects of the utility model:

[0028] The two sets of connecting plates of the wall-climbing robot can rotate slightly through hinges, so that the robot can have good obstacle-crossing and mobile steering performance when operating in special environments. The wheels adopt permanent magnetic adsorption, which is not easy to slip during work and has stable adsorption. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 It is a top view of the overall structure of an embodiment of the utility model;

[0031] Figure 2It is a bottom view of the overall structure of an embodiment of the utility model;

[0032] Figure 3 This is a cross-sectional view of the wheel structure of an embodiment of the utility model;

[0033] Figure 4 It is a side view of the wheel structure of an embodiment of the utility model;

[0034] Figure 5 This is a cross-sectional view of the drive shaft structure of an embodiment of the utility model;

[0035] Figure 6 is a first schematic diagram of a wall-climbing robot according to an embodiment of the utility model swinging through a hinge;

[0036] Figure 7 This is a second schematic diagram of the wall-climbing robot of an embodiment of the utility model swinging through a hinge. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] In the description of the present invention, it should be understood that terms such as "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0039] According to the concept of this application, Figures 1 to 7To describe an embodiment of a swing-type dual-motor driven magnetic wheel wall-climbing robot. Specifically, the swing-type dual-motor driven magnetic wheel wall-climbing robot is constructed as a split structure, which has a first connecting plate 1, a second connecting plate 2, a wheel 3 and other structures that cooperate with each other. Since the wheel 3 is a magnetic wheel, when the wall-climbing robot crawls on different environments such as metal pipes and metal walls, it can be adsorbed. At the same time, when the driving source drives the wheel 3 to rotate, the entire wall-climbing machine can be attached and crawled. Due to the rotational connection between the first connecting plate 1 and the second connecting plate 2, it can rotate slightly, so that the robot can have good obstacle crossing performance and mobile steering performance when operating in special environments. Because it has a swingable characteristic, it can climb over different terrains to a certain extent, carry different devices, and complete corresponding work.

[0040] like Figure 1-7 As shown, a swing-type dual-motor driven magnetic wheel wall-climbing robot comprises:

[0041] A first connecting plate 1 and a second connecting plate 2, the first connecting plate 1 and the second connecting plate 2 are arranged side by side, the first connecting plate 1 and the second connecting plate 2 are rotatably connected between sides close to each other, and the connection point is located at the midpoint of the sides of the first connecting plate 1 and the second connecting plate 2;

[0042] Two sets of wheels 3 are rotatably connected to one side of the first connecting plate 1 away from the second connecting plate 2, and two sets of wheels 3 are rotatably connected to one side of the second connecting plate 2 away from the first connecting plate 1;

[0043] The wheel 3 is a magnetic wheel.

[0044] When in use, since the wheels 3 are magnetic wheels, when the wall-climbing robot crawls on different environments such as metal pipes and metal walls, it can be adsorbed. At the same time, when the driving source drives the wheels 3 to rotate, the entire wall-climbing machine can crawl on the wall. Due to the rotating connection between the first connecting plate 1 and the second connecting plate 2, it can rotate slightly, so that the robot can have good obstacle crossing performance and mobile steering performance when operating in special environments. Because it has a swingable characteristic, it can climb over different terrains to a certain extent, carry different devices, and complete corresponding tasks.

[0045] In one embodiment of the utility model, two sets of hinge bases 4 are provided at the midpoint of one side of the first connecting plate 1 and the second connecting plate 2 that are close to each other, and the two sets of hinge bases 4 are respectively fixedly connected to the upper surfaces of the first connecting plate 1 and the second connecting plate 2, and a connecting shaft is rotatably connected between the two sets of hinge bases 4. The first connecting plate 1 and the second connecting plate 2 can rotate slightly through the hinge, so that the robot can have good obstacle crossing performance and mobile steering performance when operating in a special environment.

[0046] In one embodiment of the utility model, the wheel 3 includes two groups of circular aluminum end blocks 31 stacked on each other, an iron ring 32 is fixedly connected to the circumference of the circular aluminum end block 31, a magnet ring 33 is embedded and fixedly connected between the two groups of iron rings 32, and a sealing rubber ring 34 is fixedly connected to the magnet ring 33 and the circumference of the iron ring. The tire is carefully designed by using a permanent magnetic adsorption method, which is not easy to slip during work and has stable adsorption. At the same time, on the wall-climbing robot, devices suitable for different scenes can be easily installed to meet the work needs in different scenes.

[0047] One embodiment of the present invention further includes a wheel axle 5, one end of which is fixedly connected to two sets of circular aluminum end blocks 31, and the other end of which is fixedly connected to two sets of first bearing seats 51, which are fixedly connected to the lower surface of the first connecting plate 1 or the second connecting plate 2. The provision of the two sets of first bearing seats 51 increases the stability of the wheel 3 in rotation.

[0048] One embodiment of the utility model further includes a drive shaft 6, which is arranged between the two sets of wheel shafts 5 on the same side and is arranged parallel to the two sets of wheel shafts 5. Two sets of first synchronous pulleys 7 are fixedly connected to the drive shaft 6, and a second synchronous pulley 8 is fixedly connected to the wheel shaft 5 between the two sets of first bearing seats 51, and a synchronous belt 9 is meshed between the first synchronous pulley 7 and the corresponding second synchronous pulley 8. The driving source drives the drive shaft 6 to rotate, and the drive shaft 6 drives the two sets of first synchronous pulleys 7 to rotate, and the two sets of wheel shafts 5 on the same side are driven to rotate in the same direction and at the same speed through the transmission of the synchronous belt 9, and finally the wheels 3 on the same side rotate in the same direction and at the same speed, thereby driving the crawling movement of the wall-climbing robot.

[0049] In one embodiment of the present invention, the two ends of the drive shaft 6 are rotatably connected with a second bearing seat 61 and a bracket 62, respectively, and the second bearing seat 61 and the bracket 62 are fixedly connected to the lower surface of the first connecting plate 1 or the second connecting plate 2. The second bearing seat 61 and the bracket 62 are provided to increase the stability of the drive shaft 6.

[0050] One embodiment of the utility model further includes a drive motor 10, which is fixedly connected to the bracket 62, and the output end of the drive motor 10 is fixedly connected to the drive shaft 6. The drive motor 10 serves as a driving source to drive the corresponding drive shafts 6 to rotate, and the rotation of the drive shafts 6 drives the two sets of first synchronous pulleys 7 to rotate, and through the transmission of the synchronous belt 9, the two sets of wheels 3 on the same side are finally rotated in the same direction at the same time. By using two connecting plates, two drive motors and two sets of flexible transmission structures, the wall-climbing robot has good mobility and obstacle crossing performance when performing special tasks. At the same time, this mid-drive design makes the robot's center of gravity concentrated, the structure compact, and the flexibility and maneuverability increased, so that the robot can better carry different devices to work without interference.

[0051] The following is a further description of a swing-type dual-motor driven magnetic wheel wall-climbing robot provided by the utility model in conjunction with the accompanying drawings and implementation modes.

[0052] A swing-type dual-motor driven magnetic wheel wall-climbing robot, comprising:

[0053] A first connecting plate 1 and a second connecting plate 2, the first connecting plate 1 and the second connecting plate 2 are arranged side by side, the first connecting plate 1 and the second connecting plate 2 are rotatably connected between sides close to each other, and the connection point is located at the midpoint of the sides of the first connecting plate 1 and the second connecting plate 2;

[0054] Two sets of wheels 3 are rotatably connected to one side of the first connecting plate 1 away from the second connecting plate 2, and two sets of wheels 3 are rotatably connected to one side of the second connecting plate 2 away from the first connecting plate 1;

[0055] The wheel 3 is a magnetic wheel.

[0056] Two sets of hinge bases 4 are provided at the midpoint of one side of the first connecting plate 1 and the second connecting plate 2 close to each other. The two sets of hinge bases 4 are respectively fixedly connected to the upper surfaces of the first connecting plate 1 and the second connecting plate 2, and a connecting shaft is rotatably connected between the two sets of hinge bases 4.

[0057] The wheel 3 includes two groups of circular aluminum end blocks 31 stacked on each other, an iron ring 32 is fixedly connected to the circumference of the circular aluminum end block 31, a magnet ring 33 is embedded and fixedly connected between the two groups of iron rings 32, and a sealing rubber ring 34 is fixedly connected to the magnet ring 33 and the circumference of the iron ring.

[0058] It also includes a wheel axle 5, one end of which is fixedly connected to two groups of circular aluminum end blocks 31, and the other end of the wheel axle 5 is fixedly connected to two groups of first bearing seats 51, and the first bearing seats 51 are fixedly connected to the lower surface of the first connecting plate 1 or the second connecting plate 2.

[0059] It also includes a drive shaft 6, which is arranged between the two groups of wheel axles 5 on the same side and parallel to the two groups of wheel axles 5. Two groups of first synchronous pulleys 7 are fixedly connected to the drive shaft 6. A second synchronous pulley 8 is fixedly connected to the wheel axle 5 between the two groups of first bearing seats 51. A synchronous belt 9 is meshed between the first synchronous pulley 7 and the corresponding second synchronous pulley 8.

[0060] The two ends of the driving shaft 6 are rotatably connected to a second bearing seat 61 and a bracket 62 , respectively. The second bearing seat 61 and the bracket 62 are fixedly connected to the lower surface of the first connecting plate 1 or the second connecting plate 2 .

[0061] It also includes a driving motor 10 , which is fixedly connected to the bracket 62 , and an output end of the driving motor 10 is fixedly connected to the driving shaft 6 .

[0062] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0063] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, and these changes and improvements fall within the scope of the utility model to be protected.

Claims

1. A swing-type dual-motor driven magnetic wheel wall-climbing robot, characterized in that: include: A first connecting plate (1) and a second connecting plate (2), wherein the first connecting plate (1) and the second connecting plate (2) are arranged side by side, and the first connecting plate (1) and the second connecting plate (2) are rotatably connected between sides close to each other, and the connection point is located at the midpoint of the side of the first connecting plate (1) and the second connecting plate (2); Two sets of wheels (3) are rotatably connected to one side of the first connecting plate (1) away from the second connecting plate (2), and two sets of wheels (3) are rotatably connected to one side of the second connecting plate (2) away from the first connecting plate (1); The wheel (3) is a magnetic wheel.

2. A swing-type dual-motor driven magnetic wheel wall-climbing robot according to claim 1, characterized in that: Two groups of hinge bases (4) are arranged at the midpoint of one side of the first connecting plate (1) and the second connecting plate (2) which are close to each other. The two groups of hinge bases (4) are respectively fixedly connected to the upper surfaces of the first connecting plate (1) and the second connecting plate (2), and a connecting shaft is rotatably connected between the two groups of hinge bases (4).

3. The swing-type dual-motor driven magnetic wheel wall-climbing robot according to claim 1, characterized in that: The wheel (3) comprises two groups of circular aluminum end blocks (31) which are stacked on each other, an iron ring (32) being fixedly connected to the circumference of the circular aluminum end blocks (31), a magnet ring (33) being embedded and fixedly connected between the two groups of iron rings (32), and a sealing rubber ring (34) being fixedly connected to the magnet ring (33) and the circumference of the iron ring.

4. The swing-type dual-motor driven magnetic wheel wall-climbing robot according to claim 3, characterized in that: It also comprises a wheel axle (5), one end of which is fixedly connected to two groups of circular aluminum end blocks (31), and the other end of which is fixedly connected to two groups of first bearing seats (51), wherein the first bearing seats (51) are fixedly connected to the lower surface of the first connecting plate (1) or the second connecting plate (2).

5. The swing-type dual-motor driven magnetic wheel wall-climbing robot according to claim 4, characterized in that: The invention also comprises a driving shaft (6), wherein the driving shaft (6) is arranged between two groups of wheel shafts (5) on the same side and is arranged parallel to the two groups of wheel shafts (5), two groups of first synchronous pulleys (7) are fixedly connected to the driving shaft (6), a second synchronous pulley (8) is fixedly connected to the wheel shaft (5) between the two groups of first bearing seats (51), and a synchronous belt (9) is meshed between the first synchronous pulley (7) and the corresponding second synchronous pulley (8).

6. The swing-type dual-motor driven magnetic wheel wall-climbing robot according to claim 5, characterized in that: The two ends of the driving shaft (6) are rotatably connected to a second bearing seat (61) and a bracket (62), respectively; the second bearing seat (61) and the bracket (62) are fixedly connected to the lower surface of the first connecting plate (1) or the second connecting plate (2).

7. The swing-type dual-motor driven magnetic wheel wall-climbing robot according to claim 6, characterized in that: It also includes a drive motor (10), wherein the drive motor (10) is fixedly connected to the bracket (62), and the output end of the drive motor (10) is fixedly connected to the drive shaft (6).

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