Rotatable mass center suspension mechanism

Abstract

The utility model relates to the technical field of suspension equipment, and discloses a rotatable mass center suspension mechanism which comprises a bottom frame, an outer cylinder fixedly installed in the center of the upper end face of the bottom frame, an auxiliary bearing fixedly installed on the inner side of the outer cylinder, a bottom cylinder fixedly installed on the inner ring of the auxiliary bearing, an insertion cylinder fixedly installed on the upper end face of the bottom cylinder, and a vertical rod vertically inserted in the inner side of the insertion cylinder. An inserting frame is fixedly connected to the top end of the vertical rod, a hoisting arm is inserted into the inner side of the inserting frame, a protection assembly used for protecting an auxiliary bearing is arranged on the outer side of the outer cylinder, and the auxiliary bearing is allowed to rotate when bearing radial and axial loads due to the design, so that when the wall climbing robot bears force from different directions, the auxiliary bearing can rotate along with the wall climbing robot, and the wall climbing robot is protected. The whole vertical rod, the inserting frame and the hoisting arm are driven to rotate together, the inserting frame, the vertical rod, the bottom cylinder and the auxiliary bearing are used for providing certain supporting force for the hoisted wall-climbing robot, and steering stability is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of suspension equipment, and in particular to a rotatable center-of-mass suspension mechanism. Background Art

[0002] Wall-climbing robots are robots capable of moving freely on walls. Their design draws inspiration from the habits of reptiles like geckos in nature. They can achieve rapid movement and flexible maneuverability by continuously climbing vertical surfaces. They have broad application prospects in a variety of fields, including building cleaning, film and television production, archaeological exploration, disaster relief, and military reconnaissance. They can easily reach hard-to-reach areas, improving work efficiency and safety.

[0003] Existing devices have some disadvantages during use. For example, when the lifting position is fixed, the turning flexibility of the wall-climbing robot will be greatly limited, because the lifting point usually determines the overall center of gravity and movement trajectory of the robot. If the lifting point cannot automatically adjust as the robot turns, then the robot will encounter resistance when turning, which will make it difficult for the robot to turn. Utility Model Content

[0004] The purpose of the present utility model is to provide a rotatable center of mass suspension mechanism to solve the problem that when the hoisting position is fixed, the turning flexibility of the wall-climbing robot will be greatly limited, because the hoisting point usually determines the overall center of gravity and movement trajectory of the robot. If the hoisting point cannot be automatically adjusted as the robot turns, the robot will encounter resistance when turning, which will cause difficulty in turning the robot.

[0005] The utility model provides the following technical solution: a rotatable center of mass suspension mechanism, comprising a base frame, an outer cylinder fixedly mounted at the center of the upper end surface of the base frame, an auxiliary bearing fixedly mounted on the inner side of the outer cylinder, a base cylinder fixedly mounted on the inner ring of the auxiliary bearing, an insert cylinder fixedly mounted on the upper end surface of the base cylinder, a vertical rod vertically inserted into the inner side of the insert cylinder, an insert frame fixedly connected to the top end of the vertical rod, a hanging arm inserted into the inner side of the insert frame, and a protective component for protecting the auxiliary bearing provided on the outer side of the outer cylinder.

[0006] In the above scheme, when the wall-climbing robot is subjected to forces from different directions, the auxiliary bearing will rotate accordingly, thereby driving the entire vertical rod, plug-in frame and lifting arm to rotate together. The plug-in frame, vertical rod, bottom tube and auxiliary bearing are used to provide a certain support force for the hoisted wall-climbing robot to ensure the stability of steering.

[0007] As a preferred embodiment of the above technical solution, the protective assembly includes a protective cover and an annular clamping strip fixedly sleeved on the outer wall of the outer cylinder, a plurality of U-shaped mounting frames are fixed in an annular array on the outer wall of the bottom of the protective cover, a rotating shaft is rotatably connected to the inner side of the U-shaped mounting frame, a clamping rod for use with the annular clamping strip is fixedly sleeved on the outer wall of the rotating shaft, a reset spring is fixedly installed on the top of the clamping rod near the side wall of the protective cover, and the end of the reset spring away from the clamping rod is fixed to the outer wall of the protective cover.

[0008] In the above solution, the protective cover can effectively prevent dust, debris and other pollutants from entering the interior of the bearing, reducing the incidence of bearing wear, corrosion and other faults.

[0009] As a preferred embodiment of the above technical solution, a mounting hole is provided at the top of the insert tube, a through hole is provided at the bottom of the vertical rod, and fixing pins are provided through the inner sides of the mounting hole and the through hole.

[0010] In the above solution, the fixing pin is used to fix the vertical rod in the insertion tube.

[0011] As a preferred embodiment of the above technical solution, an annular dustproof strip is fixedly installed at the opening of the top wall of the protective cover.

[0012] In the above solution, the main function of the annular dust strip is to prevent dust, dirt and other fine particles from entering the interior of the protective cover, thereby preventing dust accumulation from affecting the use of the auxiliary bearing.

[0013] As a preferred embodiment of the above technical solution, a base plate is fixedly sleeved on the outer wall of the insertion frame, a mounting platform is fixedly installed on the upper end surface of the base plate, a fixing cylinder for fixing external devices is fixedly installed on the upper end surface of the mounting platform, and the end of the lifting arm passes through the side wall of the fixing cylinder and extends into the insertion frame.

[0014] In the above solution, the main functions of the base plate, the mounting platform and the fixing tube are to fix the external components. This design allows the external components to be firmly connected to the entire structure through the fixing tube.

[0015] As a preferred embodiment of the above technical solution, the protruding portion of the bottom end of the clamping rod abuts against the lower end surface of the annular clamping strip.

[0016] In the above solution, when the clamping rod is in a state of interference, the protective cover is fixed on the outer cylinder.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] In the present invention, when the wall-climbing robot needs to turn, the lifting arm will be subjected to a force, and this force will be transmitted to the mounting frame, vertical rod and bottom tube through the lifting arm. Since the bottom tube is fixedly connected to the inner ring of the auxiliary bearing, this force will be further transmitted to the auxiliary bearing. The design of the auxiliary bearing allows it to rotate when subjected to radial and axial loads. Therefore, when the wall-climbing robot is subjected to forces from different directions, the auxiliary bearing will rotate accordingly, thereby driving the entire vertical rod, mounting frame and lifting arm to rotate together. The mounting frame, vertical rod, bottom tube and auxiliary bearing are used to provide a certain support force for the hoisted wall-climbing robot to ensure the stability of the steering. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a first-person perspective structural diagram of a rotatable center-of-mass suspension mechanism;

[0020] Figure 2 This is a schematic diagram of the exploded structure of the lifting arm and the insertion frame;

[0021] Figure 3 It is a partially enlarged structural schematic diagram of a rotatable center of mass suspension mechanism;

[0022] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0023] Figure 5 Schematic diagram of the partial explosion structure of a rotatable center of mass suspension mechanism.

[0024] In the figure: 1. Base frame; 11. Outer cylinder; 12. Auxiliary bearing; 13. Base cylinder; 14. Insert cylinder; 15. Vertical rod; 16. Insertion frame; 17. Lifting arm; 2. Protective assembly; 21. Protective cover; 211. Annular dust strip; 22. Annular clamping strip; 23. U-shaped mounting frame; 24. Rotating shaft; 25. Clamping rod; 26. Return spring; 31. Mounting hole; 32. Through hole; 33. Fixing pin; 41. Base plate; 42. Mounting platform; 43. Fixing cylinder. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0026] Example

[0027] like Figure 1 、 Figure 2 and Figure 5As shown, the utility model provides a technical solution: a rotatable center of mass suspension mechanism, including a base frame 1, an outer cylinder 11 is fixedly installed at the center of the upper end surface of the base frame 1, an auxiliary bearing 12 is fixedly installed on the inner side of the outer cylinder 11, a bottom cylinder 13 is fixedly installed on the inner ring of the auxiliary bearing 12, an inserting cylinder 14 is fixedly installed on the upper end surface of the bottom cylinder 13, a vertical rod 15 is vertically inserted into the inner side of the inserting cylinder 14, and an inserting frame 16 is fixedly connected to the top of the vertical rod 15. A hanging arm 17 is inserted into the inner side of the inserting frame 16, and a protective component 2 for protecting the auxiliary bearing 12 is provided on the outer side of the outer cylinder 11. During specific use, when the wall-climbing robot needs to turn, the hanging arm 17 will be affected. The force is applied, and the force is transmitted to the insertion frame 16, the vertical rod 15 and the bottom tube 13 through the lifting arm 17. Since the bottom tube 13 is fixedly connected to the inner ring of the auxiliary bearing 12, the force will be further transmitted to the auxiliary bearing 12. The design of the auxiliary bearing 12 allows it to rotate when subjected to radial and axial loads. Therefore, when the wall-climbing robot is subjected to forces from different directions, the auxiliary bearing 12 will rotate accordingly, thereby driving the entire vertical rod 15, the insertion frame 16 and the lifting arm 17 to rotate together. The insertion frame 16, the vertical rod 15, the bottom tube 13 and the auxiliary bearing 12 are used to provide a certain support force for the hoisted wall-climbing robot to ensure the stability of the steering.

[0028] As an implementation method in this embodiment, Figure 3 and Figure 4As shown, the protective assembly 2 includes a protective cover 21 and an annular clip strip 22 fixedly sleeved on the outer wall of the outer cylinder 11, a plurality of U-shaped mounting frames 23 are fixed in an annular array on the outer wall of the bottom of the protective cover 21, and a rotating shaft 24 is rotatably connected to the inner side of the U-shaped mounting frame 23. A clamping rod 25 for cooperating with the annular clip strip 22 is fixedly sleeved on the outer wall of the rotating shaft 24, and a return spring 26 is fixedly installed on the top of the clamping rod 25 near the side wall of the protective cover 21. The end of the return spring 26 away from the clamping rod 25 is fixed to the outer wall of the protective cover 21, and the protruding part of the bottom end of the clamping rod 25 conflicts with the lower end surface of the annular clip strip 22. In the specific use process, first, align the protective cover 21 with the outer cylinder 11 and then gently push the protective cover 21 so that the bottom edge of the clamping rod 25 contacts the annular clip strip 22. At this time, the clamping rod 25 continues to slide downward along the outer wall of the annular clip strip 22. At this time, the clamping rod 25 The bottom is subjected to resistance and a force is generated, which acts on the clamping rod 25, thereby causing the top of the clamping rod 25 to rotate toward the inside of the annular clamping strip 22. In this way, the top of the clamping rod 25 squeezes the return spring 26. When the bottom end of the clamping rod 25 exceeds the annular clamping strip 22, the return spring 26 rebounds, causing the protruding part of the bottom of the clamping rod 25 to be stuck under the annular clamping strip 22. At this time, the protective cover 21 is firmly fixed on the outer cylinder 11, and the installation process is completed. The protective cover 21 can effectively prevent dust, debris and other contaminants from entering the inside of the bearing, reducing the incidence of bearing wear, corrosion and other faults. When the protective cover 21 needs to be removed, just gently press the top of the clamping rod 25 with your hand (or use a tool) to overcome the elastic force of the return spring 26. This structure can easily realize the rapid installation and disassembly of the protective cover 21 and the outer cylinder 11, providing convenience for equipment maintenance and maintenance.

[0029] As an implementation method in this embodiment, Figure 5 As shown, a mounting hole 31 is provided at the top of the insert 14, and a through hole 32 is provided at the bottom of the vertical rod 15. A fixing pin 33 is provided through the inside of the mounting hole 31 and the through hole 32. The shape and size of the fixing pin 33 match the mounting hole 31 and the through hole 32 to ensure that it can be inserted firmly. The fixing pin 33 is used to fix the vertical rod 15 in the insert 14.

[0030] As an implementation method in this embodiment, Figure 5 As shown, an annular dust strip 211 is fixedly installed at the opening of the top wall of the protective cover 21. The main function of the annular dust strip 211 is to prevent dust, dirt and other fine particles from entering the interior of the protective cover 21, thereby avoiding dust accumulation affecting the use of the auxiliary bearing 12.

[0031] As an implementation method in this embodiment, Figure 1As shown, a base plate 41 is fixedly sleeved on the outer wall of the insertion frame 16, a mounting platform 42 is fixedly installed on the upper end surface of the base plate 41, and a fixing cylinder 43 for fixing external devices is fixedly installed on the upper end surface of the mounting platform 42. The end of the lifting arm 17 passes through the side wall of the fixing cylinder 43 and extends into the insertion frame 16. The main function of the base plate 41, the mounting platform 42 and the fixing cylinder 43 is to fix external devices. This design allows the external devices to be firmly connected to the entire structure through the fixing cylinder 43.

[0032] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same.

Claims

1. A rotatable center-of-mass suspension mechanism, comprising a base frame (1), characterized in that: An outer cylinder (11) is fixedly mounted at the center of the upper end face of the base frame (1), an auxiliary bearing (12) is fixedly mounted on the inner side of the outer cylinder (11), a bottom cylinder (13) is fixedly mounted on the inner ring of the auxiliary bearing (12), an insert cylinder (14) is fixedly mounted on the upper end face of the bottom cylinder (13), a vertical rod (15) is vertically inserted into the inner side of the insert cylinder (14), an insert frame (16) is fixedly connected to the top end of the vertical rod (15), a lifting arm (17) is inserted into the inner side of the insert frame (16), and a protective component (2) for protecting the auxiliary bearing (12) is provided on the outer side of the outer cylinder (11).

2. The rotatable center of mass suspension mechanism according to claim 1, characterized in that: The protective assembly (2) comprises a protective cover (21) and an annular clamping strip (22) fixedly sleeved on the outer wall of the outer cylinder (11); a plurality of U-shaped mounting frames (23) are fixed in an annular array on the outer wall of the bottom of the protective cover (21); a rotating shaft (24) is rotatably connected to the inner side of the U-shaped mounting frame (23); a clamping rod (25) for use with the annular clamping strip (22) is fixedly sleeved on the outer wall of the rotating shaft (24); a return spring (26) is fixedly installed on the top of the clamping rod (25) near the side wall of the protective cover (21); and the end of the return spring (26) away from the clamping rod (25) is fixed to the outer wall of the protective cover (21).

3. The rotatable center of mass suspension mechanism according to claim 1, characterized in that: The top of the insert tube (14) is provided with a mounting hole (31), the bottom of the vertical rod (15) is provided with a through hole (32), and a fixing pin (33) is provided through the inside of the mounting hole (31) and the through hole (32).

4. The rotatable center of mass suspension mechanism according to claim 2, wherein: An annular dustproof strip (211) is fixedly mounted at the opening of the top wall of the protective cover (21).

5. The rotatable center of mass suspension mechanism according to claim 1, characterized in that: A bottom plate (41) is fixedly sleeved on the outer wall of the insertion frame (16), a mounting platform (42) is fixedly mounted on the upper end surface of the bottom plate (41), a fixing cylinder (43) for fixing external components is fixedly mounted on the upper end surface of the mounting platform (42), and an end portion of the hanging arm (17) passes through the side wall of the fixing cylinder (43) and extends into the insertion frame (16).

6. The rotatable center of mass suspension mechanism according to claim 2, characterized in that: The protruding portion at the bottom end of the clamping rod (25) contacts the lower end surface of the annular clamping strip (22).

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