Wall climbing robot

Abstract

The utility model discloses a wall climbing robot which comprises a robot body and a plurality of wheel assemblies. The wheel assembly is arranged on the machine body and comprises a first driver, a speed reducing mechanism and wheels, and the first driver is in transmission connection with the wheels through the speed reducing mechanism. When the wall-climbing robot walks on a working face, the first driver can drive the wheels to rotate through the speed reducing mechanism, the rotating speed of the wheels is lower than that of the output end of the first driver due to the arrangement of the speed reducing mechanism, and therefore on the premise that the output power of the first driver is certain, the wheels can obtain larger torque, and the torque of the wheels is increased. Therefore, the wall-climbing robot can still walk normally on a working face with poor surface road conditions.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a wall-climbing robot. Background Technology

[0002] With the continuous development of the economy, more and more high-risk and heavy jobs are being replaced by robots, such as cleaning the curtain walls of high-rise buildings, inspecting, quality testing, cutting, welding, and grinding of buildings such as offshore platforms and tunnels, and removing rust and painting ships and aircraft.

[0003] In related technologies, wall-climbing robots are equipped with multiple sets of corresponding motors and wheels. The motors are connected to the wheels via transmission, and the motors directly drive the wheels to rotate, thereby enabling the wall-climbing robot to walk on the work surface.

[0004] However, on some working surfaces with poor road conditions, the wheels are prone to significant resistance during rotation. When the wheels are driven directly by a motor, they cannot obtain enough torque to overcome the resistance during rotation, which makes it difficult for the wall-climbing robot to walk on working surfaces with poor road conditions. Utility Model Content

[0005] The purpose of this utility model is to at least solve one of the technical problems existing in the prior art. This utility model provides a wall-climbing robot that can still walk normally on working surfaces with poor road conditions.

[0006] The wall-climbing robot provided according to the embodiment of the present utility model includes a body and multiple wheel assemblies; the wheel assembly is disposed on the body and includes a first driver, a reduction mechanism and a wheel, and the first driver is connected to the wheel through the reduction mechanism.

[0007] The wall-climbing robot described in this utility model has at least the following beneficial effects: When the wall-climbing robot of this application walks on the working surface, the first driver can drive the wheel to rotate through the deceleration mechanism. The setting of the deceleration mechanism will make the wheel speed lower than the speed of the output end of the first driver. Thus, under the premise that the output power of the first driver is constant, the wheel can obtain greater torque, so that the wall-climbing robot can still walk normally on the working surface with poor surface conditions.

[0008] According to the wall-climbing robot of this utility model embodiment, the end face of the wheel is provided with a receiving groove, and the first drive and the deceleration mechanism are both received in the receiving groove.

[0009] According to the wall-climbing robot of the present invention, the wheel assembly further includes a housing and a bearing. The housing is at least partially housed in a receiving groove and encloses the first drive and the reduction mechanism. The housing is rotatably connected to the side wall of the receiving groove through the bearing.

[0010] According to the wall-climbing robot of the present invention, the wheel assembly further includes a mounting frame, and the housing is disposed on the mounting frame; an annular first abutment portion is formed on the mounting frame, and an annular second abutment portion is formed on the side wall of the receiving groove, and the first abutment portion and the second abutment portion respectively abut against the two ends of the bearing in the width direction.

[0011] According to the wall-climbing robot of this utility model embodiment, the end of the shell near the mounting frame is fixedly connected to the first abutment part.

[0012] According to the wall-climbing robot of this utility model embodiment, the wheel includes a rim, a hub, and spokes. The outer peripheral surface of the hub is connected to the inner peripheral surface of the rim through the spokes. The inner peripheral surface of the rim and the end face of the hub together define a receiving groove. The output end of the deceleration mechanism is connected to the hub.

[0013] According to the wall-climbing robot of this utility model embodiment, the wheel assembly also includes a tire, which is fitted onto the outer circumferential surface of the wheel.

[0014] According to the wall-climbing robot of this utility model embodiment, the deceleration mechanism includes a deceleration gear set, which includes an input gear and an output gear. The input gear is connected to the output end of the first driver, and the output gear is connected to the wheel.

[0015] According to the wall-climbing robot of the present invention, the body includes multiple steering components, and multiple wheel components are paired in pairs to form multiple wheel sets. The number of wheel sets is the same as that of the steering components and they are arranged in a one-to-one correspondence. The steering component includes a bridge and a drive structure. The two ends of the bridge are rotatably connected to two wheel components of the corresponding wheel set. The drive structure is connected to the two wheel components respectively and can drive the two wheel components to rotate synchronously.

[0016] According to the wall-climbing robot described in this embodiment of the present invention, the body also includes several connecting frames. Each connecting frame includes a reinforcing rod and multiple connecting rods. The reinforcing rod is connected to each connecting rod, and each connecting rod of the same connecting frame corresponds to and is connected to each bridge frame.

[0017] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0019] Figure 1 This is a schematic diagram of the structure of a wall-climbing robot according to an embodiment of the present invention;

[0020] Figure 2 for Figure 1 A schematic diagram of part of the structure of the wall-climbing robot shown.

[0021] Figure 3 for Figure 2 An exploded view of the wheel assembly of the wall-climbing robot shown.

[0022] Figure 4 for Figure 3 The diagram shows the structure of the wheel assembly.

[0023] Figure label:

[0024] Body 100; Steering assembly 110; Bridge frame 111; Drive structure 112; Second drive unit 112a; First connecting rod 112b; Second connecting rod 112c; Drive rod 112d; Connecting frame 120; Reinforcing rod 121; Connecting rod 122;

[0025] Wheel assembly 200; first drive 210; reduction mechanism 220; wheel 230; receiving groove 231; second abutment 231a; rim 232; hub 233; spoke 234; housing 240; bearing 250; mounting bracket 260; first abutment 261; tire 270. Detailed Implementation

[0026] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but they should not be construed as limiting the scope of protection of the present utility model.

[0027] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0028] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0029] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0030] The following is for reference. Figures 1 to 4 The wall-climbing robot of this utility model will be described in detail.

[0031] refer to Figures 1 to 3 According to some embodiments of the present invention, a wall-climbing robot includes a body 100 and a plurality of wheel assemblies 200; the wheel assembly 200 is disposed on the body 100 and includes a first driver 210, a reduction mechanism 220 and a wheel 230, wherein the first driver 210 is connected to the wheel 230 through the reduction mechanism 220.

[0032] For example, such as Figures 1 to 3 As shown, the wall-climbing robot has a body 100 and four wheel assemblies 200. The four wheel assemblies 200 are all mounted on the body 100 and are distributed at intervals along the edge of the body 100. Each wheel assembly 200 includes a first driver 210, a deceleration mechanism 220 and a wheel 230. The input end of the deceleration mechanism 220 is connected to the output end of the first driver 210, and the output end of the deceleration mechanism 220 is connected to the wheel 230.

[0033] Furthermore, when the wall-climbing robot in this embodiment is working, under the drive of the first driver 210, the deceleration mechanism 220 can drive the wheels 230 to rotate, thereby enabling the wall-climbing robot to walk on the working surface.

[0034] Understandably, due to the setting of the deceleration mechanism 220, the rotational speed of the wheel 230 is lower than the rotational speed of the output end of the first driver 210. Under the premise that the output power of the first driver 210 is constant, the wheel 230 can obtain greater torque, so that the wall-climbing robot can still walk normally when facing a road surface with worse conditions.

[0035] It is understood that in the wall-climbing robot of this embodiment, each wheel 230 is driven independently by a first driver 210, so that the wall-climbing robot can still walk normally when one of its wheels 230 is in a suspended state.

[0036] Specifically, the first driver 210 is a motor.

[0037] In some embodiments of this utility model, the deceleration mechanism 220 includes a reduction gear set, which includes an input gear and an output gear. The input gear is connected to the output end of the first driver 210, and the output gear is connected to the wheel 230.

[0038] Understandably, the overall structure of the reduction gear set is compact and occupies little space, which facilitates the miniaturization of the wheel assembly 200.

[0039] In some other embodiments of this utility model, the reduction mechanism 220 may also include a meshing worm gear and a worm, in which case the output end of the first driver 210 is connected to the worm and the turbine is connected to the wheel 230.

[0040] In order to reduce the overall size of the wheel assembly 200, in some embodiments of this utility model, reference is made to... Figure 4 The end face of the wheel 230 is provided with a receiving groove 231, in which the first driver 210 and the reduction mechanism 220 are both received.

[0041] For example, such as Figure 3 and Figure 4 As shown, the axis of the wheel 230 is in the left-right direction. The left end face of the wheel 230 is provided with a receiving groove 231. The first driver 210 and the reduction mechanism 220 are both accommodated in the receiving groove 231, and the output end of the reduction mechanism 220 is connected to the bottom surface of the receiving groove 231.

[0042] In a further embodiment of this utility model, reference is made to... Figure 4 The wheel 230 includes a rim 232, a hub 233, and spokes 234. The outer peripheral surface of the hub 233 is connected to the inner peripheral surface of the right end of the rim 232 through the spokes 234, so that the inner peripheral surface of the rim 232 and the left end surface of the hub 233 together define the receiving groove 231. The output end of the reduction mechanism 220 is connected to the left end surface of the hub 233.

[0043] Further reference Figure 4 The wheel 230 includes multiple spokes 234, which are circumferentially spaced around the hub 233.

[0044] In order to achieve the connection between the deceleration mechanism 220 and the wheel hub 233, in some embodiments of this utility model, the wheel hub 233 is provided with multiple through holes, and bolts are threaded through the through holes and connected to the output end of the deceleration mechanism 220.

[0045] It should be noted that, since the wheel 230 has a receiving groove 231 inside, the setting of the receiving groove 231 will reduce the strength of the wheel 230 itself.

[0046] For the reasons mentioned above, in order to improve the strength of the wheel 230, in some embodiments of this utility model, reference is made to... Figure 3The wheel assembly 200 also includes a housing 240 and a bearing 250. The housing 240 is at least partially housed in the receiving groove 231 and encloses the first drive 210 and the reduction mechanism 220. The bearing 250 is provided between the housing 240 and the wheel 230. The inner ring of the bearing 250 is connected to the outer side wall of the housing 240, and the outer ring of the bearing 250 is connected to the side wall of the receiving groove 231.

[0047] It is understood that by providing a housing 240 inside the receiving groove 231, and the housing 240 being connected to the groove wall of the receiving groove 231 via a bearing 250, the housing 240 can internally support the wheel 230, thereby improving the strength of the wheel 230.

[0048] It is understandable that since the housing 240 is connected to the groove wall of the receiving groove 231 through the bearing 250, and the first driver 210 and the reduction mechanism 220 are both located inside the housing 240, the first driver 210 and the reduction mechanism 220 can rotate relative to the wheel 230. Thus, the wheel 230 can rotate normally under the premise that the first driver 210 and the reduction mechanism 220 maintain a stable position.

[0049] It should be noted that the housing 240 is connected to the groove wall of the receiving groove 231 through the bearing 250. In this case, the bearing 250 may move along the axis of the wheel 230. If the bearing 250 moves along the axis of the wheel 230, the bearing 250 will detach from the housing 240 and the groove wall of the receiving groove 231.

[0050] In order to limit the bearing 250 in the axial direction of the wheel 230, in some embodiments of this utility model, reference is made to... Figure 3 The wheel assembly 200 also includes a mounting bracket 260, which is disposed at the opening of the receiving groove 231, and the housing 240 is disposed on the mounting bracket 260. An annular first abutment portion 261 is formed on the mounting bracket 260, and an annular second abutment portion 231a is formed on the side wall of the receiving groove 231. In the axial direction of the wheel 230, the first abutment portion 261 and the second abutment portion 231a are respectively located on opposite sides of the bearing 250 and abut against opposite ends of the bearing 250.

[0051] For example, when the axle of the wheel 230 extends in the left-right direction, the first abutment portion 261 and the second abutment portion 231a are located on the left and right sides of the bearing 250, respectively, and abut against the left and right ends of the bearing 250, respectively.

[0052] Furthermore, the first abutment portion 261 and the second abutment portion 231a can cooperate to limit the bearing 250 in the axial direction of the wheel 230, thereby reducing the probability of the bearing 250 disengaging from the housing 240 and the groove wall of the receiving groove 231.

[0053] In some embodiments of this utility model, in order to achieve protection of the wheel 230, reference is made to... Figure 3 The wheel assembly 200 also includes a tire 270, which is fitted onto the outer circumferential surface of the wheel 230.

[0054] In some embodiments of this utility model, the body 100 includes multiple steering components 110, and multiple wheel components 200 are paired in pairs to form multiple wheel groups. The number of wheel groups is the same as that of the steering components 110 and they are arranged in a one-to-one correspondence. The steering component 110 includes a bridge frame 111 and a drive structure 112. The two opposite ends of the bridge frame 111 are rotatably connected to two wheel components 200 corresponding to the wheel group. The drive structure 112 is connected to two wheel components 200 respectively and can drive the two wheel components 200 to rotate synchronously.

[0055] For example, such as Figure 1 and Figure 2 As shown, the body 100 includes four wheel assemblies 200, which are paired in pairs to form two sets of wheels. The body 100 also includes two steering assemblies 110, which are distributed along the front-rear direction. The steering assemblies 110 are arranged in a one-to-one correspondence with the wheel sets. The steering assembly 110 includes a bridge frame 111 and a drive structure 112. The bridge frame 111 extends along the left-right direction. The two wheel assemblies 200 of the wheel sets are rotatably disposed at the left and right ends of the bridge frame 111, and the rotation axis of the wheel assembly 200 is arranged along the vertical direction. The drive structure 112 is disposed on the bridge frame 111 and is connected to the two wheel assemblies 200 respectively.

[0056] Furthermore, driven by the drive structure 112, the two wheel assemblies 200 can rotate synchronously left and right.

[0057] In a further embodiment of this utility model, reference is made to... Figure 2 The drive structure 112 includes a second driver 112a, a first link 112b, a second link 112c, and a drive rod 112d. The first link 112b and the second link 112c are of the same length and are arranged in parallel. The left and right ends of the first link 112b are respectively connected to the rear ends of the two wheel assemblies 200, so that the first link 112b, the bridge 111, and the two wheel assemblies 200 together form a parallelogram structure. The left and right ends of the second link 112c are respectively connected to the front ends of the two wheel assemblies 200, so that the second link 112c, the bridge 111, and the two wheel assemblies 200 together form another parallelogram structure. The front and rear ends of the drive rod 112d are respectively connected to the middle of the first link 112b and the middle of the second link 112c. The second driver 112a is connected to the middle of the drive rod 112d and can drive the drive rod 112d to rotate around its own middle.

[0058] Furthermore, under the drive of the second driver 112a, the drive rod 112d can synchronously drive the two wheel assemblies 200 to rotate in the same direction through the first link 112b and the second link 112c.

[0059] Specifically, the second driver 112a is a servo motor.

[0060] In some embodiments of this utility model, the body 100 further includes a plurality of connecting frames 120. Each connecting frame 120 includes a reinforcing rod 121 and a plurality of connecting rods 122. The reinforcing rod 121 is connected to each of the connecting rods 122 respectively. Each connecting rod 122 of the same connecting frame 120 corresponds to and is connected to each of the cable trays 111.

[0061] For example, such as Figure 2 As shown, the body 100 includes two connecting frames 120 and two steering assemblies 110. The two connecting frames 120 are distributed in the left-right direction, and the two steering assemblies 110 are distributed in the front-back direction. The connecting frame 120 includes a reinforcing rod 121 and two connecting rods 122. The reinforcing rod 121 extends in the front-back direction and is connected to the two connecting rods 122 respectively. The two connecting rods 122 of the same connecting frame 120 are respectively connected to the bridge frame 111 of the two steering assemblies 110.

[0062] Understandably, the connection frame 120 allows the various steering components 110 to be connected to each other to form a whole, and the connection frame 120 can be used to install other structures such as the rotating wings of the wall-climbing robot.

[0063] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A wall-climbing robot, characterized in that, include: Organism; Multiple wheel assemblies are mounted on the body. Each wheel assembly includes a first driver, a reduction mechanism, and a wheel. The first driver is connected to the wheel via the reduction mechanism.

2. The wall-climbing robot according to claim 1, characterized in that, The end face of the wheel is provided with a receiving groove, and the first drive and the deceleration mechanism are both received in the receiving groove.

3. A wall-climbing robot according to claim 2, characterized in that, The wheel assembly also includes a housing and a bearing, the housing being at least partially housed within the receiving groove and enclosing the first drive and the reduction mechanism, the housing being rotatably connected to the sidewall of the receiving groove via the bearing.

4. A wall-climbing robot according to claim 3, characterized in that, The wheel assembly further includes a mounting bracket, and the housing is disposed on the mounting bracket; an annular first abutment portion is formed on the mounting bracket, and an annular second abutment portion is formed on the side wall of the receiving groove, the first abutment portion and the second abutment portion respectively abut against the two ends of the bearing in the width direction.

5. A wall-climbing robot according to claim 4, characterized in that, The end of the housing near the mounting bracket is fixedly connected to the first abutment portion.

6. A wall-climbing robot according to claim 2, characterized in that, The wheel includes a rim, a hub, and spokes. The outer circumferential surface of the hub is connected to the inner circumferential surface of the rim through the spokes. The inner circumferential surface of the rim and the end face of the hub together define the receiving groove. The output end of the reduction mechanism is connected to the hub.

7. A wall-climbing robot according to claim 1, characterized in that, The wheel assembly also includes a tire, which is fitted onto the outer circumferential surface of the wheel.

8. A wall-climbing robot according to claim 1, characterized in that, The deceleration mechanism includes a reduction gear set, which includes an input gear and an output gear. The input gear is connected to the output end of the first driver, and the output gear is connected to the wheel.

9. A wall-climbing robot according to claim 1, characterized in that, The body includes multiple steering components, and the multiple wheel components are paired in pairs to form multiple wheel sets. The number of wheel sets is the same as the number of steering components and they are arranged in a one-to-one correspondence. The steering component includes a bridge and a drive structure. The two ends of the bridge are rotatably connected to two wheel components corresponding to the wheel sets. The drive structure is connected to two wheel components respectively and can drive the two wheel components to rotate synchronously.

10. A wall-climbing robot according to claim 9, characterized in that, The body also includes several connecting frames, each connecting frame including a reinforcing rod and multiple connecting rods. The reinforcing rod is connected to each of the connecting rods respectively, and each connecting rod of the same connecting frame corresponds to and is connected to each of the cable trays.

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