Driving module and wall-climbing photographing robot

Abstract

The utility model discloses a driving module and a wall-climbing photography robot, the driving module comprises a mounting seat, a driving motor, a driving wheel, a driven wheel and a tensioning wheel, the driving motor is mounted on the outer side of the mounting seat; the driving wheel is rotatably arranged in the mounting seat and is connected with a rotating shaft of the driving motor; the driven wheel is rotatably arranged in the mounting seat and is connected with the driving wheel through a synchronous belt; and the tensioning wheel is rotatably arranged in the mounting seat and presses and tensions the synchronous belt.

Description

Technical Field

[0001] This utility model relates to the field of wall-climbing robot technology, and in particular to a drive module and a wall-climbing photography robot using the drive module. Background Technology

[0002] With the advancement of technology, the applications of wall-climbing robots are becoming increasingly widespread. For example, when combined with a gimbal camera, they can be built into wall-climbing photography robots, applicable to various scenarios requiring vertical movement for shooting, such as architectural photography, archaeological exploration, and disaster relief. Regarding the drive system for wall-climbing robots, compared to traditional wheeled drives, tracked drives perform better on complex terrain and vertical surfaces, providing better traction and enhancing the adaptability and stability of the robot in various operating environments.

[0003] However, with the more in-depth and widespread application of wall-climbing robots, there is a need to provide a more stable and adaptable drive module for wall-climbing robots to meet their usage requirements. Summary of the Invention

[0004] The technical problem to be solved by this utility model is to provide a drive module with stable performance and strong applicability, and a wall-climbing photography robot using the drive module.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution.

[0006] On one hand, a drive module is disclosed, comprising: a mounting base; a drive motor mounted on the outside of the mounting base; a drive wheel rotatably disposed in the mounting base and connected to the shaft of the drive motor; a driven wheel rotatably disposed in the mounting base and connected to the drive wheel via a synchronous belt; and a tensioning wheel rotatably disposed in the mounting base and pressing down to tension the synchronous belt.

[0007] Furthermore, the driving pulley, driven pulley, and tension pulley are toothed pulleys, and the synchronous belt is a toothed belt.

[0008] Furthermore, a mandrel is provided inside the mounting base, and the tensioning wheel is rotatably sleeved on the mandrel.

[0009] Furthermore, the mounting base is a cover-shaped mounting base with an accommodating space, which includes a left housing and a right housing that is detachably assembled to the left housing.

[0010] Furthermore, the mandrel is integrally formed with the left housing, and the right housing is provided with a third bearing corresponding to the mandrel, with the end of the mandrel inserted into the third bearing.

[0011] Furthermore, the tensioning wheel is rotatably mounted on a wheel seat, and a lifting member is provided above the wheel seat in the mounting base. A vertically arranged compression spring is provided between the wheel seat and the lifting member, so that the compression spring presses down on the wheel seat.

[0012] Furthermore, the wheel seat includes an inverted U-shaped seat body and a spindle fixed to the lower part of both sides of the inverted U-shaped seat body. A sliding sleeve is formed on the top surface of the inverted U-shaped seat body. The lifting member forms a sliding rod. The sliding rod is slidably inserted into the sliding sleeve. The compression spring is sleeved on the sliding sleeve and the sliding rod. The tension wheel is rotatably sleeved on the spindle.

[0013] Furthermore, the outer surface of the synchronization belt is formed with a plurality of recessed patterns along the width direction of the synchronization belt.

[0014] Furthermore, the drive motor is a worm gear reducer motor, and the outer side of the mounting base has multiple mounting ears, each mounting ear having a connecting through hole. Each side of the drive wheel has a first bearing, which is fixed to the mounting base. Each side of the driven wheel has a second bearing, which is fixed to the mounting base.

[0015] On the other hand, a wall-climbing photography robot is disclosed, which includes a wall-climbing robot body and a gimbal camera mounted on the wall-climbing robot body. The drive module of the wall-climbing robot is a drive module with the structure described above.

[0016] The beneficial technical effects of this utility model are as follows: by setting the tensioning wheel, the tensioning wheel can press down to tension the synchronous belt during use, increasing the contact area between the synchronous belt and the wall surface, improving the performance stability of the drive module, and making it suitable for more complex usage environments. Attached Figure Description

[0017] Figure 1 This is a structural diagram of a wall-climbing photography robot.

[0018] Figure 2 This is a schematic diagram of the three-dimensional structure of the drive module.

[0019] Figure 3 This is a structural diagram of the drive module with the mounting bracket removed.

[0020] Figure 4 and Figure 5 This is a schematic diagram of the connection structure between the tensioning wheel and the mounting base.

[0021] Figure 6 This is a schematic diagram of the drive module with the mounting bracket removed in another embodiment.

[0022] Figure 7 yes Figure 6 The diagram shows the connection structure between the tensioning wheel and the mounting base in the embodiment shown. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are some embodiments of the present utility model, but not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0024] It should be understood that, in the description of this utility model, unless otherwise expressly specified and limited, the term "plural" means two or more; the terms "first," "second," ... are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated; the terms "installation" and "connection" should be interpreted broadly, for example, "connection" can be a fixed connection, a detachable connection, or an integral connection, and can be a direct connection or an indirect connection through an intermediate medium; the terms "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the indicated position or element must have a specific orientation or be constructed in a specific orientation.

[0025] See Figure 1 In some embodiments, the disclosed wall-climbing photography robot includes a wall-climbing robot body 10 and a gimbal camera 20 mounted on the wall-climbing robot body 10. The wall-climbing robot body 10 is provided with two drive modules to drive the wall-climbing photography robot to move.

[0026] Combination Figures 2 to 5 As shown, in some embodiments, the drive module 30 includes a mounting base 31, a drive motor (not shown), a drive wheel 32, a driven wheel 33, and a tensioning wheel 34. The drive motor is fixedly mounted on the outer side of the mounting base 31. The drive wheel 32 is rotatably disposed in the mounting base 31 and connected to the shaft of the drive motor to drive the drive wheel 33. The driven wheel 33 is rotatably disposed in the mounting base 31 and connected to the drive wheel 32 via a synchronous belt 35. The tensioning wheel 34 is rotatably disposed in the mounting base 31 and presses down to tension the synchronous belt 35. By using the tensioning wheel 34, during use, the tensioning wheel 34 can press down to tension the synchronous belt 35, increasing the contact area between the synchronous belt 35 and the wall surface, improving the performance stability of the drive module 30, and making it suitable for more complex operating environments.

[0027] In the embodiment shown in the accompanying drawings, the mounting base 31 is designed as a cover-shaped mounting base with an accommodating space 310, comprising a left housing 311 and a right housing 312 detachably assembled to the left housing 311. The mounting base 31 is composed of detachably assembled left and right housings 311 and 312, facilitating the assembly, disassembly, and maintenance of the drive module 30. Connection methods such as screw connections and snap-fit ​​connections can be used to achieve the detachable assembly of the left housing 311 and the right housing 312.

[0028] The drive motor can be fixed to the side of the mounting base 31 using fasteners such as screws. Preferably, the drive motor is a worm gear reducer motor with a power-off self-locking function. When the wall-climbing robot is stationary at a certain point on the wall, the drive module 30 is powered off, and the synchronous belt 35 is pressed against the wall by the wall-climbing robot's adsorption mechanism (e.g., a negative pressure fan). At this time, the power of the adsorption mechanism can be appropriately reduced to increase the usage time of the wall-climbing robot.

[0029] In some preferred embodiments, a first bearing is provided on each side of the driving wheel 32, and the first bearing is fixed to the mounting base 31. A second bearing is provided on each side of the driven wheel 33, and the second bearing is fixed to the mounting base 31. By providing the first bearings and / or the second bearings, the driving wheel 32 and / or the driven wheel 33 are correspondingly limited and protected against friction, thereby reducing friction of the driving wheel 32 and / or the driven wheel 33 during rotation.

[0030] See Figure 4 and Figure 5 A spindle 313 is provided inside the mounting base 31, and the tensioning wheel 34 is sleeved on the spindle 313 to achieve a rotatable configuration. In the embodiment shown in the attached drawings, the spindle 313 and the left housing 311 of the mounting base 31 are integrally molded by a method such as injection molding, and a third bearing 314 is provided on the right housing 312 corresponding to the spindle 313, with the end of the spindle 313 inserted into the third bearing 314. In this way, the spindle 313 is prevented from becoming a cantilever shaft, ensuring the working stability of the tensioning wheel 34.

[0031] In the preferred embodiment shown in the accompanying drawings, the driving pulley 32, driven pulley 33, and tension pulley 34 are toothed pulleys, and the timing belt 35 is a toothed belt. Using a toothed belt in conjunction with toothed pulleys for transmission offers advantages such as good synchronization performance and high load capacity.

[0032] See Figure 3 Preferably, a plurality of recessed patterns 350 are formed at intervals on the outer surface of the synchronous belt 35 along the width direction of the synchronous belt. By setting the patterns 350, the adhesion between the synchronous belt 35 and the wall surface is increased, which can effectively prevent the wall-climbing robot from slipping on harsh environmental walls (such as wet walls).

[0033] like Figure 2 As shown, in some embodiments, the outer side of the mounting base 31 has a plurality of mounting ears 315, and a connecting through hole 3150 is formed in each mounting ear 315. The mounting ears 315 facilitate the mounting of the drive module 30 onto the wall-climbing robot body 10 using fasteners such as screws.

[0034] Figure 6 and Figure 7 The structure of the drive module 30 disclosed in another embodiment is shown, and... Figures 2-5 The difference in the disclosed embodiments lies in the different arrangement of the tensioning wheel 34. Referring to the accompanying drawings, in this embodiment, the tensioning wheel 34 is rotatably mounted on a wheel seat 36. A lifting member 37 is provided above the wheel seat 36 in the mounting base 31. A vertically arranged compression spring 38 is provided between the wheel seat 36 and the lifting member 37, causing the compression spring 38 to press down on the wheel seat 36. In this way, the compression spring 38 generates a downward force on the tensioning wheel 34, ensuring that the tensioning wheel 34 is always in contact with the timing belt 35 to maintain the contact between the timing belt 35 and the wall surface at its maximum.

[0035] exist Figure 6 and Figure 7 In the illustrated embodiment, the wheel seat 36 includes an inverted U-shaped seat 360 and a spindle 361 fixed to the lower parts of both sides of the inverted U-shaped seat 360. A sliding sleeve 362 is formed on the top surface of the inverted U-shaped seat 360, and a sliding rod 370 is formed on the connecting member 37. The sliding rod 370 is slidably inserted into the sliding sleeve 362, and the compression spring 38 is sleeved on the sliding sleeve 362 and the sliding rod 370. The tension wheel 34 is rotatably sleeved on the spindle 361, thereby realizing the setting of the tension wheel 34. The cooperation between the sliding sleeve 362 and the sliding rod 370 can prevent the tension wheel 34 from shaking.

[0036] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Those skilled in the art can make various equivalent changes and improvements based on the above embodiments. All equivalent changes or modifications made within the scope of the claims should fall within the protection scope of the present utility model.

Claims

1. A drive module, characterized in that, The drive module includes: One mounting base; A drive motor is mounted on the outside of the mounting base; A drive wheel is rotatably mounted in the mounting base and connected to the shaft of the drive motor; A driven wheel is rotatably mounted in the mounting base and connected to the driving wheel via a synchronous belt; A tensioning pulley is rotatably mounted in the mounting base and presses down to tension the timing belt. The tensioning pulley is rotatably mounted on a wheel seat. A lifting member is provided above the wheel seat in the mounting base. A vertically arranged compression spring is provided between the wheel seat and the lifting member, so that the compression spring presses down on the wheel seat.

2. The drive module as described in claim 1, characterized in that, The driving pulley, driven pulley, and tension pulley are toothed pulleys, and the synchronous belt is a toothed belt.

3. The drive module as described in claim 1, characterized in that, The mounting base is a cover-shaped mounting base with an accommodating space, which includes a left housing and a right housing that is detachably assembled to the left housing.

4. The drive module as described in claim 1, characterized in that, The wheel seat includes an inverted U-shaped seat body and a spindle fixed to the lower part of both sides of the inverted U-shaped seat body. A sliding sleeve is formed on the top surface of the inverted U-shaped seat body. A sliding rod is formed on the lifting member. The sliding rod is slidably inserted into the sliding sleeve. The compression spring is sleeved on the sliding sleeve and the sliding rod. The tension wheel is rotatably sleeved on the spindle.

5. The drive module as described in claim 1, characterized in that, The outer surface of the synchronization belt is formed with multiple recessed patterns along the width direction of the synchronization belt.

6. The drive module as described in claim 1, characterized in that, The drive motor is a worm gear reducer motor. The outer side of the mounting base has multiple mounting ears, and a connecting through hole is formed in each mounting ear. A first bearing is provided on each side of the drive wheel, and the first bearing is fixed on the mounting base. A second bearing is provided on each side of the driven wheel, and the second bearing is fixed on the mounting base.

7. A wall-climbing photography robot, comprising a wall-climbing robot body and a gimbal camera mounted on the wall-climbing robot body, characterized in that, The drive module of the wall-climbing robot is the drive module as described in any one of claims 1 to 6.

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