Four-wheel three-motor wall-climbing robot

Abstract

The utility model discloses a four-wheel three-motor wall-climbing robot. The device comprises a main body frame, a pair of driving wheels connected to the front part of the main body frame, and a pair of driven modules which are hinged to the rear part of the main body frame and comprise driven wheels, a connecting rod capable of moving in the axial direction under the action of a steering device is arranged on the main body frame; the two ends of the connecting rod are hinged to the driven module through connecting rods. A sliding rail is arranged on the main body frame, a sliding block matched with the sliding rail is arranged on the sliding rail, and a connecting rod is arranged on one side of the sliding block. The robot has the advantages that a plurality of motors and drivers are arranged, and the control cabin used for overall dispatching and coordination is arranged, so that when the robot steers, two methods of differential rotation of a driving wheel and steering of a rear wheel through a steering mechanism can be selected and matched, different solutions can be provided for different working environments, and the adaptability is high; steering is achieved through meshing of the gear and the rack and the hinged relation of the connecting rods, the structure is simple, and steering torque is small.

Description

Technical Field

[0001] This utility model relates to a wall-climbing robot, specifically a four-wheeled, three-motor wall-climbing robot. Background Technology

[0002] In metal climbing operations, wheeled robots are currently the most common choice. Three-wheeled robots are often the first choice due to their flexible steering and low steering torque. However, in some special operations, such as when sewing is required, three-wheeled robots cannot perform the task and four-wheeled robots are needed.

[0003] While current four-wheeled robots can solve the problem of crossing gaps, the large torque required for steering makes them difficult to steer and less flexible, making it difficult to achieve good performance in various environments that require steering. Summary of the Invention

[0004] The technical problem to be solved by this utility model is to provide a four-wheeled, three-motor wall-climbing robot with simple structure, convenient steering, and strong adaptability.

[0005] To solve the above-mentioned technical problems, the present invention provides a four-wheeled, three-motor wall-climbing robot, comprising a main frame, a pair of driving wheels connected to the front of the main frame, and a pair of driven modules, including driven wheels, hinged to the rear of the main frame; the main frame is provided with a connecting rod capable of axial movement under the action of a steering device; both ends of the connecting rod are respectively hinged to the driven modules via connecting rods; the main frame is provided with a slide rail, and a matching slider is provided on the slide rail, with the connecting rod provided on one side of the slider; the steering device includes a worm gear reducer, a steering motor, and a driver connected in sequence; the worm gear reducer is fixedly connected to the main frame, and a steering gear is provided on its output shaft; the connecting rod is provided with a rack plate that meshes with the steering gear.

[0006] The driven module includes a driven wheel bearing seat hinged to the main frame, a driven wheel connected to the outside of the driven wheel bearing seat, and hinge shafts disposed on both sides of the driven wheel bearing seat; the connecting rod is hinged to the driven wheel bearing seat through the hinge shafts.

[0007] A drive wheel bearing seat is fixedly connected to the main frame. The drive wheel is connected to the outside of the drive wheel bearing seat, and a drive device is connected to the inside.

[0008] The drive device includes a speed reducer, a drive motor, and a driver connected in sequence, with the speed reducer connected in the drive wheel bearing housing.

[0009] A magnetic tile is provided below the driven wheel bearing seat.

[0010] A magnetic tile is provided below the drive wheel bearing housing.

[0011] A control cabin is mounted on the main frame, and the control cabin is located on both sides of the worm gear reducer.

[0012] The advantages of this utility model are: it is equipped with multiple motors and drivers, and a control cabin for overall scheduling and coordination, so that when the robot turns, it can choose and combine two methods: differential rotation of the active wheel and steering of the rear wheel through the steering mechanism. It can provide different solutions for different working environments and has strong adaptability; steering is achieved through the meshing of gears and racks and the hinge relationship of the connecting rods, which is simple in structure and has a small steering torque. Attached Figure Description

[0013] Figure 1 This is a perspective view of the present utility model;

[0014] Figure 2 This is a top view of the present invention;

[0015] Figure 3 This is a bottom view of the present invention. Detailed Implementation

[0016] The following detailed description of the four-wheeled, three-motor wall-climbing robot of this utility model, in conjunction with the accompanying drawings and specific embodiments, will be provided in further detail.

[0017] As shown in the figure, the four-wheeled, three-motor wall-climbing robot of this utility model includes a main frame 1; a drive wheel bearing seat 16 is fixedly connected to the front of the main frame 1, and a drive wheel 2 is connected to the outside of the drive wheel bearing seat 16. A reducer 17, a drive motor 18, and a driver 11 are connected sequentially to the inside of the main frame 1. The drive motor 18 can be selected from general reducers or bend reducers, etc., depending on the different requirements of the span; a driven wheel bearing seat 14 is hinged to the rear of the main frame 1, and a driven wheel 3 is connected to the outside of the driven wheel bearing seat 14; magnetic tiles 19 are provided below the drive wheel bearing seat 16 and the driven wheel bearing seat 14 to provide the robot with the function of adsorption to the metal wall.

[0018] A steering mechanism and a slide rail 5 are installed on the crossbeam in the middle of the main frame 1. The steering mechanism includes a worm gear reducer 9, a steering motor 10, and a driver 11 connected in sequence to the main frame 1. A matching slider 6 is installed on the slide rail 5, and a connecting plate is installed on the slider 6. A connecting rod 7 is installed on the other side of the connecting plate. A steering gear 12 is installed below the worm gear reducer 9, and a rack plate 13 matching the steering gear 12 is installed on the connecting rod 7. The two mesh to form a transmission relationship. Control cabins 20 are also installed on both sides of the worm gear reducer 9 on the crossbeam in the middle of the main frame for scheduling and coordinating the overall operation of the robot.

[0019] Hinged shafts 15 are provided on both sides of the driven wheel bearing housing 14. Connecting rods 4 are hinged to both ends of the connecting rod 7, and the other end of the connecting rod 4 is hinged to the driven wheel bearing housing 14 through the hinged shafts 15.

[0020] During operation, under the control of the control cabin 20, the driver 11 drives the connected drive motor 18, which adjusts the rotational speed via the reducer 17 and transmits it to the two drive wheels 2, enabling the robot to move. When the robot needs to turn, it can perform a regular overall turn through the differential rotation of the two drive wheels 2, or it can achieve rear wheel steering through a steering mechanism using an articulated connection. Specifically, the driver 11 drives the steering motor 10, which adjusts the rotational speed via the worm gear reducer 9 and transmits it to the steering gear 12 mounted on its output shaft. The steering gear 12 drives the connecting rod 7 to translate via the meshing rack plate 13, and then drives the driven module to rotate via the connecting rod 4, thereby achieving rear wheel steering. This robot structure, under the overall coordination of the control cabin 20, can select different movement and steering methods for different working environments, demonstrating strong adaptability.

[0021] Of course, the above description is not intended to limit the present utility model, and the present utility model is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present utility model should also fall within the protection scope of the present utility model.

Claims

1. A four-wheel three-motor wall-climbing robot, characterized in that: The application relates to a kind of two-wheeled self-balancing scooter, including main body frame (1), a pair of driving wheels (2) connected to the front of the main body frame (1) and a pair of driven modules including driven wheels (3) hinged to the rear of the main body frame (1); the main body frame (1) is provided with a connecting rod (7) capable of moving axially under the action of a steering device; the connecting rod (7) is hinged to the driven module through a connecting rod (4) at both ends respectively; the main body frame (1) is provided with a slide rail (5), the slide rail (5) is provided with a matching slide block (6), and the slide block (6) is provided with the connecting rod (7) on one side; the steering device includes a worm gear reducer (9), a steering motor (10) and a driver (11) connected in sequence; the worm gear reducer (9) is fixedly connected to the main body frame (1), and a steering gear (12) is arranged on the output shaft of the worm gear reducer (9); the connecting rod (7) is provided with a rack plate (13) engaged with the steering gear (12).

2. The four-wheeled three-motor wall-climbing robot according to claim 1, characterized in that: The driven module includes a driven wheel bearing seat (14) hinged to the main body frame (1), the driven wheel (3) connected to the outer side of the driven wheel bearing seat (14), and the hinged shaft (15) arranged on both sides of the driven wheel bearing seat (14); the connecting rod (4) is hinged to the driven wheel bearing seat (14) through the hinged shaft (15).

3. The four-wheeled three-motor wall-climbing robot according to claim 1, characterized in that: The main body frame (1) is fixedly connected with a driving wheel bearing seat (16), the driving wheel bearing seat (16) is connected with the driving wheel (2) on the outer side, and the driving device is connected on the inner side.

4. The four-wheeled three-motor wall-climbing robot according to claim 3, characterized in that: The driving device includes a speed reducer (17), a driving motor (18) and a driver (11) connected in sequence, and the speed reducer (17) is connected in the driving wheel bearing seat (16).

5. The four-wheeled three-motor wall-climbing robot according to claim 2, characterized in that: A magnetic shoe (19) is arranged below the driven wheel bearing seat (14).

6. The four-wheeled three-motor wall-climbing robot according to claim 3 or 4, characterized in that: A magnetic shoe (19) is arranged below the driving wheel bearing seat (16).

7. The four-wheeled three-motor wall-climbing robot according to claim 1, characterized in that: A control cabin (20) is installed on the main body frame, and the control cabin (20) is located on both sides of the worm gear reducer (9).

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