Reinforced leg-foot mechanism of wall-climbing robot and wall-climbing robot thereof

Abstract

The utility model discloses a kind of reinforced leg-foot mechanism of wall-climbing robot and wall-climbing robot thereof, leg-foot mechanism includes by first thigh and second thigh consisting of thigh and with second thigh hinged shank, crank is equipped on second thigh, connecting rod is equipped between second thigh and shank, second thigh drives shank by crank push-pull connecting rod, the power arm length of crank is greater than the resistance arm length of shank.The utility model increases the length of leg crank by growth, and the maximum stress size suffered at connecting rod and shank crank is reduced by lever principle, so it is more stable;The root of thigh of the application is equipped with slope at third joint motor connection, increase the strength of thigh and motor connection when lateral force;In addition, reinforcing rib maintains stress strengthening while lightweight design of leg, to ensure leg strength.

Description

Technical Field

[0001] This utility model relates to the field of wall-climbing robot technology, and in particular to a reinforced leg mechanism for a wall-climbing robot and the wall-climbing robot thereof. Background Technology

[0002] Today, mobile robots are widely used in the industrial sector, greatly improving production efficiency. Wall-climbing robots, as an important branch of this field, can climb vertically along walls, carrying tools to complete tasks, significantly expanding the application range of robots. As key equipment replacing manual labor in high-altitude and high-risk wall operations, wall-climbing robots have achieved significant economic and social benefits in areas such as petrochemical storage tank inspection, wind turbine blade maintenance, ship rust removal, and high-rise building facade cleaning.

[0003] Legged wall-climbing robots stand out for their superior obstacle-crossing capabilities. These robots use intelligent chips to precisely control the movement of their adhesive legs, enabling them to climb walls flexibly. Based on the type of legs, existing solutions are mainly divided into three categories: multi-servo motor serial spatial motion mechanisms, bionic articulated leg mechanisms, and frame-type linear motion mechanisms. Among these, multi-servo motor serial spatial motion mechanisms are the most widely used due to their simple design, wide range of motion, and relatively high load capacity.

[0004] However, most wall-climbing robots on the market suffer from insufficient leg strength in their leg structure design. Specifically, in the built-in four-bar linkage leg mechanism of existing wall-climbing robots, the effective length of the cranks is forced to be shortened due to the limited width of the casing. To obtain sufficient leg travel at a given swing angle, designers often adopt an asymmetrical arrangement of "shorter left, longer right": the left active crank (motor end) is short, and the right driven crank (load end) is long. According to the lever principle, this structure requires a larger torque output from the left input end to overcome the resistance torque at the right load end, thus increasing the stress at the lower leg joint. Actual tests show that, under the same load conditions, this space-constrained crank arrangement results in higher stress and greater deformation at the lower leg joint. Utility Model Content

[0005] In view of the above-mentioned prior art, the present invention provides a reinforced leg mechanism for a wall-climbing robot and the wall-climbing robot thereof, and the main technical problem to be solved is how to ensure the leg strength of the wall-climbing robot.

[0006] To achieve the above objectives, the technical solution of this utility model embodiment is implemented as follows: A reinforced leg mechanism for a wall-climbing robot includes a thigh composed of a first thigh and a second thigh, and a lower leg hinged to the second thigh. A crank is provided on the second thigh, and a connecting rod is provided between the second thigh and the lower leg. The second thigh drives the lower leg by pushing and pulling the connecting rod through the crank. The power arm of the crank is longer than the resistance arm of the lower leg.

[0007] Furthermore, a cover is fixedly connected to the first thigh, a third joint motor is provided on the second thigh, a ramp is fixedly connected to the side wall of the second thigh at the outside of the third joint motor, a drive shaft is fixedly connected to one end of the output shaft of the third joint motor, a drive gear is connected to the outside of the drive shaft by a key, and a retaining ring is provided between the drive gear and the drive shaft.

[0008] Furthermore, the second thigh is provided with a driven gear that meshes with the driving gear, the crank includes a left crank and a right crank, the left crank and the right crank are located on both sides of the driven gear, one end of the connecting rod extends to the space between the left crank and the right crank, and a flange bearing is provided in the end of the connecting rod between the left crank and the right crank.

[0009] Furthermore, thrust ball bearings are provided on the inner walls of the left and right cranks near the second thigh, and on the side walls of the connecting rod near the left and right cranks. Deep groove ball bearings are also provided in the driven gear, left crank, and right crank.

[0010] Furthermore, locking nuts are provided through the inner side of the deep groove ball bearing, the inner side of the flange bearing, between the connecting rod and the lower leg, and between the second upper leg and the lower leg. One end of the locking nut is threaded with a locking screw, and the lower leg is provided with inner reinforcing ribs and side reinforcing ribs to increase strength.

[0011] Furthermore, the lower leg is provided with a spherical foot, and the bottom of the spherical foot is provided with a suction cup foot. The top of the suction cup foot is provided with a first suction cup cover and a second suction cup cover on the outside of the spherical foot, respectively. The spherical foot is embedded between the first suction cup cover, the second suction cup cover and the suction cup foot.

[0012] Furthermore, a screw is installed between the lower leg and the ball-shaped foot, and a hexagonal nut is externally threaded onto one end of the screw.

[0013] Furthermore, hexagonal head screws are provided for fixed connection between the first thigh and the second thigh, between the third joint motor and the second thigh, between the output shaft and the drive shaft of the third joint motor, and between the first suction cup cover, the second suction cup cover and the suction cup foot.

[0014] Furthermore, the body is equipped with a first joint motor for driving the rotation of the legs and feet and a second joint motor for driving the rotation of the thigh.

[0015] A wall-climbing robot that utilizes the aforementioned leg mechanism.

[0016] The beneficial effects of this utility model are as follows: 1. This application reduces the maximum stress on the connecting rod and lower leg crank by increasing the length of the leg crank and using the lever principle, thereby reducing the load on the leg and foot and reducing the possibility of deformation, thus making it more stable; 2. The thigh root of this application is provided with a ramp, which increases the strength of the thigh and the third joint motor when subjected to lateral force. At the same time, the reinforcing rib at the lower leg maintains the force reinforcement, and both can ensure lightweight design, thus maintaining the leg strength of the wall climbing robot.

[0017] 3. The legs and feet of this application are connected by a ball bearing-like structure, which allows the foot to passively rotate to conform to and adhere to the surface it is stepping on, thereby maintaining the adhesion area, ensuring a stable vacuum, and reducing the risk of the whole machine falling. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the reinforced leg mechanism of a wall-climbing robot and the leg structure of the wall-climbing robot according to this application; Figure 2 This is a schematic diagram of the reinforced leg mechanism of a wall-climbing robot and the thigh of the wall-climbing robot according to this application; Figure 3 This is a schematic diagram of the reinforced leg mechanism of a wall-climbing robot and the lower leg structure of the wall-climbing robot according to this application; Figure 4 This is a schematic diagram of the reinforced leg mechanism of a wall-climbing robot and the structure of the second thigh of the wall-climbing robot according to this application; Figure 5 This is an exploded view of the reinforced leg mechanism of a wall-climbing robot and the thigh of the wall-climbing robot according to this application; Figure 6 This is an exploded view of the reinforced leg mechanism of a wall-climbing robot and the connection between the thigh and lower leg of the wall-climbing robot, as described in this application. Figure 7 This application discloses a reinforced leg mechanism for a wall-climbing robot and a diagram of the robot's legs. Figure 8 This is a schematic diagram of the reinforced leg mechanism of a wall-climbing robot and the overall structure of the wall-climbing robot according to this application.

[0019] Explanation of icon numbers: 1-First thigh, 101-Cap, 2-Second thigh, 201-Slope, 3-Lower leg, 301-Inner reinforcing rib, 302-Side reinforcing rib, 4-Connecting rod, 5-Driving gear, 6-Driven gear, 7-Left crank, 8-Right crank, 9-Thrust ball bearing, 10-Deep groove ball bearing, 11-Flange bearing, 12-Lock-lock nut, 13-Lock-lock screw, 14-Hex head screw, 15-Drive shaft, 1601-First joint motor, 1602-Second joint motor, 1603-Third joint motor, 17-Plug screw, 18-Hex nut, 19-Spherical foot, 20-First suction cup cover, 21-Second suction cup cover, 22-Suction cup foot, 23-Snap ring. Detailed Implementation

[0020] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the utility model.

[0021] Example 1 See attached document Figure 1-7 This application provides a reinforced leg mechanism for a wall-climbing robot. The leg mechanism includes a thigh composed of a first thigh 1 and a second thigh 2, and a lower leg 3 hinged to the second thigh 2. A crank is provided on the second thigh 2, and a connecting rod 4 is provided between the second thigh 2 and the lower leg 3. The second thigh 2 drives the lower leg 3 by pushing and pulling the connecting rod 4 through the crank. The power arm length a of the crank is greater than the resistance arm length b of the lower leg 3.

[0022] The thigh, composed of the first thigh 1 and the second thigh 2, is connected by hexagonal head screws 13. The first thigh 1 and the second thigh 2 are also connected to the third joint motor 1603 via hexagonal head screws 13. By extending the lengths of the left crank 7 and the right crank 8, the length of the power arm a can be increased, making it greater than the length of the resistance arm b of the lower leg 3. This reduces the maximum stress on the connecting rod 4 and the top of the lower leg 3, thereby reducing the load on the third joint motor 1603. In other words, the driven gear 6, the left and right cranks, the connecting rod 4, and the portion of the lower leg 3 located between the second thigh 2 and the connecting rod 4 can form a four-bar linkage. In this case, the third joint motor 1603 can drive the same load torque with a smaller output torque (i.e., the same output torque can drive a larger load torque), thus reducing the load on the third joint motor 1603.

[0023] Preferably, a cover shell 101 is fixedly connected to the first thigh 1, and a third joint motor 1603 is provided on the second thigh 2. A ramp 201 is fixedly connected to the side wall of the second thigh 2 at the outside of the third joint motor 1603. The ramp 201 on the second thigh 2 is used to increase strength. The ramp 201 surrounds the outside of the third joint motor 1603. When the thigh moves, it can disperse the stress at the connection between the second thigh 2 and the third joint motor 1603, reduce the stress concentration phenomenon at this point, and thus increase the strength at the connection between the second thigh 2 and the third joint motor 1603 when subjected to lateral force. Therefore, the strength of the thigh can be guaranteed. One end of the output shaft of the third joint motor 1603 is fixedly connected to a drive shaft 15. The outside of the drive shaft 15 is connected to a drive gear 5 through a key. A retaining ring 23 is provided between the drive gear 5 and the drive shaft 15.

[0024] Preferably, the second thigh 2 is provided with a driven gear 6 that meshes with the driving gear 5, the crank includes a left crank 7 and a right crank 8, the left crank 7 and the right crank 8 are located on both sides of the driven gear 6, one end of the connecting rod 4 extends to the space between the left crank 7 and the right crank 8, and a flange bearing 11 is provided in the end of the connecting rod 4 between the left crank 7 and the right crank 8.

[0025] Preferably, thrust ball bearings 9 are provided on the inner wall of the left crank 7 and right crank 8 near the second thigh 2 and on the side wall of the connecting rod 4 near the left crank 7 and right crank 8, and deep groove ball bearings 10 are provided in the driven gear 6, left crank 7 and right crank 8.

[0026] Inside the thigh, there is a meshing drive gear 5 and a driven gear 6. The drive gear 5 drives a flat key via a drive shaft 15 and is fixed to the drive shaft 15 by a snap ring 23. The drive shaft 15 is connected to the output shaft of the third joint motor 1603 via a hexagonal head screw 13. The driven gear 6 has a left crank 7 and a right crank 8 on its left and right sides, connected by a locking nut 12 and a locking screw 13. Thrust ball bearings 9 are located near the inner thigh wall on the left crank 7 and right crank 8 to reduce... The frictional force generated by the small relative motion is fixed to the thigh by the locking nut 12 and locking screw 13 of the driven gear 6, left crank 7 and right crank 8. There are deep groove ball bearings 10 in the driven gear 6, left crank 7 and right crank 8. A connecting rod 4 is connected between the left crank 7 and right crank 8. There are thrust ball bearings 9 at the contact points between the connecting rod 4 and the sides of the left crank 7 and right crank 8. There are flange bearings 11 in the connecting rod 4. It is connected by locking nut 12 and locking screw 13.

[0027] Preferably, locking nuts 12 are provided through the inner side of the deep groove ball bearing 10, the inner side of the flange bearing 11, between the connecting rod 4 and the lower leg 3, and between the second thigh 2 and the lower leg 3. One end of the locking nut 12 is threaded with a locking screw 13. The lower leg 3 is provided with inner reinforcing ribs 301 and side reinforcing ribs 302 to increase strength. The inner reinforcing ribs 301 and side reinforcing ribs 302 are both long strips and are located on the inner and side walls of the lower leg 3, respectively. This can maintain the strength of the front and side of the lower leg 3 while ensuring the lightweight design of the lower leg 3. By improving the strength of the thigh and lower leg and the rigidity of their connection, the strength of the entire leg can be ensured to maintain the stability of the robot's operation.

[0028] Current leg knees generally use a single hinge or thin-walled double hinge structure, with hinge seat wall thickness typically less than 3 mm and lacking additional support ribs. Under the combined effects of lateral wind loads (such as crosswinds at high altitudes), center of gravity shifts (such as when carrying detection probes or grinding tools), or the inertial forces of sudden starts and stops, the knee joint area will experience significant elastic deformation, with the force approaching or even exceeding the material's bearing capacity. This may lead to decreased repeatability accuracy, walking shakiness, and in severe cases, joint fracture. The other end of the connecting rod 4 is connected to the upper hinge of the lower leg 3 through a locking nut 12 and a locking screw 13. The three hinges in the middle of the lower leg 3 are connected to the two hinges of the second thigh 2. Compared with the currently commonly used single hinge or thin-walled double hinge structure, the connection of the three hinges and two hinges in this application can effectively enhance the knee rigidity, ensure stable operation, accurate positioning and strong anti-interference ability. The connection is made through locking nuts 12 and locking screws 13. All holes in the lower leg are filled with flange bearings 11 to avoid axial relative displacement.

[0029] Preferably, the bottom of the lower leg 3 is provided with a ball-shaped foot 19, and the bottom of the ball-shaped foot 19 is provided with a suction cup foot 22. The top two sides of the suction cup foot 22 are respectively provided with a first suction cup cover 20 and a second suction cup cover 21 on the outside of the ball-shaped foot 19. The ball-shaped foot 19 is embedded between the first suction cup cover 20, the second suction cup cover 21 and the suction cup foot 22.

[0030] Preferably, a screw 17 is provided through the lower leg 3 and the ball-shaped foot 19, and a hexagonal nut 18 is externally threaded to one end of the screw 17.

[0031] The bottom of the lower leg 3 is fixed to the ball-shaped foot 19 by a screw 17 and a hexagonal nut 18. The ball-shaped foot 19 is connected to the first suction cup cover 20, the second suction cup cover 21 and the suction cup foot 22 by the ball body below. The first suction cup cover 20 and the second suction cup cover 21 are fixed to the suction cup foot 22 by a hexagonal screw 14.

[0032] Preferably, hexagonal head screws 14 are provided for fixed connection between the first thigh 1 and the second thigh 2, between the third joint motor 1603 and the second thigh 2, between the output shaft of the third joint motor 1603 and the drive shaft 15, and between the first suction cup cover 20, the second suction cup cover 21 and the suction cup foot 22.

[0033] Preferably, the body is provided with a first joint motor 1601 for driving the legs to rotate and a second joint motor 1602 for driving the thigh to rotate.

[0034] When the wall-climbing robot moves, the first joint motor 1601 rotates to make the single leg move horizontally relative to the ground, the second joint motor 1602 rotates to drive the thigh to rotate, and the third joint motor 1603 rotates to drive the drive gear 5 to rotate, thereby driving the driven gear 6 and the crank to rotate, causing the connecting rod 4 to move and drive the lower leg to rotate. When the lower leg rotates inward, the connecting rod is limited by the groove on the upper side of the thigh. When the lower leg rotates outward, the crank above the lower leg is limited by the thigh. Therefore, the rotation angle of the lower leg relative to the thigh is 100°. With the thigh as the 0° line, the lower leg rotates counterclockwise. The minimum angle between the lower leg and the thigh is 55° and the maximum angle is 155°. For every degree the output shaft of the third joint motor rotates, the lower leg moves two degrees.

[0035] Example 2 See attached document Figure 8 This application provides a wall-climbing robot. The wall-climbing robot uses the above-mentioned leg mechanism, so it can have higher strength and stability, and is less likely to fall when climbing.

[0036] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. The protection scope of this utility model shall be determined by the protection scope of the claims.

Claims

1. A reinforced leg mechanism for a wall-climbing robot, characterized in that, The leg mechanism includes a thigh consisting of a first thigh (1) and a second thigh (2) and a lower leg (3) hinged to the second thigh (2). The second thigh (2) is provided with a crank, and a connecting rod (4) is provided between the second thigh (2) and the lower leg (3). The second thigh (2) drives the lower leg (3) by pushing and pulling the connecting rod (4) through the crank. The length (a) of the power arm of the crank is greater than the length (b) of the resistance arm of the lower leg (3).

2. The reinforced leg mechanism of a wall-climbing robot according to claim 1, characterized in that, A cover (101) is fixedly connected to the first thigh (1), and a third joint motor (1603) is provided on the second thigh (2). A ramp (201) is fixedly connected to the side wall of the second thigh (2) at the outside of the third joint motor (1603). A drive shaft (15) is fixedly connected to one end of the output shaft of the third joint motor (1603). A drive gear (5) is connected to the outside of the drive shaft (15) by a key. A retaining ring (23) is provided between the drive gear (5) and the drive shaft (15).

3. The reinforced leg mechanism of a wall-climbing robot according to claim 2, characterized in that, The second thigh (2) is provided with a driven gear (6) that meshes with the driving gear (5). The crank includes a left crank (7) and a right crank (8). The left crank (7) and the right crank (8) are located on both sides of the driven gear (6). One end of the connecting rod (4) extends to the space between the left crank (7) and the right crank (8). A flange bearing (11) is provided in the end of the connecting rod (4) between the left crank (7) and the right crank (8).

4. The reinforced leg mechanism of a wall-climbing robot according to claim 3, characterized in that, The left crank (7) and right crank (8) are provided with thrust ball bearings (9) near the inner wall of the second thigh (2) and the connecting rod (4) near the side wall of the left crank (7) and right crank (8). The driven gear (6), left crank (7) and right crank (8) are provided with deep groove ball bearings (10).

5. The reinforced leg mechanism of a wall-climbing robot according to claim 4, characterized in that, A locking nut (12) is provided through the inner side of the deep groove ball bearing (10), the inner side of the flange bearing (11), between the connecting rod (4) and the lower leg (3), and between the second thigh (2) and the lower leg (3). One end of the locking nut (12) is threaded with a locking screw (13). The lower leg (3) is provided with an inner reinforcing rib (301) and a side reinforcing rib (302) to increase strength.

6. The reinforced leg mechanism of a wall-climbing robot according to claim 5, characterized in that, The lower leg (3) is provided with a spherical foot (19) at the bottom. The bottom of the spherical foot (19) is provided with a suction cup foot (22). The top of the suction cup foot (22) is provided with a first suction cup cover (20) and a second suction cup cover (21) on the outside of the spherical foot (19). The spherical foot (19) is embedded between the first suction cup cover (20), the second suction cup cover (21) and the suction cup foot (22).

7. The reinforced leg mechanism of a wall-climbing robot according to claim 6, characterized in that, A plug screw (17) is provided between the lower leg (3) and the ball-shaped foot (19), and a hexagonal nut (18) is externally threaded onto one end of the plug screw (17).

8. The reinforced leg mechanism of a wall-climbing robot according to claim 7, characterized in that, Hexagonal head screws (14) are provided for fixed connection between the first thigh (1) and the second thigh (2), between the third joint motor (1603) and the second thigh (2), between the output shaft and the drive shaft (15) of the third joint motor (1603), and between the first suction cup cover (20) and the second suction cup cover (21) and the suction cup foot (22).

9. The reinforced leg mechanism of a wall-climbing robot according to claim 1, characterized in that, It also includes a first joint motor (1601) for driving the leg mechanism to rotate and a second joint motor (1602) for driving the thigh to rotate.

10. A wall-climbing robot, characterized in that, The wall-climbing robot uses the leg mechanism described in any one of claims 1-9.

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