CN107031748A - The universal drive module and its general driving unit of a kind of climbing robot - Google Patents

Abstract

The invention provides a universal drive module for a wall-climbing robot, comprising: a support frame, a drive module, a tension wheel module, and a magnetic adsorption module. The drive module and the tension wheel module are respectively installed at both ends of the support frame, wherein the tension The wheel module includes a transmission belt, and the transmission belt includes a timing belt part on both sides and a flat belt part in the middle; the drive module includes two timing belt pulleys, and the two timing belt pulleys are respectively engaged with the timing belt part. Between two synchronous pulleys, corresponding to the flat belt part. Compared with the prior art, the universal drive module for wall-climbing robot of the present invention can use the connecting shaft to freely combine multiple modules, and can also change the form of the connecting shaft to meet the functional requirements of various working conditions. It has the advantages of convenient assembly, high flexibility and strong applicability.

Description

A general driving module of a wall-climbing robot and its general driving unit

technical field

The invention relates to a general driving module of a wall-climbing robot, and also relates to a general driving unit of a wall-climbing robot, which belongs to the field of robots.

Background technique

The wall-climbing robot belongs to an important branch in the field of robot research, which comprehensively uses robot movement technology and adsorption technology. It can flexibly move on vertical walls, inclined walls, and even the inner top of buildings or containers, and can carry tools to complete certain tasks.

Wall-climbing robots are special robots, and they have been used in harsh, dangerous, extreme and other harsh environments that are not suitable for human operations. Among them, magnetic adsorption wall-climbing robots are widely used in chemical industry, construction, shipbuilding, and fire protection due to their high adsorption stability. and other industries have been widely used.

Most of the existing wall-climbing robots have a complete machine structure, the functional load is determined, and the applicable working conditions are single. When faced with a job task or a change in the workplace, the wall-climbing robot needs to provide different degrees of driving force and adsorption force, and even needs to be changed. The overall structure of the robot, the existing wall-climbing robots are often insufficient in flexibility and applicability, and cannot meet the requirements.

Contents of the invention

The purpose of the present invention is to provide a universal drive module and a universal drive unit for a wall-climbing robot, so as to improve the flexibility and applicability of the wall-climbing robot.

The present invention adopts following technical scheme:

A universal drive module for a wall-climbing robot, characterized in that it includes: a support frame, a drive module, a tension wheel module and a magnetic adsorption module, the drive module and the tension wheel module are respectively installed at both ends of the support frame, wherein the tension The tensioner module includes a transmission belt, and the transmission belt includes timing belt parts on both sides and a flat belt part in the middle; the drive module includes two timing belt pulleys, and the two timing belt pulleys are respectively meshed with the timing belt part, and the magnetic adsorption module is arranged on Between the two synchronous pulleys, it corresponds to the flat belt part.

Preferably, the universal drive module of the wall-climbing robot of the present invention may also have the following feature: wherein, the support frame is provided with a plurality of auxiliary support wheels distributed along the circumference, and the auxiliary support wheels are supported inside the flat belt part.

As preferably, the universal drive module of the wall-climbing robot of the present invention can also have such characteristics: wherein, the drive module includes a drive motor, a planetary reducer, a worm gear reducer, a wheel shaft, and an air wheel, and the drive motor and the planetary reducer The planetary reducer is installed on the input flange of the worm reducer, the worm reducer is installed on the support frame, the output shaft of the worm reducer is connected with the synchronous pulleys on both sides, and the synchronous pulley passes through the wheel The rotating shaft is connected with the pneumatic wheel arranged on the outside.

As a preference, the general drive module of the wall-climbing robot of the present invention can also have such a feature: wherein, the tension wheel module includes two connecting plates, a tensioning wheel and a tensioning wheel rotating shaft, and the connecting plate is installed on the support frame; The tensioning wheel is installed in the middle of the two connecting plates, the rotating shaft of the tensioning wheel passes through the tensioning wheel, and the two ends are installed on the two connecting plates.

As a preference, the universal drive module of the wall-climbing robot of the present invention may also have such a feature: the tension wheel module further includes: an adjusting bolt, and the tension wheel rotating shaft is installed on the chute of the connecting plate.

Preferably, the universal driving module of the wall-climbing robot of the present invention may also have such a feature: wherein, the magnetic adsorption module includes a fan-shaped magnet and a magnet mounting frame.

As a preference, the universal drive module of the wall-climbing robot of the present invention may also have the following features: the connecting shaft passes through the support frame, and connecting flanges are provided at both ends of the connecting shaft.

As a preference, the universal drive module of the wall-climbing robot of the present invention may also have such a feature: wherein, the worm gear reducer has a self-locking function.

The present invention also provides a universal drive unit for a wall-climbing robot, which includes at least two universal drive modules for the above-mentioned wall-climbing robot, and is characterized in that: it also includes a mounting shaft connected between the opposite mounting flanges of the two universal drive modules .

Preferably, the universal drive unit of the wall-climbing robot of the present invention may also have such a feature: wherein, a hinge is used between the connecting flange and the installation shaft.

Beneficial Effects of the Invention

The invention is a universal drive module for a wall-climbing robot. Compared with the prior art, multiple modules can be combined freely by using the connecting shaft, and the form of the connecting shaft can also be changed to meet the functional requirements of various working conditions. , has the advantages of convenient assembly, high flexibility and strong applicability.

The universal drive module of the wall-climbing robot of the present invention, because the structure of the transmission belt is that the two sides are synchronous belt parts, and the middle is a flat belt part, so it brings two advantages. One is that there is only one layer of flat belt between the magnetic wheel and the working surface , which improves the adsorption force, and the second is that the flat belt covers the internal structure and plays a protective role.

Description of drawings

Fig. 1 is a top view of the universal drive module;

Fig. 2 is a side view of the universal drive module;

Fig. 3 is a schematic diagram of the internal structure from the perspective of Fig. 2;

Fig. 4 is the BB' section view of universal drive module in Fig. 3;

Fig. 5 is a partial enlarged view of area A in Fig. 4;

Fig. 6 is a structural schematic diagram of a general drive unit;

Fig. 7 is another structural schematic diagram of the universal drive unit.

detailed description

The specific implementation manners of the present invention will be described below in conjunction with the accompanying drawings.

As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the general driving module of the wall-climbing robot includes: a support frame 1, on which a driving module 2, a tensioning wheel module 3 and a magnetic adsorption module are arranged 4.

As shown in Figure 3, the support frame 1 is provided with a connecting shaft 6, the connecting shaft 6 runs through the support frame, and connecting flanges are provided at both ends; multiple modules can be freely combined, and the form of the connecting shaft 6 can also be changed Meet the functional requirements of various working conditions. As shown in FIG. 6 , the two universal drive modules are combined into a universal drive unit of the wall-climbing robot by docking with the installation shaft 61 . A universal wheel bracket 7 is also arranged between the two universal drive modules. As shown in FIG. 7 , in other embodiments, the installation shaft 61 is changed to a hinge form, and after the hinge installation shaft 62 is formed, the wall-climbing robot can adapt to a curved surface environment.

As shown in FIGS. 2 and 3 , the driving module 2 includes a driving motor 21 , a planetary reducer 22 , a worm gear reducer 23 , a synchronous pulley 24 , a wheel shaft 25 and an air wheel 26 . Drive motor 21 is connected with planetary reducer 22; Planetary reducer 22 is installed on the input end flange of worm gear reducer 23; Worm gear reducer 23 is installed in the middle part of two supporting frame 1; The lock function makes the whole structure more compact and the performance more stable.

As shown in Figure 4, the output shaft of the worm gear reducer 23 is connected with the synchronous pulley 24 on both sides; the synchronous pulley 24 is connected with the wheel shaft 25; the wheel shaft 25 is connected with the pneumatic wheel 26; The pulley 24 wraps the outer diameter of the transmission belt 34 to prevent the transmission belt 34 from contacting the working wall surface and causing abrasion.

As shown in FIG. 3 and FIG. 4 , the tension wheel module 3 includes a connecting plate 31 , a tension wheel 32 , a tension wheel shaft 33 , a transmission belt 34 and an adjustment bolt 35 . The connecting plate 31 is installed on the support frame 1; the tensioning wheel 32 is installed in the middle part of the two connecting plates 31; the tensioning wheel rotating shaft 33 is installed on the chute of the two connecting plates 31; 24 meshed synchronous belt part 341, and the flat belt part 342 corresponding to the magnetic adsorption module 4 in the middle, such a structure reduces the gap between the magnetic adsorption module and the working wall surface, and improves the magnetic adsorption force as much as possible. The transmission belt 34 not only plays a transmission role, but also protects the internal structure.

The adjusting bolt 35 is installed on the boss of the connecting plate 31, and the tensioning wheel rotating shaft 33 is pushed to move in the chute of the connecting plate 31 by the adjusting bolt 35, thereby controlling the tightness of the transmission belt 34 and ensuring the efficiency of transmission.

As shown in FIG. 3 , the magnetic adsorption module 4 includes a sector magnet 41 and a magnet mounting frame 42 . The sector magnet 41 is a permanent magnet, and a gap is provided between the drive belt 34 ; the sector magnet 41 is installed on the magnet mounting frame 42 ;

As shown in FIGS. 3 and 5 , auxiliary support wheels 5 are also provided on the support frame 1 . As shown in Figure 3, the auxiliary support wheels are symmetrically installed in multiple groups of 5 on the support frame 1. As shown in FIG. 5 , the auxiliary support wheel 5 is supported on the flat belt portion 342 and plays an auxiliary role in tensioning the transmission belt 34 .

Claims (10)

1. A general drive module of a wall-climbing robot, characterized in that, comprising: Support frame, drive module, tensioner module and magnetic adsorption module, The driving module and the tensioning wheel module are respectively installed at both ends of the support frame, Wherein, the tensioner module includes a transmission belt, and the transmission belt includes a synchronous belt portion on both sides and a flat belt portion in the middle; The drive module includes two synchronous pulleys, the two synchronous pulleys are respectively meshed with the synchronous belt part, and the magnetic adsorption module is arranged between the two synchronous pulleys, corresponding to the flat belt part. 2. the universal drive module of wall-climbing robot as claimed in claim 1, is characterized in that: Wherein, the support frame is provided with a plurality of auxiliary support wheels distributed along the circumference, and the auxiliary support wheels are supported inside the flat belt part. 3. the universal drive module of wall-climbing robot as claimed in claim 1, is characterized in that: Wherein, the drive module includes drive motor, planetary reducer, worm gear reducer, wheel shaft, and air wheel, The drive motor is connected to the planetary reducer, the planetary reducer is installed on the input flange of the worm gear reducer, the worm reducer is installed on the support frame, the output shaft of the worm reducer is connected to the The synchronous pulleys on both sides are connected, and the synchronous pulleys are connected with the pneumatic wheel arranged on the outside through the wheel shaft. 4. the universal drive module of wall-climbing robot as claimed in claim 1, is characterized in that: Wherein, the tension wheel module includes two connecting plates, a tension wheel and a tension wheel shaft, The connection plate is installed on the support frame; The tensioning wheel is installed in the middle of the two connecting plates, The rotating shaft of the tensioning wheel passes through the tensioning wheel, and the two ends are installed on two connecting plates. 5. the universal drive module of wall-climbing robot as claimed in claim 4, is characterized in that: The tension wheel module further includes: an adjusting bolt, and the tension wheel shaft is installed on the chute of the connecting plate. 6. the universal drive module of wall-climbing robot as claimed in claim 1, is characterized in that: Wherein, the magnetic adsorption module includes a sector magnet and a magnet mounting frame. 7. the universal drive module of wall-climbing robot as claimed in claim 1, is characterized in that, also has: The connecting shaft passes through the supporting frame, and the two ends of the connecting shaft are provided with connecting flanges. 8. the universal drive module of wall-climbing robot as claimed in claim 1, is characterized in that: Wherein, the worm gear reducer has a self-locking function. 9. A universal drive unit for a wall-climbing robot, comprising at least two general-purpose drive modules for the above-mentioned wall-climbing robot, characterized in that: it also includes Mounting shaft, connected between the opposing mounting flanges of two Universal Drive Modules. 10. the universal drive unit of wall-climbing robot as claimed in claim 9, is characterized in that: Wherein, a hinge is used between the connecting flange and the installation shaft.