CN111376224A - Robot capable of crawling on surface of flexible thin-wall material - Google Patents

Abstract

The invention discloses a robot that crawls on the surface of flexible thin-walled materials. The driving robot body is provided with a driving motor, a driving wheel and a first adsorption magnet, the driving wheel is rotatably mounted on a first mounting plate, and a driving shaft of the driving motor is provided. It is connected with the rotating shaft of the first drive wheel to drive the drive wheel to rotate; the driven robot body is provided with a support roller and a second adsorption magnet, the support roller can be rotatably installed on the second mounting plate, and the second adsorption magnet is connected to the first adsorption magnet. Magnets are set accordingly. Through the above optimally designed robot crawling on the surface of the flexible thin-walled material, the driving robot body and the driven robot body are attracted to each other on both sides of the flexible thin-walled material through adsorption magnets. Crawling on the surface of thin-walled materials solves the limitation of the weighing of the bonding force between the robot body and the surface of thin-walled materials, and ensures the stability of the crawling motion.

Description

A robot that crawls on the surface of flexible thin-walled materials

technical field

The invention relates to the technical field of robots, in particular to a robot that crawls on the surface of flexible thin-walled materials.

Background technique

Most of the crawling robots in the prior art are mostly negative pressure adsorption, electrostatic adsorption, and sticky robots. These robots cannot meet the load capacity of thin walls, the stability of motion and the energy consumption. Therefore, this kind of robot that can crawl on the surface of flexible thin-walled materials can solve the shortcomings of load capacity, stability and energy consumption very well.

SUMMARY OF THE INVENTION

In order to solve the technical problems existing in the background art, the present invention proposes a robot that crawls on the surface of a flexible thin-walled material.

A robot that crawls on the surface of a flexible thin-walled material provided by the present invention includes: a driving robot body and a driven robot body;

The driving robot body is provided with a first mounting plate, the first mounting plate is provided with a driving motor, a driving wheel, and a first adsorption magnet, the driving wheel is rotatably mounted on the first mounting plate, and the driving shaft of the driving motor is connected with the rotating shaft of the first driving wheel for driving the driving wheel to rotate;

The driven robot body is provided with a second mounting plate. The second mounting plate is provided with a support roller and a second adsorption magnet. The support roller is rotatably mounted on the second mounting plate. The second adsorption magnet is connected to the first mounting plate. The adsorption magnet corresponds to the setting.

Preferably, a plurality of driving wheels and at least one driving motor are provided on the first mounting plate, and the rotating shafts of the plurality of driving wheels are arranged in the same direction.

Preferably, the first mounting plate is further provided with an auxiliary supporting wheel, the auxiliary supporting wheel is rotatably mounted on the first mounting plate and is arranged parallel to the first driving wheel.

Preferably, a plurality of first bull's eye wheels are mounted on the first mounting plate.

Preferably, a plurality of first bull's eye wheels are arranged around the first drive wheel.

Preferably, the first mounting plate is further provided with a first accommodating groove annularly arranged around the first driving wheel, and the first attracting magnet is located in the first accommodating groove.

Preferably, the first accommodating grooves are arranged around the entire first bull's eye wheel.

Preferably, the supporting roller adopts a second bull's eye wheel.

Preferably, the second mounting plate is provided with a plurality of second bull's-eye wheels, and the plurality of second bull's-eye wheels are evenly distributed on the second mounting plate.

Preferably, the second mounting plate is provided with a second accommodating groove annularly arranged around all the second bull's-eye wheels, and the second attracting magnet is located in the second accommodating groove.

In the present invention, the proposed robot crawling on the surface of the flexible thin-walled material has a driving motor, a driving wheel, and a first adsorption magnet on the driving robot body. The driving wheel is rotatably mounted on the first mounting plate, and the driving motor drives The shaft is connected with the rotating shaft of the first drive wheel to drive the drive wheel to rotate; the driven robot body is provided with a support roller and a second adsorption magnet, the support roller can be rotatably installed on the second mounting plate, and the second adsorption magnet is connected to the first The adsorption magnet corresponds to the setting. Through the above optimally designed robot crawling on the surface of the flexible thin-walled material, the driving robot body and the driven robot body are attracted to each other on both sides of the flexible thin-walled material through adsorption magnets. Crawling on the surface of thin-walled materials solves the weighing limitation of the bonding force between the robot body and the surface of thin-walled materials, and ensures the stability of the crawling motion.

Description of drawings

FIG. 1 is a schematic structural diagram of a driving robot body of a robot that crawls on the surface of a flexible thin-walled material proposed by the present invention.

FIG. 2 is a schematic structural diagram of a driven robot body of a robot that crawls on the surface of a flexible thin-walled material proposed by the present invention.

3 is a schematic structural diagram of the cooperation between a driving robot body and a driven robot body of a robot that crawls on the surface of a flexible thin-walled material proposed by the present invention.

Detailed ways

As shown in Figures 1 to 3, Figure 1 is a schematic diagram of the structure of the driving robot body of a robot proposed by the present invention for crawling on the surface of a flexible thin-walled material, and Figure 2 is a crawling on the surface of a flexible thin-walled material proposed by the present invention. FIG. 3 is a schematic structural diagram of the driven robot body of the robot, and FIG. 3 is a structural schematic diagram of the cooperation between the driving robot body and the driven robot body of a robot that crawls on the surface of a flexible thin-walled material proposed by the present invention.

1 to 3 , a robot for crawling on the surface of a flexible thin-walled material proposed by the present invention includes: a driving robot body 1 and a driven robot body 2;

The driving robot body 1 is provided with a first mounting plate, the first mounting plate is provided with a driving motor 31, a driving wheel 32, and a first adsorption magnet 41, and the driving wheel 32 is rotatably mounted on the first mounting plate, The driving shaft of the driving motor 31 is connected with the rotating shaft of the first driving wheel 32 for driving the driving wheel 32 to rotate;

The driven robot body 2 is provided with a second mounting plate, the second mounting plate is provided with a support roller and a second adsorption magnet 42 , the support roller is rotatably mounted on the second mounting plate, and the second adsorption magnet 42 It is provided corresponding to the first attracting magnet 41 .

In the specific working process of the robot crawling on the surface of the flexible thin-walled material in this embodiment, the driving robot body and the driven robot are placed on both sides of the flexible thin-walled material, respectively, and the first mounting plate and the second mounting plate face the flexible thin-walled material respectively. The two sides of the wall material are adsorbed together by the first adsorption magnet and the second adsorption magnet, and the driving motor drives the driving wheel to rotate, so that the driving robot body moves on the surface of the flexible thin-walled material, and at the same time, under the action of the magnetic adsorption force Drive the slave robot body to move together.

In this embodiment, the proposed robot for crawling on the surface of flexible thin-walled materials has a driving motor, a driving wheel, and a first adsorption magnet on the driving robot body. The driving wheel is rotatably mounted on the first mounting plate, and the driving motor The driving shaft of the first driving wheel is connected with the rotating shaft of the first driving wheel to drive the driving wheel to rotate; the driven robot body is provided with a supporting roller and a second adsorption magnet, the supporting roller can be rotatably installed on the second mounting plate, and the second adsorption magnet is connected to the second mounting plate. The first adsorption magnet is correspondingly arranged. Through the above optimally designed robot crawling on the surface of the flexible thin-walled material, the driving robot body and the driven robot body are attracted to each other on both sides of the flexible thin-walled material through adsorption magnets. Crawling on the surface of thin-walled materials solves the weighing limitation of the bonding force between the robot body and the surface of thin-walled materials, and ensures the stability of the crawling motion.

In the specific implementation of the driving robot body, a plurality of driving wheels 32 and at least one driving motor 31 are provided on the first mounting plate, and the rotating shafts of the plurality of driving wheels 32 are arranged in the same direction; Each drive motor is driven separately, or it can be driven synchronously by the same motor.

In the actual design method, a plurality of driving wheels can be coaxially arranged and driven by the same driving motor to ensure the synchronization of the movement of the plurality of driving wheels.

At this time, an auxiliary supporting wheel 33 may also be provided on the first mounting plate. The auxiliary supporting wheel 33 is rotatably mounted on the first mounting plate and is arranged parallel to the first driving wheel 32. The auxiliary supporting wheel is located on the driving wheel. One side, to ensure that the driving robot body moves smoothly.

In order to ensure the working reliability of the driving robot body and the driven robot body, the first mounting plate is also provided with a first accommodating groove annularly arranged around the first driving wheel 32, and the first adsorption magnet 41 is located in the first accommodating groove ; Correspondingly, the second mounting plate is provided with the second accommodating grooves annularly arranged around all the second bulls-eye wheels 52, and the second attracting magnets 42 are located in the second accommodating grooves.

In other specific embodiments, a plurality of first bull's-eye wheels 51 are mounted on the first mounting plate, and the bull's-eye wheels have flexible universality, which not only plays a role of assisting movement, but also improves the surface of the flexible thin-walled material. of fit.

In a specific arrangement of the first bull's-eye wheels, a plurality of first bull's-eye wheels 51 are arranged around the first driving wheel 32 , and further, the first accommodating grooves are arranged around all the first bull's-eye wheels 51 .

In the specific design of the driven robot body, the support roller adopts the second bull's eye wheel 52 .

In a specific design of the second bull's-eye wheel, the second mounting plate is provided with a plurality of second bull's-eye wheels 52, and the plurality of second bull's-eye wheels 52 are evenly distributed on the second mounting plate.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. The equivalent replacement or change of the inventive concept thereof shall be included within the protection scope of the present invention.

Claims (10)

1. A robot crawling on the surface of a flexible thin-walled material, comprising: a driving robot body (1), a driven robot body (2); The driving robot body (1) is provided with a first mounting plate, the first mounting plate is provided with a driving motor (31), a driving wheel (32), and a first adsorption magnet (41), and the driving wheel (32) is rotatable being mounted on the first mounting plate, the drive shaft of the drive motor (31) is connected with the rotation shaft of the first drive wheel (32) for driving the drive wheel (32) to rotate; The driven robot body (2) is provided with a second mounting plate, the second mounting plate is provided with a support roller and a second adsorption magnet (42), the support roller is rotatably mounted on the second mounting plate, and the second mounting plate is provided with a support roller and a second adsorption magnet (42). The two attracting magnets (42) are arranged corresponding to the first attracting magnet (41). 2. The robot for crawling on the surface of flexible thin-walled materials according to claim 1, wherein the first mounting plate is provided with a plurality of driving wheels (32) and at least one driving motor (31), and the plurality of driving wheels The rotating shafts of (32) are arranged in the same direction. 3. The robot for crawling on the surface of flexible thin-walled materials according to claim 1, wherein the first mounting plate is further provided with an auxiliary support wheel (33), and the auxiliary support wheel (33) is rotatably installed on the The first mounting plate is arranged parallel to the first driving wheel (32). 4. The robot for crawling on the surface of flexible thin-walled materials according to claim 1, wherein a plurality of first bull's-eye wheels (51) are mounted on the first mounting plate. 5. The robot for crawling on the surface of a flexible thin-walled material according to claim 4, wherein a plurality of first bull's-eye wheels (51) are arranged around the first driving wheel (32). 6. The robot for crawling on the surface of flexible thin-walled materials according to claim 1 or 5, wherein the first mounting plate is further provided with a first accommodating groove annularly arranged around the first driving wheel (32). , the first attracting magnet (41) is located in the first accommodating groove. 7 . The robot for crawling on the surface of flexible thin-walled materials according to claim 6 , wherein the first accommodating grooves are arranged around all the first bull’s eye wheels ( 51 ). 8 . 8. The robot for crawling on the surface of a flexible thin-walled material according to claim 1, wherein the supporting roller adopts a second bull's-eye wheel (52). 9. The robot for crawling on the surface of flexible thin-walled materials according to claim 8, wherein the second mounting plate is provided with a plurality of second bull's-eye wheels (52), and a plurality of second bull's-eye wheels (52) Evenly distributed on the second mounting plate. 10 . The robot for crawling on the surface of flexible thin-walled materials according to claim 9 , wherein the second mounting plate is provided with the second housings that are annularly arranged around all of the second bulls-eye wheels ( 52 ). 11 . The second absorbing magnet (42) is located in the second accommodating slot.

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