A climbing chassis

Abstract

The present invention discloses a climbing chassis, including a guide rail, an energy storage component, two opening and closing arms, and two crawling wheel assemblies arranged one by one with the opening and closing arms, the two opening and closing arms are connected to the guide rail and arranged along the extension direction of the guide rail, at least one opening and closing arm is slidably connected to the guide rail and can slide and displace along the extension direction of the guide rail, the energy storage component is used to provide a tensioning force or thrust to reduce the distance between the two opening and closing arms, the energy storage component is connected to the at least one opening and closing arm and drives it to displace in the direction close to the other opening and closing arm, the crawling wheel assembly includes a climbing main wheel and a climbing power connected to the climbing main wheel, and the climbing main wheel is rotatably arranged on the opening and closing arm with the wheel axis as the rotation center. The climbing chassis provided by the present invention has two climbing main wheels that clamp the cylinder for climbing, and the clamping distance is adjustable, so that it can climb on a cylinder with a variable diameter or size, and can carry various additional accessories such as a small visual mechanical claw and an omnidirectional camera to perform the required work.

Description

Technical Field

[0001] The present invention relates to the technical field of climbing, and more particularly to a climbing chassis. Background Art

[0002] Currently, there are climbing robots on the market. One type is warehouse climbing, which is equipped with two sets of climbing main wheels, one set for clamping the vertical guide rail, and the other set for clamping the horizontal guide rail. The track is changed by switching the clamping of the two sets of wheels, but the clamping spacing of the two sets of climbing main wheels cannot be changed, and it is only suitable for climbing tracks with fixed widths; the other type is embracing climbing on columns. This type of climbing robot is mostly equipped with two upper and lower embracing arms, which alternately hold the column to move. It is slow, not flexible, and cannot be offset. It is also only suitable for columns with basically unchanged diameters. Otherwise, it is difficult to hold tightly, and it is impossible to climb on columns with large changes in diameter or cross-sectional dimensions. Therefore, how to achieve variable diameter or variable size climbing, such as climbing along street lamp poles, trees, or high towers, is a problem that urgently needs to be solved in this field. Summary of the invention

[0003] The purpose of the present invention is to provide a climbing chassis with two climbing main wheels clamping the cylinder for climbing, and the clamping distance is adjustable, so that it can climb on columns of variable diameters or sizes, and can carry various additional accessories such as small visual mechanical claws, omnidirectional cameras, etc. to perform the required work.

[0004] To achieve the above-mentioned purpose, the present invention provides a climbing chassis, including a guide rail, an energy storage member, two opening and closing arms and two crawling wheel assemblies arranged in a one-to-one correspondence with the opening and closing arms, the two opening and closing arms are connected to the guide rail and arranged along the extension direction of the guide rail, at least one of the opening and closing arms is slidably connected to the guide rail and can be slidably displaced along the extension direction of the guide rail, the energy storage member is used to provide a tensioning force or a thrust force for reducing the distance between the two opening and closing arms, the energy storage member is connected to the at least one opening and closing arm and drives it to displace in a direction close to the other opening and closing arm, the crawling wheel assembly includes a climbing main wheel and a climbing power transmission connected to the climbing main wheel, the climbing main wheel is rotatably arranged on the opening and closing arm with the wheel axis as the rotation center.

[0005] Preferably, the crawling wheel assembly is rotatably connected to the opening and closing arm through a steering structure, and the rotation center line is parallel to the extension direction of the guide rail; and also includes a steering power that drives the crawling wheel assembly to rotate.

[0006] Preferably, it also includes a spacing adjustment power, which is transmission-connected to the opening and closing arm slidably connected to the guide rail and drives its displacement to increase the spacing between the two climbing main wheels.

[0007] Preferably, a driven wheel assembly is also included, which is connected to the opening and closing arm through a suspension structure, and the driven wheel assembly includes a driven omnidirectional wheel. The suspension structure includes a connecting rod, a baffle, an elastic member and a connecting plate. The connecting rod is connected to the opening and closing arm, and the baffle and the connecting plate are distributed along the axial direction of the connecting rod. The connecting plate is slidably connected to the connecting rod, and the elastic member is located between the connecting plate and the baffle, and the driven wheel assembly is fixed to the connecting plate.

[0008] Preferably, a locking device is also included to prevent the climbing main wheel from rotating in the reverse direction.

[0009] Preferably, it also includes a control system and an encoder arranged in a one-to-one correspondence with the climbing main wheel, the control system includes a control core and a drive board communicatively connected to the control core, the drive board and the encoder are arranged in a one-to-one correspondence and communicatively connected, and the steering power and the climbing power are both electrically connected to the corresponding drive board.

[0010] Preferably, a sensor for detecting the climbing path is further included, and the sensor is communicatively connected to the control system.

[0011] Preferably, the steering structure includes a turntable rotatably connected to the opening and closing arm and an axle seat arranged on the turntable, the driving wheel axle of the climbing main wheel is rotatably connected to the axle seat and connected to the climbing power transmission, and the turntable is connected to the steering power transmission.

[0012] Preferably, one driven wheel assembly is respectively arranged on both sides of each climbing main wheel, each driven wheel assembly comprises two driven wheel groups arranged at intervals, and each driven wheel group comprises two driven omnidirectional wheels arranged side by side along the axial direction.

[0013] Preferably, it also includes a frame, a remote control device and a carrying platform, the guide rail and the carrying platform are both arranged on the frame, the remote control device is provided with a parameter adjustment module and a wireless transmission module for adjusting the climbing power speed and the rotation angle of the crawling wheel assembly, and the control system includes an information receiving module that is communicatively connected to the wireless transmission module.

[0014] The technical solution provided by this application may have the following beneficial effects:

[0015] In the technical solution provided by the present invention, the climbing chassis is provided with two opening and closing arms which can slide along the guide rail and adjust the spacing. The two climbing main wheels are respectively connected to the two opening and closing arms and arranged opposite to each other, so that the clamping spacing of the two climbing main wheels can be adjusted by following the displacement of the opening and closing arms; at the same time, the energy storage member provides a clamping force for bringing the two climbing main wheels close to each other, so that the two climbing main wheels always maintain sufficient clamping force and driving ability to approach each other under the push or tension of the energy storage member. As the climb progresses, the clamping spacing can be automatically adjusted to adapt to the crawling track width, that is, as the track width changes, the clamping spacing can be automatically adjusted to keep it always clamped on the crawling column or the guide track, thereby realizing intermittent or continuous diameter-changing climbing. The crawling speed is relatively fast and flexibly adjustable, and various additional accessories such as small visual mechanical claws and omnidirectional cameras can be carried to perform the required work.

[0016] The various technical effects that can be produced by the preferred technical solutions among the various technical solutions provided in this application are described in detail below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the structure of the climbing chassis at a first angle in an embodiment of the present invention;

[0019] Figure 2 It is a schematic diagram of the structure of the climbing chassis at a second angle in an embodiment of the present invention;

[0020] Figure 3 It is a schematic structural diagram of the climbing chassis at a third angle in an embodiment of the present invention.

[0021] Figure 1-Figure 3 middle:

[0022] 1. Frame; 2. Guide rail; 3. Opening and closing arm; 4. Climbing main wheel; 5. Climbing power; 6. Spacing adjustment power; 7. Energy storage component; 8. Turntable; 9. Axle seat; 10. Baffle; 11. Connecting rod; 12. Connecting plate; 13. Driven omnidirectional wheel; 14. Steering power; 15. Encoder; 16. Rack. DETAILED DESCRIPTION

[0023] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0024] The purpose of this specific embodiment is to provide a climbing chassis with two climbing main wheels that clamp the cylinder for climbing, and the clamping distance is adjustable, so that it can climb on columns of variable diameters or sizes, and can carry various additional accessories such as small visual mechanical claws, omnidirectional cameras, etc. to perform the required work.

[0025] The following embodiments are described in detail with reference to the accompanying drawings. In addition, the embodiments shown below do not limit the content of the invention described in the claims. In addition, the entire content of the structure represented by the following embodiments is not limited to the solution required as the invention described in the claims.

[0026] Please refer to the attached Figure 1-3The climbing chassis provided in this embodiment at least includes a guide rail 2, an energy storage member 7, two opening and closing arms 3 and two crawling wheel assemblies. The two opening and closing arms 3 are connected to the guide rail 2 and are distributed along the extension direction of the guide rail 2. The two crawling wheel assemblies are arranged on the opening and closing arms 3 in a one-to-one correspondence. The two crawling wheel assemblies each include a climbing main wheel 4 and a climbing power 5. The climbing main wheel 4 is transmission-connected to the climbing power 5 and is rotatably connected to the opening and closing arm 3 with its own rotating wheel axis as the rotation center. Then, the two climbing main wheels 4 are arranged opposite to each other through the two opening and closing arms 3, that is, the two wheel surfaces are opposite to each other, and are clamped on both sides of the column or track and climbed along the column surface; at the same time, at least one of the two opening and closing arms 3 is slidably connected to the guide rail 2 to slide and displace along the extension direction of the guide rail 2, and the other opening and closing arm 3 can be fixedly connected to the guide rail 2, or can also be slidably connected. In the preferred embodiment, the two opening and closing arms 3 are It is slidably connected to the guide rail 2, so that the spacing between the two opening and closing arms 3 can be adjusted, and the clamping spacing between the two climbing main wheels 4 can also be adjusted by sliding the opening and closing arms 3 on the guide rail 2, and it has a motion structure that can change the diameter of climbing; and the energy storage member 7 provides a continuous clamping force for the two climbing main wheels 4 or the two opening and closing arms 3. The energy storage member 7 is connected to the opening and closing arms 3 that can slide, and provides it with a continuous thrust or tensioning force toward the other opening and closing arm 3, driving the opening and closing arms 3 to move in the direction of approaching the other opening and closing arm 3, maintaining a driving trend that promotes the reduction of the clamping spacing between the two climbing main wheels 4. Then, under sufficient clamping force, the two climbing main wheels 4 can always clamp the climbing column or track tightly. When the track becomes narrower or the diameter of the column becomes smaller, under the pushing or tensioning action of the clamping force, the two climbing main wheels 4 move with the opening and closing arms 3 to adjust their positions, reduce the clamping spacing, and adapt to climbing changes.

[0027] With such arrangement, the climbing chassis provided by this embodiment can always maintain a tight clamping of the two climbing main wheels 4 to ensure stable climbing when the track width, column diameter or cross-sectional size changes; at the same time, the two climbing main wheels 4 are used to clamp on both sides of the crawling object for rolling crawling, with fast climbing speed and high efficiency, and the climbing power 5 can be a motor, and the climbing speed can be adjusted by adjusting the output power, with high operability, and can flexibly and efficiently complete various climbing tasks, and can carry various additional accessories such as small visual mechanical claws and omnidirectional cameras to perform the required work, which is very suitable for security work such as rapid camera arrangement and cable maintenance on street lamp poles with variable diameter extension, or picking and pruning of trees. The climbing chassis provided by this embodiment is not only suitable for climbing cylindrical objects, but also for climbing non-cylindrical objects such as square cylinders, as long as the object to be climbed has a climbing cylindrical surface for clamping.

[0028] In order to perform various tasks, the climbing chassis also includes a frame 1 and a bearing platform. The bearing platform is used to install accessories such as cameras or mechanical claws. The bearing platform and the guide rail 2 are both connected to the frame 1. The guide rail 2 can be an optical axis or a linear slide rail. If it is an optical axis, the guide rail 2 can be two or four spaced apart. If it is a linear slide rail, there can be two groups spaced apart. The opening and closing arms 3 can be a plate-like structure, and each opening and closing arm 3 is connected to each guide rail 2 at the same time. The two plate-like opening and closing arms 3 slide along each guide rail 2 to maintain stable and smooth sliding. Combined with the crawling wheel assembly firmly connected to the opening and closing arm 3, such a setting can maintain the stability of the entire chassis, smoothly adapt to climbing with variable diameter or size, provide balance and stable support for the bearing platform on the frame 1, and enable the accessories on the bearing platform to complete the work stably and accurately.

[0029] The energy storage member 7 can be an elastic member or a power member such as a cylinder. If it is an elastic member, it can be a constant force spring, such as a tension spring connected between the two opening and closing arms 3, which provides a tensioning force for the two opening and closing arms 3 to bring the two closer to each other. When climbing is required, first apply an external force opposite to the clamping force to the two opening and closing arms 3, such as overcoming the tensioning force of the elastic member, increasing the clamping distance, so that the two climbing main wheels 4 can be clamped on both sides of the column, and then remove the external force, and the two climbing main wheels 4 clamp the climbed column or track; if it is a power member such as a cylinder, it can be located on the outside of the two opening and closing arms 3, providing a driving force for the opening and closing arms 3 to bring the two closer to each other. The continuous clamping force provided by the energy storage member 7 is an important parameter for the climbing chassis to climb along the cylindrical surface, and is related to parameters such as the diameter variation range, load, and cylindrical friction coefficient. The required clamping force can be determined based on the diameter variation range, load, and cylindrical friction coefficient, so as to select a suitable energy storage member 7. No specific limitation is made on each parameter here. When the climbing chassis is clamped on the column, it will be affected by wind, and the wind in the two directions of vertical downward and perpendicular to the column will affect climbing. As long as the upper limit of the static friction when the climbing chassis hugs the column is greater than the wind in these two directions, the impact can be avoided and it has good wind resistance.

[0030] If the energy storage member 7 is an elastic member, in order to more conveniently pull apart the two opening and closing arms 3 or the two crawling wheel assemblies, in this embodiment, the climbing chassis also includes a spacing adjustment power 6, which is transmission-connected to the opening and closing arms 3 that are slidably connected to the guide rail 2, and drives it to move in a direction away from the other opening and closing arms 3, so as to increase the spacing between the two climbing main wheels 4. Specifically, the spacing adjustment power 6 can be a motor, and the opening and closing arms 3 can be fixedly connected to the rack 16, and the rack 16 extends in the same direction as the guide rail 2. The motor is driven by the gear and the rack 16, and drives the opening and closing arms 3 to move. If both opening and closing arms 3 are slidably connected to the guide rail 2, the spacing adjustment motor can be synchronously driven with the two racks 16 through the same gear shaft to ensure the synchronization of the displacement of the two opening and closing arms 3.

[0031] In this embodiment, the climbing chassis also includes a steering system, which includes a steering structure and a steering power 14. The crawling wheel assembly is rotatably connected to the opening and closing arm 3 through the steering structure, and the rotation center line is parallel to the extension direction of the guide rail 2. The steering power 14 drives the crawling wheel assembly to rotate through the steering structure. The climbing chassis can also include a control system, and the steering power 14 and the climbing power 5 are both connected to the control system for communication. By regulating the steering power 14 through the control system, the rotation angle of the two climbing main wheels 4 can be adjusted to steer. The two climbing main wheels 4 can share a steering system, or they can be provided with separate steering systems. The rotation angles of the two climbing main wheels 4 can be adjusted separately. With such arrangement, when the two climbing main wheels 4 are rotated until the wheel axes are parallel to the horizontal plane or the cross-section of the climbed column, the climbing chassis can perform horizontal climbing, which is particularly suitable for bypassing obstacles on the climbing path; when the wheel axes of the two climbing main wheels 4 have a certain angle with the horizontal plane or the cross-section of the column, spiral climbing can be performed along the column, and the pitch of the spiral ascent path can be changed by adjusting the steering angle, so that spiral climbing with any pitch or ratio can be performed, which can effectively bypass obstacles and can also be offset on the column to perform operations in multiple positions, with strong applicability.

[0032] Specifically, the steering structure can be as follows Figure 2 As shown, it includes a turntable 8 rotatably connected to the opening and closing arm 3, the turntable 8 is connected to the steering power 14 through gear transmission, the steering power 14 is set as a motor, fixed on the opening and closing arm 3, and drives the turntable 8 to rotate relative to the opening and closing arm 3; the turntable 8 is provided with an axle seat 9, and the axle of the climbing main wheel 4 is rotatably mounted on the axle seat 9, so that the steering can be adjusted as the turntable 8 rotates; the climbing power 5 is set as a motor, which is connected to the axle of the climbing main wheel 4 through gear transmission, and drives the climbing main wheel 4 to rotate along its own wheel axis. The axle seat 9 and the climbing main wheel 4 can be located on the inner side of the two opening and closing arms 3, that is, on the opposite side, or the axle seat 9 is located on the outer side of the opening and closing arm 3, the climbing main wheel 4 passes through the opening and closing arm 3 and partially extends to the inner side of the opening and closing arm 3, and the opening and closing arm 3 has an avoidance through hole for the climbing main wheel 4 to pass through.

[0033] The climbing chassis can also be provided with a control system, and each steering power 14 and climbing power 5 are electrically connected to the control system. The control system is used to control the steering and crawling driving forces, and the climbing path can be planned and set; and each climbing main wheel 4 has a steering drive and a crawling drive, and both powers can be motors. The control system can also combine the required driving force or speed direction and magnitude by nonlinear fully resolved vectors to better control the climbing conditions. The spacing adjustment power 6 can also be electrically connected to the control system.

[0034] The steering system may also include an encoder 15, which is in communication connection with the steering power 14 and the control system. The control system can more accurately control the steering power 14 through the signal transmission of the encoder 15, thereby accurately adjusting the steering angle. The encoder 15 may be provided with two settings corresponding to the two climbing main wheels 4, so that the steering angle of each climbing main wheel 4 can be individually and accurately adjusted. When the steering angles and steering directions of the two climbing main wheels 4 are consistent, the posture of the support platform or the entire climbing machine can be maintained unchanged. When the steering angles of the two climbing main wheels 4 are inconsistent, the posture of the support platform and the workpiece on the support platform can be changed, which is more flexible. Both encoders 15 can be absolute encoders 15.

[0035] The control system includes a control core, which can be a PLC controller, a single-chip microcomputer, or a control main board with a control chip. Each crawler wheel assembly can also be equipped with a drive board, which is communicated with the encoder 15 and the steering motor, and is communicated with the control core.

[0036] When the climbing chassis is climbing upward, it will generate a tilting torque due to the influence of gravity. In order to resist the tilting torque, in this embodiment, the climbing chassis also includes a driven wheel assembly, which is connected to the opening and closing arm 3 through a suspension structure. The suspension structure includes a connecting rod 11, a baffle 10, an elastic member and a connecting plate 12. The connecting rod 11 is connected to the opening and closing arm 3, and the connecting rod 11 can be vertically extended along the thickness direction of the opening and closing arm 3 (which is also the extension direction of the guide rail 2); the baffle 10 and the connecting plate 12 are distributed along the axial direction of the connecting rod 11, and the connecting plate 12 is sleeved on the connecting rod 11 through the axle seat 9 and is slidably connected to the connecting rod 11. The elastic member can be a compression spring, which is located between the connecting plate 12 and the baffle 10. The driven wheel assembly is fixed to the side of the connecting plate 12 away from the elastic member, and the driven wheel assembly can be elastically moved through the suspension structure, and after following the displacement of the opening and closing arm 3, it can It automatically adapts to changes in the diameter or cross-sectional size of the climbed column, that is, it automatically adapts to the clamping distance between the two climbing main wheels 4, always keeps in contact with the climbing column surface, and clamps the column; at the same time, the driven wheel in the driven wheel assembly is set as a driven omnidirectional wheel 13, that is, an omnidirectional wheel in the prior art, and the axial direction of the driven omnidirectional wheel 13 is consistent with the axial direction of the column, that is, when the climbing chassis crawls vertically upward, the axial direction of the driven omnidirectional wheel 13 is the vertical direction; the driven omnidirectional wheel 13 is composed of a main wheel and rollers distributed along the circumference of the main wheel. The rolling direction of the rollers on the driven omnidirectional wheel 13 can be perpendicular to the rolling direction of the main wheel. The two synthesize the rolling direction of the climbing main wheel 4, crawl in accordance with the climbing main wheel 4, and resist the tilting torque generated by gravity through the friction generated between the wheels and the rollers and the column surface, to ensure that the two climbing main wheels 4 can always crawl in the vertical direction. At the same time, by setting a driven wheel and the axial direction along the vertical direction, the climbing chassis has two wheel sets, which can change tracks and crawl, such as changing lanes from a longitudinal track to a laterally extended track. It can be used not only in column climbing, but also in warehousing, and has a wide range of applications.

[0037] There may be four driven wheel assemblies, and each climbing main wheel 4 is provided with an independent suspension and a driven wheel assembly on both sides, forming an embracing trend in the circumferential direction of the column. Each driven wheel assembly is provided with two driven wheel groups, and the two driven wheel groups are arranged at intervals along the axial direction of the column, and each driven wheel group includes two driven omnidirectional wheels 13 arranged coaxially and arranged. In this way, eight driven double-piece omnidirectional wheels cooperate with four sets of independent suspensions, and can be driven in any direction, and also provide multi-directional balanced torque. The falling force of the climbing chassis will form a rotational torque, and its torque direction is perpendicular to the cylindrical surface and inward, and points from the left wing to the right wing on the line connecting the crawling wheel assemblies on both sides. At this time, the omnidirectional wheel group on the upper side and the omnidirectional wheel group on the lower side will provide a torque perpendicular to the cylindrical surface and outward, and from the right wing to the left wing along the line connecting the crawling wheel assemblies on both sides, that is, provide an equal torque to counteract the rotational torque for balance. At the same time, the axle and axle seat of the omnidirectional wheel can resist torque by their own rigidity, and the suspension structure is used to adapt to the flexible adjustment of the clamping distance. The driven omnidirectional wheel 13 has the advantage of being not easy to wear on the basis of sufficient clamping force and combining the above two functions.

[0038] When the climbing chassis climbs to a specified height and is equipped with an execution workpiece, and needs to perform a certain work, it is often necessary for the climbing chassis to stand by at the height without falling. At present, the machine that uses two sets of climbing main wheels for clamping and climbing in the prior art cannot achieve a long-term standby on the column or track. Therefore, in order to solve this problem, in this embodiment, the climbing chassis also includes a locking device to prevent the climbing main wheel 4 from rotating in the opposite direction. The locking device can be arranged on the transmission shaft between the climbing motor and the climbing chassis. The climbing motor rotates forward and transmits torque outward. The climbing chassis climbs and waits to the target position. The output power of the climbing motor is reduced, and the motor can rotate forward and reverse. In order to avoid the climbing motor reversal caused by gravity in this case, so that the climbing chassis slides down, the locking effect of the locking device transfers the reverse force to the mechanism instead of the motor shaft, which can effectively prevent the motor from reversing and the machine from sliding down as a whole, so that the climbing chassis can enter a low-power state and stand by for a long time at the target position, meeting the demand for the execution workpiece to work for a long time.

[0039] Specifically, the locking device can be a one-way bearing or an overrunning clutch in the prior art, or both. The one-way bearing can be installed on the axle of the climbing main wheel 4 to prevent the climbing main wheel 4 from rotating in the reverse direction. The overrunning clutch can be installed on the power output shaft of the climbing motor to prevent the motor from outputting torque for reverse rotation. With such a configuration, the climbing motor can transmit torque outward when rotating forward, but cannot transmit torque when overspeeding and reversing, or the one-way bearing resists the reverse torque when reversing, which can effectively prevent the climbing chassis from sliding down and falling.

[0040] It should be noted that the forward rotation of the climbing motor and the forward rotation of the climbing main wheel 4 both refer to the rotation direction of the motor and the rotation direction of the climbing main wheel 4 when climbing, and the reverse rotation refers to the rotation opposite to the forward rotation.

[0041] When climbing, if the climbing chassis is not started and stopped manually by a remote control device, it cannot stop in time when it reaches the top, nor can it automatically bypass obstacles on the path and continue climbing. Therefore, in this embodiment, a detection device that is connected to the control system in communication is also provided on the climbing chassis, so as to have detection capabilities. The specific detection device can be a sensor for detecting the climbing surface, such as a laser ranging sensor, which can send a signal in time when there are changes that are not within the regular range on the climbing surface, such as a cylindrical surface or a track surface, such as a disconnection or an obstacle. The control system outputs an instruction to stop climbing or bypass the obstacle laterally according to the signal type. For some high-position climbing at a high distance from the ground, it provides great convenience and ensures smooth work.

[0042] The climbing chassis can also be provided with a remote control device, which is provided with a parameter adjustment module and a wireless transmission module for adjusting the speed of the climbing power 5 and the rotation angle of the climbing wheel assembly, and the control system includes an information receiving module that is communicatively connected to the wireless transmission module. In this way, the climbing chassis can also be remotely controlled manually, and the climbing direction and speed can be manually controlled, which is particularly applicable in some complex road conditions. The remote control device can be a remote control with direction and speed adjustment in the prior art, such as a remote control handle, or a client that is communicatively connected to the control core through a communication network, such as a mobile phone or tablet terminal device with control software.

[0043] It should be noted that the “horizontal”, “vertical”, “up”, “down”, “left” and “right” described in this article refer to when the climbing chassis is in a natural placement state or normal use state.

[0044] It is understood that the same or similar parts in the above embodiments can refer to each other, and the content not described in detail in some embodiments can refer to the same or similar content in other embodiments. The multiple solutions provided by the present invention include the basic solution itself, which are independent of each other and do not restrict each other, but they can also be combined with each other without conflict to achieve multiple effects together.

[0045] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A climbing chassis, characterized in that: It comprises a guide rail (2), an energy storage member (7), two opening and closing arms (3), and two crawling wheel assemblies arranged in one-to-one correspondence with the opening and closing arms (3). The two opening and closing arms (3) are both connected to the guide rail (2) and arranged along the extension direction of the guide rail (2); at least one of the opening and closing arms (3) is slidably connected to the guide rail (2) and can slide and displace along the extension direction of the guide rail (2); the energy storage member (7) is used to provide a tensioning force or a thrust force for reducing the distance between the two opening and closing arms (3); the energy storage member (7) is connected to the at least one opening and closing arm (3) and drives it to displace in a direction close to the other opening and closing arm (3); The climbing wheel assembly comprises a climbing main wheel (4) and a climbing power (5) connected to the climbing main wheel (4) in a transmission manner, and the climbing main wheel (4) is rotatably arranged on the opening and closing arm (3) with the wheel axis as the rotation center; The invention also includes a driven wheel assembly, which is connected to the opening and closing arm (3) through a suspension structure, and the driven wheel assembly includes a driven omnidirectional wheel (13). The suspension structure includes a connecting rod (11), a baffle (10), an elastic member and a connecting plate (12). The connecting rod (11) is connected to the opening and closing arm (3), the baffle (10) and the connecting plate (12) are distributed along the axial direction of the connecting rod (11), the connecting plate (12) is slidably connected to the connecting rod (11), the elastic member is located between the connecting plate (12) and the baffle (10), and the driven wheel assembly is fixed on the connecting plate (12).

2. The climbing chassis according to claim 1, characterized in that: The crawling wheel assembly is rotatably connected to the opening and closing arm (3) via a steering structure, and the rotation center line is parallel to the extension direction of the guide rail (2); and also includes a steering power (14) for driving the crawling wheel assembly to rotate.

3. The climbing chassis according to claim 1, characterized in that: It also includes a spacing adjustment power (6), which is transmission-connected to the opening and closing arm (3) slidably connected to the guide rail (2) and drives the opening and closing arm (3) to move so as to increase the spacing between the two climbing main wheels (4).

4. The climbing chassis according to claim 1, characterized in that: It also includes a locking device for preventing the climbing main wheel (4) from rotating in the opposite direction.

5. The climbing chassis according to claim 2, characterized in that: The invention also comprises a control system and an encoder (15) arranged in one-to-one correspondence with the climbing main wheel (4), the control system comprises a control core and a drive board communicatively connected to the control core, the drive board and the encoder (15) are arranged in one-to-one correspondence and communicatively connected, and the steering power (14) and the climbing power (5) are both electrically connected to the corresponding drive board.

6. The climbing chassis according to claim 5, characterized in that The system also includes a sensor for detecting a climbing path, wherein the sensor is communicatively connected with the control system.

7. The climbing chassis according to claim 2, characterized in that: The steering structure comprises a turntable (8) rotatably connected to the opening and closing arm (3) and an axle seat (9) arranged on the turntable (8); the driving wheel axle of the climbing main wheel (4) is rotatably connected to the axle seat (9) and is transmission-connected to the climbing power (5); and the turntable (8) is transmission-connected to the steering power (14).

8. The climbing chassis according to claim 1, characterized in that: A driven wheel assembly is provided on both sides of each climbing main wheel (4), each driven wheel assembly comprises two driven wheel groups arranged at intervals, and each driven wheel group is provided with two driven omnidirectional wheels (13) arranged side by side along the axial direction.

9. The climbing chassis according to claim 5, characterized in that: It also comprises a frame (1), a remote control device and a supporting platform, wherein the guide rail (2) and the supporting platform are both arranged on the frame (1), the remote control device is provided with a parameter adjustment module and a wireless transmission module for adjusting the speed of the climbing power (5) and the rotation angle of the crawling wheel assembly, and the control system comprises an information receiving module which is in communication with the wireless transmission module.

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