Crawler robot

Abstract

The present invention relates to a crawling robot. The crawling robot includes a first walking unit and a second walking unit. A first walking frame wheel is disposed on a first walking frame. A first walking frame flexible transmission member is wound around the first walking frame wheel and is in transmission cooperation with the first walking frame wheel. The first walking frame flexible transmission member includes a second walking frame connection portion. In the crawling robot of the present invention, the first walking unit and the second walking unit are connected by the first walking frame flexible transmission member. The second walking frame connection portion on the first walking frame flexible transmission member can move to any position between the first walking frame and the second walking frame. When the first walking frame and the second walking frame move relative to each other, the first walking frame flexible member and the first walking frame wheel cooperate, which can improve the synchronization between the first walking frame and the second walking frame, is not easily stuck, improves the running stability of the robot, and solves the technical problem that the running stability of the current crawling robot is relatively poor.

Description

Technical Field

[0001] The present invention relates to a crawling robot. Background Art

[0002] In view of the great safety hazards brought by high-altitude operations to operators, pole-climbing robots that can replace operators for operations are used more and more. Crawling robots include pole-climbing robots and wall-climbing robots. In order to adapt to different working conditions, current crawling robots need to be able to meet the synchronous telescopic function.

[0003] For example, a Chinese patent application with the publication number CN109625112A discloses a pole-climbing robot, including a triangular frame. The three sides of the triangular frame are telescopic sleeve rods. The size of the triangular frame can be adjusted through the telescopic sleeve rods to adapt to poles with different diameters. The Chinese patent with the authorization announcement number CN210502954U discloses a pole-climbing robot, including at least two walking units. The walking units are connected by an elastic telescopic connection structure. The elastic connection structure includes a telescopic sleeve and a gas spring arranged in the telescopic sleeve. The size change of the telescopic rod can be adapted through the gas spring. The above telescopic structure is affected by the strength of the elastic connection structure, with poor synchronism and the telescopic rod being prone to jamming, and poor stability during operation. Summary of the Invention

[0004] The purpose of the present invention is to provide a crawling robot, which is used to solve the technical problem of poor running stability caused by poor synchronism and easy jamming of each walking unit in current crawling robots.

[0005] A crawling robot of the present invention adopts the following technical solutions:

[0006] A crawling robot includes:

[0007] A first walking unit, including a first walking frame;

[0008] A second walking unit, including a second walking frame;

[0009] A first walking frame wheel, rotatably arranged on the first walking frame;

[0010] A first walking frame flexible transmission member, wound around the first walking frame wheel and in transmission cooperation with the first walking frame wheel. The first walking frame flexible transmission member includes a second walking frame connection portion; the second walking frame connection portion is connected to the second walking frame, so that the first walking frame flexible transmission member can drive the second walking frame to move relative to the first walking frame;

[0011] The second traveling frame is guided to move in cooperation with the first traveling frame along the moving direction of the connection part of the second traveling frame. The first traveling frame includes a first right bracket and a first traveling frame connection seat swingably arranged with the first right bracket. The second traveling frame includes a second left bracket and a second traveling frame connection seat swingably arranged with the second left bracket. The second left bracket is slidably matched with the first right bracket in the left-right direction. Traveling wheels are provided on both the first traveling frame connection seat and the second traveling frame connection seat.

[0012] Beneficial effects: In the crawling robot of the present invention, the first traveling unit and the second traveling unit are connected by a first traveling frame flexible transmission member. When the first traveling frame and the second traveling frame move relative to each other, the first traveling frame flexible member and the first traveling frame wheel cooperate, which can improve the synchronization of the first traveling frame and the second traveling frame, is not easily stuck, improves the running stability of the robot, and solves the technical problem of poor running stability of the current crawling robot.

[0013] Further, at least two first traveling frame wheels are provided, and the first traveling frame flexible member is wound around at least two first traveling frame wheels; at least one first traveling frame wheel is a first traveling frame driving wheel, and the first traveling frame driving wheel is a winding and unwinding wheel. The winding and unwinding wheel includes a first wheel body and a second wheel body. The first wheel body and the second wheel body are respectively used for winding and unwinding the first traveling frame flexible transmission member. One of the wheel bodies winds the first traveling frame flexible transmission member, and the other wheel body simultaneously unwinds the first traveling frame flexible transmission member, so that the connection part of the second traveling frame moves relative to the first traveling frame driving wheel by winding and unwinding the first traveling frame flexible transmission member;

[0014] The first wheel body and the second wheel body have the same rotation direction, or the rotation directions of the first wheel body and the second wheel body are opposite. The winding and unwinding wheel structure is relatively simple, and the requirements for the first traveling frame flexible transmission member are relatively low.

[0015] Further, at least two first traveling frame wheels are provided, and the first traveling frame flexible member is wound around at least two first traveling frame wheels; the first traveling frame wheels are synchronous belt wheels, and the first traveling frame flexible transmission member is a synchronous belt; or the first traveling frame driving wheel is a sprocket, and the first traveling frame flexible transmission member is a chain that cooperates with the sprocket; or the first traveling frame driving wheel is a synchronous belt wheel, and the first traveling frame flexible transmission member includes a synchronous belt section and a rope section, and the synchronous belt section is used for driving cooperation with the synchronous belt wheel; or the first traveling frame flexible transmission member is a rope. Both the synchronous belt wheel and the sprocket can prevent the first traveling frame flexible transmission member from twisting, and the stability is better. The rope structure is simple.

[0016] Further, at least two first walking frame wheels are provided, wherein at least one first walking frame wheel is a first walking frame driving wheel, and at least one first walking frame wheel is a first walking frame driven wheel. The first walking frame flexible member is wound around the first walking frame driving wheel and the first walking frame driven wheel. The first walking frame driving wheel is driven by a driving motor arranged on the first walking frame, so as to drive the first walking frame and the second walking frame to telescopically extend and retract synchronously; or at least two first walking frame wheels are provided, and the first walking frame flexible member is wound around at least two first walking frame wheels; the crawling robot includes a linear telescopic mechanism, and the linear telescopic mechanism drives the first walking frame flexible transmission member to move the first walking frame flexible transmission member, thereby driving the second walking frame to move relative to the first walking frame. The driving motor provides power to realize the synchronous telescopic extension and retraction of the first walking frame and the second walking frame, which is convenient for telescopic control.

[0017] Further, at least one of the first walking frame wheels is a first walking frame driving wheel, and the first walking frame driving wheel is driven by a driving motor to rotate. At least one first walking frame flexible transmission member is an open-loop rope. One end of the open-loop rope is fixed on the second walking frame, and the other end is wound around the first walking frame driving wheel. The first walking frame driving wheel drives the second walking frame and the first walking frame to contract and approach by winding the open-loop rope.

[0018] Further, at least two first walking frame wheels are provided, and the first walking frame flexible member is wound around at least two first walking frame wheels;

[0019] The crawling robot further includes a third walking unit. The third walking unit includes a third walking frame. The first walking frame is located between the third walking frame and the second walking frame. The first walking frame flexible transmission member further includes a third walking frame connection part; the third walking frame connection part is connected to the third walking frame. When one of the third walking frame connection part and the second walking frame connection part moves towards a direction close to a first walking frame wheel, the other moves towards a direction away from the first walking frame wheel, so that the second walking frame and the third walking frame can move relative to each other and move synchronously relative to the first walking frame;

[0020] The third walking frame and the first walking frame are in guiding movement cooperation along the moving direction of the third walking frame connection part;

[0021] The first walking frame, the second walking frame and the third walking frame are all enclosed split brackets. The enclosed split bracket includes a left bracket and a right bracket. The first walking frame, the second walking frame and the third walking frame form an enclosed structure by connecting at least one other enclosed split bracket in series;

[0022] Any two adjacent enclosed split brackets satisfy that the left bracket of one enclosed split bracket is in guiding movement cooperation with the right bracket of the other enclosed split bracket, so that the enclosed structure can be expanded and contracted;

[0023] The number of the surrounding sub - supports is n. Any three adjacent surrounding sub - supports along the circumference of the surrounding structure form a support group, and there are n support groups. At least n - 1 of the support groups satisfy the following: on the middle surrounding sub - support, there is a middle support wheel set around which a flexible transmission member is wound. The flexible transmission member is provided with a left connecting part and a right connecting part. The left connecting part is connected to the left surrounding sub - support, and the right connecting part is connected to the right surrounding sub - support. The middle support wheel set includes a left wheel and a right wheel. One of the left connecting part and the right connecting part moves towards the left wheel, and the other moves away from the left wheel, so that the left surrounding sub - support and the right surrounding sub - support can approach or move away from each other. Among the support group composed of the first walking frame, the second walking frame, and the third walking frame, the flexible transmission member of the first walking frame constitutes the flexible transmission member of this support group, the connecting part of the third walking frame constitutes the left connecting part of this support group, the connecting part of the second walking frame constitutes the right connecting part of this support group, and all the first walking frame wheels on the first walking frame constitute the middle support wheel set of this support group;

[0024] The left support and the right support of the surrounding sub - support can swing relatively, and the swing axes of each surrounding sub - support extend vertically; or the left support and the right support of the surrounding sub - support are fixed.

[0025] Furthermore, at least two first walking frame wheels are provided, and the flexible member of the first walking frame is wound around at least two first walking frame wheels;

[0026] The crawling robot further includes a third walking unit. The third walking unit includes a third walking frame. The first walking frame is located between the third walking frame and the second walking frame. The flexible transmission member of the first walking frame further includes a connecting part of the third walking frame. The connecting part of the third walking frame is connected to the third walking frame. When one of the connecting part of the third walking frame and the connecting part of the second walking frame moves towards a first walking frame wheel, the other moves away from the first walking frame wheel, so that the second walking frame and the third walking frame can move relatively and move synchronously relative to the first walking frame;

[0027] The third walking frame and the first walking frame are in guiding movement cooperation along the moving direction of the connecting part of the third walking frame;

[0028] The first walking frame includes a first left support and a first right support; the second walking frame includes a second left support and a second right support, and the third walking frame includes a third left support and a third right support;

[0029] The third right support is in guiding movement cooperation with the first left support, the third left support is in guiding movement cooperation with the second right support, the second left support is in guiding movement cooperation with the first right support, and the first walking frame, the second walking frame, and the third walking frame enclose a triangular surrounding structure;

[0030] A third traveling frame is provided with a third traveling frame flexible transmission member. A left wheel is rotatably arranged on a third left support, and a right wheel is arranged on a third right support. The third traveling frame flexible transmission member is wound around the left wheel and the right wheel. The third traveling frame flexible transmission member includes a second right support connection portion and a first left support connection portion. Both the second right support connection portion and the first left support connection portion are between the left wheel and the right wheel. When one of the second right support connection portion and the first left support connection portion moves towards the direction close to the right wheel, the other moves towards the direction away from the right wheel. When the third traveling frame and the first traveling frame move relative to each other, the second traveling frame and the third traveling frame move synchronously relative to each other, so that the triangular enclosure structure can expand and contract;

[0031] The third left support and the second right support are in guiding movement cooperation along the moving direction of the second right support connection portion;

[0032] The first left support and the first right support can swing relative to each other, the second left support and the second right support can swing relative to each other, the third left support and the third right support can swing relative to each other. The swinging axes of the first left support, the first right support, the second left support, the second right support, the third left support, and the third right support all extend vertically; or the first left support and the first right support are fixed, the second left support and the second right support are fixed, and the third left support and the third right support are fixed.

[0033] Further, the crawling robot further includes a third traveling unit, and the third traveling unit includes a third traveling frame;

[0034] The first traveling frame, the second traveling frame, and the third traveling frame enclose a triangular enclosure structure;

[0035] At least two first traveling frame wheels are provided, at least one of which is a first traveling frame left wheel and at least one of which is a first traveling frame right wheel. The first traveling frame flexible member is wound around the first traveling frame left wheel and the first traveling frame right wheel. The second traveling frame connection portion is between the first traveling frame left wheel and the first traveling frame right wheel;

[0036] The second traveling frame is provided with a second traveling frame flexible transmission member. The second traveling frame is provided with a second traveling frame right wheel and a second traveling frame left wheel. The second traveling frame flexible transmission member is provided with a third traveling frame connection portion connected to the third traveling frame. The third traveling frame connection portion is between the second traveling frame right wheel and the second traveling frame left wheel;

[0037] The third traveling frame is provided with a third traveling frame flexible transmission member. The third traveling frame is provided with a third traveling frame right wheel and a third traveling frame left wheel. The third traveling frame flexible transmission member is provided with a first traveling frame connection portion connected to the first traveling frame. The first traveling frame connection portion is between the third traveling frame right wheel and the third traveling frame left wheel;

[0038] The first walking frame includes a first left bracket and a first right bracket arranged in an angular shape, the second walking frame includes a second left bracket and a second right bracket arranged in an angular shape, and the third walking frame includes a third left bracket and a third right bracket arranged in an angular shape;

[0039] The first right wheel of the first walking frame and the first left wheel of the first walking frame are arranged on the first right bracket, the second right wheel of the second walking frame and the second left wheel of the second walking frame are arranged on the second right bracket, the third left wheel of the third walking frame and the third right wheel of the third walking frame are arranged on the third right bracket, the connecting part of the first walking frame is connected to the first left bracket, the connecting part of the second walking frame is connected to the second left bracket, and the connecting part of the third walking frame is connected to the third left bracket; the first left bracket and the first right bracket can swing relative to each other, the second left bracket and the second right bracket can swing relative to each other, and the third left bracket and the third right bracket can swing relative to each other; and the swing axes of the first left bracket, the first right bracket, the second left bracket, the second right bracket, the third left bracket, and the third right bracket all extend vertically; or the first left bracket and the first right bracket are fixed, the second left bracket and the second right bracket are fixed, and the third left bracket and the third right bracket are fixed.

[0040] Further, the crawling robot further includes a third walking unit, and the third walking unit includes a third walking frame;

[0041] At least two first walking frame wheels are provided, at least one of which is a first left wheel of the first walking frame, and at least one of which is a first right wheel of the first walking frame. The flexible member of the first walking frame is wound around the first left wheel and the first right wheel of the first walking frame, and the connecting part of the second walking frame is located between the first left wheel and the first right wheel of the first walking frame;

[0042] The first walking frame, the second walking frame, and the third walking frame are all surrounded split brackets. The surrounded split bracket includes a left bracket and a right bracket. The first walking frame, the second walking frame, and the third walking frame form a surrounded structure by connecting at least one additional surrounded split bracket in series;

[0043] Any two adjacent surrounded split brackets satisfy: the left bracket of one surrounded split bracket is in guiding movement cooperation with the right bracket of another surrounded split bracket so that the surrounded structure can expand and contract;

[0044] Any two adjacent surrounded split brackets along the circumference of the surrounded structure all satisfy: on the surrounded split bracket on the left side, there are a left wheel, a right wheel, and a flexible transmission member. The flexible transmission member is wound around the left wheel and the right wheel, and the flexible transmission member has a right-side connecting part connected to the surrounded split bracket on the right side, so that the surrounded split bracket on the right side moves relative to the surrounded split bracket on the left side under the drive of the right-side connecting part. The left bracket and the right bracket of the surrounded split bracket can swing relative to each other, and the swing axes of each surrounded split bracket all extend vertically; or the left bracket and the right bracket of the surrounded split bracket are fixed.

[0045] Furthermore, the surrounding structure is used to surround the outer periphery of the pole to be climbed, and the walking wheels are arranged inside the surrounding structure. The surrounding structure realizes loosening and clamping with the pole to be climbed by expanding and contracting; or the walking wheels are arranged on the outer periphery of the surrounding structure so that the surrounding structure can climb inside the pipe, and the surrounding structure realizes clamping and loosening with the inner wall of the pipe by expanding and contracting. Description of the Drawings

[0046] Figure 1 is a schematic diagram of the working state in Specific Embodiment 1 of the crawling robot of the present invention;

[0047] Figure 2 is another schematic diagram of the working state in Specific Embodiment 1 of the crawling robot of the present invention;

[0048] Figure 3 is a schematic diagram of the structure of the drive motor and the first walking frame driving wheel in Specific Embodiment 1 of the crawling robot of the present invention;

[0049] Figure 4 is a schematic diagram of the structure when in the fully expanded state in Specific Embodiment 6 of the crawling robot of the present invention;

[0050] Figure 5 is a schematic diagram of the structure when in the contracted state in Specific Embodiment 6 of the crawling robot of the present invention;

[0051] Figure 6 is a schematic diagram of the structure when in the contracted state in Specific Embodiment 7 of the crawling robot of the present invention;

[0052] Figure 7 is a rear view when in the contracted state in Specific Embodiment 8 of the crawling robot of the present invention;

[0053] Figure 8 is a schematic diagram of the structure of the drive motor and the first walking frame driving wheel in Specific Embodiment 13 of the crawling robot of the present invention;

[0054] Figure 9 is a schematic diagram of the working state in Specific Embodiment 14 of the crawling robot of the present invention;

[0055] Figure 10 is another schematic diagram of the working state in Specific Embodiment 14 of the crawling robot of the present invention;

[0056] Figure 11 is a schematic diagram of the structure of the drive motor and the first walking frame driving wheel in Specific Embodiment 15 of the crawling robot of the present invention;

[0057] Figure 12 is a schematic diagram of the structure in Specific Embodiment 18 of the crawling robot of the present invention;

[0058] Figure 13 It is the state diagram after the hinge is disassembled in Specific Embodiment 18 of the crawling robot of the present invention;

[0059] Figure 1 Figure to Figure 3 In: 10, the first walking frame; 11, the first left bracket; 12, the first right bracket; 13, the first walking frame connecting seat; 14, the first walking frame driving wheel; 141, the first wheel body; 142, the second wheel body; 15, the driving motor; 16, the first walking frame driven wheel; 17, the first walking frame transmission rope; 171, the second walking frame connecting part; 172, the third walking frame connecting part; 18, the first walking frame deflecting wheel; 20, the second walking frame; 21, the second left bracket; 22, the second walking frame connecting seat; 30, the third walking frame; 31, the third left bracket; 32, the third right bracket; 33, the third walking frame connecting seat; 34, the third walking frame transmission rope; 341, the fourth walking frame connecting part; 35, the third walking frame deflecting wheel; 40, the fourth walking frame; 41, the fourth right bracket; 42, the fourth walking frame connecting seat; 5, the walking wheel; 6, the main driving motor; 7, the lock; 8, the guide rod; 9, the connecting rod; 101, the left wheel; 102, the right wheel;

[0060] Figure 4 and Figure 5 In: 10, the first walking frame; 11, the first left bracket; 12, the first right bracket; 21, the second left bracket; 23, the second right bracket; 24, the second walking frame synchronous belt; 30, the third walking frame; 31, the third left bracket; 32, the third right bracket; 5, the walking wheel; 172, the third walking frame connecting part; 343, the second right bracket connecting part; 344, the first left bracket connecting part; 101, the left wheel; 102, the right wheel;

[0061] Figure 6 In: 14, the first walking frame driving wheel; 104, the synchronous belt section; 105, the rope section; 106, the belt clip;

[0062] Figure 7 In: 10, the first walking frame; 11, the first left bracket; 12, the first right bracket; 13, the first walking frame connecting seat; 14, the first walking frame driving wheel; 16, the first walking frame driven wheel; 20, the second walking frame; 21, the second left bracket; 22, the second walking frame connecting seat; 23, the second right bracket; 24, the second walking frame synchronous belt; 30, the third walking frame; 31, the third left bracket; 32, the third right bracket; 33, the third walking frame connecting seat; 107, the second walking frame driving wheel; 109, the driving motor for the driving wheel; 110, the third walking frame driven wheel; 112, the third walking frame driving wheel; 113, the third walking frame synchronous belt; 114, the first walking frame synchronous belt;

[0063] Figure 8 In: 111, reversing gear; 141, first wheel body; 142, second wheel body;

[0064] Figure 9 and Figure 10 In: 5, traveling wheel; 112, pipe;

[0065] Figure 11 In: 141, first wheel body; 142, second wheel body; 143, partition board;

[0066] Figure 12 In: 10, first traveling frame; 11, first left support; 15, drive motor; 17, first traveling frame transmission rope; 19, open-loop rope; 20, second traveling frame; 21, second left support; 23, second right support; 25, second traveling frame transmission rope; 31, third left support; 32, third right support;

[0067] Figure 13 In: 21, second left support; 22, second traveling frame connecting seat; 26, connecting plate; 27, hinge shaft. Detailed implementation manner

[0068] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Usually, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0069] Therefore, the detailed description of the embodiments of the present invention provided in the following drawings is not intended to limit the scope of the claimed present invention, but only represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present invention.

[0070] It should be noted that relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising said element.

[0071] In this embodiment, orientation nouns such as up, down, left, right, front, and back are assumed positional relationships for the convenience of describing the present invention, rather than indicating or implying that the corresponding components must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the corresponding components.

[0072] The features and performance of the present invention will be further described in detail below in conjunction with embodiments.

[0073] Specific Embodiment 1 of the crawling robot of the present invention:

[0074] The crawling robot in this embodiment is a magnetic adsorption type crawling robot.

[0075] As Figures 1 to 3 shown, the crawling robot includes a first walking unit, a second walking unit, a third walking unit, and a fourth walking unit. The first walking unit includes a first walking frame 10, the second walking unit includes a second walking frame 20, the third walking unit includes a third walking frame 30, and the fourth walking unit includes a fourth walking frame 40.

[0076] Walking wheels 5 are provided on the walking frames of each walking unit. In this embodiment, the walking wheels 5 of the crawling robot are magnetic wheels and can be adsorbed on the object to be climbed made of magnetic metal material. In other embodiments, a permanent magnet for adsorbing the magnetic climbing wall may also be provided on the walking frame. Among the walking wheels 5, there are driven walking wheels and driving walking wheels. The driving walking wheels are connected to a main drive motor 6 for driving the driving walking wheels to move. There are also steering wheels among the driving walking wheels. The wheel frame of the steering wheel is rotatably arranged on the walking frame. The crawling robot is configured with a steering motor (not shown in the figure) to control the rotation of the wheel frame of the steering wheel to achieve the functions of the robot hovering or spiraling upward.

[0077] Among the first traveling frame 10, the second traveling frame 20, the third traveling frame 30, and the fourth traveling frame 40, there is a left-right guiding sliding fit between adjacent traveling frames. Among them, the first traveling frame 10 is in the middle of the second traveling frame 20 and the third traveling frame 30, the third traveling frame 30 is on the left side of the first traveling frame 10, the second traveling frame 20 is on the right side of the first traveling frame 10, and the fourth traveling frame 40 is on the left side of the third traveling frame 30.

[0078] The first traveling frame 10 includes a first left bracket 11, a first right bracket 12, and a first traveling frame connecting seat 13. The first left bracket 11 and the first right bracket 12 are both swingably arranged on the first traveling frame connecting seat 13 so that the first left bracket 11 and the first right bracket 12 can swing relative to each other. The swing axis of the first left bracket 11 is parallel to the swing axis of the first right bracket 12. The traveling wheels 5 on the first traveling frame 10 are arranged on the first traveling frame connecting seat 13. The first right bracket 12 is in left-right guiding movement fit with the second traveling frame 20.

[0079] The third traveling frame 30 includes a third left bracket 31, a third right bracket 32, and a third traveling frame connecting seat 33. The third left bracket 31 and the third right bracket 32 are connected together through the third traveling frame connecting seat 33. The third left bracket 31 and the third right bracket 32 are both swingably arranged on the third traveling frame connecting seat 33 so that the third left bracket 31 and the third right bracket 32 can swing relative to each other. The swing axis of the third left bracket 31 is parallel to the swing axis of the third right bracket 32. The traveling wheels 5 on the third traveling frame 30 are arranged on the third traveling frame connecting seat 33. The swing axes of the first left bracket 11, the first right bracket 12, the third left bracket 31, and the third right bracket 32 are all parallel to each other. The first left bracket 11 is in left-right guiding movement fit with the fourth traveling frame 40.

[0080] The structures of the second traveling frame 20 and the fourth traveling frame 40 are similar. As Figure 1 described, the second traveling frame 20 includes a second left bracket 21 and a second traveling frame connecting seat 22. The second left bracket 21 can swing relative to the second traveling frame connecting seat 22. The swing axis of the second left bracket 21 is parallel to the swing axis of the first right bracket 12. The second left bracket 21 is in left-right guiding sliding fit with the first right bracket 12. The traveling wheels 5 on the second traveling frame 20 are arranged on the second traveling frame connecting seat 22.

[0081] The fourth traveling frame 40 includes a fourth right bracket 41 and a fourth traveling frame connecting seat 42. The fourth traveling frame connecting seat 42 can swing relative to the fourth traveling frame connecting seat 42. The swing axis of the fourth right bracket 41 is parallel to the swing axis of the third left bracket 31. The fourth right bracket 41 is in left-right guiding sliding fit with the third left bracket 31. The traveling wheels 5 on the fourth traveling frame 40 are arranged on the fourth traveling frame connecting seat 42.

[0082] In this embodiment, the connecting seats of each traveling frame are connected to the left support and the right support through hinges. The left support and the right support of each traveling frame can swing relative to each other, enabling the crawling robot to adapt to a curved wall surface to be climbed.

[0083] On the first traveling frame 10, a first traveling frame driving wheel 14, a driving motor 15 for driving the first traveling frame driving wheel 14 to rotate, and a first traveling frame driven wheel 16 are provided. The first traveling frame driven wheel 16 is rotatably arranged on the first traveling frame 10. A first traveling frame transmission rope 17 is wound around the first traveling frame driving wheel 14 and the first traveling frame driven wheel 16. The first traveling frame transmission rope 17 in this embodiment constitutes a first traveling frame flexible transmission member.

[0084] In this embodiment, the first traveling frame transmission rope 17 is fixedly connected to the first traveling frame driving wheel 14. The first traveling frame driving wheel 14 is a winding and unwinding wheel, which includes a first wheel body 141 and a second wheel body 142 arranged coaxially. The first wheel body 141 and the second wheel body 142 have the same helix direction and both are provided with winding grooves. When the first wheel body 141 and the second wheel body 142 wind the first traveling transmission rope 17, the first traveling transmission rope 17 is wound in the winding grooves. The first wheel body 141 and the second wheel body 142 are respectively connected to both ends of the first traveling frame transmission rope 17. By rotating the first traveling frame driving wheel 14, the first traveling frame transmission rope 17 can be wound and unwound. In this embodiment, the first frame body transmission rope is made of steel wire rope. By controlling the forward and reverse rotation of the first traveling frame driving wheel 14, both ends of the first traveling frame transmission rope 17 can be alternately wound and unwound. In this embodiment, the first wheel body and the second wheel body are integrally arranged. In other embodiments, the first wheel body and the second wheel body can be separately arranged on the same driving shaft. In other embodiments, the axes of the first wheel body and the second wheel body can be arranged in parallel.

[0085] The first traveling frame transmission rope 17 includes a second traveling frame connecting portion 171 and a third traveling frame connecting portion 172. Both the second traveling frame connecting portion 171 and the third traveling frame connecting portion 172 are located between the first traveling frame driving wheel 14 and the first traveling frame driven wheel 16. The second traveling frame connecting portion 171 is connected to the second left support 21 of the second traveling frame 20 through a buckle 7, and the third traveling frame connecting portion 172 is connected to the third right support 32 of the third traveling frame 30 through a buckle 7. And the movement directions of the second traveling frame connecting portion 171 and the third traveling frame connecting portion 172 are opposite, that is, when one of the second traveling frame connecting portion 171 and the third traveling frame connecting portion 172 moves towards the first traveling frame driving wheel 14, the other moves towards the first traveling frame driven wheel 16. When the driving motor 15 drives the first traveling frame driving wheel 14 to rotate, the first traveling frame transmission rope 17 can drive the second traveling frame 20 and the third traveling frame 30 to move synchronously relative to the first traveling frame 10.

[0086] In this embodiment, the relative movement direction of the second left bracket 21 and the first right bracket 12 is the movement direction of the second walking frame connecting portion 171, and the relative movement direction of the third right bracket 32 and the first left bracket 11 is the movement direction of the third walking frame connecting portion 172.

[0087] By winding and unwinding the first walking frame transmission rope 17, the second walking frame connecting portion 171 and the third walking frame connecting portion 172 move relative to the first walking frame driving wheel 14. Driven by the first walking frame transmission rope 17, the second walking frame 20 and the third walking frame 30 move synchronously relative to the first walking frame 10.

[0088] In this embodiment, the first left bracket 11, the first right bracket 12, the second left bracket 21, the third left bracket 31, the third right bracket 32 and the fourth right bracket 41 are all quadrilateral frame structures, and each includes two guide rods 8 spaced parallel up and down and two connecting rods 9 spaced left and right. Among adjacent two brackets, a guide groove is provided on the guide rod 8 of one bracket, and a guide rail is provided on the other. The guide rail and the guide groove are in left-right guiding sliding fit to realize the guiding of the two brackets.

[0089] The third walking frame 30 is located between the first walking frame 10 and the fourth walking frame 40. A left wheel 101 and a right wheel 102 are provided on the third walking frame 30. A third walking frame transmission rope 34 is wound around the left wheel 101 and the right wheel 102. The third walking frame transmission rope 34 includes a fourth walking frame connecting portion 341 and a first walking frame connecting portion. The fourth walking frame connecting portion 341 is connected to the fourth right bracket 41 of the fourth walking frame 40, and the first walking frame connecting portion is connected to the first left bracket 11 of the first walking frame 10; both the fourth walking frame connecting portion 341 and the first walking frame connecting portion are located between the left wheel 101 and the right wheel 102, and when one of them moves towards the left wheel 101, the other moves towards the right wheel 102. When the third walking frame 30 and the first walking frame 10 move relative to each other, the fourth walking frame 40 moves relative to the third walking frame 30 driven by the fourth walking frame connecting portion 341. The third walking frame transmission rope 34 constitutes a third walking flexible transmission member. In this embodiment, the third walking frame transmission rope 34 is also connected to the first walking frame and the fourth walking frame through a buckle.

[0090] A third walking frame deflecting wheel 35 is provided on the third walking frame connecting seat 33, and the third walking frame transmission rope 34 is deflected by the third walking frame deflecting wheel 35. A first walking frame deflecting wheel 18 is provided on the first walking frame connecting seat 13, and the first walking frame transmission rope 17 is wound around the first walking frame deflecting wheel 18 to realize deflection.

[0091] When the crawling robot of the present invention is working, the driving motor 15 rotates forward, the second walking frame connecting part 171 moves to the right, driving the second walking frame 20 to move to the right, the third walking frame connecting part 172 moves to the left synchronously, driving the third walking frame 30 to move to the left, and the fourth walking frame connecting part 341 of the third walking frame transmission rope 34 drives the fourth walking frame 40 to move to the left, and the crawling robot extends. When the driving motor 15 rotates in reverse, the crawling robot shortens.

[0092] The crawling robot of the present invention adopts a flexible member in cooperation with a transmission wheel, with a simpler structure and a larger expansion ratio can be achieved.

[0093] For the specific embodiment 2 of the crawling robot of the present invention, the difference between this embodiment and the above specific embodiment 1 is only that in this embodiment, the crawling robot is only provided with two walking units, namely the first walking unit and the second walking unit. At this time, the first walking frame transmission rope only needs to be provided with a second walking frame connecting part to connect with the second walking frame.

[0094] For the specific embodiment 3 of the crawling robot of the present invention, the difference between this embodiment and the above specific embodiment 1 is only that in this embodiment, the crawling robot is only provided with three walking units, namely the first walking unit, the second walking unit and the third walking unit. At this time, the third walking frame transmission rope does not need to be provided.

[0095] For the specific embodiment 4 of the crawling robot of the present invention, the difference between this embodiment and the above specific embodiment 1 is only that in this embodiment, a redirecting wheel frame is provided on the first walking frame, the first walking frame redirecting wheel is rotatably assembled on the redirecting wheel frame, the redirecting wheel frame is hinged on the first walking frame, and a torsion spring is provided between the redirecting wheel frame and the first walking frame. The torsion spring applies an elastic force to the redirecting wheel frame to make the first walking frame redirecting wheel tension the first walking frame transmission rope. The torsion spring constitutes an elastic member. In other embodiments, the elastic member can also be a compression spring or a spring sheet provided on the first walking frame.

[0096] The first walking frame redirecting wheel can keep tensioning the first walking frame transmission rope through the torsion spring, making the telescopic frame operate more stably.

[0097] Similarly, a redirecting wheel frame and a torsion spring are also provided on the third walking frame to tension the third wheel frame transmission rope.

[0098] For the specific embodiment 5 of the crawling robot of the present invention, the difference between this embodiment and the above specific embodiment 1 is only that in this embodiment, the first walking frame, the second walking frame, the third walking frame and the fourth walking frame are all fixed walking frames, that is, the left bracket, the right bracket and the connecting seat are all fixed. At this time, the crawling robot is suitable for walking on flat ground. In other embodiments, the first left bracket and the first right bracket of the first walking frame can be directly hinged without a connecting seat, and at this time, the swing axes of the first left bracket and the first right bracket coincide.

[0099] Specific Embodiment 6 of the crawling robot of the present invention. The difference between this embodiment and the above-mentioned Specific Embodiment 1 is only that, as Figure 4 and Figure 5 shown, only three walking units are provided, namely, a first walking unit, a second walking unit, and a third walking unit. The structures of the first walking unit and the third walking unit are the same as those in the above-mentioned Specific Embodiment 1. In this embodiment, the second walking unit includes a second left bracket 21, a second right bracket 23, and a second walking frame connecting seat 22.

[0100] The third right bracket 32 is in guiding and moving cooperation with the first left bracket 11, the third left bracket 31 is in guiding and moving cooperation with the second right bracket 23, the second left bracket 21 is in guiding and moving cooperation with the first right bracket 12, and the first walking frame 10, the second walking frame 20, and the third walking frame 30 form a triangular enclosing structure. In this embodiment, the enclosing structure is used to enclose the outer periphery of the pole to be climbed. The walking wheels 5 are located inside the walking frame. The crawling robot is used for climbing the pole. According to different poles to be climbed, the size of the triangular enclosing structure can be adjusted to adapt. In this embodiment, the crawling robot adopts a retractable enclosing structure to keep the position of the crawling robot by clamping the pole with the walking wheels. In other embodiments, only the walking wheels can be used to clamp the pole, and no magnetic parts are provided on the crawling robot to generate an attractive force with the pole.

[0101] The third left bracket 31 is in guiding and moving cooperation with the second right bracket 23 along the moving direction of the connecting part of the second right bracket 23, the third right bracket 32 is in guiding and moving cooperation with the first left bracket 11 along the moving direction of the third walking frame connecting part 172, and the second left bracket 21 is in guiding and moving cooperation with the first right bracket 12 along the moving direction of the second walking frame connecting part.

[0102] A third walking frame transmission rope 34 is provided on the third walking frame 30. A left wheel 101 is rotatably arranged on the third left bracket 31, and a right wheel 102 is arranged on the third right bracket 32. The third walking frame transmission rope 34 is wound around the left wheel 101 and the right wheel 102. The third walking frame transmission rope 34 includes a second right bracket connecting part 343 and a first left bracket connecting part 344. Both the second right bracket connecting part 343 and the first left bracket connecting part are between the left wheel 101 and the right wheel 102. When one of the second right bracket connecting part 343 and the first left bracket connecting part moves closer to the left wheel, the other moves away from the left wheel, so that when the third walking frame 30 and the first walking frame 10 move relative to each other, the second walking frame 20 and the third walking frame 30 move synchronously relative to each other, enabling the triangular enclosing structure to expand and contract.

[0103] Specific Embodiment 7 of the crawling robot of the present invention. The difference between this embodiment and the above-mentioned Specific Embodiment 6 is only that, as Figure 6As shown, in this embodiment, the first walking frame driving wheel 14 is a synchronous belt wheel. The first walking frame flexible transmission member includes a synchronous belt section 104 and a rope section 105, and the synchronous belt section 104 and the rope section 105 are fixed by a belt clip 106. The synchronous belt section 104 is used for transmission cooperation with the synchronous belt wheel, so as to prevent the overall torsion of the first walking frame flexible transmission member.

[0104] Specific Embodiment 8 of the crawling robot of the present invention. The difference between this embodiment and the above Specific Embodiment 6 is only that, as Figure 7 shown, the first walking frame flexible transmission member is the first walking frame synchronous belt 114. The first walking frame 10, the second walking frame 20, and the third walking frame 30 form an equilateral triangle enclosure structure; the first left bracket 11, the first right bracket 12, and the first walking frame connecting seat 13 are fixed together, the second left bracket 21, the second right bracket 23, and the second walking frame connecting seat 22 are fixed together, and the third left bracket 31, the third right bracket 32, and the third walking frame connecting seat 33 are fixed together. The first walking frame 10, the second walking frame 20, and the third walking frame 30 are all in a 60-degree angle shape.

[0105] The second walking frame 20 is provided with a second walking frame synchronous belt 24. The second walking frame 20 is provided with a second walking frame driving wheel 107 and a second walking frame driven wheel. The second walking frame synchronous belt 24 is provided with a third walking frame connecting portion connected to the third walking frame 30, and the third walking frame connecting portion is between the second walking frame driving wheel 107 and the second walking frame driven wheel; the second walking frame synchronous belt 24 constitutes the second walking frame flexible transmission member.

[0106] The third walking frame 30 is provided with a third walking frame synchronous belt 113. The third walking frame 30 is provided with a third walking frame driving wheel 112 and a third walking frame driven wheel 110. The third walking frame synchronous belt 113 is provided with a first walking frame connecting portion connected to the first walking frame, and the first walking frame connecting portion is between the third walking frame driving wheel and the third walking frame driven wheel. The third walking frame synchronous belt 113 constitutes the third walking frame flexible transmission member.

[0107] The first walking frame driving wheel 14 and the first walking frame driven wheel 16 are arranged on the first right bracket 12. The second walking frame driving wheel 107 and the second walking frame driven wheel are arranged on the second right bracket 22. The third walking frame driving wheel 112 and the third walking frame driven wheel 110 are arranged on the third right bracket 32. The first walking frame connecting portion is connected to the first left bracket 11, the second walking frame connecting portion is connected to the second left bracket 21, and the third walking frame connecting portion is connected to the third left bracket 31.

[0108] Both the second walking frame driving wheel 107 and the third walking frame driving wheel are connected to a driving wheel drive motor 109.

[0109] In other embodiments, as required, the triangle formed by the first walking frame, the second walking frame and the third walking frame may be an obtuse triangle or an acute triangle.

[0110] Specific embodiment 9 of the crawling robot of the present invention, the difference between this embodiment and any of the above specific embodiments is that the driving wheel of the first walking frame is a synchronous pulley, and the transmission rope of the first walking frame is a synchronous belt. Similarly, in other embodiments, the transmission rope of the third walking frame and the transmission rope of the second walking frame can also use synchronous belts, and the left and right wheels on the third walking frame and the driving wheel and driven wheel on the second walking frame also use synchronous pulleys.

[0111] The crawling robot embodiment 10 of the present invention is different from any of the above embodiments only in that the driving wheel of the first walking frame is a sprocket, and the transmission rope of the first walking frame is a chain matched with the sprocket. Similarly, in other embodiments, the transmission rope of the third walking frame can also be a chain, and the left and right wheels on the third walking frame also use sprockets.

[0112] Specific embodiment 11 of the crawling robot of the present invention is different from the above-mentioned specific embodiment 1 only in that the first walking frame, the second walking frame and the third walking frame are all enclosing sub-brackets, the enclosing sub-brackets include a left bracket and a right bracket, and the first walking frame, the second walking frame and the third walking frame are enclosed by connecting at least one enclosing sub-bracket in series to form an enclosed structure;

[0113] Any two adjacent enclosing sub-brackets satisfy the following conditions: the left bracket of one enclosing sub-bracket is guided and moved in cooperation with the right bracket of another enclosing sub-bracket, so that the enclosing structure can be expanded or reduced;

[0114] The number of enclosed sub-brackets is n, and any three adjacent enclosed sub-brackets along the circumference of the enclosed structure form a bracket group. There are n bracket groups, and at least n-1 bracket groups satisfy the following conditions: an intermediate bracket wheel group is arranged on the middle enclosed sub-bracket, a flexible transmission member is wound around the intermediate bracket wheel group, and a left connecting part and a right connecting part are arranged on the flexible transmission member, the left connecting part is connected to the left enclosed sub-bracket, and the right connecting part is connected to the right enclosed sub-bracket, the intermediate bracket wheel group includes a left wheel and a right wheel, and one of the left connecting part and the right connecting part is close to When the left wheel moves, the other moves in the direction away from the left wheel, so that the left enclosing sub-bracket and the right enclosing sub-bracket can approach or move away from each other; among the bracket group composed of the first walking frame, the second walking frame and the third walking frame, the first walking frame flexible transmission member constitutes the flexible transmission member in the bracket group, the third walking frame connecting part constitutes the left connecting part in the bracket group, the second walking frame connecting part constitutes the right connecting part in the bracket group, and the first walking frame driving wheel and the second walking frame driven wheel on the first walking frame constitute the middle bracket wheel group in the bracket group.

[0115] Specific Embodiment 12 of the crawling robot of the present invention. The difference between this embodiment and the above-mentioned Specific Embodiment 1 is only that in this embodiment, the transmission rope of the first walking frame is in direct contact sliding fit with the first walking frame and relies on the first walking frame for redirecting.

[0116] Specific Embodiment 13 of the crawling robot of the present invention. The difference between this embodiment and the above-mentioned Specific Embodiment 1 is only that, as Figure 8 shown, a reversing gear 111 is provided between the first wheel body 141 and the second wheel body 142 of the winding and unwinding wheel, and rim teeth meshing with the reversing gear 111 are provided on the rims of both the first wheel body 141 and the second wheel body 142.

[0117] Specific Embodiment 14 of the crawling robot of the present invention. The difference between this embodiment and the above-mentioned Specific Embodiment 6 is only that, as Figure 9 and Figure 10 shown, in this embodiment, the crawling robot is used to crawl inside the pipe 112, and the walking wheels 5 are arranged on the periphery of the surrounding structure so that the surrounding structure can climb inside the pipe 112, and the surrounding structure realizes clamping and loosening with the inner wall of the pipe by expanding and contracting.

[0118] Specific Embodiment 15 of the crawling robot of the present invention. The difference between this embodiment and the above-mentioned Specific Embodiment 1 is only that, as Figure 11 shown, a partition 143 is provided between the first wheel body 141 and the second wheel body 142 of the winding and unwinding wheel.

[0119] Specific Embodiment 16 of the crawling robot of the present invention. The difference between this embodiment and the above-mentioned Specific Embodiment 1 is only that the first walking frame, the second walking frame and the third walking frame are all surrounding sub-frames. The surrounding sub-frame includes a left bracket and a right bracket. The first walking frame, the second walking frame and the third walking frame enclose a surrounding structure by connecting at least one additional surrounding sub-frame in series;

[0120] Any two adjacent surrounding sub-frames satisfy: the left bracket of one surrounding sub-frame is in guiding movement fit with the right bracket of another surrounding sub-frame so that the surrounding structure can expand and contract;

[0121] Any two adjacent surrounding sub-frames along the circumference of the surrounding structure satisfy: on the surrounding sub-frame on the left side, a driving wheel, a driven wheel, a flexible transmission member and a driving motor for driving the driving wheel are provided. The flexible transmission member is wound around the driving wheel and the driven wheel, and the flexible transmission member has a right connecting portion connected to the surrounding sub-frame on the right side so that the surrounding sub-frame on the right side moves relative to the surrounding sub-frame on the left side under the drive of the right connecting portion.

[0122] Specific Embodiment 17 of the crawling robot of the present invention. The difference between this embodiment and the above-mentioned specific embodiment is only that in this embodiment, each flexible member of the crawling robot does not require a driving motor to drive. At this time, the role of the flexible member is to ensure the synchronous movement between the walking frames of each walking unit. The power for the relative movement between the walking frames can adopt the elastic telescopic connection structure disclosed in the authorized announcement number CN210502954U.

[0123] Specific Embodiment 18 of the crawling robot of the present invention. The difference between this embodiment and the above-mentioned Specific Embodiment 6 is only that in this embodiment, as Figure 12 shown, two first walking frame flexible transmission members are provided. One is the same as the structure of the first walking frame transmission rope 17 described in the above-mentioned Specific Embodiment 6, and the other is an open-loop rope 19. Neither of the two first walking frame wheels around which the first walking frame transmission rope 17 is wound requires a motor to drive. One end of the open-loop rope 19 is fixed to the second walking frame 20, and the other end is wound around the first walking frame wheel. The first walking frame wheel around which the open-loop rope 19 is wound is the first walking frame driving wheel provided with a driving motor 15. The first walking frame driving wheel drives the second walking frame 20 and the first walking frame 10 to contract and approach by winding the open-loop rope.

[0124] The third right bracket 32 is in guiding and moving cooperation with the second left bracket 21, the third left bracket 31 is in guiding and moving cooperation with the second right bracket 23, and the second right bracket 23 is in guiding and moving cooperation with the first left bracket 11. A second walking frame transmission rope 25 is provided on the second walking frame 20.

[0125] In other embodiments, the open-loop rope can be provided between any two walking frames.

[0126] Specific Embodiment 19 of the crawling robot of the present invention. The difference between this embodiment and the above-mentioned specific embodiment is only that in this embodiment, in this embodiment, the driving motor for driving the flexible member is driven by a linear telescopic mechanism, and the linear telescopic mechanism is a linear motor. In other embodiments, the linear telescopic mechanism can be a hydraulic cylinder.

[0127] Specific Embodiment 20 of the crawling robot of the present invention. The difference between this embodiment and the above-mentioned specific embodiment is only that in this embodiment, as Figure 13 shown, for the convenience of using and transporting the crawling robot, the second left bracket 21 and the second walking frame connecting seat 22 of the crawling robot are connected by a hinge. The two connecting plates 26 of the hinge are connected by a hinge shaft 27, and the hinge shaft 27 can be disassembled so that the second left bracket 21 and the second walking frame connecting seat 22 can be disassembled. During transportation, the second left bracket 21 and the second walking frame connecting seat 22 can be removed to facilitate folding. When in use, after removing the second left bracket 21 and the second walking frame connecting seat 22, it is convenient to put it on the pole to be climbed.

[0128] In the above embodiments, the walking frame is in the form of a frame. In other embodiments, the form of the walking frame can be changed according to the application of the crawling robot. For example, the walking frame can be provided with any form of reinforcing ribs to be able to bear a larger weight. In other embodiments, the walking frame can also be formed by a flat plate.

[0129] In other embodiments, the first walking frame and the second walking frame are not limited to linear guided movement cooperation. The first walking frame and the second walking frame can also be guided and moved by arc guide rails and arc guide grooves. Similarly, any other two walking frames with guided movement cooperation can also be guided and moved along an arc.

[0130] In other embodiments, one of the left and right wheels matched with the third frame flexible transmission member can be a driving wheel and the other a driven wheel, and the driving wheel is connected to a motor. Similarly, the left and right wheels in the above embodiments can be configured with motors for driving as needed.

[0131] In the above embodiments, the enclosed structure can be used in two ways: one is to be used to enclose the outer periphery of the pole being climbed, and the running wheels are arranged on the inner side of the enclosed structure, and the enclosed structure can achieve loosening and clamping with the pole being climbed by expanding and shrinking; the other is to set the running wheels on the outer periphery of the enclosed structure so that the enclosed structure can climb in the pipe, and the enclosed structure can achieve clamping and loosening with the inner wall of the pipe by expanding and shrinking. In other embodiments, the enclosed structure can also walk on flat ground.

[0132] In other embodiments, in addition to using the lock, the connecting part on the flexible transmission member can be fixed to the walking frame by bonding, or by tightening with bolts, or by tightening with a clamp, or by binding.

[0133] In other embodiments, the flexible parts can adopt flexible structures such as synchronous belts, wire ropes, transmission chains, etc., and can also adopt a combination of a section of rope and a section of synchronous belt, or a combination of a section of rope and a section of chain, etc.

[0134] In other embodiments, the traveling wheels may be track wheels.

[0135] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The patent protection scope of the present invention shall be based on the claims. All equivalent structural changes made using the contents of the description and drawings of the present invention should also be included in the protection scope of the present invention.

Claims

1. Crawling robot, comprising a first walking unit and a second walking unit, the first walking unit comprising a first walking frame; the second walking unit comprising a second walking frame; characterized in that, The crawling robot further includes a first walking frame wheel rotatably disposed on the first walking frame and a first walking frame flexible transmission member wound around the first walking frame wheel and in transmission cooperation with the first walking frame wheel. The first walking frame flexible transmission member includes a second walking frame connection portion; the second walking frame connection portion is connected to the second walking frame so that the first walking frame flexible transmission member can drive the second walking frame to move relative to the first walking frame; The second walking frame and the first walking frame are guidingly movably engaged along the moving direction of the second walking frame connection portion; The first walking frame includes a first right bracket and a first walking frame connection seat. The first right bracket is swingably disposed on the first walking frame connection seat, and the walking wheels on the first walking frame are disposed on the first walking frame connection seat; The second walking frame includes a second left bracket and a second walking frame connection seat. The second left bracket is swingably disposed on the second walking frame connection seat. The second left bracket is in left-right guiding sliding cooperation with the first right bracket. The walking wheels on the second walking frame are disposed on the second walking frame connection seat; the swing axes of the first left bracket, the first right bracket, and the second left bracket are all parallel.

2. The crawling robot according to claim 1, wherein, At least two first walking frame wheels are provided, and the first walking frame flexible member is wound around at least two first walking frame wheels; at least one first walking frame wheel is a first walking frame driving wheel, and the first walking frame driving wheel is a winding and unwinding wheel. The winding and unwinding wheel includes a first wheel body and a second wheel body. The first wheel body and the second wheel body are respectively used for winding and unwinding the first walking frame flexible transmission member. One of the wheel bodies winds the first walking frame flexible transmission member, and the other wheel body simultaneously unwinds the first walking frame flexible transmission member to move the second walking frame connection portion relative to the first walking frame driving wheel by winding and unwinding the first walking frame flexible transmission member; the rotation directions of the first wheel body and the second wheel body are the same, or the rotation directions of the first wheel body and the second wheel body are opposite.

3. The crawling robot according to claim 1, wherein At least two first walking frame wheels are provided, and the first walking frame flexible member is wound around at least two first walking frame wheels; the first walking frame wheels are synchronous belt wheels, and the first walking frame flexible transmission member is a synchronous belt; or the first walking frame driving wheel is a sprocket, and the first walking frame flexible transmission member is a chain cooperating with the sprocket; or the first walking frame driving wheel is a synchronous belt wheel, and the first walking frame flexible transmission member includes a synchronous belt section and a rope section, and the synchronous belt section is used for transmission cooperation with the synchronous belt wheel; or the first walking frame flexible transmission member is a rope.

4. The crawling robot according to claim 1, characterized in that, At least two first walking frame wheels are provided, and at least one of the first walking frame wheels is a first walking frame driving wheel and at least one of the first walking frame wheels is a first walking frame driven wheel. The first walking frame flexible member is wound around the first walking frame driving wheel and the first walking frame driven wheel. The first walking frame driving wheel is driven by a driving motor disposed on the first walking frame to drive the first walking frame and the second walking frame to synchronously expand and contract; or at least two first walking frame wheels are provided, and the first walking frame flexible member is wound around at least two first walking frame wheels; the crawling robot includes a linear expansion and contraction mechanism that drives the first walking frame flexible transmission member to move the first walking frame flexible transmission member, thereby driving the second walking frame to move relative to the first walking frame.

5. The crawling robot according to claim 1, wherein At least one of the first walking frame wheels is a first driving wheel of the walking frame, and the first driving wheel of the walking frame is driven to rotate by a driving motor. At least one flexible transmission member of the first walking frame is an open-loop rope. One end of the open-loop rope is fixed to the second walking frame, and the other end is wound around the first driving wheel of the walking frame. The first driving wheel of the walking frame drives the second walking frame and the first walking frame to contract and approach by winding the open-loop rope.

6. The crawling robot according to claim 1, characterized in that, At least two first walking frame wheels are provided, and the flexible member of the first walking frame is wound around at least two first walking frame wheels; The crawling robot further includes a third walking unit. The third walking unit includes a third walking frame. The first walking frame is located between the third walking frame and the second walking frame. The flexible transmission member of the first walking frame further includes a connecting portion of the third walking frame; the connecting portion of the third walking frame is connected to the third walking frame. When one of the connecting portion of the third walking frame and the connecting portion of the second walking frame moves toward a direction close to a first walking frame wheel, the other moves toward a direction away from the first walking frame wheel, so that the second walking frame and the third walking frame can move relative to each other and move synchronously relative to the first walking frame; The third walking frame and the first walking frame are in guiding movement cooperation along the moving direction of the connecting portion of the third walking frame; The first walking frame, the second walking frame and the third walking frame are all surrounded and separated brackets. The surrounded and separated bracket includes a left bracket and a right bracket. The first walking frame, the second walking frame and the third walking frame form a surrounded structure by connecting at least one other surrounded and separated bracket in series; Any two adjacent surrounded and separated brackets satisfy that the left bracket of one surrounded and separated bracket is in guiding movement cooperation with the right bracket of the other surrounded and separated bracket, so that the surrounded structure can be expanded or contracted; The number of surrounded and separated brackets is n. Any three adjacent surrounded and separated brackets along the circumference of the surrounded structure form a bracket group. There are n bracket groups. At least n - 1 of the bracket groups satisfy that an intermediate bracket wheel group is provided on the intermediate surrounded and separated bracket. A flexible transmission member is wound around the intermediate bracket wheel group. The flexible transmission member is provided with a left connecting portion and a right connecting portion. The left connecting portion is connected to the surrounded and separated bracket on the left side, and the right connecting portion is connected to the surrounded and separated bracket on the right side. The intermediate bracket wheel group includes a left wheel and a right wheel. One of the left connecting portion and the right connecting portion moves toward the left wheel, and the other moves away from the left wheel, so that the surrounded and separated bracket on the left side and the surrounded and separated bracket on the right side can approach or move away from each other; Among the bracket groups composed of the first walking frame, the second walking frame and the third walking frame, the flexible transmission member of the first walking frame constitutes the flexible transmission member in the bracket group, the connecting portion of the third walking frame constitutes the left connecting portion in the bracket group, the connecting portion of the second walking frame constitutes the right connecting portion in the bracket group, and all the first walking frame wheels on the first walking frame constitute the intermediate bracket wheel group in the bracket group; The left bracket and the right bracket of the surrounded and separated bracket can swing relative to each other, and the swing axes of each surrounded and separated bracket extend vertically; 7. The crawling robot according to claim 1, wherein At least two first walking frame wheels are provided, and the flexible member of the first walking frame is wound around at least two first walking frame wheels; The crawling robot further includes a third walking unit. The third walking unit includes a third walking frame. The first walking frame is located between the third walking frame and the second walking frame. The flexible transmission member of the first walking frame further includes a third walking frame connection portion. The third walking frame connection portion is connected to the third walking frame. When one of the third walking frame connection portion and the second walking frame connection portion moves toward a direction close to a first walking frame wheel, the other moves toward a direction away from the first walking frame wheel, so that the second walking frame and the third walking frame can move relative to each other and move synchronously relative to the first walking frame; The third walking frame and the first walking frame are in guiding movement cooperation along the moving direction of the third walking frame connection portion; The first walking frame includes a first left support and a first right support. The second walking frame includes a second left support and a second right support. The third walking frame includes a third left support and a third right support; The third right support is in guiding movement cooperation with the first left support. The third left support is in guiding movement cooperation with the second right support. The second left support is in guiding movement cooperation with the first right support. The first walking frame, the second walking frame and the third walking frame form a triangular enclosed structure; A third walking frame flexible transmission member is arranged on the third walking frame. A left wheel is rotatably arranged on the third left support. A right wheel is arranged on the third right support. The third walking frame flexible transmission member is wound around the left wheel and the right wheel. The third walking frame flexible transmission member includes a second right support connection portion and a first left support connection portion. Both the second right support connection portion and the first left support connection portion are between the left wheel and the right wheel. When one of the second right support connection portion and the first left support connection portion moves toward a direction close to the right wheel, the other moves toward a direction away from the right wheel, so that when the third walking frame and the first walking frame move relative to each other, the second walking frame and the third walking frame move synchronously relative to each other, enabling the triangular enclosed structure to expand and contract; The third left support and the second right support are in guiding movement cooperation along the moving direction of the second right support connection portion; The first left support and the first right support can swing relative to each other. The second left support and the second right support can swing relative to each other. The third left support and the third right support can swing relative to each other. The swing axes of the first left support, the first right support, the second left support, the second right support, the third left support and the third right support all extend vertically.

8. The crawling robot according to claim 1, wherein The crawling robot further includes a third walking unit. The third walking unit includes a third walking frame; The first walking frame, the second walking frame and the third walking frame form a triangular enclosed structure; At least two first walking frame wheels are provided, at least one of which is a first walking frame left wheel and at least one of which is a first walking frame right wheel. The flexible member of the first walking frame is wound around the first walking frame left wheel and the first walking frame right wheel. The second walking frame connection portion is between the first walking frame left wheel and the first walking frame right wheel; A second walking frame flexible transmission member is provided on the second walking frame. A second walking frame right wheel and a second walking frame left wheel are provided on the second walking frame. A third walking frame connection portion connected to the third walking frame is provided on the second walking frame flexible transmission member. The third walking frame connection portion is between the second walking frame right wheel and the second walking frame left wheel; The third traveling frame is provided with a third traveling frame flexible transmission member. The third traveling frame is provided with a third traveling frame right wheel and a third traveling frame left wheel. The third traveling frame flexible transmission member is provided with a first traveling frame connection portion connected to the first traveling frame. The first traveling frame connection portion is between the third traveling frame right wheel and the third traveling frame left wheel; The first traveling frame includes a first left bracket and a first right bracket arranged in an angular shape. The second traveling frame includes a second left bracket and a second right bracket arranged in an angular shape. The third traveling frame includes a third left bracket and a third right bracket arranged in an angular shape; The first traveling frame right wheel and the first traveling frame left wheel are arranged on the first right bracket. The second traveling frame right wheel and the second traveling frame left wheel are arranged on the second right bracket. The third traveling frame left wheel and the third traveling frame right wheel are arranged on the third right bracket. The first traveling frame connection portion is connected to the first left bracket. The second traveling frame connection portion is connected to the second left bracket. The third traveling frame connection portion is connected to the third left bracket; The first left bracket and the first right bracket can swing relatively. The second left bracket and the second right bracket can swing relatively. The third left bracket and the third right bracket can swing relatively; And the swing axes of the first left bracket, the first right bracket, the second left bracket, the second right bracket, the third left bracket, and the third right bracket all extend vertically.

9. The crawling robot according to claim 1, characterized in that, The crawling robot further includes a third traveling unit. The third traveling unit includes a third traveling frame; At least two first traveling frame wheels are provided, at least one of which is a first traveling frame left wheel and at least one of which is a first traveling frame right wheel. The first traveling frame flexible member is wound around the first traveling frame left wheel and the first traveling frame right wheel. The second traveling frame connection portion is between the first traveling frame left wheel and the first traveling frame right wheel; The first traveling frame, the second traveling frame, and the third traveling frame are all enclosed split brackets. The enclosed split bracket includes a left bracket and a right bracket. The first traveling frame, the second traveling frame, and the third traveling frame form an enclosed structure by serially connecting at least one additional enclosed split bracket; Any two adjacent enclosed split brackets satisfy: The left bracket of one enclosed split bracket is in guiding movement cooperation with the right bracket of another enclosed split bracket so that the enclosed structure can expand and contract; Any two adjacent enclosed split brackets along the circumference of the enclosed structure all satisfy: On the enclosed split bracket on the left side, there are a left wheel, a right wheel, and a flexible transmission member. The flexible transmission member is wound around the left wheel and the right wheel. The flexible transmission member has a right-side connection portion connected to the enclosed split bracket on the right side, so that the enclosed split bracket on the right side moves relative to the enclosed split bracket on the left side under the drive of the right-side connection portion. The left bracket and the right bracket of the enclosed split bracket can swing relatively, and the swing axes of each enclosed split bracket all extend vertically.

10. The crawling robot according to any one of claims 6-9, characterized in that, The enclosed structure is used to surround the outer periphery of the pole to be climbed. The traveling wheels are arranged inside the enclosed structure. The enclosed structure realizes loosening and clamping with the pole to be climbed by expanding and contracting; Or the traveling wheels are arranged on the outer periphery of the enclosed structure so that the enclosed structure can climb inside the pipe. The enclosed structure realizes clamping and loosening with the inner wall of the pipe by expanding and contracting.

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