Obstacle-crossing mechanism and wall-climbing robot having the same

Abstract

The present invention provides an obstacle-crossing mechanism and a wall-climbing robot having the same, including: a body part; a walking assembly, including a connection end and a walking end which are oppositely arranged, the connection end is slidably arranged on the body part along the extending direction of the body part; the walking end is provided with an adsorption wheel, and the distance between the adsorption wheel and the connection end is adjustable; when the adsorption wheel walks, the connection end is stationary, and there is a maximum distance between the adsorption wheel and the connection end; when the adsorption wheel is in the contact stage, the body part moves forward relative to the connection end, and the distance between the adsorption wheel and the connection end transitions from the maximum distance to the minimum distance; when the adsorption wheel is in the crossing stage, the connection end is stationary, and the distance between the adsorption wheel and the connection end is the smallest; when the adsorption wheel is in the separation stage, the connection end moves forward relative to the body part, and the distance between the adsorption wheel and the connection end transitions from the minimum distance to the maximum distance; an elastic part is arranged between the connection end and the walking end, so that when the adsorption wheel walks, there is a maximum distance between the adsorption wheel and the connection end.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and more specifically, to an obstacle-crossing mechanism and a wall-climbing robot having the same. Background Art

[0002] Thermal power generation is currently the most important power generation mode in China. Boiler accidents are the main cause of abnormal shutdowns in thermal power plants, and half of these accidents are caused by the rupture of the water-cooled wall tubes of the boiler. Therefore, the effective inspection of the water-cooled wall tubes of the boiler plays a very important role in the normal operation of the thermal power generation unit. Currently, the water-cooled wall is usually detected by an obstacle-crossing mechanism and a wall-climbing robot having the same.

[0003] In the prior art, a Chinese patent with the application number 201920989355.6 discloses a water-cooled wall detection robot, which includes a robot body, walking wheels and a detector. The walking wheels are provided with a profiling surface that matches the water-cooled wall, and the robot can move on the water-cooled wall surface to complete the detection work.

[0004] However, anti-abrasion beams are usually provided on the water-cooled wall of the existing structure, and the robot using the above solution cannot pass through the anti-abrasion beams to complete the detection work. Summary of the Invention

[0005] The present invention provides an obstacle-crossing mechanism and a wall-climbing robot having the same to solve the problem that the wall-climbing robot in the prior art cannot cross obstacles.

[0006] According to one aspect of the present invention, an obstacle-crossing mechanism is provided, which includes: a body part; a walking component, the walking component includes a connection end and a walking end arranged oppositely, the connection end is slidably arranged on the body part along the extending direction of the body part, and the connection end has a sliding state and a stationary state arranged relative to the body part; the walking end has an adsorption wheel for walking, and the distance between the adsorption wheel and the connection end is adjustable; wherein, when the adsorption wheel is in the walking state, the connection end is in the stationary state, and the maximum distance exists between the adsorption wheel and the connection end; the adsorption wheel has a contact stage, a crossing stage and a separation stage arranged relative to the obstacle. When the adsorption wheel is in the contact stage, the body part moves forward relative to the connection end, and the distance between the adsorption wheel and the connection end transitions from the maximum distance to the minimum distance; when the adsorption wheel is in the crossing stage, the connection end is in the stationary state, and the minimum distance exists between the adsorption wheel and the connection end; when the adsorption wheel is in the separation stage, the connection end moves forward relative to the body part, and the distance between the adsorption wheel and the connection end transitions from the minimum distance to the maximum distance; an elastic part is arranged between the connection end and the walking end, and two ends of the elastic part respectively provide opposite-direction acting forces to the walking end and the connection end, so that when the adsorption wheel is in the walking state, the maximum distance exists between the adsorption wheel and the connection end.

[0007] Further, the obstacle-crossing mechanism further includes: a guiding component disposed between the adsorption wheel and the body part, and the guiding component is used to guide the movement of the adsorption wheel between the maximum spacing and the minimum spacing.

[0008] Further, the guiding component includes: a guiding plate disposed on the body part, a guiding groove is provided on the guiding plate, the guiding groove includes an arc groove, the extending direction of the arc groove is the same as the extending direction of the body part, and the bottom of the arc groove is disposed close to the ground; a guiding block is disposed at the walking end of the walking component, and the guiding block is embedded in the guiding groove and is in guiding cooperation with the guiding groove. When the guiding block is located at the bottommost end of the arc groove, there is a maximum spacing between the adsorption wheel and the connecting end.

[0009] Further, the arc groove has two ends oppositely disposed along the extending direction of the body part. The guiding groove further includes two vertical grooves, the two vertical grooves are respectively communicated with the two ends of the arc groove, and the two vertical grooves are located above the arc groove.

[0010] Further, the walking component includes: two sets of walking wheel assemblies, the two sets of walking wheel assemblies are spaced apart along the width direction of the body part, and each set of walking wheel assemblies respectively has an adsorption wheel; a driving component is disposed between the two sets of walking wheel assemblies, and the driving component is respectively drivingly connected to the two sets of walking wheel assemblies to drive the walking wheel assemblies to walk.

[0011] Further, each set of walking wheel assemblies includes: a connecting part, the top end of the connecting part is movably disposed on the body part along the walking direction of the body part, and the bottom end of the connecting part is located below the body part; a mounting part is movably disposed on the bottom end of the connecting part along the height direction, and the adsorption wheel is disposed on the mounting part.

[0012] Further, the spacing between the two sets of walking wheel assemblies is adjustable.

[0013] Further, the body part includes: two connecting rods and two telescopic rods, the two connecting rods are arranged in parallel, and a set of walking wheel assemblies is correspondingly disposed on one connecting rod; the two telescopic rods are spaced apart along the length direction of the connecting rod, and the two ends of each telescopic rod are respectively connected to the two connecting rods to adjust the spacing between the two connecting rods.

[0014] Further, the main body part includes: a first connecting part and two first bending parts. The two first bending parts are arranged at intervals on the same side of the first connecting part and are perpendicular to the first connecting part respectively; a second connecting part and two second bending parts. The two second bending parts are arranged at intervals on the same side of the second connecting part and are perpendicular to the second connecting part respectively; two sets of locking parts. Wherein, the first connecting part and the second connecting part form two connecting rods, the first bending parts and the second bending parts are arranged in one-to-one correspondence, one first bending part and a corresponding second bending part are slidably matched to form a telescopic rod, and a set of locking parts are respectively arranged between each set of mutually matched first bending parts and second bending parts to fix the first bending part and the second bending part.

[0015] Further, the driving assembly includes: a connecting plate arranged on the traveling wheel assembly; a driving member arranged on the connecting plate and located between the two sets of traveling wheel assemblies; a telescopic shaft, both ends of the telescopic shaft are respectively drivingly connected to two adsorption wheels, the driving member is drivingly connected to the telescopic shaft, and the length of the telescopic shaft is adjustable to adjust the distance between the two adsorption wheels.

[0016] Further, the adsorption wheel includes a first friction wheel, a first magnetic steel, a magnet, a second magnetic steel, and a second friction wheel connected in sequence along the axial direction. Wherein, the first friction wheel and the second friction wheel have the same diameter and are respectively larger than the outer diameters of the first magnetic steel, the second magnetic steel, and the magnet.

[0017] According to another aspect of the present invention, a wall-climbing robot is provided, which includes the above-mentioned obstacle-crossing mechanism.

[0018] Applying the technical solution of the present invention, under the action of the connecting end and the adsorption wheel, the obstacle-crossing mechanism can achieve the obstacle-crossing action, ensuring normal operation in the presence of obstacles. Specifically, when the obstacle-crossing mechanism is walking normally, the adsorption wheel adsorbs on the walking surface and walks on the walking surface. When there is an obstacle in front of the adsorption wheel, the adsorption wheel first contacts the obstacle, that is, the adsorption wheel is in the contact stage. At this time, the adsorption wheel receives a thrust from the obstacle, and the direction of this thrust is opposite to the running direction of the adsorption wheel before contacting the obstacle; afterwards, the adsorption wheel needs to complete the obstacle-crossing action of detaching from the walking surface, that is, enter the obstacle-crossing stage. At this time, the adsorption wheel needs to overcome the adsorption force with the walking surface and cross the obstacle; since the entire walking assembly can slide relative to the extending direction of the main body part, when the adsorption wheel contacts the obstacle, the main body part will still move forward. Under the action of the elastic part, the adsorption wheel will tend to move upward until the adsorption wheel is completely separated from the walking surface and is located above the obstacle; finally, the adsorption wheel is in the separation stage, that is, when the adsorption wheel is completely above the obstacle, the main body part continues to move forward. At this time, the adsorption wheel is gradually in a suspended state. Under the action of the elastic part, the adsorption wheel gradually moves towards the direction close to the walking surface. At the same time, the adsorption wheel moves relative to the main body part away from the obstacle until there is a maximum distance between the adsorption wheel and the connecting end, and the walking assembly no longer slides relative to the main body part. Compared with the traditional technical solution, the solution of the present application can achieve the crossing of obstacles and ensure the smoothness of operation when there are obstacles on the walking surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0020] Figure 1 shows a schematic structural diagram of the obstacle-crossing mechanism provided by an embodiment of the present invention;

[0021] Figure 2 shows a schematic structural diagram of the adsorption wheel of the obstacle-crossing mechanism provided by an embodiment of the present invention in the contact stage with the obstacle;

[0022] Figure 3 shows a schematic structural diagram of the adsorption wheel of the obstacle-crossing mechanism provided by an embodiment of the present invention in the initial stage of the crossing stage;

[0023] Figure 4 shows a schematic structural diagram of the adsorption wheel of the obstacle-crossing mechanism provided by an embodiment of the present invention in the final stage of the crossing stage;

[0024] Figure 5 shows a schematic structural diagram of the adsorption wheel of the obstacle-crossing mechanism provided by an embodiment of the present invention in the final stage of the separation stage;

[0025] Figure 6 Shows a partial structural schematic diagram of an obstacle-crossing mechanism provided according to an embodiment of the present invention;

[0026] Figure 7 Shows a top view of a partial structure of an obstacle-crossing mechanism provided according to an embodiment of the present invention;

[0027] Figure 8 Shows a structural schematic diagram of a driving component provided according to an embodiment of the present invention;

[0028] Figure 9 Shows a structural schematic diagram of an adsorption wheel provided according to an embodiment of the present invention.

[0029] Among them, the above-mentioned drawings include the following reference numerals:

[0030] 10. Body part; 101. First guide groove; 102. Second guide groove;

[0031] 11. First connection part; 111. First bending part;

[0032] 12. Second connection part; 121. Second bending part;

[0033] 13. Locking part;

[0034] 20. Traveling component;

[0035] 201. Adsorption wheel; 2011. First friction wheel; 2012. First magnetic conductive steel; 2013. Magnet; 2014. Second magnetic conductive steel; 2015. Second friction wheel;

[0036] 21. Traveling wheel assembly;

[0037] 211. Connection part; 2111. Connecting rod; 2112. Limit ring; 2113. Limit bolt;

[0038] 212. Installation part;

[0039] 22. Driving component;

[0040] 221. Connection plate; 222. Driving member; 223. Telescopic shaft; 2231. First driving shaft; 2232. Second driving shaft;

[0041] 224. Driving wheel; 225. Belt; 226. Driven wheel;

[0042] 30. Elastic part;

[0043] 40. Guide component;

[0044] 41. Guide plate; 411. Arc groove; 412. Vertical groove;

[0045] 42. Guide block. Specific implementation manner

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0047] As Figures 1 to 9 shown, the present invention provides an obstacle-crossing mechanism, which includes a main body part 10, a walking component 20, and an elastic part 30. Among them, the walking component 20 includes a connection end and a walking end arranged oppositely. The connection end is slidably arranged on the main body part 10 along the extension direction of the main body part 10, and the connection end has a sliding state and a stationary state relative to the main body part 10; the walking end has an adsorption wheel 201 for walking, and the distance between the adsorption wheel 201 and the connection end is adjustable; among them, when the adsorption wheel 201 is in the walking state, the connection end is in the stationary state, and there is a maximum distance between the adsorption wheel 201 and the connection end; the adsorption wheel 201 has a contact stage, a crossing stage, and a separation stage relative to the obstacle. When the adsorption wheel 201 is in the contact stage, the main body part 10 moves forward relative to the connection end, and the distance between the adsorption wheel 201 and the connection end transitions from the maximum distance to the minimum distance; when the adsorption wheel 201 is in the crossing stage, the connection end is in the stationary state, and there is a minimum distance between the adsorption wheel 201 and the connection end; when the adsorption wheel 201 is in the separation stage, the connection end moves forward relative to the main body part 10, and the distance between the adsorption wheel 201 and the connection end transitions from the minimum distance to the maximum distance. The elastic part 30 is arranged between the connection end and the walking end, and both ends of the elastic part 30 provide opposite-direction acting forces to the walking end and the connection end respectively, so that when the adsorption wheel 201 is in the walking state, there is a maximum distance between the adsorption wheel 201 and the connection end. In this embodiment, the running direction of the obstacle-crossing mechanism is the same as the extension direction of the main body part 10, the connection end and the walking end of the walking component 20 are distributed in the vertical direction, and the walking end is located below the connection end.

[0048] Applying the technical solution of the present invention, under the action of the connection end and the adsorption wheel 201, the obstacle-crossing mechanism can achieve the obstacle-crossing action, ensuring normal operation in the presence of obstacles. Specifically, when the obstacle-crossing mechanism is walking normally, the adsorption wheel 201 adsorbs on the walking surface and walks on the walking surface. When there is an obstacle in front of the adsorption wheel 201, the adsorption wheel 201 first contacts the obstacle, that is, the adsorption wheel 201 is in the contact stage. At this time, the adsorption wheel 201 receives a thrust from the obstacle, and the direction of this thrust is opposite to the running direction of the adsorption wheel 201 before contacting the obstacle; afterwards, the adsorption wheel 201 has to complete the obstacle-crossing action of detaching from the walking surface, that is, enter the obstacle-crossing stage. At this time, the adsorption wheel 201 needs to overcome the adsorption force with the walking surface and cross the obstacle; since the walking assembly 20 can slide relative to the extension direction of the main body part 10 as a whole, when the adsorption wheel 201 contacts the obstacle, the main body part 10 will still move forward. Under the action of the elastic part 30, the adsorption wheel 201 will tend to move upward until the adsorption wheel 201 is completely separated from the walking surface and is located above the obstacle; finally, the adsorption wheel 201 is in the separation stage, that is, when the adsorption wheel 201 is completely located above the obstacle, the main body part 10 continues to move forward. At this time, the adsorption wheel 201 is gradually in a suspended state. Under the action of the elastic part 30, the adsorption wheel 201 gradually moves in the direction close to the walking surface, that is, downward. At the same time, the adsorption wheel 201 moves relative to the main body part 10 in the direction away from the obstacle until the maximum distance is formed between the adsorption wheel 201 and the connection end, and the walking assembly 20 no longer slides relative to the main body part 10. Compared with the traditional technical solution, the solution of the present application can achieve the crossing of obstacles and ensure the smoothness of operation when there are obstacles on the walking surface. Moreover, during the obstacle-crossing stage of the adsorption wheel 201, while the adsorption wheel 201 moves upward, it also moves horizontally. With such a setting, it can avoid the situation where the adsorption wheel 201 only moves in the vertical direction, reducing the force perpendicular to the walking surface that the adsorption wheel 201 needs to overcome when detaching from the walking surface.

[0049] Furthermore, multiple groups of walking assemblies 20 are arranged at intervals along the extension direction of the main body part 10. With such a setting, the smooth operation of the obstacle-crossing mechanism can be ensured. Moreover, all multiple groups of walking assemblies can achieve the obstacle-crossing action, ensuring the smoothness of the obstacle-crossing of the obstacle-crossing mechanism.

[0050] As Figure 1 shown, the obstacle-crossing mechanism further includes a guiding component 40. The guiding component 40 is arranged between the adsorption wheel 201 and the main body part 10, and the guiding component 40 is used to guide the movement of the adsorption wheel 201 between the maximum distance and the minimum distance. The setting of the guiding component 40 can ensure the movement track of the adsorption wheel 201 and the stability of the operation of the adsorption wheel 201.

[0051] Specifically, the guiding assembly 40 includes a guiding plate 41 and a guiding block 42. Among them, the guiding plate 41 is arranged on the main body part 10. A guiding groove is arranged on the guiding plate 41. The guiding groove includes an arc groove 411. The extending direction of the arc groove 411 is the same as that of the main body part 10, and the bottom of the arc groove 411 is arranged close to the ground. The guiding block 42 is arranged at the walking end of the walking assembly 20, and the guiding block 42 is embedded in the guiding groove and is in guiding cooperation with the guiding groove. When the guiding block 42 is located at the bottommost end of the arc groove 411, the maximum distance exists between the adsorption wheel 201 and the connection end. In this embodiment, the arc groove 411 is a symmetric structure, and the middle part of the arc groove 411 is the bottommost end of the arc groove 411. The guiding block 42 is a cylindrical structure, and the circumferential surface of the guiding block 42 abuts against the arc groove 411, specifically, it can be a cam follower. With such a setting, the friction force of the guiding block 42 running along the arc groove 411 can be reduced as much as possible, ensuring the smoothness of the guiding block 42. The main body part 10 has a first end and a second end oppositely arranged along the extending direction, and the main body part 10 can move along the direction from the first end to the second end, and the main body part 10 can also move along the direction from the second end to the first end. That is, in this embodiment, the adsorption wheel 201 can rotate forward and can also rotate backward. With the arc groove 411 of this solution, the adsorption wheel 201 can achieve the obstacle-crossing action both when rotating forward and backward. In this embodiment, the guiding plate 41 is located on one side of the walking assembly 20, and the guiding plate 41 and the walking assembly are spaced apart along the width direction of the main body part 10. With such a setting, the situation of mutual interference between the guiding plate 41 and the walking assembly 20 can be avoided, ensuring the smooth operation of the obstacle-crossing mechanism.

[0052] Furthermore, the arc groove 411 has two ends oppositely arranged along the extending direction of the main body part 10. The guiding groove further includes two vertical grooves 412. The two vertical grooves 412 are respectively communicated with the two ends of the arc groove 411, and the two vertical grooves 412 are located above the arc groove 411. When the adsorption wheel 201 contacts an obstacle, in the initial stage, the adsorption force between the adsorption wheel 201 and the walking surface is very large. As the main body part 10 continues to move, the adsorption force between the adsorption wheel 201 and the adsorption surface gradually decreases, the adsorption wheel 201 gradually separates from the walking surface, and the separation speed of the adsorption wheel 201 is very small until the adsorption wheel 201 completely separates from the walking surface. At this time, under the action of the elastic part 30, the adsorption wheel 201 moves upward and the speed increases relatively. Therefore, setting the vertical grooves 412 at the ends of the arc groove 411 in this solution can ensure the smooth operation of the adsorption wheel 201 during the transition from the contact stage to the obstacle-crossing stage.

[0053] Specifically, the walking assembly 20 includes two sets of walking wheel assemblies 21 and a driving assembly 22. Among them, the two sets of walking wheel assemblies 21 are spaced apart along the width direction of the body portion 10, and each set of walking wheel assemblies 21 has an adsorption wheel 201. The driving assembly 22 is arranged between the two sets of walking wheel assemblies 21, and the driving assembly 22 is respectively drivingly connected to the two sets of walking wheel assemblies 21 to drive the walking wheel assemblies 21 to walk. By driving the two sets of walking wheel assemblies 21 with one set of driving assembly 22, the synchronous movement of the two sets of walking wheel assemblies 21 can be ensured, and by arranging the driving assembly 22 between the two sets of walking wheel assemblies 21, the compactness of the overall structure can be ensured, the stability of the center of gravity of the walking wheel assemblies 21 can be ensured, and the smooth operation of the walking wheel assemblies 21 can be ensured.

[0054] Such as Figure 6 And Figure 7As shown in the figure, further, each set of traveling wheel assemblies 21 includes a connecting portion 211 and a mounting portion 212. Among them, the top end of the connecting portion 211 is movably arranged on the main body portion 10 along the traveling direction of the main body portion 10, and the bottom end of the connecting portion 211 is located below the main body portion 10. The mounting portion 212 is movably arranged on the bottom end of the connecting portion 211 in the height direction, and the adsorption wheel 201 is arranged on the mounting portion 212. In this embodiment, a first guide groove 101 and a second guide groove 102 are provided on the main body portion 10. The extending directions of the first guide groove 101 and the second guide groove 102 are the same as the extending direction of the main body portion 10. There are two second guide grooves 102, and the two second guide grooves 102 are respectively located on both sides of the extending direction of the first guide groove 101. The connecting portion 211 includes a connecting rod 2111, a limiting ring 2112 and a limiting bolt 2113. Among them, the top end of the connecting rod 2111 is movably arranged in the first guide groove 101. The limiting ring 2112 is annularly arranged on the outer periphery of the connecting rod 2111 and is in abutting fit with the bottom surface of the main body portion 10. Two limiting bolts are correspondingly arranged in each second guide groove 102. The bottom end of the limiting bolt 2113 passes through the second guide groove 102 and is threadedly connected with the limiting ring 2112. The bottom surface of the nut of the limiting bolt 2113 is in limiting fit with the top surface of the main body portion 10. The arrangement of the limiting bolt 2113, the connecting rod 2111 and the limiting ring 2112 facilitates the installation and disassembly of the connecting portion 211. The mounting portion 212 is in the form of a C-shaped plate with an open bottom. The bottom end of the connecting rod 2111 passes through the top plate of the mounting portion 212 and is in sliding fit with the mounting portion 212. The two side plates of the mounting portion 212 are spaced apart along the width direction of the main body portion 10. Each mounting portion 212 is correspondingly provided with two connecting portions 211, and the two connecting portions 211 are distributed on the same mounting portion 212 along the extending direction of the main body portion 10. The elastic portion 30 is a spring. A spring is sleeved on each connecting rod 2111. The top end and the bottom end of the spring are respectively in abutting fit with the limiting ring 2112 and the top surface of the top plate of the mounting portion 212. The cooperation of the two connecting rods 2111 and one mounting portion 212 can ensure the smoothness of the whole sliding process. And the spring is sleeved on the connecting rod 2111, which can ensure the stability and uniformity of the spring force, ensure the stability of the up and down movement of the adsorption wheel mounting portion 212, and ensure the stability of the movement of the adsorption wheel 201.

[0055] As Figure 1As shown in the figure, further, a set of guiding components 40 are correspondingly arranged between each traveling wheel assembly 21 and the main body part 10. In this embodiment, in the mutually cooperating guiding component 40 and traveling wheel assembly 21, the guiding plate 41 is located on the side of the traveling wheel assembly 21 away from the other set of traveling wheel assemblies 21. The guiding plate 41 is parallel to the side plate of the mounting part 212, and the guiding block 42 is arranged on the side plate of the mounting part 212 close to the guiding plate 41. That is, the two sets of guiding plates 41 are respectively located outside the two sets of traveling wheel assemblies 21. With such an arrangement, the compactness of the overall structure can be ensured.

[0056] Furthermore, the distance between the two sets of traveling wheel assemblies 21 is adjustable. This device can be used on pipelines. At this time, the adsorption wheels of each traveling wheel assembly 21 will respectively adsorb on a pipeline. In specific use, there may be a situation where the distances between two pipelines are different. The adjustable distance between the two sets of traveling wheel assemblies 21 can be adjusted according to the specific distance between the two pipelines, thus improving the adaptability of this mechanism.

[0057] Specifically, the main body part 10 includes two connecting rods and two telescopic rods. The two connecting rods are arranged in parallel, and a set of traveling wheel assemblies 21 are correspondingly arranged on one connecting rod; the two telescopic rods are distributed at intervals along the length direction of the connecting rod, and both ends of each telescopic rod are respectively connected to the two connecting rods to adjust the distance between the two connecting rods. In this embodiment, the main body part 10 is in an overall rectangular frame structure. With the above arrangement, the distance between the two traveling wheel assemblies 21 can be adjusted by adjusting the distance between the connecting rods, ensuring the convenience of adjusting the distance between the two traveling wheels.

[0058] Such as Figure 1 、 Figure 6 and Figure 7As shown, further, the body portion 10 includes a first connecting portion 11, two first bending portions 111, a second connecting portion 12, two second bending portions 121, and a locking portion 13. Among them, the two first bending portions 111 are arranged at intervals on the same side of the first connecting portion 11 and are perpendicular to the first connecting portion 11 respectively. The two second bending portions 121 are arranged at intervals on the same side of the second connecting portion 12 and are perpendicular to the second connecting portion 12 respectively. Among them, the first connecting portion 11 and the second connecting portion 12 form two connecting rods, the first bending portions 111 and the second bending portions 121 are arranged in one-to-one correspondence, and a first bending portion 111 and a corresponding second bending portion 121 are slidably matched to form a telescopic rod. A set of locking portions 13 are respectively arranged between each group of mutually cooperating first bending portions 111 and second bending portions 121 to fix the first bending portion 111 and the second bending portion 121. In this embodiment, among the mutually cooperating first bending portion 111 and second bending portion 121, the first bending portion 111 and the second bending portion 121 are arranged parallel to each other. A limiting groove is arranged on the second bending portion 121, and the extending direction of the limiting groove is the same as the extending direction of the second bending portion 121. The locking portion 13 is a locking bolt, and one end of the locking bolt passes through the limiting groove and is threadedly connected to the first bending portion 111. When specifically adjusting the distance between the first connecting portion 11 and the second connecting portion 12, loosen the locking bolt so that the first bending portion 111 and the second bending portion 121 slide relative to each other until the distance between the first connecting portion 11 and the second connecting portion 12 meets the requirements, and then tighten the locking bolt. The above setting has a simple structure and strong operation convenience.

[0059] As Figure 8As shown in the figure, specifically, the driving assembly 22 includes a connecting plate 221, a driving member 222, and a telescopic shaft 223. Among them, the connecting plate 221 is arranged on the walking wheel assembly 21. The driving member 222 is arranged on the connecting plate 221 and is located between two groups of walking wheel assemblies 21. Both ends of the telescopic shaft 223 are drivingly connected to two adsorption wheels 201 respectively. The driving member 222 is drivingly connected to the telescopic shaft 223, and the length of the telescopic shaft 223 is adjustable to adjust the distance between the two adsorption wheels 201. In this embodiment, the connecting plate 221 is connected to the side plate of one mounting portion 212 close to the other mounting portion 212. The driving assembly 22 further includes a driving wheel 224, a belt 225, and a driven wheel 226 that cooperate with each other. Among them, the driving member 222 is a motor. The driving wheel 224 is arranged on the output shaft of the motor. A through hole is provided on the connecting plate 221. The telescopic shaft 223 is located below the connecting plate 221. The telescopic shaft 223 includes a first driving shaft 2231 and a second driving shaft 2232 that are sleeved with each other. The inner diameter of the first driving shaft 2231 is greater than the outer diameter of the second driving shaft 2232. The first driving shaft 2231 and the second driving shaft 2232 are circumferentially limited and cooperate, specifically, they can be limited and cooperate through key grooves and splines. The driven wheel 226 is fixedly arranged on the first driving shaft 2231 through a ferrule. The above settings have a simple structure and are convenient for adjusting the overall length of the telescopic shaft 223.

[0060] As Figure 9 shown, further, in this embodiment, each adsorption wheel 201 includes a first friction wheel 2011, a first magnetic steel 2012, a magnet 2013, a second magnetic steel 2014, and a second friction wheel 2015 that are sequentially connected along the axial direction. Among them, the diameters of the first friction wheel 2011 and the second friction wheel 2015 are the same and are respectively larger than the outer diameters of the first magnetic steel 2012, the second magnetic steel 2014, and the magnet 2013. With such a setting, when the adsorption wheel 201 crosses an obstacle, the friction between the two friction wheels and the obstacle can be ensured. Moreover, when the adsorption wheel 201 crosses an obstacle, the magnet 2013 and the two magnetic steels will not contact the obstacle. When the obstacle is a magnetic material, the above setting can prevent the adsorption wheel 201 from adsorbing on the obstacle, and thus can ensure the smoothness of the adsorption wheel 201 when crossing the obstacle.

[0061] The present invention also provides a wall-climbing robot, which includes the above-mentioned obstacle-crossing mechanism.

[0062] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0063] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the authorized specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0064] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation terms such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc. are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be construed as limiting the protection scope of the present invention; the orientation terms "inner, outer" refer to the inside and outside relative to the contour of each component itself.

[0065] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above", etc. may be used here to describe the spatial positional relationships of one device or feature to other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the drawings of the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations should be made for the spatial relative descriptions used here.

[0066] In addition, it should be noted that the use of words such as "first", "second", etc. to define components is only for the convenience of differentiating the corresponding components. Without otherwise stating, the above words have no special meaning, and thus cannot be construed as limiting the protection scope of the present invention.

[0067] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An obstacle-crossing mechanism, characterized in that, it includes: a body part (10); a walking assembly (20), the walking assembly (20) includes a connection end and a walking end arranged oppositely, the connection end is slidably arranged on the body part (10) along the extending direction of the body part (10), and the connection end has a sliding state and a stationary state relative to the body part (10); the walking end has an adsorption wheel (201), the adsorption wheel (201) is used for walking, and the distance between the adsorption wheel (201) and the connection end is adjustable; wherein, when the adsorption wheel (201) is in the walking state, the connection end is in the stationary state, and there is a maximum distance between the adsorption wheel (201) and the connection end; the adsorption wheel (201) has a contact stage, a crossing stage and a separation stage relative to the obstacle. When the adsorption wheel (201) is in the contact stage, the body part (10) moves forward relative to the connection end, and the distance between the adsorption wheel (201) and the connection end transitions from the maximum distance to the minimum distance; when the adsorption wheel (201) is in the crossing stage, the connection end is in the stationary state, and there is a minimum distance between the adsorption wheel (201) and the connection end; when the adsorption wheel (201) is in the separation stage, the connection end moves forward relative to the body part (10), and the distance between the adsorption wheel (201) and the connection end transitions from the minimum distance to the maximum distance; an elastic part (30), arranged between the connection end and the walking end, and both ends of the elastic part (30) provide opposite-direction acting forces to the walking end and the connection end respectively, so that when the adsorption wheel (201) is in the walking state, there is the maximum distance between the adsorption wheel (201) and the connection end.

2. The obstacle-crossing mechanism according to claim 1, characterized in that, the obstacle-crossing mechanism further includes: a guiding assembly (40), arranged between the adsorption wheel (201) and the body part (10), and the guiding assembly (40) is used for guiding the movement of the adsorption wheel (201) between the maximum distance and the minimum distance.

3. The obstacle-crossing mechanism according to claim 2, characterized in that, the guiding assembly (40) includes: a guiding plate (41), arranged on the body part (10), a guiding groove is arranged on the guiding plate (41), the guiding groove includes an arc groove (411), the extending direction of the arc groove (411) is the same as the extending direction of the body part (10), and the bottom of the arc groove (411) is close to the ground; a guiding block (42), arranged at the walking end of the walking assembly (20), and the guiding block (42) is embedded in the guiding groove and is in guiding cooperation with the guiding groove. When the guiding block (42) is located at the bottommost end of the arc groove (411), there is the maximum distance between the adsorption wheel (201) and the connection end.

4. The obstacle-crossing mechanism according to claim 3, wherein, the arc groove (411) has two ends oppositely arranged along the extending direction of the body part (10), the guiding groove further includes two vertical grooves (412), the two vertical grooves (412) are respectively communicated with the two ends of the arc groove (411), and the two vertical grooves (412) are located above the arc groove (411).

5. The obstacle-crossing mechanism according to claim 1, wherein, the traveling assembly (20) includes: two sets of traveling wheel assemblies (21), the two sets of traveling wheel assemblies (21) are spaced apart along the width direction of the body part (10), and each set of traveling wheel assemblies (21) respectively has one adsorption wheel (201); a driving assembly (22), arranged between the two sets of traveling wheel assemblies (21), the driving assembly (22) is respectively drivingly connected with the two sets of traveling wheel assemblies (21) to drive the traveling wheel assemblies (21) to travel.

6. The obstacle-crossing mechanism according to claim 5, wherein, each set of traveling wheel assemblies (21) includes: a connecting part (211), the top end of the connecting part (211) is movably arranged on the body part (10) along the traveling direction of the body part (10), and the bottom end of the connecting part (211) is located below the body part (10); a mounting part (212), movably arranged on the bottom end of the connecting part (211) along the height direction, and the adsorption wheel (201) is arranged on the mounting part (212).

7. The obstacle-crossing mechanism according to claim 5, wherein, the distance between the two sets of traveling wheel assemblies (21) is adjustable.

8. The obstacle-crossing mechanism according to claim 7, wherein, the body part (10) includes: two connecting rods and two telescopic rods, the two connecting rods are arranged in parallel, and one set of traveling wheel assemblies (21) is correspondingly arranged on one connecting rod; the two telescopic rods are spaced apart along the length direction of the connecting rod, and two ends of each telescopic rod are respectively connected with the two connecting rods to adjust the distance between the two connecting rods.

9. The obstacle-crossing mechanism according to claim 8, wherein, the body part (10) includes: a first connecting part (11) and two first bending parts (111), the two first bending parts (111) are spaced apart on the same side of the first connecting part (11) and are respectively perpendicular to the first connecting part (11); a second connecting part (12) and two second bending parts (121), the two second bending parts (121) are spaced apart on the same side of the second connecting part (12) and are respectively perpendicular to the second connecting part (12); two sets of locking parts (13); Wherein, the first connecting portion (11) and the second connecting portion (12) form two of the connecting rods, the first bending portion (111) and the second bending portion (121) are arranged in one-to-one correspondence, one of the first bending portions (111) and a corresponding second bending portion (121) are in sliding fit to form the telescopic rod, and a set of locking portions (13) are respectively arranged between each set of the mutually cooperating first bending portion (111) and the second bending portion (121) to fix the first bending portion (111) and the second bending portion (121).

10. The obstacle-crossing mechanism according to claim 7, characterized in that, the driving assembly (22) includes: a connecting plate (221) arranged on the traveling wheel assembly (21); a driving member (222) arranged on the connecting plate (221) and located between two sets of the traveling wheel assemblies (21); a telescopic shaft (223) whose two ends are respectively drivingly connected to two of the adsorption wheels (201), the driving member (222) is drivingly connected to the telescopic shaft (223), and the length of the telescopic shaft (223) is adjustable to adjust the distance between the two adsorption wheels (201).

11. The obstacle-crossing mechanism according to claim 1, characterized in that, the adsorption wheel (201) includes a first friction wheel (2011), a first magnetic conductive steel (2012), a magnet (2013), a second magnetic conductive steel (2014), and a second friction wheel (2015) sequentially connected along the axial direction. Among them, the diameters of the first friction wheel (2011) and the second friction wheel (2015) are the same and are respectively larger than the outer diameters of the first magnetic conductive steel (2012), the second magnetic conductive steel (2014), and the magnet (2013).

12. A wall-climbing robot, characterized in that, it includes the obstacle-crossing mechanism according to any one of claims 1 to 11.

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