A driving mechanism, a bearing base, a steering control method and a wall-climbing robot

Abstract

The present invention discloses a driving mechanism, a bearing base, a steering control method and a wall-climbing robot. During the operation of the driving mechanism of the present application, under the drive of the first driver, when the connecting structure rotates forward, the first connecting rod can pull one of the driving wheel structures to rotate forward relative to the bridge frame, and the second connecting rod can pull another of the driving wheel structures to rotate forward relative to the bridge frame. When the connecting structure rotates reversely, the third connecting rod can pull one of the driving wheel structures to rotate reversely relative to the bridge frame, and the fourth connecting rod can pull another of the driving wheel structures to rotate reversely relative to the bridge frame. Furthermore, when the driving mechanism of the present application is working, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod can all bear tensile force, thereby reducing the probability of deformation and bending of the first connecting rod, the second connecting rod, the third connecting rod or the fourth connecting rod, thereby improving the steering accuracy of the driving wheel structure.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to a driving mechanism, a bearing base, a steering control method and a wall-climbing robot. Background Art

[0002] A wall-climbing robot is an automated robot that can climb walls and complete tasks.

[0003] In the related technology, a connecting rod made of carbon fiber is connected between the two wheels of the wall-climbing robot, and the connecting rod is connected to the servo. When the wall-climbing robot needs to turn, the servo can synchronously drive the two wheels to turn through the connecting rod, so that the staff can adjust the steering angle of the wheel by adjusting the rotation angle of the servo output end.

[0004] When the servo drives the two wheels to turn synchronously through the connecting rod, the connecting rod will apply tension to one of the wheels and thrust to the other wheel. When the connecting rod applies thrust to the wheel, the connecting rod itself is prone to bend and deform due to pressure. When the connecting rod bends and deforms, there will be a certain deviation between the actual steering angle of the wheel and the preset steering angle of the required wheel, thereby reducing the steering accuracy of the wheel. Summary of the invention

[0005] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art. The first aspect of the present invention provides a driving mechanism with a higher steering accuracy of a driving wheel structure. The second aspect of the present invention provides a bearing base. The third aspect of the present invention provides a steering control method. The fourth aspect of the present invention provides a wall-climbing robot.

[0006] The driving mechanism provided by the embodiment of the first aspect of the present invention includes a wheel assembly, a linkage assembly and a first driver; the wheel assembly includes a bridge frame and a driving wheel structure, the two ends of the bridge frame in the length direction are rotatably connected to the first rotating part of a driving wheel structure, and the driving wheel structure is formed with a first hinge part and a second hinge part respectively located on the opposite sides of the first rotating part; the linkage assembly includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a connecting structure, the first connecting rod, the connecting structure and the second connecting rod are hinged in sequence end to end, and the third connecting rod, the connecting structure and the fourth connecting rod are hinged in sequence end to end. The rods are hinged in sequence at the head and tail ends, the ends of the first connecting rod and the second connecting rod facing away from each other are respectively hinged to a first hinge part, and the ends of the third connecting rod and the fourth connecting rod facing away from each other are respectively hinged to a second hinge part; the first driver is connected to the second rotating part of the connecting structure, and when the first driver drives the connecting structure to rotate forward, the first connecting rod and the second connecting rod can respectively pull a driving wheel structure to rotate forward synchronously relative to the bridge frame, and when the first driver drives the connecting structure to rotate reversely, the third connecting rod and the fourth connecting rod can respectively pull a driving wheel structure to rotate reversely synchronously relative to the bridge frame.

[0007] The drive mechanism of the present invention has at least the following beneficial effects: during the operation of the drive mechanism of the present application, under the drive of the first driver, when the connection structure rotates forward, the first connecting rod can pull one of the drive wheel structures to rotate forward relative to the bridge frame, and the second connecting rod can pull another of the drive wheel structures to rotate forward relative to the bridge frame, at which time the third connecting rod and the fourth connecting rod can avoid bearing pressure, and when the connection structure rotates reversely, the third connecting rod can pull one of the drive wheel structures to rotate reversely relative to the bridge frame, and the fourth connecting rod can pull another of the drive wheel structures to rotate reversely relative to the bridge frame, at which time the first connecting rod and the second connecting rod can avoid bearing pressure. Furthermore, when the drive mechanism of the present application is working, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod can all bear tensile force, thereby reducing the probability of deformation and bending of the first connecting rod, the second connecting rod, the third connecting rod or the fourth connecting rod, thereby improving the steering accuracy of the drive wheel structure.

[0008] According to the driving mechanism described in the embodiment of the first aspect of the present invention, the connecting structure includes a connecting rod, the middle part of the connecting rod forms a second rotating part, one end of the connecting rod is hinged to the first connecting rod and the fourth connecting rod respectively, and the other end of the connecting rod is hinged to the second connecting rod and the third connecting rod respectively.

[0009] According to the driving mechanism described in the embodiment of the first aspect of the present invention, the first connecting rod and the fourth connecting rod are arranged in a homogeneous and integral manner, and the second connecting rod and the third connecting rod are arranged in a homogeneous and integral manner.

[0010] According to the driving mechanism described in the embodiment of the first aspect of the present invention, the junction of the first connecting rod and the fourth connecting rod is hinged to the third hinge part at one end of the connecting rod, and the junction of the second connecting rod and the third connecting rod is hinged to the fourth hinge part at the other end of the connecting rod.

[0011] According to the driving mechanism described in the embodiment of the first aspect of the present invention, in one driving wheel structure, a first line segment is formed between the first hinge part and the first rotating part, and a second line segment is formed between the first rotating part and the second hinge part; in another driving wheel structure, a third line segment is formed between the first hinge part and the first rotating part, and a fourth line segment is formed between the first rotating part and the second hinge part; in the connecting rod, a fifth line segment is formed between the third hinge part and the second rotating part, and a sixth line segment is formed between the fourth hinge part and the second rotating part; the first line segment, the fourth line segment and the fifth line segment are parallel to each other and have the same length, and the second line segment, the third line segment and the sixth line segment are parallel to each other and have the same length.

[0012] According to the driving mechanism described in the embodiment of the first aspect of the present invention, the driving wheel structure includes a mounting frame, a second driver and a wheel, a first rotating part, a first hinged part and a second hinged part are formed on the mounting frame, the second driver is arranged on the mounting frame and is connected to the wheel transmission, and the second driver is used to drive the wheel to rotate.

[0013] The supporting base provided in accordance with the embodiment of the second aspect of the present invention comprises a plurality of driving mechanisms provided in the embodiment of the first aspect of the present invention, and the plurality of driving mechanisms are spaced apart along the width direction of the bridge frame; the supporting base also comprises a chassis frame, and the chassis frame comprises a reinforcement rod and a plurality of mounting rods, and the number of mounting rods in the chassis frame is the same as the number of driving mechanisms, one end of the mounting rod is connected to the bridge frame of the driving mechanism, and the other end of the mounting rod is used to be connected to the body of the wall-climbing robot, and the reinforcement rod is respectively connected to each mounting rod of the chassis frame.

[0014] The steering control method provided in the third aspect of the present invention is applied to the supporting base provided in the second aspect of the present invention; the steering control method comprises the following steps:

[0015] Obtaining the position information of the preset area that the bearing base needs to reach relative to the area where the bearing base is currently located, wherein the preset area is located at a position on the tunnel wall that is higher or lower than the bearing base;

[0016] Obtain the angle value required to adjust the forward direction of the supporting base according to the azimuth information and the current forward direction of the supporting base;

[0017] The steering angle of each wheel is synchronously adjusted according to the angle value, and each wheel is controlled to rotate at the same speed so that the bearing base is translated along the tunnel wall to a preset area.

[0018] According to the steering control method described in the embodiment of the third aspect of the present invention, the steering angle of each wheel is synchronously adjusted according to the angle value, and further includes the following steps:

[0019] Each wheel is controlled to steer and simultaneously driven to rotate so that each wheel steers to the angle corresponding to the steering angle value synchronously.

[0020] The wall-climbing robot provided in accordance with the fourth aspect of the embodiment of the present invention comprises the supporting base provided in the second aspect of the embodiment of the present invention; the wall-climbing robot also comprises a body connected to an end of the mounting rod away from the driving mechanism.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention is further described below in conjunction with the accompanying drawings and embodiments;

[0023] Figure 1 A schematic diagram of the structure of a driving mechanism according to an embodiment of the present invention;

[0024] Figure 2 for Figure 1An exploded schematic diagram of the driving wheel structure of the driving mechanism shown;

[0025] Figure 3 for Figure 2 A schematic structural diagram of a wheel of a driving wheel structure shown;

[0026] Figure 4 A schematic structural diagram of a supporting base according to an embodiment of the present invention;

[0027] Figure 5 A schematic diagram of the structure of a wall-climbing robot according to an embodiment of the present invention;

[0028] Figure 6 The state change diagram of the wall-climbing robot using the Ackerman steering system moving from point A to point B along the tunnel wall;

[0029] Figure 7 for Figure 6 The schematic diagram of the state of the wall-climbing robot at point A from another perspective is shown;

[0030] Figure 8 for Figure 6 The schematic diagram of the state of the wall-climbing robot at point B1 from another perspective;

[0031] Fig. 9 A state change diagram of a wall-climbing robot moving from point A to point B along a tunnel wall according to an embodiment of the present invention;

[0032] Fig.10 for Fig. 9 The schematic diagram of the state of the wall-climbing robot at point A from another perspective is shown;

[0033] Fig.11 for Fig. 9 The schematic diagram of the state of the wall-climbing robot at point B2 from another perspective is shown.

[0034] Reference numerals:

[0035] Carrying base 10; driving mechanism 11; chassis frame 12; reinforcing rod 12a; mounting rod 12b;

[0036] Body 20;

[0037] Wheel assembly 100; bridge 110; driving wheel structure 120; first driving wheel structure 120A; second driving wheel structure 120B; mounting frame 121; first hinged portion 121a; second hinged portion 121b; first rotating portion 121c; first abutting portion 121d; second driver 122; wheel 123; first wheel 123A; second wheel 123B; third wheel 123C; fourth wheel 123D; wheel hub 123a; rim 123b; spoke 123c; receiving groove 123d; second abutting portion 123e; bearing 124; tire 125; housing 126; speed reduction structure 127;

[0038] Linkage assembly 200; first link 210; connection structure 220; second rotating portion 221; third hinge portion 222; fourth hinge portion 223; second link 230; third link 240; fourth link 250;

[0039] A first driver 300;

[0040] Tunnel wall 400. DETAILED DESCRIPTION

[0041] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0042] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0043] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0044] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0045] Reference below Figures 1 to 3 The driving mechanism 11 of the first embodiment of the present invention is described in detail.

[0046] refer to Figure 1 According to the first embodiment of the present invention, the driving mechanism 11 includes a wheel assembly 100, a linkage assembly 200 and a first driver 300; the wheel assembly 100 includes a bridge frame 110 and a driving wheel structure 120, and the two ends of the bridge frame 110 in the length direction are rotatably connected to a first rotating part 121c of the driving wheel structure 120, and the driving wheel structure 120 is formed with a first hinge part 121a and a second hinge part 121b respectively located on opposite sides of the first rotating part 121c; the linkage assembly 200 includes a first connecting rod 210, a second connecting rod 230, a third connecting rod 240, a fourth connecting rod 250 and a connecting structure 220, the first connecting rod 210, the connecting structure 220 and the second connecting rod 230 are hinged in sequence head to tail, and the third connecting rod 240 and the connecting structure 220 are hinged in sequence head to tail. The first link 210 and the fourth link 250 are hingedly arranged end to end in sequence, the ends of the first link 210 and the second link 230 that are away from each other are respectively hinged to a first hinge part 121a, and the ends of the third link 240 and the fourth link 250 that are away from each other are respectively hinged to a second hinge part 121b; the first driver 300 is connected to the second rotating part 221 of the connecting structure 220. When the first driver 300 drives the connecting structure 220 to rotate forward, the first link 210 and the second link 230 can respectively pull a driving wheel structure 120 to rotate forward synchronously relative to the bridge frame 110. When the first driver 300 drives the connecting structure 220 to rotate reversely, the third link 240 and the fourth link 250 can respectively pull a driving wheel structure 120 to rotate reversely synchronously relative to the bridge frame 110.

[0047] For example, Figure 1As shown, the wheel assembly 100 includes a bridge frame 110 and two driving wheel structures 120. The bridge frame 110 is extended in the left-right direction. The driving wheel structure 120 is formed with a first rotating portion 121c, a first hinged portion, and a second hinged portion 121b. The left and right ends of the bridge frame 110 are respectively hinged to the first rotating portion 121c of the driving wheel structure 120. The driving wheel structure 120 installed at the left end of the bridge frame 110 is a first driving wheel structure 120A. In the first driving wheel structure 120A, the first hinged portion 121c is connected to the first rotating portion 121c of the driving wheel structure 120. 21a is located at the rear side of the first rotating part 121c, the second hinged part 121b is located at the front side of the first rotating part 121c, the driving wheel structure 120 installed at the right end of the bridge frame 110 is the second driving wheel structure 120B, in which the first hinged part 121a is located at the front side of the first rotating part 121c, and the second hinged part 121b is located at the rear side of the first rotating part 121c; the linkage assembly 200 includes a first connecting rod 210, a connecting structure 220, a second connecting rod 230, and a first connecting rod 240. The third link 240 and the fourth link 250, the left end of the first link 210 is hinged to the first hinged portion 121a of the first driving wheel structure 120A, the right end of the first link 210 is hinged to the rear end of the connecting structure 220, the right end of the second link 230 is hinged to the first hinged portion 121a of the second driving wheel structure 120B, the left end of the second link 230 is hinged to the front end of the connecting structure 220, the left end of the third link 240 is hinged to the second hinged portion 121b of the first driving wheel structure 120A The right end of the third connecting rod 240 is hinged to the front end of the connecting structure 220, the right end of the fourth connecting rod 250 is hinged to the second hinge part 121b of the second driving wheel structure 120B, and the left end of the fourth connecting rod 250 is hinged to the rear end of the connecting structure 220; a second rotating part 221 is formed in the middle part of the connecting structure 220, and the first driver 300 is connected to the second rotating part 221. Under the drive of the first driver 300, the connecting structure 220 can rotate horizontally around the second rotating part 221.

[0048] Furthermore, in the driving mechanism 11 of the present embodiment, when the connecting structure 220 rotates horizontally clockwise around the second rotating portion 221 under the drive of the first driver 300, the first connecting rod 210 pulls the first hinged portion 121a of the first driving wheel structure 120A to move rightward, so that the first driving wheel structure 120A rotates clockwise relative to the bridge 110, and the second connecting rod 230 pulls the first hinged portion 121a of the second driving wheel structure 120B to move leftward, so that the second driving wheel structure 120A rotates clockwise relative to the bridge 110. 0B rotates clockwise relative to the bridge frame 110; when the connecting structure 220 rotates horizontally counterclockwise around the second rotating part 221, the third connecting rod 240 pulls the second hinged part 121b on the first driving wheel structure 120A to move to the right, so that the first driving wheel structure 120A rotates counterclockwise relative to the bridge frame 110, and the fourth connecting rod 250 pulls the second hinged part 121b on the second driving wheel structure 120B to move to the left, so that the second driving wheel structure 120B rotates counterclockwise relative to the bridge frame 110.

[0049] It can be understood that in the driving mechanism 11 of the present embodiment, when the driving mechanism 11 needs to turn left, the first connecting rod 210 can pull the first driving wheel structure 120A to rotate clockwise relative to the bridge frame 110, and the second connecting rod 230 can pull the second driving wheel structure 120B to rotate clockwise relative to the bridge frame 110, so that the first connecting rod 210 and the second connecting rod 230 can both withstand the tension, and can reduce the pressure on the third connecting rod 240 and the fourth connecting rod 250, so as to reduce the first connecting rod 210, the second connecting rod 230, the third connecting rod 240 or the fourth connecting rod 250 caused by the greater pressure. When the driving mechanism 11 needs to turn right, the third link 240 can pull the first driving wheel structure 120A to rotate counterclockwise relative to the bridge frame 110, and the fourth link 250 can pull the second driving wheel structure 120B to rotate counterclockwise relative to the bridge frame 110, so that the third link 240 and the fourth link 250 can both withstand the tensile force, and can reduce the pressure on the first link 210 and the second link 230, so as to reduce the probability of the first link 210, the second link 230, the third link 240 or the fourth link 250 bending due to greater pressure. Furthermore, when the driving mechanism 11 of the present embodiment is working, the pressure borne by the first connecting rod 210, the second connecting rod 230, the third connecting rod 240 and the fourth connecting rod 250 can be smaller, thereby reducing the probability of the first connecting rod 210, the second connecting rod 230, the third connecting rod 240 or the fourth connecting rod 250 bending due to greater pressure, improving the service life of the first connecting rod 210, the second connecting rod 230, the third connecting rod 240 and the fourth connecting rod 250, and improving the steering accuracy of the driving wheel structure 120 when the driving mechanism 11 of the present embodiment is turned.

[0050] In some embodiments of the present invention, the connecting structure 220 includes a connecting rod, the middle part of which forms a second rotating part 221, the rear end of the connecting rod is hinged to the first connecting rod 210 and the fourth connecting rod 250 respectively, and the front end of the connecting rod is hinged to the second connecting rod 230 and the third connecting rod 240 respectively.

[0051] It can be understood that the connecting rod has a simple structure and is easy to implement.

[0052] Specifically, a third hinge part 222 is provided at the rear end of the connecting rod, and a fourth hinge part 223 is provided at the front end of the connecting rod. The first connecting rod 210 and the fourth connecting rod 250 are both hinged to the third hinge part 222, and the second connecting rod 230 and the third connecting rod 240 are both hinged to the fourth hinge part 223.

[0053] Optionally, in other embodiments of the present invention, two third hinged portions 222 are provided at the rear end of the connecting rod, and two fourth hinged portions 223 are provided at the front end of the connecting rod. In this case, the first connecting rod 210 and the fourth connecting rod 250 are respectively hinged to the two third hinged portions 222, and the second connecting rod 230 and the third connecting rod 240 are respectively hinged to the two fourth hinged portions 223.

[0054] In some embodiments of the present invention, in order to simplify the structure of the linkage assembly 200, refer to Figure 1 The first connecting rod 210 and the fourth connecting rod 250 are integrally arranged in the same material, and the second connecting rod 230 and the third connecting rod 240 are integrally arranged in the same material.

[0055] It can be understood that when a third hinge portion 222 is provided at the rear end of the connecting rod and a fourth hinge portion 223 is provided at the front end of the connecting rod, the junction of the first connecting rod 210 and the fourth connecting rod 250 is hinged to the third hinge portion 222, and the junction of the second connecting rod 230 and the third connecting rod 240 is hinged to the fourth hinge portion 223; when two third hinge portions 222 are provided at the rear end of the connecting rod and two fourth hinge portions 223 are provided at the front end of the connecting rod, the first connecting rod 210 and the fourth connecting rod 250 are respectively hinged to the two third hinge portions 222, and the second connecting rod 230 and the third connecting rod 240 are respectively hinged to the two fourth hinge portions 223.

[0056] It should be noted that during the operation of the driving mechanism 11 of the present application, when the driving mechanism 11 turns, in addition to being able to rotate synchronously relative to the bridge frame 110, the rotation angles of the first driving wheel structure 120A and the second driving wheel structure 120B relative to the bridge frame 110 should be kept consistent as much as possible.

[0057] Based on the above problems, in some embodiments of the present invention, reference Figure 1In the first driving wheel structure 120A, a first line segment is formed between the first hinged portion 121a and the first rotating portion 121c, and a second line segment is formed between the first rotating portion 121c and the second hinged portion 121b; in the second driving wheel structure 120B, a third line segment is formed between the first hinged portion 121a and the first rotating portion 121c, and a fourth line segment is formed between the first rotating portion 121c and the second hinged portion 121b; in the connecting rod, a fifth line segment is formed between the third hinged portion 222 and the second rotating portion 221, and a sixth line segment is formed between the fourth hinged portion 223 and the second rotating portion 221; the first line segment, the fourth line segment and the fifth line segment are parallel to each other and have the same length, and the second line segment, the third line segment and the sixth line segment are parallel to each other and have the same length.

[0058] It can be understood that, since the first line segment, the fourth line segment and the fifth line segment are parallel to each other and have the same length, and the second line segment, the third line segment and the sixth line segment are parallel to each other and have the same length, when the first driver drives the connecting rod to rotate, the rotation angles of the first line segment, the fourth line segment and the fifth line segment can be the same, and the rotation angles of the second line segment, the third line segment and the sixth line segment can also be the same; and since the fifth line segment is formed between the third hinge part 222 and the second rotating part 221, and the sixth line segment is formed between the fourth hinge part 223 and the second rotating part 221, the rotation angles of the fifth line segment and the sixth line segment can be the same. Furthermore, when the first driver drives the connecting rod to rotate around the second rotating part 221, the rotation angles of the connecting rod, the first driving wheel structure 120A and the second driving wheel structure 120B can be kept consistent.

[0059] It can be understood that since the rotation angles of the connecting rod, the first drive wheel structure 120A and the second drive wheel structure 120B can be kept consistent, the staff can accurately adjust the rotation angles of the first drive wheel structure 120A and the second drive wheel structure 120B by controlling the rotation angle of the connecting rod.

[0060] In some other embodiments of the present invention, the connecting structure 220 may also include two connecting rods. In this case, the two connecting rods are respectively a first connecting rod and a second connecting rod. The middle parts of the first connecting rod and the second connecting rod are hinged to each other, and the opposite ends of the first connecting rod are respectively hinged to the first connecting rod 210 and the second connecting rod 230, and the opposite ends of the second connecting rod are respectively hinged to the third connecting rod 240 and the fourth connecting rod 250. The first driver 300 is respectively connected to the middle part of the first connecting rod and the middle part of the second connecting rod, and the first driver 300 can independently drive the first connecting rod to rotate, and the first driver 300 can independently drive the second connecting rod to rotate.

[0061] In some embodiments of the present invention, reference Figure 2The driving wheel structure 120 includes a mounting frame 121, a second driver 122 and a wheel 123. The mounting frame 121 is formed with a first rotating portion 121c, a first hinge portion 121a and a second hinge portion 121b. The second driver 122 is arranged on the mounting frame 121 and is transmission-connected to the wheel 123. The second driver 122 is used to drive the wheel 123 to rotate.

[0062] It should be noted that, during the steering process of the driving mechanism 11 of the present application, the rotation speed of the wheel 123 located on the inner ring needs to be lower than the rotation speed of the wheel 123 located on the outer ring.

[0063] In the drive mechanism 11 of the present embodiment, each drive wheel structure 120 includes a second driver 122, and the second driver 122 is connected to the wheel 123; in each drive wheel structure 120, the wheel 123 can rotate independently under the drive of the second driver 122. Furthermore, when the drive mechanism 11 of the present embodiment turns, in the drive wheel structure 120 located in the inner ring, the second driver 122 can reduce the rotation speed of the wheel 123, and in the drive wheel structure 120 located in the outer ring, the second driver 122 can increase the rotation speed of the wheel 123, so that there is a certain rotation speed difference between the wheel 123 located in the inner ring and the wheel 123 located in the outer ring, so that the drive mechanism 11 can turn smoothly.

[0064] In a further embodiment of the present invention, reference Figure 2 The driving wheel structure 120 also includes a reduction structure 127 , and the second driver 122 is connected to the wheel 123 through the reduction structure 127 .

[0065] It can be understood that due to the setting of the deceleration structure 127, the rotation speed of the wheel 123 can be lower than the rotation speed of the output end of the second driver 122. Under the premise that the output power of the second driver 122 is certain, the wheel 123 can obtain a greater torque, so that the wall-climbing robot equipped with the drive mechanism 11 of this embodiment can still walk normally when facing a road with worse road conditions.

[0066] In some embodiments of the present invention, the reduction structure 127 includes a reduction gear set, and the reduction gear set includes an input gear and an output gear, the input gear is connected to the output end of the second driver 122 , and the output gear is connected to the wheel 123 .

[0067] It can be understood that the overall structure of the reduction gear set is compact and occupies a small space, which facilitates the miniaturization of the drive wheel structure.

[0068] In some other embodiments of the present invention, the speed reduction structure 127 may also include a meshing worm wheel and a worm. In this case, the output end of the second driver 122 is connected to the worm, and the turbine is connected to the wheel 123 .

[0069] In order to reduce the overall volume of the driving wheel structure, in some embodiments of the present invention, reference Figure 3 The end surface of the wheel 123 is provided with a receiving groove 123d, and the second driver 122 and the reduction structure 127 are both received in the receiving groove 123d.

[0070] For example, Figure 2 and Figure 3 As shown, the axial direction of the wheel 123 is the left-right direction, and a receiving groove 123d is provided on the left end face of the wheel 123. The second driver 122 and the reduction structure 127 are both received in the receiving groove 123d, and the output end of the reduction structure 127 is connected to the bottom surface of the receiving groove 123d.

[0071] In a further embodiment of the present invention, reference Figure 3 The wheel 123 includes a rim 123b, a hub 123a and spokes 123c. The outer circumference of the hub 123a is connected to the inner circumference of the right end of the rim 123b through the spokes 123c, so that the inner circumference of the rim 123b and the left end surface of the hub 123a jointly define a receiving groove 123d, and the output end of the reduction structure 127 is connected to the left end surface of the hub 123a.

[0072] For further reference, Figure 3 The wheel 123 includes a plurality of spokes 123c, and the plurality of spokes 123c are distributed at intervals in the circumferential direction around the hub 123a.

[0073] In order to achieve the connection between the reduction structure 127 and the wheel hub 123a, in some embodiments of the present invention, a plurality of through holes are provided on the wheel hub 123a, and bolts are threaded through the inner threads of the through holes, and the bolts are connected to the output end of the reduction structure 127.

[0074] It should be noted that, since the wheel 123 is provided with a receiving groove 123 d , the provision of the receiving groove 123 d will reduce the strength of the wheel 123 itself.

[0075] Based on the above reasons, in order to improve the strength of the wheel 123, in some embodiments of the present invention, reference is made to Figure 2 The driving wheel structure also includes a shell 126 and a bearing 124. The shell 126 is at least partially accommodated in the accommodating groove 123d and wraps the second driver 122 and the reduction structure 127. A bearing 124 is provided between the shell 126 and the wheel 123. The inner ring of the bearing 124 is connected to the outer side wall of the shell 126, and the outer ring of the bearing 124 is connected to the side wall of the accommodating groove 123d.

[0076] It is understandable that by arranging the housing 126 in the receiving groove 123 d and connecting the housing 126 to the groove wall of the receiving groove 123 d through the bearing 124 , the housing 126 can internally support the wheel 123 to improve the strength of the wheel 123 .

[0077] It can be understood that since the shell 126 is connected to the groove wall of the accommodating groove 123d through the bearing 124, and the second driver 122 and the reduction structure 127 are both arranged and enclosed in the shell 126, the second driver 122 and the reduction structure 127 can both rotate relative to the wheel 123, and then, under the premise that the second driver 122 and the reduction structure 127 maintain a stable position, the wheel 123 can rotate normally.

[0078] It should be noted that the housing 126 is connected to the groove wall of the receiving groove 123d through the bearing 124. In this case, the bearing 124 may move along the axial direction of the wheel 123. If the bearing 124 moves along the axial direction of the wheel 123, the bearing 124 will be detached from between the housing 126 and the groove wall of the receiving groove 123d.

[0079] In order to limit the bearing 124 in the axial direction of the wheel 123, in some embodiments of the present invention, refer to Figure 2 and Figure 3 The driving wheel structure 120 also includes a mounting frame 121, which is arranged at the notch of the accommodating groove 123d, and the shell 126 is arranged on the mounting frame 121; an annular first abutting portion 121d is formed on the mounting frame 121, and an annular second abutting portion 123e is formed on the side wall of the accommodating groove 123d. In the axial direction of the wheel 123, the first abutting portion 121d and the second abutting portion 123e are respectively located on opposite sides of the bearing 124, and respectively abut against opposite ends of the bearing 124.

[0080] For example, when the axis of the wheel 123 extends in the left-right direction, the first abutting portion 121 d and the second abutting portion 123 e are respectively located on the left and right sides of the bearing 124 , and abut against the left and right ends of the bearing 124 , respectively.

[0081] Furthermore, the first abutment portion 121d and the second abutment portion 123e can cooperate to limit the bearing 124 in the axial direction of the wheel 123 to reduce the probability of the bearing 124 being separated from between the housing 126 and the groove wall of the accommodating groove 123d.

[0082] In some embodiments of the present invention, in order to protect the wheel 123, reference is made to Figure 2 The driving wheel structure also includes a tire 125 , which is sleeved on the outer circumference of the wheel 123 .

[0083] Refer to the following Figures 4 to 11 The supporting base 10 according to the second aspect of the present invention is described in detail.

[0084] refer to Figure 4 The supporting base 10 provided according to the second aspect of the embodiment of the present invention comprises a plurality of driving mechanisms 11 provided according to the first aspect of the embodiment of the present invention, and the plurality of driving mechanisms 11 are distributed at intervals along the width direction of the bridge 110 .

[0085] For example, Figure 4 and Figure 5 As shown, the supporting base 10 installed on the wall-climbing robot includes two driving mechanisms 11, each driving mechanism 11 includes two wheels 123, and the four wheels 123 on the wall-climbing robot are respectively a first wheel 123A, a second wheel 123B, a third wheel 123C and a fourth wheel 123D.

[0086] It should be noted that one of the working environments of the wall-climbing robot is the tunnel wall 400 of the tunnel, and the top wall of the tunnel wall 400 is a groove-shaped groove with an arc profile extending along a preset direction, and the wall-climbing robot needs to move along the preset direction on the surface of the tunnel wall 400 at different heights to achieve inspection, maintenance or cleaning of the tunnel wall 400. Figures 6 to 11 When the wall-climbing robot moves along a preset direction on the top wall, the first wheel 123A and the second wheel 123B are located side by side at the front end of the wall-climbing robot, the third wheel 123C and the fourth wheel 123D are located side by side at the rear end of the wall-climbing robot, and the first wheel 123A and the third wheel 123C are both located at the same end in the width direction of the wall-climbing robot, and the second wheel 123B and the fourth wheel 123D are both located at the same end in the width direction of the wall-climbing robot. At this time, the first wheel 123A and the third wheel 123C are arranged along the preset direction, and both can cling to the tunnel wall 400, and the second wheel 123B and the fourth wheel 123D are arranged along the preset direction, and both can cling to the tunnel wall 400.

[0087] If the wall-climbing robot needs to rise from point A of the tunnel wall 400 to a certain position C of the tunnel wall 400 above point A to perform operation, refer to Figures 6 to 8, for a wall-climbing robot adopting an Ackerman steering system; when the wall-climbing robot is located at point A in the initial state, the first wheel 123A and the third wheel 123C are distributed along a preset direction, and the second wheel 123B and the fourth wheel 123D are also distributed along a preset direction. At this time, the first wheel 123A, the second wheel 123B, the third wheel 123C and the fourth wheel 123D can all be in close contact with the surface of the tunnel wall 400; when the wall-climbing robot is located at point B1 in the intermediate state, the wall-climbing robot is in an upward turning state. Since the wall-climbing robot adopts the Ackerman steering system, the wall-climbing robot as a whole will turn upward around the turning center, and in the process of the wall-climbing robot turning upward, the first wheel 123A is located at the outer turning circle of the wall-climbing robot, and the second wheel 123B is located at the inner turning circle of the wall-climbing robot. At this time, the steering angle of the first wheel 123A is smaller than the steering angle of the second wheel 123B Angle, when the wall-climbing robot is located at point B1, the arrangement direction between the first wheel 123A and the third wheel 123C is spaced apart from the preset direction by a certain angle, and the arrangement direction between the second wheel 123B and the fourth wheel 123D is also spaced apart from the preset direction by a certain angle. In this case, the second wheel 123B and the third wheel 123C can be tightly attached to the tunnel wall 400, while the first wheel 123A and the fourth wheel 123D are in a suspended state, thereby reducing the overall stability of the wall-climbing robot during the turning process; when the wall-climbing robot is located at point C in the final state, the overall turning of the wall-climbing robot is completed, the first wheel 123A and the second wheel 123B are distributed along the preset direction, and the third wheel 123C and the fourth wheel 123D are also distributed along the preset direction. At this time, the first wheel 123A, the second wheel 123B, the third wheel 123C and the fourth wheel 123D can all be tightly attached to the tunnel wall 400. In summary, for a wall-climbing robot using an Ackerman steering system, when it moves from point A to point C, some of the wheels 123 of the wall-climbing robot will be suspended in the air. When some of the wheels 123 of the wall-climbing robot are suspended in the air, the overall stability of the wall-climbing robot is poor.

[0088] If the wall-climbing robot needs to rise from point A of the tunnel wall 400 to a certain position C of the tunnel wall 400 above point A to perform operation, refer to Figures 9 to 11, for the wall-climbing robot of this embodiment; when the wall-climbing robot is located at point A in the initial state, the first wheel 123A and the third wheel 123C are distributed along a preset direction, and the second wheel 123B and the fourth wheel 123D are also distributed along a preset direction. At this time, the first wheel 123A, the second wheel 123B, the third wheel 123C and the fourth wheel 123D can all be closely attached to the surface of the tunnel wall 400; when the wall-climbing robot is located at point B2 in the intermediate state, since in the wall-climbing robot of this embodiment, the first wheel 123A and the second wheel 123B can rotate synchronously, and the third wheel 123C and the fourth wheel 123D can also rotate synchronously, the first wheel 123A, the second wheel 123B, the third wheel 123C and the fourth wheel 123D can turn at the same time and rotate at the same angle, so that the wall-climbing robot can move forward as a whole while its own direction remains in the preset direction without changing. The direction can be changed, but since the orientation of the wall-climbing robot itself has not changed, at this time, the first wheel 123A and the third wheel 123C are still arranged along the preset direction, and the second wheel 123B and the fourth wheel 123D are still arranged along the preset direction. The first wheel 123A, the second wheel 123B, the third wheel 123C and the fourth wheel 123D can all be closely attached to the tunnel wall 400. Furthermore, in the process of the wall-climbing robot of this embodiment moving from point A to point C, each wheel 123 of the wall-climbing robot of this embodiment can always be closely attached to the tunnel wall 400; when the wall-climbing robot is located at point C in the final state, the first wheel 123A and the third wheel 123C are still distributed along the preset direction, and the second wheel 123B and the fourth wheel 123D are also still distributed along the preset direction. At this time, the first wheel 123A, the second wheel 123B, the third wheel 123C and the fourth wheel 123D can all be closely attached to the surface of the tunnel wall 400. In summary, in the wall-climbing robot of the present embodiment, during the process of the wall-climbing robot moving from point A to point C, each wheel 123 of the wall-climbing robot of the present embodiment can closely adhere to the surface of the tunnel wall 400, thereby improving the stability of the wall-climbing robot of the present embodiment during movement.

[0089] In some embodiments of the present invention, in order to realize the connection between the various driving mechanisms 11, reference Figure 4 The supporting base 10 also includes a chassis frame 12, and the chassis frame 12 includes a reinforcement rod 12a and a plurality of mounting rods 12b. The mounting rods 12b are arranged in a one-to-one correspondence with the driving mechanism 11. One end of the mounting rod 12b is connected to the bridge frame 110 of the driving mechanism 11, and the other end of the mounting rod 12b is used to be connected to the body 20 of the wall-climbing robot. The reinforcement rod 12a is respectively connected to each mounting rod 12b.

[0090] It can be understood that in the supporting base 10 of the present application, the chassis frame 12 includes a reinforcement rod 12a and a plurality of mounting rods 12b, the chassis frame 12 has a simple structure, and each driving mechanism 11 is connected through the chassis frame 12, thereby simplifying the structure of the entire supporting base 10 and reducing the weight of the entire supporting base 10.

[0091] In a further embodiment of the present invention, in order to improve the overall stability of the supporting base 10, reference Figure 4 The supporting base 10 includes a plurality of chassis frames 12 , and the plurality of chassis frames 12 are distributed at intervals along the extending direction of the bridge frame 110 .

[0092] exist Figure 4 In the example, the supporting base 10 includes two chassis frames 12 .

[0093] The steering control method provided in the third aspect of the present invention is applied to the supporting base 10 provided in the second aspect of the present invention; the steering control method includes but is not limited to the following steps:

[0094] Step S100: obtaining the position information of the preset area that the supporting base 10 needs to reach relative to the area where the supporting base 10 is currently located, wherein the preset area is located at a position on the tunnel wall 400 that is higher or lower than the supporting base 10;

[0095] Step S200: obtaining an angle value required to adjust the forward direction of the supporting base 10 according to the azimuth information and the current forward direction of the supporting base 10;

[0096] Step S300: synchronously adjusting the steering angle of each wheel 123 according to the angle value, and controlling each wheel 123 to rotate at the same speed, so that the supporting base 10 is translated to a preset area along the tunnel wall 400 .

[0097] It can be understood that in the steering control method of this embodiment, the azimuth information of the preset area that the supporting base 10 needs to reach relative to the area where the supporting base 10 is currently located is first obtained, wherein the preset area is located at a position higher or lower than the supporting base 10 on the tunnel wall 400, and then, the angle value required to adjust the forward direction of the supporting base 10 is obtained according to the azimuth information and the current forward direction of the supporting base 10, and then, the steering angle of each wheel 123 is synchronously adjusted according to the angle value, and each wheel 123 is controlled to rotate at the same speed, so that the supporting base 10 is translated to the preset area along the tunnel wall 400. In the steering control method of this embodiment, the forward direction of the supporting base 10 can be changed under the premise that its own orientation remains unchanged; thus, when the wall-climbing robot using the supporting base 10 of this embodiment moves vertically on the tunnel wall 400, each wheel 123 on the same side of the width direction of the wall-climbing robot can be arranged along the extension direction of the tunnel to avoid the situation where the wheels 123 of the wall-climbing robot are suspended, thereby improving the stability of the wall-climbing robot during the movement along the tunnel wall 400.

[0098] In some embodiments of the present invention, step S300 also includes but is not limited to the following steps:

[0099] Step S310: Control each wheel 123 to turn, and simultaneously drive each wheel 123 to rotate, so that each wheel 123 synchronously turns to an angle corresponding to the angle value.

[0100] It is understandable that when the wheel 123 turns, the wheel 123 rotates around its own steering axis, but the steering axis of the wheel 123 itself often deviates from the center of the wheel 123 itself; Fig. 9 Taking the first wheel 123A as an example, the steering axis of the first wheel 123A is located on the upper side of its own center. When the first wheel 123A rotates upward, the first wheel 123A needs to rotate upward around its own steering axis. At this time, the first wheel 123A will generate greater sliding friction with the tunnel wall 400, increasing the load of the first driver 300.

[0101] In the steering control method of this embodiment, when the first wheel 123A rotates upward, the first wheel 123A can rotate synchronously to assist the first wheel 123A in steering, thereby generating rolling friction between the first wheel 123A and the tunnel wall 400 to reduce the load of the first driver 300, making the steering of the first wheel 123A smoother.

[0102] Reference below Figure 5 The wall-climbing robot of the fourth embodiment of the present invention is described in detail.

[0103] refer to Figure 5 The wall-climbing robot provided according to the third aspect of the embodiment of the present invention includes the supporting base 10 provided by the second aspect of the embodiment of the present invention; the wall-climbing robot also includes a body 20, and the body 20 is connected to the end of the mounting rod 12b away from the driving mechanism 11.

[0104] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A driving mechanism, characterized in that: include: A wheel assembly, the wheel assembly comprising a bridge frame and a driving wheel structure, the two ends of the bridge frame in the length direction are rotatably connected to a first rotating part of the driving wheel structure, and the driving wheel structure is formed with a first hinge part and a second hinge part respectively located on opposite sides of the first rotating part; A linkage assembly, comprising a first link, a second link, a third link, a fourth link and a connecting structure, wherein the first link, the connecting structure and the second link are hinged end to end in sequence, the third link, the connecting structure and the fourth link are hinged end to end in sequence, the first link and the second link are hinged at opposite ends to each other respectively with one of the first hinged parts, and the third link and the fourth link are hinged at opposite ends to each other respectively with one of the second hinged parts; The first driver is connected to the second rotating part of the connecting structure. When the first driver drives the connecting structure to rotate forward, the first connecting rod and the second connecting rod can respectively pull the driving wheel structure to rotate forward synchronously relative to the bridge. When the first driver drives the connecting structure to rotate reversely, the third connecting rod and the fourth connecting rod can respectively pull the driving wheel structure to rotate reversely synchronously relative to the bridge.

2. A driving mechanism according to claim 1, characterized in that: The connecting structure includes a connecting rod, the middle part of which forms the second rotating part, one end of the connecting rod is hinged to the first connecting rod and the fourth connecting rod respectively, and the other end of the connecting rod is hinged to the second connecting rod and the third connecting rod respectively.

3. A driving mechanism according to claim 2, characterized in that: The first connecting rod and the fourth connecting rod are integrally arranged in the same quality, and the second connecting rod and the third connecting rod are integrally arranged in the same quality.

4. A driving mechanism according to claim 3, characterized in that: The junction of the first connecting rod and the fourth connecting rod is hinged to the third hinged portion at one end of the connecting rod, and the junction of the second connecting rod and the third connecting rod is hinged to the fourth hinged portion at the other end of the connecting rod.

5. A driving mechanism according to claim 4, characterized in that: In one of the driving wheel structures, a first line segment is formed between the first hinged part and the first rotating part, and a second line segment is formed between the first rotating part and the second hinged part; in another of the driving wheel structures, a third line segment is formed between the first hinged part and the first rotating part, and a fourth line segment is formed between the first rotating part and the second hinged part; in the connecting rod, a fifth line segment is formed between the third hinged part and the second rotating part, and a sixth line segment is formed between the fourth hinged part and the second rotating part; the first line segment, the fourth line segment and the fifth line segment are parallel to each other and have the same length, and the second line segment, the third line segment and the sixth line segment are parallel to each other and have the same length.

6. A driving mechanism according to claim 1, characterized in that: The driving wheel structure includes a mounting frame, a second driver and a wheel. The first rotating part, the first hinged part and the second hinged part are formed on the mounting frame. The second driver is arranged on the mounting frame and is transmission-connected to the wheel. The second driver is used to drive the wheel to rotate.

7. A bearing base, characterized in that: It comprises a driving mechanism as described in any one of claims 1 to 6, wherein a plurality of the driving mechanisms are spaced apart along the width direction of the bridge frame; the supporting base further comprises a chassis frame, wherein the chassis frame comprises a reinforcement rod and a plurality of mounting rods, wherein the number of the mounting rods in the chassis frame is the same as the number of the driving mechanisms, one end of the mounting rod is connected to the bridge frame of the driving mechanism, and the other end of the mounting rod is used to be connected to the body of the wall-climbing robot, and the reinforcement rod is respectively connected to each of the mounting rods of the chassis frame.

8. A steering control method, characterized in that: Applied to the bearing base as claimed in claim 7, the steering control method comprises the following steps: Obtaining the position information of a preset area that the bearing base needs to reach relative to the area where the bearing base is currently located, wherein the preset area is located at a position on the tunnel wall that is higher or lower than the bearing base; Obtaining an angle value required to adjust the forward direction of the supporting base according to the orientation information and the current forward direction of the supporting base; The steering angle of each wheel is synchronously adjusted according to the angle value, and each wheel is controlled to rotate at the same speed, so that the bearing base is translated along the tunnel wall to the preset area.

9. A steering control method according to claim 8, characterized in that: The step of synchronously adjusting the steering angle of each wheel according to the angle value further includes the following steps: Each of the wheels is controlled to turn, and each of the wheels is driven to rotate at the same time, so that each of the wheels is synchronously turned to the angle corresponding to the angle value.

10. A wall-climbing robot, characterized in that: It comprises the bearing base as described in claim 7; the wall-climbing robot also comprises a body, and the body is connected to an end of the mounting rod away from the driving mechanism.

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