Driving module and wall-climbing robot

Abstract

The invention relates to the technical field of wall-climbing robots, in particular to a driving module and a wall-climbing robot. The driving module comprises a driving part, a transmission assembly, a first wheel set and a second wheel set, the driving part is provided with a driving shaft, the transmission assembly comprises a first transmission shaft, a second transmission shaft and a third transmission shaft, the first transmission shaft is driven by the driving shaft, and the first transmission shaft and the second transmission shaft are connected through a first driving assembly; the first transmission shaft can drive the second transmission shaft to rotate through the first driving assembly, the first transmission shaft and the third transmission shaft are connected through the second driving assembly, and the first transmission shaft can drive the third transmission shaft to rotate through the second driving assembly; the two first driving wheels are arranged at the two ends of the second transmission shaft respectively, the second wheel set comprises at least two second driving wheels, and the two second driving wheels are arranged at the two ends of the third transmission shaft respectively. The wall-climbing robot comprises the driving module. According to the invention, the operation safety can be ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to a driving module and a wall-climbing robot. Background Art

[0002] A wall-climbing robot is an automated device with mobility and adsorption functions that can move on vertical walls. It can replace manual work in environments such as equipment manufacturing and equipment maintenance. It is especially suitable for dangerous and extreme working environments to replace humans in completing highly repetitive, highly dangerous and high-intensity labor.

[0003] The wall-climbing robot mainly relies on the drive module to move on the wall. At present, the drive module of the wall-climbing robot is usually a single-sided single-wheel structure, that is, the wall-climbing robot mainly relies on two main wheels and auxiliary rear wheels to work against the wall. In the above structure, since the drive module has fewer wheel sets, the contact area between the drive module and the wall is small. If the drive module needs to operate on a curved wall, or if the drive module encounters a situation where it needs to cross an obstacle while moving on the wall, the drive module is prone to slipping out of control, and may even face the risk of falling off the wall, affecting the safety of the operation. Summary of the invention

[0004] The main purpose of the present invention is to propose a drive module and a wall-climbing robot, aiming to solve the technical problems that the contact area between the existing drive module and the working wall is small, it is easy to slip and lose control during movement, and even face falling off the working wall.

[0005] To achieve the above object, the present invention proposes a driving module, which is used for a wall-climbing robot, and comprises:

[0006] frame;

[0007] A driving part, the driving part is arranged on the frame, and the driving part has a driving shaft;

[0008] A transmission assembly, the transmission assembly is arranged on the frame, the transmission assembly comprises a first transmission shaft, a second transmission shaft and a third transmission shaft, the first transmission shaft is driven by the drive shaft, the first transmission shaft and the second transmission shaft are connected through a first drive assembly, the first transmission shaft can drive the second transmission shaft to rotate through the first drive assembly, the first transmission shaft and the third transmission shaft are connected through a second drive assembly, the first transmission shaft can drive the third transmission shaft to rotate through the second drive assembly;

[0009] A first wheel set, wherein the first wheel set includes at least two first driving wheels, and the two first driving wheels are respectively arranged at two ends of the second transmission shaft;

[0010] The second wheel set includes at least two second driving wheels, and the two second driving wheels are respectively arranged at two ends of the third transmission shaft.

[0011] In some embodiments, the first driving assembly includes a first gear and a second gear meshing with each other, the first gear is connected to the first transmission shaft, and the second gear is connected to the second transmission shaft;

[0012] The second driving assembly includes the first gear and the third gear meshing with each other, the first gear is connected to the first transmission shaft, and the third gear is connected to the third transmission shaft.

[0013] In some embodiments, the first drive assembly includes a first pulley and a second pulley connected by a belt, the first pulley is connected to the first transmission shaft, and the second pulley is connected to the second transmission shaft;

[0014] The second driving assembly includes the first pulley and the third pulley connected by belts, the first pulley is connected to the first transmission shaft, and the third pulley is connected to the third transmission shaft.

[0015] In some embodiments, along an axis direction parallel to the second transmission shaft, the distances from the driving part to the two first driving wheels are equal;

[0016] and / or,

[0017] Along an axial direction parallel to the third transmission shaft, the distances from the driving part to the two second driving wheels are equal.

[0018] In some embodiments, a first magnetic attraction portion and a second magnetic attraction portion are disposed on a side of the frame away from the driving portion, and the first magnetic attraction portion and the second magnetic attraction portion are spaced apart from each other along a direction from the first wheel group to the second wheel group.

[0019] In some embodiments, the frame is provided with a first connecting plate and a second connecting plate, the first connecting plate is provided with a first connecting hole, the first magnetic attraction portion is provided with a first connecting piece, the first connecting piece is passed through the first connecting hole to connect the first magnetic attraction portion to the first connecting plate, the second connecting plate is provided with a second connecting hole, the second magnetic attraction portion is provided with a second connecting piece, the second connecting piece is passed through the first connecting hole to connect the second magnetic attraction portion to the second connecting plate;

[0020] Among them, the first magnetic attraction part and the first connecting plate are arranged at a distance, and the first magnetic attraction part is configured to move toward the direction close to the first connecting plate after being subjected to force, and the second magnetic attraction part and the second connecting plate are arranged at a distance, and the second magnetic attraction part is configured to move toward the direction close to the second connecting plate after being subjected to force.

[0021] In some embodiments, the first magnetic attraction portion is provided with a first inclined side wall, a first connecting side wall and a second inclined side wall, the first inclined side wall is connected to one end of the first connecting side wall, the second inclined side wall is connected to the other end of the first connecting side wall, the first inclined side wall is inclined toward the direction close to the first connecting side wall, and the second inclined side wall is inclined toward the direction close to the first connecting side wall;

[0022] The second magnetic attraction portion is provided with a third inclined side wall, a second connecting side wall and a fourth inclined side wall, the third inclined side wall is connected to one end of the second connecting side wall, the fourth inclined side wall is connected to the other end of the second connecting side wall, the third inclined side wall is inclined toward the direction close to the second connecting side wall, and the fourth inclined side wall is inclined toward the direction close to the second connecting side wall.

[0023] In some embodiments, the first inclined sidewall, the first connecting sidewall, and the second inclined sidewall are all smoothly connected, and the third inclined sidewall, the second connecting sidewall, and the fourth inclined sidewall are all smoothly connected.

[0024] In some embodiments, the driving module includes an articulated seat, and the frame is hinged to the articulated seat.

[0025] Correspondingly, the present invention also proposes a wall-climbing robot, comprising:

[0026] Pedestal;

[0027] At least two driving modules described in any one of the above embodiments are disposed on two opposite sides of the base respectively.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] In the technical solution of the present invention, when the driving module moves on the working wall, the driving shaft of the driving unit will drive the first transmission shaft to rotate. The first transmission shaft, as the active shaft, will drive the second transmission shaft to rotate through the first driving assembly, and will drive the third transmission shaft to rotate through the second driving assembly. When the second transmission shaft rotates, it will drive the first driving wheels at both ends to rotate, and when the third transmission shaft rotates, it will drive the second driving wheels at both ends to rotate. Since the second transmission shaft and the third transmission shaft are both driven shafts of the first transmission shaft, and the first transmission shaft can drive the second transmission shaft and the third transmission shaft to rotate at the same time, the second transmission shaft and the third transmission shaft have the same rotation direction and rotation speed, that is, the first driving wheel and the second driving wheel have the same rotation direction and rotation speed, thereby ensuring the consistency and coordination of the first driving wheel and the second driving wheel during rotation, and improving the stability of the driving module during movement.

[0030] In the present invention, the driving module has at least two first driving wheels and at least two second driving wheels, that is, the driving module has multiple driving wheels. When the driving module is operating on a vertical wall, multiple driving wheels can contact the operating wall at the same time, thereby increasing the contact area between the driving module and the operating wall. Even when the driving module is operating on a curved wall, or even when the driving module encounters an obstacle during its movement, since multiple driving wheels are in contact with the operating wall, the driving module will not slip or lose control during its movement or direction change on the operating wall, which is beneficial to improving the movement stability of the driving module, preventing the driving module from falling off the operating wall, and ensuring the safety of the driving module when operating on the wall. In addition, under the driving action of the driving unit, the transmission assembly will drive multiple driving wheels to rotate in the same direction and speed, which not only simplifies the driving structure of the driving module, but also helps to improve the coordination and stability of the driving module during movement.

[0031] A wall-climbing robot using the above-mentioned drive module can increase the contact area with the working wall, thereby helping to improve the stability of the wall-climbing robot during movement, prevent the wall-climbing robot from slipping and losing control during movement, and prevent the wall-climbing robot from falling off the working wall, thereby ensuring the operating safety of the wall-climbing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0033] Figure 1A schematic diagram of the overall structure of a driving module provided by an embodiment of the present invention at a first viewing angle;

[0034] Figure 2 A schematic diagram of the overall structure of a driving module provided by an embodiment of the present invention at a second viewing angle;

[0035] Figure 3 A schematic diagram of the overall structure of a driving module provided by an embodiment of the present invention at a third viewing angle;

[0036] Figure 4 A schematic diagram of the overall structure of a driving module provided by an embodiment of the present invention at a fourth viewing angle, wherein part of the structure is hidden to show the internal structure of the transmission assembly;

[0037] Figure 5 A schematic diagram of the overall structure of a wall-climbing robot provided in one embodiment of the present invention.

[0038] Description of Figure Numbers:

[0039] 10. Driver module;

[0040] 100, rack;

[0041] 110, first connecting plate; 120, second connecting plate;

[0042] 111. first connecting hole;

[0043] 121. Second connecting hole;

[0044] 200, driving unit;

[0045] 210. Reducer;

[0046] 300, transmission assembly;

[0047] 310, first transmission shaft; 320, second transmission shaft; 330, third transmission shaft; 340, first drive assembly; 350, second drive assembly;

[0048] 341, first gear; 342, second gear;

[0049] 351, third gear;

[0050] 400, first round group;

[0051] 410, first driving wheel;

[0052] 500, second wheel group;

[0053] 510, second driving wheel;

[0054] 600, a first magnetic attraction portion;

[0055] 610, first inclined side wall; 620, second inclined side wall; 630, first connecting side wall; 640, first connecting member;

[0056] 700, second magnetic attraction unit;

[0057] 710, third inclined side wall; 720, fourth inclined side wall; 730, second connecting side wall; 740, second connecting member;

[0058] 800, articulated seat;

[0059] 20. Wall climbing robot;

[0060] 21. Base.

[0061] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0064] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or", "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0065] A wall-climbing robot is an automated device with mobility and adsorption functions that can move on vertical walls. It can replace manual work in environments such as equipment manufacturing and equipment maintenance. It is especially suitable for dangerous and extreme working environments to replace humans in completing highly repetitive, highly dangerous and high-intensity labor.

[0066] The wall-climbing robot mainly relies on the drive module to move on the wall. At present, the drive module of the wall-climbing robot is usually a single-sided single-wheel structure, that is, the wall-climbing robot mainly relies on two main wheels and auxiliary rear wheels to work against the wall. In the above structure, since the drive module has fewer wheel sets, the contact area between the drive module and the wall is small. If the drive module needs to operate on a curved wall, or if the drive module encounters a situation where it needs to cross an obstacle while moving on the wall, the drive module is prone to slipping out of control, and may even face the risk of falling off the wall, affecting the safety of the operation.

[0067] Based on this, in order to solve the technical problem that the contact area between the existing driving module 10 and the working wall is small, it is easy to slip and lose control during the movement, and even face the problem of falling off the working wall, refer to Figures 1 to 4An embodiment of the present invention provides a driving module 10, which is used for a wall-climbing robot 20. By way of example, for example, the driving module 10 can be installed on a single side of the wall-climbing robot 20, that is, the driving module 10 can serve as one of the driving wheel hubs of the wall-climbing robot 20. The driving module 10 includes a frame 100, a driving unit 200, a transmission assembly 300, a first wheel set 400, and a second wheel set 500. The frame 100 is a supporting skeleton of the overall structure, and the frame 100 can provide installation points for most of the structures in the driving module 10, so as to integrate most of the structures in the driving module 10 into one. The driving unit 200 is disposed on the frame 100, and the driving unit 200 has a driving shaft. By way of example, for example, the driving unit 200 can be a driving motor. As a power source of the driving module 10, the driving unit 200 can drive the driving module 10 to move. The drive shaft may be connected to a reducer 210, through which the speed of the drive shaft can be reduced and the output torque can be increased, thereby improving the stability and output efficiency of the drive shaft output, and ensuring the stability of the drive module 10 during movement. The transmission assembly 300 is arranged on the frame 100, and the transmission assembly 300 includes a first transmission shaft 310, a second transmission shaft 320 and a third transmission shaft 330. The first transmission shaft 310 is driven by the drive shaft, and the first transmission shaft 310 and the second transmission shaft 320 are connected through a first driving assembly 340. The first transmission shaft 310 can drive the second transmission shaft 320 to rotate through the first driving assembly 340. The first transmission shaft 310 and the third transmission shaft 330 are connected through a second driving assembly 350, and the first transmission shaft 310 can drive the third transmission shaft 330 to rotate through the second driving assembly 350. The lengths of the second transmission shaft 320 and the third transmission shaft 330 can be equal to ensure that the first wheel group 400 and the second wheel group 500 are aligned in the front-to-back direction. The first wheel set 400 includes at least two first driving wheels 410, which are respectively disposed at both ends of the second transmission shaft 320. The second wheel set 500 includes at least two second driving wheels 510, which are respectively disposed at both ends of the third transmission shaft 330. The first driving wheel 410 and the second driving wheel 510 can both be rubber wheels.

[0068] Specifically, in this embodiment, when the driving module 10 moves on the working wall, the driving shaft of the driving unit 200 drives the first transmission shaft 310 to rotate. The first transmission shaft 310, as the driving shaft, drives the second transmission shaft 320 to rotate through the first driving assembly 340, and drives the third transmission shaft 330 to rotate through the second driving assembly 350. When the second transmission shaft 320 rotates, the first driving wheels 410 at both ends thereof are driven to rotate, and when the third transmission shaft 330 rotates, the second driving wheels 510 at both ends thereof are driven to rotate. Since the second transmission shaft 320 and the third transmission shaft 330 are both driven shafts of the first transmission shaft 310, and the first transmission shaft 310 can drive the second transmission shaft 320 and the third transmission shaft 330 to rotate simultaneously, the second transmission shaft 320 and the third transmission shaft 330 have the same rotation direction and rotation speed, that is, the first driving wheel 410 and the second driving wheel 510 have the same rotation direction and rotation speed, thereby ensuring the consistency and coordination of the first driving wheel 410 and the second driving wheel 510 during rotation, and improving the stability of the driving module 10 during movement.

[0069] In this embodiment, the drive module 10 has at least two first drive wheels 410 and at least two second drive wheels 510, that is, the drive module 10 has multiple drive wheels. When the drive module 10 is operating on a vertical wall, multiple drive wheels can contact the operating wall at the same time, thereby increasing the contact area between the drive module 10 and the operating wall. Even when the drive module 10 is operating on a curved wall, or even when the drive module 10 encounters an obstacle during its movement, since multiple drive wheels are in contact with the operating wall, the drive module 10 will not slip or lose control during its movement or reversal on the operating wall, which is beneficial to improving the motion stability of the drive module 10, preventing the drive module 10 from falling off the operating wall, and ensuring the safety of the drive module 10 when operating on the wall. In addition, under the driving action of the drive unit 200, the transmission assembly 300 will drive multiple drive wheels to rotate in the same rotation direction and rotation speed, which not only simplifies the drive structure of the drive module 10, but also helps to improve the coordination and stability of the drive module 10 during movement.

[0070] In some embodiments, reference Figure 4 The first driving assembly 340 includes a first gear 341 and a second gear 342 meshing with each other, the first gear 341 is connected to the first transmission shaft 310, and the second gear 342 is connected to the second transmission shaft 320. The second driving assembly 350 includes a first gear 341 and a third gear 351 meshing with each other, the first gear 341 is connected to the first transmission shaft 310, and the third gear 351 is connected to the third transmission shaft 330.

[0071] Specifically, in the present embodiment, when the first transmission shaft 310 is driven to rotate, the first transmission shaft 310 will drive the first gear 341 to rotate. Since the first gear 341 and the second gear 342 are meshed with each other, the first gear 341, as a driving gear, can drive the second gear 342 to rotate. Since the second transmission shaft 320 is connected to the second gear 342, the second gear 342 can drive the second transmission shaft 320 to rotate, and the first wheel set 400 can be driven to rotate through the second transmission shaft 320. At the same time, since the first gear 341 and the third gear 351 are meshed with each other, the first gear 341, as a driving gear, can drive the third gear 351 to rotate. Since the third transmission shaft 330 is connected to the third gear 351, the third gear 351 can drive the third transmission shaft 330 to rotate, and the second wheel set 500 can be driven to rotate through the third transmission shaft 330.

[0072] Gear transmission between the first transmission shaft 310 and the second transmission shaft 320, and gear transmission between the first transmission shaft 310 and the third transmission shaft 330 can improve the stability and efficiency of the transmission process and ensure the rotation stability and rotation accuracy of the first wheel group 400 and the second wheel group 500.

[0073] In some embodiments, the first drive assembly 340 includes a first pulley and a second pulley connected by a belt, the first pulley is connected to the first transmission shaft 310, and the second pulley is connected to the second transmission shaft 320. The second drive assembly 350 includes a first pulley and a third pulley connected by a belt, the first pulley is connected to the first transmission shaft 310, and the third pulley is connected to the third transmission shaft 330.

[0074] Specifically, in the present embodiment, when the first transmission shaft 310 is driven to rotate, the first transmission shaft 310 will drive the first pulley to rotate. Since the first pulley and the second pulley are connected by a belt, the first pulley, as a driving pulley, can drive the second pulley to rotate. Since the second transmission shaft 320 is connected to the second pulley, the second pulley can drive the second transmission shaft 320 to rotate, and the first wheel set 400 can be driven to rotate through the second transmission shaft 320. At the same time, since the first pulley is connected to the third pulley, the first pulley, as a driving pulley, can drive the third pulley to rotate. Since the third transmission shaft 330 is connected to the third pulley, the third pulley can drive the third transmission shaft 330 to rotate, and the second wheel set 500 can be driven to rotate through the third transmission shaft 330.

[0075] The first transmission shaft 310 and the second transmission shaft 320 are driven by a pulley, and the first transmission shaft 310 and the third transmission shaft 330 are driven by a pulley, which can absorb some impact and vibration of the first wheel set 400 and the second wheel set 500 during movement, and ensure the rotation stability of the first wheel set 400 and the second wheel set 500. In addition, the belt transmission structure is relatively flexible and can adapt to the larger distance between the first transmission shaft 310 and the second transmission shaft 320, and between the first transmission shaft 310 and the third transmission shaft 330, increase the center distance between the first wheel set 400 and the second wheel set 500, and reduce the difficulty of structural design of the driving module 10.

[0076] In some embodiments, reference Figure 1 and Figure 2 , along the axis direction parallel to the second transmission shaft 320 , the distances from the driving unit 200 to the two first driving wheels 410 are equal. And / or, along the axis direction parallel to the third transmission shaft 330 , the distances from the driving unit 200 to the two second driving wheels 510 are equal.

[0077] Specifically, in this embodiment, since the driving unit 200 will inevitably generate vibrations during operation, arranging the driving unit 200 in the center relative to the two first driving wheels 410 or relative to the two second driving wheels 510 is beneficial to ensuring the force balance of the two first driving wheels 410 or the two second driving wheels 510, thereby facilitating improving the movement stability of the driving module 10.

[0078] In some embodiments, reference Figure 3 and Figure 4 A first magnetic attraction portion 600 and a second magnetic attraction portion 700 are provided on one side of the frame 100 away from the driving portion 200. The first magnetic attraction portion 600 and the second magnetic attraction portion 700 may be permanent magnets. The first magnetic attraction portion 600 and the second magnetic attraction portion 700 are spaced apart in a direction from the first wheel group 400 to the second wheel group 500.

[0079] Specifically, in this embodiment, the working wall of the driving module 10 is generally a metal wall or a magnetic wall, so the first magnetic attraction part 600 and the second magnetic attraction part 700 can be used to stably adsorb the driving module 10 on the vertical working wall, ensuring that the driving module 10 will not fall off the vertical working wall. Since the first wheel group 400 and the second wheel group 500 are arranged front and back along the direction in which the driving module 10 moves, the first magnetic attraction part 600 and the second magnetic attraction part 700 are arranged at intervals along the direction from the first wheel group 400 to the second wheel group 500, so that a magnetic attraction part is provided at each of the first wheel group 400 and the second wheel group 500, which can improve the adsorption force between the first wheel group 400, the second wheel group 500 and the working wall, and ensure the adsorption stability between the first wheel group 400, the second wheel group 500 and the working wall. Regardless of whether it is a flat working wall, a curved working wall, or crossing an obstacle, the above structure can ensure that the first wheel group 400 and the second wheel group 500 fit better to the working wall, preventing the drive module 10 from being offset or even falling off from the working wall due to suspension between the first wheel group 400 or the second wheel group 500 and the working wall, thereby ensuring the operating safety of the drive module 10.

[0080] In some embodiments, reference Figure 1 and Figure 2 The frame 100 is provided with a first connecting plate 110 and a second connecting plate 120, the first connecting plate 110 is provided with a first connecting hole 111, the first magnetic attraction portion 600 is provided with a first connecting member 640, the first connecting member 640 is passed through the first connecting hole 111, so as to connect the first magnetic attraction portion 600 to the first connecting plate 110, the second connecting plate 120 is provided with a second connecting hole 121, and the second magnetic attraction portion 700 is provided with a second connecting member 740, the second connecting member 740 is passed through the first connecting hole 111, so as to connect the second magnetic attraction portion 700 to the second connecting plate 120. Among them, the first magnetic attraction portion 600 and the first connecting plate 110 are arranged at intervals, and the first magnetic attraction portion 600 is configured to move in a direction close to the first connecting plate 110 after receiving a force, and the second magnetic attraction portion 700 and the second connecting plate 120 are arranged at intervals, and the second magnetic attraction portion 700 is configured to move in a direction close to the second connecting plate 120 after receiving a force.

[0081] One end of the first connecting member 640 away from the first magnetic attraction portion 600 can be connected to the first connecting plate 110 through a nut, and the first magnetic attraction portion 600 can be hung on the first connecting member 640, so that the first magnetic attraction portion 600 can slide along the first connecting member 640 after being subjected to force. One end of the second connecting member 740 away from the second magnetic attraction portion 700 can be connected to the second connecting plate 120 through a nut, and the second magnetic attraction portion 700 can be hung on the second connecting member 740, so that the second magnetic attraction portion 700 can slide along the second connecting member 740 after being subjected to force.

[0082] Specifically, in this embodiment, since the first magnetic attraction part 600 and the second magnetic attraction part 700 are arranged in the direction close to the working wall, in order to avoid the first magnetic attraction part 600 or the second magnetic attraction part 700 being stuck with the obstacle when the driving module 10 encounters an obstacle during the movement, thereby affecting the movement of the driving module 10, the first magnetic attraction part 600 and the second magnetic attraction part 700 adopt a floating design. When the first magnetic attraction part 600 or the second magnetic attraction part 700 contacts the obstacle, the first magnetic attraction part 600 or the second magnetic attraction part 700 will be subjected to the squeezing force perpendicular to the working wall provided by the obstacle. Under the action of the squeezing force, the first magnetic attraction part 600 can move along the first connecting member 640 towards the direction close to the first connecting plate 110, and the second magnetic attraction part 700 can move along the second connecting member 740 towards the direction close to the second connecting plate 120, so that the first magnetic attraction part 600 or the second magnetic attraction part 700 can avoid the obstacle and ensure the smooth movement of the driving module 10 on the working wall. When the driving module 10 moves to an area where no obstacles exist, the first magnetic attraction portion 600 and the second magnetic attraction portion 700 can be restored to their initial states due to the magnetic attraction force of the working wall.

[0083] In other embodiments, a first spring may be provided between the first magnetic portion 600 and the first connecting plate 110, and the first spring will be compressed when the first magnetic portion 600 moves toward the first connecting plate 110. When the first magnetic portion 600 passes over an obstacle, the first magnetic portion 600 is no longer subjected to the extrusion force, and at this time, the first spring has a tendency to restore elastic deformation. Under the elastic force of the first spring, the first magnetic portion 600 can be restored to its initial state to shorten the distance between the first magnetic portion 600 and the working wall surface, improve the adsorption force between the first magnetic portion 600 and the working wall surface, and ensure the adsorption stability between the driving module 10 and the working wall surface.

[0084] Similarly, a second spring may be provided between the second magnetic attraction portion 700 and the second connecting plate 120, and when the second magnetic attraction portion 700 moves toward the direction close to the second connecting plate 120, the second spring will be compressed. When the second magnetic attraction portion 700 passes over an obstacle, the second magnetic attraction portion 700 is no longer subjected to the extrusion force, and at this time, the second spring has a tendency to restore elastic deformation. Under the elastic force of the second spring, the second magnetic attraction portion 700 can be restored to its initial state, so as to shorten the distance between the second magnetic attraction portion 700 and the working wall surface, improve the adsorption force between the second magnetic attraction portion 700 and the working wall surface, and ensure the adsorption stability between the driving module 10 and the working wall surface.

[0085] In some embodiments, reference Figure 3 and Figure 4The first magnetic attraction portion 600 is provided with a first inclined side wall 610, a first connecting side wall 630 and a second inclined side wall 620. The first inclined side wall 610 is connected to one end of the first connecting side wall 630, and the second inclined side wall 620 is connected to the other end of the first connecting side wall 630. The first inclined side wall 610 is inclined in a direction close to the first connecting side wall 630, and the second inclined side wall 620 is inclined in a direction close to the first connecting side wall 630.

[0086] The second magnetic attraction portion 700 is provided with a third inclined side wall 710, a second connecting side wall 730 and a fourth inclined side wall 720. The third inclined side wall 710 is connected to one end of the second connecting side wall 730, and the fourth inclined side wall 720 is connected to the other end of the second connecting side wall 730. The third inclined side wall 710 is inclined in a direction close to the second connecting side wall 730, and the fourth inclined side wall 720 is inclined in a direction close to the second connecting side wall 730.

[0087] Specifically, in this embodiment, when the first magnetic part 600 encounters an obstacle, the first inclined side wall 610 or the second inclined side wall 620 will first contact the obstacle. At this time, the first magnetic part 600 will be subjected to an extrusion force perpendicular to the first inclined side wall 610 or perpendicular to the second inclined side wall 620, and the above-mentioned extrusion force will have a component force in the direction perpendicular to the working wall surface. Under the action of the component force, the first magnetic part 600 can move along the first connecting member 640 toward the direction close to the first connecting plate 110, so that the first magnetic part 600 can avoid the obstacle and prevent the first magnetic part 600 and the obstacle from being stuck, affecting the movement of the drive module 10.

[0088] Similarly, when the second magnetic part 700 encounters an obstacle, the third inclined side wall 710 or the fourth inclined side wall 720 will first contact the obstacle. At this time, the second magnetic part 700 will be subjected to an extrusion force perpendicular to the third inclined side wall 710 or perpendicular to the fourth inclined side wall 720, and the above-mentioned extrusion force will have a component force in the direction perpendicular to the working wall surface. Under the action of the component force, the second magnetic part 700 can move along the second connecting member 740 toward the direction close to the second connecting plate 120, so that the second magnetic part 700 can avoid the obstacle and prevent the second magnetic part 700 and the obstacle from being stuck, affecting the movement of the drive module 10.

[0089] In some embodiments, the first inclined sidewall 610 , the first connecting sidewall 630 , and the second inclined sidewall 620 are all smoothly connected, and the third inclined sidewall 710 , the second connecting sidewall 730 , and the fourth inclined sidewall 720 are all smoothly connected.

[0090] Specifically, in this embodiment, the first magnetic attraction part 600 and the second magnetic attraction part 700 adopt the above structure, which can reduce the contact resistance between the obstacles, thereby facilitating the avoidance of the first magnetic attraction part 600 and the second magnetic attraction part 700, and ensuring that the driving module 10 can smoothly pass through the obstacles. Moreover, even if the positions of the first magnetic attraction part 600 and the second magnetic attraction part 700 are changed, there is still a magnetic attraction force between the first magnetic attraction part 600, the second magnetic attraction part 700 and the working wall surface, which is conducive to ensuring the adsorption stability of the driving module 10 when passing through obstacles.

[0091] In some embodiments, reference Figure 3 The driving module 10 includes an articulated seat 800 , and the frame 100 is hinged to the articulated seat 800 .

[0092] Specifically, in this embodiment, when the driving module 10 moves on a curved working wall, or when the driving module 10 encounters an obstacle, the frame 100 will drive the overall structure to rotate through the hinge seat 800, thereby realizing the self-floating of the driving module 10, so that the driving module 10 can better adapt to the working wall and improve the stability of the driving module 10 during operation.

[0093] Correspondingly, another embodiment of the present invention further provides a wall-climbing robot 20, referring to Figure 5 The wall-climbing robot 20 includes a base 21 and at least two driving modules 10 in any of the above embodiments. The two driving modules 10 are respectively arranged on two opposite sides of the base 21.

[0094] Specifically, in the present embodiment, the wall-climbing robot 20 using the above-mentioned driving module 10 can increase the contact area between the wall and the working wall, thereby helping to improve the stability of the wall-climbing robot 20 during movement, preventing the wall-climbing robot 20 from slipping and losing control during movement, and preventing the wall-climbing robot 20 from falling off the working wall, thereby ensuring the operating safety of the wall-climbing robot 20.

[0095] Benefiting from the improvement of the above-mentioned driving module 10, the wall-climbing robot 20 of this embodiment has the same technical effect as the above-mentioned driving module 10, which will not be described in detail here.

[0096] It should be noted that other contents of the driving module 10 and the wall-climbing robot 20 disclosed in the present invention can be found in the prior art and will not be described in detail here.

[0097] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A driving module, characterized in that: For a wall-climbing robot, the driving module comprises: frame; A driving part, the driving part is arranged on the frame, and the driving part has a driving shaft; A transmission assembly, the transmission assembly is arranged on the frame, the transmission assembly comprises a first transmission shaft, a second transmission shaft and a third transmission shaft, the first transmission shaft is driven by the drive shaft, the first transmission shaft and the second transmission shaft are connected through a first drive assembly, the first transmission shaft can drive the second transmission shaft to rotate through the first drive assembly, the first transmission shaft and the third transmission shaft are connected through a second drive assembly, the first transmission shaft can drive the third transmission shaft to rotate through the second drive assembly; A first wheel set, wherein the first wheel set includes at least two first driving wheels, and the two first driving wheels are respectively arranged at two ends of the second transmission shaft; The second wheel set includes at least two second driving wheels, and the two second driving wheels are respectively arranged at two ends of the third transmission shaft.

2. The driving module according to claim 1, characterized in that: The first driving assembly includes a first gear and a second gear meshing with each other, the first gear is connected to the first transmission shaft, and the second gear is connected to the second transmission shaft; The second driving assembly includes the first gear and the third gear meshing with each other, the first gear is connected to the first transmission shaft, and the third gear is connected to the third transmission shaft.

3. The driving module according to claim 1, characterized in that: The first drive assembly includes a first pulley and a second pulley connected by a belt, the first pulley is connected to the first transmission shaft, and the second pulley is connected to the second transmission shaft; The second driving assembly includes the first pulley and the third pulley connected by belts, the first pulley is connected to the first transmission shaft, and the third pulley is connected to the third transmission shaft.

4. The driving module according to claim 1, characterized in that: Along the axial direction parallel to the second transmission shaft, the distances from the driving part to the two first driving wheels are equal; and / or, Along an axial direction parallel to the third transmission shaft, the distances from the driving part to the two second driving wheels are equal.

5. The driving module according to claim 1, characterized in that: A first magnetic attraction portion and a second magnetic attraction portion are disposed at a side of the frame away from the driving portion, and the first magnetic attraction portion and the second magnetic attraction portion are spaced apart from each other along a direction from the first wheel group to the second wheel group.

6. The driving module according to claim 5, characterized in that: The frame is provided with a first connecting plate and a second connecting plate, the first connecting plate is provided with a first connecting hole, the first magnetic attraction portion is provided with a first connecting piece, the first connecting piece is passed through the first connecting hole to connect the first magnetic attraction portion to the first connecting plate, the second connecting plate is provided with a second connecting hole, the second magnetic attraction portion is provided with a second connecting piece, the second connecting piece is passed through the first connecting hole to connect the second magnetic attraction portion to the second connecting plate; Among them, the first magnetic attraction part and the first connecting plate are arranged at a distance, and the first magnetic attraction part is configured to move toward the direction close to the first connecting plate after being subjected to force, and the second magnetic attraction part and the second connecting plate are arranged at a distance, and the second magnetic attraction part is configured to move toward the direction close to the second connecting plate after being subjected to force.

7. The driving module according to claim 5, characterized in that: The first magnetic attraction portion is provided with a first inclined side wall, a first connecting side wall and a second inclined side wall, the first inclined side wall is connected to one end of the first connecting side wall, the second inclined side wall is connected to the other end of the first connecting side wall, the first inclined side wall is inclined toward the direction close to the first connecting side wall, and the second inclined side wall is inclined toward the direction close to the first connecting side wall; The second magnetic attraction portion is provided with a third inclined side wall, a second connecting side wall and a fourth inclined side wall, the third inclined side wall is connected to one end of the second connecting side wall, the fourth inclined side wall is connected to the other end of the second connecting side wall, the third inclined side wall is inclined toward the direction close to the second connecting side wall, and the fourth inclined side wall is inclined toward the direction close to the second connecting side wall.

8. The driving module according to claim 7, characterized in that: The first inclined side wall, the first connecting side wall and the second inclined side wall are all smoothly connected, and the third inclined side wall, the second connecting side wall and the fourth inclined side wall are all smoothly connected.

9. The driving module according to any one of claims 1 to 8, characterized in that: The driving module comprises an articulated seat, and the frame is hinged to the articulated seat.

10. A wall-climbing robot, characterized in that: include: Pedestal; At least two driving modules according to any one of claims 1 to 9, wherein the two driving modules are respectively arranged on two opposite sides of the base.

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