Driving module and wall-climbing robot

Abstract

The present application relates to wall-climbing robot technical field, especially to a kind of drive module and wall-climbing robot.This drive module includes drive part, transmission assembly, first wheel group and second wheel group, drive part has drive shaft, transmission assembly includes first transmission shaft, second transmission shaft and third transmission shaft, first transmission shaft is driven by drive shaft, first transmission shaft and second transmission shaft are connected by first drive assembly, first transmission shaft can drive second transmission shaft to rotate by first drive assembly, first transmission shaft and third transmission shaft are connected by second drive assembly, first transmission shaft can drive third transmission shaft to rotate by second drive assembly, first wheel group includes at least two first drive wheels, two first drive wheels are respectively arranged at the two ends of second transmission shaft, second wheel group includes at least two second drive wheels, two second drive wheels are respectively arranged at the two ends of third transmission shaft.The wall-climbing robot includes the above-mentioned drive module.The present application can guarantee operation safety.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, and in particular to a drive module and a wall-climbing robot. Background Technology

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

[0003] Wall-climbing robots primarily rely on drive modules to move along wall surfaces. Currently, the drive modules of wall-climbing robots are typically single-wheeled on one side, meaning the robot mainly relies on two main wheels and an auxiliary rear wheel to maintain contact with the wall. In this structure, because the drive module has fewer wheels, the contact area between the drive module and the wall surface is small. If the drive module needs to operate on curved walls, or if it encounters obstacles while moving along the wall, it is prone to slipping and losing control, and may even detach from the wall, compromising operational safety. Summary of the Invention

[0004] The main objective of this invention is to propose a drive module and a wall-climbing robot, which aims to solve the technical problems of existing drive modules having a small contact area with the working wall, making them prone to slipping and losing control during movement, and even facing the risk of falling off the working wall.

[0005] To achieve the above objectives, the present invention proposes a drive module for a wall-climbing robot, the drive module comprising:

[0006] frame;

[0007] A drive unit is disposed on the frame and has a drive shaft;

[0008] A transmission assembly is disposed on the frame. The transmission assembly includes 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] The first wheel set includes at least two first drive wheels, which are respectively disposed at both ends of the second transmission shaft;

[0010] The second wheel assembly includes at least two second drive wheels, which are respectively disposed at both ends of the third drive shaft.

[0011] In some embodiments, the first drive assembly includes a first gear and a second gear that mesh with each other, the first gear being connected to the first drive shaft and the second gear being connected to the second drive shaft;

[0012] The second drive assembly includes a first gear and a third gear that mesh with each other, the first gear being connected to the first drive shaft and the third gear being connected to the third drive shaft.

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

[0014] The second drive assembly includes a first pulley and a third pulley connected by a belt, the first pulley being connected to the first drive shaft, and the third pulley being connected to the third drive shaft.

[0015] In some embodiments, the distance from the drive unit to the two first drive wheels is equal along an axial direction parallel to the second drive shaft;

[0016] And / or,

[0017] Along the axial direction parallel to the third drive shaft, the distance from the drive unit to the two second drive wheels is equal.

[0018] In some embodiments, a first magnetic attraction part and a second magnetic attraction part are provided on the side of the frame away from the drive unit, and the first magnetic attraction part and the second magnetic attraction part are spaced apart along the direction from the first wheel set to the second wheel set.

[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, and the first magnetic suction part is provided with a first connecting member. The first connecting member passes through the first connecting hole to connect the first magnetic suction part to the first connecting plate. The second connecting plate is provided with a second connecting hole, and the second magnetic suction part is provided with a second connecting member. The second connecting member passes through the first connecting hole to connect the second magnetic suction part to the second connecting plate.

[0020] The first magnetic attraction part and the first connecting plate are spaced apart, and the first magnetic attraction part is configured to move toward the first connecting plate after being subjected to force. The second magnetic attraction part and the second connecting plate are spaced apart, and the second magnetic attraction part is configured to move toward the second connecting plate after being subjected to force.

[0021] In some embodiments, the first magnetic suction part is provided with a first inclined sidewall, a first connecting sidewall and a second inclined sidewall. The first inclined sidewall is connected to one end of the first connecting sidewall, and the second inclined sidewall is connected to the other end of the first connecting sidewall. The first inclined sidewall is inclined in a direction close to the first connecting sidewall, and the second inclined sidewall is inclined in a direction close to the first connecting sidewall.

[0022] The second magnetic suction part is provided with a third inclined sidewall, a second connecting sidewall and a fourth inclined sidewall. The third inclined sidewall is connected to one end of the second connecting sidewall, and the fourth inclined sidewall is connected to the other end of the second connecting sidewall. The third inclined sidewall is inclined towards the second connecting sidewall, and the fourth inclined sidewall is inclined towards the second connecting sidewall.

[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 drive module includes a hinge mount to which the frame is hinged.

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

[0026] Base;

[0027] At least two drive modules as described in any of the above embodiments, wherein the two drive modules are respectively disposed on opposite sides of the base.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

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

[0030] In this invention, the drive module has at least two first drive wheels and at least two second drive wheels, meaning the drive module has multiple drive wheels. When the drive module operates on a vertical wall surface, multiple drive wheels can simultaneously contact the working wall surface, thereby increasing the contact area between the drive module and the working wall surface. Even when the drive module operates on a curved wall surface, or even when the drive module encounters obstacles during its movement, the presence of multiple drive wheels in contact with the working wall surface prevents slippage and loss of control during movement or reversal on the working wall surface. This improves the motion stability of the drive module, prevents it from detaching from the working wall surface, and ensures the safety of the drive module when operating on the wall surface. Furthermore, under the driving action of the drive unit, the transmission assembly drives multiple drive wheels to rotate in the same direction and speed, which not only simplifies the drive structure of the drive module but also improves the coordination and stability of the drive module's movement.

[0031] The wall-climbing robot using the aforementioned drive module can increase the contact area between itself and the working wall, thereby improving the stability of the wall-climbing robot during movement, preventing it from slipping and losing control, avoiding it from falling off the working wall, and ensuring the safety of the wall-climbing robot during operation. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0033] Figure 1This is a schematic diagram of the overall structure of a driving module provided in an embodiment of the present invention from a first-view perspective.

[0034] Figure 2 This is a schematic diagram of the overall structure of a driving module provided in an embodiment of the present invention from a second perspective.

[0035] Figure 3 This is a schematic diagram of the overall structure of a driving module provided in an embodiment of the present invention from a third-person perspective.

[0036] Figure 4 This is a schematic diagram of the overall structure of a drive module provided in an embodiment of the present invention from a fourth perspective, wherein some structures are hidden to show the internal structure of the transmission component;

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

[0038] Explanation of icon 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. Drive unit;

[0045] 210. Speed ​​reducer;

[0046] 300. Transmission components;

[0047] 310, First drive shaft; 320, Second drive shaft; 330, Third drive shaft; 340, First drive assembly; 350, Second drive assembly;

[0048] 341. First gear; 342. Second gear;

[0049] 351. The third gear;

[0050] 400, First Round Group;

[0051] 410. First drive wheel;

[0052] 500, Second Round Group;

[0053] 510. Second drive wheel;

[0054] 600. First magnetic attraction part;

[0055] 610. First inclined sidewall; 620. Second inclined sidewall; 630. First connecting sidewall; 640. First connector;

[0056] 700. Second magnetic attraction part;

[0057] 710. Third inclined sidewall; 720. Fourth inclined sidewall; 730. Second connecting sidewall; 740. Second connecting member;

[0058] 800, hinged base;

[0059] 20. Wall-climbing robot;

[0060] 21. Base.

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

[0062] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort 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 positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0064] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or," "and / or," or "and / or" throughout the text implies three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

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

[0066] Wall-climbing robots primarily rely on drive modules to move along wall surfaces. Currently, the drive modules of wall-climbing robots are typically single-wheeled on one side, meaning the robot mainly relies on two main wheels and an auxiliary rear wheel to maintain contact with the wall. In this structure, because the drive module has fewer wheels, the contact area between the drive module and the wall surface is small. If the drive module needs to operate on curved walls, or if it encounters obstacles while moving along the wall, it is prone to slipping and losing control, and may even detach from the wall, compromising operational safety.

[0067] Based on this, in order to solve the technical problem that the existing drive module 10 has a small contact area with the working wall surface, making it prone to slipping and loss of control during movement, and even facing the risk of detaching from the working wall surface, referring to... Figures 1 to 4An embodiment of the present invention provides a drive module 10 for a wall-climbing robot 20. Exemplarily, for example, the drive module 10 can be installed on one side of the wall-climbing robot 20, that is, the drive module 10 can serve as one of the drive hubs of the wall-climbing robot 20. The drive module 10 includes a frame 100, a drive unit 200, a transmission assembly 300, a first wheel set 400, and a second wheel set 500. The frame 100 is the supporting skeleton of the overall structure, and the frame 100 can provide mounting points for most of the structures in the drive module 10, so as to integrate most of the structures in the drive module 10 into one unit. The drive unit 200 is disposed on the frame 100, and the drive unit 200 has a drive shaft. Exemplarily, for example, the drive unit 200 can be a drive motor. The drive unit 200 serves as the power source of the drive module 10 and is capable of driving the drive module 10 to move. The drive shaft can be connected to a reducer 210, which reduces the speed of the drive shaft and increases the output torque, improving the stability and efficiency of the drive shaft output and ensuring the smoothness of the drive module 10 during movement. A transmission assembly 300 is mounted on the frame 100 and includes a first drive shaft 310, a second drive shaft 320, and a third drive shaft 330. The first drive shaft 310 is driven by the drive shaft. The first drive shaft 310 and the second drive shaft 320 are connected via a first drive assembly 340, allowing the first drive shaft 310 to drive the second drive shaft 320 to rotate. The first drive shaft 310 and the third drive shaft 330 are connected via a second drive assembly 350, allowing the first drive shaft 310 to drive the third drive shaft 330 to rotate. The lengths of the second drive shaft 320 and the third drive shaft 330 can be equal to ensure that the first wheel set 400 and the second wheel set 500 are aligned in the front-to-back direction. The first wheel assembly 400 includes at least two first drive wheels 410, which are respectively disposed at both ends of the second drive shaft 320. The second wheel assembly 500 includes at least two second drive wheels 510, which are respectively disposed at both ends of the third drive shaft 330. Both the first drive wheels 410 and the second drive wheels 510 can be rubber wheels.

[0068] Specifically, in this embodiment, when the drive module 10 moves on the working wall surface, the drive shaft of the drive unit 200 drives the first transmission shaft 310 to rotate. The first transmission shaft 310, as the active shaft, drives the second transmission shaft 320 to rotate via the first drive assembly 340, and drives the third transmission shaft 330 to rotate via the second drive assembly 350. When the second transmission shaft 320 rotates, it drives the first drive wheels 410 at both ends of it to rotate. When the third transmission shaft 330 rotates, it drives the second drive wheels 510 at both ends of it to rotate. Since the second drive shaft 320 and the third drive shaft 330 are both driven shafts of the first drive shaft 310, and the first drive shaft 310 can drive the second drive shaft 320 and the third drive shaft 330 to rotate simultaneously, the second drive shaft 320 and the third drive shaft 330 have the same rotation direction and rotation speed. That is, the first drive wheel 410 and the second drive wheel 510 have the same rotation direction and rotation speed, thereby ensuring the consistency and coordination of the rotation of the first drive wheel 410 and the second drive wheel 510 and improving the stability of the drive 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, meaning the drive module 10 has multiple drive wheels. When the drive module 10 operates on a vertical wall surface, multiple drive wheels can simultaneously contact the working wall surface, thereby increasing the contact area between the drive module 10 and the working wall surface. Even when the drive module 10 operates on a curved wall surface, or even when the drive module 10 encounters obstacles during its movement, because multiple drive wheels are in contact with the working wall surface, the drive module 10 will not slip or lose control during its movement or reversal on the working wall surface. This helps improve the motion stability of the drive module 10, prevents the drive module 10 from falling off the working wall surface, and ensures the safety of the drive module 10 when operating on the wall surface. Furthermore, under the driving action of the drive unit 200, the transmission component 300 drives multiple drive wheels to rotate in the same direction and speed, which not only simplifies the drive structure of the drive module 10 but also helps improve the coordination and stability of the drive module 10 during movement.

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

[0071] Specifically, in this embodiment, when the first drive shaft 310 is driven to rotate, it drives the first gear 341 to rotate. Since the first gear 341 and the second gear 342 mesh with each other, the first gear 341, as the driving gear, can drive the second gear 342 to rotate. Since the second drive shaft 320 is connected to the second gear 342, the second gear 342 can drive the second drive shaft 320 to rotate, which in turn drives the first gear set 400 to rotate. Simultaneously, since the first gear 341 and the third gear 351 mesh with each other, the first gear 341, as the driving gear, can drive the third gear 351 to rotate. Since the third drive shaft 330 is connected to the third gear 351, the third gear 351 can drive the third drive shaft 330 to rotate, which in turn drives the second gear set 500 to rotate.

[0072] The gear transmission between the first drive shaft 310 and the second drive shaft 320, as well as the gear transmission between the first drive shaft 310 and the third drive shaft 330, can improve the stability and transmission efficiency during the transmission process, and ensure the smooth rotation and rotational accuracy of the first wheel set 400 and the second wheel set 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 being connected to a first drive shaft 310 and the second pulley being connected to a second drive shaft 320. The second drive assembly 350 includes a first pulley and a third pulley connected by a belt, the first pulley being connected to the first drive shaft 310 and the third pulley being connected to a third drive shaft 330.

[0074] Specifically, in this embodiment, when the first drive shaft 310 is driven to rotate, it drives the first pulley to rotate. Since the first pulley and the second pulley are connected by a belt, the first pulley, as the driving pulley, can drive the second pulley to rotate. Since the second drive shaft 320 is connected to the second pulley, the second pulley can drive the second drive shaft 320 to rotate, which in turn drives the first wheel assembly 400 to rotate. Simultaneously, since the first pulley and the third pulley are connected, the first pulley, as the driving pulley, can drive the third pulley to rotate. Since the third drive shaft 330 is connected to the third pulley, the third pulley can drive the third drive shaft 330 to rotate, which in turn drives the second wheel assembly 500 to rotate.

[0075] The first drive shaft 310 and the second drive shaft 320 are connected by a belt pulley, as are the first drive shaft 310 and the third drive shaft 330. This belt pulley system can absorb some of the impact and vibration of the first wheel set 400 and the second wheel set 500 during operation, ensuring the smooth rotation of the first wheel set 400 and the second wheel set 500. Moreover, the belt drive structure is relatively flexible and can adapt to larger distances between the first drive shaft 310 and the second drive shaft 320, as well as between the first drive shaft 310 and the third drive shaft 330, increasing the center distance between the first wheel set 400 and the second wheel set 500 and reducing the structural design difficulty of the drive module 10.

[0076] In some embodiments, refer to Figure 1 and Figure 2 Along the axial direction parallel to the second drive shaft 320, the distance from the drive unit 200 to the two first drive wheels 410 is equal. And / or, along the axial direction parallel to the third drive shaft 330, the distance from the drive unit 200 to the two second drive wheels 510 is equal.

[0077] Specifically, in this embodiment, since the drive unit 200 inevitably vibrates during operation, centering the drive unit 200 relative to the two first drive wheels 410 or the two second drive wheels 510 helps to ensure that the two first drive wheels 410 or the two second drive wheels 510 are subjected to force balance, thereby improving the motion stability of the drive module 10.

[0078] In some embodiments, refer to Figure 3 and Figure 4 A first magnetic attraction part 600 and a second magnetic attraction part 700 are provided on the side of the frame 100 away from the drive part 200. The first magnetic attraction part 600 and the second magnetic attraction part 700 can be permanent magnets. The first magnetic attraction part 600 and the second magnetic attraction part 700 are arranged at intervals along the direction from the first wheel set 400 to the second wheel set 500.

[0079] Specifically, in this embodiment, the working surface of the drive module 10 is generally a metal surface or a magnetic surface. Therefore, the first magnetic attraction part 600 and the second magnetic attraction part 700 can stably attract the drive module 10 to the vertical working surface, ensuring that the drive module 10 will not fall off the vertical working surface. Since the first wheel group 400 and the second wheel group 500 are arranged back and forth along the direction of the drive module 10's movement, 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 each of the first wheel group 400 and the second wheel group 500 is provided with a magnetic attraction part. This can improve the attraction force between the first wheel group 400, the second wheel group 500 and the working surface, and ensure the stability of the attraction between the first wheel group 400, the second wheel group 500 and the working surface. Whether it is a flat working wall, a curved working wall, or crossing obstacles, the above structure can ensure that the first wheel group 400 and the second wheel group 500 fit better against the working wall, preventing the drive module 10 from shifting or even falling off the working wall due to the first wheel group 400 or the second wheel group 500 being suspended from the working wall, thus ensuring the operational safety of the drive module 10.

[0080] In some embodiments, refer to 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 suction part 600 is provided with a first connecting member 640, which passes through the first connecting hole 111 to connect the first magnetic suction part 600 to the first connecting plate 110. The second connecting plate 120 is provided with a second connecting hole 121. The second magnetic suction part 700 is provided with a second connecting member 740, which passes through the first connecting hole 111 to connect the second magnetic suction part 700 to the second connecting plate 120. The first magnetic suction part 600 and the first connecting plate 110 are spaced apart. The first magnetic suction part 600 is configured to move towards the first connecting plate 110 when subjected to force. The second magnetic suction part 700 and the second connecting plate 120 are spaced apart. The second magnetic suction part 700 is configured to move towards the second connecting plate 120 when subjected to force.

[0081] The end of the first connector 640 furthest from the first magnetic part 600 can be connected to the first connecting plate 110 via a nut, and the first magnetic part 600 can be hooked onto the first connector 640, allowing the first magnetic part 600 to slide along the first connector 640 when subjected to force. The end of the second connector 740 furthest from the second magnetic part 700 can be connected to the second connecting plate 120 via a nut, and the second magnetic part 700 can be hooked onto the second connector 740, allowing the second magnetic part 700 to slide along the second connector 740 when subjected to force.

[0082] Specifically, in this embodiment, since the first magnetic suction part 600 and the second magnetic suction part 700 are arranged towards the working wall surface, in order to prevent the first magnetic suction part 600 or the second magnetic suction part 700 from getting stuck with the obstacle when the drive module 10 encounters an obstacle during its movement, thus affecting the movement of the drive module 10, the first magnetic suction part 600 and the second magnetic suction part 700 adopt a floating design. When the first magnetic suction part 600 or the second magnetic suction part 700 comes into contact with the obstacle, the first magnetic suction part 600 or the second magnetic suction part 700 will be subjected to a pressing force perpendicular to the working wall surface provided by the obstacle. Under the action of the pressing force, the first magnetic suction part 600 can move along the first connecting member 640 towards the first connecting plate 110, and the second magnetic suction part 700 can move along the second connecting member 740 towards the second connecting plate 120, thereby enabling the first magnetic suction part 600 or the second magnetic suction part 700 to avoid the obstacle and ensuring the smooth movement of the drive module 10 on the working wall surface. When the drive module 10 moves to an area without obstacles, the first magnetic attraction part 600 and the second magnetic attraction part 700 can return to their initial state due to the magnetic attraction force of the working wall.

[0083] In some embodiments, a first spring may be provided between the first magnetic suction part 600 and the first connecting plate 110. When the first magnetic suction part 600 moves toward the first connecting plate 110, the first spring is compressed. When the first magnetic suction part 600 passes over an obstacle, the first magnetic suction part 600 is no longer under compressive force. At this time, the first spring has a tendency to recover its elastic deformation. Under the elastic force of the first spring, the first magnetic suction part 600 can return to its initial state, thereby shortening the distance between the first magnetic suction part 600 and the working wall surface, increasing the adsorption force between the first magnetic suction part 600 and the working wall surface, and ensuring the adsorption stability between the drive module 10 and the working wall surface.

[0084] Similarly, a second spring can be provided between the second magnetic suction part 700 and the second connecting plate 120. When the second magnetic suction part 700 moves towards the second connecting plate 120, the second spring is compressed. When the second magnetic suction part 700 passes over an obstacle, the second magnetic suction part 700 is no longer under compressive force. At this time, the second spring has a tendency to recover its elastic deformation. Under the elastic force of the second spring, the second magnetic suction part 700 can return to its initial state, thereby shortening the distance between the second magnetic suction part 700 and the working wall surface, increasing the adsorption force between the second magnetic suction part 700 and the working wall surface, and ensuring the adsorption stability between the drive module 10 and the working wall surface.

[0085] In some embodiments, refer to Figure 3 and Figure 4The first magnetic attraction part 600 is provided with a first inclined sidewall 610, a first connecting sidewall 630 and a second inclined sidewall 620. The first inclined sidewall 610 is connected to one end of the first connecting sidewall 630, and the second inclined sidewall 620 is connected to the other end of the first connecting sidewall 630. The first inclined sidewall 610 is inclined toward the first connecting sidewall 630, and the second inclined sidewall 620 is inclined toward the first connecting sidewall 630.

[0086] The second magnetic suction part 700 is provided with a third inclined sidewall 710, a second connecting sidewall 730 and a fourth inclined sidewall 720. The third inclined sidewall 710 is connected to one end of the second connecting sidewall 730 and the fourth inclined sidewall 720 is connected to the other end of the second connecting sidewall 730. The third inclined sidewall 710 is inclined toward the second connecting sidewall 730 and the fourth inclined sidewall 720 is inclined toward the second connecting sidewall 730.

[0087] Specifically, in this embodiment, when the first magnetic suction part 600 encounters an obstacle, the first inclined sidewall 610 or the second inclined sidewall 620 will first come into contact with the obstacle. At this time, the first magnetic suction part 600 will be subjected to a squeezing force perpendicular to the first inclined sidewall 610 or the second inclined sidewall 620, and the squeezing force will have a component force in the direction perpendicular to the working wall. Under the action of the component force, the first magnetic suction part 600 can move along the first connector 640 toward the direction closer to the first connecting plate 110, so that the first magnetic suction part 600 can avoid the obstacle and prevent the first magnetic suction part 600 and the obstacle from getting stuck, affecting the movement of the drive module 10.

[0088] Similarly, when the second magnetic suction part 700 encounters an obstacle, the third inclined side wall 710 or the fourth inclined side wall 720 will first come into contact with the obstacle. At this time, the second magnetic suction part 700 will be subjected to a pressing force perpendicular to the third inclined side wall 710 or the fourth inclined side wall 720. The pressing force will have a component force in the direction perpendicular to the working wall. Under the action of the component force, the second magnetic suction part 700 can move along the second connector 740 toward the direction closer to the second connecting plate 120, so that the second magnetic suction part 700 can avoid the obstacle and prevent the second magnetic suction part 700 and the obstacle from getting 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-described structure, which can reduce the contact resistance with obstacles, thereby facilitating the avoidance of the first magnetic attraction part 600 and the second magnetic attraction part 700 and ensuring that the drive module 10 can pass through obstacles smoothly. Moreover, even if the positions of the first magnetic attraction part 600 and the second magnetic attraction part 700 change, 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 helps to ensure the adsorption stability of the drive module 10 when passing through obstacles.

[0091] In some embodiments, refer to Figure 3 The drive module 10 includes a hinge base 800, and the frame 100 is hinged to the hinge base 800.

[0092] Specifically, in this embodiment, when the drive module 10 moves on the curved working wall, or when the drive module 10 encounters an obstacle, the frame 100 will drive the overall structure to rotate through the hinge seat 800, thereby enabling the drive module 10 to float on its own. This allows the drive module 10 to better adapt to and fit the working wall, improving the stability of the drive module 10 during operation.

[0093] Correspondingly, another embodiment of the present invention also provides a wall-climbing robot 20, see reference. Figure 5 The wall-climbing robot 20 includes a base 21 and at least two drive modules 10 as described in any of the above embodiments. The two drive modules 10 are respectively disposed on opposite sides of the base 21.

[0094] Specifically, in this embodiment, the wall-climbing robot 20 using the aforementioned drive module 10 can increase the contact area between itself and the working wall, thereby improving the stability of the wall-climbing robot 20 during movement, preventing the wall-climbing robot 20 from slipping and losing control during movement, avoiding the wall-climbing robot 20 from falling off the working wall, and ensuring the operational safety of the wall-climbing robot 20.

[0095] Thanks to the improvements to the drive module 10 described above, the wall-climbing robot 20 of this embodiment has the same technical effects as the drive module 10 described above, which will not be repeated here.

[0096] It should be noted that other aspects of the drive module 10 and the wall-climbing robot 20 disclosed in this invention can be found in the prior art, and will not be repeated here.

[0097] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural transformations made using the contents of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of patent protection of the present invention.

Claims

1. A drive module characterized by, The driving module comprises: a rack; a driving part provided on the rack, the driving part having a driving shaft; a transmission assembly provided on the rack, the transmission assembly comprising a first transmission shaft, a second transmission shaft and a third transmission shaft, the first transmission shaft being driven by the driving shaft, the first transmission shaft and the second transmission shaft being connected by a first driving assembly, the first transmission shaft being able to drive the second transmission shaft to rotate through the first driving assembly, the first transmission shaft and the third transmission shaft being connected by a second driving assembly, the first transmission shaft being able to drive the third transmission shaft to rotate through the second driving assembly; a first wheel set comprising at least two first driving wheels, the two first driving wheels being respectively provided at two ends of the second transmission shaft; a second wheel set comprising at least two second driving wheels, the two second driving wheels being respectively provided at two ends of the third transmission shaft; the rack being provided with a first magnetic attraction part and a second magnetic attraction part on a side away from the driving part, the first magnetic attraction part and the second magnetic attraction part being spaced apart along a direction from the first wheel set to the second wheel set; the first magnetic attraction part being provided with a first inclined side wall, a first connecting side wall and a second inclined side wall, the first inclined side wall being connected to one end of the first connecting side wall, the second inclined side wall being connected to the other end of the first connecting side wall, the first inclined side wall being inclinedly provided towards the first connecting side wall, and the second inclined side wall being inclinedly provided towards the first connecting side wall; the second magnetic attraction part being provided with a third inclined side wall, a second connecting side wall and a fourth inclined side wall, the third inclined side wall being connected to one end of the second connecting side wall, the fourth inclined side wall being connected to the other end of the second connecting side wall, the third inclined side wall being inclinedly provided towards the second connecting side wall, and the fourth inclined side wall being inclinedly provided towards the second connecting side wall; the first inclined side wall, the first connecting side wall and the second inclined side wall being smoothly connected, and the third inclined side wall, the second connecting side wall and the fourth inclined side wall being smoothly connected; the rack being provided with a first connecting plate and a second connecting plate, the first connecting plate being provided with a first connecting hole, the first magnetic attraction part being provided with a first connecting piece, the first connecting piece being provided in the first connecting hole to connect the first magnetic attraction part to the first connecting plate, the second connecting plate being provided with a second connecting hole, and the second magnetic attraction part being provided with a second connecting piece, the second connecting piece being provided in the first connecting hole to connect the second magnetic attraction part to the second connecting plate; wherein the first magnetic attraction part and the first connecting plate are spaced apart, the first magnetic attraction part being configured to move towards the first connecting plate after being stressed, the second magnetic attraction part and the second connecting plate being spaced apart, and the second magnetic attraction part being configured to move towards the second connecting plate after being stressed.

2. The drive module of claim 1, wherein, The first driving assembly comprises a first gear and a second gear which are engaged 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 comprises the first gear and a third gear which are engaged 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 drive module of claim 1, wherein, The first driving assembly comprises a first pulley and a second pulley which are 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 comprises the first pulley and a third pulley which are connected by a belt, the first pulley is connected to the first transmission shaft, and the third pulley is connected to the third transmission shaft.

4. The drive module of claim 1, wherein, The distance from the driving part to the two first driving wheels is equal along the direction parallel to the axis of the second transmission shaft; and / or, The distance from the driving part to the two second driving wheels is equal along the direction parallel to the axis of the third transmission shaft.

5. Drive module according to any one of claims 1 to 4, characterized in that The driving module comprises a hinged seat, and the frame is hinged to the hinged seat.

6. Wall climbing robot, characterized in that Comprise: a base; at least two driving modules according to any one of claims 1 to 5, the two driving modules are respectively arranged on opposite sides of the base.

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