Walking obstacle crossing device of wheel type inspection robot

Abstract

The invention provides a walking obstacle crossing device of a wheel type inspection robot, and belongs to the technical field of wheel type robots, the walking obstacle crossing device comprises a frame component, a wheel body assembly, a double-position rotary driving assembly, a synchronous steering assembly and an obstacle crossing transmission assembly, a bottom transverse plate is in sliding connection with the outside of a hexagonal sliding column, so that active position raising work can be formed when a wheel faces an obstacle, meanwhile, a follow-up sliding seat and an inclined guide column can form matched transmission, and a wheel bevel gear and a normal bevel gear are switched and moved to a position meshed with a torque increasing bevel gear in a meshed state; therefore, when the wheels move upwards, the torque increasing bevel gears and the wheel bevel gears are synchronously driven to form matched transmission, and the obstacle crossing ability of the wheels facing obstacles is doubly improved. And the outer fixed rotating component is in transmission connection between the hexagonal inserting shaft and the inner rotating shaft, so that the transmission stability of the inner rotating shaft and the hexagonal inserting shaft can be improved bidirectionally.

Description

Technical Field

[0001] The invention relates to the technical field of wheeled robots, and in particular to a walking obstacle-crossing device of a wheeled inspection robot. Background Art

[0002] Wheeled inspection robots can autonomously carry out inspections according to preset routes and tasks. They are suitable for factory workshops, power facilities, petrochemicals and other fields. Equipped with sensors and detection instruments, they can collect real-time data such as temperature, humidity and pressure to help staff detect potential problems in a timely manner and formulate targeted maintenance and repair measures in advance.

[0003] During the inspection process, when encountering obstacles on a relatively open road, the wheeled inspection robot can autonomously identify and bypass them. However, in narrow passages, obstacles will directly affect the travel process, and when the obstacles are too large, the conventional settings and conventional torque of the wheeled inspection robot will cause it to be unable to overcome these obstacles. Even if the DC motor is used to increase the torque of the wheel in real time, it cannot achieve a better obstacle crossing purpose, and has the disadvantage of poor ability to adapt to terrain environment. Summary of the invention

[0004] The purpose of the present invention is to provide a walking obstacle surmounting device for a wheeled inspection robot, in which the wheels and the bottom cross plate can automatically move up and down based on an automatically rotatable hexagonal sliding column, thereby forming an active height increase adjustment of the wheels, and in conjunction with the transmission connection formed by the double-position rotary drive component and the obstacle surmounting transmission component, the wheel height can be actively increased while utilizing the mechanical transmission structure to increase the rotational torque of the wheel itself while keeping the wheel drive output unchanged, thereby doubly improving the obstacle surmounting capability of the cover device.

[0005] The object of the present invention is achieved through such a technical solution, a walking obstacle-crossing device of a wheeled inspection robot, comprising a frame component, a wheel body assembly, a two-position rotary drive assembly, a synchronous steering assembly and an obstacle-crossing transmission assembly, the wheel body assembly comprising a hexagonal sliding column, a bottom cross plate, a wheel, a telescopic electric cylinder and a wheel axle, the two-position rotary drive assembly comprising a normal bevel gear and a torque-increasing bevel gear, the synchronous steering assembly comprising a side connecting gear, and the obstacle-crossing transmission assembly comprising a hexagonal plug shaft, a wheel bevel gear and a follower rotary sleeve;

[0006] The outer top end of the hexagonal sliding column is vertically rotated with the main body of the frame member, the bottom cross plate is slidably connected to the outer lower end of the hexagonal sliding column, the wheel axle is laterally rotated to the outer lower side of the bottom cross plate, the inner middle part of the wheel is fixedly connected to the wheel axle, the top of the hexagonal sliding column is fixedly connected with a top fixing plate, the top body of the telescopic electric cylinder is rotated with the bottom end of the top fixing plate, and the telescopic rod of the telescopic electric cylinder is rotated with the top end of the bottom cross plate;

[0007] An inner rotating shaft is swivel-connected to the inner middle of the hexagonal sliding column, and the normal bevel gear and the torque increasing bevel gear are plugged and fixed on the outer side of the lower end of the inner rotating shaft in opposite directions;

[0008] A hollow gear is fixed on the inner top of each set of bottom horizontal plates coaxially with the hexagonal sliding column, and the side connecting gear is meshed on the inner side of the hollow gear;

[0009] The hexagonal plug shaft is inserted and fixed at the inner end of the wheel axle, the wheel bevel gear is slidably connected with the hexagonal plug shaft, the follower rotating sleeve is screwed on the outer side of the wheel bevel gear, and the bottom end of the top fixing plate is fixed with inclined guide columns in pairs, and follower slides are fixed on the outside of both sides of the follower rotating sleeve, and the follower slides on the same side are slidably connected in the inclined guide columns.

[0010] The use process of the technical solution of the present invention is as follows:

[0011] The front and rear ends of the vehicle frame can be symmetrically equipped with a walking obstacle-crossing mechanism consisting of a wheel assembly, a two-position rotary drive assembly, a synchronous steering assembly and an obstacle-crossing transmission assembly, two of which are used as front wheels and the other two as rear wheels;

[0012] In the normal flat walking state, the bottom cross plate is at the lower limit position. At this time, the wheel bevel gear is in the position of meshing with the normal bevel gear. Under the condition that the speed and torque of the inner rotating shaft remain unchanged, the transmission ratio formed by the normal bevel gear and the wheel bevel gear is greater than the transmission ratio formed by the torque increase bevel gear and the wheel bevel gear, which can make the wheel bevel gear rotate faster, thereby driving the wheel to move faster through the hexagonal plug shaft and the wheel axle;

[0013] When there is an obstacle in front of the wheel on one side of the wheeled inspection robot, and the obstacle is higher than the flat ground, the wheel and the bottom cross plate on that side can be lifted to make the wheel higher relative to the obstacle.

[0014] Through the retracting action of the telescopic rod of the telescopic electric cylinder, the bottom horizontal plate can be driven to move upward along the hexagonal sliding column, thereby driving the wheel axle, wheel and hexagonal plug shaft to move upward, so that the wheel bevel gear can also move upward, disengage from the normal bevel gear, and move to the position of meshing with the torque increase bevel gear;

[0015] At this time, when the speed and torque of the inner rotating shaft remain unchanged, the transmission ratio formed by the torque increasing bevel gear and the wheel bevel gear is smaller than the transmission ratio formed by the normal bevel gear and the wheel bevel gear, which can increase the rotational torque of the wheel bevel gear while reducing the speed of the wheel bevel gear, thereby not only improving the obstacle crossing ability of the wheel on this side, but also protecting the rotation driving mechanism connected to the inner rotating shaft;

[0016] According to actual conditions, two pairs of wheels at the front and rear ends of the vehicle frame member can be selected to form an active steering state, and the other two pairs of wheels can be in a non-steering state. The steering of the wheels is achieved by rotating the hexagonal sliding column with the main body of the vehicle frame member. When the wheels are in the non-steering state, the hexagonal sliding column is fixedly connected to the main body of the vehicle frame member.

[0017] When the front or rear wheels need to be turned synchronously and in the same direction, the driving mechanism connected to the side connecting gear can be started to drive the side connecting gear and the hollow gear on the same side to form a coordinated transmission, so that the bottom cross plate and the hexagonal sliding column can be rotated and adjusted within a certain range, thereby driving the wheel axle and the wheel to form a steering operation with the hexagonal sliding column as the center, and also ensuring that the meshing state of the wheel bevel gear and the normal bevel gear or the torque increasing bevel gear will not be affected during the steering process.

[0018] By adopting the above technical solution, the present invention can achieve the following beneficial effects:

[0019] (1) The present invention not only sets the bottom cross plate for rotating the wheels to be automatically raised and lowered, but also realizes the automatic lifting and movement of the bottom cross plate and the wheels within a certain range through the telescopic electric cylinder, and can directly realize the direct height increase of the wheel on one side when encountering an obstacle, thereby improving the obstacle-crossing capability in advance;

[0020] (2) In the process of the bottom cross plate and the wheel being lifted up when encountering an obstacle, the present invention can also drive the wheel bevel gear to move upward through the hexagonal plug shaft, so that the wheel bevel gear is disengaged from the normal bevel gear and moves to a height position where it is engaged with the torque increasing bevel gear. However, since the number of teeth of the torque increasing bevel gear is smaller than that of the normal bevel gear, the unidirectional movement of the wheel bevel gear in height cannot achieve the switching engagement of the wheel bevel gear between the normal bevel gear and the torque increasing bevel gear. Therefore, the present invention also has a follower rotating sleeve rotatably connected to the outer side of the wheel bevel gear, and the follower slides at both ends of the follower rotating sleeve can form a sliding fit with the oblique guide pillars arranged obliquely, so that the wheel bevel gear can be driven to move linearly toward the torque increasing bevel gear while moving upward, so that when the wheel bevel gear moves upward to a certain position, it just forms an engagement with the torque increasing bevel gear. Therefore, when the output power of the inner rotating shaft remains unchanged, by changing the transmission ratio between the inner rotating shaft and the wheel bevel gear, the output torque of the wheel bevel gear can be increased while the rotation speed of the wheel bevel gear is reduced, and the obstacle crossing ability of the wheel can be improved to a certain extent again. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 A schematic diagram of the overall structure of a walking obstacle-crossing device of a wheeled inspection robot provided by the present invention;

[0023] Figure 2 It is a structural schematic diagram of the vehicle frame component of the present invention;

[0024] Figure 3 It is a structural schematic diagram of the wheel assembly of the present invention from a first viewing angle;

[0025] Figure 4 It is a structural schematic diagram of the wheel assembly of the present invention from a second viewing angle;

[0026] Figure 5 It is a structural schematic diagram of a double-position rotary drive assembly of the present invention;

[0027] Figure 6 It is a schematic diagram of the connection structure of the hollow gear part of the present invention;

[0028] Figure 7 It is a schematic diagram of the transmission structure of the hollow gear of the present invention;

[0029] Figure 8 It is a structural schematic diagram of the obstacle-crossing transmission assembly of the present invention;

[0030] Fig. 9 It is a schematic diagram of the structure of the hexagonal plug shaft and the wheel bevel gear matching according to the present invention;

[0031] Fig.10 It is a schematic diagram of the structure of the outer fixed rotation component and the obstacle-crossing transmission assembly of the present invention;

[0032] Fig.11 It is a schematic diagram of the connection structure of the outer solid sliding sleeve part of the present invention;

[0033] Fig.12 It is a schematic structural diagram of the vertical sliding chute part of the present invention.

[0034] Reference numerals:

[0035] 1. Vehicle frame components; 101. Chassis; 102. Central controller; 103. Steering swivel seat; 104. Avoidance groove;

[0036] 2. Wheel assembly; 201. Steering spindle; 202. Hexagonal sliding column; 203. Bottom horizontal plate; 204. Hexagonal sliding sleeve; 205. Wheel; 206. Top fixing plate; 207. Telescopic electric cylinder rotating seat; 208. Telescopic electric cylinder moving rotating seat; 209. Telescopic electric cylinder; 210. Inner rotating hole; 211. Vertical seat; 212. Wheel axle; 213. Hexagonal fixing groove;

[0037] 3. Double-position rotary drive assembly; 301. Inner rotary shaft; 302. Travel motor; 303. Speed ​​and torque sensor; 304. Normal bevel gear; 305. Torque increase bevel gear; 306. Vertical sliding groove; 307. Inner sliding block; 308. Compression spring top plate; 309. Compression spring;

[0038] 4. Synchronous steering assembly; 401. External fixed sleeve; 402. Hollow gear; 403. Internal top spring; 404. Side connecting gear; 405. Side connecting shaft; 406. Center connecting gear; 407. Center shaft; 408. Steering motor; 409. Steering gear;

[0039] 5. Obstacle-crossing transmission assembly; 501. Hexagonal plug shaft; 502. Wheel bevel gear; 503. Rear fixed column; 504. Follow-up rotary sleeve; 505. Follow-up slide seat; 506. Oblique guide column; 507. Bottom connecting plate; 508. Inner partition plate; 509. Return spring; 510. Hexagonal slide hole;

[0040] 6. External fixed rotation component; 601. External fixed rotation hole; 602. External fixed rotation column; 603. External fixed sliding sleeve. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0042] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0043] like Figure 1-Figure 12 As shown, a walking obstacle-crossing device of a wheeled inspection robot, the outer top end of the hexagonal sliding column 202 is vertically screwed to the main body of the frame member 1, the bottom cross plate 203 is slidably connected to the outer lower end of the hexagonal sliding column 202, the wheel axle 212 is horizontally screwed to the outer lower side of the bottom cross plate 203, the inner middle part of the wheel 205 is fixedly connected to the wheel axle 212, the top of the hexagonal sliding column 202 is fixedly connected to the top fixing plate 206, the top body of the telescopic electric cylinder 209 is screwed to the bottom end of the top fixing plate 206, and the telescopic rod of the telescopic electric cylinder 209 is screwed to the top of the bottom cross plate 203;

[0044] An automatically rotatable inner rotating shaft 301 is swivel-connected to the inner middle of the hexagonal sliding column 202, and a normal bevel gear 304 and a torque increasing bevel gear 305 are plugged and fixed on the outer side of the lower end of the inner rotating shaft 301 in opposite directions, and the normal bevel gear 304 is located below the torque increasing bevel gear 305, and the normal bevel gear 304 and the torque increasing bevel gear 305 have the same module, and the number of teeth of the normal bevel gear 304 is greater than the number of teeth of the torque increasing bevel gear 305;

[0045] The inner top end of each set of bottom horizontal plates 203 is coaxially fixed with a hollow gear 402 with the hexagonal sliding column 202, and the automatically rotatable side connecting gear 404 is meshed with the inner side of the hollow gear 402 and connected to the same driving mechanism, which can drive the hollow gears 402 distributed in pairs to rotate synchronously in the same direction;

[0046] The setting height of the hollow gear 402 is several times greater than the setting height of the side connecting gear 404, so that the hollow gear 402 can mesh with the side connecting gear 404 within the range of vertical movement of the bottom horizontal plate 203;

[0047] The hexagonal plug shaft 501 is inserted and fixed at the inner end of the wheel shaft 212, the wheel bevel gear 502 is slidably connected with the hexagonal plug shaft 501, and the follower rotary sleeve 504 is screwed on the outer side of the wheel bevel gear 502, and the follower rotary sleeve 504 can only form a rotational fit relative to the wheel bevel gear 502, and will not move horizontally relative to each other. The bottom end of the top fixing plate 206 is fixed with a pair of inclined guide pillars 506 inclined outward and downward. The outside of both sides of the follower rotary sleeve 504 is fixed with follower slides 505, and the follower slides 505 on the same side are slidably connected in the inclined guide pillars 506;

[0048] The vertical movement of the bottom cross plate 203 can drive the follower slide 505 and the inclined guide column 506 to form a sliding connection, so that the wheel bevel gear 502 switches between the normal bevel gear 304 and the torque increase bevel gear 305.

[0049] Here’s how it works:

[0050] The vehicle frame component 1 is used as a mounting base, and the front and rear ends can symmetrically mount a walking obstacle-crossing device consisting of a wheel assembly 2, a two-position rotary drive assembly 3, a synchronous steering assembly 4 and an obstacle-crossing transmission assembly 5, two of which are used as front wheels, and the other two are used as rear wheels;

[0051] In the conventional flat walking state, the bottom cross plate 203 is at the lower limit position, at this time, the wheel bevel gear 502 is in a position meshing with the normal bevel gear 304, and when the rotation speed and torque of the inner rotating shaft 301 remain unchanged, the transmission ratio formed by the normal bevel gear 304 and the wheel bevel gear 502 is greater than the transmission ratio formed by the torque increasing bevel gear 305 and the wheel bevel gear 502, so that the wheel bevel gear 502 can rotate faster, thereby driving the wheel 205 to move faster through the hexagonal plug shaft 501 and the wheel axle 212;

[0052] When there is an obstacle in front of the wheel 205 on one side of the wheeled inspection robot, and the obstacle is higher than the flat ground, the wheel 205 and the bottom cross plate 203 on that side can be lifted so that the wheel 205 is elevated relative to the obstacle.

[0053] Through the retracting action of the telescopic rod of the telescopic electric cylinder 209, the bottom horizontal plate 203 can be driven to move upward along the hexagonal sliding column 202, thereby driving the wheel axle 212, the wheel 205 and the hexagonal plug shaft 501 to move upward, so that the wheel bevel gear 502 can also move upward, disengage from the meshing with the normal bevel gear 304, and move to a position meshing with the torque increasing bevel gear 305;

[0054] At this time, when the rotation speed and torque of the inner rotating shaft 301 remain unchanged, the transmission ratio formed by the torque increasing bevel gear 305 and the wheel bevel gear 502 is smaller than the transmission ratio formed by the normal bevel gear 304 and the wheel bevel gear 502, which can increase the rotation torque of the wheel bevel gear 502 while reducing the rotation speed of the wheel bevel gear 502, thereby not only improving the obstacle crossing ability of the wheel 205 on this side, but also protecting the rotation driving mechanism connected to the inner rotating shaft 301;

[0055] According to actual conditions, two pairs of wheels 205 at the front and rear ends of the vehicle frame member 1 can be selected to form an active steering state, and the other two pairs of wheels 205 can be in a non-steering state. The steering of the wheels 205 is achieved by rotating the hexagonal sliding column 202 with the main body of the vehicle frame member 1. When the wheels 205 are in a non-steering state, the hexagonal sliding column 202 is fixedly connected to the main body of the vehicle frame member 1.

[0056] When the front or rear wheels 205 need to be turned synchronously and in the same direction, the driving mechanism connected to the side connecting gear 404 can be started to drive the side connecting gear 404 on the same side to form a matching transmission with the hollow gear 402, so that the bottom cross plate 203 and the hexagonal sliding column 202 can be rotated and adjusted within a certain range, thereby driving the wheel axle 212 and the wheel 205 to form a turning operation with the hexagonal sliding column 202 as the center, and the meshing state of the wheel bevel gear 502 and the normal bevel gear 304 or the torque increasing bevel gear 305 will not be affected during the turning process;

[0057] The setting height of the hollow gear 402 fixed to the bottom cross plate 203 is greater than the setting height of the side connecting gear 404, so that as the bottom cross plate 203 and the hollow gear 402 move vertically, the hollow gear 402 is always in a position meshing with the side connecting gear 404 whose position remains unchanged.

[0058] The specific structure of the frame member 1 is as follows Figure 2 As shown, the front and rear ends of the chassis 101 are symmetrically fixed with steering seats 103, and the main body of the chassis 101 is provided with an avoidance groove 104 at an outer position relative to the steering seat 103, so as to eliminate the interference between the telescopic electric cylinder 209 and the inclined guide column 506 during the steering process of the wheel 205;

[0059] The central controller 102 is fixedly mounted on the middle of the bottom surface of the chassis 101 , and the telescopic electric cylinder 209 is electrically connected to the central controller 102 .

[0060] The specific structure of the wheel assembly 2 is as follows: Figure 3 and Figure 4 As shown, the top of the hexagonal sliding column 202 is coaxially fixed with a steering spindle 201, the steering spindle 201 is rotatably connected in the steering swivel seat 103, and a hexagonal sliding sleeve 204 is fixedly installed on the inner side of the bottom horizontal plate 203, and the inner surface of the hexagonal sliding sleeve 204 is slidably connected with the hexagonal sliding column 202;

[0061] The top fixing plate 206 is sleeved on the outside of the top end of the steering spindle 201, the telescopic electric cylinder swivel seat 207 is fixedly connected to the outside of the bottom end of the top fixing plate 206, the telescopic electric cylinder movable swivel seat 208 is fixedly connected to the top of the bottom cross plate 203, the top body of the telescopic electric cylinder 209 is rotatably connected to the telescopic electric cylinder swivel seat 207, and the telescopic rod head end of the telescopic electric cylinder 209 is rotatably connected to the telescopic electric cylinder movable swivel seat 208;

[0062] The steering main shaft 201 and the hexagonal sliding column 202 are both provided with an inner rotation hole 210 in the middle of the main body. The inner rotation shaft 301 is rotatably connected in the inner rotation hole 210. The outer bottom end of the bottom cross plate 203 is fixedly connected with a stand 211. The wheel axle 212 is rotatably connected in the stand 211. The hexagonal fixed groove 213 is provided in the inner end body of the wheel axle 212. The hexagonal plug shaft 501 is plugged and fixed in the hexagonal fixed groove 213.

[0063] The two sets of wheels 205 at the front or rear end can be selected to form an automatic steering state according to needs. When the wheels 205 are in a state where they cannot rotate automatically, the set of steering spindles 201 can be fixedly connected to the steering swivel seat 103, so that the set of wheels 205 can always be in the forward direction.

[0064] The specific structure of the double-position rotary drive assembly 3 is as follows: Figure 5 As shown, the traveling motor 302 is fixedly mounted on the top surface of the top fixing plate 206, a speed and torque sensor 303 is fixedly installed in the rotating shaft of the traveling motor 302, the top end of the inner rotating shaft 301 is fixedly connected to the bottom end of the speed and torque sensor 303, the traveling motor 302 and the speed and torque sensor 303 are electrically connected to the central controller 102, and the central controller 102 can control the traveling motor 302 to output different speeds and torques through the speed and torque sensor 303.

[0065] The specific structure of the synchronous steering component 4 is as follows Figure 6 and Figure 7 As shown, the outer fixing sleeve 401 is sleeved and fixed on the outside of the hexagonal sliding sleeve 204, and is fixedly connected to the top of the bottom cross plate 203, the bottom end of the hollow gear 402 is fixedly connected to the top of the outer fixing sleeve 401, the inner top spring 403 is sleeved and installed on the outside of the hexagonal sliding column 202, and the bottom end of the inner top spring 403 is fixedly connected to the top of the outer fixing sleeve 401, and the top end of the inner top spring 403 is fixedly connected to the bottom end of the chassis 101;

[0066] Under the action of the elastic force of the inner top spring 403, not only can the shock absorption effect be formed, but also the bottom cross plate 203 and the wheel 205 can be in a position where they move downward naturally and elastically;

[0067] A side connecting shaft 405 is symmetrically fixed in the bottom body of the chassis 101, and a side connecting gear 404 is rotatably connected in the side connecting shaft 405. A central connecting gear 406 is meshed between the symmetrically distributed side connecting gears 404. A central shaft 407 is also fixed in the bottom body of the chassis 101, and the central connecting gear 406 is rotatably connected in the central shaft 407. A steering motor 408 is fixedly installed in the middle of the bottom end of the chassis 101, and a steering gear 409 is plugged and fixed in the rotating shaft of the steering motor 408 and meshed with the central connecting gear 406.

[0068] The steering motor 408 is electrically connected to the central controller 102, and can automatically start the steering motor 408 to drive the rotation of the steering gear 409, so that the steering gear 409 drives the side connecting gears 404 on both sides to rotate through the matching transmission formed with the central connecting gear 406, thereby respectively driving the symmetrically distributed hollow gears 402 to rotate synchronously and in the same direction;

[0069] Thus, the two sets of wheels 205 at the front or rear end of the chassis 101 can be driven to perform a steering action;

[0070] In addition, during the turning process of the bottom cross plate 203 and the wheel 205 , the top fixing plate 206 will also rotate synchronously, so that the inclined guide column 506 can also achieve the turning adjustment action along with the bottom cross plate 203 .

[0071] The specific structures of the obstacle-crossing transmission assembly 5 and the outer fixed rotation component 6 are as follows: Figure 8 , Fig. 9 , Fig.10 and Fig.11 As shown, a rear fixed column 503 is coaxially fixed to the outer side of the wheel bevel gear 502, and a hexagonal sliding hole 510 is provided in the rear fixed column 503 and the main body of the wheel bevel gear 502. The wheel bevel gear 502 and the rear fixed column 503 are slidably connected with the hexagonal plug shaft 501 through the hexagonal sliding hole 510;

[0072] The follower rotating sleeve 504 is rotatably connected to one end of the rear fixed column 503 and will not be lateral displacement;

[0073] The bottom connecting plate 507 is fixedly connected to the bottom end of the inclined guide column 506, and the inner partition plate 508 is fixedly connected to the main body of the inclined guide column 506. A return spring 509 is sleeved and installed in each group of inclined guide columns 506. One end of the return spring 509 is fixed to the inner partition plate 508, and the other end is fixed to the follower slide 505.

[0074] The elastic support force of the follower slide 505 downward formed by the return spring 509 can again form a shock-absorbing effect and make the bottom cross plate 203 and the wheel 205 in a natural elastic downward position;

[0075] The center distance of the paired inclined guide pillars 506 is greater than the width of the bottom horizontal plate 203, so that the inclined guide pillars 506 and the inner partition plate 508 will not form movement interference with the bottom horizontal plate 203;

[0076] An outer fixed rotation hole 601 is opened in the inner end body of the hexagonal plug shaft 501, one end of the outer fixed rotation column 602 is rotationally connected to the outer fixed rotation hole 601, and the other end is fixed with an outer fixed sliding sleeve 603, and the outer fixed sliding sleeve 603 is slidingly connected to the inner rotating shaft 301, so that the inner rotating shaft 301 can be used to form a stable support for the rotation state of the hexagonal plug shaft 501, and the outer fixed sliding sleeve 603 can also be used to form a rotation support for the bottom end of the inner rotating shaft 301, thereby improving the stability and safety of the transmission between the inner rotating shaft 301 and the hexagonal plug shaft 501 in both directions.

[0077] Preferably, Fig.12 As shown, a vertical sliding groove 306 can be opened on the outer side of the lower end of the inner rotating shaft 301, and an inner sliding block 307 can be fixed in the inner hole of the torque increasing bevel gear 305. The torque increasing bevel gear 305 can form a vertical sliding connection with the vertical sliding groove 306 through the inner sliding block 307, and a compression spring top plate 308 is sleeved and fixed at a position above the torque increasing bevel gear 305 at the outer lower end of the inner rotating shaft 301, and a compression spring 309 is connected between the compression spring top plate 308 and the torque increasing bevel gear 305, and the elastic pressure of the compression spring 309 is always greater than the rotational torque formed by the torque increasing bevel gear 305 and the wheel bevel gear 502. At this time, the torque increasing bevel gear 305 has a downward elastic force, and the position of the torque increasing bevel gear 305 in this state is relative to the torque increasing bevel gear 305 in the fixed state with the inner rotating shaft 301. The position of the bevel gear 305 is adjusted downward, so that within a certain range, the wheel bevel gear 502 can not only mesh with the torque increasing bevel gear 305 after the wheel 205 moves up to a certain position, but also can continuously mesh with the torque increasing bevel gear 305 driven by the downward elastic force of the torque increasing bevel gear 305 itself, so that when the wheel 205 is within a certain rising range, the wheel bevel gear 502 can form a meshing state with the torque increasing bevel gear 305, instead of the wheel 205 being moved upward to the set position before the wheel bevel gear 502 can mesh with the torque increasing bevel gear 305, and at this time, the tooth structure of the wheel bevel gear 502 and the torque increasing bevel gear 305 support the wheel bevel gear 502 and the torque increasing bevel gear 305 to form a matching state within a certain range.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A walking obstacle-crossing device for a wheeled inspection robot, comprising a vehicle frame component (1), characterized in that: It also includes a wheel assembly (2), a two-position rotation drive assembly (3) and an obstacle-crossing transmission assembly (5); The wheel body assembly (2) comprises a hexagonal sliding column (202), a bottom transverse plate (203), a wheel (205) and a wheel axle (212); the outer top end of the hexagonal sliding column (202) is screwed to the main body of the vehicle frame component (1); the bottom transverse plate (203) is slidably connected to the outer lower end of the hexagonal sliding column (202); the wheel axle (212) is screwed to the outer lower side of the bottom transverse plate (203); the inner middle part of the wheel (205) is fixedly connected to the wheel axle (212); in coordination with the up and down movement of the bottom transverse plate (203), the double-position rotary drive assembly (3) can form coordination with the wheel (205) in different transmission ratios through the obstacle-crossing transmission assembly (5).

2. The walking obstacle surmounting device of a wheeled inspection robot according to claim 1, characterized in that: The invention also comprises a synchronous steering assembly (4), wherein the synchronous steering assembly (4) comprises a side connecting gear (404), the wheel assembly (2) further comprises a telescopic electric cylinder (209), the two-position rotary drive assembly (3) comprises a normal bevel gear (304) and a torque increasing bevel gear (305), the obstacle crossing transmission assembly (5) comprises a hexagonal plug shaft (501), a wheel bevel gear (502) and a follower rotary sleeve (504), a top fixing plate (206) is fixedly connected to the top of the hexagonal sliding column (202), the top main body of the telescopic electric cylinder (209) is screwed to the bottom end of the top fixing plate (206), the telescopic rod of the telescopic electric cylinder (209) is screwed to the top end of the bottom cross plate (203), the inner middle part of the hexagonal sliding column (202) is screwed to an inner rotary shaft (301), the normal bevel gear (304) and the torque increasing bevel gear (305) are screwed to the inner middle part of the hexagonal sliding column (202), and the normal bevel gear (304) and the torque increasing bevel gear (305) are screwed to the inner middle part of the hexagonal sliding column (202). The bevel gear (305) is plugged and fixed on the outside of the lower end of the inner rotating shaft (301) in the opposite direction. The inner top end of each group of bottom horizontal plates (203) is coaxially fixed with a hollow gear (402) with the hexagonal sliding column (202). The side connecting gear (404) is meshed with the inner side of the hollow gear (402). The hexagonal plug shaft (501) is plugged and fixed on the inner end of the wheel shaft (212). The wheel bevel gear (502) and the hexagonal plug shaft (501) are slidably connected. The follower rotating sleeve (504) is swivelly connected to the outer side of the wheel bevel gear (502). The bottom end of the top fixing plate (206) is fixed with inclined guide columns (506) in pairs. The outside of the follower rotating sleeve (504) is fixed with a follower slide (505) on both sides. The follower slide (505) on the same side is slidably connected in the inclined guide column (506).

3. The walking obstacle surmounting device of a wheeled inspection robot according to claim 2, characterized in that: The vehicle frame component (1) comprises a chassis (101) and a central controller (102). Steering swivel seats (103) are symmetrically fixedly installed at both the front and rear ends of the chassis (101), and the central controller (102) is fixedly installed in the middle of the bottom surface of the chassis (101).

4. The walking obstacle surmounting device of a wheeled inspection robot according to claim 3, characterized in that: The wheel assembly (2) further comprises a telescopic electric cylinder rotating seat (207), a telescopic electric cylinder movable rotating seat (208) and a hexagonal fixed groove (213); a steering spindle (201) is fixed to the top of the hexagonal sliding column (202); the steering spindle (201) is rotatably connected to the steering rotating seat (103); a hexagonal sliding sleeve (204) is fixedly installed on the inner side of the bottom transverse plate (203); the inner surface of the hexagonal sliding sleeve (204) is slidably connected to the hexagonal sliding column (202); a top fixed plate (206) is sleeved on the outside of the top of the steering spindle (201); the telescopic electric cylinder rotating seat (207) is fixedly connected to the outer side of the bottom end of the top fixed plate (206); and the telescopic electric cylinder movable rotating seat (208) is fixedly connected to the bottom transverse plate (203). ), the top body of the telescopic electric cylinder (209) is rotationally connected to the telescopic electric cylinder rotating seat (207), the telescopic rod head end of the telescopic electric cylinder (209) is rotationally connected to the telescopic electric cylinder movable rotating seat (208), the steering main shaft (201) and the middle part of the main body of the hexagonal sliding column (202) are jointly provided with an inner rotation hole (210), the inner rotation shaft (301) is rotationally connected in the inner rotation hole (210), the outer bottom end of the bottom cross plate (203) is fixedly connected with a stand (211), the wheel shaft (212) is rotationally connected in the stand (211), the hexagonal fixed groove (213) is provided in the inner end body of the wheel shaft (212), and the hexagonal plug shaft (501) is plugged and fixed in the hexagonal fixed groove (213).

5. The walking obstacle surmounting device of a wheeled inspection robot according to claim 2, 3 or 4, characterized in that: The two-position rotary drive assembly (3) further comprises a travel motor (302), which is fixedly mounted on the top surface of the top fixing plate (206), a speed and torque sensor (303) is fixedly mounted in the rotating shaft of the travel motor (302), and the top end of the inner rotary shaft (301) is fixedly connected to the bottom end of the speed and torque sensor (303).

6. The walking obstacle surmounting device of a wheeled inspection robot according to claim 4, characterized in that: The synchronous steering assembly (4) further comprises an outer fixed sleeve (401), an inner top spring (403), a central connecting gear (406), a steering motor (408) and a steering gear (409); the outer fixed sleeve (401) is fixedly sleeved on the outside of the hexagonal sliding sleeve (204); the bottom end of the hollow gear (402) is fixedly connected to the top end of the outer fixed sleeve (401); the inner top spring (403) is sleeved and installed on the outside of the hexagonal sliding column (202); the bottom end of the inner top spring (403) is fixedly connected to the top end of the outer fixed sleeve (401); the top end of the inner top spring (403) is fixedly connected to the bottom end of the chassis (101); the chassis (101) is fixedly connected to the bottom end of the chassis (101); A side connecting shaft (405) is symmetrically fixed in the bottom body, a side connecting gear (404) is rotatably connected in the side connecting shaft (405), a center connecting gear (406) is meshed between the symmetrically distributed side connecting gears (404), a center shaft (407) is also fixed in the bottom body of the chassis (101), the center connecting gear (406) is rotatably connected in the center shaft (407), a steering motor (408) is fixedly installed in the middle of the bottom end of the chassis (101), and a steering gear (409) is plugged and fixed in the rotating shaft of the steering motor (408) and meshed with the center connecting gear (406).

7. The walking obstacle surmounting device of a wheeled inspection robot according to claim 2, 3, 4 or 6, characterized in that: The obstacle-crossing transmission assembly (5) further comprises a bottom connecting plate (507) and an inner partition plate (508); a rear fixed column (503) is fixed to the outer side of the wheel bevel gear (502); a hexagonal sliding hole (510) is provided in the rear fixed column (503) and the main body of the wheel bevel gear (502); the wheel bevel gear (502) and the rear fixed column (503) are slidably connected to the hexagonal plug shaft (501) through the hexagonal sliding hole (510); The rotary sleeve (504) is rotatably connected to one end of the rear fixed column (503), the bottom connecting plate (507) is fixedly connected to the bottom end of the inclined guide column (506), the inner partition plate (508) is fixedly connected to the main body of the inclined guide column (506), and a return spring (509) is sleeved and installed in each group of inclined guide columns (506), one end of the return spring (509) is clamped to the inner partition plate (508), and the other end is clamped to the follower slide (505).

8. The obstacle-crossing device for a wheeled inspection robot according to claim 2, 3, 4 or 6, characterized in that: An outer fixed rotation component (6) is also installed between the hexagonal plug shaft (501) and the inner rotation shaft (301). The outer fixed rotation component (6) includes an outer fixed rotation hole (601) and an outer fixed rotation column (602). The outer fixed rotation hole (601) is provided at the inner end main In the body, one end of the outer fixed rotation column (602) is rotatably connected to the outer fixed rotation hole (601), and the other end is fixed with an outer fixed sliding sleeve (603). The outer solid sliding sleeve (603) is slidably connected to the inner rotating shaft (301).

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