A walking obstacle-surmounting device of a wheeled inspection robot

Abstract

The application provides a walking obstacle-surmounting device of a wheeled inspection robot, and belongs to the technical field of wheeled robots. The device comprises a frame component, a wheel body assembly, a double-position rotary drive assembly, a synchronous steering assembly and an obstacle-surmounting transmission assembly. The steering main shaft at the top of the hexagonal slide post is rotatably connected with the steering rotary seat. The bottom horizontal plate is slidably connected with the outer surface of the hexagonal slide post. The device can not only improve the working position of the wheel surface when facing obstacles, but also can make the follow-up slide seat and the inclined guide post form a cooperative transmission. The engagement state of the wheel bevel gear and the bevel gear is switched to the position engaged with the torque-increasing bevel gear. Therefore, the torque-increasing bevel gear and the wheel bevel gear can be cooperatively transmitted while moving on the wheel, so as to double the obstacle-surmounting ability of the wheel surface when facing obstacles. The outer fixed rotary component is further transmissionally connected between the hexagonal shaft and the inner rotary shaft, so as to bidirectionally improve the stability of the transmission of the inner rotary shaft and the hexagonal shaft.

Description

Technical Field

[0001] This invention relates to the field of wheeled robot technology, and in particular to a walking obstacle-crossing device for a wheeled inspection robot. Background Technology

[0002] Wheeled inspection robots can autonomously carry out inspection work according to preset routes and tasks. They are suitable for factories, power facilities, petrochemicals and other fields. With the sensors and detection instruments they are equipped with, they can collect data such as temperature, humidity and pressure in real time to help staff to discover potential problems in time and develop targeted maintenance and repair measures in advance.

[0003] During the inspection process, on relatively open roads, the wheeled inspection robot can autonomously identify and avoid obstacles. However, in narrow passages, obstacles directly affect the movement process. When the obstacles are too large, the conventional settings and torque of the wheeled inspection robot will prevent it from crossing them. Even with the DC motor to increase the torque of the wheels in real time, it is still difficult to achieve good obstacle crossing. It has the disadvantage of poor adaptability to terrain environment. Summary of the Invention

[0004] The purpose of this invention is to provide a walking obstacle-crossing device for a wheeled inspection robot. The wheels and bottom crossbar can automatically move up and down based on an automatically rotatable hexagonal sliding column, forming an active adjustment of the wheel height. In conjunction with the transmission connection formed by the dual-position rotary drive assembly and the obstacle-crossing transmission assembly, the wheel height can be actively increased while the mechanical transmission structure increases the rotational torque of the wheel itself without changing the drive output to the wheel, thereby doubly improving the obstacle-crossing ability of the cover device.

[0005] The objective of this invention is achieved through the following technical solution: a walking and obstacle-crossing device for a wheeled inspection robot, comprising a vehicle frame component, a wheel assembly, a dual-position rotary drive assembly, a synchronous steering assembly, and an obstacle-crossing transmission assembly. The wheel assembly includes a hexagonal sliding column, a bottom cross plate, wheels, a telescopic electric cylinder, and a wheel axle. The dual-position rotary drive assembly includes a bevel gear and a torque-increasing bevel gear. The synchronous steering assembly includes a side-connecting gear. The obstacle-crossing transmission assembly includes a hexagonal insert shaft, wheel bevel gears, and a follower rotating sleeve.

[0006] The outer top of the hexagonal sliding column is vertically screwed to the main body of the vehicle frame component. The bottom horizontal plate is slidably connected to the lower outer end of the hexagonal sliding column. The wheel axle is horizontally screwed to the lower outer side of the bottom horizontal plate. The inner middle part of the wheel is fixedly connected to the wheel axle. A top plate is fixedly connected to the top of the hexagonal sliding column. The top body of the telescopic electric cylinder is screwed to the bottom end of the top plate. The telescopic rod of the telescopic electric cylinder is screwed to the top of the bottom horizontal plate.

[0007] An inner rotating shaft is screwed into the center of the hexagonal sliding column, and a bevel gear and a torque-increasing bevel gear are fixed to the lower end of the inner rotating shaft by an interlocking connection.

[0008] Each set of bottom horizontal plates has a hollow gear fixed coaxially with the hexagonal sliding column at the top inner side, and the side connecting gear meshes with the inner side of the hollow gear.

[0009] The hexagonal insert is fixed to the inner end of the wheel axle. The wheel bevel gear slides with the hexagonal insert. The follower sleeve is screwed to the outer side of the wheel bevel gear. The bottom end of the top plate is fixed with a pair of inclined guide posts. Follower slides are fixed on both sides of the follower sleeve. The follower slides on the same side are slidably connected in the inclined guide posts.

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

[0011] The vehicle frame components can be symmetrically mounted at both the front and rear ends with a walking and obstacle-crossing mechanism consisting of wheel assemblies, dual-position rotary drive assemblies, synchronous steering assemblies, and obstacle-crossing transmission assemblies. Two of these assemblies are used as front wheels, and the other two are used as rear wheels.

[0012] Under normal flat walking conditions, the bottom cross plate is at the lower limit position. At this time, the wheel bevel gear is in the meshing position with the bevel gear. With the rotational speed and torque of the inner rotating shaft remaining unchanged, the transmission ratio formed by the bevel gear and the wheel bevel gear is greater than the transmission ratio formed by the torque-increasing bevel gear and the wheel bevel gear. This allows the wheel bevel gear to rotate relatively quickly, thereby driving the wheel to move relatively quickly through the hexagonal insert shaft and the wheel axle.

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

[0014] By retracting the telescopic rod of the telescopic electric cylinder, the bottom horizontal plate can be moved upward along the hexagonal sliding column, which in turn can drive the wheel axle, wheel and hexagonal insert shaft to move upward, so that the wheel bevel gear can also move upward, disengage from the bevel gear, and move to the position to engage with the bevel gear with increased torque.

[0015] At this time, with the rotational speed and torque of the inner rotating shaft remaining constant, the transmission ratio formed by the torque-increasing bevel gear and the wheel bevel gear is smaller than that formed by the bevel gear and the wheel bevel gear. This can reduce the rotational speed of the wheel bevel gear while increasing the rotational torque of the wheel bevel gear. This not only improves the obstacle-crossing ability of the wheel on this side, but also protects the rotational drive mechanism connected to the inner rotating shaft.

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

[0017] When the front or rear wheels need to perform synchronous and unidirectional steering operations, the drive mechanism connected to the side connecting gear can be activated to drive the side connecting gear and the hollow gear on the same side to form a transmission. This allows the bottom cross plate and the hexagonal sliding column to rotate and adjust within a certain range, thereby driving the axle and the wheel to form a steering operation around the hexagonal sliding column. It also ensures that the meshing state of the wheel bevel gear and bevel gear or torque-increasing bevel gear is not 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 used for rotating the wheel to be automatically raised and lowered, but also realizes the automatic raising and lowering movement of the bottom cross plate and the wheel within a certain range through the telescopic electric cylinder, and can directly realize the direct height increase of one side of the wheel when encountering an obstacle, thereby improving the obstacle crossing ability in advance.

[0020] (2) During the process of the bottom plate and wheel encountering obstacles, the present invention can also drive the wheel bevel gear to move upward through the hexagonal insert shaft, so that the wheel bevel gear disengages from the bevel gear and moves to the height position where it meshes with the torque-increasing bevel gear. However, since the number of teeth of the torque-increasing bevel gear is less than the number of teeth of the bevel gear, the unidirectional movement of the wheel bevel gear in height cannot realize the switching meshing between the bevel gear and the torque-increasing bevel gear. Therefore, the present invention also screws a follower sleeve on the outside of the wheel bevel gear, and the follower slide at both ends of the follower sleeve can form a sliding fit with the inclined guide post set at an angle. This can drive the wheel bevel gear to move upward while moving linearly towards the torque-increasing bevel gear. Thus, when the wheel bevel gear moves upward to a certain position, it just meshes with the torque-increasing bevel gear. Thus, under the condition that 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 speed of the wheel bevel gear can be reduced while the output torque of the wheel bevel gear is increased, which can again improve the obstacle-crossing ability of the wheel to a certain extent. Attached Figure Description

[0021] 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0024] Figure 3 This is a first-view structural schematic diagram of the wheel assembly of the present invention;

[0025] Figure 4 This is a structural schematic diagram of the wheel assembly of the present invention from a second perspective;

[0026] Figure 5 This is a schematic diagram of the structure of the dual-position rotary drive assembly of the present invention;

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

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

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

[0030] Figure 9 This is a schematic diagram of the structure of the hexagonal insert shaft and the bevel gear of the wheel according to the present invention;

[0031] Figure 10 This is a schematic diagram of the structure of the external fixed rotating component and the obstacle crossing transmission assembly of the present invention.

[0032] Figure 11 This is a schematic diagram of the connection structure of the outer fixed sliding sleeve of the present invention;

[0033] Figure 12 This is a schematic diagram of the vertical sliding groove part of the present invention.

[0034] Figure label:

[0035] 1. Vehicle frame components; 101. Chassis; 102. Central controller; 103. Steering rotor; 104. Clearance groove;

[0036] 2. Wheel assembly; 201. Steering spindle; 202. Hexagonal sliding column; 203. Bottom cross 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. Stand; 212. Wheel axle; 213. Hexagonal fixing groove;

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

[0038] 4. Synchronous steering assembly; 401. Outer fixed sleeve; 402. Hollow gear; 403. Inner 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 insert shaft; 502. Wheel bevel gear; 503. Rear fixing column; 504. Follower rotating sleeve; 505. Follower slide; 506. Inclined guide column; 507. Bottom connecting plate; 508. Inner partition plate; 509. Return spring; 510. Hexagonal sliding hole;

[0040] 6. External fixing and rotating components; 601. External fixing and rotating hole; 602. External fixing and rotating column; 603. External fixing and sliding sleeve. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] like Figures 1-12 As shown, a walking obstacle-crossing device for a wheeled inspection robot is provided. The outer top of a hexagonal sliding column 202 is vertically screwed to the main body of the vehicle frame component 1. The bottom horizontal plate 203 is slidably connected to the lower outer end of the hexagonal sliding column 202. The wheel axle 212 is horizontally screwed to the lower outer side of the bottom horizontal plate 203. The inner middle part of the wheel 205 is fixedly connected to the wheel axle 212. A top plate 206 is fixedly connected to the top of the hexagonal sliding column 202. The top body of the telescopic electric cylinder 209 is screwed to the bottom end of the top plate 206. The telescopic rod of the telescopic electric cylinder 209 is screwed to the top of the bottom horizontal plate 203.

[0044] The inner center of the hexagonal sliding column 202 is screwed with an automatically rotatable inner rotating shaft 301. The bevel gear 304 and the torque-increasing bevel gear 305 are inserted and fixed to the lower end of the inner rotating shaft 301, and the bevel gear 304 is located below the torque-increasing bevel gear 305. The bevel gear 304 and the torque-increasing bevel gear 305 have the same module, and the number of teeth of the bevel gear 304 is greater than the number of teeth of the torque-increasing bevel gear 305.

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

[0046] Furthermore, the height of the hollow gear 402 is several times greater than the height of the side connecting gear 404, which allows the hollow gear 402 to mesh with the side connecting gear 404 within the stroke range of the vertical movement of the bottom horizontal plate 203.

[0047] The hexagonal insert shaft 501 is inserted into the inner end of the wheel axle 212. The wheel bevel gear 502 is slidably connected to the hexagonal insert shaft 501. The follower sleeve 504 is screwed onto the outer side of the wheel bevel gear 502. The follower sleeve 504 can only form a rotational engagement with the wheel bevel gear 502 and will not move laterally relative to it. The bottom end of the top plate 206 is fixed with a pair of outwardly inclined guide pillars 506. Follower slides 505 are fixed on both sides of the follower sleeve 504. The follower slides 505 on the same side are slidably connected in the inclined guide pillars 506.

[0048] The vertical movement of the bottom horizontal plate 203 can drive the follower slide 505 to form a sliding connection with the inclined guide post 506, so that the wheel bevel gear 502 can switch between bevel gear 304 and torque-increasing bevel gear 305.

[0049] The working principle is as follows:

[0050] The vehicle frame component 1 serves as the mounting base, and the wheel assembly 2, dual-position rotary drive assembly 3, synchronous steering assembly 4, and obstacle crossing transmission assembly 5, which together form a walking and obstacle crossing device, can be symmetrically mounted at both the front and rear ends. Two of these components are used as the front wheels, and the other two are used as the rear wheels.

[0051] Under normal flat walking conditions, the bottom cross plate 203 is at the lower limit position. At this time, the wheel bevel gear 502 is in the position of meshing with the bevel gear 304. With the rotation speed and torque of the inner rotating shaft 301 remaining unchanged, the transmission ratio formed by the 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. This allows the wheel bevel gear 502 to rotate relatively quickly, thereby driving the wheel 205 to move relatively quickly through the hexagonal insert shaft 501 and the wheel axle 212.

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

[0053] By retracting the telescopic rod of the telescopic cylinder 209, the bottom horizontal plate 203 can be moved upward along the hexagonal sliding column 202, which in turn can drive the wheel axle 212, wheel 205 and hexagonal insert shaft 501 to move upward, so that the wheel bevel gear 502 can also move upward, disengage from the bevel gear 304, and move to the position of engaging with the torque-increasing bevel gear 305.

[0054] At this time, with the rotational speed and torque of the inner rotating shaft 301 remaining 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 bevel gear 304 and the wheel bevel gear 502. This can reduce the rotational speed of the wheel bevel gear 502 while increasing the rotational torque of the wheel bevel gear 502. This not only improves the obstacle-crossing ability of the wheel 205 on this side, but also protects the rotary drive mechanism connected to the inner rotating shaft 301.

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

[0056] When the front or rear wheels 205 need to perform synchronous and unidirectional steering operations, the drive mechanism connected to the side connecting gear 404 can be activated to drive the side connecting gear 404 and the hollow gear 402 to form a transmission, 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 steering operation with the hexagonal sliding column 202 as the center. It also ensures that the meshing state of the wheel bevel gear 502 and bevel gear 304 or the torque-increasing bevel gear 305 will not be affected during the steering process.

[0057] Furthermore, the hollow gear 402, which is fixed to the bottom horizontal plate 203, is set at a height greater than that of the side connecting gear 404, so that as the bottom horizontal plate 203 and the hollow gear 402 move vertically, the hollow gear 402 is always in a position that meshes with the side connecting gear 404, which remains in a fixed position.

[0058] The specific structure of vehicle frame component 1 is as follows: Figure 2 As shown, steering rotary seats 103 are symmetrically fixedly installed at both the front and rear ends of the chassis 101. An avoidance groove 104 is also provided in the main body of the chassis 101 at the outer position relative to the steering rotary seat 103, which is used to eliminate the interference formed with 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 installed and fixed in 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 wheel assembly 2 is as follows: Figure 3 and Figure 4 As shown, a steering spindle 201 is coaxially fixed to the top of the hexagonal sliding column 202. The steering spindle 201 is rotatably connected to the steering rotary seat 103. A hexagonal sliding sleeve 204 is fixedly installed on the inner side of the bottom horizontal plate 203. The inner surface of the hexagonal sliding sleeve 204 is slidably connected to the hexagonal sliding column 202.

[0061] The top plate 206 is fixed to the outside of the top of the steering spindle 201. The telescopic electric cylinder rotating seat 207 is fixedly connected to the outside of the bottom end of the top plate 206. The telescopic electric cylinder moving rotating seat 208 is fixedly connected to the top of the bottom horizontal plate 203. The top body of the telescopic electric cylinder 209 is rotatably connected to the telescopic electric cylinder rotating seat 207. The telescopic rod head of the telescopic electric cylinder 209 is rotatably connected to the telescopic electric cylinder moving rotating seat 208.

[0062] The main body of the steering spindle 201 and the hexagonal sliding column 202 are vertically provided with an inner rotating hole 210. The inner rotating shaft 301 is rotatably connected in the inner rotating hole 210. The bottom outer side of the bottom plate 203 is fixedly connected to the stand 211. The wheel axle 212 is rotatably connected in the stand 211. The hexagonal fixed groove 213 is opened in the inner end of the main body of the wheel axle 212. The hexagonal insert shaft 501 is inserted and fixed in the hexagonal fixed groove 213.

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

[0064] The specific structure of the dual-position rotary drive assembly 3 is as follows: Figure 5 As shown, the travel motor 302 is fixedly installed on the top surface of the top plate 206. A speed and torque sensor 303 is installed and fixed in the rotating shaft of the travel 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 travel motor 302 and the speed and torque sensor 303 are both electrically connected to the central controller 102. The central controller 102 can control the travel 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 fixed sleeve 401 is fixed outside the hexagonal sliding sleeve 204 and is fixedly connected to the top of the bottom horizontal plate 203. 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, and 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.

[0066] And under the action of the inner top spring 403 itself, it can not only form a shock absorption effect, but also make the bottom cross plate 203 and the wheel 205 in a naturally elastic downward position;

[0067] A side connecting shaft 405 is symmetrically fixed in the bottom main body of the chassis 101. A side connecting gear 404 is rotatably connected in the side connecting shaft 405. A central connecting gear 406 meshes between the symmetrically distributed side connecting gears 404. A central shaft 407 is also fixed in the bottom main body of the chassis 101. A 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 of the chassis 101. A steering gear 409 is inserted and fixed in the rotating shaft of the steering motor 408 and meshes with the central connecting gear 406.

[0068] The steering motor 408 is electrically connected to the central controller 102. It can automatically start the steering motor 408 to drive the rotation of the steering gear 409. The steering gear 409 drives the side connecting gears 404 on both sides to rotate through the cooperation of the central connecting gear 406. This can drive the symmetrically distributed hollow gears 402 to rotate synchronously and in the same direction.

[0069] This can drive the two sets of wheels 205 at the front or rear of the chassis 101 to perform a steering action;

[0070] Furthermore, during the turning process of the bottom cross plate 203 and the wheel 205, the top plate 206 will also rotate synchronously, so that the inclined guide column 506 can also adjust its movement in accordance with the turning of the bottom cross plate 203.

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

[0072] The follower sleeve 504 is rotatably connected to one end of the rear fixed column 503, and no lateral displacement occurs;

[0073] The bottom connecting plate 507 is fixedly connected to the bottom end of the inclined guide post 506, and the inner partition plate 508 is fixedly connected to the main body of the inclined guide post 506. Each set of inclined guide posts 506 is fitted with a return spring 509. 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 on the follower slide 505 formed by the return spring 509 can again form shock absorption and make the bottom plate 203 and the wheel 205 in a natural elastic downward position.

[0075] Furthermore, the center distance between the paired inclined guide posts 506 is greater than the width of the bottom horizontal plate 203, so that the inclined guide posts 506 and the inner partition plate 508 will not interfere with the movement of the bottom horizontal plate 203.

[0076] An outer fixed rotating hole 601 is formed in the inner end body of the hexagonal insert shaft 501. One end of the outer fixed rotating column 602 is rotatably connected to the outer fixed rotating hole 601, and the other end is fixed with an outer fixed sliding sleeve 603. The outer fixed sliding sleeve 603 is slidably connected to the inner rotating shaft 301, so that the inner rotating shaft 301 can form a stable support for the rotation state of the hexagonal insert shaft 501, and the outer fixed sliding sleeve 603 can also form a rotational 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 insert shaft 501 in both directions.

[0077] Preferred, such as Figure 12 As shown, a vertical sliding groove 306 can also be opened on the outer side of the lower end of the inner rotating shaft 301, and an inner slider 307 is 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 slider 307. A compression spring top plate 308 is sleeved and fixed on the lower end of the inner rotating shaft 301 above the torque increasing bevel gear 305. 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 502 in the fixed state with the inner rotating shaft 301. The downward adjustment of the position of the bevel gear 305 allows the wheel bevel gear 502 to not only mesh with the torque-increasing bevel gear 305 after the wheel 205 moves up to a certain position within a certain range, but also to continuously mesh with the torque-increasing bevel gear 305 under the downward elastic force of the torque-increasing bevel gear 305 itself. This ensures that the wheel bevel gear 502 can mesh with the torque-increasing bevel gear 305 as long as the wheel 205 is within a certain height range, rather than requiring the wheel 205 to be moved upward to a set position before meshing with the torque-increasing bevel gear 305. Furthermore, the tooth structure of the wheel bevel gear 502 and the torque-increasing bevel gear 305 supports the engagement of the wheel bevel gear 502 and the torque-increasing bevel gear 305 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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 and 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 dual-position rotary drive assembly (3), and an obstacle crossing transmission assembly (5). The wheel assembly (2) includes a hexagonal slide column (202), a bottom cross plate (203), a wheel (205) and a wheel axle (212). The outer top of the hexagonal slide column (202) is screwed to the main body of the vehicle frame component (1). The bottom cross plate (203) is slidably connected to the lower outer end of the hexagonal slide column (202). The wheel axle (212) is screwed to the lower outer side of the bottom cross plate (203). The inner middle part of the wheel (205) is fixedly connected to the wheel axle (212). With the up and down movement of the bottom cross plate (203), the dual-position rotary drive assembly (3) can form different transmission ratios with the wheel (205) through the obstacle crossing transmission assembly (5). It also includes a synchronous steering assembly (4), which includes a side connecting gear (404). The wheel assembly (2) also includes a telescopic electric cylinder (209). The dual-position rotary drive assembly (3) includes a bevel gear (304) and a torque-increasing bevel gear (305). The obstacle-crossing transmission assembly (5) includes a hexagonal insert shaft (501), a wheel bevel gear (502), and a follower rotating sleeve (504). A top fixing plate (206) is fixedly connected to the top of the hexagonal slide column (202). The top 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 of the bottom horizontal plate (203). An inner rotating shaft (301) is screwed to the inner center of the hexagonal slide column (202). The bevel gear (304) and the torque-increasing bevel gear... Gears (305) are fixed to the lower end of the inner rotating shaft (301) by opposite insertion. Hollow gears (402) are fixed to the inner top of each set of bottom horizontal plates (203) coaxially with hexagonal sliding columns (202). Side connecting gears (404) mesh with the inner side of hollow gears (402). Hexagonal insert shafts (501) are inserted into the inner end of the wheel axle (212). Wheel bevel gears (502) slide with hexagonal insert shafts (501). Follower sleeves (504) are screwed onto the outer side of wheel bevel gears (502). A pair of inclined guide columns (506) are fixed to the bottom end of the top plate (206). Follower slides (505) are fixed to the outer sides of both sides of the follower sleeves (504). Follower slides (505) on the same side are slidably connected in the inclined guide columns (506).

2. The obstacle-crossing device for a wheeled inspection robot according to claim 1, characterized in that: The vehicle frame component (1) includes a chassis (101) and a central controller (102). Steering rotary seats (103) are symmetrically fixed at both the front and rear ends of the chassis (101), and the central controller (102) is fixedly mounted on the middle of the bottom surface of the chassis (101).

3. The obstacle-crossing device for a wheeled inspection robot according to claim 2, characterized in that: The wheel assembly (2) also includes a telescopic electric cylinder rotating seat (207), a telescopic electric cylinder moving rotating seat (208), and a hexagonal fixed groove (213). The top of the hexagonal sliding column (202) is fixed with a steering spindle (201), which is rotatably connected in the steering rotating seat (103). A hexagonal sliding sleeve (204) is fixedly installed on the inner side of the bottom horizontal plate (203). The inner surface of the hexagonal sliding sleeve (204) is slidably connected to the hexagonal sliding column (202). The 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 outside of the bottom end of the top fixed plate (206). The telescopic electric cylinder moving rotating seat (208) is fixedly connected to the bottom horizontal plate (203). At the top of the telescopic electric cylinder (209), the top body of the telescopic electric cylinder (209) is rotatably connected to the telescopic electric cylinder rotating seat (207), the telescopic rod head of the telescopic electric cylinder (209) is rotatably connected to the telescopic electric cylinder moving rotating seat (208), the steering main shaft (201) and the hexagonal sliding column (202) are provided with an inner rotating hole (210) in the middle of their main bodies, the inner rotating shaft (301) is rotatably connected in the inner rotating hole (210), the bottom of the bottom plate (203) is fixedly connected to a stand (211), the wheel axle (212) is rotatably connected in the stand (211), the hexagonal fixed groove (213) is opened in the inner end of the wheel axle (212), and the hexagonal insert shaft (501) is inserted and fixed in the hexagonal fixed groove (213).

4. The obstacle-crossing device for a wheeled inspection robot according to claim 1, 2, or 3, characterized in that: The dual-position rotary drive assembly (3) also includes a travel motor (302), which is fixedly installed on the top surface of the top plate (206). A speed and torque sensor (303) is installed and fixed in the 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).

5. The obstacle-crossing device for a wheeled inspection robot according to claim 3, characterized in that: The synchronous steering assembly (4) also includes an outer fixed sleeve (401), an inner top spring (403), a center connecting gear (406), a steering motor (408), and a steering gear (409). The outer fixed sleeve (401) is fixed outside 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), and 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). A side connecting shaft (405) is symmetrically fixed in the bottom main body. A side connecting gear (404) is rotatably connected in the side connecting shaft (405). A center connecting gear (406) meshes between the symmetrically distributed side connecting gears (404). A center shaft (407) is also fixed in the bottom main body of the chassis (101). A 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 of the chassis (101). A steering gear (409) is inserted and fixed in the rotating shaft of the steering motor (408) and meshes with the center connecting gear (406).

6. The obstacle-crossing device for a wheeled inspection robot according to claim 1, 2, 3 or 5, characterized in that: The obstacle-crossing transmission assembly (5) also includes a bottom connecting plate (507) and an inner partition plate (508). A rear retaining post (503) is fixed to the outer side of the wheel bevel gear (502). A hexagonal sliding hole (510) is opened in the main body of the rear retaining post (503) and the wheel bevel gear (502). The wheel bevel gear (502) and the rear retaining post (503) are slidably connected to the hexagonal insert shaft (501) through the hexagonal sliding hole (510). The 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 (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 set of inclined guide columns (506). One end of the return spring (509) is locked to the inner partition (508), and the other end is locked to the follower slide (505).

7. The obstacle-crossing device for a wheeled inspection robot according to claim 1, 2, 3 or 5, characterized in that: An external fixing component (6) is also installed between the hexagonal insert shaft (501) and the inner rotating shaft (301). The external fixing component (6) includes an external fixing hole (601) and an external fixing column (602). The external fixing hole (601) is opened in the inner end body of the hexagonal insert shaft (501). One end of the external fixing column (602) is rotatably connected to the external fixing hole (601), and the other end is fixed with an external fixing sleeve (603). The external fixing sleeve (603) is slidably connected to the inner rotating shaft (301).

Images