Climbing mechanism and wheel type inspection robot

Abstract

The invention provides a climbing mechanism and a wheel type inspection robot, and belongs to the technical field of wheel type robots, the climbing mechanism comprises a main chassis assembly, a turnover chassis assembly, an advancing driving assembly, an advancing transmission assembly, a transverse recovery component and a safety buckle component, the turnover chassis is spirally connected with the main chassis, and the turnover chassis is in an elastic unfolding state relative to the main chassis; a flexible chassis structure suitable for climbing can be jointly formed, the advancing driving assembly is installed at one end of the overturning chassis, the driving wheel can rotate autonomously to form a driving wheel, the driving wheel can be retracted inwards under the condition that the overturning chassis is retracted in place, and a follow-up bevel gear is meshed with a follow-up connecting bevel gear, so that the driving wheel can be driven to move forwards and backwards. The first rotating wheel can be driven to form a driving wheel, so that the device is suitable for conventional advancing and can form a climbing mechanism; and after the turnover chassis is recycled in place, the telescopic rod of the electric cylinder drives the recycling clamping sleeve to move, so that the clamping hole of the recycling clamping sleeve can be inserted outside the top end of the sliding stand column, and safety and reliability are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of wheeled robots, and in particular to a climbing mechanism and a wheeled inspection robot. Background Art

[0002] With the rapid advancement of science and technology, artificial intelligence and robotics technology have gradually merged and been applied to various industries, especially in the fields of electricity, petroleum, chemical industry, security, etc. Wheeled intelligent inspection robots are gradually becoming an important tool in the inspection field with their high efficiency, precision and safety.

[0003] The chassis of existing wheeled inspection robots is basically a four-wheel structure, which can move stably and quickly on flat ground. However, due to the structural characteristics that the four wheels and the chassis always remain in a constant height position, it is difficult for the four-wheeled robot to adapt to complex terrain when driving, especially when encountering obstacles such as stones and uneven slopes. Traditional wheeled robots with four-wheel structures cannot pass smoothly. Summary of the invention

[0004] One of the purposes of the present invention is to provide a climbing mechanism, which rotationally connects the flip chassis with the main chassis, and the flip chassis itself has an elastically unfolded state, and can form a flexible chassis structure with the main chassis, so that when the flip chassis is retracted, the travel drive assembly can drive the first rotating wheel to rotate through the cooperation formed by the travel transmission assembly. After the flip chassis is unfolded into place, the travel drive assembly independently forms a drive, so that it can be suitable for different terrain environments.

[0005] The objective of the present invention is achieved through such a technical solution, a climbing mechanism, comprising a main chassis assembly, a flip chassis assembly, a travel drive assembly, a travel transmission assembly and a transverse recovery member, the main chassis assembly comprises a main chassis, the flip chassis assembly comprises a flip chassis and a flip drum, the travel drive assembly comprises a driving wheel and a follower bevel gear, the travel transmission assembly comprises a transmission shaft, and the transverse recovery member comprises a sliding column;

[0006] One end of the main chassis is connected to a pair of bogies, and the lower end of each set of bogies is connected to a first rotary wheel. The flip chassis is connected to the other end of the main chassis through the flip rotary cylinders on both sides, and the flip chassis can be naturally elastically unfolded relative to the main chassis.

[0007] The other end of the flip chassis is laterally fixed with sliding shafts in pairs, and both ends of the sliding shafts are slidingly connected with driving wheel frames that are elastically movable outward, and the driving wheel is rotated to the outside of one end of the driving wheel frame and can rotate automatically, and the follower bevel gear is fixedly connected to the rotating shaft of the driving wheel, and the transmission shaft is symmetrically rotated in the main body at one end of the main chassis, and a follower connecting bevel gear is inserted in the top of each group of transmission shafts, and the bottom end of the transmission shaft is transmission connected with the rotating shaft of the first rotating wheel, and the sliding columns are symmetrically fixed to the top of one end of the main chassis, and the other end of each group of driving wheel frames is fixedly connected with a tilting seat, and when the flip chassis rotates to a set position relative to the main chassis, the tilting seat on the same side is slidably cut with the sliding column, and after the flip chassis is recovered in place relative to the main chassis, the driving wheel frame is recovered in place, and the follower bevel gear on the same side is meshed with the follower connecting bevel gear.

[0008] The use process of the technical solution of the present invention is as follows:

[0009] The wheels at the bottom of the main chassis assembly are used for the normal movement of the robot. After the flip chassis is unfolded relative to the main chassis, it can form a climbing state;

[0010] During normal travel, the flip chassis is in a position where it is recovered relative to the main chassis. At this time, the mechanism that drives the driving wheel to rotate can drive the rotation of the follower bevel gear, and the follower bevel gear is in a position that meshes with the follower connecting bevel gear. With the coordinated transmission formed by the follower bevel gear and the follower connecting bevel gear, the transmission shaft can be driven to rotate, so that the transmission shaft on the same side forms a coordinated transmission with the first rotating wheel, thereby driving the active rotation of the first rotating wheel, and cooperating with the synchronous automatic steering formed by the paired bogies, the normal travel and steering actions of the robot can be realized;

[0011] When encountering an uneven slope, the flip chassis is unfolded relative to the main chassis, and the flip chassis and the main chassis form a combined chassis structure. After the flip chassis is unfolded relative to the main chassis, the height distance between the driving wheel at the bottom end of the flip chassis and the main chassis is greater than the height distance between the first rotating wheel and the main chassis. In addition, since the flip chassis has an elastic thrust that is naturally unfolded relative to the main chassis, the main chassis and the flip chassis can form a flexible chassis. The driving wheel can not only rotate actively, but also, when encountering an uneven slope, perform autonomous elastic adjustment in height as the flip chassis rotates elastically. In conjunction with the wheel set arranged at a fixed height position at the bottom of the main chassis, a climbing mechanism that can adapt to uneven slopes can be formed.

[0012] Another object of the present invention is to provide a wheeled inspection robot, which also includes a safety buckle component, which includes a recovery clip. An electric cylinder is provided on one side of each group of sliding columns, and the electric cylinder is fixedly installed on the top of the main chassis. The recovery clip is fixedly connected to the top of the telescopic rod of the electric cylinder, so that after the flip chassis is recovered into place relative to the main chassis, the tilting seat moves inward to the set position, the telescopic rod of the electric cylinder moves downward, and the clip hole of the recovery clip is inserted into the outside of the top of the tilting seat to lock the tilting seat in the current rest position.

[0013] By adopting the above technical solution, the present invention can achieve the following beneficial effects:

[0014] (1) The present invention rotates the flip chassis to the main chassis and sets the flip chassis to a state of natural elastic expansion relative to the main chassis, which not only enables the flip fixed axle to be retracted relative to the main chassis during normal travel, but also enables the flip chassis to be fully expanded relative to the main chassis to form a flexibly connected chassis structure when climbing a slope;

[0015] (2) The present invention creatively installs the actively rotating driving wheel in the flip chassis, and forms an outward elastic sliding connection state between the driving wheel frame and the sliding shaft, so that when the flip chassis forms a recovery action relative to the main chassis, the tilting seat can be slidably matched with the sliding column, so that not only the purpose of the driving wheel being recovered inward after the flip chassis is recovered relative to the main chassis can be achieved, but also the relative distance between the two sets of driving wheels is shortened to the minimum setting position when the flip chassis is recovered, which will not affect the movement of the robot, and the state of meshing between the follower bevel gear and the follower connecting bevel gear can be formed, so that with the automatic rotation of the driving wheel, the rotation of the first rotating wheel can be driven by the transmission mechanism, which is convenient for forming a normal movement action;

[0016] (3) After the flip chassis is unfolded relative to the main chassis, not only can the height distance between the driving wheel and the main chassis be greater than the height distance between the first rotating wheel and the main chassis, but also after the driving wheel frame moves outward to the maximum elastic position, the relative distance between the two sets of driving wheels can be pushed to the maximum setting position, so that not only can the driving wheel form a climbing mechanism with the flexible chassis structure formed by the flip chassis and the main chassis and the wheel set arranged at the bottom of the main chassis, but also the stability of the driving wheel support can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 It is a schematic diagram of the overall structure of the first state of the present invention;

[0019] Figure 2 It is a schematic diagram of the overall structure of the second state of the present invention;

[0020] Figure 3 It is a structural schematic diagram of the main chassis assembly of the present invention;

[0021] Figure 4 It is a structural schematic diagram of the bogie part of the present invention;

[0022] Figure 5 It is a schematic diagram of the installation structure of the flip chassis assembly of the present invention;

[0023] Figure 6 It is a structural schematic diagram of the transmission part of the flip chassis assembly of the present invention;

[0024] Figure 7 It is a structural schematic diagram of the travel drive assembly of the present invention;

[0025] Figure 8 It is a schematic diagram of the exploded structure of the travel drive assembly of the present invention;

[0026] Fig. 9 It is a structural schematic diagram of the travel transmission assembly of the present invention;

[0027] Fig.10 It is a schematic structural diagram of the transverse recovery member of the present invention;

[0028] Fig.11 It is a schematic diagram of the structure of the cooperation between the travel transmission assembly and the follower bevel gear of the present invention;

[0029] Fig.12 It is a schematic structural diagram of the safety buckle component of the present invention.

[0030] Reference numerals:

[0031] 1. Main chassis assembly; 101. Main chassis; 102. Fixed wheel seat; 103. Fixed wheel rotating frame; 104. Driven fixed wheel; 105. Steering seat; 106. Steering shaft; 107. Steering frame; 108. First wheel shaft; 109. First rotating wheel; 110. Steering rod; 111. Steering motor; 112. Rotating connecting rod; 113. Steering sliding column; 114. Steering slideway;

[0032] 2. Flip chassis assembly; 201. Flip fixed shaft; 202. Flip chassis; 203. Flip rotary cylinder; 204. Horizontal connecting arm; 205. Middle fixed frame; 206. Flip motor; 207. Flip gear; 208. Flip connecting gear; 209. Driven rack; 210. Sliding column fixed seat; 211. Sliding seat; 212. Driven sliding column; 213. Flip push spring; 214. Rack slideway; 215. Rack slider; 216. Connecting shaft seat; 217. Connecting shaft; 218. Connecting rotary arm; 219. External rotary seat; 220. Reversing rotary column; 221. Horizontal rotary sleeve;

[0033] 3. Travel drive assembly; 301. Sliding shaft; 302. Middle fixed sleeve; 303. Driving wheel frame; 304. Driving rotating seat; 305. Driving rotating shaft; 306. Driving wheel; 307. Driving motor; 308. Follower bevel gear; 309. Compression spring;

[0034] 4. Travel transmission assembly; 401. Transmission shaft; 402. Follow-up connecting bevel gear; 403. First rotating bevel gear; 404. First connecting bevel gear; 405. Transmission shaft seat;

[0035] 5. Horizontal recovery member; 501. Bottom horizontal seat; 502. Sliding column; 503. Tilt seat;

[0036] 6. Safety buckle component; 601. Electric cylinder; 602. Recovery sleeve. DETAILED DESCRIPTION

[0037] 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.

[0038] 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.

[0039] like Figure 1-Figure 12As shown, a climbing mechanism and a wheeled inspection robot, a main chassis assembly 1 has a main chassis 101 with a pair of bogies 107 screwed to one end, and the two sets of bogies 107 can be synchronously and automatically turned, a first rotary wheel 109 is screwed to the outer side of the lower end of each set of bogies 107, a flip chassis 202 is screwed to the other end of the main chassis 101 through flip rotary cylinders 203 on both sides, and the flip chassis 202 can be naturally elastically unfolded relative to the main chassis 101, and the flip chassis 202 can automatically rotate relative to the main chassis 101;

[0040] The other end of the flip chassis 202 is transversely fixed with a pair of sliding shafts 301, and both ends of the sliding shafts 301 are slidingly connected with a driving wheel frame 303 that is elastically outward, and the driving wheel 306 is screwed to the outer side of one end of the driving wheel frame 303 and can rotate automatically. The follower bevel gear 308 is fixedly connected to the rotating shaft of the driving wheel 306, and the transmission shaft 401 is symmetrically screwed to the main body at one end of the main chassis 101. The top of each group of transmission shafts 401 is inserted with a follower connection bevel gear 402, and the bottom end of the transmission shaft 401 is connected to the rotating shaft of the first rotating wheel 109, and the steering A through hole is opened in the frame 107 which is opposite to the transmission shaft 401, and the sliding column 502 is symmetrically fixed on the top of one end of the main chassis 101. The other end of each set of driving wheel frames 303 is fixedly connected with a tilting seat 503, and when the flip chassis 202 rotates to a set position relative to the main chassis 101, the tilting seat 503 on the same side is slidably matched with the sliding column 502, and after the flip chassis 202 is recovered into place relative to the main chassis 101, the driving wheel frame 303 is recovered inwardly into place, and the follower bevel gear 308 on the same side is meshed with the follower connecting bevel gear 402.

[0041] Here’s how it works:

[0042] The wheels at the bottom of the main chassis assembly 1 are used for the normal movement of the robot. After the flip chassis 202 is unfolded relative to the main chassis 101, it can form a climbing state;

[0043] During normal travel, the flip chassis 202 is in a position where it is recovered relative to the main chassis 101. At this time, the mechanism that drives the driving wheel 306 to rotate can drive the rotation of the follower bevel gear 308, and the follower bevel gear 308 is in a position meshing with the follower connecting bevel gear 402. With the coordinated transmission formed by the follower bevel gear 308 and the follower connecting bevel gear 402, the transmission shaft 401 can be driven to rotate, so that the transmission shaft 401 on the same side forms a coordinated transmission with the first rotating wheel 109, thereby driving the active rotation of the first rotating wheel 109, and cooperating with the synchronous automatic steering formed by the paired bogies 107, the normal travel and steering actions of the robot can be realized;

[0044] Due to the sliding effect formed by the tilting seat 503 and the sliding column 502, the driving wheel 306 can be driven to be recovered to the inner limit position along with the driving wheel frame 303, so that the recovered driving wheel 306 will not affect the normal movement of the robot;

[0045] When encountering an uneven slope, the flip chassis 202 is unfolded relative to the main chassis 101, and the flip chassis 202 and the main chassis 101 form a combined chassis structure. After the flip chassis 202 is unfolded relative to the main chassis 101, the height distance between the driving wheel 306 at the bottom of the flip chassis 202 and the main chassis 101 is greater than the height distance between the first rotating wheel 109 and the main chassis 101. In addition, since the flip chassis 202 has an elastic thrust that is naturally unfolded relative to the main chassis 101, the main chassis 101 and the flip chassis 202 can form a flexible chassis. The driving wheel 306 can not only rotate actively, but also can perform autonomous elastic adjustment in height when encountering an uneven slope, along with the elastic rotation of the flip chassis 202, and cooperate with the wheel set set at a fixed height position at the bottom of the main chassis 101 to form a climbing mechanism that adapts to uneven slopes.

[0046] Electronic equipment for inspection is installed on the top of the main chassis 101, including but not limited to sensors, surveillance cameras and pan / tilt heads, etc., and since the flip chassis 202 is a hollow frame structure, the rotation of the flip chassis 202 toward the main chassis 101 will not cause positional interference with the electronic equipment for inspection.

[0047] The specific structure of the main chassis assembly 1 is as follows Figure 3 and Figure 4 As shown, a fixed wheel seat 102 is symmetrically fixedly installed at the other end of the main chassis 101, and a fixed wheel rotating frame 103 is fixedly connected to the fixed wheel seat 102. The outer side of each set of fixed wheel rotating frames 103 is rotatably connected to a driven fixed wheel 104;

[0048] The height of the driven fixed wheel 104 relative to the main chassis 101 is equal to the height of the first rotating wheel 109 relative to the main chassis 101, so that when the robot moves normally, the driven fixed wheel 104 can cooperate with the active rotation of the first rotating wheel 109 to form a moving motion together;

[0049] The steering seat 105 is symmetrically fixedly installed at one end of the main chassis 101, and a steering shaft 106 is rotatably connected in each set of steering seats 105. One end of the bogie 107 is fixedly connected to the outside of the steering shaft 106. The first wheel axle 108 is transversely fixedly installed at the bottom end of the bogie 107, and the rotating shaft of the first rotating wheel 109 is rotatably connected to the first wheel axle 108.

[0050] The top of each set of steering shafts 106 is fixedly connected to a steering rod 110, and a steering motor 111 is installed and fixed to the outer bottom end of the main chassis 101 without interfering with the movement of the robot. A steering slot 114 is provided in the body of each set of steering rods 110, and the rotating shaft of the steering motor 111 passes through the body of the main chassis 101 and is fixedly connected to the rotating connecting rod 112. Steering sliding columns 113 are fixed on both sides of the bottom end of the rotating connecting rod 112, and the steering sliding columns 113 on the same side are slidably connected in the steering slot 114;

[0051] After the steering motor 111 drives the rotating connecting rod 112 to rotate, it can drive the steering slide column 113 on both sides of the bottom end of the rotating connecting rod 112 to rotate in the same direction. Through the sliding cooperation formed by the steering slide column 113 and the steering slide groove 114, it can drive the steering rod 110 to rotate in the same direction, thereby driving the steering shaft 106 and the bogie 107 to form a synchronous and same-direction steering action.

[0052] The specific structure of the flip chassis assembly 2 is as follows Figure 5 and Figure 6 As shown, the flip fixed shaft 201 is symmetrically fixed to the inner side of the other end of the main chassis 101, the flip rotary cylinder 203 is rotatably connected to the flip fixed shaft 201, and the two ends of the transverse connecting arm 204 are respectively sleeved and fixed to the outside of different flip rotary cylinders 203;

[0053] A middle fixed frame 205 is fixedly connected to the middle position of the top of the other end of the main chassis 101, a flip motor 206 is fixedly installed on the top of the flip motor 206, a flip gear 207 is inserted and fixed in the rotating shaft of the flip motor 206, and a flip connecting gear 208 is meshed with one side of the flip gear 207 and is transmission-connected to the outer surface of the main body of the transverse connecting arm 204;

[0054] A driven rack 209 is slidably connected to one side of the top of the middle fixed frame 205, and the driven rack 209 is meshed with the flip connection gear 208. A slide column fixed seat 210 is fixed to one side of the driven rack 209, and a sliding seat 211 is fixed to the outer side of the top of the middle fixed frame 205. A driven slide column 212 is fixed to one end of the slide column fixed seat 210, and the driven slide column 212 is slidably connected to the sliding seat 211. A flip push spring 213 is sleeved and installed on the outside of the driven slide column 212. One end of the flip push spring 213 is clamped to the slide column fixed seat 210, and the other end is clamped to the sliding seat 211. The elastic thrust formed by the flip push spring 213 on the slide column fixed seat 210 and the driven rack 209 can provide power for the natural elastic expansion of the flip chassis 202 relative to the main chassis 101.

[0055] A rack slide 214 is transversely fixed to one side of the top of the middle fixed frame 205, a rack slider 215 is fixedly installed on one side of the driven rack 209, the rack slider 215 is slidably connected to the rack slide 214, a connecting shaft seat 216 is fixedly installed in the top body of the middle fixed frame 205, a connecting shaft 217 is rotatably connected in the connecting shaft seat 216, a flip connecting gear 208 is plugged and fixed to the top of the connecting shaft 217, a connecting arm 218 is fixed to the bottom end of the connecting shaft 217, a transverse rotary sleeve 221 is rotatably inserted into the outside of the main body of the transverse connecting arm 204, a reversing rotary column 220 is fixedly connected to the outside of the transverse rotary sleeve 221, an outer rotary seat 219 is fixedly installed on the other end of the connecting arm 218, and the reversing rotary column 220 is rotatably inserted into the outer rotary seat 219;

[0056] After the flip motor 206 is started to drive the flip gear 207 and the flip connecting gear 208 to form a matching transmission, the connection shaft 217 can be driven to rotate, so that the outer rotating seat 219 can rotate eccentrically relative to the connection shaft 217, so that the outer rotating seat 219 can not only rotate outside the reversing rotating column 220, but also form a sliding action of the outer rotating seat 219 relative to the reversing rotating column 220. The transverse rotating sleeve 221 and the outer surface of the transverse connecting arm 204 body can be used to form a rotational action to drive the transverse connecting arm 204 to form a rotational action, thereby driving the flip rotary cylinder 203 and the flip chassis 202 to form a rotational action relative to the flip fixed shaft 201. The force arm formed by the transverse connecting arm 204 and the multi-degree-of-freedom cooperation formed by the connecting rotary arm 218 outside the transverse connecting arm 204 can make a single driving mechanism to form a promotion for the stable rotation action of the flip chassis 202.

[0057] The purpose of setting the driven rack 209 to mesh with the flip connecting gear 208 and setting the driven rack 209 to have an elastic thrust away from the flip connecting gear 208 is that when the flip motor 206 has no power output to the flip gear 207, the elastic thrust formed by the flip push spring 213 on the driven rack 209 away from the flip connecting gear 208 can make the flip chassis 202 elastically rotate to the maximum limit position of the unfolding and form a flexible chassis structure with the main chassis 101.

[0058] The specific structure of the traveling drive assembly 3 is as follows: Figure 7 and Figure 8 As shown, the middle fixed sleeve 302 is fixed to the middle part of the sliding shaft 301, and a compression spring 309 is sleeved and installed on the outside of each group of sliding shafts 301. One end of the compression spring 309 is clamped with the flip fixed shaft 201, and the other end is clamped with the driving wheel frame 303. Under the support elastic force formed by the compression spring 309, the driving wheel frame 303 can be formed to move outward naturally.

[0059] A driving swivel seat 304 is fixedly mounted in the main body of each set of driving wheel frames 303, a driving swivel shaft 305 is rotatably connected in the driving swivel seat 304, a follower bevel gear 308 and a driving wheel 306 are fixedly connected to the outer end of the driving swivel shaft 305, a driving motor 307 is fixedly mounted on the inner side surface of the driving wheel frame 303, and the inner end of the driving swivel shaft 305 is fixedly connected to the rotating shaft of the driving motor 307;

[0060] The driving motor 307 is used to provide power for the rotation of the driving wheel 306 and the follower bevel gear 308, so that when the robot is in a climbing state, the driving wheel 306 directly serves as a driving wheel to provide a power source for climbing. When the robot is in a normal moving state, the actively rotating follower bevel gear 308 can form an engagement with the follower connecting bevel gear 402, and can also drive the rotation of the first rotating wheel 109, so that the first rotating wheel 109 serves as a driving wheel to provide a power source for normal moving.

[0061] The specific structures of the traveling transmission assembly 4 and the transverse recovery member 5 are as follows: Fig. 9 , Fig.10 and Fig.11 As shown, the first connecting bevel gear 404 is fixedly connected to the inner end of the rotating shaft of the first rotating wheel 109, the bottom end of the transmission shaft 401 is plugged and fixed with the first rotating bevel gear 403, and the first rotating bevel gear 403 is meshed with the first connecting bevel gear 404;

[0062] A transmission shaft seat 405 is symmetrically fixed on the inner side of one end of the main chassis 101, and the transmission shaft 401 on the same side is rotatably connected in the transmission shaft seat 405, and the transmission shaft seat 405 will not interfere with the rotation and recovery action of the flip chassis 202 relative to the main chassis 101;

[0063] When the robot is in a normal traveling state, after the follower bevel gear 308 is meshed with the follower connecting bevel gear 402, the follower connecting bevel gear 402 can coaxially drive the first rotating bevel gear 403 to rotate through the transmission shaft 401, and the first rotating bevel gear 403 and the first connecting bevel gear 404 form a matching transmission, which can form a rotating motion of the first rotating wheel 109;

[0064] Furthermore, when the bogie 107 is turning, since the first connecting bevel gear 404 and the first rotating bevel gear 403, as well as the follower bevel gear 308 and the follower connecting bevel gear 402 are in meshing state, in order to protect each transmission bevel gear, the output of the drive motor 307 needs to be temporarily cut off, so that the follower bevel gear 308 and the follower connecting bevel gear 402, as well as the first connecting bevel gear 404 and the first rotating bevel gear 403 are all in a free rotating state, but the robot does not lose the power of travel due to inertia, and the steering operation of the bogie 107 driving the first rotating wheel 109 and the first connecting bevel gear 404 is smoothly completed in an instant;

[0065] The tilting seat 503 is fixedly connected to the driving wheel frame 303 through the bottom cross seat 501, so as to move the tilting seat 503 out of the contour range of the driving wheel frame 303 so that the driving wheel frame 303 will not interfere with the sliding fit formed by the tilting seat 503 and the sliding column 502.

[0066] like Fig.12 As shown, in order to enable the flip chassis 202 to form a stable stop state after being recovered relative to the main chassis 101 and to protect the mechanism driving the flip chassis 202 to rotate, a safety buckle component 6 is also installed on the top of one end of the main chassis 101, and an electric cylinder 601 is provided on one side of each group of sliding columns 502, and the electric cylinder 601 is fixedly installed on the top of the main chassis 101, and the recovery clamping sleeve 602 is fixedly connected to the top of the telescopic rod of the electric cylinder 601, so that after the flip chassis 202 is recovered relative to the main chassis 101, the tilting seat 503 moves inwardly to the set position, and the telescopic rod of the electric cylinder 601 moves downward, so that the clamping hole of the recovery clamping sleeve 602 can be inserted into the outside of the top of the tilting seat 503, and the tilting seat 503 is locked in the current stop position, even if the power output of the flip motor 206 is lost, the flip chassis 202 can be safely stopped at the position recovered relative to the main chassis 101;

[0067] Furthermore, since the electric cylinder 601 can drive the recovery sleeve 602 to automatically rise and fall, the recovery sleeve 602 will not interfere with the sliding cooperation between the tilting seat 503 and the sliding column 502 .

[0068] 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 climbing mechanism, comprising a main chassis assembly (1), characterized in that: It also includes a turning chassis assembly (2), a traveling drive assembly (3), a traveling transmission assembly (4) and a transverse recovery member (5); The main chassis assembly (1) comprises a main chassis (101), one end of the main chassis (101) is connected in pairs to bogies (107), the lower end of each bogie (107) is connected to a first rotary wheel (109), the flip chassis assembly (2) comprises a flip chassis (202) and a flip rotary drum (203), the flip chassis (202) is connected to the other end of the main chassis (101) through the flip rotary drums (203) on both sides, and the travel drive assembly (3) is installed on the flip chassis (202). ), the travel transmission assembly (4) is in transmission connection with the first rotating wheel (109), and the flip chassis (202) can be naturally elastically unfolded relative to the main chassis (101). When the flip chassis (202) is unfolded, the travel drive assembly (3) can form a separate driving function. After the flip chassis (202) is recovered in place relative to the main chassis (101), the travel drive assembly (3) can be in transmission connection with the travel transmission assembly (4) through cooperation with the transverse recovery member (5).

2. A climbing mechanism according to claim 1, characterized in that: The travel drive assembly (3) includes a driving wheel (306) and a follower bevel gear (308), the travel transmission assembly (4) includes a transmission shaft (401), the transverse recovery member (5) includes a sliding column (502), the other end of the flip chassis (202) is fixed with a pair of sliding shafts (301), both ends of the sliding shafts (301) are elastically slidably connected with a driving wheel frame (303), the driving wheel (306) is screwed to the outer side of one end of the driving wheel frame (303) and can rotate automatically, the follower bevel gear (308) is fixedly connected to the rotating shaft of the driving wheel (306), the transmission shaft (401) is symmetrically screwed to the main body at one end of the main chassis (101), and the top of each group of transmission shafts (401) is inserted The bottom end of the transmission shaft (401) is connected to the rotating shaft of the first rotating wheel (109) through a follower connecting bevel gear (402). The sliding column (502) is symmetrically fixed on the top of one end of the main chassis (101). The other end of each group of driving wheel frames (303) is fixed with a tilting seat (503). When the flip chassis (202) rotates to a set position relative to the main chassis (101), the tilting seat (503) on the same side is in a shape-sliding fit with the sliding column (502). After the flip chassis (202) is recovered in place relative to the main chassis (101), the driving wheel frame (303) is recovered inwardly and in place, and the follower connecting bevel gear (308) on the same side is meshed with the follower connecting bevel gear (402).

3. A climbing mechanism according to claim 2, characterized in that: The main chassis assembly (1) further comprises a fixed wheel rotating frame (103), a steering seat (105), a first wheel axle (108), a steering motor (111) and a rotating connecting rod (112); the other end of the main chassis (101) is symmetrically fixedly mounted with a fixed wheel seat (102); the fixed wheel rotating frame (103) is fixedly connected to the fixed wheel seat (102); the outer side of each set of fixed wheel rotating frames (103) is rotatably connected to a driven fixed wheel (104); the steering seat (105) is symmetrically fixedly mounted on one end of the main chassis (101); each set of steering seats (105) is rotatably connected to a steering shaft (106); one end of the steering frame (107) is fixedly connected to the outer side of the steering shaft (106); the first wheel axle (108) is fixedly mounted on the bottom end of the bogie (107), the rotating shaft of the first rotating wheel (109) is rotationally connected to the first wheel shaft (108), the top end of each set of steering shafts (106) is fixedly connected to a steering rod (110), the steering motor (111) is fixedly mounted on the outer bottom end of the main chassis (101), a steering groove (114) is provided in the main body of each set of steering rods (110), the rotating shaft of the steering motor (111) passes through the main body of the main chassis (101) and is fixedly connected to a rotating connecting rod (112), steering sliding columns (113) are fixed on both sides of the bottom end of the rotating connecting rod (112), and the steering sliding columns (113) on the same side are slidably connected in the steering sliding groove (114).

4. A climbing mechanism according to claim 1, 2 or 3, characterized in that: The flip chassis assembly (2) further comprises a flip fixed shaft (201), a transverse connecting arm (204), a flip connecting gear (208), a slide column fixed seat (210), a sliding seat (211), a connecting shaft (217), a reversing rotary column (220) and a transverse rotary sleeve (221); the flip fixed shaft (201) is symmetrically fixed to the inner side of the other end of the main chassis (101); the flip rotary cylinder (203) is rotationally connected to the flip fixed shaft (201); the two ends of the transverse connecting arm (204) are respectively sleeved and fixed to the outside of different flip rotary cylinders (203); the top of the other end of the main chassis (101) is fixedly connected to a middle fixed frame ( 205), a top end of the flip motor (206) is fixedly mounted with a flip motor (206), a flip gear (207) is inserted and fixed in the rotating shaft of the flip motor (206), a flip connecting gear (208) is meshed with one side of the flip gear (207), and is transmission-connected with the outer side of the main body of the transverse connecting arm (204), a driven rack (209) is slidably connected with one side of the top end of the middle fixed frame (205), and the driven rack (209) is meshed with the flip connecting gear (208), a slide column fixed seat (210) is fixed on one side of the driven rack (209), and a sliding seat (211) is fixed on the top end of the middle fixed frame (205). On the outer side of the end, one end of the slide column fixed seat (210) is fixed with a driven slide column (212), and the driven slide column (212) is slidably connected to the slide seat (211), and the outer side of the driven slide column (212) is sleeved with a flip push spring (213), one end of the flip push spring (213) is clamped with the slide column fixed seat (210), and the other end is clamped with the slide seat (211), a rack slideway (214) is transversely fixed to one side of the top of the middle fixed frame (205), a rack slider (215) is fixedly installed on one side of the driven rack (209), and the rack slider (215) is slidably connected to the rack slideway (214), and the middle fixed frame A connecting shaft seat (216) is fixedly installed in the top body of (205), a connecting shaft (217) is rotatably connected in the connecting shaft seat (216), a flip connecting gear (208) is plugged and fixed on the top of the connecting shaft (217), a connecting rotary arm (218) is fixed on the bottom end of the connecting shaft (217), a transverse rotary sleeve (221) is screwed on the outside of the main body of the transverse connecting arm (204), a reversing rotary column (220) is fixedly connected to the outside of the transverse rotary sleeve (221), an outer rotary seat (219) is fixedly installed on the other end of the connecting rotary arm (218), and the reversing rotary column (220) is screwed in the outer rotary seat (219).

5. A climbing mechanism according to claim 4, characterized in that: The travel drive assembly (3) further comprises a middle solid sleeve (302) and a driving swivel (305), wherein the middle solid sleeve (302) is fixed to the middle part of the sliding shaft (301), a compression spring (309) is sleeved and installed on the outside of each group of sliding shafts (301), one end of the compression spring (309) is clamped to the flip fixed shaft (201), and the other end is clamped to the driving wheel frame (303), a driving swivel seat (304) is fixedly installed in the main body of each group of driving wheel frames (303), the driving swivel (305) is rotatably connected to the driving swivel seat (304) in a transverse direction, the follower bevel gear (308) and the driving wheel (306) are fixedly connected to the outer end of the driving swivel (305), a driving motor (307) is fixedly installed on the inner side surface of the driving wheel frame (303), and the inner end of the driving swivel (305) is fixedly connected to the rotating shaft of the driving motor (307).

6. A climbing mechanism according to claim 2 or 3, characterized in that: The travel transmission assembly (4) also includes a first connecting bevel gear (404), which is fixedly connected to the inner end of the rotating shaft of the first rotating wheel (109), and a first rotating bevel gear (403) is inserted and fixed to the bottom end of the transmission shaft (401), and the first rotating bevel gear (403) is meshed with the first connecting bevel gear (404). A transmission shaft seat (405) is symmetrically fixed on the inner side of one end of the main chassis (101), and the transmission shaft (401) on the same side is rotatably connected to the transmission shaft seat (405).

7. A climbing mechanism according to claim 2 or 3, characterized in that: The transverse recovery member (5) further comprises a bottom transverse seat (501), and the inclined seat (503) is fixedly connected to the driving wheel frame (303) via the bottom transverse seat (501).

8. A wheeled inspection robot, comprising a climbing mechanism according to any one of claims 2 to 7, characterized in that: The invention also comprises a safety buckle component (6), the safety buckle component (6) comprises a recovery clamping sleeve (602), one side of each set of sliding columns (502) is provided with an electric cylinder (601), and the electric cylinder (601) is fixedly installed on the top of the main chassis (101), and the recovery clamping sleeve (602) is fixedly connected to the top of the telescopic rod of the electric cylinder (601).

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