A climbing mechanism and a wheeled inspection robot

Abstract

This invention provides a climbing mechanism and a wheeled inspection robot, belonging to the field of wheeled robot technology. It includes a main chassis assembly, a tilting chassis assembly, a travel drive assembly, a travel transmission assembly, a lateral retraction component, and a safety buckle component. The tilting chassis is screwed onto the main chassis and is elastically unfolded relative to the main chassis, together forming a flexible chassis structure suitable for climbing. The travel drive assembly is installed at one end of the tilting chassis, enabling the drive wheel to rotate autonomously, forming an active wheel, and also allowing the drive wheel to retract inward when the tilting chassis is retracted. A follower bevel gear meshes with a follower connecting bevel gear, driving the first rotating wheel to form an active wheel. This mechanism is suitable for both conventional travel and climbing. After the tilting chassis is retracted, the telescopic rod of the electric cylinder drives the movement of the retraction sleeve, allowing the retraction sleeve's locking hole to insert into the outside of the top of the sliding column, ensuring safety and reliability.

Description

Technical Field

[0001] This invention relates to the field of wheeled robot technology, and in particular to a climbing mechanism and a wheeled inspection robot. Background Technology

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

[0003] Existing wheeled inspection robots are basically four-wheeled, which can walk stably and quickly on flat ground. However, due to the structural characteristic that the four wheels and the chassis always remain at the same height, four-wheeled robots have difficulty adapting to complex terrain, especially when encountering obstacles such as rocks or uneven slopes. Traditional four-wheeled robots cannot pass smoothly. Summary of the Invention

[0004] One of the objectives of this invention is to provide a climbing mechanism that rotatably connects a tilting chassis to a main chassis, and the tilting chassis itself has an elastically unfolded state, which can form a flexible chassis structure with the main chassis. In the tilting chassis retracted state, the travel drive component can drive the first rotating wheel to rotate through the cooperation formed by the travel transmission component. After the tilting chassis is unfolded into place, the travel drive component independently forms a drive, thereby being applicable to different terrain environments.

[0005] The objective of this invention is achieved through the following technical solution: a climbing mechanism, comprising a main chassis assembly, a tilting chassis assembly, a travel drive assembly, a travel transmission assembly, and a lateral recovery component. The main chassis assembly comprises a main chassis, the tilting chassis assembly comprises a tilting chassis and a tilting cylinder, the travel drive assembly comprises a drive wheel and a follower bevel gear, the travel transmission assembly comprises a transmission shaft, and the lateral recovery component comprises a sliding column.

[0006] One end of the main chassis is connected to a pair of bogies. Each set of bogies is connected to a first rotating wheel on the outer side of its lower end. The tilting chassis is connected to the other end of the main chassis through tilting cylinders on both sides, and the tilting chassis can naturally and elastically unfold relative to the main chassis.

[0007] At the other end of the tilting chassis, a pair of sliding shafts are fixed laterally. Both ends of the sliding shafts are slidably connected to drive wheel frames that spring outwards. The drive wheels are screwed onto the outer side of one end of the drive wheel frame and can rotate automatically. The follower bevel gear is fixedly connected to the shaft of the drive wheel. The transmission shafts are symmetrically screwed into the main body at one end of the main chassis. Each set of transmission shafts has a follower connecting bevel gear inserted at the top. The bottom end of the transmission shaft is connected to the shaft of the first rotating wheel. The sliding columns are symmetrically fixed to the top of one end of the main chassis. The other end of each set of drive wheel frames is fixedly connected to an inclined seat. When the tilting chassis rotates to the set position relative to the main chassis, the inclined seat on the same side slides into the sliding column. After the tilting chassis retracts into position relative to the main chassis, the drive wheel frame retracts inward into position, and the follower bevel gear on the same side meshes with the follower connecting bevel gear.

[0008] The process of using 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 robot's regular movement. When the flip chassis unfolds relative to the main chassis, it can climb slopes.

[0010] During normal travel, the tilting chassis is in the position relative to the main chassis when it is retracted. At this time, the mechanism that drives the drive wheel to rotate can drive the follower bevel gear to rotate, and the follower bevel gear is in the position of meshing with the follower connecting bevel gear. With the cooperation and transmission formed by the follower bevel gear and the follower connecting bevel gear, the drive shaft can be driven to rotate, so that the drive shaft on the same side can cooperate and transmit with the first rotating wheel, thereby driving the active rotation of the first rotating wheel. Together with the pair of bogies to form synchronous automatic steering, the robot's normal travel and steering actions can be realized.

[0011] When encountering uneven slopes, the tilting chassis unfolds relative to the main chassis, forming a combined chassis structure. After the tilting chassis unfolds to its full position relative to the main chassis, the height distance between the drive wheel at the bottom of the tilting chassis and the main chassis is greater than the height distance between the first rotating wheel and the main chassis. Furthermore, due to the elastic thrust of the tilting chassis as it unfolds naturally relative to the main chassis, the main chassis and the tilting chassis form a flexible chassis. The drive wheel can not only rotate actively but also adjust its height autonomously with the elastic rotation of the tilting chassis when encountering uneven slopes. Combined with the wheel set set at a fixed height position at the bottom of the main chassis, it can form a climbing mechanism that adapts to uneven slopes.

[0012] Another objective of this invention is to provide a wheeled inspection robot, which further includes a safety buckle component. The safety buckle component includes a retrieval sleeve. Each set of sliding columns has an electric cylinder on one side, and the electric cylinder is fixedly installed on the top of the main chassis. The retrieval sleeve is fixedly connected to the top end of the telescopic rod of the electric cylinder, so that after the tilting chassis is retracted relative to the main chassis into place, the tilting seat moves inward to a set position, the telescopic rod of the electric cylinder moves downward, and the buckling hole of the retrieval sleeve fits into the outside of the top end of the tilting seat, locking the tilting seat in the current stopping position.

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

[0014] (1) The present invention screws the flip chassis to the main chassis and sets the flip chassis to a state of natural elastic unfolding relative to the main chassis. This not only allows the flip chassis to be retracted relative to the main chassis during normal travel, but also forms a flexible chassis structure after the flip chassis unfolds relative to the main chassis during uphill travel.

[0015] (2) Furthermore, the present invention creatively installs the actively rotating drive wheel in the flipping chassis and forms an outward spring-sliding contact state between the drive wheel frame and the sliding shaft. This allows the tilting seat to slide and engage with the sliding column when the flipping chassis retracts relative to the main chassis. This not only achieves the purpose of the drive wheel retracting inward after the flipping chassis retracts relative to the main chassis, but also minimizes the relative distance between the two sets of drive wheels in the flipping chassis retracted state, so as not to affect the robot's movement. It also forms a state of meshing between the follower bevel gear and the follower connecting bevel gear, so that with the automatic rotation of the drive wheel, the first rotating wheel can be driven to rotate through the transmission mechanism, which facilitates the formation of a regular movement.

[0016] (3) After the flip chassis is unfolded relative to the main chassis, it can not only make the height distance between the drive wheel and the main chassis greater than the height distance between the first rotating wheel and the main chassis, but also make the relative distance between the two sets of drive wheels pushed to the maximum setting position after the drive wheel frame moves outward to the maximum elastic position. This not only makes the drive wheel form a climbing mechanism with the flexible chassis structure formed by the flip chassis and the main chassis and the wheel set set at the bottom of the main chassis, but also improves the stability of the drive wheel support. Attached Figure Description

[0017] 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.

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

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

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

[0021] Figure 4 This is a schematic diagram of the bogie portion of the present invention;

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

[0023] Figure 6 This is a schematic diagram of the transmission part of the tilting chassis assembly of the present invention;

[0024] Figure 7 This is a schematic diagram of the structure of the travel drive component of the present invention;

[0025] Figure 8 This is an exploded structural diagram of the travel drive component of the present invention;

[0026] Figure 9 This is a schematic diagram of the structure of the travel transmission assembly of the present invention;

[0027] Figure 10 This is a schematic diagram of the structure of the transverse recycling component of the present invention;

[0028] Figure 11 This is a schematic diagram of the structure of the traveling transmission component and the follower bevel gear of the present invention;

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

[0030] Figure label:

[0031] 1. Main chassis assembly; 101. Main chassis; 102. Fixed wheel seat; 103. Fixed wheel sprocket; 104. Driven fixed wheel; 105. Steering seat; 106. Steering shaft; 107. Bogie; 108. First wheel axle; 109. First wheel wheel; 110. Steering rod; 111. Steering motor; 112. Rotary link; 113. Steering column; 114. Steering groove;

[0032] 2. Tilting chassis assembly; 201. Tilting fixed shaft; 202. Tilting chassis; 203. Tilting rotating cylinder; 204. Lateral connecting arm; 205. Central fixed frame; 206. Tilting motor; 207. Tilting gear; 208. Tilting connecting gear; 209. Driven rack; 210. Sliding column fixed seat; 211. Sliding seat; 212. Driven sliding column; 213. Tilting push spring; 214. Rack slide rail; 215. Rack slider; 216. Connecting shaft seat; 217. Connecting shaft; 218. Connecting rotating arm; 219. Outer rotating seat; 220. Reversing rotating column; 221. Lateral rotating sleeve;

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

[0034] 4. Travel transmission assembly; 401. Drive shaft; 402. Follower bevel gear; 403. First rotating bevel gear; 404. First connecting bevel gear; 405. Drive shaft seat;

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

[0036] 6. Safety buckle components; 601. Electric cylinder; 602. Recycling sleeve. Detailed Implementation

[0037] 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.

[0038] 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.

[0039] like Figures 1-12As shown, a climbing mechanism and a wheeled inspection robot are disclosed. In the main chassis assembly 1, a pair of bogies 107 are spun to one end of the main chassis 101, and the two sets of bogies 107 can turn synchronously and automatically. A first rotating wheel 109 is spun to the outer side of the lower end of each set of bogies 107. The flipping chassis 202 is spun to the other end of the main chassis 101 through the flipping rotating cylinders 203 on both sides. The flipping chassis 202 can naturally and elastically unfold relative to the main chassis 101, and the flipping chassis 202 can automatically rotate relative to the main chassis 101.

[0040] At the other end of the tilting chassis 202, a pair of sliding shafts 301 are fixed laterally. Both ends of the sliding shafts 301 are slidably connected to drive wheel frames 303, which spring outwards. Drive wheels 306 are screwed onto the outer side of one end of the drive wheel frames 303 and can rotate automatically. Follower bevel gears 308 are fixedly connected to the shaft of the drive wheels 306. Transmission shafts 401 are symmetrically screwed into one end of the main chassis 101. Each set of transmission shafts 401 has a follower bevel gear 402 inserted at its top. The bottom end of the transmission shaft 401 is connected to the shaft of the first rotating wheel 109 and rotates in the same direction. The frame 107 has a through hole that is directly opposite to the drive shaft 401. The sliding column 502 is symmetrically fixed to the top of one end of the main chassis 101. The other end of each set of drive wheel frame 303 is fixed with an inclined seat 503. When the flip chassis 202 rotates to the set position relative to the main chassis 101, the inclined seat 503 on the same side and the sliding column 502 are in a sliding engagement. After the flip chassis 202 is retracted to the position relative to the main chassis 101, the drive wheel frame 303 is retracted inward to the position, and the follower bevel gear 308 on the same side meshes with the follower connecting bevel gear 402.

[0041] The working principle is as follows:

[0042] The wheels at the bottom of the main chassis assembly 1 are used for the robot's normal movement. After the flip chassis 202 is unfolded relative to the main chassis 101, it can climb slopes.

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

[0044] Furthermore, due to the sliding action formed by the tilting seat 503 and the sliding column 502, the drive wheel 306 can be driven to retract to the inward limit position along with the drive wheel frame 303, so that the retracted drive wheel 306 will not affect the normal movement of the robot.

[0045] When encountering uneven slopes, the tilting chassis 202 unfolds relative to the main chassis 101, forming a combined chassis structure. After the tilting chassis 202 unfolds relative to the main chassis 101, the height distance between the drive wheel 306 at the bottom of the tilting chassis 202 and the main chassis 101 is greater than the height distance between the first rotating wheel 109 and the main chassis 101. Furthermore, since the tilting chassis 202 has an elastic thrust that unfolds naturally relative to the main chassis 101, the main chassis 101 and the tilting chassis 202 can form a flexible chassis. The drive wheel 306 can not only rotate actively, but also adjust its height autonomously with the elastic rotation of the tilting chassis 202 when encountering uneven slopes. Combined with the wheel set set at a fixed height position at the bottom of the main chassis 101, a climbing mechanism that adapts to uneven slopes can be formed.

[0046] The top of the main chassis 101 is equipped with electronic equipment for inspection, including but not limited to sensors, monitoring cameras and pan-tilt units. Since the flip chassis 202 has 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 component 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 frame 103 is fixedly connected to the fixed wheel seat 102. A driven fixed wheel 104 is rotatably connected to the outer side of each set of fixed wheel frames 103.

[0048] Furthermore, the set height of the driven fixed wheel 104 relative to the main chassis 101 is equal to the set height of the first rotating wheel 109 relative to the main chassis 101, which allows the driven fixed wheel 104 to cooperate with the active rotation of the first rotating wheel 109 to form a moving action when the robot is moving normally.

[0049] The steering seats 105 are symmetrically fixedly installed at 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 bogie 107 is fixedly connected to the outside of the steering shaft 106. The first wheel axle 108 is laterally fixedly installed at the bottom end of the bogie 107. The shaft of the first wheel 109 is rotatably connected to the first wheel axle 108.

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

[0051] After the steering motor 111 drives the rotating link 112 to rotate, it can drive the steering slide columns 113 on both sides of the bottom end of the rotating link 112 to rotate in the same direction. Through the sliding fit between the steering slide column 113 and the steering slide groove 114, the steering rod 110 can be driven to rotate in the same direction, thereby driving the steering shaft 106 and the bogie 107 to form a synchronous and unidirectional steering action.

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

[0053] A central frame 205 is fixedly connected to the top center of the other end of the main chassis 101. A rotating motor 206 is fixedly installed at the top of the rotating motor 206. A rotating gear 207 is inserted and fixed in the rotating shaft of the rotating motor 206. A rotating connecting gear 208 meshes with one side of the rotating gear 207 and is connected to the outside 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 central frame 205, and the driven rack 209 meshes with the flip connecting gear 208. The sliding column base 210 is fixed to one side of the driven rack 209, and the sliding seat 211 is fixed to the outer side of the top of the central frame 205. A driven sliding column 212 is fixed to one end of the sliding column base 210, and the driven sliding column 212 is slidably connected to the sliding seat 211. A flip push spring 213 is sleeved on the outside of the driven sliding column 212. One end of the flip push spring 213 is locked to the sliding column base 210, and the other end is locked to the sliding seat 211. The elastic thrust formed by the flip push spring 213 on the sliding column base 210 and the driven rack 209 can provide power for the natural elastic unfolding of the flip chassis 202 relative to the main chassis 101.

[0055] A rack slide 214 is horizontally fixed on one side of the top of the central 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 main body of the top of the central frame 205. A connecting shaft 217 is rotatably connected in the connecting shaft seat 216. A flip connecting gear 208 is inserted and fixed to the top of the connecting shaft 217. A connecting rotating arm 218 is fixed to the bottom of the connecting shaft 217. A transverse rotating sleeve 221 is screwed into the outside of the main body of the transverse connecting arm 204. A reversing rotating column 220 is fixedly connected to the outside of the transverse rotating sleeve 221. An outer rotating seat 219 is installed and fixed at the other end of the connecting rotating arm 218. The reversing rotating column 220 is screwed into the outer rotating seat 219.

[0056] After the start of the flip motor 206 drives the flip gear 207 and the flip connecting gear 208 to form a transmission, the connecting shaft 217 can be rotated, causing the outer rotating seat 219 to rotate eccentrically relative to the connecting shaft 217. This allows the outer rotating seat 219 to not only rotate outside the reversing column 220, but also to slide relative to the reversing column 220. By utilizing the screw-fitting cooperation between the transverse rotating sleeve 221 and the outer body of the transverse connecting arm 204, the transverse connecting arm 204 can be rotated, thereby causing the flipping cylinder 203 and the flipping chassis 202 to rotate relative to the flipping fixed shaft 201. Through the lever arm formed by the transverse connecting arm 204 and the multi-degree-of-freedom cooperation formed by the connecting arm 218 outside the transverse connecting arm 204, a single drive mechanism can generate a stable rotational motion of the flipping 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 to move away from the flip connecting gear 208 can make the flip chassis 202 rotate elastically 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 driving component 3 is as follows: Figure 7 and Figure 8 As shown, the central fixed sleeve 302 is fixed in the middle of the sliding shaft 301. Each set of sliding shafts 301 is fitted with a compression spring 309. One end of the compression spring 309 is locked with the flip fixed shaft 201, and the other end is locked with the drive wheel frame 303. Under the support elastic force formed by the compression spring 309, the drive wheel frame 303 can be naturally moved outward.

[0059] Each drive wheel frame 303 has a drive seat 304 installed and fixed in its main body. The drive shaft 305 is rotatably connected in the drive seat 304. The follower bevel gear 308 and the drive wheel 306 are fixedly connected to the outer end of the drive shaft 305. The drive motor 307 is installed and fixed on the inner side of the drive wheel frame 303. The inner end of the drive shaft 305 is fixedly connected to the shaft of the drive motor 307.

[0060] The drive motor 307 provides power for the rotation of the drive wheel 306 and the follower bevel gear 308, so that when the robot is climbing, the drive wheel 306 directly acts as the active wheel to provide the power source for climbing. When the robot is in normal travel mode, the actively rotating follower bevel gear 308 meshes with the follower connecting bevel gear 402, which can also drive the rotation of the first rotating wheel 109, so that the first rotating wheel 109 acts as the active wheel to provide the power source for normal travel.

[0061] The specific structures of the travel drive assembly 4 and the lateral recovery assembly 5 are as follows: Figure 9 , Figure 10 and Figure 11 As shown, the first connecting bevel gear 404 is fixedly connected to the inner end of the first rotating wheel 109 shaft, and the bottom end of the transmission shaft 401 is inserted and fixedly fitted with the first rotating bevel gear 403, and the first rotating bevel gear 403 meshes with the first connecting bevel gear 404.

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

[0063] In the robot's normal travel state, after the follower bevel gear 308 meshes with the follower connecting bevel gear 402, the follower connecting bevel gear 402 can drive the first rotating bevel gear 403 to rotate coaxially through the transmission shaft 401. The first rotating bevel gear 403 and the first connecting bevel gear 404 form a cooperative transmission, which can generate the rotation action of the first rotating wheel 109.

[0064] Furthermore, during the steering operation of the bogie 107, 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 a meshing state, in order to protect each transmission bevel gear, the output of the drive motor 307 needs to be briefly 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 rotation state. However, due to inertia, the robot does not lose its driving power and smoothly completes the steering operation of the bogie 107 driving the first rotating wheel 109 and the first connecting bevel gear 404 in an instant.

[0065] The tilting seat 503 is fixedly connected to the drive wheel frame 303 via the bottom cross seat 501. The purpose is to move the tilting seat 503 out of the outline range of the drive wheel frame 303 so that the drive wheel frame 303 will not interfere with the sliding fit formed between the tilting seat 503 and the sliding column 502.

[0066] like Figure 12 As shown, in order to ensure that the tilting chassis 202 can form a stable stationary state after being retracted relative to the main chassis 101, and to protect the mechanism that drives the rotation of the tilting chassis 202, a safety buckle component 6 is also installed on the top of one end of the main chassis 101. Each set of sliding columns 502 is equipped with an electric cylinder 601 on one side, and the electric cylinder 601 is fixedly installed on the top of the main chassis 101. The recovery sleeve 602 is fixedly connected to the top of the telescopic rod of the electric cylinder 601, so that after the tilting chassis 202 is retracted relative to the main chassis 101, the tilting seat 503 moves inward to the set position, and the telescopic rod of the electric cylinder 601 moves downward, so that the locking hole of the recovery sleeve 602 fits into the outside of the top of the tilting seat 503, locking the tilting seat 503 in the current stationary position. Even if the power output of the tilting motor 206 is lost, the tilting chassis 202 will still be safely stationary in the position retracted relative to the main chassis 101.

[0067] Furthermore, since the electric cylinder 601 can drive the recycling sleeve 602 to rise and fall automatically, the recycling sleeve 602 will not interfere with the sliding fit 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, 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 climbing mechanism, comprising a main chassis assembly (1), characterized in that: It also includes a tilting chassis assembly (2), a travel drive assembly (3), a travel transmission assembly (4), and a lateral recovery component (5). The main chassis assembly (1) includes a main chassis (101), with bogies (107) screwed onto one end of the main chassis (101) in pairs. Each set of bogies (107) has a first rotating wheel (109) screwed onto the outer side of its lower end. The tilting chassis assembly (2) includes a tilting chassis (202) and a tilting rotating cylinder (203). The tilting chassis (202) is screwed onto the other end of the main chassis (101) via the tilting rotating cylinders (203) on both sides. The travel drive assembly (3) is mounted on the tilting chassis (202). At the other end, the travel drive assembly (4) is connected to the first rotating wheel (109) and the tilting chassis (202) can naturally and elastically unfold relative to the main chassis (101). When the tilting chassis (202) is unfolded, the travel drive assembly (3) can form a separate driving function. After the tilting chassis (202) is retracted relative to the main chassis (101), the travel drive assembly (3) can be connected to the travel drive assembly (4) through the cooperation formed with the lateral retraction component (5). The driving component (3) includes a drive wheel (306) and a follower bevel gear (308). The driving transmission component (4) includes a drive shaft (401). The lateral recovery component (5) includes a sliding column (502). The other end of the tilting chassis (202) is fixed with a pair of sliding shafts (301). Both ends of the sliding shafts (301) are slidably connected to the drive wheel frame (303) with outward spring. The drive wheel (306) is screwed onto the outside of one end of the drive wheel frame (303) and can rotate automatically. The follower bevel gear (308) is fixedly connected to the shaft of the drive wheel (306). The drive shafts (401) are symmetrically screwed into one end of the main body of the main chassis (101). The top of each set of drive shafts (401) is inserted with The inherent follower bevel gear (402) is connected to the bottom of the drive shaft (401) and the shaft of the first rotating wheel (109). 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 drive wheel frame (303) is fixed with an inclined seat (503). When the flip chassis (202) rotates to the set position relative to the main chassis (101), the inclined seat (503) on the same side and the sliding column (502) are in a sliding engagement. After the flip chassis (202) is retracted to the position relative to the main chassis (101), the drive wheel frame (303) is retracted inward to the position. The follower bevel gear (308) on the same side meshes with the follower bevel gear (402). The tilting chassis assembly (2) also includes a tilting fixed shaft (201), a transverse connecting arm (204), a tilting connecting gear (208), a sliding column fixed seat (210), a sliding seat (211), a connecting shaft (217), a reversing rotating column (220), and a transverse rotating sleeve (221). The tilting fixed shaft (201) is symmetrically fixed to the inner side of the other end of the main chassis (101). The tilting rotating cylinder (203) is rotatably connected to the tilting fixed shaft (201). The two ends of the transverse connecting arm (204) are respectively sleeved and fixed to the outside of different tilting rotating cylinders (203). A central fixed frame is fixedly connected to the top of the other end of the main chassis (101). 205), The top of the flip motor (206) is fixedly installed with the flip motor (206). The flip gear (207) is inserted and fixed in the rotating shaft of the flip motor (206). The flip connecting gear (208) meshes with one side of the flip gear (207) and is connected to the outside of the main body of the transverse connecting arm (204). The top side of the middle frame (205) is slidably connected with the driven rack (209), and the driven rack (209) meshes with the flip connecting gear (208). The sliding column base (210) is fixed on one side of the driven rack (209), and the sliding seat (211) is fixed on the top of the middle frame (205). On the outer side of the end, a driven slide column (212) is fixed at one end of the slide column base (210), and the driven slide column (212) is slidably connected to the sliding seat (211). A flip push spring (213) is sleeved on the outside of the driven slide column (212). One end of the flip push spring (213) is locked to the slide column base (210), and the other end is locked to the sliding seat (211). A rack slide rail (214) is fixed laterally on one side of the top of the middle 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 rail (214). A connecting shaft seat (216) is fixedly installed in the top body of (205). The connecting shaft (217) is rotatably connected in the connecting shaft seat (216). The flip connecting gear (208) is inserted and fixed in the top of the connecting shaft (217). A connecting rotating arm (218) is fixed at the bottom of the connecting shaft (217). A transverse rotating sleeve (221) is screwed into the outside of the main body of the transverse connecting arm (204). A reversing rotating column (220) is fixedly connected to the outside of the transverse rotating sleeve (221). An outer rotating seat (219) is installed and fixed at the other end of the connecting rotating arm (218). The reversing rotating column (220) is screwed into the outer rotating seat (219).

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

3. A climbing mechanism according to claim 1 or 2, characterized in that: The driving assembly (3) also includes a central fixed sleeve (302) and a drive shaft (305). The central fixed sleeve (302) is fixed in the middle of the sliding shaft (301). A compression spring (309) is sleeved on the outside of each sliding shaft (301). One end of the compression spring (309) is locked with the flip fixed shaft (201), and the other end is locked with the drive wheel frame (303). A drive seat (304) is installed and fixed in the main body of each drive wheel frame (303). The drive shaft (305) is rotatably connected in the drive seat (304). The follower bevel gear (308) and the drive wheel (306) are fixedly connected to the outer end of the drive shaft (305). A drive motor (307) is installed and fixed on the inner side of the drive wheel frame (303). The inner end of the drive shaft (305) is fixedly connected to the shaft of the drive motor (307).

4. A climbing mechanism according to claim 1 or 2, 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 first rotating wheel (109) shaft. The bottom end of the transmission shaft (401) is inserted and fixed with a first rotating bevel gear (403), and the first rotating bevel gear (403) meshes 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 in the transmission shaft seat (405).

5. A climbing mechanism according to claim 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 first rotating wheel (109) shaft. The bottom end of the transmission shaft (401) is inserted and fixed with a first rotating bevel gear (403), and the first rotating bevel gear (403) meshes 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 in the transmission shaft seat (405).

6. A climbing mechanism according to claim 1, 2 or 5, characterized in that: The transverse recovery component (5) also includes a bottom cross seat (501), and the tilt seat (503) is fixedly connected to the drive wheel frame (303) through the bottom cross seat (501).

7. A wheeled inspection robot, comprising a climbing mechanism as described in any one of claims 2 to 6, characterized in that: It also includes a safety buckle component (6), which includes a retrieval sleeve (602). Each set of sliding columns (502) is provided with an electric cylinder (601) on one side, and the electric cylinder (601) is fixedly installed on the top of the main chassis (101). The retrieval sleeve (602) is fixedly connected to the top of the telescopic rod of the electric cylinder (601).

Images