Crawling robot chassis and crawling robot

Abstract

The utility model relates to the technical field of robots, in particular to a crawling robot chassis and a crawling robot. The power assembly is arranged on the bracket main body; the magnetic wheel comprises at least two adsorption surfaces which are connected with each other, each adsorption surface is a cambered surface, a transition part is formed between every two adjacent adsorption surfaces, and the adsorption surfaces and the transition parts can be adsorbed on the crawling surface; the number of the magnetic wheels is multiple, the multiple magnetic wheels are arranged on the support body, and the power assembly is connected with at least one of the multiple magnetic wheels. According to the crawling robot chassis, the shape and the structure of the magnetic wheels are optimized, compared with traditional circular magnetic wheels, the adsorption area of each magnetic wheel and the crawling face is increased, the gap between the adsorption face and the crawling face is reduced, the adsorption strength and stability between the crawling robot chassis and the crawling face are improved, and the service life of the crawling robot chassis is prolonged. And the probability that the crawling robot chassis falls from the crawling surface is effectively reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a crawling robot chassis and a crawling robot. Background Art

[0002] At present, most adsorption-type crawling robots are circular magnetic wheel type, which are widely used in welding small-diameter pipes. However, when expanding the application scenarios to large pipes, especially when crawling 360 degrees in space, the robot is very likely to fall due to the magnetic force, its own gravity and even the pulling force of the cables. In addition, due to the flatness of the crawling surface, it is easy for the entire robot to be lifted up or sink into a pit when encountering an obstacle, resulting in a reduction in the number of magnetic wheel adsorptions, affecting the adsorption stability, and the robot is prone to fall at this time. Utility Model Content

[0003] The purpose of this application is to provide a crawling robot chassis and a crawling robot, so as to solve to a certain extent the technical problem that the existing adsorption-type crawling robots in the prior art are easily affected by the flatness of the crawling surface, causing the whole machine to lift or sink, resulting in a reduction in the number of magnetic wheel adsorptions and affecting the adsorption stability.

[0004] The present application provides a crawling robot chassis, comprising: a support body;

[0005] A power assembly, wherein the power assembly is arranged on the support body;

[0006] A magnetic wheel, wherein the magnetic wheel comprises at least two mutually connected adsorption surfaces, each of the adsorption surfaces is a curved surface, a transition portion is formed between two adjacent adsorption surfaces, and each of the adsorption surfaces and the transition portion can be adsorbed on the crawling surface;

[0007] There are multiple magnetic wheels, each of which is disposed on the bracket body. The power assembly is connected to at least one of the multiple magnetic wheels.

[0008] In the above technical solution, further, the crawling robot chassis also includes:

[0009] An active transmission assembly, wherein some of the plurality of magnetic wheels are active magnetic wheels, and the active magnetic wheels are connected to the power assembly through the active transmission assembly;

[0010] A driven transmission assembly, another part of the plurality of magnetic wheels is a driven magnetic wheel, and the active magnetic wheel is connected with the driven magnetic wheel through the driven transmission assembly.

[0011] In any of the above technical solutions, further, the active magnetic wheel includes:

[0012] A driving wheel body, wherein the driving wheel body is provided with a first wheel shaft;

[0013] A first magnetic attraction member, the driving wheel body has a first mounting surface, and the first magnetic attraction member is arranged on the first mounting surface;

[0014] A main wheel throttle, the main wheel throttle is arranged on the first mounting surface, and the main wheel throttle is arranged on the side of the first magnetic attraction member;

[0015] A first sheath, the first sheath being arranged on a surface of the first magnetic attraction member for contacting the crawling surface;

[0016] A fixed wheel, the fixed wheel is connected to the driving wheel body;

[0017] A first transmission member, wherein the first transmission member is disposed on the fixed wheel, and the first transmission member is transmission-connected to the active transmission assembly.

[0018] In any of the above technical solutions, further, the driven magnetic wheel includes:

[0019] A driven wheel body, wherein the driving wheel body is provided with a second wheel shaft;

[0020] A second magnetic attraction member, the driving wheel body has a second mounting surface, and the second magnetic attraction member is arranged on the second mounting surface;

[0021] A follower choke, the follower choke being arranged on the second mounting surface, and the follower choke being arranged on a side of the second magnetic attraction member;

[0022] A second protective sleeve covers a surface of the second magnetic attraction member for contacting the crawling surface.

[0023] In any of the above technical solutions, further, the crawling robot chassis also includes a telescopic support mechanism, and the plurality of magnetic wheels are respectively connected to the bracket body through different telescopic support mechanisms;

[0024] The telescopic support mechanism comprises:

[0025] A fixing frame, the fixing frame is arranged on the bracket body;

[0026] A sliding assembly, the sliding assembly comprising a first connecting member and a second connecting member adapted for sliding connection, the first connecting member being arranged on the fixing frame;

[0027] An elastic telescopic member, one end of which is connected to the fixing frame, and the other end of which is connected to the second connecting member;

[0028] The second connecting member of the telescopic support mechanism connected to the active magnetic wheel is connected to the first wheel axle; the second connecting member of the telescopic support mechanism connected to the driven magnetic wheel is connected to the second wheel axle.

[0029] In any of the above technical solutions, further, the power assembly includes:

[0030] Driving parts;

[0031] A reducer connected to the driving member;

[0032] A power transmission component is arranged on the reducer, and the power transmission component is connected to the active transmission component.

[0033] In any of the above technical solutions, further, the active transmission assembly includes:

[0034] a first fixing member, the first fixing member being arranged on the bracket body;

[0035] An active transmission member, the active transmission member being rotatably disposed on the first fixing member;

[0036] A second transmission member, the second transmission member is arranged on the active transmission member, the second transmission member is transmission-connected with the power transmission member; the second transmission member is transmission-connected with the first transmission member;

[0037] The driven transmission assembly comprises:

[0038] a second fixing member, the second fixing member being arranged on the bracket body;

[0039] A driven transmission member, the driven transmission member is rotatably disposed on the second fixing member, and the driven transmission member can contact the driven magnetic wheel;

[0040] A transmission belt is sleeved on the active transmission member and the driven transmission member.

[0041] In any of the above technical solutions, further, the number of adsorption surfaces of each magnetic wheel is three, and the three adsorption surfaces are distributed according to a Lurox triangle.

[0042] In any of the above technical solutions, further, the number of the first magnetic attraction components is multiple, and the multiple first magnetic attraction components are distributed according to a Halbach array;

[0043] There are multiple second magnetic elements, and the multiple second magnetic elements are distributed according to a Halbach array.

[0044] The present application also provides a crawling robot, comprising the crawling robot chassis described in any of the above technical solutions, and thus having all the beneficial technical effects of the crawling robot chassis, which will not be elaborated here.

[0045] Compared with the prior art, the beneficial effects of this application are:

[0046] The crawling robot chassis provided by the present application includes: a bracket body; a power component, which is arranged on the bracket body; a magnetic wheel, which includes at least two interconnected adsorption surfaces, each of which is an arc surface, and a transition portion is formed between two adjacent adsorption surfaces, and each adsorption surface and transition portion can be adsorbed on the crawling surface; there are multiple magnetic wheels, and the multiple magnetic wheels are respectively arranged on the bracket body, and the power component is connected to at least one of the multiple magnetic wheels.

[0047] The crawling robot chassis provided by the present application optimizes the shape and structure of the magnetic wheels. Compared with traditional round magnetic wheels, the adsorption area between each magnetic wheel and the crawling surface is increased, the gap between the adsorption surface and the crawling surface is reduced, and the adsorption strength and stability between the crawling robot chassis and the crawling surface are improved. It can better adapt to non-planar and generally flat working scenarios. Under such working conditions or when encountering obstacles, the risk of individual magnetic wheels completely detaching from the crawling surface is reduced, thereby effectively reducing the probability of the crawling robot chassis falling from the crawling surface and increasing the passability of the crawling robot chassis on the crawling surface.

[0048] The crawling robot provided in the present application includes the crawling robot chassis described above. Therefore, the crawling robot chassis effectively improves the stability of the crawling robot during the movement and working processes, and reduces the risk of the crawling robot falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0050] Figure 1 A schematic diagram of the structure of a crawling robot chassis provided in an embodiment of the present application;

[0051] Figure 2 A schematic diagram of a partial structure of a crawling robot chassis provided in an embodiment of the present application;

[0052] Figure 3 A schematic diagram of the structure of the active magnetic wheel of the crawling robot chassis provided in an embodiment of the present application;

[0053] Figure 4 Another structural schematic diagram of the active magnetic wheel of the crawling robot chassis provided in an embodiment of the present application;

[0054] Figure 5 A schematic diagram of the magnetic pole direction distribution of the crawling robot chassis provided in an embodiment of the present application;

[0055] Figure 6 A schematic diagram showing another distribution of the magnetic pole directions of the crawling robot chassis provided in an embodiment of the present application;

[0056] Figure 7 A schematic diagram of the installation angle distribution of multiple magnetic wheels of a crawling robot chassis provided in an embodiment of the present application;

[0057] Figure 8 A schematic diagram showing a comparison between the magnetic wheel of the crawling robot chassis provided in an embodiment of the present application and the clearance between the existing magnetic wheel and the crawling surface;

[0058] Fig. 9 A schematic diagram of the magnetic wheel travel trajectory of the crawling robot chassis provided in an embodiment of the present application.

[0059] Reference numerals:

[0060] 1-bracket body, 2-active magnetic wheel, 201-active wheel body, 202-shaft hole, 203-first magnetic attraction member, 2041-first main wheel throttle, 2042-second main wheel throttle, 205-first sheath, 206-fixed wheel, 207-first transmission member, 3-driven magnetic wheel, 301-driven wheel body, 302-driven wheel throttle, 303-second sheath, 4-adsorption surface, 5-transition part, 6-power assembly, 601-driving member, 602-reducer, 603-power transmission member, 7-active transmission assembly, 701-first fixing member, 702-active transmission member, 703-second transmission member, 8-driven transmission assembly, 801-second fixing member, 802-driven transmission member, 803-transmission belt, 9-telescopic support mechanism, 901-fixed frame, 902-elastic telescopic member, 903-first connecting member, 904-second connecting member, a-marking part, b-marking diameter. DETAILED DESCRIPTION

[0061] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0062] The components of the embodiments of the present application generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed, but merely represents the selected embodiments of the present application.

[0063] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of this application.

[0064] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application 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 application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0065] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0066] Refer to the following Figures 1 to 9 The crawling robot chassis and the crawling robot described in the embodiments of the present application are described.

[0067] See also Figures 1 to 9 As shown, an embodiment of the present application provides a crawling robot chassis, which includes a support body 1, a power assembly 6 and a plurality of magnetic wheels, wherein the power assembly 6 is arranged on the support body 1, the plurality of magnetic wheels are respectively connected to the support body 1 for rotation, and the power assembly 6 is connected to at least part of the plurality of magnetic wheels, thereby driving the magnetic wheels to move, so that the crawling robot using the crawling robot chassis can walk on the crawling surface. Each magnetic wheel includes at least two mutually connected adsorption surfaces 4, and the adsorption surfaces 4 can be adsorbed on the crawling surface, so that the crawling robot using the crawling robot chassis can walk on the crawling surface without falling. Any two adjacent adsorption surfaces 4 are smoothly connected by a transition portion 5, ensuring that during the process of moving, each adsorption surface 4 of the magnetic wheel can contact the crawling surface one by one, and during the process of moving, each adsorption surface 4 of the magnetic wheel and the transition portion 5 may contact and adsorb with the crawling surface.

[0068] Specifically, in one embodiment of the present application, preferably, Figure 8 As shown ( Figure 8The letter c in the figure is the gap between the magnetic wheel and the crawling surface in this embodiment, and the letter d is the gap between the existing circular wheel and the crawling surface). The number of adsorption surfaces 4 is three, and the three adsorption surfaces 4 are connected end to end in sequence. Any two adsorption surfaces 4 are naturally connected by a transition portion 5. Each adsorption surface 4 is an arc surface, so that the three adsorption surfaces 4 are distributed according to the Lurocks triangle. Compared with the traditional circular wheel, this structure increases the diameter of the arc-shaped adsorption surface 4 of the magnetic wheel, thereby increasing the adsorption strength of each magnetic wheel and the working surface and reducing the risk of the magnetic wheel and the crawling surface being separated.

[0069] It should be noted that during the travel, multiple magnetic wheels rotate synchronously, but different positions of different magnetic wheels are adsorbed on the crawling surface, the adsorption surface 4 of some magnetic wheels is in contact with the crawling surface, and the transition part 5 of some magnetic wheels is in contact with the crawling surface. In order to clearly describe the technical solution of this application, one of the transition parts 5 is defined as the marking part a, and one of the multiple diameters of the shaft hole 202 of the magnetic wheel, which passes through the marking part a, is defined as the marking diameter b, such as Figure 7 As shown, the marking diameter b is set at an angle with the crawling surface. When the crawling robot chassis stops at a certain position, the marking diameters b of the four magnetic wheels form different angles with the crawling surface, and the angle range is 90°-180°. The adjustment and setting of the magnetic wheel angle can be completed when the transmission belt 803 is installed.

[0070] Further, part of the multiple magnetic wheels are active magnetic wheels 2, and the other part are driven magnetic wheels 3. Preferably, the number of magnetic wheels in this embodiment is four, including two active magnetic wheels 2 and two driven magnetic wheels 3. The crawling robot chassis also includes an active transmission component 7 and a driven transmission component 8, wherein the two active magnetic wheels 2 are connected to the power component 6 through an active conventional component, and the driven magnetic wheel 3 is connected to the active magnetic wheel 2 through the driven transmission component 8, thereby realizing power transmission, so that the four magnetic wheels can move.

[0071] Furthermore, the power assembly 6 specifically includes: a driving member 601, a reducer 602 and a power transmission member 603, wherein the driving member 601 can be specifically a motor, the driving member 601 has a driving shaft, the reducer 602 is connected to the driving shaft, the reducer 602 has an output shaft, and the power transmission member 603 can be specifically a power gear, and the power transmission member 603 is arranged on the output shaft. When the driving member 601 is started, the power transmission member 603 can rotate with the output shaft as the pivot axis.

[0072] Furthermore, the active transmission component 7 includes: a first fixing member 701, an active transmission member 702 and a second transmission member 703, wherein the number of the first fixing members 701 is two, the bracket body 1 is provided with a through groove, the two first fixing members 701 are arranged on the upper surface of the bracket body 1 and are symmetrically arranged on both sides of the through groove, and the two first fixing members 701 are arranged opposite to each other, the active rotating member has an axis structure or a shaft cylinder structure, one end of the active transmission member 702 is rotatably connected to a first fixing member 701, and the other end of the active transmission member 702 is rotatably connected to another first fixing member 701, and the second transmission member 703 can specifically be a gear, the second transmission member 703 is arranged on the active transmission member 702, and the two are coaxially arranged, the second transmission member 703 is adaptively meshed with the power transmission member 603, and part of the second transmission member 703 sinks into the through groove or sinks to the lower surface of the bracket body 1, and after the power component 6 is started, the second transmission member 703 can rotate synchronously.

[0073] It should be noted that in this embodiment, the number of power components 6 and the number of active transmission components 7 are both two, one power component 6 is connected to one of the active magnetic wheels 2 through one active transmission component 7, and the other power component 6 is connected to the other active magnetic wheel 2 through another active transmission component 7.

[0074] Furthermore, the driven transmission component 8 and the active transmission component 7 are arranged at intervals along the length direction of the through slot. The driven transmission component 8 includes: a second fixing member 801, a driven transmission member 802 and a transmission belt 803, wherein the number of the second fixing members 801 is also two, the two second fixing members 801 are arranged on the upper surface of the bracket body 1 and symmetrically arranged on both sides of another through slot, the driven transmission member 802 has a shaft cylinder structure, one end of the driven transmission member 802 is rotatably connected to one second fixing member 801, and the other end of the driven transmission member 802 is rotatably connected to another second fixing member 801, and the transmission belt 803 is simultaneously sleeved on the power transmission member 603 and the driven transmission member 802, so that when the active transmission member 702 rotates, it can drive the driven transmission member 802 to move.

[0075] In this embodiment, the number of the driven transmission components 8 is also two, wherein one driven transmission component 8 is connected to one driven magnetic wheel 3 , and the other driven transmission component 8 is connected to the other driven magnetic wheel 3 .

[0076] Furthermore, the active magnetic wheel 2 includes: an active wheel body 201, a first wheel axle, a first magnetic attraction member 203, a main wheel choke and a first sheath 205, wherein the overall shape of the active wheel body 201 is also a Lurox triangle, and the active wheel body 201 has three first mounting surfaces distributed in a Lurox triangle; an axial hole 202 is provided at the center of the active wheel body 201, and the axial hole 202 is provided with a bearing for connecting the first wheel axle; the number of the first magnetic attraction members 203 is multiple, and the multiple first magnetic attraction members 203 are distributed on the three first mounting surfaces, and each first magnetic attraction member 203 is fixed to the first mounting surface. In this embodiment, the first magnetic attraction member 203 is specifically a magnet, and all the first magnetic attraction members 203 are distributed on the three first mounting surfaces according to the Halbach magnetic array layout, and the magnetic pole direction of each first magnetic attraction member 203 can be in the direction pointing to the axial hole 202, or in the direction away from the axial hole 202.

[0077] The main wheel throttle is arranged on the side of the first magnetic component 203. Preferably, in this embodiment, the first magnetic component 203 is centered in the width direction of the first mounting surface. The main wheel throttle specifically includes a first main wheel throttle 2041 and a second main wheel throttle 2042. The first main wheel throttle 2041 and the second main wheel throttle 2042 have a symmetrical structure. The length of the first main wheel throttle 2041 and the length of the second main wheel throttle 2042 both extend along the circumference of the driving wheel body 201. Along the width direction of the first mounting surface, the first main wheel throttle 2041 is arranged on one side of the first magnetic component 203, and the second main wheel throttle 2042 is arranged on the other side of the first magnetic component 203. The first main wheel throttle 2041 and the second main wheel throttle 2042 are respectively fixed to the driving wheel body 201, so as to fix the first magnetic component 203 in a clamping manner to prevent the first magnetic component 203 from falling off from the driving wheel body 201. The first sleeve 205 is arranged on the three first mounting surfaces, and the first sleeve 205 is arranged around the driving wheel body 201 along the circumference of the driving wheel body 201. The first sleeve 205 encapsulates the first main wheel throttle 2041, the second main wheel throttle 2042 and multiple first magnetic components 203 on the first mounting surface to ensure the stability of each first magnetic component 203.

[0078] Furthermore, the active magnetic wheel 2 also includes a fixed wheel 206 and a first transmission member 207, wherein the shape of the fixed wheel 206 is also a Lurox triangle, the fixed wheel 206 is arranged on one side of the active wheel body 201, and the two are coaxially arranged, the fixed wheel 206 is fixed to the active wheel body 201 by fasteners in the form of screws or rivets, and the first transmission member 207 is specifically a tooth portion arranged on the circumferential surface of the fixed wheel 206, and the first transmission member 207 can be adapted to mesh with the above-mentioned second transmission member 703, so that after the active rotating member starts to rotate, it can drive the fixed wheel 206 and the active wheel body 201 to rotate synchronously.

[0079] Furthermore, the driven magnetic wheel 3 includes: a driven wheel body 301, a second magnetic attraction member, a driven wheel choke 302 and a second sheath 303, wherein the driven wheel body 301 is provided with a second wheel shaft, and the specific structure and positional relationship of the driven wheel body 301, the second magnetic attraction member, the driven wheel choke 302 and the second sheath 303 can refer to the relevant description of the active magnetic wheel 2, and the difference between the driven magnetic wheel 3 and the active magnetic wheel 2 is that the driven magnetic wheel 3 does not have the same or corresponding features as the fixed wheel 206 and the first transmission member 207. In addition, it should be noted that the transmission belt 803 is simultaneously mounted on the active wheel body 201 and the driven wheel body 301.

[0080] In addition, it should be noted that the driven magnetic wheel 3 is magnetic. Under the action of the elastic member described below, the driven magnetic wheel 3 can contact with the driven member and adsorb the driven transmission member 802. When the power of the active transmission component 7 is transmitted to the driven transmission member 802 through the transmission belt 803, due to the magnetic force and friction force, there is also power transmission between the driven transmission member 802 and the driven magnetic wheel 3, thereby driving the driven magnetic wheel 3 to move. When encountering an obstacle, the travel rhythm between the active magnetic wheel 2 and the driven magnetic wheel 3 may change instantaneously or in a short period of time. Since there is no gear meshing or other connection relationship between the driven transmission member 802 and the driven magnetic wheel 3, there is a differential effect between the driven magnetic wheel 3 and the active magnetic wheel 2, which avoids mutual interference between the active magnetic wheel 2 and the driven magnetic wheel 3, and can further ensure that under special working conditions, some of the multiple magnetic wheels are always adsorbed on the crawling surface.

[0081] The crawling robot chassis provided in this embodiment, the multiple first magnetic components 203 and the multiple second magnetic components are arranged according to the Halbach magnetic array, which helps to improve the adsorption capacity of each magnetic wheel and the crawling surface, thereby effectively reducing the risk of the crawling robot falling and improving the stability of the crawling robot during movement and work.

[0082] Furthermore, the crawling robot chassis also includes a telescopic support mechanism 9, which is arranged on the bracket body 1. The number of telescopic support mechanisms 9 is the same as the total number of magnetic wheels. Each magnetic wheel (the magnetic wheel here includes the active magnetic wheel 2 and the driven magnetic wheel 3) is correspondingly provided with a telescopic support mechanism 9. The telescopic support mechanism 9 can support the magnetic wheel. At the same time, the telescopic support mechanism 9 can drive the magnetic wheel to rise or fall during the movement, and constrain the movement of the magnetic wheel up and down, so as to ensure the stability of the crawling robot chassis during the movement. Fig. 9 As shown, Fig. 9 The line indicated by the letter e in FIG. 1 is the movement trajectory of the shaft hole 202 during the movement of the magnetic wheel in this embodiment.

[0083] Specifically, the telescopic support mechanism 9 includes a fixed frame 901, an elastic telescopic member 902 and a sliding assembly, wherein the fixed frame 901 is arranged on the lower surface of the bracket body 1, and the sliding assembly includes a first connecting member 903 and a second connecting member 904 that can be adapted for sliding connection, the first connecting member 903 is specifically a slide rail extending in the vertical direction, and the second connecting member 904 is a slider that can slide in the vertical direction on the first connecting member 903, the first connecting member 903 is fixedly arranged on the fixed frame 901, and the elastic telescopic member 902 includes a sleeve, The telescopic rod and the elastic member, wherein one end of the sleeve is connected to the fixing frame 901, the diameter of the sleeve is slightly larger than the diameter of the telescopic rod, so that part of the length of the telescopic rod is passed through the sleeve, the elastic member is specifically a compression spring, and the elastic member is arranged in the sleeve in a properly compressed state, so that the sleeve and the telescopic rod always have a tendency to move away from each other, one end of the telescopic rod is in contact with the elastic member, and the other end of the elastic member is connected to the second connecting member 904. Under the action of the elastic member, the second connecting member 904 always applies force to the magnetic wheel, so that the magnetic wheel has an upward movement tendency. The second connecting piece 904 of the telescopic support mechanism 9 connected to the active magnetic wheel 2 is connected to the first wheel axle, and the second connecting piece 904 of the telescopic support mechanism 9 connected to the driven magnetic wheel 3 is connected to the second wheel axle. During the movement, each magnetic wheel will rise and fall, and the elastic telescopic member 902 can be extended and retracted with the rise and fall of the magnetic wheel. The elastic telescopic member 902 can also apply an upward pulling force to the magnetic wheel. At the same time, the sliding assembly can also rise or fall synchronously, thereby ensuring that the magnetic wheel can rotate normally without jamming or stagnation.

[0084] To sum up, the crawling robot chassis provided by the present application optimizes the shape and structure of the magnetic wheels. Compared with the traditional circular magnetic wheels, the adsorption area 4 of each magnetic wheel and the crawling surface is increased, the gap between the adsorption surface 4 and the crawling surface is reduced, and the adsorption strength and stability between the chassis of the crawling robot and the crawling surface are improved. It can better adapt to non-planar and generally flat working scenarios. Under such working conditions or when encountering obstacles, the risk of individual magnetic wheels completely detaching from the crawling surface is reduced, thereby effectively reducing the probability of the chassis of the crawling robot falling from the crawling surface and increasing the passability of the chassis of the crawling robot on the crawling surface.

[0085] An embodiment of the present application also provides a crawling robot, including the crawling robot chassis described in any of the above embodiments, and thus has all the beneficial technical effects of the crawling robot chassis, which will not be repeated here.

[0086] The crawling robot provided in the present application, by configuring the above-mentioned crawling robot chassis, effectively improves the stability of the crawling robot during the movement and working processes, and reduces the risk of the crawling robot falling.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application 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 application.

Claims

1. A crawling robot chassis, characterized in that: include: The support body; A power assembly, wherein the power assembly is arranged on the support body; A magnetic wheel, wherein the magnetic wheel comprises at least two mutually connected adsorption surfaces, each of the adsorption surfaces is a curved surface, a transition portion is formed between two adjacent adsorption surfaces, and each of the adsorption surfaces and the transition portion can be adsorbed on the crawling surface; There are multiple magnetic wheels, each of which is disposed on the bracket body. The power assembly is connected to at least one of the multiple magnetic wheels.

2. The crawling robot chassis according to claim 1, characterized in that: The crawling robot chassis also includes: An active transmission assembly, wherein some of the plurality of magnetic wheels are active magnetic wheels, and the active magnetic wheels are connected to the power assembly through the active transmission assembly; A driven transmission assembly, another part of the plurality of magnetic wheels is a driven magnetic wheel, and the active magnetic wheel is connected with the driven magnetic wheel through the driven transmission assembly.

3. The crawling robot chassis according to claim 2, characterized in that: The active magnetic wheel comprises: A driving wheel body, wherein the driving wheel body is provided with a first wheel shaft; A first magnetic attraction member, the driving wheel body has a first mounting surface, and the first magnetic attraction member is arranged on the first mounting surface; A main wheel throttle, the main wheel throttle is arranged on the first mounting surface, and the main wheel throttle is arranged on the side of the first magnetic attraction member; a first protective sleeve, the first protective sleeve covering a surface of the first magnetic attraction member for contacting the crawling surface; A fixed wheel, the fixed wheel is connected to the driving wheel body; A first transmission member, wherein the first transmission member is disposed on the fixed wheel, and the first transmission member is transmission-connected to the active transmission assembly.

4. The crawling robot chassis according to claim 3, characterized in that: The driven magnetic wheel comprises: A driven wheel body, wherein the driving wheel body is provided with a second wheel shaft; A second magnetic attraction member, the driving wheel body has a second mounting surface, and the second magnetic attraction member is arranged on the second mounting surface; A follower wheel choke, the follower wheel choke is arranged on the second mounting surface, and the follower wheel choke is arranged on the side of the second magnetic attraction member; A second protective sleeve covers a surface of the second magnetic element that is in contact with the crawling surface.

5. The crawling robot chassis according to claim 4, characterized in that: The crawling robot chassis further comprises a telescopic support mechanism, and the plurality of magnetic wheels are respectively connected to the support body through different telescopic support mechanisms; The telescopic support mechanism comprises: A fixing frame, the fixing frame is arranged on the bracket body; A sliding assembly, the sliding assembly comprising a first connecting member and a second connecting member adapted for sliding connection, the first connecting member being arranged on the fixing frame; An elastic telescopic member, one end of which is connected to the fixing frame, and the other end of which is connected to the second connecting member; The second connecting member of the telescopic support mechanism connected to the active magnetic wheel is connected to the first wheel axle; the second connecting member of the telescopic support mechanism connected to the driven magnetic wheel is connected to the second wheel axle.

6. The crawling robot chassis according to claim 3, characterized in that: The power assembly comprises: Driving parts; A reducer connected to the driving member; A power transmission component is arranged on the reducer, and the power transmission component is connected to the active transmission component.

7. The crawling robot chassis according to claim 6, characterized in that: The active transmission assembly comprises: a first fixing member, the first fixing member being arranged on the bracket body; An active transmission member, the active transmission member being rotatably disposed on the first fixing member; A second transmission member, the second transmission member is arranged on the active transmission member, the second transmission member is transmission-connected with the power transmission member; the second transmission member is transmission-connected with the first transmission member; The driven transmission assembly comprises: a second fixing member, the second fixing member being arranged on the bracket body; A driven transmission member, the driven transmission member is rotatably disposed on the second fixing member, and the driven transmission member can contact the driven magnetic wheel; A transmission belt is sleeved on the active transmission member and the driven transmission member.

8. The crawling robot chassis according to any one of claims 1 to 7, characterized in that: Each of the magnetic wheels has three adsorption surfaces, and the three adsorption surfaces are distributed according to a Lurox triangle.

9. The crawling robot chassis according to claim 4, characterized in that: There are multiple first magnetic elements, and the multiple first magnetic elements are distributed according to a Halbach array; There are multiple second magnetic elements, and the multiple second magnetic elements are distributed according to a Halbach array.

10. A crawling robot, characterized in that: A crawling robot chassis comprising any one of claims 1 to 9.

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