Wall climbing mechanism and climbing trolley carrying same

Abstract

The wall climbing mechanism comprises a chassis, the chassis comprises a climbing assembly, the climbing assembly is connected with a driving part and comprises a first climbing assembly and a second climbing assembly, the first climbing assembly and the second climbing assembly are each provided with a magnetic attraction mechanism, and the climbing assembly is configured to drive the chassis to move based on driving of the driving part; the bending assembly comprises a first structural part, a second structural part and a rotating part, the first crawling assembly is arranged on the first structural part, the second crawling assembly is arranged on the second structural part, the first structural part is connected with the second structural part through the rotating part, and when the first crawling assembly and the second crawling assembly are located on different planes, the first crawling assembly and the second crawling assembly are connected through the rotating part. The first structural part and the second structural part rotate along the rotating part to bend the base plate; according to the wall climbing mechanism, the chassis of the wall climbing mechanism is constructed to be of a split type bendable structure composed of the first structural part and the second structural part, and the wall climbing mechanism can climb on a plane or a rugged surface to complete a task.

Description

Technical Field

[0001] This application relates to the field of autonomous movement technology, and particularly to a wall-climbing mechanism and a crawling vehicle equipped with the same. Background Art

[0002] Magnetic adsorption crawling vehicles can perform specific operations on magnetically conductive wall surfaces. Since crawling vehicles often do not crawl only on one plane, in the case of traditional crawling vehicles, when crawling from one plane to another higher or lower plane, due to the integrated chassis structure, it is very easy for the vehicle to fall, resulting in the failure of crawling, thus affecting the wall-climbing operation of the crawling vehicle.

[0003] Content of the Application

[0004] To overcome the above disadvantages, the purpose of this application is to provide a wall-climbing mechanism and a crawling vehicle equipped with the same, so as to improve the stability of the mobile operation of the crawling vehicle.

[0005] To achieve the above purpose, this application adopts the following technical solutions:

[0006] In the first aspect, a wall-climbing mechanism for driving a crawling vehicle to climb a wall, comprising:

[0007] A chassis, the chassis comprising:

[0008] A crawling component, which is connected to a driving part, and comprises a first crawling component and a second crawling component. The first crawling component and the second crawling component respectively have magnetic adsorption mechanisms. The crawling component is configured to drive the chassis to move based on the drive of the driving part.

[0009] A bending component, the bending component comprising a first structural member, a second structural member and a rotating member. The first crawling component is arranged on the first structural member, the second crawling component is arranged on the second structural member, and the first structural member is connected to the second structural member through the rotating member.

[0010] The rotating member is configured such that when the first crawling component and the second crawling component are in different planes, the first structural member and the second structural member rotate along the rotating member to bend the chassis so that the first crawling component and the second crawling component respectively contact the plane. In this way, when the first crawling component and the second crawling component are in different planes (the plane contacted by the first crawling component and the plane contacted by the second crawling component are in different planes), the wall-climbing mechanism can drive the vehicle to move reliably.

[0011] Further, the rotating member comprises:

[0012] A first rotating part, which is configured at the first end of the first structural member. At least one groove is provided on the first rotating part.

[0013] A second rotating part, which is arranged at the first end of the second structural member. At least one protrusion is arranged on the second rotating part, and the protrusion is arranged in the groove.

[0014] At least one pin shaft, which is arranged between the first rotating part and the second rotating part, and the first rotating part and the second rotating part can rotate relative to each other through it.

[0015] Further, the rotating member further includes a torsion spring, which is arranged between the first rotating part and the second rotating part. The torsion spring is sleeved on the pin shaft. The first end of the torsion spring is connected to the first rotating part, and the second end of the torsion spring is connected to the second rotating part.

[0016] Further, the first crawling assembly includes a first crawler belt and a second crawler belt. The first crawler belt is arranged on the first side of the first structural member, and the second crawler belt is arranged on the second side of the first structural member.

[0017] The second crawling assembly includes a third crawler belt and a fourth crawler belt. The third crawler belt is arranged on the first side of the second structural member, and the fourth crawler belt is arranged on the second side of the second structural member.

[0018] The first crawler belt, the second crawler belt, the third crawler belt and the fourth crawler belt respectively include a synchronous chain device and a plurality of chain plates. The synchronous chain device includes a synchronous chain, and the chain plates are evenly arranged on the synchronous chain. The magnetic attraction mechanism is arranged on the surface of the chain plate.

[0019] Further, the magnetic attraction mechanism includes a permanent magnet.

[0020] Further, the synchronous chain device further includes a driving sprocket and a driven sprocket. The driving sprocket and the driven sprocket are connected by the synchronous chain, and the driving sprocket is connected to the driving part.

[0021] Further, the synchronous chain device further includes a tensioning sprocket, which is arranged between the driving sprocket and the driven sprocket. The tensioning sprocket is connected to a lifting structure, and the lifting structure is configured to drive the tensioning sprocket to lift.

[0022] Further, the lifting structure includes a bracket, two symmetric lifting rods arranged on the bracket and a mounting shaft for mounting the tensioning sprocket. Wherein, the tensioning sprocket is rotatably arranged on the mounting shaft, and both ends of the mounting shaft are fixedly connected to the two lifting rods respectively. The tensioning sprocket on the mounting shaft is driven to lift by the lifting of the lifting rods.

[0023] Further, the driving part includes a first driving motor, a second driving motor, a third driving motor, and a fourth driving motor, wherein,

[0024] The first driving motor is connected to the driving sprocket of the first crawler belt, the second driving motor is connected to the driving sprocket of the second crawler belt, the third driving motor is connected to the driving sprocket of the third crawler belt, and the fourth driving motor is connected to the driving sprocket of the fourth crawler belt.

[0025] In a second aspect, the present solution also provides a crawling vehicle, including the wall-climbing mechanism according to any one of the above.

[0026] Beneficial effects

[0027] The present application proposes a wall-climbing mechanism and a crawling vehicle equipped with the same. By constructing the chassis of the wall-climbing mechanism into a split and bendable structure composed of a first structural member and a second structural member, and respectively arranging magnetic adsorption crawling structures on the first structural member and the second structural member, when the crawling vehicle crawls from one plane to another higher or lower plane, the stability of the wall-climbing operation of the crawling vehicle is ensured, and it can crawl on a plane or a rugged surface to complete tasks. Description of the drawings

[0028] The drawings are used to provide an understanding of the technical solutions of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the technical solutions of the present disclosure and do not constitute a limitation to the technical solutions of the present disclosure. The shapes and sizes of the components in the drawings do not reflect the actual proportions, and the purpose is only to schematically illustrate the content of the present application.

[0029] Figure 1 It is a schematic diagram of the overall structure of the chassis of the wall-climbing mechanism in an embodiment of the present application.

[0030] Figure 2 It is a schematic diagram of the bent part structure of the chassis in an embodiment of the present application.

[0031] Figure 3 It is a schematic diagram of the crawler belt structure in an embodiment of the present application.

[0032] Figure 4 It is a schematic diagram of the crawling principle of the crawling vehicle in an embodiment of the present application.

[0033] In the above-mentioned drawings, A is the chassis; 1 is the first crawling assembly; 11 is the first crawler belt; 12 is the second crawler belt; 2 is the second crawling assembly; 21 is the third crawler belt; 22 is the fourth crawler belt; 3 is the bending assembly; 31 is the first structural member; 32 is the second structural member; 33 is the pin shaft; 34 is the torsion spring; 35 is the rotating member; 35a is the first rotating part; 35b is the second rotating part; 35a1 is the groove; 35b1 is the protrusion; 100 is the chain plate; 101 is the permanent magnet; 102 is the driving sprocket; 103 is the driven sprocket; 104 is the tensioning sprocket; 105 is the bracket; 106 is the lifting rod; 107 is the mounting shaft; 108 is the synchronous chain;

[0034] 11a is the first driving motor; 12a is the second driving motor; 21a is the third driving motor; 22a is the fourth driving motor;

[0035] A is the first plane; B is the second plane. Detailed implementation manners

[0036] The above solution will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the present application. The implementation conditions adopted in the embodiments can be further adjusted according to the conditions of specific manufacturers, and the implementation conditions not specified are usually those in conventional experiments.

[0037] Unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should have the ordinary meanings understood by those of ordinary skill in the art to which the present application belongs. The "first", "second" and similar terms used in the embodiments of the present disclosure do not denote any order, quantity or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. In this document, "electrical connection" includes the case where the components are connected together through an element having a certain electrical effect. There is no particular limitation on the "element having a certain electrical effect" as long as it can transmit and receive electrical signals between the components to be connected. The "element having a certain electrical effect" can be, for example, an electrode or a wiring, or a switching element such as a transistor, or other functional elements such as a resistor, an inductor or a capacitor. The terms such as "upper", "lower", "left" and "right" are only used to represent relative position relationships, and when the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0038] In the present application, the orientation or positional relationship indicated by terms such as "upper", "lower", "inner", "middle", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit that the indicated device, element or component must have a specific orientation, or be constructed and operated in a specific orientation.

[0039] Embodiment

[0040] An embodiment of the present application discloses a wall-climbing mechanism. When configured on a crawling vehicle, the wall-climbing mechanism can drive the vehicle to crawl. The wall-climbing mechanism includes a chassis, the chassis includes a crawling component, the crawling component can drive the chassis to move, the chassis further includes a bending component, the bending component includes a first structural member, a second structural member and a rotating member. Among them, the rotating member is arranged at the connecting part of the first structural member and the second structural member, and the bending component can bend the chassis. By constructing the chassis of the wall-climbing mechanism as a split and bendable structure composed of a first structural member and a second structural member, and respectively arranging magnetic adsorption crawling structures on the first structural member and the second structural member, when the crawling vehicle crawls from one plane to another higher or lower plane, the stability of the wall-climbing operation of the crawling vehicle is ensured.

[0041] Next, in combination with Figures 1-3 to describe in detail the wall-climbing mechanism proposed by the present application,

[0042] As Figure 2 shown, the chassis A includes a bending component, and the bending component 3 includes a first structural member 31, a second structural member 32, and a rotating member 35 located at the connecting part of the first structural member 31 and the second structural member 32.

[0043] The rotating member 35 includes a first rotating part 35a arranged at the first end of the first structural member 31, and not less than one groove 35a1 is formed on the first rotating part 35a ( Figure 2 two parallel grooves 35a1 in Figure 2In the middle are two juxtaposed protrusions 35b1). In some embodiments, the protrusion 35b1 is cylindrical in shape, and it can also be in other shapes. The protrusion 35b1 corresponds to the groove 35a1 one by one. The protrusion is disposed within the groove, and a through pin shaft 33 is provided between the two. The pin shaft 33 is located between the first rotating part 35a and the second rotating part 35b. The first rotating part 35a and the second rotating part 35b are relatively rotated by the pin shaft 33. In some embodiments, multiple pin shafts 33 are provided, and one pin shaft 33 corresponds to a set of protrusions and grooves (not shown in the figure).

[0044] As Figure 2 shown, a torsion spring 34 is provided between the first rotating part 35a and the second rotating part 35b. The torsion spring 34 is sleeved on the pin shaft 33. The first end of the torsion spring 34 is connected to the first rotating part 35a, and the second end of the torsion spring 34 is connected to the second rotating part 35b. The function of the torsion spring 34 is to reset the chassis A from the bent state to the flat state. In some embodiments, there are no less than one ( Figure 2 in the middle are two) torsion springs 34, and the torsion spring 34 includes but is not limited to being disposed within the groove.

[0045] As Figure 1 shown, the chassis A includes a crawling assembly. The crawling assembly includes:

[0046] A first crawling assembly 1 disposed on the first structural member 31. The first crawling assembly 1 includes a first crawler belt 11 and a second crawler belt 12, and the first crawler belt 11 and the second crawler belt 12 are respectively located on both sides of the first structural member 31.

[0047] A second crawling assembly 2 disposed on the second structural member 32. The second crawling assembly 2 includes a third crawler belt 21 and a fourth crawler belt 22, and the third crawler belt 21 and the fourth crawler belt 22 are respectively located on both sides of the second structural member 32.

[0048] As Figure 3 shown, the first crawler belt 11, the second crawler belt 12, the third crawler belt 21, and the fourth crawler belt 22 respectively include a synchronous chain device and a plurality of chain plates 100. The synchronous chain device includes a synchronous chain 108. The chain plates 100 are evenly distributed on the synchronous chain 108, and a permanent magnet 101 is provided on the surface of the chain plate 100. Adsorption by the permanent magnet 101 is used to meet the requirements for the wall-climbing mechanism to crawl on the wall surface (such as the inner wall surface of a storage tank, etc.). In some embodiments, an installation groove is opened on the surface of the chain plate 100 facing away from the chain, and the permanent magnet 101 is embedded in the installation groove to make the surface of the chain plate 100 flat, without affecting the normal crawling function of the crawler belt while meeting the adsorption requirements of the permanent magnet 101.

[0049] As Figure 3As shown, the synchronous chain device includes a driving sprocket 102 and a driven sprocket 103. The driving sprocket 102 and the driven sprocket 103 are connected by a synchronous chain 108. The driving sprocket 102 is connected to a driving source. In some embodiments, the driving source includes a driving motor, such as Figure 1 As shown, four driving motors are provided, including a first driving motor 11a, a second driving motor 12a, a third driving motor 21a, and a fourth driving motor 22a. The first driving motor 11a is connected to the driving sprocket 102 in the first crawler belt 11, the second driving motor 12a is connected to the driving sprocket 102 in the second crawler belt 12, the third driving motor 21a is connected to the driving sprocket 102 in the third crawler belt 21, and the fourth driving motor 22a is connected to the driving sprocket 102 of the fourth crawler belt 22. At the same time, a speed reducer (not marked in the figure) is provided between each driving motor and the driving sprocket 102. The four crawler belts are respectively driven by matching corresponding motors. When the crawling vehicle needs to turn, by controlling the different speeds of the four driving motors, the torques output by the motors are different, so that the crawling vehicle can turn.

[0050] Such as Figure 3 As shown, the synchronous chain device includes a tensioning sprocket 104. The tensioning sprocket 104 is arranged between the driving sprocket 102 and the driven sprocket 103. The tensioning sprocket 104 is used to keep the chain in a tensioned state. In some embodiments, the tensioning sprocket 104 is connected to a lifting structure, and the tensioning sprocket 104 is driven by the lifting structure to lift to achieve the function of height adjustment. The lifting structure includes a bracket 105, two lifting rods 106 arranged on the bracket 105, and a mounting shaft 107 for mounting the tensioning sprocket 104. Among them, the tensioning sprocket 104 is rotatably arranged on the mounting shaft 107, and both ends of the mounting shaft 107 are fixedly connected to the two lifting rods 106 respectively. The tensioning sprocket 104 on the mounting shaft 107 is driven to lift by the lifting of the lifting rod 106. In some embodiments, the lifting rod 106 includes a bolt, and a nut is sleeved on the bolt. A through hole is opened on the bracket 105, the bolt passes through the through hole, and the nut abuts against the top of the bracket 105. The function of lifting the lifting rod 106 can be realized by manually screwing the nut, and then driving the tensioning sprocket 104 to lift.

[0051] The embodiment of the present application also discloses a crawling vehicle. The crawling vehicle is equipped with the wall-climbing mechanism of the above embodiment and can perform crawling operations (such as crawling on the water-cooled wall of a boiler). When the crawling vehicle needs to crawl from one plane to another higher plane (at this time, the first crawling component and the second crawling component are in different planes), such as Figure 4As shown, the first plane A is a lower plane, and the second plane B is a higher plane. The front end of the chassis is the first structural member 31 and the first crawler belt 11 and the second crawler belt 12 (the second crawler belt 12 is not shown in the figure) on both sides thereof. The rear end of the chassis is the second structural member 32 and the third crawler belt 21 and the fourth crawler belt 22 (the fourth crawler belt 22 is not shown in the figure) on both sides thereof. The first crawler belt 11 and the second crawler belt 12 first contact the second plane B and gradually crawl onto the second plane B. At this time, the parts of the third crawler belt 21 and the fourth crawler belt 22 are in contact with the first plane A. During the crawling process, bending occurs between the first structural member 31 and the second structural member 32, so that the first crawling assembly and the second crawling assembly respectively (reliably) contact the contact surface to ensure the stability of the crawling trolley during movement. When moving on a plane, no bending occurs between the first structural member 31 and the second structural member 32.

[0052] The above embodiments are only for illustrating the technical concept and features of the present application, and the purpose is to enable those who are familiar with this technology to understand the content of the present application and implement it accordingly, and it cannot be used to limit the protection scope of the present application. Any equivalent transformation or modification made in accordance with the spirit of the present application should be covered within the protection scope of the present application.

Claims

1. A wall-climbing mechanism for driving a wall-climbing vehicle to climb walls, characterized in that: Comprising: A chassis, the chassis comprising: A crawling assembly, which is connected to a driving part, and includes a first crawling assembly and a second crawling assembly. The first crawling assembly and the second crawling assembly respectively have magnetic attraction mechanisms. The crawling assembly is configured to drive the chassis to move based on the drive of the driving part. A bending assembly, the bending assembly includes a first structural member, a second structural member and a rotating member. The first crawling assembly is arranged on the first structural member, the second crawling assembly is arranged on the second structural member, and the first structural member is connected to the second structural member through the rotating member. The rotating member is configured such that when the first crawling assembly and the second crawling assembly are in different planes, the first structural member and the second structural member rotate along the rotating member to bend the chassis so that the first crawling assembly and the second crawling assembly are respectively in contact with the plane.

2. The wall-climbing mechanism according to claim 1, wherein: The rotating member includes: A first rotating part, which is configured at the first end of the first structural member, and at least one groove is formed on the first rotating part. A second rotating part, which is configured at the first end of the second structural member, and at least one protrusion is arranged on the second rotating part. The protrusion is arranged in the groove. At least one pin shaft, which is arranged between the first rotating part and the second rotating part, and through which the first rotating part and the second rotating part can rotate relative to each other.

3. The wall-climbing mechanism according to claim 2, wherein: The rotating member further includes a torsion spring, which is arranged between the first rotating part and the second rotating part. The torsion spring is sleeved on the pin shaft. The first end of the torsion spring is connected to the first rotating part, and the second end of the torsion spring is connected to the second rotating part.

4. The wall-climbing mechanism according to claim 1, wherein: The first crawling assembly includes a first crawler belt and a second crawler belt. The first crawler belt is arranged on the first side of the first structural member, and the second crawler belt is arranged on the second side of the first structural member. The second crawling assembly includes a third crawler belt and a fourth crawler belt. The third crawler belt is arranged on the first side of the second structural member, and the fourth crawler belt is arranged on the second side of the second structural member. The first crawler belt, the second crawler belt, the third crawler belt and the fourth crawler belt respectively include a synchronous chain device and a plurality of chain plates. The synchronous chain device includes a synchronous chain, and the chain plates are evenly distributed on the synchronous chain. The magnetic attraction mechanism is arranged on the surface of the chain plate.

5. The wall-climbing mechanism according to claim 4, wherein: The magnetic attraction mechanism includes a permanent magnet.

6. The wall-climbing mechanism according to claim 4, wherein: The synchronous chain device further includes a driving sprocket and a driven sprocket. The driving sprocket and the driven sprocket are connected by the synchronous chain, and the driving sprocket is connected to the driving part.

7. The wall-climbing mechanism according to claim 6, wherein: The synchronous chain device further includes a tensioning sprocket, which is arranged between the driving sprocket and the driven sprocket. The tensioning sprocket is connected to a lifting structure, and the lifting structure is configured to drive the tensioning sprocket to lift and lower.

8. The wall-climbing mechanism according to claim 7, wherein: The lifting structure includes a bracket, two symmetric lifting rods arranged on the bracket, and a mounting shaft for mounting the tensioning sprocket. Among them, the tensioning sprocket is rotatably arranged on the mounting shaft, and both ends of the mounting shaft are fixedly connected to the two lifting rods respectively. The tensioning sprocket on the mounting shaft is driven to lift and lower by the lifting of the lifting rods.

9. The wall-climbing mechanism according to claim 6, wherein: The driving part includes a first driving motor, a second driving motor, a third driving motor, and a fourth driving motor. Among them, The first driving motor is connected to the driving sprocket of the first crawler belt, the second driving motor is connected to the driving sprocket of the second crawler belt, the third driving motor is connected to the driving sprocket of the third crawler belt, and the fourth driving motor is connected to the driving sprocket of the fourth crawler belt.

10. A crawling trolley, characterized in that: It includes the wall-climbing mechanism according to any one of claims 1-9.

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