Underframe structure and wall-climbing robot

Abstract

The utility model discloses an underframe structure and a wall-climbing robot. The driving mechanism comprises a first frame body, a first magnetic attraction piece, a driving piece and a driving wheel, the first magnetic attraction piece is fixed to the bottom end of the first frame body, the driving wheel is rotationally connected with the first frame body, the driving piece is fixedly connected to the first frame body, and the driving wheel is fixedly connected to the first frame body. The driving wheel can be driven to rotate relative to the first frame body; the driven mechanism comprises a second frame body, a second magnetic attraction piece and a driven wheel, the second magnetic attraction piece is fixed to the bottom end of the second frame body, and the driven wheel is rotationally connected with the second frame body; wherein the first frame body is rotationally connected with the rack, and the second frame body is rotationally connected with the rack. The driving mechanism and the driven mechanism of the underframe structure can respectively deflect relative to the rack, so that the underframe structure has better degree of freedom and flexibility.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a chassis structure and a wall-climbing robot. Background Technology

[0002] The surfaces of equipment such as ships, offshore platforms, and wind turbines are frequently exposed to rain and seawater, causing the paint layer to corrode and peel, making them prone to rust and affecting their service life, potentially even leading to safety accidents. Therefore, regular surface maintenance is necessary for these equipment. Current technology typically involves using "spider-men" or winches for this work; for example, workers stand on suspended platforms and use angle grinders and rollers to sand and paint damaged surfaces of wind turbines. However, working at height is inherently dangerous, especially since wind turbines and offshore platforms are often located in windy areas, where the risk factor is high. Furthermore, the suspended platforms are easily blown by the wind and can impact the equipment surface, causing unnecessary damage.

[0003] Therefore, existing technologies use robots with wall-climbing capabilities to maintain the surfaces of these devices. However, since these surfaces to be maintained are often curved, wall-climbing robots have poor adhesion to curved surfaces and poor adaptability to surfaces with different curvatures, making them prone to jamming or even tipping over, and thus unable to meet the requirements of use in complex working conditions. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a base frame structure in which the driving mechanism and the driven mechanism can deflect relative to the frame, thereby having better degrees of freedom and flexibility.

[0005] This utility model also proposes a wall-climbing robot with the above-mentioned base frame structure.

[0006] The base frame structure according to a first aspect embodiment of the present invention includes a frame, a drive mechanism, and a driven mechanism:

[0007] The driving mechanism includes a first frame, a first magnetic chuck, a driving component, and a drive wheel. The first magnetic chuck is fixed to the bottom end of the first frame. The drive wheel is rotatably connected to the first frame. The driving component is fixedly connected to the first frame and can drive the drive wheel to rotate relative to the first frame.

[0008] The driven mechanism includes a second frame, a second magnetic component, and a driven wheel. The second magnetic component is fixed to the bottom end of the second frame, and the driven wheel is rotatably connected to the second frame.

[0009] The first frame is rotatably connected to the machine frame, and the second frame is rotatably connected to the machine frame.

[0010] The base frame structure according to the embodiment of this utility model has at least the following beneficial effects:

[0011] In this embodiment, to improve the adaptability of the chassis structure to surfaces with different curvatures, the first frame is rotatably connected to the main frame, and the second frame is also rotatably connected to the main frame. Compared to related technologies where both the drive mechanism and the driven mechanism are rigidly connected to the main frame, the design in this application allows the drive mechanism to deflect relative to the main frame, and the driven mechanism to deflect relative to the main frame, thus providing better degrees of freedom and flexibility. When the robot crawls on surfaces with different curvatures, the drive mechanism and the driven mechanism deflect to ensure that the entire chassis structure maintains a good attachment state, allowing the robot to better adapt to surface deformation and movement, ensuring stability and flexibility on complex surfaces.

[0012] According to some embodiments of the present invention, the base frame structure includes two drive mechanisms, which are respectively located on both sides of the frame along the second direction; the first frame is configured to rotate relative to the frame, and the rotation axis of the first frame is arranged along the first direction, which intersects the second direction.

[0013] According to some embodiments of the present invention, either the first frame or the machine frame is provided with a first connecting portion extending along a first direction, and the other is provided with a first connecting hole extending through along the first direction, wherein the first connecting portion is disposed through the first connecting hole.

[0014] According to some embodiments of the present invention, the first frame is provided with a first connecting part and a limiting protrusion surrounding the first connecting part, the frame is provided with a first connecting hole and a limiting groove, the first connecting part passes through the first connecting hole, and the limiting protrusion is embedded in the limiting groove. Due to the length limitation of the limiting groove, the rotation range of the first frame relative to the frame is limited.

[0015] According to some embodiments of the present invention, the driven mechanism includes two sets of driven wheels, which are respectively located on both sides of the second frame along the second direction; the second frame is configured to rotate relative to the frame, and the rotation axis of the second frame is arranged along the first direction.

[0016] According to some embodiments of the present invention, either the second frame or the machine frame is provided with a plug-in slot and a second connecting hole communicating with the plug-in slot, and the other is provided with a plug-in protrusion and a third connecting hole penetrating the plug-in protrusion. The plug-in protrusion is inserted into the plug-in slot, and the second connecting hole and the third connecting hole communicate with each other. The driven mechanism also includes a rotating shaft, which is disposed through the second connecting hole and the third connecting hole.

[0017] According to some embodiments of the present invention, the driven mechanism includes two third frames extending along a first direction, one of the third frames being rotatably connected to a set of driven wheels; the third frame is rotatably connected to the second frame, and the rotation axis of the third frame is arranged along a second direction.

[0018] According to some embodiments of the present invention, the driven wheel includes a main body and a rotating part. The edge of the main body is provided with a plurality of mounting shafts at intervals along its circumference. The rotating part is sleeved on the mounting shafts and rotatably connected to the mounting shafts.

[0019] According to some embodiments of the present invention, each driven wheel includes two main body portions arranged side by side, and when viewed along the axial direction of the driven wheel, the rotating portions on the two main body portions are staggered.

[0020] A wall-climbing robot according to a second aspect of the present invention includes a functional module and a base structure as described in any one of the above embodiments, wherein the functional module is connected to the base structure.

[0021] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0023] Figure 1 This is a schematic diagram of the base frame structure according to an embodiment of the present utility model;

[0024] Figure 2 This is a top view of the base frame structure according to an embodiment of the present utility model;

[0025] Figure 3 This is an exploded view of the frame and the first frame body according to an embodiment of the present invention;

[0026] Figure 4 This is an exploded view of the frame and the second frame of an embodiment of the present invention;

[0027] Figure 5This is a schematic diagram of the driven wheel in an embodiment of the present invention.

[0028] Figure label:

[0029] Frame 100; First connecting hole 101; Limiting groove 102; Insertion protrusion 103; Third connecting hole 104; Nut 105;

[0030] Drive mechanism 200; first frame 210; first connecting part 211; limiting protrusion 212; first magnetic suction element 220; drive element 230; drive wheel 240;

[0031] Driven mechanism 300; second frame 310; insertion slot 311; second connecting hole 312; second magnetic suction element 320; driven wheel 330; main body 331; rotating part 332; rotating shaft 340; third frame 350;

[0032] 400 slide rail; 410 slide block; Detailed Implementation

[0033] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0034] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and 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 this utility model.

[0035] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0036] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0037] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0038] The surfaces of equipment such as ships, offshore platforms, and wind turbines are frequently exposed to rain and seawater, causing the paint layer to corrode and peel, making them prone to rust and affecting their service life, potentially even leading to safety accidents. Therefore, regular surface maintenance is necessary for these equipment. Current technology typically involves using "spider-men" or winches for this work; for example, workers stand on suspended platforms and use angle grinders and rollers to sand and paint damaged surfaces of wind turbines. However, working at height is inherently dangerous, especially since wind turbines and offshore platforms are often located in windy areas, where the risk factor is high. Furthermore, the suspended platforms are easily blown by the wind and can impact the equipment surface, causing unnecessary damage.

[0039] Therefore, existing technologies use robots with wall-climbing capabilities to maintain the surfaces of these devices. However, since these surfaces to be maintained are often curved, wall-climbing robots have poor adhesion to curved surfaces and poor adaptability to surfaces with different curvatures, making them prone to jamming or even tipping over, and thus unable to meet the requirements of use in complex working conditions.

[0040] To address the aforementioned technical problems, the first aspect of this application proposes a chassis structure, which includes a frame 100, a drive mechanism 200, and a driven mechanism 300. The frame 100 is used to mount the drive mechanism 200, the driven mechanism 300, control mechanisms, etc., and can be made of carbon fiber material, which provides good structural strength while reducing the overall weight of the chassis structure. The drive mechanism 200 provides power, enabling the robot to move flexibly on curved surfaces. The driven mechanism 300 works in conjunction with the drive mechanism 200 to adjust the attachment angle, ensuring stable adhesion and adapting to surfaces with different curvatures. Figure 1 and Figure 2 In the embodiment shown, the base frame structure includes two drive mechanisms 200 and one driven mechanism 300. The two drive mechanisms 200 are respectively disposed on both sides of the frame 100 and located at the front end of the frame 100. The driven mechanism 300 is disposed in the middle of the frame 100 and located at the rear end of the frame 100, thereby forming a triangular support structure.

[0041] More specifically, the drive mechanism 200 includes a first frame 210, a first magnetic chuck 220, a drive component 230, and a drive wheel 240. The first magnetic chuck 220 is fixed to the bottom end of the first frame 210 and magnetically attaches to the surface to be maintained, allowing the robot to adhere to the surface. The magnetic force of the first magnetic chuck 220 can be automatically adjusted according to the surface material and curvature to ensure stable adhesion. The drive wheel 240 is rotatably connected to the first frame 210, and the drive component 230 is fixedly connected to the first frame 210 and can drive the drive wheel 240 to rotate relative to the first frame 210. The surface of the drive wheel 240 has an anti-slip texture to enhance grip and ensure stable movement on curved surfaces. Figure 2 In the embodiment shown, the first frame 210 of each drive mechanism 200 is connected to two drive wheels 240, the two drive wheels 240 are arranged side by side, and the first magnetic suction member 220 is located between the two drive wheels 240.

[0042] Additionally, it should be noted that due to the large size of the drive component 230, after connecting to the first frame 210, part of the drive component 230 is suspended outside the first frame 210. It should be noted that, viewed from the side of the chassis structure, the suspended portion of the drive component 230 is located between the drive mechanism 200 and the driven mechanism 300, thereby keeping the center of gravity of the entire chassis structure between the drive mechanism 200 and the driven mechanism 300 to reduce the risk of tipping over when the robot moves on curved surfaces. The drive component 230 includes a servo motor, a reducer, and related connecting parts. The servo motor is connected to the reducer. The drive component 230 of this application uses a high reduction ratio reducer, which can provide sufficient driving torque for the robot to walk on the wall.

[0043] The driven mechanism 300 includes a second frame 310, a second magnetic member 320, and a driven wheel 330. The second magnetic member 320 also serves an adsorption function, fixing it to the bottom end of the second frame 310. Figure 2 Taking the configuration of two drive mechanisms 200 and one driven mechanism 300 as an example, the two drive mechanisms 200 and one driven mechanism 300 form a three-point support. At the same time, magnetic suction components are provided at the bottom of both the drive mechanism 200 and the driven mechanism 300, which can form a three-point adsorption on the surface to be maintained, thereby enhancing the magnetic stability of the wall-climbing robot. The driven wheel 330 is rotatably connected to the second frame 310. When the drive wheel 240 is driven to rotate, the driven wheel 330 moves accordingly.

[0044] It should be noted that, in this embodiment, to improve the adaptability of the chassis structure to surfaces with different curvatures, the first frame 210 and the second frame 310 are rotatably connected to the frame 100. Compared to related technologies where both the drive mechanism and the driven mechanism are rigidly connected to the frame, the design in this application allows the drive mechanism 200 and the driven mechanism 300 to deflect relative to the frame 100, thus providing better freedom and flexibility. When the robot crawls on surfaces with different curvatures, the drive mechanism 200 and the driven mechanism 300 deflect to maintain good adhesion of the entire chassis structure, enabling the robot to better adapt to surface deformation and movement, ensuring stability and flexibility on complex surfaces.

[0045] In some embodiments, the chassis structure includes two drive mechanisms 200, which are located on both sides of the frame 100. The drive mechanisms 200 are positioned on both sides of the frame 100 along a second direction. It should be noted that a horizontal coordinate system is established with the robot itself, the first direction is the direction of travel of the wall-climbing robot, and the second direction is the horizontal direction intersecting the first direction. Based on the foregoing, the first frame 210 is rotatably connected to the frame 100, thereby allowing the first frame 210 to rotate relative to the frame 100. Furthermore, the rotation axis of the first frame 210 is set along the first direction. When the robot moves on a curved surface, the first frame 210 can flexibly adjust its angle according to the changes in the curved surface.

[0046] Furthermore, either the first frame 210 or the rack 100 is provided with a first connecting portion 211 extending along a first direction, and the other is provided with a first connecting hole 101 extending through along the first direction, with the first connecting portion 211 passing through the first connecting hole 101. Figure 3 In the embodiment shown, the first frame 210 is provided with a first connecting part 211, and the frame 100 is provided with a first connecting hole 101. After the end of the first connecting part 211 passes through the first connecting hole 101, it can be fixed and limited by a nut 105 to prevent it from falling off.

[0047] Furthermore, the first frame 210 is provided with a first connecting portion 211 and a limiting protrusion 212, the limiting protrusion 212 being arranged around the first connecting portion 211, such as... Figure 3As shown, the limiting protrusion 212 can be an annular protrusion. The frame 100 is provided with a first connecting hole 101 and a limiting groove 102. The limiting groove 102 is formed on the outer edge of the first connecting hole 101. When the first connecting part 211 passes through the first connecting hole 101, the limiting protrusion 212 is embedded in the limiting groove 102. Thus, when the first frame 210 rotates relative to the frame 100, the limiting protrusion 212 slides in the limiting groove 102. Due to the length limitation of the limiting groove 102, the rotation range of the first frame 210 relative to the frame 100 is limited, thereby providing a certain degree of deflection freedom without making the entire base frame structure too loose.

[0048] In some embodiments, such as Figure 2 and Figure 4 As shown, the driven mechanism 300 includes two sets of driven wheels 330, which are located on both sides of the second frame 310 along a second direction. Each driven wheel 330 is equipped with a second magnetic chuck 320, positioned between the two sets of driven wheels 330, for adhering to the surface to be maintained. This ensures that the driven wheels 330 can closely contact the curved surface during crawling, enhancing grip. Based on the above, the second frame 310 is rotatably connected to the frame 100, allowing the second frame 310 to rotate relative to the frame 100. Furthermore, the rotation axis of the second frame 310 is set along a first direction. During the robot's forward movement, if the curved surfaces contacted by the driven wheels 330 on both sides are at different heights, the second frame 310 can adjust the position of the driven wheels 330 by rotation, ensuring a smooth transition for the robot and avoiding jamming or imbalance caused by height differences, further improving crawling stability.

[0049] Furthermore, either the second frame 310 or the frame 100 is provided with a plug-in slot 311 and a second connecting hole 312 communicating with the plug-in slot 311, while the other is provided with a plug-in protrusion 103 and a third connecting hole 104 penetrating the plug-in protrusion 103. In such cases... Figure 4 In the illustrated embodiment, the frame 100 is provided with a downwardly extending insertion protrusion 103, and the second frame 310 is provided with an insertion slot 311. When the insertion protrusion 103 is inserted vertically into the insertion slot 311, the second connecting hole 312 and the third connecting hole 104 are connected. The driven mechanism 300 also includes a rotating shaft 340, which passes through the second connecting hole 312 and the third connecting hole 104, so that the second frame 310 and the frame 100 are rotatably connected.

[0050] In such Figure 4 In the embodiment shown, the two sides of the insertion protrusion 103 are provided with a first abutting plane, and the two sides of the insertion groove 311 are provided with a second abutting plane. The second abutting plane is used to abut against the first abutting plane of the insertion protrusion 103, thereby limiting the rotation range of the insertion protrusion 103 in the insertion groove 311.

[0051] Furthermore, the driven mechanism 300 also includes two third frames 350 extending along the first direction. One third frame 350 is rotatably connected to a set of driven wheels 330, and the third frame 350 is rotatably connected to the second frame 310. The rotation axis of the third frame 350 is set along the second direction, which intersects the first direction. Therefore, during the robot's forward movement, when encountering surfaces with different heights where the front and rear driven wheels 330 are in contact, the third frame 350 can adjust the relative positions of the front and rear driven wheels 330 by rotation, further optimizing crawling stability, reducing movement obstacles caused by height differences, and improving overall operating efficiency. Through this multi-stage rotational structure design, the robot can not only effectively cope with surface changes but also maintain efficient and stable operation in complex environments, greatly improving its reliability and adaptability in practical applications.

[0052] In some embodiments, the driven wheel 330 includes a main body 331 and a rotating part 332, such as Figure 5 As shown, the edge of the main body 331 has multiple notches spaced circumferentially along its edge, and a mounting shaft (not shown) passes through each notch. The rotating part 332 is fitted onto the mounting shaft and rotatably connected to it. Thus, the driven wheel 330 can roll in the forward / backward direction, in which case the driven wheel 330 rotates circumferentially along the main body 331; alternatively, the driven wheel 330 can also translate in the left / right direction, in which case the rotating part 332 rotates circumferentially along its axis. This design not only enhances the flexibility of the driven wheel 330 but also expands the robot's adaptability.

[0053] Furthermore, each driven wheel 330 includes two main body parts 331 arranged side by side. When viewed along the axial direction of the driven wheel 330, the rotating parts 332 on the two main body parts 331 are staggered so that when the driven wheel 330 moves left and right, the rotating parts 332 can alternately contact the ground, reduce frictional resistance, and improve translational stability.

[0054] A second aspect of this application discloses a wall-climbing robot, which includes a functional module (not shown in the figures) and a base structure as described in any of the above embodiments, wherein the functional module is connected to the base structure. The wall-climbing robot may include a single functional module or have multiple functional modules, each of which is detachably connected to the base structure. The functional module may be a grinding module, a cleaning module, a spraying module, etc., wherein the functional module may be configured as a grinding mechanism with a grinding wheel abutting against the surface, the cleaning module may be configured as a high-pressure water jet cleaning mechanism, and the spraying module may be configured as a mechanism for applying rust-proof or corrosion-resistant coatings.

[0055] It should be noted that the aforementioned functional modules can be installed simultaneously on the base frame structure, or one can be installed on the base frame structure selectively according to requirements. Taking a grinding operation followed by a painting operation as an example, the wall-climbing robot first installs the grinding mechanism to grind the rust spots on the wind turbine tower wall, then removes the grinding mechanism and installs the painting mechanism to paint the areas where the metal luster is exposed after grinding. In this embodiment, the wall-climbing robot, through its modular design, can flexibly respond to different operational needs by replacing the corresponding functional modules, improving operational efficiency and quality, and avoiding mutual interference between different functional modules during operation.

[0056] In some embodiments, such as Figure 1 and Figure 2 As shown, the base frame structure also includes a slide rail 400 extending along the second direction, and a sliding seat 410 slidably connected to the slide rail 400. Each functional module can be detachably connected to the sliding seat 410, thereby enabling the replacement of the functional modules. It is understood that the sliding seat 410 and the functional modules can be equipped with mutually cooperating quick-release structures to facilitate rapid replacement of functional modules. For example, the quick-release structure can be a composite structure of plug-in and magnetic attraction, or it can utilize spring clips and locking mechanisms. The design of the quick-release structure ensures both the convenience of replacement operations and the stability of the connection.

[0057] In addition to the quick-release mechanism, each functional module also has cables for power supply or communication, which need to be disassembled and assembled together with the functional modules. In this embodiment, the base frame structure is provided with multiple power connection ports (not shown in the figure), the number of power connection ports being no less than the number of functional modules. Thus, each functional module can be plugged into different power connection ports to achieve electrical connection. For example, the wall-climbing robot has a painting module and a grinding module. Therefore, the base frame structure is provided with two power connection ports, which can be integrated electrical aviation plugs, enabling quick cable connection.

[0058] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A chassis structure, characterized by, The chassis structure comprises a rack, a driving mechanism and a driven mechanism. The driving mechanism comprises a first frame body, a first magnetic attraction element, a driving element and a driving wheel, the first magnetic attraction element is fixed to the bottom end of the first frame body, the driving wheel is rotationally connected with the first frame body, and the driving element is fixedly connected with the first frame body and can drive the driving wheel to rotate relative to the first frame body. The driven mechanism comprises a second frame body, a second magnetic attraction element and a driven wheel, the second magnetic attraction element is fixed to the bottom end of the second frame body, and the driven wheel is rotationally connected with the second frame body. The first frame body is rotationally connected with the rack, and the second frame body is rotationally connected with the rack.

2. The undercarriage structure of claim 1, wherein The chassis structure comprises two driving mechanisms, and the driving mechanisms are respectively located on the two sides of the rack along a second direction; the first frame body is configured to be able to rotate relative to the rack, and the rotation axis of the first frame body is arranged along a first direction, and the first direction intersects with the second direction.

3. The undercarriage structure of claim 2, wherein, Either the first frame body or the rack is provided with a first connecting portion extending along the first direction, and the other is provided with a first connecting hole penetratingly arranged along the first direction, and the first connecting portion is arranged in the first connecting hole.

4. The undercarriage structure of claim 3, wherein The first frame body is provided with a first connecting portion and a limiting protrusion arranged around the first connecting portion, the rack is provided with a first connecting hole and a limiting groove, the first connecting portion is arranged in the first connecting hole, and the limiting protrusion is embedded in the limiting groove, and the rotation amplitude of the first frame body relative to the rack is limited by the length of the limiting groove.

5. The undercarriage structure of claim 1, wherein The driven mechanism comprises two groups of driven wheels, and the two groups of driven wheels are respectively located on the two sides of the second frame body along a second direction; the second frame body is configured to be able to rotate relative to the rack, and the rotation axis of the second frame body is arranged along a first direction.

6. The undercarriage structure of claim 5, wherein, Either the second frame body or the rack is provided with a plug-in slot and a second connecting hole in communication with the plug-in slot, and the other is provided with a plug-in protrusion and a third connecting hole penetratingly arranged through the plug-in protrusion, the plug-in protrusion is inserted into the plug-in slot, the second connecting hole and the third connecting hole are in communication, and the driven mechanism further comprises a rotating shaft, and the rotating shaft is arranged in the second connecting hole and the third connecting hole.

7. The undercarriage structure of claim 5, wherein The driven mechanism comprises two third frame bodies extending along a first direction, and one third frame body is rotationally connected with one group of driven wheels; the third frame body is rotationally connected with the second frame body, and the rotation axis of the third frame body is arranged along a second direction.

8. The undercarriage structure of claim 1, wherein, The driven wheel comprises a main body portion and a rotating portion, and a plurality of mounting shafts are arranged at intervals along the circumference of the edge of the main body portion; the rotating portion is sleeved on the mounting shaft and is rotationally connected with the mounting shaft.

9. The undercarriage structure of claim 8, wherein, Each driven wheel comprises two main body portions arranged side by side, and the rotating portions on the two main body portions are staggered when viewed in the axial direction of the driven wheel.

10. A wall-climbing robot, characterized by The chassis structure comprises a functional module and the chassis structure as claimed in any one of claims 1 to 9, and the functional module is connected with the chassis structure.

Images