CN109204593B - A wall-climbing robot with wall transition function - Google Patents

Abstract

The invention discloses a wall climbing robot with a wall transition function, which comprises a front vehicle section and a rear vehicle section; the width of the front vehicle section is smaller than that of the rear vehicle section, a front vehicle left and rear synchronous pulley of the front vehicle section is positioned on the inner side of a rear vehicle left and front synchronous pulley of the rear vehicle section, and a front vehicle right and rear synchronous pulley of the front vehicle section is positioned on the inner side of a rear vehicle right and front synchronous pulley of the rear vehicle section; a power output mechanism consisting of a spline shaft and a motor is arranged on a rear frame of the rear vehicle section; the spline shaft is provided with a deflection clutch mechanism; the deflection clutch mechanism comprises a rear vehicle deflection clutch mechanism and a front vehicle deflection clutch mechanism; permanent magnets are arranged on the front left synchronous belt and the front right synchronous belt of the front vehicle section and the rear left synchronous belt and the rear right synchronous belt of the rear vehicle section; a positioning mechanism which enables the front vehicle section to maintain a certain deflection angle relative to the rear vehicle section is connected between the front vehicle frame of the front vehicle section and the rear vehicle frame of the rear vehicle section; the rear frame is provided with a probe for detecting steel.

Description

A wall-climbing robot with wall transition function

technical field

The invention relates to the technical field of robot design, in particular to a wall-climbing robot capable of being adsorbed on a steel wall and having a wall transition capability, specifically a wall-climbing robot with a wall transition function.

Background technique

At present, extensive research has been done on wall-climbing robots at home and abroad, and some relatively mature products have been used in production practice.

Most wall-climbing robots use wheeled and tracked mobile mechanisms. The tracked mobile mechanism is an extension of the wheeled mobile mechanism, and the track itself plays a role in continuously paving the road for the wheels. The wheel type movement has high efficiency, simple structure and convenient control. The track-type mechanism has good off-road mobility, and its performance in climbing and crossing ditches is better than that of the wheel-type mobile mechanism; however, the track-type mechanism has complex structure, heavy weight, and large motion inertia. There are also a few wall-climbing robots that use legged mechanisms, which are suitable for rough and unstructured surfaces, with many degrees of freedom and complex control.

The adsorption methods of wall-climbing robots mainly include negative pressure adsorption, bionic dry adhesive adsorption and magnetic adsorption. Negative pressure adsorption is not limited by working conditions and working media, but when there are cracks or unevenness on the adsorption wall, the suction cup is prone to air leakage. Dry adhesive adsorption is to use the molecular force between the contact surfaces of various objects for adsorption, and can be applied in any occasion. The magnetic adsorption method is only applicable to the wall surface of the magnetic permeable material. Magnetic adsorption can be divided into electromagnet adsorption, permanent magnet adsorption, electromagnetic and permanent magnet hybrid adsorption.

Because the transition function of the wall surface is relatively complicated to realize, there are still relatively few related researches, and no mature products have come out. The search found that the Chinese patent application number 2017100147777 proposed "a wall-climbing robot that is adsorbed on the steel wall". The folding between them can obtain the wall transition function. The whole wall-climbing robot needs 5 motors to provide active power, which increases the weight of the whole machine. The Chinese patent application number 2017107478249 proposes "a permanent magnet adsorption wall-climbing robot that can realize right-angle wall transition". Functional reliability. The Chinese patent application No. 2011102210335 proposes "a motion mechanism for a wall-climbing robot". The robot is composed of two suction cups hinged through a master-slave bracket, which can realize inchworm-like movement and wall transition. The Chinese patent application number 2017206708427 proposes a "bipedal wall-climbing robot". The robot is adsorbed on the steel wall by two geomagnets, and can realize wall transition.

Contents of the invention

The technical problem to be solved by the present invention is to provide a wall-climbing robot with a wall transition function that is safe, reliable, stable in performance, and able to walk flexibly on a steel wall.

The technical solution adopted by the present invention to solve the problems of the technologies described above is:

A wall-climbing robot with a wall surface transition function, including a front car section and a rear car section both of which are crawler-type walking structures; The left rear synchronous pulley of the car, the right rear synchronous pulley of the front car, the left synchronous belt of the front car and the right synchronous belt of the front car are assembled; 1. The left rear synchronous pulley of the rear car, the right rear synchronous pulley of the rear car, the left synchronous belt of the rear car and the right synchronous belt of the rear car are assembled, the width of the front car section is smaller than the width of the rear car section, and the front car of the front car section The left rear synchronous pulley is located on the inner side of the left front synchronous pulley of the rear car in the rear section, and the right rear synchronous pulley of the front car in the front section is located on the inner side of the right front synchronous pulley of the rear car in the rear section; the rear frame is equipped with The power output mechanism is composed of a spline shaft and a motor for driving the rotation of the spline shaft; the spline shaft is equipped with a deflection clutch mechanism; The vehicle deflection clutch mechanism and the front vehicle deflection clutch mechanism that uses the clutch to realize the straight line walking of the front vehicle section and the wall transition function of the wall climbing robot; the left synchronous belt of the front vehicle, the right synchronous belt of the front vehicle, the left synchronous belt of the rear vehicle and the right synchronous belt of the rear vehicle There are permanent magnets installed at equal intervals on the wall to make the wall-climbing robot adsorb on the steel wall; the front frame and the rear frame are connected to make the front car section maintain a certain deflection angle relative to the rear car section to complete wall climbing. A positioning mechanism for the robot to transition on walls with different angles; the deflection angle maintained by the positioning mechanism increases or decreases at a set arc angle relative to the horizontal plane, and the rear frame is equipped with a probe for detecting steel.

In order to optimize the above technical solutions, the specific measures taken also include:

The above-mentioned front frame is installed with the front wheel shaft in a transversely rotating manner relatively close to the front end. The left front synchronous pulley of the front car is fixed and installed on the left end of the front wheel shaft through the flat key of the front car, and the right front synchronous pulley of the front car is fixed through the flat key of the front car. Installed on the right end of the front wheel shaft, the left rear synchronous pulley of the front car and the right rear synchronous pulley of the front car are both rotatably installed on the spline shaft, and the left synchronous belt of the front car is closed-loop with the left front synchronous pulley of the front car and the front car The left rear synchronous pulley meshes; the front right synchronous belt meshes with the front right front synchronous pulley and the front right rear synchronous pulley in a closed loop.

The above-mentioned rear frame is composed of a horizontal cross arm, a left arm connected to the left end of the horizontal cross arm, and a right arm connected to the right end of the horizontal cross arm; On the spline shaft, the spline shaft is respectively clamped to prevent the axial serial movement of the left rear synchronous pulley of the front car, the right rear synchronous pulley of the front car, the left front synchronous pulley of the rear car and the right front synchronous pulley of the rear car. The limit circlip of the rear car; the left front synchronous pulley of the rear car is rotatably located on the inner side of the left arm close to the front end, and the right front synchronous pulley of the rear car is rotatably located on the inner side of the right arm near the front end; the left rear synchronous pulley of the rear car passes through a short shaft It is rotatably installed on the inner side of the left arm relatively close to the rear end, and the right rear timing pulley of the rear car is rotatably installed on the inner side of the right arm relatively close to the rear end through another short shaft; the left synchronous belt of the rear car is closed-loop and The left front synchronous pulley of the rear car meshes with the left rear synchronous pulley of the rear car, and the right synchronous belt of the rear car meshes with the right front synchronous pulley of the rear car and the right rear synchronous pulley of the rear car in a closed-loop manner.

The above-mentioned positioning mechanism is composed of a U-shaped ball plunger fixing seat, a ball plunger clamping disc with an annular disc structure, and an elastically expandable ball plunger; the U-shaped closure of the ball plunger fixing seat The end is fixed on the center of the horizontal cross arm of the rear frame through bolts; the ball plunger is fixed on the two side arms of the U-shaped open end of the ball plunger fixing seat, and several ball heads are installed on each side arm For the plunger, several ball plungers are arranged in equal arcs and located on the same circumferential line; there are two ball plunger clamping discs, and the two ball plunger clamping discs are symmetrically clamped and fixed on the front vehicle by bolts On the frame tail of the frame, the frame tail extends into the U-shaped opening end of the ball plunger fixing seat, and each ball plunger clamping plate is processed with a ball plunger that can be elastically snapped in to maintain the front section Positioning dimples with a fixed deflection angle relative to the rear section.

The above-mentioned ball plunger is composed of a cylindrical plunger housing, a return spring and a steel ball; the plunger housing is axially processed with a spring installation cavity, and the return spring is pressed into the spring installation cavity of the plunger housing through the steel ball, and the spring The mouth of the installation chamber is processed with a ring-shaped platform with a diameter smaller than that of the steel ball to prevent the steel ball from coming out. The part of the steel ball protruding from the mouth of the spring installation chamber is elastically snapped into the positioning pit to match.

The rear end of the left arm of the rear frame of the above-mentioned rear section and the rear end of the right arm of the rear frame are all equipped with a rear car timing belt tensioning mechanism; the short axis is installed on the rear frame through the rear car timing belt tensioning mechanism; The timing belt tensioning mechanism of the rear car is composed of a U-shaped hoop, sleeve cup, flange cover, deep groove ball bearing and tension bolts; the deep groove ball bearing is fixedly installed in the sleeve cup, and one end of the short shaft is tightly fitted through the Set in the inner hole of the deep groove ball bearing, the short shaft is rotatably installed on the sleeve cup through the deep groove ball bearing; the two arms of the U-shaped structure of the hoop are connected with the rear end of the left arm of the rear frame or the right arm of the rear frame The rear end of the clamp is matched, the cup is positioned and installed in the cup installation holes made on the two arms of the hoop, and the cup and the hoop are installed on the left arm of the rear frame through two first bolts Installed on or behind the right arm of the rear frame, the closed end of the hoop is welded with a tension nut, the tension bolt is screwed with the tension nut, the front end of the tension bolt is connected to the rear end surface of the left arm of the rear frame or Cooperate with the rear end surface of the right arm of the rear frame; the short shaft is clamped with a limit spring to prevent the deep groove ball bearing from falling out, and the flange cover is fixed on the sleeve cup by screws and connected to the outer surface of the deep groove ball bearing. The circle is top-connected; the left rear synchronous pulley of the rear car and the right rear synchronous pulley of the rear car are all fixedly installed on the end of the short shaft away from the deep groove ball bearing by the flat key of the rear car.

A front car timing belt tensioning mechanism for tensioning the front car left synchronous belt and a front car synchronous belt tensioning mechanism for tensioning the front car right synchronous belt are installed on the above-mentioned front frame, and the two front cars are synchronized The structure of the belt tensioning mechanism is the same as that of the rear vehicle timing belt tensioning mechanism, and the front axle is rotatably installed on the front vehicle timing belt tensioning mechanism through the deep groove ball bearings of the two front vehicle timing belt tensioning mechanisms.

The above-mentioned electric motor is installed on the outer surface of the front end of the left arm of the rear frame, and the front ends of the left arm of the rear frame and the front end of the right arm of the rear frame are equipped with deep groove ball bearings and spline shafts that are used to rotate and support the spline shaft. The left end of the shaft passes through the inner hole of the deep groove ball bearing on the left arm to connect with the output shaft of the motor, and the right end of the spline shaft passes through the left front synchronous pulley of the rear car, the left rear synchronous pulley of the front car, and is fixed on the frame The ball plunger clamping plate on the left side of the tail, the frame tail, the ball plunger clamping plate fixed on the right side of the frame tail, the right rear synchronous pulley of the front car and the right front synchronous pulley of the rear car are installed on the right arm In the inner hole of the deep groove ball bearing.

The above-mentioned deflection clutch mechanism includes the rear vehicle deflection clutch mechanism that utilizes the clutch to realize the rear vehicle section linear walking and the wall climbing robot steering function and the front vehicle deflection clutch mechanism that utilizes the clutch to realize the front vehicle section linear walking and the wall transition function of the wall climbing robot; The car deflection clutch mechanism consists of the first spline gear, the first internal gear, the first clutch motor, the first screw rod, the first shift fork, the second spline gear, the second internal gear, the second clutch motor, the second screw rod and The second shift fork is composed of: the first clutch motor is fixedly installed on the left end of the rear frame, the first screw rod is fixedly connected with the power output shaft of the first clutch motor, and the tail end of the first shift fork is connected with the threaded drive of the first screw rod , the first internal gear is fixedly installed in the left front synchronous pulley of the rear car, and the first spline gear can be slid left and right to be sleeved on the spline shaft located at the left front synchronous pulley of the rear car and the left rear synchronous belt of the front car On the shaft section between the wheels, the front end of the first shift fork is clamped in the shift fork groove of the first spline gear; the second clutch motor is fixed on the right end of the rear frame, and the power output of the second screw rod and the second clutch motor The shaft is fixedly connected, the tail end of the second shift fork is connected with the second screw thread drive, the second internal gear is fixedly installed in the right front synchronous pulley of the rear car, and the second spline gear is set on the spline shaft so that it can slide left and right Located on the shaft section between the right front synchronous pulley of the rear car and the right rear synchronous pulley of the front car, the front end of the second shift fork is clamped in the shift fork groove of the second spline gear.

The above-mentioned front vehicle deflection clutch mechanism is composed of the 3rd spline gear, the 3rd internal gear, the 3rd clutch motor, the 3rd screw rod, the 3rd shift fork, the 4th spline gear, the 4th internal gear, the 4th clutch motor, the 4th Composed of four screws, the fourth shift fork, the fifth internal gear and the sixth internal gear; the third clutch motor is fixed on the front frame on the left side of the relative frame tail, and the third screw is fixed to the power output shaft of the third clutch motor connection, the tail end of the third shift fork is connected with the threaded drive of the third screw, the third internal gear is fixedly installed in the left rear synchronous pulley of the front car, and the fifth internal gear is fixedly installed on the left side of the frame tail and is located on the In the ball plunger clamping disc on the left side, the third spline gear can slide left and right and fit on the shaft between the spline shaft located between the left rear synchronous pulley of the front car and the ball plunger clamping disc on the left side of the frame rear On the segment, the front end of the third shift fork is clamped in the shift fork groove of the third spline gear; the fourth clutch motor is fixed on the front frame on the right side of the relative frame tail, and the fourth screw rod and The power output shaft of the fourth clutch motor is fixedly connected, the tail end of the fourth shift fork is connected with the threaded drive of the fourth screw, and the fourth internal gear is fixedly installed in the right rear synchronous pulley of the front car. The sixth internal gear is fixedly installed on the right side of the frame tail and is located in the right ball plunger clamping plate, and the fourth spline gear can be slid left and right and fitted on the spline shaft located in the front car, right and rear synchronously On the shaft section between the pulley and the clamping disk of the ball plunger on the right side of the frame tail, the front end of the fourth shift fork is clamped in the shift fork groove of the fourth spline gear.

Compared with the prior art, the wall-climbing robot of the present invention is made up of the front section of the crawler-type walking structure and the rear section of the crawler-type walking structure, and a positioning mechanism is connected between the two sections of the front section and the rear section. The mechanism can maintain a certain deflection angle after the front section is deflected relative to the rear section, so that the wall climbing machine can transition to walk on steel walls with different angles. The wall-climbing robot of the present invention is also equipped with a power output mechanism composed of a spline shaft and a motor and a deflection clutch mechanism. The deflection clutch mechanism includes a rear car deflection clutch mechanism that utilizes the clutch to realize the rear car section straight walking and the wall-climbing robot steering function and The front car deflection clutch mechanism realizes the straight line walking of the front car section and the wall transition function of the wall-climbing robot by using the clutch. The invention can separately control the walking of the rear section and the front section through the rear vehicle deflection clutch mechanism and the front vehicle deflection clutch mechanism.

The invention is reasonable in design and flexible in action, and can make the wall-climbing robot adsorb on the horizontal or vertical steel wall through the installed permanent magnet, and realizes the linear walking, turning and wall transition functions of the wall-climbing robot by using the deflection clutch mechanism and the positioning mechanism.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is a schematic diagram of the assembly structure of the rear car right synchronous belt in the rear section of the present invention;

Fig. 3 is a schematic diagram of the assembly structure of the positioning mechanism of the present invention;

Fig. 4 is a sectional structure diagram of the ball plunger of the present invention;

Fig. 5 is a schematic diagram of the assembly structure of the deflection clutch mechanism of the present invention;

Fig. 6 is a structural schematic diagram of the rear car timing belt tensioning mechanism of the present invention;

Fig. 7 is a three-dimensional assembly structure schematic diagram of the synchronous belt tensioning mechanism of the rear car of the present invention;

Fig. 8 is a schematic flow chart of the wall transition of the present invention.

Detailed ways

Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

The reference signs are: front car flat key A, rear car flat key B, probe C, shift fork groove D, pan head screw P, front car section 1, front frame 11, frame tail 111, front car left front synchronization Pulley 12, right front synchronous belt pulley 13, front left rear synchronous belt wheel 14, front right rear synchronous belt wheel 15, front left synchronous belt 16, front right synchronous belt 17, front axle 18, rear vehicle Section 2, rear frame 21, horizontal cross arm 211, left arm 212, right arm 213, rear left front synchronous pulley 22, rear right front synchronous pulley 23, rear left rear synchronous pulley 24, rear right rear Timing pulley 25, rear car left synchronous belt 26 and rear car right synchronous belt 27, short shaft 28, spline shaft 31, motor 32, first spline gear 411, first internal gear 412, first clutch motor 413, The first screw 414, the first shift fork 415, the second spline gear 421, the second internal gear 422, the second clutch motor 423, the second screw 424, the second shift fork 425, the third spline gear 511, the third Internal gear 512, third clutch motor 513, third screw rod 514, third shift fork 515, fourth spline gear 521, fourth internal gear 522, fourth clutch motor 523, fourth screw rod 524, fourth shift fork 525 , the fifth internal gear 531, the sixth internal gear 541, the positioning mechanism 6, the ball plunger fixing seat 61, the side arm 611, the ball plunger clamping disc 62, the ball plunger 63, the spring installation cavity 63a, the column Plug housing 631, return spring 632, steel ball 633, rear car timing belt tensioning mechanism 7, hoop 71, cover cup 72, flange cover 73, deep groove ball bearing 74, tension bolt 75, first bolt 76, tension Tight nut 77, limit jumper 78, front car synchronous belt tensioning mechanism 8, permanent magnet 9.

1 to 7 are structural schematic diagrams of the present invention. As shown in the figure, a wall-climbing robot with wall transition function of the present invention includes a front car section 1 of a crawler-type walking structure and a rear car section 2 of a crawler-type walking structure, two front car sections 1 and a rear car section 2 The sections are all crawler-type walking structures; the front section 1 is composed of the front frame 11, four synchronous pulleys and two synchronous belts; the four synchronous pulleys of the front section 1 include the front left front synchronous pulley 12, Front car right front synchronous belt pulley 13, front car left rear synchronous belt pulley 14, front car right rear synchronous belt pulley 15. The two synchronous belts of the front section 1 include a left synchronous belt 16 and a right synchronous belt 17 of the front car. Rear car section 2 is made up of rear vehicle frame 21 and four synchronous pulleys and two synchronous belts; Car left rear synchronous belt pulley 24, rear car right rear synchronous belt pulley 25. The two synchronous belts of the rear section 2 include a left synchronous belt 26 and a right synchronous belt 27 of the rear car. The front car left synchronous belt 16 of the present invention, the front car right synchronous belt 17 and the rear car left synchronous belt 26 and the rear car right synchronous belt 27 are synchronous belts and crawler belts of the same structure. In order to make both the front car section 1 and the rear car section 2 can be adsorbed on the steel wall surface, the front car left synchronous belt 16, the front car right synchronous belt 17, the rear car left synchronous belt 26 and the rear car right synchronous belt 27 four synchronous belts Permanent magnet 9 is installed on it. Permanent magnets 9 are installed at equal intervals on each synchronous belt, and permanent magnets 9, synchronous belts and synchronous pulleys constitute the permanent magnetic adsorption mechanism of the wall-climbing robot. As can be seen from Fig. 2 of the present invention, each permanent Magnets 9 are all fixed on the synchronous belt by two pan head screws P.

As shown in Figure 2 (Fig. 2 is a schematic diagram of the assembly structure of the rear car section rear car right timing belt after the rear vehicle frame 21 removes other parts such as two synchronous pulleys and the right arm 213. Remove two synchronous pulleys and the right arm 213, etc. Other parts are in order to see the assembly structure of the right synchronous belt of the rear car section more clearly and more conveniently). Because the permanent magnet 9 is fixed on the synchronous belt, the permanent magnet 9 is rotated along with the synchronous belt. When the permanent magnet 9 touches the steel surface, it is adsorbed on the steel surface. Because whenever there is a permanent magnet 9 adsorbed on the steel surface, there will be a permanent magnet 9 detached from the steel surface driven by the synchronous belt, so at any time, there are a fixed number of permanent magnets 9 on the synchronous belt on one side. Adsorbs on steel surfaces. Therefore, the permanent magnets 9 on both sides are adsorbed on the steel surface to bear the weight of the whole wall-climbing robot.

As can be seen from Fig. 1, the width of the front car section 1 of the present invention is less than the width of the rear car section 2, and the front car left rear synchronous pulley 14 of the front car section 1 is located at the rear car left front synchronous pulley of the rear car section 2 22, the front right rear synchronous pulley 15 of the front car section 1 is located at the inboard of the rear car right front synchronous pulley 23 of the rear car section 2; The two synchronous pulleys at the front end have the same axis. A power take-off mechanism is installed on the rear vehicle frame 21, and the power take-off mechanism is made up of a motor 32 and a spline shaft 31. The motor 32 is used to drive the spline shaft 31 to rotate to realize power output. The spline shaft 31 is equipped with a deflection clutch mechanism; the deflection clutch mechanism is a gear-type clutch mechanism, which includes a rear car deflection clutch mechanism that utilizes the clutch to realize the straight-line walking of the rear car section 2 and the steering function of the wall-climbing robot, and utilizes the clutch to realize the front car section. 1. Front vehicle deflection clutch mechanism for linear walking and wall-climbing robot wall transition function. The power output mechanism can independently control the power output of the front section 1 and the rear section 2 through the deflection clutch mechanism. Each section can run independently or at the same time, and the two sections can be deflected at a certain angle to achieve The transition from one wall to another. A positioning mechanism 6 is connected between the front frame 11 and the rear frame 21, and the positioning mechanism 6 can maintain the deflection angle of the front vehicle section 1 relative to the rear vehicle section 2 after the front vehicle section 1 deflects a certain angle relative to the rear vehicle section 2 , to complete the transition walking of the wall-climbing robot on walls with different angles.

The deflection angle maintained by the positioning mechanism 6 increases or decreases at a set radian angle relative to the horizontal plane. The set arc angle is 10 degrees, 15 degrees or 45 degrees. But it is not limited to the above radian angle, for example, it can also be 5 degrees or any other required degrees. When the set arc angle is 10 degrees, the deflection angle maintained by the positioning mechanism 6 increases or decreases at an arc angle of 10 degrees. Similarly, when the set arc angle is 15 degrees, the deflection angle maintained by the positioning mechanism 6 increases or decreases progressively at an arc angle of 15 degrees; when the set arc angle is 45 degrees, the deflection angle maintained by the positioning mechanism 6 is 45 degree arc angle increments or decrements.

The probe C for detecting steel is installed on the rear vehicle frame 21 of the present invention. As can be seen from FIG. 1 , the rear frame 21 is fixed with a probe holder, and the probe C is installed on the probe holder, and is installed on the rear frame 21 through the probe holder. Probe C is used to measure the thickness of the steel wall by ultrasonic. The wall-climbing robot of the present invention is powered by the motor 32 to provide power for the crawling, steering and deflection actions of the wall-climbing robot. The wall-climbing robot adopts a crawler-type permanent magnetic adsorption structure, which can realize straight-line driving, turning and wall transition functions on the steel surface.

In the embodiment, on the front vehicle frame 11 of the present invention, a front wheel shaft 18 is mounted on the front wheel shaft relatively close to the front end so that it can be rotated laterally. The right front synchronous pulley 13 is fixedly installed on the right end of the front wheel shaft 18 by the flat key A of the front car, and the left rear synchronous pulley 14 of the front car and the right rear synchronous pulley 15 of the front car are all rotatably installed on the spline shaft with any known method. 31, such as front car left rear synchronous belt pulley 14 and front car right rear synchronous belt pulley 15 are all processed with smooth center hole. In order to prevent the front car left rear synchronous pulley 14 and the front car right rear synchronous pulley 15 from axially moving, the spline shaft 31 is mounted on the left and right sides of the front car left rear synchronous pulley 14 and the front car right rear synchronous pulley. The left and right sides of 15 are clamped with limit clip springs, and the position of the front car left rear synchronous pulley 14 and the front car right rear synchronous pulley 15 on the spline shaft 31 is limited by the limit clip spring, so that the front car left rear Synchronous pulley 14 is on the same straight line with the left front synchronous pulley 12 of the car, and the right rear synchronous pulley 15 of the front car is on the same straight line with the right front synchronous pulley 13 of the front car. The front car left synchronous belt 16 closed-loop meshes with the front car left front synchronous pulley 12 and the front car left rear synchronous pulley 14; The rear synchronous pulley 15 is engaged.

In the embodiment, the rear frame 21 of the present invention is composed of a horizontal cross arm 211, a left arm 212 connected to the left end of the horizontal cross arm 211, and a right arm 213 connected to the right end of the horizontal cross arm 211; Lying to the I-shape. Back car left front synchronous pulley 22 and back car right front synchronous pulley 23 also all rotate and are installed on the spline shaft 31 with front car left rear synchronous pulley 14 and front car right rear synchronous pulley 15. In the same way, in order to prevent the left front synchronous pulley 22 of the rear car and the right front synchronous pulley 23 of the rear car from axially concatenating on the spline shaft 31, the left and right sides of the left front synchronous pulley 22 of the rear car on the spline shaft 31 and The left and right sides of the right front synchronous belt pulley 23 of the rear car are also clamped with limit jumpers, and the position limit jumpers are used to limit the positions of the left front synchronous pulley 22 of the rear car and the right front synchronous pulley 23 of the rear car on the spline shaft 31. Make rear car left front synchronous pulley 22 and rear car left rear synchronous pulley 24 on the same straight line, rear car right front synchronous pulley 23 and rear car right rear synchronous pulley 25 on the same straight line. The left front synchronous pulley 22 of the rear car is rotatably positioned at the inner side of the left arm 212 near the front end, the right front synchronous pulley 23 of the rear car is rotatably positioned at the inner side of the right arm 213 near the front end, and the left rear synchronous pulley 24 of the rear car passes through a short shaft 28 Rotately installed on the inner side of the left arm 212 relatively close to the rear end, the right rear synchronous pulley 25 of the rear car is rotatably installed on the inner side of the right arm 213 relatively close to the rear end through another short shaft 28; the left synchronous belt of the rear car The 26 closed-loop type meshes with the left front synchronous pulley 22 of the rear car and the left rear synchronous pulley 24 of the rear car, and the right synchronous belt 27 of the rear car is closed-loop with the right front synchronous pulley 23 of the rear car and the right rear synchronous pulley 25 of the rear car Mesh.

In order to realize the transition of the wall-climbing robot on the steel wall between different angles, the two sections of the wall-climbing robot, that is, the front section 1 and the rear section 2, need to deflect at a certain angle relative to each other, and can maintain the corresponding angle during the wall transition. angle. The positioning mechanism 6 is to enable the deflection of a certain angle to be maintained between the two sections.

As shown in Figure 3, the positioning mechanism 6 of the present invention is composed of a ball plunger fixing seat 61, a ball plunger clamping disc 62 and a ball plunger 63; the ball plunger fixing seat 61 is in a U-shaped structure, and the ball The U-shaped closed end of the head plunger holder 61 is fixedly installed on the center of the rear frame 21 horizontal cross arm 211 by bolts; hole, the ball plunger 63 is fixedly installed on the two side arms 611 of the ball plunger holder 61 by bolts, and each side arm 611 is equipped with several ball plungers 63, several ball plungers 63 The arcs are arranged on the same circular line, and the center of the circular line is coaxial with the through hole on the side arm 611 . The number of ball plungers 63 can be eight, and the eight ball plungers 63 are installed in an equal arc, and the arc angle between two adjacent ball plungers 63 is 45 degrees. The arc angle between two adjacent ball plungers 63 determines how many arc angles the deflection angle maintained by the positioning mechanism 6 increases and decreases. When the arc angle between two adjacent ball plungers 63 is 45 degrees, the deflection angle maintained by the positioning mechanism 6 increases and decreases gradually at the arc angle of 45 degrees. Similarly, when the number of ball plungers 63 increases or decreases to change the arc angle between two adjacent ball plungers 63, for example, when the arc angle between two adjacent ball plungers 63 is 10 degrees, the positioning mechanism 6 Sustained deflection angles are incremented and decremented in 10 degree arc increments. When the arc angle between two adjacent ball plungers 63 is 15 degrees, the deflection angle maintained by the positioning mechanism 6 increases and decreases at an arc angle of 15 degrees.

The ball plunger clamping disc 62 is an annular disc structure, and there are two ball plunger clamping discs 62, and the two ball plunger clamping discs 62 are symmetrically clamped and fixed on the front frame 11 by bolts. On the frame tail 111, the frame tail 111 is processed with a tail hole for the spline shaft 31 to pass through, and the frame tail 111 extends into the U-shaped opening end of the ball plunger fixing seat 61, so that the axis of the tail hole and the side arm The axes of the through holes of 611 are on the same axis. The axis of the ball plunger clamping disk 62 is also coaxial with the axis of the tail hole, and each ball plunger clamping disk 62 is processed with positioning pits equal in number to the ball plunger 63. The plunger 63 can be snapped into the positioning recess elastically, so that the front section 1 can maintain a certain fixed deflection angle relative to the rear section 2 .

As shown in Figure 4, the ball plunger 63 is composed of a cylindrical plunger housing 631, a return spring 632 and a steel ball 633; In the spring installation cavity 63a of the plunger housing 631, and the mouth of the spring installation cavity 63a is processed with a ring platform with a diameter smaller than the diameter of the steel ball 633 for preventing the steel ball 633 from protruding. The other end of the return spring 632 is connected to the steel ball 633, and the steel ball 633 is elastically installed at the mouth of the spring installation cavity 63a under the action of the return spring 632. When the external pressure received by the steel ball 633 is greater than that of the return spring 632 When the elastic force of the return spring 632 is lower than the elastic force of the return spring 632, the steel ball 633 will compress the reset spring 632 and enter the spring installation cavity 63a as a whole. Connected to the opening of the spring installation cavity 63a, the part of the steel ball 633 protruding from the opening of the spring installation cavity 63a can snap into the positioning recess. After the steel ball 633 snaps into the positioning recess, the ball plunger clamping disk 62 cannot rotate relative to the ball plunger fixing seat 61 . After the steel ball 633 escapes from the positioning pit, the ball plunger clamping disc 62 can rotate relative to the ball plunger fixing seat 61, even if the front section 1 deflects relative to the rear section 2.

In order to prevent the timing belt from loosening, the rear car timing belt tensioning mechanism 7 is installed on the left arm 212 rear end of the rear vehicle section 2 rear vehicle frame 21 of the present invention and the right arm 213 rear end of the rear vehicle frame 21; Back car synchronous belt tensioning mechanism 7 is installed on the back vehicle frame 21. Back car synchronous belt tensioning mechanism 7 can move by driving short shaft 28, by changing the wheelbase between the front synchronous belt pulley and the rear synchronous belt pulley of rear car section 2, reach the purpose of tensioning synchronous belt.

As shown in Fig. 6 and Fig. 7, the synchronous belt tensioning mechanism 7 of the rear vehicle of the present invention is composed of a hoop 71 of a U-shaped structure, a sleeve cup 72, a flange cover 73, a deep groove ball bearing 74 and a tension bolt 75; The deep groove ball bearing 74 is fixedly installed in the sleeve cup 72, and one end of the short shaft 28 is tightly fitted in the inner hole of the deep groove ball bearing 74, and the short shaft 28 is rotatably installed on the sleeve cup 72 through the deep groove ball bearing 74 Two arms of the hoop 71 of the U-shaped structure cooperate with the rear end clamping of the rear end of the rear vehicle frame 21 left arm 212 or the rear end clamping of the rear vehicle frame 21 right arm 213 (the rear car timing belt tension that is installed in the left arm 212 rear end The hoop 71 of the tightening mechanism 7 cooperates with the rear end clamping of the left arm 212 of the rear vehicle frame 21, and the rear car timing belt tensioning mechanism 7 installed on the rear end of the right arm 213 is the same), and the cover cup 72 is positioned and worn on the arm. The two arms of hoop 71 are formed in the sleeve cup mounting holes, and sleeve cup 72 and hoop 71 are installed on the left arm 212 of rear frame 21 through two first bolts 76 or rear mounted on rear frame 21 On the right arm 213, the closed end of hoop 71 is welded with tension nut 77, and tension bolt 75 is matched with tension nut 77 spirals, and the front end of tension bolt 75 is with the rear end surface of rear vehicle frame 21 left arm 212 or It cooperates with the rear end face of the right arm 213 of the rear frame 21; . The flange cover 73 is fixed on the sleeve cup 72 by screws and abuts against the outer circle of the deep groove ball bearing 74 . Back car left rear synchronous belt pulley 24 and rear car right rear synchronous belt pulley 25 all are fixedly installed on short shaft 28 away from an end of deep groove ball bearing 74 by rear car flat key B.

In the embodiment, a front car synchronous belt tensioning mechanism 8 for tensioning the front car left synchronous belt 16 and a front car synchronous belt tensioner for tensioning the front car right synchronous belt 17 are installed on the front frame 11 Mechanism 8, the structure of the two front car timing belt tensioning mechanisms 8 is the same as the structure of the rear car timing belt tensioning mechanism 7, and the front axle 18 is rotatably installed on the On the timing belt tensioning mechanism of the front car. Two front car synchronous belt tensioning mechanisms 8 move by driving the front wheel shaft 18, so that the wheelbase between the two front synchronous pulleys of the front car section 1 and the two rear synchronous pulleys changes to realize the tension of the synchronous belt.

The motor 32 of the present invention is installed on the outer surface of the front end of the left arm 212 of the rear frame 21, and the front end of the left arm 212 of the rear frame 21 and the front end of the right arm 213 of the rear frame 21 are all installed with spline shafts 31 for rotating support. Cooperating deep groove ball bearings, the left end of the spline shaft 31 passes through the inner hole of the deep groove ball bearing on the left arm 212 and is connected with the output shaft of the motor 32, and the right end of the spline shaft 31 passes through the left front synchronous belt of the rear car in turn Wheel 22, front car left rear synchronous pulley 14, ball plunger clamping disc 62 fixed on the left side of the frame tail 111, tail hole of the frame tail 111, ball plunger fixed on the right side of the frame tail 111 Clamping disc 62, front car right rear synchronous pulley 15 and rear car right front synchronous pulley 23 are installed in the inner hole of the deep groove ball bearing on the right arm 213.

In the embodiment, as shown in Figure 5, the rear car deflection clutch mechanism consists of the first spline gear 411, the first internal gear 412, the first clutch motor 413, the first screw rod 414, the first shift fork 415, the second spline Gear 421, the second inner gear 422, the second clutch motor 423, the second screw rod 424 and the second shift fork 425; The power output shaft of the motor 413 is fixedly connected, the tail end of the first shift fork 415 is connected with the screw drive of the first screw rod 414, the first internal gear 412 is fixedly installed in the left front synchronous pulley 22 of the rear car, and the first spline gear 411 can slide left and right on the spline shaft 31 located on the shaft section between the left front synchronous pulley 22 of the rear car and the left rear synchronous pulley 14 of the front car, and the front end of the first shift fork 415 is clamped on the first spline gear 411 In the shift fork groove D; when the first clutch motor 413 is working, the first screw rod 414 is driven to rotate, so that the first shift fork 415 can move linearly under the helical push of the first screw rod 414, thereby driving the first spline gear 411 moves axially on the spline shaft 31. Since the first clutch motor 413 can rotate forward and reverse, the first spline gear 411 can enter or exit the first internal gear 412 . The action principle of the following clutches is similar, so it will not be repeated.

The second clutch motor 423 is fixed on the right end of the rear vehicle frame 21, the second screw rod 424 is fixedly connected with the power output shaft of the second clutch motor 423, and the tail end of the second shift fork 425 is connected with the screw drive of the second screw rod 424, The second internal gear 422 is fixedly installed in the right front synchronous pulley 23 of the rear car, and the second spline gear 421 can slide left and right and is sleeved on the spline shaft 31 and is located at the right front synchronous pulley 23 of the rear car and the right rear synchronous pulley 15 of the front car. The front end of the second shift fork 425 is clamped in the shift fork groove D of the second spline gear 421 on the shaft section between them.

In the embodiment, the front vehicle deflection clutch mechanism consists of the third spline gear 511, the third internal gear 512, the third clutch motor 513, the third screw rod 514, the third shift fork 515, the fourth spline gear 521, the fourth internal The gear 522, the fourth clutch motor 523, the fourth screw rod 524, the fourth shift fork 525, the fifth internal gear 531 and the sixth internal gear 541; the third clutch motor 513 is fixed on the front frame on the left side of the frame tail 111 11, the third screw rod 514 is fixedly connected with the power output shaft of the third clutch motor 513, the tail end of the third shift fork 515 is connected with the screw drive of the third screw rod 514, and the third internal gear 512 is fixedly installed on the left side of the front car. In the rear synchronous pulley 14, the fifth internal gear 531 is fixedly installed on the left side of the frame tail 111 and is located in the ball plunger clamping disc 62 on the left side, and the third spline gear 511 can be slidably set on the left side. The spline shaft 31 is located on the shaft section between the left rear synchronous pulley 14 of the front car and the ball plunger clamping disc 62 on the left side of the frame tail 111, and the front end of the third shift fork 515 is clamped on the third spline gear 511 In the shift fork groove D; the fourth clutch motor 523 is fixed on the front frame 11 on the right side of the relative frame tail 111, the fourth screw rod 524 is fixedly connected with the power output shaft of the fourth clutch motor 523, and the fourth shift fork 525 The tail end is connected with the fourth screw rod 524 threaded drive, the fourth internal gear 522 is fixedly installed in the right rear synchronous pulley 15 of the front car, and the sixth internal gear 541 is fixedly installed on the right side of the frame tail 111 and is located on the right side. In the side ball plunger clamping disc 62, the fourth spline gear 521 can slide left and right and fit on the spline shaft 31, which is located on the right rear synchronous pulley 15 of the front car and the right side of the frame tail 111. The ball plunger is clamped. On the shaft section between the discs 62 , the front end of the fourth shift fork 525 is clamped in the shift fork groove D of the fourth spline gear 521 .

The working principle of the positioning mechanism of the present invention is: when the front car section 1 and the rear car section 2 of the wall-climbing robot deflect, that is, the ball plunger fixing seat 61 and the ball plunger clamping disc 62 rotate around the spline shaft When the axis of 31 rotates relative to each other, the steel ball 633 at the head of the ball plunger 63 is squeezed out of the positioning pit of the ball plunger clamping disk 62 by the extrusion force. When the rotation angle reaches the set arc angle or a multiple of the set arc angle, for example, when the set arc angle is 45°, the rotation angle reaches 45° or 90° (that is, 2 times of 45°) , the deflection stops, and the steel ball 633 on the head of the ball plunger 63 gets stuck in the positioning pit of the ball plunger clamping disc 62 again, and the resistance generated by the 16 ball plungers 63 makes the ball plunger fixing seat 61 and the ball plunger clamping disc 62 remain relatively fixed, that is, the front car section 1 and the rear car section 2 of the wall-climbing robot maintain a certain angle.

The action principle of the rear car deflection clutch mechanism is: when the rear car section 2 of the wall-climbing robot was running straight, the third spline gear 511 and the fourth spline gear 521 were in the positions shown in Figure 5. The 3rd spline gear 511 and the 4th spline gear 521 all do not mesh with any internal gear, so the spline shaft 31 is on the front car section 1 front car left rear synchronous pulley 14 and front car right rear synchronous pulley 15 two sides. The central hole of a synchronous pulley is idling, so that the front section 1 of the wall-climbing robot is kept at a certain deflection angle under the action of the positioning mechanism, for example, the front section 1 and the rear section 2 maintain an angle of 45°. The first spline gear 411 meshes with the first internal gear 412 driven by the first clutch motor 413, and the second spline gear 421 meshes with the second internal gear 422 driven by the second clutch motor 423, thereby Drive the two front synchronous pulleys of the rear car section 2 (i.e. the left front synchronous pulley 22 of the rear car and the right front synchronous pulley 23 of the rear car) to rotate, and drive the two synchronous belts of the rear car section 2 (i.e. the left synchronous belt of the rear car 26 and rear car right synchronous belt 27) do rotary motion, make wall-climbing robot do linear crawling action.

When the wall-climbing robot performs a turning action, taking turning right as an example, the second spline gear 421, the third spline gear 511 and the fourth spline gear 521 are all in the positions shown in Figure 5. Second spline gear 421, the 3rd spline gear 511 and the 4th spline gear 521 all do not mesh with any internal gear, so spline shaft 31 is in rear car right front synchronous pulley 23, front car left rear synchronous pulley 14 and Front vehicle right rear synchronous pulley 15 idles in the central hole of three synchronous pulleys, thereby makes the front car section 1 of wall-climbing robot remain on a certain deflection angle under the effect of positioning mechanism. The first spline gear 411 meshes with the first internal gear 412 under the drive of the first clutch motor 413, thereby driving the left front synchronous pulley 22 of the rear car to rotate, because the left synchronous belt 26 of the rear car is connected with the left front synchronous pulley 22 of the rear car. Engagement, so the left synchronous belt 26 of the rear car is made to rotate. Now, because the spline shaft 31 is idling in the right front synchronous pulley 23 of the rear car, the right synchronous belt 27 of the rear car is in a static state, so that the right synchronous belt 27 of the rear car remains motionless. Because the left synchronous belt 26 of the rear car and the right synchronous belt 27 of the rear car are in two states of rotation and static respectively, so there is a differential rotation in the left synchronous belt 26 of the rear car and the right synchronous belt 27 of the rear car, thereby realizing the turning of the wall-climbing robot.

The action principle of the front vehicle deflection clutch mechanism is: when the wall-climbing robot deflects, the spline shaft 31 rotates under the drive of the motor 32, and the first spline gear 411 and the second spline gear 421 are in the position shown in FIG. The position shown does not mesh with any internal gear, so that the spline shaft 31 idles in the center holes of the left front synchronous pulley 22 and the right front synchronous pulley 23 of the rear car, so that the rear car section 2 remains stationary. The third spline gear 511 meshes with the fifth internal gear 531 driven by the third clutch motor 513 , and the fourth spline gear 521 meshes with the sixth internal gear 541 driven by the fourth clutch motor 523 . Because the fifth internal gear 531 and the sixth internal gear 541 are all fixed on the frame tail 111 of the front frame 11, the third spline gear 511 and the fourth spline gear 521 are slidably stuck on the spline shaft 31 and can As the spline shaft 31 rotates around the axis, the front frame 11 can be deflected around the axis of the spline shaft 31, so that the front section 1 is deflected relative to the rear section 2, and the deflection action of the wall-climbing robot is realized. .

The straight-line running of the front section 1 is: the first spline gear 411 and the second spline gear 421 are located at the positions shown in FIG. The central hole of the right front synchronous pulley 23 of the rear car idles, the third spline gear 511 is meshed with the third internal gear 512 driven by the third clutch motor 513, and the fourth spline gear 521 is driven by the fourth clutch motor 523. Driven to mesh with the fourth internal gear 522 . Since the third inner gear 512 is fixed on the left rear synchronous pulley 14 of the front car, and the left rear synchronous pulley 14 of the front car meshes with the left synchronous belt 16 of the front car, the fourth inner gear 522 is fixed on the right rear synchronous belt of the front car. on the wheel 15, and the right rear synchronous pulley 15 of the front car meshes with the right synchronous belt 17 of the front car, so that the two synchronous belts of the front car section 1 all perform rotary motion, so that the front car section 1 of the wall-climbing robot makes a straight line crawling action.

The wall transition function of the wall-climbing robot of the present invention is shown in FIG. 8 . The wall transition function of the wall-climbing robot is based on the deflection action of the deflection clutch mechanism. When the wall-climbing robot crawls in a straight line on the working surface, the permanent magnet 9 on the rear section 2 of the wall-climbing robot provides the adsorption force, and is adsorbed on the working surface. at an angle. When the wall-climbing robot performs wall transition (taking the wall transition of an inner right-angled wall as an example), the wall-climbing robot first performs a deflection action through the deflection clutch mechanism. When the front section 1 deflects to an angle of 90° with the working surface, the spline shaft 31 stops rotating, so that the wall-climbing robot stops deflecting, and under the action of the positioning mechanism 6, the front section 1 and the wall-climbing robot The rear section 2 remains relatively stationary. Then the third spline gear 511 withdraws from the fifth internal gear 531 driven by the third clutch motor 513 , and the fourth spline gear 521 withdraws from the sixth internal gear 541 driven by the fourth clutch motor 523 . The spline shaft 31 rotates again, and the spline shaft 31 idles in the central holes of the two synchronous pulleys of the front section 1. Then the first spline gear 411 meshes with the first internal gear 412 driven by the first clutch motor 413, and the second spline gear 421 meshes with the second internal gear 422 driven by the second clutch motor 423 to drive The two synchronous pulleys of the rear section rotate, so that the rear section moves straight and approaches the steel wall. When the front section 1 hits the wall and is adsorbed on the wall, the spline shaft 31 stops rotating, and the first spline gear 411 withdraws from the first internal gear 412 driven by the first clutch motor 413, and the second spline The gear 421 withdraws from the second internal gear 422 under the drive of the second clutch motor 423, and moves to the position shown in FIG. 5, and the rear section 2 is stationary. The third spline gear 511 meshes with the third internal gear 512 driven by the third clutch motor 513, and the fourth spline gear 521 meshes with the fourth internal gear 522 driven by the fourth clutch motor 523 to drive the front section The two synchronous pulleys of 1 rotate, so that the front section 1 is adsorbed on the steel wall and moves in a straight line. After the front section 1 travels for a certain distance, the wall-climbing robot performs a deflection action, so that the rear section 2 is adsorbed to the steel wall. Then the deflection movement is carried out again, so that the front car section 1 is tilted, and a certain angle is formed between the rear car section 2, thereby completing the wall surface transition.

The above are only preferred implementations of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the protection scope of the present invention.

Claims (8)

1. A wall-climbing robot with wall transition function, comprising a front car section (1) and a rear car section (2) that are all crawler-type walking structures; the front car section (1) is composed of a front vehicle frame (11 ), front left front synchronous pulley (12), front right front synchronous pulley (13), front left rear synchronous pulley (14), front right rear synchronous belt pulley (15), front left synchronous belt ( 16) and the front car right synchronous belt (17) assembly constitutes; Described rear car section (2) is made of rear vehicle frame (21), rear car left front synchronous pulley (22), rear car right front synchronous pulley (23) , rear car left rear synchronous belt pulley (24), rear car right rear synchronous belt pulley (25), rear car left synchronous belt (26) and rear car right synchronous belt (27) assembly structure, it is characterized in that: described The width of the front car section (1) is smaller than the width of the rear car section (2), and the front left rear synchronous pulley (14) of the front car section (1) is located at the rear left front synchronous pulley of the rear car section (2) (22), the front car right rear synchronous pulley (15) of the front car section (1) is positioned at the inboard of the rear car right front synchronous pulley (23) of the rear car section (2); described rear vehicle frame ( 21) A power output mechanism consisting of a spline shaft (31) and a motor (32) for driving the spline shaft (31) to rotate is installed on it; the spline shaft (31) is equipped with a deflection clutch mechanism; The deflection clutch mechanism includes a rear car deflection clutch mechanism that utilizes the clutch to realize the straight-line walking of the rear car section (2) and the steering function of the wall-climbing robot, and a rear car deflection clutch mechanism that uses the clutch to realize the straight-line walking of the front car section (1) and the wall transition function of the wall-climbing robot. Front car deflection clutch mechanism; It is useful to equidistantly install the front car left synchronous belt (16), the front car right synchronous belt (17), the rear car left synchronous belt (26) and the rear car right synchronous belt (27) The permanent magnet (9) is used to make the wall-climbing robot adsorb on the steel wall surface; the front frame (11) and the rear frame (21) are connected with each other to make the front car section (1) relatively rear car section (2) A positioning mechanism (6) that maintains a certain deflection angle to complete the transitional walking of the wall-climbing robot on walls with different angles; the deflection angle maintained by the positioning mechanism (6) increases or Decreasingly, the probe (C) for detecting steel is installed on the described rear frame (21); the described rear vehicle deflection clutch mechanism consists of the first spline gear (411), the first internal gear (412) , the first clutch motor (413), the first screw rod (414), the first shift fork (415), the second spline gear (421), the second internal gear (422), the second clutch motor (423), the second Two screw rods (424) and the second shift fork (425) are composed; the first clutch motor (413) is fixedly installed on the left end of the rear vehicle frame (21), and the first screw rod (414) is connected with the first clutch The power output shaft of the motor (413) is fixedly connected, the tail end of the first shift fork (415) is connected with the threaded drive of the first screw rod (414), and the first internal gear (412) is fixedly installed on the In the left front synchronous pulley (22) of the rear car, the first spline gear (411) can slide left and right and is sleeved on the spline shaft (31) and is located at the left front synchronous pulley (22) of the rear car and the left rear synchronous wheel of the front car. On the shaft section between the pulleys (14), the front end of the first shift fork (415) is clamped in the shift fork groove (D) of the first spline gear (411); the second clutch motor (423) is fixed on the right end of rear vehicle frame (21), and described second screw rod (424) is fixedly connected with the power take-off shaft of second clutch motor (423), and described second shift fork (425) The tail end is connected with the second screw rod (424) threaded drive, and the second internal gear (422) is fixedly installed in the right front synchronous pulley (23) of the rear car, and the second spline gear (421) can Slip left and right and fit on the spline shaft (31) on the shaft section between the right front synchronous pulley (23) of the rear car and the right rear synchronous pulley (15) of the front car, the front end of the second shift fork (425) Be clamped in the shift fork groove (D) of the second spline gear (421). 2. A kind of wall-climbing robot with wall surface transition function according to claim 1, it is characterized in that: on the described front vehicle frame (11), the front wheel axle (18) is installed in a lateral rotation relatively close to the front end, The left front synchronous pulley (12) of the front car is fixedly installed on the left end of the front axle (18) through the flat key (A) of the front car, and the right front synchronous pulley (13) of the front car is fixed through the flat key (A) of the front car. ) is fixedly installed on the right end of the front wheel shaft (18), and the left rear synchronous pulley (14) of the front car and the right rear synchronous pulley (15) of the front car are all rotatably installed on the spline shaft (31), so The front car left synchronous belt (16) closed-loop type meshes with the front car left front synchronous pulley (12) and the front car left rear synchronous pulley (14); the front car right synchronous belt (17) closed-loop type and the right front synchronous pulley (13) of the front car and the right rear synchronous pulley (15) of the front car are engaged. 3. A wall-climbing robot with wall transition function according to claim 2, characterized in that: said rear frame (21) consists of a horizontal cross arm (211) and is connected to the horizontal cross arm (211) The left arm (212) at the left end and the right arm (213) connected to the right end of the horizontal cross arm (211) are composed; the left front synchronous pulley (22) of the rear car and the right front synchronous pulley (23) of the rear car all rotate is installed on the spline shaft (31), and the spline shaft (31) is respectively clamped to prevent the left rear synchronous pulley (14) of the front car, the right rear synchronous pulley (15) of the front car, and the rear synchronous pulley Car left front synchronous pulley (22) and rear car right front synchronous pulley (23) produce the limiting clip spring of axial serial movement; Described rear car left front synchronous pulley (22) is positioned at the left arm (212) close to The inner side of the front end, the right front synchronous pulley (23) of the rear car is rotatably located at the inner side of the right arm (213) near the front end, and the left rear synchronous pulley (24) of the rear car passes through a short shaft (28) Rotately installed on the inner side of the left arm (212) relatively close to the rear end, the rear car right rear synchronous pulley (25) is rotatably installed on the right arm (213) relatively close to by another short shaft (28) On the inner side of the rear end; the closed-loop left synchronous belt (26) of the rear car is engaged with the left front synchronous pulley (22) of the rear car and the left rear synchronous pulley (24) of the rear car. The synchronous belt (27) closed-loop is meshed with the right front synchronous pulley (23) of the rear car and the right rear synchronous pulley (25) of the rear car. 4. A wall-climbing robot with a wall transition function according to claim 3, characterized in that: the positioning mechanism (6) consists of a U-shaped ball plunger fixing seat (61), an annular ring The ball plunger clamping disc (62) of disc structure and the ball plunger (63) that can elastically expand and contract are composed; the U-shaped closed end of the ball plunger fixing seat (61) is fixed and installed on the The center of the horizontal cross arm (211) of the vehicle frame (21); the described ball plunger (63) is fixedly installed on the two side arms (611) of the U-shaped opening end of the ball plunger holder (61), each A plurality of ball plungers (63) are installed on the side arm (611), and several ball plungers (63) are arranged in equal arcs and located on the same circumferential line; There are two tight discs (62), and the two ball plunger clamping discs (62) are symmetrically clamped and fixed on the frame tail (111) of the front vehicle frame (11) by bolts. The frame tail (111) stretches into the U-shaped open end of the ball plunger holder (61), and each of the ball plunger clamping discs (62) is processed with a ball plunger (62) that can make the ball plunger ( 63) elastic snap-in to maintain the positioning pit of the fixed deflection angle of the front section (1) relative to the rear section (2). 5. A kind of wall-climbing robot with wall surface transition function according to claim 4, is characterized in that: described ball plunger (63) is made of plunger housing (631) of cylindrical structure, back-moving spring (632) ) and a steel ball (633); the plunger casing (631) is axially processed with a spring mounting cavity (63a), and the return spring (632) is pressed into the plunger casing (631) via the steel ball (633) In the spring installation cavity (63a), and the mouth of the spring installation cavity (63a) is processed with a diameter smaller than the diameter of the steel ball (633) for preventing the steel ball (633) from protruding from the annular platform, and the steel ball (633) protrudes The part of the mouth of the spring installation cavity (63a) is elastically snapped into the positioning pit to match. 6. A kind of wall-climbing robot with wall surface transition function according to claim 5, it is characterized in that: the left arm (212) rear end of the rear vehicle section (2) rear vehicle frame (21) and the rear vehicle The rear end of the right arm (213) of the frame (21) is equipped with a rear car timing belt tensioning mechanism (7); (21); the described back car synchronous belt tensioning mechanism (7) consists of a hoop (71) of U-shaped structure, a cover cup (72), a flange cover (73), a deep groove ball bearing (74) and The tension bolt (75) is composed of; the deep groove ball bearing (74) is fixedly installed in the sleeve cup (72), and one end of the short shaft (28) is tightly fitted through the deep groove ball bearing (74) In the inner hole of the inner hole, the short shaft (28) is rotatably installed on the cover cup (72) through the deep groove ball bearing (74); The rear end of (212) or the rear end clamping of the right arm (213) of the rear vehicle frame (21) are matched, and the described sleeve cup (72) is positioned and worn on the sleeve that the two arms of the hoop (71) are made of. cup mounting hole, and the sleeve cup (72) and hoop (71) are installed on the left arm (212) of the rear frame (21) through two first bolts (76) or installed on the rear frame On the right arm (213) of (21), the closed end of the hoop (71) is welded with a tension nut (77), and the tension bolt (75) is spirally matched with the tension nut (77) , the front end of the tension bolt (75) is matched with the rear end face of the rear frame (21) left arm (212) or with the rear end face of the rear frame (21) right arm (213); (28) The limit snap spring (78) that prevents the deep groove ball bearing (74) from coming out is clamped on the top, and the flange cover (73) is fixed on the sleeve cup (72) by screws and connected with the deep groove ball bearing. The outer circle of (74) is top-connected; the left rear synchronous pulley (24) of the rear car and the right rear synchronous pulley (25) of the rear car are all fixedly installed on the short shaft (28) by the flat key (B) of the rear car. ) away from the end of the deep groove ball bearing (74). 7. A wall-climbing robot with a wall transition function according to claim 6, characterized in that: said front frame (11) is equipped with a left synchronous belt (16) for tensioning the front car The front car timing belt tensioning mechanism (8) and a front car timing belt tensioning mechanism (8) for tensioning the front car right timing belt (17), the two front car timing belt tensioning mechanisms (8) The structure is the same as that of the rear car timing belt tensioning mechanism (7), and the front wheel shaft (18) is rotatably installed on the front car synchronous belt through the deep groove ball bearings of the two front car timing belt tensioning mechanisms (8). on the belt tensioner. 8. A wall-climbing robot with wall transition function according to claim 7, characterized in that: said front vehicle deflection clutch mechanism consists of a third spline gear (511), a third internal gear (512), The third clutch motor (513), the third screw rod (514), the third shift fork (515), the fourth spline gear (521), the fourth internal gear (522), the fourth clutch motor (523), the fourth screw (524), the fourth shift fork (525), the fifth internal gear (531) and the sixth internal gear (541); the third clutch motor (513) is fixed on the left side of the relative frame tail (111) On the front frame (11), the third screw rod (514) is fixedly connected with the power output shaft of the third clutch motor (513), and the tail end of the third shift fork (515) is connected with the third The screw rod (514) is threadedly driven and connected, the third internal gear (512) is fixedly installed in the left rear synchronous pulley (14) of the front car, and the fifth internal gear (531) is fixedly installed in the frame tail ( 111) on the left side and in the ball plunger clamping disk (62) on the left side, the third spline gear (511) can be slidably sleeved on the spline shaft (31) in the front car On the shaft section between the left rear synchronous pulley (14) and the ball plunger clamping disc (62) on the left side of the frame tail (111), the front end of the third shift fork (515) is clamped on the third In the shift fork groove (D) of the spline gear (511); the fourth clutch motor (523) is fixed on the front frame (11) on the right side of the relative frame tail (111), and the fourth screw rod (524) is fixedly connected with the power output shaft of the fourth clutch motor (523), and the tail end of the fourth shift fork (525) is connected with the screw drive of the fourth screw rod (524), and the fourth internal The gear (522) is fixedly installed in the right rear synchronous pulley (15) of the front car, and the sixth internal gear (541) is fixedly installed on the right side of the rack tail (111) and is located on the right ball stud In the clamping disc (62), the fourth spline gear (521) can slide left and right and is set on the spline shaft (31) and is located at the right rear synchronous pulley (15) of the front car and the right side of the frame tail (111). On the shaft section between the side ball plunger clamping discs (62), the front end of the fourth shift fork (525) is clamped in the shift fork groove (D) of the fourth spline gear (521).