CN117681980A - Omnidirectional crawler walking module and wall climbing robot - Google Patents

Abstract

The invention relates to an omnidirectional configuration crawler walking module and a wall climbing robot, wherein the omnidirectional configuration crawler walking module comprises a frame body, two magnetic attraction structures, a crawler and a driving mechanism, the two magnetic attraction structures are positioned at two opposite ends of the frame body along the walking direction, each magnetic attraction structure comprises a mounting frame and a plurality of magnetic attraction components, one end of the mounting frame is rotatably mounted on the frame body along the axis in the first direction, the plurality of magnetic attraction components are arranged at the bottom of the mounting frame at intervals along the walking direction, and the middle part of each magnetic attraction component is rotatably arranged along the axis in the first direction; the caterpillar band is movably sleeved on the periphery of the two magnetic attraction structures; the driving mechanism is arranged on the frame body and is connected with the crawler belt. According to the invention, the device can be attached to the magnetic conduction wall surface as much as possible through the large-angle posture adjustment and the small-angle local adaptation according to the curvature change condition of the wall surface, so that a larger adsorption force is provided, and the device can flexibly climb on the magnetic conduction wall surface with the curvature change.

Description

Omnidirectional crawler walking module and wall climbing robot

Technical Field

The invention relates to the technical field of wall climbing robots, in particular to an omnidirectional configuration crawler walking module and a wall climbing robot.

Background

The wall climbing robot can operate in dangerous and extreme environments such as nuclear power engineering, chemical engineering, wind power engineering and the like, and has important significance in the robot industry. Large equipment in various domestic fields is basically processed by magnetic permeability materials of steel, such as petroleum pipelines, chemical storage tanks, ships, wind power equipment and the like, and phenomena of wind blowing and sun drying, saline-alkali corrosion, gravel friction, dirt, paint removal and even rust on the surfaces of the large equipment are adopted. In order to ensure the safe operation of the equipment, a large amount of manpower and material resources are required to be input for periodic cleaning detection and other maintenance operations. The use of robots to engage in some high-intensity, high-risk tasks has become a necessary trend.

The patent CN113460182B discloses a flexible crawler-type magnetic adsorption mechanism for wall climbing robot, which comprises a frame and a flexible crawler, wherein the frame serving as a magnetic adsorption mechanism connecting skeleton is assembled and connected with a wall climbing robot body, the flexible crawler is meshed and driven with a belt wheel arranged on the frame, the belt wheel arranged on the frame is symmetrically installed about the frame, a space is arranged between two symmetrical belt wheels, the inner side of the flexible crawler is correspondingly provided with a magnetic adsorption area, the magnetic adsorption area is provided with a plurality of rings of magnet encapsulation chains which are arranged at intervals, each ring of magnet encapsulation chains comprises a plurality of magnet encapsulation distributed along the circumference of the flexible crawler, and each magnet encapsulation comprises an encapsulation shell fixedly connected with the flexible crawler and a magnet unit arranged in the encapsulation shell.

However, the crawler wheel in the prior art can only work on a plane, has poor adaptability to the change of the shape and the curvature of the wall surface, and cannot adapt to the wall surfaces with different curvatures.

Disclosure of Invention

In view of the above, it is necessary to provide an omnidirectional crawler travel module and a wall climbing robot, which are used for solving the technical problems that in the prior art, crawler wheels can only work on a plane, the adaptability of the crawler wheels to the change of the shape and the curvature of the wall surface is poor, and the crawler wheels cannot adapt to the wall surfaces with different curvatures.

The invention provides an omnidirectional configuration crawler traveling module, which is applied to the surface of a magnetic conduction component and comprises:

a frame body;

the two magnetic attraction structures are positioned at two opposite ends of the frame body along the walking direction, each magnetic attraction structure comprises a mounting frame and a plurality of magnetic attraction components, one end of the mounting frame is rotatably mounted on the frame body along the axis in the first direction, the plurality of magnetic attraction components are arranged at intervals at the bottom of the mounting frame along the walking direction, the middle part of each magnetic attraction component is rotatably arranged along the axis in the first direction, and the first direction is mutually perpendicular to the walking direction;

the caterpillar band is movably sleeved on the peripheries of the two magnetic attraction structures;

the driving mechanism is arranged on the frame body, connected with the crawler belt and used for driving the crawler belt to move.

In some embodiments, a plurality of teeth are provided on an outer periphery of one end of each mounting frame facing the other mounting frame, the teeth are arranged along a circumferential direction of the mounting frame at intervals, and the teeth of the two mounting frames are meshed with each other, so that the two magnetic attraction structures rotate synchronously.

In some embodiments, the magnetic attraction assembly comprises:

the middle part of the mounting seat is rotatably mounted at the bottom of the mounting frame along the axis in the first direction, and the mounting seat is provided with a mounting groove with an opening facing the crawler belt;

the permanent magnet group is arranged in the mounting groove and is used for being in magnetic attraction fit with the magnetic conduction component;

the support wheels are arranged at the bottom of the mounting seat in an array mode, each support wheel is arranged along the axis in the first direction in a rotating mode, and the support wheels are used for being abutted to the inner sides of the tracks.

In some embodiments, the mount comprises:

the middle part of the first seat body is rotatably arranged at the bottom of the mounting frame along the axis in the first direction;

the middle part of the second seat body is rotatably arranged at the bottom of the first seat body along the axis in the first direction, and the mounting groove is formed in the second seat body.

In some embodiments, the magnetic assembly further includes two first elastic members, the two first elastic members are respectively located at two opposite ends of the second seat body along the walking direction, and two ends of each first elastic member are respectively connected with the first seat body and the second seat body.

In some embodiments, the magnetic structure further includes an auxiliary rolling assembly rotatably mounted to an end of the mounting frame away from the rotating end along the axis in the first direction, the auxiliary rolling assembly abutting against an inner side of the track for assisting movement of the track.

In some embodiments, the auxiliary rolling assembly is movably disposed along the walking direction such that the auxiliary rolling assembly position is adjustably disposed;

the magnetic attraction structure further comprises an elastic component, wherein two ends of the elastic component are respectively connected with the auxiliary rolling component and the mounting frame and used for driving the auxiliary rolling component to move.

In some embodiments, the drive mechanism comprises:

the chain is arranged on the inner side of the crawler belt;

a sprocket rotatably mounted to the frame along the axis in the first direction, the sprocket being engaged with the chain;

the driving motor is arranged on the frame body, and a main shaft of the driving motor is connected with the chain wheel and used for driving the chain wheel to rotate.

In some embodiments, a connecting piece is arranged between each chain plate and two adjacent chain plates in the chain;

the crawler belt comprises a plurality of crawler belt plates, the crawler belt plates correspond to the connecting pieces one by one, each crawler belt plate is fixedly mounted on the connecting piece, two idler wheels are arranged on one side, away from the connecting piece, of each crawler belt plate, and the idler wheels are arranged in a rotating mode along the axis on the walking direction.

In some embodiments, the two chains are arranged at intervals along the first direction, the magnetic component is located between the two chains, the track plate is in an arc-shaped arrangement, and the middle part of the track plate is in a hollow arrangement.

In addition, the invention also provides a wall climbing robot which comprises a vehicle body and a plurality of omnidirectional configuration crawler belt walking modules according to any one of the technical schemes, wherein the plurality of omnidirectional configuration crawler belt walking modules are arranged on the periphery of the vehicle body at intervals.

Compared with the prior art, the omnidirectional configuration crawler walking module provided by the invention has the advantages that the two magnetic attraction structures are positioned at the opposite ends of the frame body along the walking direction, one end of the mounting frame is rotatably arranged on the frame body along the axis in the first direction, the magnetic attraction assemblies are arranged at the bottom of the mounting frame at intervals along the walking direction, the middle part of each magnetic attraction assembly is rotatably arranged along the axis in the first direction, the crawler is movably sleeved on the peripheries of the two magnetic attraction structures, the two mounting frames can be rotated, the angle between the mounting frame and the frame body can be adjusted, the large-angle gesture adjustment is realized, the magnetic attraction assemblies arranged at the bottom of the mounting frame can be rotated in the same way, the small-angle local adaptation is realized, the underactuated adaptation of the structure can be made through the cooperation according to the curvature change condition of the wall surface, the underactuated adaptation of the large-angle gesture and the small-angle local adaptation are also realized, the coordination of the two devices can be coordinated, the device can be matched with the wall surface to realize the corresponding magnetic attraction device with the magnetic attraction wall surface, and the large-angle magnetic attraction device can realize the large-gradient magnetic attraction force on various magnetic-conductive wall surfaces.

The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and its details set forth in the accompanying drawings. Specific embodiments of the present invention are given in detail by the following examples and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:

fig. 1 is a schematic structural view of a first embodiment of a wall climbing robot provided by the present invention;

fig. 2 is a schematic structural view of a second embodiment of the wall climbing robot provided by the invention;

fig. 3 is a schematic structural view of a third embodiment of the wall climbing robot provided by the present invention;

fig. 4 is a schematic structural view of an embodiment of an omni-directional track walking module according to the present invention;

FIG. 5 is a perspective view of the frame of FIG. 4;

FIG. 6 is a schematic perspective view of the magnetic structure of FIG. 4;

FIG. 7 is a front view of the magnetic structure of FIG. 6;

FIG. 8 is a schematic perspective view of the magnetic assembly of FIG. 6;

FIG. 9 is a front view of the magnetic attraction assembly and track shoe of FIG. 6;

FIG. 10 is a front view of the permanent magnet assembly of FIG. 9;

FIG. 11 is a schematic perspective view of the track of FIG. 4;

FIG. 12 is a schematic perspective view of the track shoe of FIG. 11;

fig. 13 is a schematic view of the magnetic attraction structure in fig. 4 walking on different curved surfaces.

Reference numerals illustrate:

100-omni-directional crawler traveling module, 1-frame body, 11-supporting plate, 12-rotating shaft, 2-magnetic attraction structure, 21-mounting frame, 211-mounting plate, 2111-sliding groove, 2112-tooth part, 212-connecting shaft, 22-magnetic attraction component, 221-mounting seat, 2211-first seat body, 2212-second seat body, 222-permanent magnet group, 2221-permanent magnet unit, 223-supporting wheel, 224-first elastic piece, 23-auxiliary rolling component, 231-auxiliary chain wheel, 24-elastic component, 3-crawler, 31-crawler plate, 32-roller, 33-connecting piece, 4-driving mechanism, 41-chain, 42-chain wheel, 43-driving motor, 200-wall climbing robot and 210-vehicle body.

Detailed Description

Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and together with the description serve to explain the principles of the invention, and are not intended to limit the scope of the invention.

Referring to fig. 1 to 3, the present invention further provides a wall climbing robot 200, where the wall climbing robot 200 includes a vehicle body 210 and a plurality of the omni-directional crawler modules 100 according to any one of the above technical solutions, and the plurality of omni-directional crawler modules 100 are arranged at intervals on the periphery of the vehicle body 210.

Further, the number of the omni-directional crawler modules 100 is not limited herein, and may be two, three, or four, and may be adaptively adjusted according to specific situations, and when the omni-directional crawler modules 100 are provided with four, the four omni-directional crawler modules 100 are uniformly arranged on four sides of the vehicle body 210, so that the operation can be performed on a plane, and the transverse and longitudinal activities can be performed on the plane; when three omni-directional crawler modules 100 are provided, the three omni-directional crawler modules 100 are uniformly arranged on the circumference of the vehicle body 210, so that the operation can be performed in the pipeline; when two omni-directional crawler traveling modules 100 are provided, the two omni-directional crawler traveling modules 100 are arranged at intervals along the traveling direction and can climb the vertical magnetic conductive wall surface.

Referring to fig. 4 to 13, the omnidirectional crawler walking module 100 includes a frame 1, two magnetic attraction structures 2, a crawler 3 and a driving mechanism 4, wherein the two magnetic attraction structures 2 are located at two opposite ends of the frame 1 along a walking direction, the magnetic attraction structures 2 include a mounting frame 21 and a plurality of magnetic attraction components 22, one end of the mounting frame 21 is rotatably mounted on the frame 1 along an axis in a first direction, the plurality of magnetic attraction components 22 are arranged at intervals at the bottom of the mounting frame 21 along the walking direction, the middle part of each magnetic attraction component 22 is rotatably arranged along the axis in the first direction, and the first direction is mutually perpendicular to the walking direction; the caterpillar band 3 is movably sleeved on the peripheries of the two magnetic attraction structures 2; the driving mechanism 4 is arranged on the frame body 1, is connected with the crawler belt 3 and is used for driving the crawler belt 3 to move.

According to the omnidirectional configuration crawler walking module 100 provided by the invention, the two magnetic structures 2 are positioned at the opposite ends of the frame body 1 along the walking direction, one end of the mounting frame 21 is rotatably arranged on the frame body 1 along the axis in the first direction, the plurality of magnetic assemblies 22 are alternately arranged at the bottom of the mounting frame 21 along the walking direction, the middle part of each magnetic assembly 22 is rotatably arranged along the axis in the first direction, the crawler 3 is movably sleeved on the peripheries of the two magnetic structures 2, the two mounting frames 21 can be rotated, so that the angle between the mounting frame 21 and the frame body 1 can be adjusted, the large-angle gesture adjustment is realized, the magnetic assemblies 22 arranged at the bottom of the mounting frame 21 can be rotated in the same way, the small-angle local adaptation is realized, the structure underactuation can be cooperatively made according to the condition of wall surface curvature change when the complex variable curvature wall surface walks through the cooperation of the mounting frame 21 and the magnetic assemblies 22, namely, the large-angle adjustment and the small-angle coordination of the two magnetic assemblies can be matched, the large-angle adaptation can be realized on the magnetic conductive wall surface of a magnetic device, and the magnetic device can be matched with various magnetic conductive surfaces on a magnetic device, and the magnetic device can be matched with various magnetic conductive surfaces, and the magnetic device can realize the large-conductive device with the magnetic device.

Further, referring to fig. 5, the frame 1 includes two support plates 11 and two rotating shafts 12, the two support plates 11 are arranged at intervals along the first direction, the two rotating shafts 12 are located between the two support plates 11, two ends of each rotating shaft 12 are connected with the two support plates 11, the two rotating shafts 12 are arranged at intervals along the walking direction, the two magnetic attraction structures 2 are located between the two support plates 11, the two magnetic attraction structures 2 are in one-to-one correspondence with the two rotating shafts 12, and one end of each mounting frame 21 is rotatably mounted on the rotating shaft 12.

Further, referring to fig. 6 to 7, a plurality of teeth 2112 are provided on an outer periphery of one end of each mounting frame 21 facing the other mounting frame 21, the plurality of teeth 2112 are arranged at intervals along a circumferential direction of the mounting frame 21, and the plurality of teeth 2112 of the two mounting frames 21 are engaged with each other, so that the two magnetic attraction structures 2 rotate synchronously. So set up for two mounting bracket 21 intermeshing has avoided appearing the condition of sliding that falls suddenly when walking on the curved surface.

Specifically, the mounting frame 21 includes two mounting plates 211 and a plurality of connecting shafts 212, two mounting plates 211 are arranged along the first direction interval, and each mounting plate 211's one end rotate install in on the pivot 12, each connecting shaft 212 is located two between the mounting plates 211, the both ends of connecting shaft 212 with two mounting plates 211 keep away from the one end fixed connection of pivot 12, each mounting plate 211 is towards another mounting frame 21's one end is the circular arc setting, and a plurality of tooth 2112 are located on the circular arc, the magnetism is inhaled subassembly 22 and is located two between the mounting plates 211.

The number of the connecting shafts 212 is not limited herein, and may be set according to practical situations, in this embodiment, two connecting shafts 212 are provided, two connecting shafts 212 are disposed at intervals along the walking direction, two magnetic attraction assemblies 22 are provided, and two magnetic attraction assemblies 22 are rotatably mounted on corresponding connecting shafts 212.

Further, referring to fig. 8 to 10, the magnetic assembly 22 includes a mounting base 221, a permanent magnet group 222, and a plurality of supporting wheels 223, the middle part of the mounting base 221 is rotatably mounted at the bottom of the mounting frame 21 along the axis in the first direction, and the mounting base 221 is provided with a mounting groove with an opening facing the track 3; the permanent magnet group 222 is arranged in the mounting groove, and the permanent magnet group 222 is used for being in magnetic attraction fit with the magnetic conduction component; the supporting wheels 223 are arranged at the bottom of the mounting base 221 in an array, each supporting wheel 223 is rotatably arranged along the axis in the first direction, and the supporting wheel 223 is used for abutting against the inner side of the track 3. The mounting seat 221 can rotate, so that the mounting seat 221 can rotate adaptively according to different curved surfaces, and then the permanent magnet group 222 is driven to rotate, so that the permanent magnet group 222 can be attached to the curved surface corresponding to the permanent magnet group 222 as much as possible, the adsorption force is increased, the supporting wheels 223 are abutted to the crawler belt 3, the friction force between the magnetic attraction assembly 22 and the crawler belt 3 is reduced, and the fluency of the movement of the crawler belt 3 is improved.

Further, referring to fig. 10, the permanent magnet group 222 includes a plurality of permanent magnet units 2221 stacked in sequence along the traveling direction, and NS poles of every two adjacent permanent magnet units 2221 are disposed perpendicular to each other.

Further, the permanent magnet group 222 is arranged in an arch shape toward one side of the crawler belt 3.

Further, in order to further adapt to curved surfaces of different forms, referring to fig. 7 to 8, in this embodiment, the mounting base 221 includes a first base 2211 and a second base 2212, and a middle portion of the first base 2211 is rotatably mounted on a bottom portion of the mounting frame 21 along an axis in the first direction; the middle part of the second seat 2212 is rotatably mounted at the bottom of the first seat 2211 along the axis in the first direction, and the mounting groove is formed in the second seat 2212. The flexibility of the permanent magnet assembly 222 is further improved by the relative rotation of the first seat 2211 and the second seat 2212.

Further, in the present embodiment, the magnetic assembly 22 further includes two first elastic members 224, the two first elastic members 224 are respectively located at opposite ends of the second seat 2212 along the walking direction, and two ends of each first elastic member 224 are respectively connected to the first seat 2211 and the second seat 2212. The posture of the second seat 2212 can be adaptively adjusted by the elastic force of the two first elastic members 224.

Further, since the track 3 is disposed on the outer periphery of the magnetic attraction structure 2 and is abutted to the magnetic attraction structure 2, in order to reduce the friction force of relative movement between the track 3 and the magnetic attraction structure 2, in this embodiment, the magnetic attraction structure 2 further includes an auxiliary rolling assembly 23, and the auxiliary rolling assembly 23 is rotatably mounted on an end of the mounting frame 21 away from the rotating end along the axis in the first direction, and is abutted to the inner side of the track 3, so as to assist the movement of the track 3.

Further, since the mounting frame 21 is rotatably mounted on the frame body 1, the posture of the mounting frame 21 can be adjusted, and in order to enable the auxiliary rolling assembly 23 to be adaptively adjusted and to tension the crawler 3, in this embodiment, the auxiliary rolling assembly 23 is movably disposed along the traveling direction, so that the position of the auxiliary rolling assembly 23 can be adjustably disposed; the magnetic attraction structure 2 further comprises an elastic component 24, and two ends of the elastic component 24 are respectively connected with the auxiliary rolling component 23 and the mounting frame 21 and used for driving the auxiliary rolling component 23 to move. The elastic component 24 can enable the auxiliary rolling component 23 to be always abutted against the crawler belt 3, so that tension force is provided for the crawler belt 3, and normal operation of the crawler belt 3 is ensured.

It should be noted that the elastic component 24 is of the prior art, and is not described herein in detail.

Further, referring to fig. 4, 5 and 11, the driving mechanism 4 includes a chain 41, a sprocket 42 and a driving motor 43, and the chain 41 is disposed on the inner side of the track 3; the sprocket 42 is rotatably mounted on the frame 1 along the axis in the first direction, and the sprocket 42 is matched with the chain 41; the driving motor 43 is mounted on the frame 1, and a main shaft of the driving motor 43 is connected with the sprocket 42 and is used for driving the sprocket 42 to rotate. Specifically, the driving motor 43 is fixedly mounted on the outer side of one of the support plates 11, the sprocket 42 is located between the two support plates 11, and the driving motor 43 drives the sprocket 42 to rotate, so that the sprocket 42 is matched with the chain 41, and the driving device is movable.

In this embodiment, two chains 41 and two sprockets 42 are disposed at intervals along the first direction, and the two chains 41 are disposed at intervals on two sides of the track 3, and correspondingly, the two sprockets 42 are disposed at intervals, and the two sprockets 42 are coaxially disposed, and the driving motor 43 drives the two sprockets 42 to rotate synchronously.

Further, the auxiliary rolling assembly 23 includes an auxiliary sprocket 231, the auxiliary sprocket 231 is rotatably mounted between the two mounting plates 211 along its own axis, and the auxiliary sprocket 231 is engaged with the chain 41.

Further, the mounting plate 211 is provided with a sliding groove 2111 extending along the traveling direction, and the auxiliary sprocket 231 is slidably mounted in the sliding groove 2111, so that the position of the auxiliary sprocket 231 can be adjusted.

Further, in the present embodiment, since two auxiliary sprockets 231 are provided, respectively, in one-to-one correspondence with two mounting plates 211, and each auxiliary sprocket 231 is mounted inside the mounting plate 211.

Further, a connecting piece 33 is arranged between each chain plate and two adjacent chain plates in the chain 41; the track 3 comprises a plurality of track shoes 31, the track shoes 31 and the connecting pieces 33 are in one-to-one correspondence, each track shoe 31 is fixedly installed on the connecting piece 33, two rollers 32 are arranged on one side, away from the connecting piece 33, of each track shoe 31, and the rollers 32 are rotatably arranged along an axis in the walking direction.

Further, referring to fig. 13, two chains 41 are provided, two chains 41 are arranged along the first direction at intervals, the magnetic attraction component 22 is located between two chains 41, the track plate 31 is in an arc-shaped arrangement, and is adapted to the permanent magnet group 222, and the middle part of the track plate 31 is in a hollow arrangement.

Further, the track plate 31 and the roller 32 are made of flexible materials.

In the specific use process, any of the following situations can occur:

case one: referring to the view a in fig. 13, when facing the concave magnetic conductive wall, according to the adsorption effect of the permanent magnet group 222, to complete the self-adaptive initial motion, the magnetic attraction assembly 22 at one end begins to automatically adjust the swing angle to complete the local arc swing of ↗ and ↖, and then the rest of the magnetic attraction assemblies 22 sequentially act according to the wall condition; when rigidity is stiff and can not act, the two mounting frames 21 start to rotate around the respective rotating shafts 12, no abrupt drop sliding situation exists due to the fact that the two mounting frames 21 are meshed with each other, meanwhile, the internal transmission pressure of the crawler belt 3 becomes large due to the fact that the action change amplitude of the magnetic attraction assembly 22 and the mounting frames 21 is large, the four auxiliary rolling assemblies 23 start to act to cause compression quantity to be improved, passive fit of the chain 41 is adjusted, and large-angle adaptation is further smoothly completed.

And a second case: referring to the view b in fig. 13, when facing the protruding magnetic conductive wall, according to the adsorption effect of the permanent magnet group 222, to complete the self-adaptive initial movement, the magnetic component 22 at one end begins to automatically adjust the swing angle to complete the local arc swing of ↖ and ↗, and then the rest magnetic components 22 sequentially act according to the wall condition; when rigidity stiffness fails to act, the two mounting frames 21 start to rotate around the respective rotating shafts 12, meanwhile, because the movement variation amplitude of the magnetic attraction assemblies 22 and the mounting frames 21 is large, inward conduction pressure of the crawler belt 3 becomes large, the four auxiliary rolling assemblies 23 start to act to cause compression quantity to be improved, passive fitting of the chains 41 is regulated, and large-angle adaptation is further smoothly completed.

And a third case: referring to the view c in fig. 13, when facing the magnetic conductive wall surface with the plane multi-section protrusions, according to the adsorption effect of the permanent magnet group 222, to complete the self-adaptive initial motion, firstly the magnetic component 22 at one end starts to automatically adjust the swing angle to complete the local arc swing of ↖ and ↗, and secondly the other magnetic components 22 sequentially act according to the wall surface condition; because the area of the convex part is smaller, the track shoe 31 slightly deforms to improve the adsorption force, and because the action change amplitude of the magnetic attraction component 22 is not large, the inward conduction pressure of the track 3 is smaller, the four auxiliary rolling components 23 start to act, the passive fit of the chain 41 is regulated, and then the multi-section convex adaptation is smoothly completed.

Case four: referring to the view d in fig. 13, when facing the wall surface with variable curvature and magnetic conduction, according to the adsorption effect of the permanent magnet group 222, to complete the self-adaptive initial motion, the magnetic component 22 at one end begins to automatically adjust the swing angle to complete the self-adaptive local arc swing, and then the other magnetic components 22 sequentially act according to the wall surface condition; when rigidity stiffness fails to act, the two mounting frames 21 start to rotate around the respective rotating shafts 12, meanwhile, because the movement variation amplitude of the magnetic attraction assemblies 22 and the mounting frames 21 is larger, inward conduction pressure of the crawler belt 3 becomes larger, the four auxiliary rolling assemblies 23 start to act to cause the compression amount to be improved, the passive fit of the chain 41 is adjusted, and further, the angle-changing adaptation is smoothly completed.

The redundant continuous rigid body structure is mainly formed by connecting a series of rigid discrete magnetic adsorption units in series, has the characteristic of strong attitude along with stress, and can complete continuous deformation action, so that the redundant continuous rigid body structure is suitable for the contours of contact objects and terrains. The robot has the advantages that the robot body is endowed with enough bearing capacity, meanwhile, the posture compliance of the walking module is greatly improved, and the robot is suitable for application in unstructured scenes (such as a ship bow, a propeller blade and the like).

When the complex variable-curvature magnetic conduction wall surface walks, under-actuated adaptation of the structure is matched in view of the curvature change condition of the wall surface. The form profile of the device is represented by large-angle posture adjustment and small-angle local adaptation, and the two are organically coordinated, so that an effective adsorption mechanism with distinct layers and compliant application is constructed, and the impact influence caused by magnetic force change is avoided.

The crawler belt 3 in the application, the rubber roller 32 of which provides enough friction force, avoids the problem of slipping of a magnetic conduction wall surface, increases a degree of freedom of movement compared with the traditional crawler belt 3, provides omni-directional movement for the device, is easy to walk in a narrow environment, and enhances the movement flexibility of the device.

The application is through carrying out tile shape structure setting to permanent magnetism group 222 for it can with track 3 adaptation has reduced the volume mass ratio of permanent magnetism group 222 has increased magnetic adsorption force, compares in traditional permanent magnetism unit 2221 direct application mode, in this application the grip-pad 31 with keep in advance between the permanent magnetism group 222 and adsorb clearance and compression volume, the protection permanent magnetism group 222 avoid damaging, prolonged life greatly.

The wall climbing robot 200 can basically realize that the position within the range of the magnetic conduction area can be reached, and a solid moving platform is provided for intelligent operation (polishing, coating, detecting, rust removing and the like).

In the description of the present application, it should be noted that there is a directional indication (such as up, down, left, right, front, rear … …) which is merely used to explain the relative positional relationship, movement conditions, etc. between the components in a certain posture (as shown in the drawings), and if the certain posture is changed, the directional indication is changed accordingly. Unless specifically stated or limited otherwise, the terms "mounted," "connected," "coupled" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

It should be noted that in this application, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme or the B scheme or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.

Claims (10)

1. An omnidirectional configuration crawler travel module applied to the surface of a magnetic conduction member, which is characterized by comprising:

a frame body;

the two magnetic attraction structures are positioned at two opposite ends of the frame body along the walking direction, each magnetic attraction structure comprises a mounting frame and a plurality of magnetic attraction components, one end of the mounting frame is rotatably mounted on the frame body along the axis in the first direction, the plurality of magnetic attraction components are arranged at intervals at the bottom of the mounting frame along the walking direction, the middle part of each magnetic attraction component is rotatably arranged along the axis in the first direction, and the first direction is mutually perpendicular to the walking direction;

the caterpillar band is movably sleeved on the peripheries of the two magnetic attraction structures;

the driving mechanism is arranged on the frame body, connected with the crawler belt and used for driving the crawler belt to move.

2. The omni-directional track travel module of claim 1, wherein each mounting frame has a plurality of teeth disposed toward an outer periphery of one end of the other mounting frame, the plurality of teeth being disposed along a circumferential direction of the mounting frame at intervals, the plurality of teeth of the two mounting frames being engaged with each other such that the two magnetic attraction structures rotate in synchronization.

3. The omni-directional configured crawler module of claim 1, wherein the magnetic attraction assembly comprises:

the middle part of the mounting seat is rotatably mounted at the bottom of the mounting frame along the axis in the first direction, and the mounting seat is provided with a mounting groove with an opening facing the crawler belt;

the permanent magnet group is arranged in the mounting groove and is used for being in magnetic attraction fit with the magnetic conduction component;

the support wheels are arranged at the bottom of the mounting seat in an array mode, each support wheel is arranged along the axis in the first direction in a rotating mode, and the support wheels are used for being abutted to the inner sides of the tracks.

4. The omni-directional configured crawler module of claim 3 wherein the mount comprises:

the middle part of the first seat body is rotatably arranged at the bottom of the mounting frame along the axis in the first direction;

the middle part of the second seat body is rotatably arranged at the bottom of the first seat body along the axis in the first direction, and the mounting groove is formed in the second seat body.

5. The omni-directional track travel module of claim 4, wherein the magnetic attraction assembly further comprises two first elastic members, the two first elastic members are respectively positioned at opposite ends of the second base along the travel direction, and two ends of each first elastic member are respectively connected with the first base and the second base.

6. The omni-directional configured track travel module of claim 1, wherein the magnetic attraction structure further comprises an auxiliary rolling assembly rotatably mounted to an end of the mounting frame remote from the rotating end along the axis in the first direction, the auxiliary rolling assembly abutting an inner side of the track for assisting in movement of the track.

7. The omni-directional configured track travel module of claim 6, wherein the auxiliary roller assembly is movably disposed along a travel direction such that the auxiliary roller assembly position is adjustably disposed;

the magnetic attraction structure further comprises an elastic component, wherein two ends of the elastic component are respectively connected with the auxiliary rolling component and the mounting frame and used for driving the auxiliary rolling component to move.

8. The omni-directional configured crawler module of claim 1, wherein the drive mechanism comprises:

the chain is arranged on the inner side of the crawler belt;

a sprocket rotatably mounted to the frame along the axis in the first direction, the sprocket being engaged with the chain;

the driving motor is arranged on the frame body, and a main shaft of the driving motor is connected with the chain wheel and used for driving the chain wheel to rotate.

9. The omni-directional configured crawler module of claim 8, wherein a connecting member is disposed between each link plate and two adjacent link plates in the chain;

the crawler belt comprises a plurality of crawler belt plates, the crawler belt plates correspond to the connecting pieces one by one, each crawler belt plate is fixedly mounted on the connecting piece, two idler wheels are arranged on one side, away from the connecting piece, of each crawler belt plate, and the idler wheels are arranged in a rotating mode along the axis on the walking direction.

10. A wall climbing robot, comprising a vehicle body and a plurality of omnidirectional crawler travel modules according to any one of claims 1 to 9, wherein a plurality of omnidirectional crawler travel modules are arranged at intervals on the periphery of the vehicle body.