CN212580021U - Changeable wheel leg composite climbing robot - Google Patents

Abstract

The utility model relates to a technical field of robot, more specifically relates to a changeable wheel leg is compound scrambles robot, including the pendulum subassembly, wheel drive subassembly and magnetism adsorbs the subassembly, the wheel drive subassembly includes the base and rotates the drive wheel of being connected with the base, the first drive assembly that the drive wheel goes up and down is installed to the base, the one end of two sets of bases is connected respectively in the pendulum subassembly both ends, magnetism adsorbs the unit mount in the other end of base, magnetism adsorbs the subassembly including rotatable first permanent magnetism group and the fixed second permanent magnetism group that sets up, first permanent magnetism group link has the first permanent magnetism of drive group to rotate the second drive assembly of adjustment magnetic force size. The utility model discloses can switch under wheel drive or biped two kinds of modes of crawling, guarantee efficient plane climbing action ability promptly, also guarantee higher obstacle crossing ability, action range is wide, action precision is high, the action is nimble high-efficient, can apply to various work scenes, replaces the manual work at various adverse circumstances work or high altitude construction, saves a large amount of labours and drops into, and is safe and high-efficient.

Description

Changeable wheel leg composite climbing robot

Technical Field

The utility model relates to a technical field of robot, more specifically relates to a changeable wheel leg composite climbing robot.

Background

Under some specific environments, some work and tasks with harsh and dangerous working conditions exist, the work and the tasks are difficult to be completed by human beings, and schemes such as a working trolley, a quadruped robot and the like are sequentially proposed; in order to make work dolly, four-footed robot can creep on the vertical plane, install adsorption equipment additional for work dolly, multi-footed robot, like electromagnetic adsorption formula, vacuum adsorption formula and utilize rotor backstepping to adsorb to derive and obtain crawler-type sucking disc adsorption climbing car, rotor formula climbing robot, electromagnetic adsorption four-footed climbing robot etc.. However, although the rotor-type climbing robot can work at a certain altitude, the rotor-type climbing robot has the defects of high noise and low reliability, and factors such as high altitude wind power can affect the rotor-type climbing robot; although the crawler-type sucking disc adsorption climbing trolley can perform relatively accurate movement path planning, the crawler-type sucking disc adsorption climbing trolley has poor action flexibility, slow action, low efficiency, difficult turning and poor obstacle crossing capability and can only work on a large plane; the electromagnet adsorbs the four-footed climbing robot and has certain obstacle crossing ability, but its own structure and electromagnetism adsorption structure are all more complicated, and weight is big, and is with high costs, and whole robot can loosen and fall because of losing magnetic force when the outage, causes loss and danger.

Chinese patent CN111547152A discloses a multi freedom climbing robot, including gyration subassembly, pendulum subassembly, magnetism absorption subassembly, two sets of the gyration subassembly is connected in the both ends of pendulum subassembly, magnetism absorption subassembly is connected with the gyration subassembly, magnetism absorption subassembly includes the radial magnet of the first radial magnet and the radial magnet of second of coaxial setting, first radial magnet is connected with the first radial magnet of drive and rotates the transmission assembly of adjustment magnetic force size. The permanent magnetic adsorption double-foot climbing robot has the advantages of strong obstacle crossing capability, good flexibility, safety and high efficiency, but the robot depends on double feet to climb on a large plane and has the defect of low efficiency.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome not enough among the prior art, provide a changeable wheel leg composite climbing robot, combine wheeled climbing and biped climbing, both had plane climbing action ability, also had better obstacle crossing ability, can apply to various work scenes, replace the manual work at various adverse circumstances work or high altitude construction, safety and high efficiency.

In order to solve the technical problem, the utility model discloses a technical scheme is:

the utility model provides a changeable compound climbing robot of wheel leg, including pendulum commentaries on classics subassembly, wheel drive subassembly and magnetism absorption subassembly, the wheel drive subassembly includes base and drive wheel, the first transmission assembly that is used for driving the drive wheel to go up and down is installed to the base, the drive wheel is connected in the output of first transmission assembly, and is two sets of the one end of base is connected respectively in the both ends of pendulum commentaries on classics subassembly, magnetism absorption unit mount in the other end of base, magnetism absorption subassembly includes rotatable first permanent magnetism group and the second permanent magnetism group of fixed setting, first permanent magnetism group link has the first permanent magnetism of drive group to rotate the second transmission assembly of adjustment magnetic force size.

The utility model discloses a changeable wheel leg composite climbing robot, wheeled climbing combines with biped climbing: when the double feet climb, the first transmission component drives the driving wheel to be lifted above the adsorption plane of the magnetic adsorption component, the swing component controls the posture of the body of the climbing robot, and the second transmission component drives the first permanent magnet group and the second permanent magnet group to rotate relatively to adjust the external magnetic force, so that the double feet climbing of various paths is realized; when wheeled climbing, first drive assembly drives the drive wheel and descends to and scramble the plane contact, and the body gesture of swing subassembly control climbing robot can realize the wheeled climbing of big plane. The utility model discloses combining wheeled climbing and biped climbing, can driving at the wheel or biped are crawled and are switched under two kinds of modes, have guaranteed efficient plane climbing action ability promptly, have also guaranteed higher obstacle crossing ability, action range is wide, action precision is high, the action is nimble high-efficient, can apply to various work scenes, replace the manual work at various adverse circumstances work or high altitude construction, save a large amount of labours and drop into, and is safe and high-efficient.

Further, the swing assembly comprises a first swing motor, a second swing motor, a first connecting rod and a mounting seat, the first connecting rod, the mounting seat and the second swing motor are two groups, one ends of the two groups of first connecting rods are respectively connected to two output ends of the first swing motor, the other ends of the two groups of first connecting rods are respectively connected to output ends of the two groups of second swing motors, the second swing motor is connected with the mounting seat, and the mounting seat is mounted on the base.

Further, the first transmission assembly comprises a first motor, a screw nut assembly and a connecting rod assembly, the first motor is installed on the base, the screw nut assembly comprises a screw rod and a nut connected to the screw rod, the first motor drives the screw rod to rotate, the connecting rod assembly is connected with the nut, the connecting rod assembly comprises an output rod capable of linearly moving up and down, and the driving wheel is connected with the output rod.

Furthermore, the screw rod nut assemblies and the connecting rod assemblies are two groups, a first bevel gear is installed at the output end of the first motor, two groups of screw rods are connected with second bevel gears, and the two groups of second bevel gears are meshed with the first bevel gears in an orthogonal mode.

Furthermore, the connecting rod assembly further comprises a second connecting rod, a third connecting rod and a fourth connecting rod, one end of the second connecting rod is hinged to the nut, the other end of the second connecting rod is hinged to one end of the third connecting rod, the other end of the third connecting rod is hinged to the base, one end of the fourth connecting rod is hinged to the base, the other end of the fourth connecting rod is hinged to one end of the output rod, the other end of the output rod is hinged to the other end of the second connecting rod and one end of the third connecting rod, and the output rod is perpendicular to the screw rod.

Furthermore, one side of the output rod is connected with a wheel groove, the driving wheel is rotatably connected to two ends of the wheel groove, the driving wheel is connected with a driving motor, and the driving motor is arranged in the wheel groove; the opposite side of output rod is connected with the mounting bracket, the mounting bracket rotates to be connected with from the driving wheel.

Further, magnetism adsorbs the subassembly includes first base, second base and rotating base, first base, second base are connected, rotating base rotates to be connected between first base and second base, first permanent magnetism group is including a plurality of first permanent magnets that are annular evenly distributed, first permanent magnet is all installed in rotating base, second permanent magnetism group is including a plurality of second permanent magnets that are annular evenly distributed, the second permanent magnet is installed in the second base, second drive assembly is connected with rotating base.

Furthermore, the first permanent magnet and the second permanent magnet are both sector radial magnets, the magnetic poles of the adjacent sector radial magnets are opposite, and steel frames are arranged on two sides of each sector radial magnet; the first permanent magnet group is positioned right above the second permanent magnet group, and the second base is provided with a plurality of slotted holes for mounting the second permanent magnets.

Further, the second transmission assembly comprises a second motor and a first gear, the rotating base is a second gear, the second motor is installed on the first base, the first gear is connected to the output end of the second motor, and the second gear is meshed with the first gear.

Further, the magnetic adsorption component also comprises a friction enhancing structure, wherein the friction enhancing structure comprises a first support, a second support, a spring and friction enhancing rubber: the first support is arranged between the first base and the second base, a plurality of connecting columns are connected between the first base and the second base, the springs are sleeved on the peripheries of the connecting columns and are positioned between the first support and the first base; one side of the second support is arranged on the second base, and the friction increasing rubber is arranged on the other side of the second support.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses a changeable wheel leg composite climbing robot combines wheeled climbing and biped climbing, can drive or biped switch under crawling two kinds of modes in the wheel, has guaranteed efficient plane climbing action ability promptly, has also guaranteed higher obstacle crossing ability, and action range is wide, the action precision is high, the action is nimble high-efficient, can apply to various work scene, replaces the manual work at various adverse circumstances work or high altitude construction, saves a large amount of labours and drops into, and is safe and high-efficient.

Drawings

Fig. 1 is a schematic structural view of the switchable wheel-leg composite climbing robot of the present invention;

FIG. 2 is a schematic structural view of the swing assembly;

FIG. 3 is a perspective view I of the wheel drive assembly;

FIG. 4 is an exploded view of the wheel drive assembly;

FIG. 5 is a schematic structural view of the wheel drive assembly;

FIG. 6 is a perspective view II of the wheel drive assembly;

FIG. 7 is a schematic diagram of a connecting rod assembly;

FIG. 8 is a schematic diagram of the lifting principle of the driven wheel;

FIG. 9 is a schematic structural view of a feed screw nut assembly;

FIG. 10 is an exploded view of the magnetic attachment assembly;

FIG. 11 is a schematic structural view of the first permanent magnet and the second permanent magnet;

FIG. 12 is a schematic diagram showing the distribution of the first and second permanent magnets;

FIG. 13 is a schematic diagram of the operation of the two-foot climbing mode;

figure 14 is a schematic diagram of the operation of the wheel climbing mode;

in the drawings: 1-a swing component; 11-a first swing motor; 12-a second swing motor; 13-a first link; 14-a mounting seat; 2-a wheel drive assembly; 21-a base; 22-a drive wheel; 23-a first transmission assembly; 231-a first motor; 232-screw mandrel; 233-nut; 234-output rod; 235-a first bevel gear; 236-second bevel gear; 237-a second link; 238-a third link; 239-a fourth link; 24-wheel groove; 25-a drive motor; 26-a mounting frame; 27-a driven wheel; 28-a chute; 29-a hinged frame; 3-a magnetic adsorption assembly; 31-a first permanent magnet group; 32-a second permanent magnet set; 33-a second transmission assembly; 331-a second motor; 332-a first gear; 34-a first base; 35-a second base; 36-a rotating base; 37-a steel frame; 38-a friction enhancing structure; 381-a first support; 382-a second support; 383-a spring; 384-connecting column; 385-friction increasing rubber.

Detailed Description

The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; for a better understanding of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.

Examples

As shown in fig. 1 is the utility model discloses an embodiment of changeable wheel leg compound climbing robot, including pendulum subassembly 1, wheel drive subassembly 2 and magnetic adsorption subassembly 3, wheel drive subassembly 2 includes base 21 and drive wheel 22, base 21 installs the first drive assembly 23 that is used for driving drive wheel 22 to go up and down, drive wheel 22 connects in the output of first drive assembly 23, the one end of two sets of bases 21 is connected respectively in the both ends of pendulum subassembly 1, magnetic adsorption subassembly 3 installs the other end in base 21, magnetic adsorption subassembly 3 includes rotatable first permanent magnetism group 31 and the fixed second permanent magnetism group 32 that sets up, first permanent magnetism group 31 is connected with the first permanent magnetism group 31 of drive and rotates the second drive assembly 33 of adjustment magnetic force size.

When this embodiment is implemented, wheeled climbing combines with biped climbing: when the feet climb, the first transmission component 23 drives the driving wheel 22 to be lifted above the adsorption plane of the magnetic adsorption component 3, the swing component 1 controls the posture of the body of the climbing robot, and the second transmission component 33 drives the first permanent magnet group 31 and the second permanent magnet group 32 to rotate relatively to adjust the external magnetic force, so that the feet climb in various paths; when wheeled climbing, first drive assembly 23 drives drive wheel 22 and descends to and scramble the plane contact, and the body gesture of robot is scrambleed in the control of pendulum subassembly 1, can realize the wheeled climbing of big plane.

In one embodiment, the swing assembly 1 includes a first swing motor 11, a second swing motor 12, a first connecting rod 13 and a mounting base 14, where the first connecting rod 13, the mounting base 14 and the second swing motor 12 are two sets, one end of each of the two sets of first connecting rods 13 is connected to two output ends of the first swing motor 11, the other end of each of the two sets of first connecting rods 13 is connected to two output ends of the two sets of second swing motors 12, the second swing motor 12 is connected to the mounting base 14, and the mounting base 14 is mounted on the base 21, as shown in fig. 2. The two groups of first connecting rods 13 adopt an asymmetric design, so that mutual interference of the first swing motor 11 during large-angle rotation can be avoided. During implementation, the first swing motor 11 works, two output ends of the first swing motor drive two sets of first connecting rods 13 to rotate to change an included angle between the two sets of first connecting rods 13, the second swing motor 12 works to change an included angle between the two sets of first connecting rods 13 and a climbing surface, the first swing motor 11 and the second swing motor 12 are mutually matched to change the posture of a robot body, better climbing capability and obstacle crossing capability are given to the climbing robot, and the robot is applicable to various working scenes. In this embodiment, the quantity of first connecting rod 13 does not do the utility model discloses a restrictive regulation, the utility model discloses can increase the body structure of first connecting rod 13 and the quantity of pendulum change motor in order to change the climbing robot according to climbing planar concrete form.

In one embodiment, the first transmission assembly 23 includes a first motor 231, a lead screw nut assembly and a link assembly, the first motor 231 is mounted on the base 21, the lead screw nut assembly is located inside the base 21, the lead screw nut assembly includes a lead screw 232 and a nut 233 connected to the lead screw 232, the first motor 231 drives the lead screw 232 to rotate, the link assembly is connected to the nut 233, the link assembly includes an output rod 234 capable of moving up and down linearly, and the driving wheel 22 is connected to the output rod 234, as shown in fig. 3 to 6 and 9. In implementation, the first motor 231 works to drive the screw rod 232 to rotate, the screw rod 232 rotates and is converted into linear motion of the nut 233, the nut 233 drives the connecting rod assembly to move, and finally linear lifting motion is output to the output rod 234, and the output rod 234 drives the driving wheel 22 to lift, so that switching between the wheel-drive crawling mode and the two-foot crawling mode is achieved, as shown in fig. 7.

In one embodiment, each set of the screw nut assemblies and the connecting rod assemblies mounted on the base 21 are two sets, the output end of the first motor 231 is mounted with a first bevel gear 235, one end of each set of the screw rods 232 is connected with a second bevel gear 236, the other end of each set of the screw rods 232 is rotatably connected with the base 21, and the two sets of the second bevel gears 236 are orthogonally meshed with the first bevel gear 235. The two sets of screw nut assemblies share one set of first motor 231 for driving, and in order to save space, the axis of the first motor 231 is perpendicular to the axis of the screw 232, as shown in fig. 3 to 6. In implementation, the first motor 231 works, the first bevel gear 235 rotates along with the first motor, the second bevel gear 236 is orthogonally meshed with the first bevel gear 235, the movement transmission direction is changed, the rotation of the second bevel gear 236 drives the screw rod 232 to rotate, the screw rod 232 is in threaded fit with the nut 233, and therefore the rotation movement of the screw rod 232 is converted into the linear movement of the nut 233 and acts on the connecting rod assembly. In this embodiment, in order to improve the smoothness of the rotation of the screw rod 232, bearings are disposed at the connection between the screw rod 232 and the second bevel gear 236 and at the connection between the screw rod 232 and the base 21.

In one embodiment, the connecting rod assembly further includes a second link 237, a third link 238 and a fourth link 239, one end of the second link 237 is hinged to the nut 233, the other end of the second link 237 is hinged to one end of the third link 238, the other end of the third link 238 is hinged to the base 21, one end of the fourth link 239 is hinged to the base 21, the other end of the fourth link 239 is hinged to one end of the output rod 234, the other end of the output rod 234 is hinged to the other end of the second link 237 and one end of the third link 238, and the output rod 234 is perpendicular to the lead screw 232, as shown in fig. 3 to 6. Specifically, the nut 233 is fixedly connected with an installation block, the second connecting rod 237 is a Y-shaped structure, the third connecting rod 238 is an H-shaped structure, one end of the Y-shaped structure is hinged with the installation block and has two hinge points, the other end of the Y-shaped structure is hinged with one end of the H-shaped structure, and the other end of the H-shaped structure is hinged with the base 21 and is provided with two hinge points; the structure of the fourth link 239 is similar to that of the second link 237, and is provided with three hinge points, two sets of output rods 234 are provided, two hinge points of the fourth link 239 are hinged with the base 21, one hinge point is hinged with the end parts of the two sets of output rods 234, and the other ends of the two sets of output rods 234, the other end of the second link 237 and one end of the third link 238 are hinged with the three. Two sets of output rods 234 are located on either side of the linkage assembly to facilitate the linear lifting motion imparted by the output rods 234 to the drive wheel 22. The hinges can be hinged through a pin shaft and fixed through a clamping ring. In this embodiment, the sizes of the second link 237, the third link 238, the fourth link 239, and the output rod 234 are designed to realize that the movement direction of the output rod 234 is always perpendicular to the screw rod 232 no matter how the second link 237, the third link 238, and the fourth link 239 move.

In one embodiment, the output rod 234 is connected with the wheel groove 24 at one side, the driving wheel 22 is rotatably connected with two ends of the wheel groove 24, the driving wheel 22 is connected with the driving motor 25, and the driving motor 25 is arranged in the wheel groove 24; the other side of the output rod 234 is connected to a mounting bracket 26, and the mounting bracket 26 is rotatably connected to a driven wheel 27, as shown in fig. 6. The output rods 234 are in two sets, one set of output rods 234 transmitting motion to the drive wheel 22 and the other set of output rods 234 transmitting motion to the driven wheel 27, thereby moving the drive wheel 22 and the driven wheel 27 in synchronization. Specifically, the method comprises the following steps: the joint of the driving wheel 22 and the wheel groove 24 can be provided with a bearing to ensure that the driving motor 25 smoothly drives the driving wheel 22 to rotate; the two ends of the wheel groove 24 are respectively connected to the two groups of connecting rod assemblies and the output rod 234 on the same side, and the two groups of connecting rod assemblies can synchronously move to drive the two groups of driving wheels 22 on the two ends of the wheel groove 24 to synchronously lift; the driving motor 25 is installed in the wheel groove 24 to facilitate an aesthetic appearance.

In another embodiment, the output rod 234 on the same side of the two sets of connecting rod assemblies is provided with a sliding groove 28, the mounting frame 26 is of a 7-shaped structure with long sides and short sides, the end of each long side is installed in cooperation with the sliding groove 28 through a pin shaft, the joint of each long side and each short side is hinged with a hinge frame 29, the end of each hinge frame 29 can be fixed on the upper portion of the magnetic adsorption assembly 3, the driven wheel 27 is rotatably connected between the ends of the two sets of short sides, when the output rod 234 goes up and down, the mounting frame 26 rotates with a hinge shaft of the hinge frame 29, and therefore the driven wheel 27 is driven to be.

In one of the embodiments, the magnetic adsorption component 3 includes a first base 34, a second base 35 and a rotating base 36, the first base 34 and the second base 35 are connected, the rotating base 36 is rotatably connected between the first base 34 and the second base 35, the first permanent magnet group 31 includes a plurality of first permanent magnets which are uniformly distributed in an annular shape, the first permanent magnets are all installed on the rotating base 36, the second permanent magnet group 32 includes a plurality of second permanent magnets which are uniformly distributed in an annular shape, the second permanent magnets are installed on the second base 35, and the second transmission component 33 is connected with the rotating base 36. Specifically, the rotating base 36 is rotatably connected to the first base 34 and the second base 35 through a rotating shaft, and the rotating base 36 can rotate around the rotating shaft under the action of the second transmission assembly 33, as shown in fig. 10. However, in the embodiment, the first permanent magnet set 31 and the second permanent magnet set 32 are distributed one above the other, and the properties of the first permanent magnet and the second permanent magnet must be satisfied such that the external magnetic force is changed when the first permanent magnet set 31 is rotated.

In one embodiment, the first permanent magnet and the second permanent magnet are sector radial magnets, the magnetic poles of the adjacent sector radial magnets are opposite, and steel frames 37 are arranged on two sides of each sector radial magnet; the first permanent magnet set 31 is located right above the second permanent magnet set 32, and the second base 35 is provided with a plurality of slot holes for mounting the second permanent magnets, as shown in fig. 10 to 12. When the first permanent magnet and the second permanent magnet are overlapped in the same polarity, a magnetic loop is formed on the surface of the steel structure of the object to be climbed, and the magnetic adsorption component 3 shows strong magnetic attraction to the outside; when the first permanent magnet and the second permanent magnet are overlapped in the same polarity, the magnetic loop does not flow through the surface of the steel structure, and the magnetic adsorption component 3 shows nearly no magnetic force to the outside. Set up a plurality of slotted holes at second base 35, expose magnetism and adsorb subassembly 3, the absorption between the magnetism of being convenient for adsorbs subassembly 3 and the climbing face.

In one embodiment, the second transmission assembly 33 includes a second motor 331, a first gear 332, the rotating base 36 is a second gear, the second motor 331 is mounted on the first base 34, the first gear 332 is connected to the output end of the second motor 331, and the second gear is engaged with the first gear 332, as shown in fig. 10. The second motor 331 works to drive the first gear 332 to rotate, and the rotating base 36 is driven to rotate by taking the rotating shaft as an axis, so as to drive the first permanent magnet assembly 31 to rotate, and adjust the external magnetic force of the magnetic adsorption assembly 3.

In one embodiment, the magnetic attraction assembly 3 further includes a friction enhancing structure 38, the friction enhancing structure 38 including a first bracket 381, a second bracket 382, a spring 383, and a friction enhancing rubber 385: the first support 381 is installed between the first base 34 and the second base 35, a plurality of connecting posts 384 are connected between the first base 34 and the second base 35, the springs 383 are sleeved on the peripheries of the connecting posts 384, and the springs 383 are located between the first support 381 and the first base 34; one side of the second frame 382 is mounted to the second base 35 and the friction increasing rubber 385 is mounted to the other side of the second frame 382 as shown in fig. 10. The spring 383 is in a pre-compression state, and can push the friction-increasing rubber 385 to be extruded on the climbing surface, so that the friction force between the magnetic adsorption component 3 and the climbing surface is increased, and the motion stability of the climbing robot is improved.

The above embodiment of the composite climbing robot with switchable wheel legs has two modes, namely a two-foot mode and a wheel drive mode: under the biped mode, first motor 231 drives lead screw 232 to rotate, and through the translation of screw transmission transform into nut 233, and drive link assembly work drives output rod 234 to rise, action wheel and follow driving wheel 27 rise to action wheel and follow driving wheel 27 lower limb all are higher than the lower surface of magnetic adsorption component 3 in step, spring 383 is compressed under the effect of suction, produce pressure to the climbing face, form the stable biped climbing mode of friction, magnetic adsorption component 3 provides sufficient suction, in order to offset the gravity and the gravity moment of robot, the robot uses one foot as the fulcrum, through controlling second motor 331, place the magnetic adsorption component 3 of another foot in the loose state of taking off, control first pendulum motor 11 and second pendulum motor 12, realize the control of robot trunk gesture, realize climbing actions such as obstacle crossing, plane transition, as shown in fig. 13. Under the wheel drive mode, under the biped mode, first motor 231 drives lead screw 232 and rotates, and turn into the translation of nut 233 through screw drive, and drive link assembly work drives output pole 234 and descends, action wheel and follow driving wheel 27 descend to action wheel and follow driving wheel 27 lower limb all is less than the lower surface of magnetic adsorption component 3 in step, action wheel and follow driving wheel 27 form the wheel drive mode that the tricycle supported, magnetic adsorption component 3 provides sufficient suction, in order to offset the gravity and the moment of gravity of robot, driving motor 25 provides drive power, realize climbing the wall of robot and creep and differential turn to, as shown in fig. 14.

In the detailed description of the embodiments, various technical features may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A composite climbing robot with switchable wheel legs is characterized by comprising a swinging component (1), a wheel driving component (2) and a magnetic adsorption component (3), the wheel drive assembly (2) comprises a base (21) and a driving wheel (22), the base (21) is provided with a first transmission assembly (23) for driving the driving wheel (22) to lift, the driving wheel (22) is connected with the output end of the first transmission component (23), one end of each group of bases (21) is respectively connected with the two ends of the swinging component (1), the magnetic adsorption component (3) is arranged at the other end of the base (21), the magnetic adsorption component (3) comprises a first rotatable permanent magnet group (31) and a second fixed permanent magnet group (32), the first permanent magnet group (31) is connected with a second transmission assembly (33) which drives the first permanent magnet group (31) to rotate and adjust the magnetic force.

2. The switchable wheel-leg composite climbing robot according to claim 1, wherein the swinging assembly (1) comprises a first swinging motor (11), a second swinging motor (12), a first connecting rod (13) and a mounting seat (14), the first connecting rod (13), the mounting seat (14) and the second swinging motor (12) are two groups, one end of each group of first connecting rods (13) is connected to two output ends of the first swinging motor (11), the other end of each group of first connecting rods (13) is connected to output ends of the two groups of second swinging motors (12), the second swinging motors (12) are connected with the mounting seat (14), and the mounting seat (14) is mounted on the base (21).

3. The switchable wheel-leg composite climbing robot according to claim 1, wherein the first transmission assembly (23) comprises a first motor (231), a lead screw nut assembly and a connecting rod assembly, the first motor (231) is mounted on the base (21), the lead screw nut assembly comprises a lead screw (232) and a nut (233) connected to the lead screw (232), the first motor (231) drives the lead screw (232) to rotate, the connecting rod assembly is connected with the nut (233), the connecting rod assembly comprises an output rod (234) capable of moving in a linear up-and-down mode, and the driving wheel (22) is connected with the output rod (234).

4. The switchable wheel-leg composite climbing robot as claimed in claim 3, wherein the screw nut assemblies and the connecting rod assemblies are two groups, the output end of the first motor (231) is provided with a first bevel gear (235), the end parts of the two groups of screws (232) are connected with second bevel gears (236), and the two groups of second bevel gears (236) are in orthogonal engagement with the first bevel gear (235).

5. The switchable wheel-leg composite climbing robot according to claim 4, characterized in that the connecting rod assembly further comprises a second connecting rod (237), a third connecting rod (238) and a fourth connecting rod (239), one end of the second connecting rod (237) is hinged to the nut (233), the other end of the second connecting rod (237) is hinged to one end of the third connecting rod (238), the other end of the third connecting rod (238) is hinged to the base (21), one end of the fourth connecting rod (239) is hinged to the base (21), the other end of the fourth connecting rod (239) is hinged to one end of the output rod (234), the other end of the output rod (234) is hinged to the other end of the second connecting rod (237) and one end of the third connecting rod (238), and the output rod (234) is perpendicular to the lead screw (232).

6. The switchable wheel-leg composite climbing robot according to claim 5, characterized in that a wheel groove (24) is connected to one side of the output rod (234), the driving wheel (22) is rotatably connected to two ends of the wheel groove (24), a driving motor (25) is connected to the driving wheel (22), and the driving motor (25) is installed in the wheel groove (24); the other side of output rod (234) is connected with mounting bracket (26), mounting bracket (26) rotate to be connected with from driving wheel (27).

7. The switchable wheel-leg composite climbing robot according to any one of claims 1 to 6, wherein the magnetic adsorption assembly (3) comprises a first base (34), a second base (35) and a rotating base (36), the first base (34) and the second base (35) are connected, the rotating base (36) is rotatably connected between the first base (34) and the second base (35), the first permanent magnet assembly (31) comprises a plurality of first permanent magnets which are uniformly distributed in an annular shape, the first permanent magnets are both mounted on the rotating base (36), the second permanent magnet assembly (32) comprises a plurality of second permanent magnets which are uniformly distributed in an annular shape, the second permanent magnets are mounted on the second base (35), and the second transmission assembly (33) is connected with the rotating base (36).

8. The switchable wheel-leg composite climbing robot as claimed in claim 7, wherein the first permanent magnet and the second permanent magnet are fan-shaped radial magnets, the magnetic poles of adjacent fan-shaped radial magnets are opposite, and steel frames (37) are arranged on two sides of each fan-shaped radial magnet; the first permanent magnet group (31) is located right above the second permanent magnet group (32), and the second base (35) is provided with a plurality of slotted holes for mounting the second permanent magnets.

9. The switchable wheel-leg composite climbing robot according to claim 7, characterized in that the second transmission assembly (33) comprises a second motor (331), a first gear (332), the rotating base (36) is a second gear, the second motor (331) is mounted on the first base (34), the first gear (332) is connected to the output end of the second motor (331), and the second gear is meshed with the first gear (332).

10. Switchable wheel-leg composite climbing robot according to claim 7, characterized in that the magnetic attraction assembly (3) further comprises a friction enhancing structure (38), the friction enhancing structure (38) comprising a first bracket (381), a second bracket (382), a spring (383) and a friction increasing rubber (385): the first bracket (381) is installed between the first base (34) and the second base (35), a plurality of connecting columns (384) are connected between the first base (34) and the second base (35), the springs (383) are sleeved on the peripheries of the connecting columns (384) and the springs (383) are located between the first bracket (381) and the first base (34); one side of the second bracket (382) is arranged on the second base (35), and the friction increasing rubber (385) is arranged on the other side of the second bracket (382).

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