CN110712692A - Crawling robot - Google Patents

Abstract

The application discloses robot of crawling. The crawling robot comprises a walking mechanism and an image acquisition device. The running mechanism comprises a vehicle body and two running components, three independent sealed chambers are formed in the vehicle body, the two running components are respectively arranged in the two sealed chambers on the left side and the right side, and the remaining sealed chamber is used for placing the drive control module. The image acquisition device comprises image acquisition equipment and a lifting platform, wherein the lifting platform is arranged on the vehicle body and drives the image acquisition equipment to lift. The crawling robot provided by the application can adapt to complex road conditions in the pipeline and can fully acquire images in the pipeline.

Description

Crawling robot

Technical Field

The application relates to the technical field of, particularly, relate to a robot of crawling.

Background

Nowadays, the technology is developed at a high speed, and various municipal pipelines, long-distance pipelines and industrial pipelines are distributed all over the world. The subsequent pipeline maintenance work becomes a serious concern for the continuous development of the assistance force. Although various pipeline conveying media are different, the maintenance difficulty is almost the same. Therefore, various pipeline crawling robots for pipeline detection and maintenance are produced at the same time.

However, the conventional crawling robot cannot adapt to complicated road conditions in the pipeline, for example, when water or other liquid in the pipeline enters the interior of the crawling robot, a short circuit or other damage occurs, and the crawling robot cannot work normally. Also, it is difficult for the conventional crawling robot to sufficiently acquire images of the inside of the pipeline.

Disclosure of Invention

The application provides a robot of crawling, the robot of crawling can adapt to the interior complicated road conditions of pipeline, can acquire the image in the pipeline fully.

The application provides a crawling robot, which comprises a walking mechanism and an image acquisition device. The running mechanism comprises a vehicle body and two running components, three independent sealed chambers are formed in the vehicle body, the two running components are respectively arranged in the two sealed chambers on the left side and the right side, and the remaining sealed chamber is used for placing the drive control module. The image acquisition device comprises image acquisition equipment and a lifting platform, wherein the lifting platform is arranged on the vehicle body and drives the image acquisition equipment to lift.

Above-mentioned scheme provides the robot of crawling that can fully acquire the image in the pipeline, and should crawl the robot and can adapt to the road conditions that the pipeline is complicated effectively, has reduced the risk that the robot of crawling damages in the pipe, has also reduced cost of maintenance. The running mechanism comprises a vehicle body and two running components, wherein three independent sealed chambers are formed inside the vehicle body so as to respectively install the running components and the drive control module. Wherein, two running gear respectively provide power so that the automobile body marchs, and drive control module is used for controlling running gear. Because the walking assembly and the driving control module are separately sealed in the corresponding sealing chambers, if the crawling robot works in the pipeline, the sealing reliability can be improved, and the crawling robot is prevented from being damaged after water enters the pipeline. Meanwhile, the walking assembly and the driving control module are independently sealed in the corresponding sealing chambers, so that only devices in the damaged sealing chambers are repaired during later maintenance, and the maintenance cost is reduced. Meanwhile, it needs to be explained that the two walking components respectively provide power, so that the crawling robot can adapt to different environments, the probability of incapability of walking caused by skidding or wheel suspension is reduced, and meanwhile, the crawling robot can steer through differential speed due to the fact that the two walking components respectively move, so that the crawling robot can walk between the branch pipe and the main pipe of the pipeline conveniently. Because the crawling robot carries out image acquisition to intraductal through image acquisition equipment, in order to provide the coverage that the image was obtained, utilize lift platform to adjust image acquisition equipment's height to make image acquisition equipment can fully acquire the image in the pipeline.

In one possible implementation manner, the traveling assembly comprises a wheel assembly and a driving mechanism, the wheel assembly comprises at least three wheels, and the driving mechanism drives the at least three wheels to rotate synchronously.

Alternatively, in one possible implementation, the wheels of the wheel assembly are synchronously driven by a gear assembly, and the drive mechanism drives one of the wheels of the wheel assembly.

Optionally, in one possible implementation, the gear assembly includes a drive gear shaft and a transition gear shaft;

the transmission gear shaft is arranged on the vehicle body through a bearing, and the wheel is arranged at one end of the transmission gear shaft;

the transition gear shaft is arranged on the vehicle body through a bearing, the transition gear shaft is positioned between two adjacent transmission gear shafts, and the teeth of the transition gear shaft are meshed with the teeth of the transmission gear shafts.

Optionally, in one possible implementation, the driving mechanism includes a driving motor and a bevel gear assembly, an output axis of the driving motor is parallel to a traveling direction of the vehicle body;

the output end of the driving motor drives a wheel through a bevel gear component.

Optionally, in a possible implementation manner, the lifting platform includes a control cabin, a lifting mechanism and a telescopic push rod, the image acquisition device is disposed in the control cabin, the lifting mechanism has a driving end, a fixing portion and a lifting portion, the fixing portion is used for being fixed on the upper surface of the vehicle body, the lifting portion fixes the control cabin, the telescopic push rod is connected to the control cabin, and an execution end of the telescopic push rod drives the driving end, so that the lifting portion moves up and down relative to the fixing portion.

Optionally, in a possible implementation manner, the fixing part and the lifting part are connected through a connecting rod assembly, so that the lifting part can be lifted relative to the fixing part, and the driving end is arranged on the lifting part;

the telescopic push rod is hinged to the control cabin body, and the execution end of the telescopic push rod is hinged to the driving end.

Optionally, in a possible implementation, the image acquisition device includes a camera component, an auxiliary light source component, and a control PCBA component;

the crawling robot lifting platform further comprises a control cabin cover, and the control cabin cover covers the control cabin body;

the camera component and the auxiliary light source component are arranged at the front end of the control cabin body, and the control PCBA component covers the control cabin body through the control cabin cover.

Optionally, in a possible implementation manner, the driving control module includes a mounting fixing plate and at least two PCBA, the mounting fixing plate includes two vertically arranged mounting plates, and the PCBA of the at least two PCBA is detachably arranged on the mounting plates respectively;

the cavity shape of the sealed cavity is matched with the mounting fixing plate so as to adapt to and support two mounting plates which are vertical to each other.

Optionally, in one possible implementation, the at least two PCBA include a control PCBA and two motor drive PCBA;

the control PCBA is arranged on one of the mounting plates in a quick-release manner through bolts;

two motor drive PCBAs are set on two opposite sides of another mounting plate through bolts in quick-release manner.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a perspective view illustrating a crawling robot according to the present embodiment;

FIG. 2 is a schematic structural view of the vehicle body in the present embodiment;

FIG. 3 is a schematic structural diagram of the walking assembly in the present embodiment from a first viewing angle;

FIG. 4 is a schematic structural diagram of the walking assembly of the present embodiment at a second viewing angle;

FIG. 5 is a schematic structural diagram of a driving control module in the present embodiment;

fig. 6 is a schematic structural view of the wheel in the present embodiment;

FIG. 7 is a schematic structural diagram of an image capturing device according to the present embodiment;

FIG. 8 is a schematic structural diagram of the lifting mechanism of the present embodiment;

fig. 9 is a schematic structural diagram of the image acquisition device and the control cabin in this embodiment.

Icon: 10-a crawling robot; 11-a running gear; 11 a-a vehicle body; 11 b-a walking assembly; 11 c-a drive control module; 12-an image acquisition device; 12 a-an image acquisition device; 12 b-a lifting platform; 20-a wheel assembly; 20 a-a wheel; 21-a drive mechanism; 22-a gear assembly; 40-a drive bay body; 41-driving cabin side plates; 42-drive hatch; 43-motor fixing and mounting seat; 50-mounting a fixing plate; 51-control PCBA; 52-motor drive PCBA; 60-controlling the cabin; 60 a-control hatch; 61-a lifting mechanism; 62-a telescopic push rod; 70-a camera component; 71-an auxiliary light source component; 72-control PCBA; 80-a chute; 90-sealing the chamber; 210-a drive motor; 211-bevel gear assembly; 220-drive gear shaft; 221-a transition gear shaft; 610-a drive end; 611-a fixed part; 612-a lifting section; 613-cross connecting rod; 6110-fixing the rod; 6120-lifting rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.

In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

The technical solution in the present application will be described below with reference to the accompanying drawings.

The embodiment provides a crawling robot 10, and the crawling robot 10 can adapt to complex road conditions in a pipeline and can sufficiently acquire images in the pipeline.

Referring to fig. 1 and 2, fig. 1 shows a schematic perspective structure of a crawling robot 10 in the present embodiment. Fig. 2 shows a specific structure of the vehicle body.

The crawling robot 10 includes a traveling mechanism 11 and an image acquisition device 12. The traveling mechanism 11 includes a vehicle body 11a and two traveling units 11 b.

Three independent sealed chambers 90 are formed inside the vehicle body 11a, two traveling assemblies 11b are respectively arranged in the two sealed chambers 90 positioned on the left side and the right side, and the remaining sealed chamber 90 is used for placing a driving control module 11 c. The image capturing device 12 includes an image capturing device 12a and a lifting platform 12b, and the lifting platform 12b is disposed on the vehicle body 11a and drives the image capturing device 12a to lift.

Wherein, above-mentioned scheme provides one kind can fully acquire the robot 10 of crawling of the image in the pipeline, and should crawl robot 10 and can adapt to the complicated road conditions of pipeline effectively, has reduced the risk that robot 10 of crawling damages in the pipe, has also reduced cost of maintenance. The traveling mechanism 11 includes a vehicle body 11a and two traveling units 11b, and three independent sealed chambers 90 are formed inside the vehicle body 11a to mount the traveling units 11b and the drive control module 11c, respectively. Wherein, the two walking assemblies 11b respectively provide power to make the vehicle body 11a advance, and the driving control module 11c is used for controlling the walking assemblies 11 b. Because the walking assembly 11b and the driving control module 11c are separately sealed in the corresponding sealing chamber 90, if the crawling robot 10 works in the pipeline, the sealing reliability can be improved, and the walking assembly 11b and the driving control module 11c are prevented from being damaged simultaneously after water enters the crawling robot 10. Meanwhile, the traveling assembly 11b and the driving control module 11c are separately sealed from the corresponding sealing chamber 90, so that only the damaged devices in the sealing chamber 90 are repaired during later maintenance, thereby reducing the maintenance cost. Meanwhile, it should be noted that, because the two walking assemblies 11b respectively provide power and each walking assembly has at least three wheels 20a, the crawling robot 10 can adapt to different environments, the probability of incapability of walking caused by skidding or suspension of the wheels 20a is reduced, and meanwhile, because the two walking assemblies 11b respectively move, the crawling robot 10 can perform steering action through differential speed, so that the crawling robot can walk between a branch pipe and a main pipe of a pipeline conveniently. Since the crawling robot 10 performs image acquisition on the inside of the pipe through the image acquisition device 12a, in order to improve the integrity of the image acquisition, the lifting platform 12b is used to adjust the height of the image acquisition device 12a, so that the image acquisition device 12a can sufficiently acquire the image in the pipe.

Referring to fig. 3 and 4, fig. 3 shows a specific structure of the walking assembly 11b in the present embodiment at a first viewing angle, and fig. 4 shows a specific structure of the walking assembly 11b in the present embodiment at a second viewing angle.

The walking assembly 11b comprises a wheel assembly 20 and a driving mechanism 21, wherein the wheel assembly 20 comprises at least three wheels 20a, and the driving mechanism 21 drives the at least three wheels 20a to rotate synchronously.

Each of the wheel assemblies 20 is provided on each of both sides of the vehicle body 11a, and each of the wheel assemblies 20 is driven by a driving mechanism 21 alone, so that each of the wheel assemblies 20 on the traveling side (the side direction of the traveling direction) of the traveling mechanism 11 alone can provide thrust for the traveling of the vehicle body 11 a. In order to enable the crawling robot 10 to cross an obstacle which is difficult to stably cross in a pipeline in a conventional robot, the wheel assembly 20 in the technical scheme includes at least three wheels 20a, that is, at least three wheels 20a exist on each side walking side, at least three wheels 20a are supported in the pipeline, and each wheel 20a can provide thrust due to synchronous transmission of the three wheels 20a, so that the walking mechanism 11 has good stable obstacle crossing capability, the crawling robot 10 can smoothly complete tasks, for example, the crawling robot 10 can stably acquire images in the pipeline and other tasks.

Note that, in the present embodiment, the wheel assembly 20 includes three wheels 20 a.

In order to smooth the transmission, the wheels 20a of the wheel assembly 20 are synchronously transmitted through the gear assembly 22, and the driving mechanism 21 drives one of the wheels 20a of the wheel assembly 20.

The gear assembly 22 includes a drive gear shaft 220 and a transition gear shaft 221. The transmission gear shaft 220 is mounted to the vehicle body 11a via a bearing, and the wheel 20a is mounted to one end of the transmission gear shaft 220. The transition gear shaft 221 is mounted to the vehicle body 11a through a bearing, the transition gear shaft 221 is located between two adjacent transmission gear shafts 220, and teeth of the transition gear shaft 221 are engaged with teeth of the transmission gear shafts 220.

Wherein, in order to make the best use of the sealed chamber 90 of the vehicle body 11a, the driving mechanism 21 comprises a driving motor 210 and a bevel gear assembly 211, and the output axis of the driving motor 210 is parallel to the traveling direction of the vehicle body 11 a. The output of the drive motor 210 drives a wheel 20a via a bevel gear assembly 211.

The vehicle body 11a comprises a driving cabin body 40, a driving cabin side plate 41 and a driving cabin cover 42, grooves are formed in two sides and the upper surface of the driving cabin body 40, the three grooves are used for accommodating two walking assemblies 11b and a driving control module 11c respectively, the three grooves are covered and fixed through bolts through the driving cabin side plate 41 and the driving cabin cover 42 respectively, and sealing rings are arranged to seal the grooves, so that the two walking assemblies 11b and the driving control module 11c are installed in three sealing chambers 90 respectively.

A through hole is formed in the drive compartment side plate 41 to allow the transmission gear shaft 220 to extend to mount the wheel 20a, and a star-shaped seal ring may be disposed between the drive compartment side plate 41 and the transmission gear shaft 220 in order to ensure the sealing between the wheel 20a and the drive compartment side plate 41.

In order to fix the driving motor 210, a motor fixing mounting seat 43 is further provided, and the motor fixing mounting seat 43 fixes the motor and is installed between the driving cabin side plate 41 and the driving cabin body 40.

In the prior art, the PCBAs are assembled one by one, connecting wires among the PCBAs need to be assembled to the shell and then can be connected, the connection is inconvenient, connection test cannot be performed firstly and then the PCBAs can not be assembled (if cables need to be lengthened for external debugging, the cables are messy in a cavity and can interfere with each other), the assembly test can be repeated, the assembly difficulty and time are increased, and the hidden danger that the PCBAs are damaged due to repeated assembly and disassembly is generated; the follow-up maintenance and inspection needs to be dismantled one by one, and the reason of inspection badness is inconvenient for maintenance.

For this reason, referring to fig. 5, fig. 5 shows a specific structure of the drive control module 11 c. The driving control module 11c includes a mounting fixing plate 50 and at least two PCBA, the mounting fixing plate 50 includes two vertically arranged mounting plates, and the PCBA of the at least two PCBA is respectively arranged on the mounting plates in a quick-release manner.

The drive control module 11c provided by the present technical solution can assemble a plurality of PCBA boards onto one mounting and fixing plate 50, connect the connection wires between the PCBA boards first, and then assemble the PCBA boards into the sealed chamber 90 after connecting and adjusting with the system.

The technical scheme adopts a quick-release component type method to install a plurality of PCBA components, the assembly of the PCBA is carried out in an open environment, the installation is convenient, and the connection is also convenient for the connection of cables in the open environment; the PCBA component can be installed in the shell after the whole system runs well, so that the PCBA component is prevented from being damaged due to repeated assembly and disassembly in the debugging process; the PCBA component can be removed integrally during subsequent after-sale maintenance, the reason can be checked in an open environment, the operation is facilitated, and the maintenance time and the maintenance cost are greatly shortened.

Referring again to fig. 2, the cavity for placing the sealed chamber 90 of the drive control module 11c is matched with the mounting plate 50 to accommodate and support two mounting plates perpendicular to each other.

Wherein, need explain, PCBA means the finished product circuit board. It should be noted that an insulating pad may be provided between the PCBA and the fixed mounting plate.

In this embodiment, the number of PCBAs is two, including the control PCBA51 and the two motor drive PCBAs 52.

The control PCBA51 is removably mounted on one of the mounting plates by bolts.

Two motor driven PCBA52 are bolted to the opposite sides of the other mounting plate for quick release.

It should be noted that, in order to improve the traveling stability of the crawling robot 10, the wheels 20a shown in fig. 6 are used, and the wheels 20a are diagonal wheels, so that the crawling robot 10 is in continuous contact with the ground without interruption, and is stable without vibration during the traveling process.

Optionally, referring to fig. 7, fig. 7 shows a specific structure of the image capturing device 12 in this embodiment.

The image capturing device 12 includes an image capturing apparatus 12a and a lifting platform 12 b.

The lifting platform 12b includes a control cabin 60, a lifting mechanism 61, and a telescopic rod 62, the image capturing device 12a is disposed in the control cabin 60, the lifting mechanism 61 has a driving end 610, a fixing portion 611, and a lifting portion 612, the fixing portion 611 is used for being fixed to the upper surface of the vehicle body 11a, the lifting portion 612 fixes the control cabin 60, the telescopic rod 62 is connected to the control cabin 60, and an executing end of the telescopic rod 62 drives the driving end 610, so that the lifting portion 612 moves up and down relative to the fixing portion 611.

When the crawling robot 10 walks in the pipeline, the height of the image acquisition device 12a can be adjusted by the lifting of the lifting mechanism 61, so that the image acquisition device 12a can acquire images with different heights. The telescopic push rod 62 is connected to the control cabin 60, and since the execution end of the telescopic push rod 62 outputs telescopic motion to enable the elevating part 612 to perform elevating motion relative to the fixing part 611, the control cabin 60 can be elevated relative to the vehicle body 11a of the crawling robot 10, so that the height of the image capturing device 12a can be adjusted to fully capture the image in the pipeline.

Referring to fig. 8, fig. 8 shows a specific structure of the lifting mechanism 61.

The fixing portion 611 and the lifting portion 612 are connected by a link assembly so that the lifting portion 612 can be lifted relative to the fixing portion 611, and the driving end 610 is provided to the lifting portion 612. The telescopic push rod 62 is hinged to the control cabin 60, and the execution end of the telescopic push rod 62 is hinged to the driving end 610.

The fixing portion 611 includes two fixing rod members 6110, the lifting portion 612 includes two lifting rod members 6120, the fixing rod members 6110 are connected to the vehicle body 11a through bolts, and the lifting rod members 6120 are connected to the control cabin 60 through bolts.

The connecting rod assembly comprises two crisscross connecting rods 613 (two cross hinged rods), the two crisscross connecting rods 613 are arranged in parallel and are respectively hinged with the fixing rod 6110 and the lifting rod 6120, and when the crisscross rods rotate, the fixing rod 6110 and the lifting rod 6120 move relatively to realize the lifting effect. The fixing bar 6110 and the lifting bar 6120 are respectively provided with a sliding slot 80, and one end of the cross connecting rod 613 is slidably hinged in the sliding slot 80, so as to improve the stroke of the relative movement of the fixing bar 6110 and the lifting bar 6120.

Wherein, the control cabin 60 is L-shaped, the horizontal part of the control cabin is fixed with two lifting rods 6120, and the telescopic push rod 62 is hinged with the control cabin 60 and close to the vertical part thereof. The driving end 610 is a hinged bracket, and the hinged bracket is arranged at one end of the fixing rod 6110 far away from the vertical portion of the control cabin 60. The telescopic push rod 62 is a lead screw telescopic device and comprises a motor, a telescopic lead screw and a push rod with a nut, the motor outputs rotary motion to enable the telescopic lead screw to drive the push rod with the nut to do telescopic motion, and the push rod is arranged on the hinged frame.

It should be noted that, in the above embodiment, since the fixing portion 611 and the lifting portion 612 are connected by the link assembly, the link of the link assembly is rotated by the pushing of the telescopic push rod 62, so as to realize the relative lifting of the fixing portion 611 and the lifting portion 612, and compared with the direct lifting in the prior art, the ratio between the lifting height and the telescopic stroke of the telescopic push rod 62 can be increased. Moreover, by forming the slide groove 80 in the elevating portion 612 and the fixing portion 611, the ratio of the elevating height to the extending/retracting stroke of the extending/retracting push rod 62 can be increased, and the height adjustment range of the image capturing apparatus 12a can be increased.

The image acquisition apparatus 12a includes a camera section 70, an auxiliary light source section 71, and a control PCBA72 section.

Referring to fig. 9, fig. 9 shows a specific structure of the control cabin 60.

The lift platform 12b further includes a control hatch 60a, and the control hatch 60a covers the control cabin 60.

The camera component 70 and the auxiliary light component 71 are disposed at the front end of the control pod 60, i.e., in the vertical portion of the control pod 60, and the control PCBA72 component is closed and sealed to the control pod 60 by the control pod cover 60a, i.e., in a groove in the horizontal portion of the control pod 60. The control PCBA72 component controls the camera component 70 and the auxiliary light source component 71. A rear-view camera unit may be provided to capture an image of the rear of the crawling robot 10 in the traveling direction.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A crawling robot, comprising:

the travelling mechanism comprises a vehicle body and two travelling assemblies, three independent sealed chambers are formed in the vehicle body, the two travelling assemblies are respectively arranged in the two sealed chambers on the left side and the right side, and the remaining sealed chamber is used for placing a driving control module; and

the image acquisition device comprises image acquisition equipment and a lifting platform, wherein the lifting platform is arranged on the vehicle body and drives the image acquisition equipment to lift.

2. The crawling robot of claim 1,

the walking assembly comprises a wheel assembly and a driving mechanism, the wheel assembly comprises at least three wheels, and the driving mechanism drives the at least three wheels to synchronously rotate.

3. The crawling robot of claim 2,

the wheels in the wheel assembly are synchronously driven through a gear assembly, and the driving mechanism drives one of the wheels in the wheel assembly.

4. The crawling robot of claim 3,

the gear assembly comprises a transmission gear shaft and a transition gear shaft;

the transmission gear shaft is mounted on the vehicle body through a bearing, and the wheel is mounted at one end of the transmission gear shaft;

the transition gear shaft is installed on the vehicle body through a bearing, the transition gear shaft is located between two adjacent transmission gear shafts, and the teeth of the transition gear shaft are meshed with the teeth of the transmission gear shafts.

5. The crawling robot of claim 2,

the driving mechanism comprises a driving motor and a bevel gear component, and the output axis of the driving motor is parallel to the advancing direction of the vehicle body;

the output end of the driving motor drives one wheel through the bevel gear component.

6. The crawling robot of claim 1,

lifting platform is including the control cabin body, elevating system and flexible push rod, image acquisition equipment locates the control cabin body, elevating system has drive end, fixed part and lift portion, the fixed part is used for being fixed in the upper surface of automobile body, the lift portion is fixed in the control cabin body, flexible push rod connect in the control cabin body, flexible push rod's execution end drive the drive end makes lift portion for the elevating movement is made to the fixed part.

7. The crawling robot of claim 6,

the fixing part and the lifting part are connected through a connecting rod assembly, so that the lifting part can lift relative to the fixing part, and the driving end is arranged on the lifting part;

the telescopic push rod is hinged to the control cabin body, and an execution end of the telescopic push rod is hinged to the driving end.

8. The crawling robot of claim 6,

the image acquisition equipment comprises a camera component, an auxiliary light source component and a control PCBA component;

the crawling robot lifting platform further comprises a control cabin cover, and the control cabin cover covers the control cabin body;

the camera component and the auxiliary light source component are arranged at the front end of the control cabin body, and the control PCBA component covers the control cabin body through a control cabin cover.

9. The crawling robot of claim 1,

the drive control module comprises an installation fixing plate and at least two PCBAs (printed Circuit Board assemblies), wherein the installation fixing plate comprises two vertically arranged installation plates, and the PCBAs in the at least two PCBAs are arranged on the installation plates in a quick-release manner respectively;

the cavity type of the sealing cavity is matched with the mounting fixing plate so as to adapt to and support the two mounting plates which are vertical to each other.

10. The crawling robot of claim 9,

the at least two PCBAs comprise a control PCBA and two motor drive PCBAs;

the control PCBA is arranged on one of the mounting plates in a quick-release manner through bolts;

two but motor drive PCBA locates the relative both sides of another mounting panel through bolt quick detach ground.

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