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 present application relates to the technical field, in particular, to a crawling robot.

Background technique

With the rapid development of science and technology, various urban municipal pipelines, long-distance pipelines and industrial pipelines are all over the world. The ensuing maintenance of the pipeline has become a top priority for sustainable development. Although various types of pipeline conveying media are different, the maintenance difficulty is almost the same. Therefore, various types of in-pipe crawling robots for pipeline inspection and maintenance emerge as the times require.

However, traditional crawling robots cannot adapt to the complex road conditions in the pipeline. For example, when water or other liquids in the pipeline enter the inside of the crawling robot, there will be short circuits or other damages and cannot work normally. Moreover, it is difficult for the conventional crawling robot to obtain images of the inside of the pipeline sufficiently.

SUMMARY OF THE INVENTION

The present application provides a crawling robot, which can adapt to complex road conditions in a pipeline and can fully acquire images in the pipeline.

The present application provides a crawling robot, which includes a walking mechanism and an image acquisition device. The traveling mechanism includes a car body and two traveling assemblies. Three independent sealed chambers are formed inside the car body. The two traveling assemblies are located in the two sealed chambers located on the left and right sides, respectively. drive control module. The image acquisition device includes an image acquisition device and a lifting platform, and the lifting platform is arranged on the vehicle body and drives the image acquisition device to ascend and descend.

The above solution provides a crawling robot that can fully acquire images in the pipeline, and the crawling robot can effectively adapt to the complex road conditions of the pipeline, thereby reducing the risk of damage to the crawling robot in the pipeline and reducing maintenance costs. The traveling mechanism includes a vehicle body and two traveling assemblies, and three independent sealed chambers are formed inside the vehicle body to install the traveling assemblies and the drive control module respectively. Wherein, the two traveling assemblies respectively provide power to make the vehicle body travel, and the drive control module is used to control the traveling assemblies. Since the walking assembly and the drive control module are individually sealed in the corresponding sealed chambers, if the crawler robot works in the pipeline, the reliability of the seal can be improved, and the crawler robot can be prevented from being damaged after entering the water. At the same time, since the traveling assembly and the drive control module are individually sealed in the corresponding sealed chambers, in the later maintenance, only the damaged devices in the sealed chambers can be repaired, thus reducing the maintenance cost. At the same time, it should be noted that since the two walking components provide power respectively, the crawling robot can adapt to different environments and reduce the probability of being unable to walk due to slippage or the suspension of the wheels. The speed makes the crawling robot perform a turning action, so as to walk between the branch pipe and the main pipe of the convenient pipeline. Since the crawling robot acquires images in the pipe through the image acquisition device, in order to provide the coverage of the image acquisition, a lifting platform is used to adjust the height of the image acquisition device, so that the image acquisition device can fully acquire the images in the pipeline.

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

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

Optionally, in a possible implementation manner, the gear assembly includes a transmission gear shaft and a transition gear shaft;

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

The transition gear shaft is mounted 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 mesh with the teeth of the transmission gear shaft.

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

The output of the drive motor drives a wheel through a bevel gear assembly.

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 provided in the control cabin, and the lifting mechanism has a driving end, a fixing portion, and a lifting portion, and the fixing portion It is used to be fixed on the upper surface of the vehicle body, the lifting part fixes the control cabin body, the telescopic push rod is connected to the control cabin body, and the actuator end of the telescopic push rod drives the driving end, so that the lifting part moves up and down relative to the fixed part.

Optionally, in a possible implementation manner, the fixing portion and the lifting portion are connected by a link assembly, so that the lifting portion can be lifted and lowered relative to the fixing portion, and the driving end is provided at the lifting portion;

The telescopic push rod is hinged to the control cabin, and the execution end of the telescopic push rod is hinged to the drive end.

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

The lifting platform of the crawling robot also includes a control hatch cover, and the control hatch cover is closed to the control cabin body;

The camera part and the auxiliary light source part are arranged at the front end of the control cabin, and the control PCBA part is covered with the control cabin through the control cabin cover.

Optionally, in a possible implementation manner, the drive control module includes a mounting plate and at least two PCBAs, the mounting plate includes two vertically arranged mounting plates, and the PCBAs in the at least two PCBAs are respectively detachable. on the mounting plate;

The cavity shape of the sealed chamber is matched with the mounting fixing plate to accommodate and support two mutually perpendicular mounting plates.

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

The control PCBA can be quickly detached on one of the mounting boards through bolts;

The two motor-driven PCBAs are fast-removed on opposite sides of the other mounting plate through bolts.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following drawings will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is a three-dimensional schematic diagram of a crawling robot in this embodiment;

FIG. 2 is a schematic structural diagram of a vehicle body in this embodiment;

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

4 is a schematic structural diagram of the walking assembly in this embodiment from a second viewing angle;

5 is a schematic structural diagram of a drive control module in this embodiment;

6 is a schematic structural diagram of a wheel in this embodiment;

FIG. 7 is a schematic structural diagram of an image acquisition device in this embodiment;

8 is a schematic structural diagram of the lifting mechanism in this embodiment;

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

Icons: 10-crawling robot; 11-travel mechanism; 11a-car body; 11b-travel assembly; 11c-drive control module; 12-image acquisition device; 12a-image acquisition device; 12b-lifting platform; 20-wheel assembly; 20a-wheel; 21-drive mechanism; 22-gear assembly; 40-drive cabin body; 41-drive cabin side plate; 42-drive cabin cover; 43-motor fixing mount; 50-installation fixing plate; 51-control PCBA ;52-Motor drive PCBA;60-Control cabin;60a-Control hatch;61-Lifting mechanism;62-Telescopic push rod;70-Camera part;71-Auxiliary light source part;72-Control PCBA;80-Chute ;90-seal chamber;210-drive motor;211-bevel gear assembly;220-transmission gear shaft;221-transition gear shaft;610-drive end;611-fixed part;612-lifting part;613-cross connection Rod; 6110 - Fixed Rod; 6120 - Lifting Rod.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the embodiments of the present application, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" The orientation or positional relationship indicated by "" etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that is usually placed when the application product is used, or the orientation or positional relationship that is commonly understood by those skilled in the art, It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present application.

In the description of the embodiments of the present application, it should also be noted that, unless otherwise expressly specified and limited, the terms "arrangement", "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed The connection can also be a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal communication of the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations.

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict.

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

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

Please refer to FIG. 1 and FIG. 2 . FIG. 1 shows a three-dimensional schematic structure of the crawling robot 10 in this embodiment. FIG. 2 shows the specific structure of the vehicle body.

The crawler robot 10 includes a walking mechanism 11 and an image acquisition device 12 . The running mechanism 11 includes a vehicle body 11a and two running assemblies 11b.

Three independent sealed chambers 90 are formed inside the vehicle body 11a, the two traveling assemblies 11b are respectively disposed in the two sealed chambers 90 on the left and right sides, and the remaining one sealed chamber 90 is used to place the drive control module 11c. The image capturing device 12 includes an image capturing device 12a and a lifting platform 12b, and the lifting platform 12b is provided on the vehicle body 11a and drives the image capturing device 12a to ascend and descend.

Among them, the above solution provides a crawling robot 10 that can fully acquire images in the pipeline, and the crawling robot 10 can effectively adapt to the complex road conditions of the pipeline, reducing the risk of damage to the crawling robot 10 in the pipeline, and reducing maintenance costs. . The traveling mechanism 11 includes a vehicle body 11a and two traveling assemblies 11b, and three independent sealed chambers 90 are formed inside the vehicle body 11a to respectively install the traveling assemblies 11b and the driving control module 11c. Wherein, the two traveling assemblies 11b respectively provide power to make the vehicle body 11a travel, and the driving control module 11c is used to control the traveling assemblies 11b. Since the walking assembly 11b and the driving control module 11c are individually sealed in the corresponding sealed chambers 90, if the crawler robot 10 is working in the pipeline, the reliability of the sealing can be improved, and the crawler robot 10 can be prevented from entering the water after it enters the water. , the traveling assembly 11b and the drive control module 11c are damaged at the same time. At the same time, since the traveling assembly 11b and the drive control module 11c are individually sealed in the corresponding sealed chambers 90, in the later maintenance, only the damaged components in the sealed chambers 90 can be repaired, thus reducing the Maintenance costs. At the same time, it should be noted that since 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, reducing slippage or the inability to walk caused by the suspension of the wheels 20a. At the same time, since the two walking assemblies 11b move respectively, the crawling robot 10 can be made to perform a steering action through differential speed, so as to walk between the branch pipe and the main pipe of the convenient pipeline. Since the crawling robot 10 uses the image acquisition device 12a to acquire images in the pipe, 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 fully acquire the images in the pipeline. image.

Please refer to FIGS. 3 and 4 . FIG. 3 shows the specific structure of the walking assembly 11b in this embodiment from a first perspective, and FIG. 4 shows the specific structure of the walking assembly 11b in this embodiment from a second perspective.

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

Two wheel assemblies 20 are respectively provided on both sides of the vehicle body 11a, and each wheel assembly 20 is independently driven by a driving mechanism 21, so that each wheel assembly 20 on the running side of the running mechanism 11 (the lateral orientation in the running direction) can be independently driven. A thrust is provided for the traveling of the vehicle body 11a. Wherein, in order to make the crawling robot 10 overcome obstacles that are difficult for traditional robots to stably overcome in the pipeline, the wheel assembly 20 in this technical solution includes at least three wheels 20a, that is, there are at least three wheels 20a on each side of the walking side, At least three wheels 20a are supported in the pipeline, and due to the synchronous transmission of the three wheels 20a, each wheel 20a can provide thrust, so that the walking mechanism 11 has a good and stable ability to overcome obstacles, so that the crawling robot 10 can To successfully complete the task, for example, the crawler robot 10 can stably acquire tasks such as images in the pipeline.

It should be noted that, in this embodiment, the wheel assembly 20 includes three wheels 20a.

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

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

Wherein, in order to reasonably utilize the sealed chamber 90 of the vehicle body 11a, the driving mechanism 21 includes 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 11a. The output end of the drive motor 210 drives one wheel 20a through the bevel gear assembly 211 .

The vehicle body 11a includes a drive compartment body 40, a drive compartment side panel 41 and a drive compartment cover 42. There are grooves on both sides and on the upper surface of the drive compartment body 40. The three grooves are respectively used for accommodating the two walking assemblies 11b and 11b. The drive control module 11c, and the three grooves are respectively covered by the drive compartment side plate 41 and the drive compartment cover 42 and fixed by bolts, and a sealing ring is provided for sealing, so that the two walking assemblies 11b and the drive control module 11c They are installed in the three sealed chambers 90 respectively.

The side plate 41 of the drive cabin is provided with a through hole, so that the transmission gear shaft 220 can be extended to install the wheel 20a. A star-shaped sealing ring can be set between 220.

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

Among them, in the prior art, the way of installing the PCBA is to assemble the PCBA one by one, and the connection between the PCBAs can only be connected after being assembled to the housing, which is inconvenient to connect, and it is impossible to connect and test first and then assemble (if external debugging is required, Need to lengthen the cable, the cable is messy in the cavity and there will be interference), the assembly test will be repeated, increasing the difficulty and time of assembly, and repeated disassembly and installation of hidden dangers of damage to the PCBA; follow-up maintenance inspections need to be removed one by one, and the inspection is not good The reason is that it is not easy to maintain.

For this purpose, please refer to FIG. 5 , which shows the specific structure of the drive control module 11c. The drive control module 11c includes a mounting plate 50 and at least two PCBAs. The mounting plate 50 includes two vertically arranged mounting plates, and the PCBAs of the at least two PCBAs are respectively fast-detachable on the mounting plates.

The drive control module 11c provided by this technical solution can first assemble a plurality of PCBA boards on one mounting and fixing board 50, connect the connecting lines between the PCBAs first, and then connect to the system for joint debugging, and then assemble it into the sealed chamber 90. Inside.

The technical solution adopts the method of quick-release assembly to install multiple PCBA components, the assembly of PCBA is carried out in an open environment, which is convenient for installation, and the connection is also convenient for cable connection in an open environment; and it can be assembled to Joint debugging is carried out before the shell, and the PCBA components are installed in the shell after the whole system is running well, so as to avoid damage caused by repeated disassembly and assembly of the PCBA during the debugging process; the PCBA components can be removed as a whole during subsequent after-sales maintenance, and the reasons can be checked in an open environment. , which is beneficial to operation and greatly reduces maintenance time and cost.

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

Among them, it needs to be explained that PCBA refers to the finished circuit board. It should be noted that an insulating pad can be arranged between the PCBA and the fixed mounting board.

In this embodiment, the number of PCBAs is two, including a control PCBA 51 and two motor drive PCBAs 52 .

The control PCBA51 is detachably mounted on one of the mounting boards through bolts.

The two motor-driven PCBAs 52 are quickly detachably arranged on opposite sides of the other mounting plate through bolts.

It should be noted that, in order to improve the traveling stability of the crawling robot 10, the wheel 20a as shown in FIG. 6 is used, and the wheel 20a is a twill wheel, so that the crawling robot 10 is in continuous contact with the ground during the traveling process, and is stable and without vibration. .

Optionally, please refer to FIG. 7 , which shows a specific structure of the image acquisition apparatus 12 in this embodiment.

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

The lifting platform 12b includes a control cabin 60, a lifting mechanism 61 and a telescopic push rod 62. The image acquisition device 12a is provided in the control cabin 60. The lifting mechanism 61 has a driving end 610, a fixed part 611 and a lifting part 612. The fixed part 611 is used for Fixed on the upper surface of the vehicle body 11a, the lift portion 612 fixes the control cabin 60, the telescopic push rod 62 is connected to the control cabin 60, and the actuator end of the telescopic push rod 62 drives the drive end 610, so that the lift portion 612 is relative to the fixed portion 611 Do the lifting movement.

When the crawler robot 10 walks in the pipeline, the height of the image capturing device 12a can be adjusted by the lifting and lowering of the lifting mechanism 61, so that the image capturing device 12a can obtain images of different heights. Wherein, the telescopic push rod 62 is connected to the control cabin 60 . Since the execution end of the telescopic push rod 62 outputs telescopic motion so that the lifting portion 612 moves up and down relative to the fixed portion 611 , the control cabin 60 can move relative to the crawler robot 10 . The vehicle body 11a is raised and lowered so that the height of the image capturing device 12a can be adjusted to sufficiently capture the image inside the duct.

Please refer to FIG. 8 , which shows the 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 and lowered relative to the fixing portion 611 , and the driving end 610 is provided on 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 part 611 includes two fixing rods 6110 , the lifting part 612 includes two lifting rods 6120 , the fixing rods 6110 are connected to the vehicle body 11 a by bolts, and the lifting rods 6120 are connected to the control cabin 60 by bolts.

The link assembly includes two cross-links 613 (composed of two cross-hinged rods), the two cross-links 613 are arranged in parallel, and are hinged to the fixed rod 6110 and the lifting rod 6120 respectively. When the rotation occurs, the fixed rod 6110 and the lifting rod 6120 are moved relative to each other, so as to realize the lifting effect. The fixed rod 6110 and the lifting rod 6120 are respectively provided with a chute 80, and one end of the cross link 613 is slidably hinged in the chute 80 to improve the relative movement of the fixed rod 6110 and the lifting rod 6120. .

The control cabin 60 is L-shaped, and two lifting rods 6120 are fixed in the horizontal part, and the telescopic push rod 62 is hinged to the control cabin 60 and close to the vertical part thereof. The driving end 610 is a hinged frame, which is hingedly mounted on one end of the fixed rod 6110 away from the vertical part of the control cabin 60 . The telescopic push rod 62 is a lead screw telescopic device, which includes a motor, a telescopic screw rod and a push rod with a nut. The motor outputs a rotary motion so that the telescopic screw rod drives the push rod with a nut to perform telescopic motion. The push rod is arranged on the hinge frame.

It should be noted that, in the above embodiment, since the fixing portion 611 and the lifting portion 612 are connected by a link assembly, the push rod of the telescopic push rod 62 causes the connecting rod of the link assembly to rotate, so as to realize the fixing portion. The relative lifting of 611 and the lifting portion 612 can improve the ratio of the lifting height to the telescopic stroke of the telescopic push rod 62 compared with the direct push-up of the prior art. In addition, it should be noted that by forming the chute 80 in the lifting part 612 and the fixing part 611, the ratio of the lifting height to the telescopic stroke of the telescopic push rod 62 can be increased, and the height adjustment range of the image capturing device 12a can be improved.

The image capturing device 12a includes a camera part 70, an auxiliary light source part 71, and a control PCBA 72 part.

Please refer to FIG. 9 , which shows the specific structure of the control cabin 60 .

The lift platform 12b further includes a control hatch cover 60a, and the control hatch cover 60a is covered with the control cabin body 60 .

The camera head part 70 and the auxiliary light source part 71 are arranged at the front end of the control cabin 60, that is, at the vertical part of the control cabin 60, and the control PCBA 72 is covered by the control cabin cover 60a and sealed to the control cabin 60, that is, the sealing in the slot in the horizontal part of the control cabin 60 . Among them, the control PCBA 72 part is used to control the camera part 70 and the auxiliary light source part 71 . It should be noted that a rear-view camera component may also be provided, which can acquire images behind the traveling direction of the crawling robot 10 .

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims (10)

1. a crawling robot, is characterized in that, comprises: A traveling mechanism, the traveling mechanism includes a vehicle body and two traveling assemblies, three independent sealed chambers are formed inside the vehicle body, and the two traveling assemblies are respectively arranged in the two sealed chambers located on the left and right sides In the chamber, the remaining one of the sealed chambers is used for the placement of the drive control module; and An image acquisition device, the image acquisition device includes an image acquisition device and a lifting platform, the lifting platform is provided on the vehicle body and drives the image acquisition device to ascend and descend. 2. crawling robot according to claim 1, is characterized in that, The traveling assembly includes a wheel assembly and a drive mechanism, the wheel assembly includes at least three wheels, and the drive mechanism drives the at least three wheels to rotate synchronously. 3. crawling robot according to claim 2, is characterized in that, The wheels in the wheel assembly are synchronously driven through the gear assembly, and the drive mechanism drives one of the wheels in the wheel assembly. 4. crawling robot according to claim 3, is characterized in that, The gear assembly includes 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 on one end of the transmission gear shaft; The transition gear shaft is mounted 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 mesh with the teeth of the transmission gear shaft. 5. crawling robot according to claim 2, is characterized in that, The drive mechanism includes a drive motor and a bevel gear assembly, and the output axis of the drive motor is parallel to the traveling direction of the vehicle body; The output end of the drive motor drives one of the wheels through the bevel gear assembly. 6. crawling robot according to claim 1, is characterized in that, The lifting platform includes a control cabin, a lifting mechanism and a telescopic push rod, the image acquisition device is set in the control cabin, the lifting mechanism has a driving end, a fixing part and a lifting part, and the fixing part is used for fixing On the upper surface of the vehicle body, the lifting part is fixed to the control cabin, the telescopic push rod is connected to the control cabin, and the actuator end of the telescopic push rod drives the driving end, so that the The lifting portion moves up and down relative to the fixing portion. 7. The crawling robot according to claim 6, characterized in that, The fixing portion and the lifting portion are connected by a link assembly, so that the lifting portion can be lifted and lowered relative to the fixing portion, and the driving end is arranged on the lifting portion; The telescopic push rod is hinged to the control cabin, and the execution end of the telescopic push rod is hinged to the drive end. 8. The crawling robot according to claim 6, characterized in that, The image acquisition device includes a camera component, an auxiliary light source component and a control PCBA component; The crawling robot lifting platform further includes a control hatch cover, and the control hatch covers the control cabin body; The camera part and the auxiliary light source part are arranged at the front end of the control cabin, and the control PCBA part is covered with the control cabin through the control cabin cover. 9. The crawling robot according to claim 1, wherein, The drive control module includes a mounting plate and at least two PCBAs, the mounting plate includes two vertically arranged mounting plates, and the PCBAs in the at least two PCBAs are respectively detachably arranged on the mounting plates ; The cavity shape of the sealed chamber is matched with the mounting and fixing plate to accommodate and support two mutually perpendicular mounting plates. 10. The crawling robot according to claim 9, wherein, The at least two PCBAs include a control PCBA and two motor drive PCBAs; The control PCBA is quickly detachable on one of the mounting boards through bolts; The two motor-driven PCBAs are quickly and detachably arranged on opposite sides of the other mounting plate through bolts.

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