CN113580163A - Chassis structure of inspection robot and inspection robot - Google Patents
Chassis structure of inspection robot and inspection robot Download PDFInfo
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- CN113580163A CN113580163A CN202110935962.6A CN202110935962A CN113580163A CN 113580163 A CN113580163 A CN 113580163A CN 202110935962 A CN202110935962 A CN 202110935962A CN 113580163 A CN113580163 A CN 113580163A
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- 238000007689 inspection Methods 0.000 title claims abstract description 61
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 239000003638 chemical reducing agent Substances 0.000 claims description 28
- 230000000007 visual effect Effects 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000000712 assembly Effects 0.000 abstract description 4
- 238000000429 assembly Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 238000004880 explosion Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000003889 chemical engineering Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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Abstract
The invention provides a chassis structure of an inspection robot and the inspection robot, wherein the chassis structure of the inspection robot comprises a chassis and a driving wheel train fixedly arranged on the chassis, the driving wheel train comprises a plurality of groups of walking wheels and driving mechanisms which are in one-to-one correspondence with the plurality of groups of walking wheels, the walking wheels are correspondingly arranged at the bottom end of the chassis, and the driving mechanisms comprise a first driving component for driving the walking wheels to rotate and a second driving component for driving the walking wheels to move straightly; the first driving assembly is fixedly mounted on the top end face of the chassis through a supporting frame, the second driving assembly is connected with the fixing assembly through a gear mechanism, the fixing assembly penetrates through the chassis and is fixedly connected with the walking wheels, and the second driving assembly is perpendicular to the walking wheels. The four-wheel-drive walking mechanism adopts four groups of walking wheels, and each group of walking wheels is provided with a group of driving assemblies I for driving the walking wheels to rotate and a group of driving assemblies II for driving the walking wheels to go straight, so that actions such as turning can be easily finished, and the four-wheel-drive walking mechanism has the characteristics of flexible operation and wide application range.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a chassis structure of an inspection robot and the inspection robot.
Background
The inspection robot is a programmable multifunctional operating machine which is based on a movable sensing execution platform, carries various sensors and is used for customized services such as specific equipment state monitoring, operation, industrial business processing and the like, has the advantages of trackless, adjustability, intellectualization, clustering, high-cold and high-temperature resistance, can automatically and actively perform remote control, replaces manual execution of inspection tasks in an unattended environment, realizes functions such as routine inspection, fixed-point inspection, remote inspection and the like, and is widely applied to special environments such as chemical engineering, electric power and the like;
at present, the inspection robot generally has the problems of clumsy and inflexible motion, when a detection area is narrow, the inspection robot cannot turn and move quickly, so that the inspection robot has the problem of dead angles in the detection of the detection area, and the normal operation of an inspection task is seriously influenced; meanwhile, when a certain gradient exists in a detection area, the existing inspection robot is difficult to ascend and descend due to insufficient self driving force, and an inspection task is difficult to finish autonomously; therefore, a chassis structure of an inspection robot and an inspection robot are needed.
Disclosure of Invention
In view of the above, the present invention is directed to a chassis structure of an inspection robot and an inspection robot, so as to solve the problems of inflexible movement and insufficient driving force of the inspection robot.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a chassis structure of an inspection robot comprises a chassis and a driving wheel train fixedly arranged on the chassis, wherein the driving wheel train comprises a plurality of groups of walking wheels and driving mechanisms which are in one-to-one correspondence with the plurality of groups of walking wheels, the walking wheels are correspondingly arranged at the bottom end of the chassis, and the driving mechanisms comprise a first driving assembly for driving the walking wheels to rotate and a second driving assembly for driving the walking wheels to move straightly;
the first driving assembly is fixedly mounted on the top end face of the chassis through a supporting frame, the second driving assembly is connected with the fixing assembly through a gear mechanism, the fixing assembly penetrates through the chassis and is fixedly connected with the walking wheels, and the second driving assembly is perpendicular to the walking wheels.
Furthermore, the support frame comprises a support mounting plate, two ends of the support mounting plate are fixedly connected with support side plates through bolts, the support side plates are of an L-shaped structure, and the bottom ends of the support side plates are fixedly arranged on the chassis through bolts;
the supporting mounting plate is provided with a first threading hole for connecting the connecting wires in series;
gear shields are fixedly arranged on two sides of the supporting mounting plate.
Furthermore, the first driving assembly comprises a first driving motor, a first speed reducer and an absolute value encoder, an output shaft end of the first driving motor is fixedly connected with an input shaft end of the first speed reducer, and an output shaft end of the first speed reducer penetrates through the supporting and mounting plate and is fixedly connected with a gear mechanism;
the gear mechanism comprises a first gear, the first gear is fixedly arranged at the output shaft end of the first speed reducer, the first gear is in meshed connection with a second gear, and the second gear is fixedly arranged on the chassis through a fixing assembly;
the second gear is further connected with a third gear in a meshed mode, the third gear is fixedly connected with a main shaft of the absolute value encoder, and the absolute value encoder is fixedly arranged on the supporting mounting plate through bolts.
Further, the fixing assembly comprises a fixing shaft seat, the fixing shaft seat is fixedly installed at the bottom end of the chassis through bolts, the top end of the fixing shaft seat penetrates through the upper portion of the chassis and is fixedly connected with the second gear, and a supporting shaft is fixedly connected to the bottom end of the fixing shaft seat;
one end of the supporting shaft is fixedly connected with a connecting block, the connecting block is perpendicular to the supporting shaft, and the end part of the connecting block is fixedly connected with a hub bracket;
the wheel hub support is perpendicular to the connecting block, and one side of the wheel hub support close to the walking wheel is fixedly provided with a fixing flange.
Furthermore, a first through hole penetrating through the center of the fixed shaft seat is formed in the center of the supporting shaft, a second through hole corresponding to the first through hole is formed in the center of the supporting shaft, a third through hole corresponding to the second through hole is formed in the connecting block, and a strip-shaped notch is formed in one side, away from the travelling wheel, of the hub support;
the first through hole, the second through hole, the third through hole and the strip-shaped notch are sequentially communicated to form a second threading hole for connecting the connecting lines in series.
Further, the driving assembly II comprises a driving motor II and a speed reducer II, an output shaft end of the driving motor II is fixedly connected with an input shaft end of the speed reducer II, a mounting flange of the speed reducer II is fixedly connected with a fixing flange through a bolt, an output flange of the speed reducer II is fixedly connected with a tire flange of the travelling wheel through a bolt, and the tire flange is fixedly arranged on the travelling wheel through a bolt;
and a flange cover is fixedly arranged on the outer side of the tire flange.
Further, a motor explosion-proof shell is correspondingly arranged on the outer side of the driving motor II, and a motor shell flange is fixedly arranged at one end, close to the travelling wheel, of the motor explosion-proof shell;
the motor casing flange is fixedly connected with the hub bracket through bolts.
Furthermore, the first driving assembly and the second driving assembly are uniformly and correspondingly connected with motor drivers.
An inspection robot, comprising the chassis structure of an inspection robot according to any one of claims 1 to 8, wherein an explosion-proof shell is fixedly arranged on the outer side of the chassis, and a holder mechanism, a laser radar, an audible and visual alarm and an antenna are fixedly arranged at the top end of the explosion-proof shell;
the top end of the explosion-proof shell is also fixedly provided with a fixed support which is of a U-shaped structure, the bottom end of the fixed support is fixedly arranged on the explosion-proof shell through bolts, and both sides of the fixed support are fixedly provided with gas detectors;
the front end of the explosion-proof shell is fixedly provided with a sound pick-up, a wireless charging receiving plate and two groups of photoelectric sensors, and the two groups of photoelectric sensors are positioned on two sides of the wireless charging receiving plate;
the rear end of the explosion-proof shell is fixedly provided with an explosion-proof loudspeaker, an explosion-proof temperature and humidity detector and an explosion-proof button box for starting and stopping the inspection robot.
Furthermore, the front end and the rear end of the explosion-proof shell are fixedly provided with an explosion-proof magnetic navigation sensor and a plurality of communicating sections.
Compared with the prior art, the inspection robot and the chassis structure thereof have the following beneficial effects:
(1) the chassis structure of the inspection robot and the inspection robot adopt four groups of travelling wheels, each group of travelling wheels is provided with a group of driving assemblies I for driving the travelling wheels to rotate and a group of driving assemblies II for driving the travelling wheels to go straight, so that actions such as turning can be easily finished, and the chassis structure has the characteristics of flexible operation and wide application range;
(2) the chassis structure of the inspection robot and the inspection robot adopt four groups of traveling wheels and driving mechanisms which correspond to the four groups of traveling wheels one to one, have strong power, can flexibly finish up and down slope and obstacle crossing actions, and have obvious field use effect;
(3) the inspection robot chassis structure and the inspection robot chassis structure provided by the invention are compact in structure, stable and reliable in whole vehicle structure, safe and stable in operation, and can be applied to various special working conditions.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of a first angle structure of an inspection robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a second angle of the inspection robot according to the embodiment of the invention;
fig. 3 is a schematic view of a partial structure of an inspection robot according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a first driving assembly, a second driving assembly, a supporting frame and a fixing assembly according to an embodiment of the present invention;
FIG. 5 is a partial schematic structural view of a first driving assembly, a second driving assembly, a supporting frame and a fixing assembly according to an embodiment of the present invention;
FIG. 6 is a plan sectional view of the first driving assembly, the second driving assembly, the supporting frame and the fixing assembly according to the embodiment of the present invention;
fig. 7 is a partial structural schematic view of a fixing assembly according to an embodiment of the invention.
Description of reference numerals:
1-a chassis; 2-travelling wheels; 201-tyre flange; 202-a flange cover; 3-a first drive assembly; 301-drive motor one; 302-a first speed reducer; 303-absolute value encoder; 4-a second driving component; 401-driving motor two; 402-a second speed reducer; 4021-mounting flange; 4022-output flange; 403-explosion-proof housing of the motor; 404-motor case flange; 5-a support frame; 501-supporting the mounting plate; 502-supporting side plates; 503-gear shield; 504-threading hole one; 6-a gear mechanism; 601-gear one; 602-gear two; 603-gear three; 7-a fixation assembly; 701-fixing the shaft seat; 702-a support shaft; 703-connecting blocks; 704-a hub bracket; 705-a fixed flange; 706-a second threading hole; 8-a motor driver; 9-explosion-proof shell; 10-a pan-tilt mechanism; 11-laser radar; 12-audible and visual alarm; 13-an antenna; 14-a fixed support; 15-a gas detector; 16-a sound pick-up; 17-wireless charging receiving board; 18-a photosensor; 19-explosion proof speaker; 20-explosion-proof temperature and humidity detector; 21-explosion-proof button box; 22-explosion proof magnetic navigation sensor; 23-Unicom section.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically 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 invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 3, a chassis structure of an inspection robot comprises a chassis 1 and a driving wheel train fixedly installed on the chassis 1, wherein the driving wheel train comprises a plurality of groups of traveling wheels 2 and driving mechanisms in one-to-one correspondence with the plurality of groups of traveling wheels 2, the traveling wheels 2 are correspondingly installed at the bottom end of the chassis 1, and the driving mechanisms comprise a first driving assembly 3 for driving the traveling wheels 2 to rotate and a second driving assembly 4 for driving the traveling wheels 2 to move straight;
As shown in fig. 4 and 5, the supporting frame 5 includes a supporting mounting plate 501, two ends of the supporting mounting plate 501 are fixedly connected with supporting side plates 502 through bolts, the supporting side plates 502 are L-shaped structures, and bottom ends of the supporting side plates 502 are fixedly arranged on the chassis 1 through bolts;
the supporting and mounting plate 501 is provided with a first threading hole 504 for connecting wires in series;
The first driving assembly 3 comprises a first driving motor 301, a first speed reducer 302 and an absolute value encoder 303, an output shaft end of the first driving motor 301 is fixedly connected with an input shaft end of the first speed reducer 302, and an output shaft end of the first speed reducer 302 is fixedly connected with a gear mechanism 6 through a supporting mounting plate 501;
the gear mechanism 6 comprises a first gear 601, the first gear 601 is fixedly arranged at the output shaft end of the first speed reducer 302, the first gear 601 is in meshing connection with a second gear 602, and the second gear 602 is fixedly arranged on the chassis 1 through a fixing component 7;
the second gear 602 is further connected with a third gear 603 in a meshed manner, the third gear 603 is fixedly connected with a spindle of the absolute value encoder 303, and the absolute value encoder 303 is fixedly arranged on the supporting and mounting plate 501 through bolts; through setting up gear mechanism (6), gear 601 fixed mounting is at the output axle head of speed reducer 302, gear two 602 is through fixed subassembly 7 fixed connection walking wheel 2, realize the rotation of drive assembly 3 drive walking wheel 2, through setting up absolute value encoder 303, the fixed gear three 603 of installing of main shaft end of absolute value encoder, gear three 603 meshes with gear two 602 mutually, can accurately acquire the rotatory data of walking wheel 2, the operating personnel of being convenient for acquire the accurate position of patrolling and examining the robot in real time, control in a flexible way and patrol and examine the robot.
The fixing assembly 7 comprises a fixing shaft seat 701, the fixing shaft seat 701 is fixedly installed at the bottom end of the chassis 1 through bolts, the top end of the fixing shaft seat 701 penetrates through the upper part of the chassis 1 to be fixedly connected with a second gear 602, and a supporting shaft 702 is fixedly connected to the bottom end of the fixing shaft seat 701;
one end of the supporting shaft 702 is fixedly connected with a connecting block 703, the connecting block 703 is perpendicular to the supporting shaft 702, and the end part of the connecting block 703 is fixedly connected with a hub bracket 704;
the hub bracket 704 is perpendicular to the connecting block 703, and a fixing flange 705 is fixedly arranged on one side of the hub bracket 704 close to the road wheel 2.
As shown in fig. 7, a first through hole is formed in the center of the fixed shaft seat 701, a second through hole corresponding to the first through hole is formed in the center of the support shaft 702, a third through hole corresponding to the second through hole is formed in the connecting block 703, and a strip-shaped notch is formed in one side, away from the road wheel 2, of the hub bracket 704;
the first through hole, the second through hole, the third through hole and the strip-shaped notches are sequentially communicated to form a second threading hole 706 which is connected with the connecting wire in series, and the connecting wire of the second driving assembly can penetrate through the second threading hole 706 to be connected with the motor driver 8 in the explosion-proof shell.
As shown in fig. 6, the second driving assembly 4 comprises a second driving motor 401 and a second speed reducer 402, an output shaft end of the second driving motor 401 is fixedly connected with an input shaft end of the second speed reducer 402, a mounting flange 4021 of the second speed reducer 402 is fixedly connected with a fixing flange 705 through bolts, an output flange 4022 of the second speed reducer 402 is fixedly connected with a tire flange 201 of the traveling wheel 2 through bolts, and the tire flange 201 is fixedly arranged on the traveling wheel 2 through bolts;
the outside of tire flange 201 is still fixed and is provided with flange cover 202, through setting up flange cover 202, prevents that the bolt that fixed setting was gone up to tire flange 201 from intaking to rust, improves waterproof, explosion-proof grade.
A motor explosion-proof shell 403 is correspondingly arranged on the outer side of the second driving motor 401, a motor shell flange 404 is fixedly arranged at one end, close to the travelling wheel 2, of the motor explosion-proof shell 403, and the motor explosion-proof shell 403 is fixedly arranged on the outer side of the second driving motor 401 and used for protecting the second driving motor 401 and the second speed reducer 402 and preventing accidental explosion from damaging the motors;
the motor housing flange 404 is fixedly connected to the hub bracket 704 by bolts.
The first driving assembly 3 and the second driving assembly 4 are uniformly and correspondingly connected with the motor drivers 8, and the first driving assembly 3 and the second driving assembly 4 can be driven by arranging the motor drivers 8.
As shown in fig. 1 and 2, an inspection robot includes a chassis 1 structure of an inspection robot according to any one of claims 1 to 8, an explosion-proof housing 9 is fixedly mounted on an outer side of the chassis 1, an explosion-proof level of the inspection robot is improved by arranging the explosion-proof housing 9, a pan-tilt mechanism 10, a laser radar 11, an audible and visual alarm 12 and an antenna 13 are fixedly mounted at a top end of the explosion-proof housing 9, the pan-tilt mechanism 10, the laser radar 11, the audible and visual alarm 12 and the antenna 13 adopted in the technical scheme are all the prior art, and the application of the patent does not improve the same and is not further described in detail;
the top end of the explosion-proof shell 9 is also fixedly provided with a fixed support 14, the fixed support 14 is of a U-shaped structure, the bottom end of the fixed support 14 is fixedly arranged on the explosion-proof shell 9 through bolts, the two sides of the fixed support 14 are fixedly provided with gas detectors 15, and the gas detectors 15 are fixedly arranged on the explosion-proof shell 9 through the arrangement of the fixed support 14;
the front end of the explosion-proof shell 9 is fixedly provided with a sound pick-up 16, a wireless charging receiving plate 17 and two groups of photoelectric sensors 18, and the two groups of photoelectric sensors 18 are positioned on two sides of the wireless charging receiving plate 17;
an explosion-proof loudspeaker 19, an explosion-proof temperature and humidity detector 20 and an explosion-proof button box 21 for starting and stopping the inspection robot are fixedly arranged at the rear end of the explosion-proof shell 9; gas detector 15, adapter 16, the wireless receiving plate 17 that charges that this patent application adopted, photoelectric sensor 18, explosion-proof speaker 19, explosion-proof temperature and humidity detector 20, explosion-proof button box 21 and explosion-proof magnetic navigation sensor 22 are prior art, and this patent application does not improve it, and is specifically no longer further repeated.
The front end and the rear end of the explosion-proof shell 9 are fixedly provided with an explosion-proof magnetic navigation sensor 22 and a plurality of communicating sections 23.
Compared with the prior art, the inspection robot comprises two groups of industrial personal computers, each group of industrial personal computers has different functional divisions, the two groups of industrial personal computers comprise a first industrial personal computer and a second industrial personal computer, the first industrial personal computer is connected with a pan-tilt mechanism 10 through a switch to acquire pan-tilt cameras, visible light cameras and thermal imaging videos and carries out detection and analysis processing through data acquired by the first industrial personal computer, a gas detector 15, a sound pickup 16, an explosion-proof temperature and humidity detector 20, an explosion-proof loudspeaker 19 and a photoelectric sensor 18 are connected with the first industrial personal computer through serial ports, the first industrial personal computer and the second industrial personal computer are connected with the switch through a network, the switch is connected with an antenna through a wireless network module and is used for converting signals acquired by the inspection robot into wireless signals and transmitting the wireless signals to a far back end, the first industrial personal computer is responsible for scheduling and issuing a moving instruction to the second industrial personal computer through a communication bus to realize data transmission of the first industrial personal computer and the second industrial computer, the industrial personal computer two-way is connected with the laser radar 11 through a network, the autonomous movement, accurate point reaching, avoidance, obstacle detouring and other actions of the robot are realized through the laser radar 11, the battery supplies power to the industrial personal computer one and the industrial personal computer two, the battery is connected with the wireless charging receiving plate 17 through the wireless charging control module, the wireless charging control module monitors the electric quantity of the battery, when the electric quantity of the battery is lower than a set threshold value, the industrial personal computer two-way controls the inspection robot to charge the wireless charging pile, the battery is connected with the explosion-proof button box 21 through the electric control module, a start-stop button is arranged in the explosion-proof button box 21 and is used for starting and stopping the inspection robot through one key, the electric control module is also connected with a manual charging port, and the battery is charged through a power supply line; the second industrial personal computer is connected with the photoelectric sensor 18 and the explosion-proof magnetic navigation sensor 22 and is used for positioning navigation and obstacle avoidance of the inspection robot; the first industrial personal computer and the second industrial personal computer are both connected with the motor driver 8 and used for driving the first driving assembly and the second driving assembly and further controlling the movement of the inspection robot.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a patrol and examine chassis structure of robot, includes chassis (1) and the driving wheel train of fixed mounting on chassis (1), the driving wheel train include multiunit walking wheel (2) and with the actuating mechanism of multiunit walking wheel (2) one-to-one, its characterized in that: the walking wheels (2) are correspondingly arranged at the bottom end of the chassis (1), and the driving mechanism comprises a first driving assembly (3) for driving the walking wheels (2) to rotate and a second driving assembly (4) for driving the walking wheels (2) to move straight;
drive assembly (3) are through support frame (5) fixed mounting on the top end face of chassis (1), and drive assembly two (4) are through gear mechanism (6) connection fixed subassembly (7), and fixed subassembly (7) run through chassis (1) and walking wheel (2) fixed connection, and drive assembly two (4) set up with walking wheel (2) are perpendicular.
2. The inspection robot chassis structure according to claim 1, wherein: the supporting frame (5) comprises a supporting mounting plate (501), two ends of the supporting mounting plate (501) are fixedly connected with supporting side plates (502) through bolts, the supporting side plates (502) are of an L-shaped structure, and the bottom ends of the supporting side plates (502) are fixedly arranged on the chassis (1) through bolts;
a first threading hole (504) for connecting wires in series is formed in the supporting and mounting plate (501);
gear shields (503) are fixedly arranged on two sides of the supporting and mounting plate (501).
3. The inspection robot chassis structure according to claim 1, wherein: the first driving assembly (3) comprises a first driving motor (301), a first speed reducer (302) and an absolute value encoder (303), the output shaft end of the first driving motor (301) is fixedly connected with the input shaft end of the first speed reducer (302), and the end part of the output shaft of the first speed reducer (302) penetrates through the supporting mounting plate (501) and is fixedly connected with a gear mechanism (6);
the gear mechanism (6) comprises a first gear (601), the first gear (601) is fixedly arranged at the output shaft end of the first speed reducer (302), the first gear (601) is connected with a second gear (602) in a meshing manner, and the second gear (602) is fixedly arranged on the chassis (1) through a fixing component (7);
the second gear (602) is further connected with a third gear (603) in a meshed mode, the third gear (603) is fixedly connected with a spindle of the absolute value encoder (303), and the absolute value encoder (303) is fixedly arranged on the supporting and mounting plate (501) through bolts.
4. The inspection robot chassis structure according to claim 3, wherein: the fixing assembly (7) comprises a fixing shaft seat (701), the fixing shaft seat (701) is fixedly installed at the bottom end of the chassis (1) through a bolt, the top end of the fixing shaft seat (701) penetrates through the upper portion of the chassis (1) to be fixedly connected with the second gear (602), and the bottom end of the fixing shaft seat (701) is fixedly connected with a support shaft (702);
one end of the supporting shaft (702) is fixedly connected with a connecting block (703), the connecting block (703) is perpendicular to the supporting shaft (702), and the end part of the connecting block (703) is fixedly connected with a hub bracket (704);
the hub bracket (704) is perpendicular to the connecting block (703), and a fixing flange (705) is fixedly arranged on one side of the hub bracket (704) close to the road wheel (2).
5. The inspection robot chassis structure according to claim 4, wherein: a first through hole penetrating through the center of the fixed shaft seat (701), a second through hole corresponding to the first through hole is formed in the center of the support shaft (702), a third through hole corresponding to the second through hole is formed in the connecting block (703), and a strip-shaped notch is formed in one side, away from the travelling wheel (2), of the hub support (704);
the first through hole, the second through hole, the third through hole and the strip-shaped notch are sequentially communicated to form a second threading hole (706) for connecting the connecting wires in series.
6. The inspection robot chassis structure according to claim 4, wherein: the driving assembly II (4) comprises a driving motor II (401) and a speed reducer II (402), an output shaft end of the driving motor II (401) is fixedly connected with an input shaft end of the speed reducer II (402), a mounting flange (4021) of the speed reducer II (402) is fixedly connected with a fixing flange (705) through bolts, an output flange (4022) of the speed reducer II (402) is fixedly connected with a tire flange (201) of the traveling wheel (2) through bolts, and the tire flange (201) is fixedly arranged on the traveling wheel (2) through bolts;
and a flange cover (202) is fixedly arranged on the outer side of the tire flange (201).
7. The inspection robot chassis structure according to claim 6, wherein: a motor explosion-proof shell (403) is correspondingly arranged on the outer side of the second driving motor (401), and a motor shell flange (404) is fixedly arranged at one end, close to the travelling wheel (2), of the motor explosion-proof shell (403);
the motor casing flange (404) is fixedly connected with the hub bracket (704) through bolts.
8. The inspection robot chassis structure according to claim 1, wherein: the first driving assembly (3) and the second driving assembly (4) are uniformly and correspondingly connected with motor drivers (8).
9. The utility model provides a patrol and examine robot which characterized in that: the inspection robot chassis structure comprises the inspection robot chassis structure according to any one of claims 1 to 8, wherein an explosion-proof shell (9) is fixedly arranged on the outer side of the chassis (1), and a holder mechanism (10), a laser radar (11), an audible and visual alarm (12) and an antenna (13) are fixedly arranged at the top end of the explosion-proof shell (9);
a fixed support (14) is fixedly arranged at the top end of the explosion-proof shell (9), the fixed support (14) is of a U-shaped structure, the bottom end of the fixed support (14) is fixedly arranged on the explosion-proof shell (9) through a bolt, and gas detectors (15) are fixedly arranged on two sides of the fixed support (14);
a sound pick-up (16), a wireless charging receiving plate (17) and two groups of photoelectric sensors (18) are fixedly mounted at the front end of the explosion-proof shell (9), and the two groups of photoelectric sensors (18) are positioned on two sides of the wireless charging receiving plate (17);
the rear end of the explosion-proof shell (9) is fixedly provided with an explosion-proof loudspeaker (19), an explosion-proof temperature and humidity detector (20) and an explosion-proof button box (21) for starting and stopping the inspection robot.
10. The inspection robot of claim 9, wherein: the front end and the rear end of the explosion-proof shell (9) are fixedly provided with an explosion-proof magnetic navigation sensor (22) and a plurality of communicating sections (23).
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