CN114683294A - Walking mechanism of inspection robot, inspection robot and inspection system - Google Patents
Walking mechanism of inspection robot, inspection robot and inspection system Download PDFInfo
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- CN114683294A CN114683294A CN202011575809.9A CN202011575809A CN114683294A CN 114683294 A CN114683294 A CN 114683294A CN 202011575809 A CN202011575809 A CN 202011575809A CN 114683294 A CN114683294 A CN 114683294A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 60
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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Abstract
The application relates to the technical field of robots, in particular to a walking mechanism of an inspection robot, the inspection robot and an inspection system. The inspection system is including patrolling and examining robot and circular track, patrols and examines and sets up the running gear who is suitable for walking on circular track on the robot, and this running gear includes the base and installs in the first drive wheel, second drive wheel and the pinch roller of base, and first drive wheel, second drive wheel and pinch roller are configured to be arranged in order to encircle circular track along circular orbital circumferencial direction interval, and the pinch roller is used for coordinating first drive wheel and second drive wheel and presss from both sides tight circular track. The first driving wheel, the second driving wheel and the pressing wheel of the walking mechanism are matched, the circular ring sleeved on the circular track is similar, even if the turning radius of the circular track is small, interference is not easy to be limited, so that the walking path can be set more flexibly, and the problem that the walking path cannot be flexibly set and cannot be close to a key monitoring position due to the fact that the turning radius of the existing inspection robot is large is solved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a walking mechanism of an inspection robot, the inspection robot and an inspection system.
Background
The inspection robot walks according to the planned path to monitor the situation along the planned path in real time or give an abnormal alarm and the like, and is commonly used for power routes, tracks, tunnels, buildings and the like. For example high-rise, super high-rise building room is building the used self-elevating building platform of in-process, at present often through set up the I-shaped track on building platform from elevating, set up the mode real-time supervision of patrolling and examining the robot on the I-shaped track, so that overhaul fast, it is stable to keep each position, avoid appearing potential safety hazard or even safety problem, nevertheless current patrolling and examining the robot need use the I-shaped track because of its running gear, need great turning radius, be not convenient for set up in a flexible way and patrol and examine the route, lead to patrolling and examining the robot and can't be close to key monitoring position.
Disclosure of Invention
The application aims at providing a running gear of patrolling and examining robot, patrolling and examining robot and system of patrolling and examining to the running gear turn radius who patrols and examines the robot among the solution prior art is big, inflexible problem.
The embodiment of the application is realized as follows:
in a first aspect, the embodiment of the application provides a running gear who patrols and examines robot, this running gear is suitable for walking on circular track, and it includes base, first drive wheel, second drive wheel and pinch roller, first drive wheel the second drive wheel with the pinch roller install in the base, first drive wheel the second drive wheel with the pinch roller is configured into along circular orbital circumferencial direction interval arrangement in order to embrace circular track, the pinch roller is used for the cooperation first drive wheel with the circular track is pressed from both sides to the second drive wheel clamp.
This application is through setting up a running gear who is applicable to circular track, and this running gear's first drive wheel, second drive wheel and pinch roller encircle circular track and make running gear be difficult to the derail, and the circular track is pressed from both sides to three wheel clamp under the effect of pinch roller, and first drive wheel and second drive wheel provide power and make running gear follow circular track walking to can not skid owing to keep pressing from both sides tightly.
When running gear drives and patrols and examines robot along circular orbit walking, running gear's first drive wheel, second drive wheel and pinch roller cooperation, similar cover ring on circular orbit, even circular orbital turning radius is less, first drive wheel, the condition that unable smooth turn appears in second drive wheel and pinch roller also difficult restricted, consequently for prior art, because circular orbital turning radius can set up less, the walking route can set up more in a flexible way, alleviate current running gear and can't drive the nimble problem of walking of patrolling and examining robot because turning radius is great, in order to avoid patrolling and examining the robot and can not be close to key monitoring position.
In an embodiment of the present application, optionally, the traveling mechanism further includes a first driving assembly and a second driving assembly, the first driving assembly and the second driving assembly are installed on the base, the first driving assembly is used for driving the first driving wheel, and the second driving assembly is used for driving the second driving wheel.
In the technical scheme, the first driving assembly provides power for the first driving wheel, and the second driving assembly provides power for the second driving wheel, so that the traveling mechanism has enough driving force, and stable traveling is guaranteed.
In an embodiment of the present application, optionally, the traveling mechanism further includes a shock absorbing assembly, and the pinch roller is connected to the base through the shock absorbing assembly.
In above-mentioned technical scheme, when circular track because make reason or use the reason surface irregular, have the hole condition, the pinch roller can keep laminating on circular track's surface under damper assembly's effect, the vibration that produces when not only can alleviating running gear unevenness position can also make first drive wheel, second drive wheel and pinch roller keep pressing from both sides tight circular track, improves running gear's stability greatly, prevents the problem that the walking is skid.
In an embodiment of the present application, optionally, the damping assembly includes a sliding base and an elastic member, the sliding base is slidably disposed on the base, the pressing wheel is rotatably mounted on the sliding base, and the elastic member is elastically supported between the sliding base and the base.
In the technical scheme, the slide base limits the moving path of the pressing wheel, and simultaneously, under the action of the elastic piece, the pressing wheel can keep pressing the circular track along the stable path, and the stability of the travelling mechanism is good.
In an embodiment of the present application, optionally, the base is C-shaped, and the first driving wheel, the second driving wheel and the pressing wheel are arranged at intervals along an extending direction of the base.
In above-mentioned technical scheme, the base of C shape can enough guarantee that first drive wheel, second drive wheel and pinch roller distribute around circular orbital circumference, can set aside the space at circular orbital inner circle again to further avoid circular orbit turning radius undersize and interfere with the base and appear the card and hinder, thereby further alleviate the great problem of turning radius, in order further to make things convenient for nimble extension route that sets up circular orbit, ensure to patrol and examine the nimble walking of robot and be close to key monitoring position.
In an embodiment of the present application, optionally, the first driving wheel is disposed at one end of the base, the second driving wheel is disposed at the other end of the base, and the pressing wheel is disposed in the middle of the base.
In the technical scheme, the base can be arranged with the first driving wheel, the second driving wheel and the pressing wheel, so that the material and the cost are saved, the distances between the pressing wheel and the first driving wheel and between the pressing wheel and the second driving wheel are approximately similar, and the acting force between the first driving wheel and the circular track is approximately the same, so that the walking mechanism is more stable.
In an embodiment of the present application, optionally, the traveling mechanism further includes: and the rotating assembly is installed on the base and used for rotatably connecting the base and the inspection robot body.
In the technical scheme, the rotating assembly on the base enables the traveling mechanism and the inspection robot body to rotate relatively. Under the condition that the robot body of patrolling and examining drives through a running gear, when running gear reachd the turn, the robot body of patrolling and examining can rotate in this position, realizes many visual angles, diversified monitoring. When the inspection robot body is heavy and large in size, the inspection robot can be driven by a plurality of travelling mechanisms, the travelling mechanisms share the load, and the local stress of the connecting part of the travelling mechanisms and the inspection robot can be reduced; and because a plurality of running gear all can rotate for patrolling and examining the robot separately, all rotate along with its self position self-adaptation when each running gear crosses the bend on circular track, each running gear does not influence each other, even less radius of crossing the bend can not block yet, guarantees to patrol and examine the nimble walking of robot.
In an embodiment of the application, optionally, rotating assembly includes bearing frame, slewing bearing and pivot, the bearing frame is used for connecting the robot body is patrolled and examined, the one end of pivot is passed through slewing bearing rotationally connect in the bearing frame, the other end of pivot connect in the base.
In an embodiment of the present application, optionally, at least one of the peripheries of the first driving wheel, the second driving wheel and the pressing wheel is provided with an elastic wear-resistant layer.
In above-mentioned technical scheme, the elasticity wearing layer makes first drive wheel, second drive wheel and pinch roller be difficult to wearing and tearing, and elasticity wearing layer atress compression further ensures first drive wheel, second drive wheel and pinch roller and keeps pressing from both sides tight circular track, improves frictional force in order to prevent skidding, still has better shock attenuation effect.
In a second aspect, the embodiment of the application provides a patrol and examine robot, it is including patrolling and examining robot body and the aforesaid running gear who patrols and examines the robot, running gear install in patrol and examine the top of robot body.
The application provides a patrol and examine robot can keep steady walking on circular orbit, can adapt to circular orbital less turning radius, and the walking is nimble, and the monitoring is more convenient, accurate.
In an embodiment of the application, optionally, two running gear are installed on the inspection robot body.
In above-mentioned technical scheme, two running gear share the load jointly, reduce running gear and patrol and examine the local stress of the connection position of robot, and two running gear all rotate alone along with its self position when crossing the bend on circular track, and two running gear do not influence each other, even less radius of crossing the bend also can satisfy the demand of turning, guarantee to patrol and examine the nimble walking of robot, still make to patrol and examine the robot and be difficult to swing wantonly, improve the stability of patrolling and examining the robot.
In a third aspect, an embodiment of the present application provides an inspection system, which includes a circular track and the foregoing inspection robot.
The application provides a system of patrolling and examining, its circular orbit compare in current I shape track production simple process, with low costs, its turning radius can set up ground less relatively, and the robot can walk in a flexible way in patrolling and examining of complex with it, promotes the monitoring position degree of accuracy.
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 schematic structural diagram of an inspection system provided in an embodiment of the present application;
fig. 2 is a schematic perspective view of a traveling mechanism provided in an embodiment of the present application from a first viewing angle;
fig. 3 is a schematic perspective view of a traveling mechanism provided in an embodiment of the present application from a second viewing angle;
fig. 4 is a schematic perspective view of a traveling mechanism provided in an embodiment of the present application from a third perspective;
FIG. 5 is a front view of a running gear engaged with a circular track provided by an embodiment of the present application;
fig. 6 is a right side view of a running gear provided in an embodiment of the present application engaged with a circular track.
Icon: a-a patrol robot; b, a traveling mechanism; c-circular orbit; 100-a base; 110-a first component; 120-a second component; 130-U-shaped piece; 210-a first drive wheel; 220-a second drive wheel; 230-a pinch roller; 310-a first drive assembly; 311-a first motor; 312-a first reducer; 320-a second drive assembly; 321-a second motor; 322-a second reducer; 400-a shock absorbing assembly; 410-a slide; 420-an elastic member; 500-a rotating assembly; 510-a bearing seat; 520-a slew bearing; 530-rotating shaft.
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.
In the description of the present application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually placed when the product of the application is used, the description is only for convenience and simplicity, and the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application. Furthermore, the appearances of the terms "first," "second," and the like in the description herein are only used for distinguishing between similar elements and are not intended to be construed as indicating or implying relative importance.
Examples
The inspection robot is an intelligent monitoring robot commonly used in application scenes such as power lines, tracks, tunnels, buildings and the like, and is used for running according to a planned path, monitoring the conditions along the planned path and sending out an alarm signal when abnormality occurs.
The present embodiment is described by taking an application scenario of a building platform itself as an example.
The self-elevating building platform is a jacking platform surrounding the periphery of a building, and integrates a concrete spreader, a welding room, a control room, a distribution room, a pump station, a fire-fighting water tank, a material storehouse, a steel bar storage yard and the like on the jacking platform so as to meet the intensive construction requirement of a super high-rise building.
The self-elevating building platform is safe and stable, is related to success or failure of building construction and personal safety of a plurality of constructors, and is often applied to high-rise and super high-rise building construction, so that the self-elevating building platform also relates to peripheral safety of a construction site.
In order to ensure the safety of the self-elevating building platform, an I-shaped rail is arranged on the self-elevating building platform, an inspection robot is arranged on the I-shaped rail, and the inspection robot walks along the I-shaped rail and detects the condition of the self-elevating building platform through technical means such as infrared temperature measurement, image identification comparison and ultrasonic detection.
However, the existing i-shaped track has complex manufacturing process and high cost, and is inconvenient to form smaller turning radius. And the current robot that patrols and examines is used for also can not adapt to the demand of little turning radius better with I shape track complex running gear B, interferes with the track easily when turning radius is less, blocks, leads to unable smooth passing. From this, the route of marcing of current robot of patrolling and examining is limited great, and each key monitoring point position sometimes position is uneven, and the route of marcing of robot of patrolling and examining can not follow the point position of key monitoring as required completely and move ahead in proper order, and to the point position that the part is not convenient for to arrive, can only detect far away in the position of a section horizontal distance apart, and this influences the accuracy of testing result easily, if detection error, leads to easily to appearing the potential safety hazard from building platform of making, even takes place the incident.
The inspection system provided by the embodiment comprises an inspection robot and a circular track C for bearing and guiding the inspection robot, as shown in fig. 1. Compared with the existing I-shaped track, the circular track C has the characteristics of simple production process and low cost, the turning radius of the circular track C can be set to be relatively small, the inspection robot matched with the circular track C can flexibly walk, and the accuracy of the monitoring position is improved.
The inspection robot comprises an inspection robot body A and a traveling mechanism B, wherein the traveling mechanism B is connected to the inspection robot body A, and the traveling mechanism B is used for being matched with a circular track C to realize stable and flexible traveling.
The structure of the traveling mechanism B is shown in fig. 2, 3 and 4, and includes a base 100, a first driving wheel 210, a second driving wheel 220 and a pressing wheel 230.
The first driving wheel 210, the second driving wheel 220, and the pressing wheel 230 are respectively mounted to the base 100, and the first driving wheel 210, the second driving wheel 220, and the pressing wheel 230 are configured to be arranged at intervals in a circumferential direction of the circular track C so as to be able to embrace the circular track C, as shown in fig. 5 and 6.
When the traveling mechanism B travels along the circular track C, the first driving wheel 210, the second driving wheel 220 and the pressing wheel 230 surround the circumference of the circular track C, and the three wheels together form a virtual circular ring, which can be thought of as a circular ring approximately sleeved on the circular track C. Therefore, the travelling mechanism B can adapt to a smaller turning radius and has higher travelling flexibility.
In addition, in the prior art, a plurality of traveling wheels are arranged on the left and the right of the track and clamp the track, so that the traveling wheels and the installation base body thereof are easy to interfere with the track and block, especially the inner ring at the turning position of the track. The arrangement mode of this embodiment, namely, the mode of arranging the first driving wheel 210, the second driving wheel 220 and the pressing wheel 230 around the circumference of the circular track C, reduces the space occupation of the inner ring of the circular track C, further alleviates the problem of jamming between the traveling mechanism B and the circular track C, and the traveling mechanism B is flexible in operation, so compared with the prior art, the turning radius of the circular track C can be set to be smaller, so as to be closer to some key monitoring points better.
In order to further reduce the occupation of the inner ring of the circular track C, the base 100 is configured to be C-shaped, please refer to fig. 1, the notch of the C-shape corresponds to the position of the inner ring of the circular track C, and the first driving wheel 210, the second driving wheel 220 and the pressing wheel 230 are arranged at intervals along the extending direction of the base 100. So, can guarantee that first drive wheel 210, second drive wheel 220 and pinch roller 230 distribute around circular track C's circumference, can further give up the space at circular track C's inner circle again to further avoid because circular track C turning radius undersize and with the running gear B between interfere the card and hinder, thereby further alleviate the great problem of turning radius, in order to conveniently arrange circular track C along the focus monitoring point is nimble, ensure to patrol and examine the nimble walking of robot and be close to the focus monitoring position.
The first driving wheel 210 is disposed at one end of the base 100, the second driving wheel 220 is disposed at the other end of the base 100, and the pinch roller 230 is disposed at the middle of the base 100. This enables the base 100 to be just able to arrange the first drive wheel 210, the second drive wheel 220 and the pinch wheel 230, saving material and cost. The distance between the pinch roller 230 and the first and second drive wheels 210 and 220 is substantially similar, and the acting force between the first and second drive wheels 210 and 220 and the circular track C is substantially the same, so that the traveling mechanism B is more stable.
The C-shape in the present application refers to the shape of an open ring, and the opening angle of the open ring is greater than 0 ° and less than 180 °, so that the distance between the first driving wheel 210 and the second driving wheel 220 is less than the diameter of the circular track C, and the circular track C is not easily separated from the first driving wheel 210 and the second driving wheel 220.
As shown in fig. 6, the first driving wheel 210 is not located at the highest point of the circular track C, the second driving wheel 220 is not located at the lowest point of the circular track C, the first driving wheel 210 and the second driving wheel 220 are respectively located at a side of the circular track C away from the pinch roller 230 (i.e. close to the inner circle of the circular track C), the pinch roller 230 is located at the outer circle of the circular track C, and the three wheels cooperate to clamp the circular track C.
Because circular track C is after using a period, can suffer to collide with in the work progress, lead to the surface to have pothole, perhaps circular track C has irregularity when manufacturing, and these circumstances can lead to running gear B to appear jolting or unstable when walking to circular track C surface unevenness region, appear the drive wheel even and break away from the surface of circular track C and skid and lead to the problem that can't pass smoothly. To ensure that the first drive wheel 210, the second drive wheel 220, and the pinch roller 230 grip the circular track C, the pinch roller 230 is coupled to the base 100 by a shock absorbing assembly 400.
When running gear B is through the unevenness position, pinch roller 230 can keep laminating on circular track C's surface under damper 400's effect, not only can make first drive wheel 210, second drive wheel 220 and pinch roller 230 keep pressing from both sides tight circular track C, can also alleviate the vibration when the warp unevenness position, improve running gear B's stability greatly, prevent the problem that the walking is skid.
The shock absorbing assembly 400 comprises a sliding seat 410 and an elastic member 420, the sliding seat 410 is slidably disposed on the base 100, the pinch roller 230 is rotatably mounted on the sliding seat 410, the elastic member 420 is elastically supported between the sliding seat 410 and the base 100, and the pinch roller 230 is kept in close contact with the surface of the circular track C under the driving of the elastic member 420.
Optionally, at least one of the peripheries of the first driving wheel 210, the second driving wheel 220 and the pressing wheel 230 is provided with an elastic wear-resistant layer, and all three of them are provided with an elastic wear-resistant layer in this embodiment.
The elastic wear-resistant layer is stressed and compressed to further ensure that the first driving wheel 210, the second driving wheel 220 and the pressing wheel 230 are kept clamping the circular track C, the contact area of the surface of the circular track C can be increased after the elastic wear-resistant layer around the wheel deforms, the clamping effect is better, the friction force between the surface of the circular track C and the surface of the circular track C is larger, the clamping degree and the friction surface are improved, and the anti-slip effect is improved.
The elastic wear-resistant layer also has a better shock absorption effect, so that walking is more stable, and the elastic wear-resistant layer enables the first driving wheel 210, the second driving wheel 220 and the pressing wheel 230 not to be easily worn.
Referring to fig. 2, 3 and 6, the base 100 includes a first member 110, a second member 120 and a U-shaped member 130, wherein the first member 110 and the second member 120 are C-shaped, and ends of two arms of the U-shaped member 130 are respectively connected to the first member 110 and the second member 120.
The two arms of the U-shaped member 130 form a sliding rail, the sliding base 410 is engaged with the sliding rail, the elastic member 420 is supported between the bottom of the U-shaped member 130 (i.e. the position opposite to the U-shaped opening) and the sliding base 410, and the pressing wheel 230 is rotatably mounted on the sliding base 410.
First and second drive wheels 210 and 220 are mounted between first and second members 110 and 120, respectively, at opposite ends of the C-shape.
Alternatively, mounting plates are provided at both ends of the C-shape of the base 100, respectively, each of which is coupled between the first unit 110 and the second unit 120, and the axle of the first driving wheel 210 is mounted to one mounting plate and the axle of the second driving wheel 220 is mounted to the other mounting plate, respectively.
The first driving wheel 210 and the second driving wheel 220 can be self-powered wheel hub servo motors, and an external power source can also be used.
In this embodiment, the first driving wheel 210 is powered by a first driving assembly 310, the second driving wheel 220 is powered by a second driving assembly 320, and the first driving assembly 310 and the second driving assembly 320 are mounted to the base 100.
Optionally, the first driving assembly 310 is mounted on the mounting plate where the first driving wheel 210 is located and disposed opposite to the first driving wheel 210, and the second driving assembly 320 is mounted on the mounting plate where the second driving wheel 220 is located and disposed opposite to the second driving wheel 220.
The first driving assembly 310 includes a first motor 311 and a first speed reducer 312, the first motor 311 is connected to a rotating shaft 530 of the first driving wheel 210 through the first speed reducer 312; the second driving assembly 320 includes a second motor 321 and a second speed reducer 322, and the second motor 321 is connected to the rotating shaft 530 of the second driving wheel 220 through the second speed reducer 322.
To further improve walking stability, first drive assembly 310 and second drive assembly 320 are configured to: the rotational speed of the first drive wheel 210 and the rotational speed of the second drive wheel 220 are equalized.
Running gear B's base 100 is connected in patrolling and examining robot body A to be patrolled and examined robot body A and hang on circular track C, running gear B drives and patrols and examines robot body A and remove along circular track C, with the monitoring from building platform of making.
The inspection robot body A can be provided with a traveling mechanism B and also can be provided with a plurality of traveling mechanisms B.
When only one traveling mechanism B is arranged on the inspection robot body A, the traveling mechanism B can be fixedly connected with the inspection robot body A relatively and can also be connected in a relatively rotating mode. Generally speaking, the inspection robot body A can be driven to walk and bend by the traveling mechanism B through direct and relatively fixed connection.
In actual use, in the high air with large wind power, the inspection robot body A is only provided with the single travelling mechanism B, so that the inspection robot body A can easily swing in the air, the self weight of the inspection robot body A can only be set to be larger in order to avoid swinging of the inspection robot body A, and the single travelling mechanism B can not bear the load of the inspection robot body A with larger self weight and larger volume.
However, if the plurality of traveling mechanisms B are provided on the inspection robot body a, although the load can be shared, and the local stress at the connection portion between the traveling mechanisms B and the inspection robot body a can be reduced, the plurality of traveling mechanisms B are restricted from each other, and may be jammed at the time of bending, so that the turning radius of the circular track C is restricted. Further, a rotating assembly 500 is provided in the traveling mechanism B, and the rotating assembly 500 is mounted to the base 100 for rotatably connecting the base 100 and the inspection robot body a.
When a plurality of traveling mechanisms B are arranged on the inspection robot body A, the plurality of traveling mechanisms B can rotate independently relative to the inspection robot body A, so that each traveling mechanism B rotates along with the position of the traveling mechanism B in a self-adaptive manner when the traveling mechanism B bends on the circular track C, each traveling mechanism B does not influence each other, and the inspection robot can flexibly travel even if the smaller bending radius does not block.
For example, fig. 1, in the present embodiment, the inspection robot is movably coupled to the circular track C by two traveling mechanisms B.
Alternatively, the rotating assembly 500 includes a bearing housing 510, a rotary bearing 520, and a rotating shaft 530, the bearing housing 510 is connected to the inspection robot body a, one end of the rotating shaft 530 is rotatably connected to the bearing housing 510 through the rotary bearing 520, and the other end of the rotating shaft 530 is connected to the base 100.
The system of patrolling and examining that this embodiment provided not only is applicable to the monitoring from building platform of making to and aforementioned electric power route, track, tunnel, building etc. are patrolled and examined, also are applicable to pipe installation such as water pipe, gas pipe and patrol and examine, because circular track C's production and installation cost are lower, should patrol and examine the system and also can be applied to the work of patrolling and examining of sewer.
In order to get electricity in real time and guarantee the work of the inspection robot, optionally, a current collector is arranged on the inspection robot body A, and the current collector is used for getting electricity in real time to supply for the inspection robot to work.
In order to better confirm the fault position or facilitate searching the position of the inspection robot, an RFID locator is optionally arranged on the inspection robot body a.
Because the use scene is complicated, for example in this embodiment from building platform of making of rising, its mainly used construction, material or engineering machine tool in the work progress can cause the hindrance to the walking of patrolling and examining the robot, for avoiding patrolling and examining the robot damage, optionally, set up light respectively around patrolling and examining robot body A and keep away the barrier sensor.
The robot is patrolled and examined in convenient control, patrols and examines robot body A accessible WIFI or bluetooth etc. mode and realize being connected with the backstage. And carrying out cyclic inspection work or remote control inspection work according to different work models.
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 (12)
1. The utility model provides a running gear who patrols and examines robot, running gear is suitable for walking on circular track, a serial communication port, running gear includes base, first drive wheel, second drive wheel and pinch roller, first drive wheel the second drive wheel with the pinch roller install in the base, first drive wheel the second drive wheel with the pinch roller is configured to follow circular orbital circumferencial direction interval arrangement in order to embrace circular track, the pinch roller is used for the cooperation first drive wheel with the second drive wheel presss from both sides tight circular track.
2. The inspection robot walking mechanism according to claim 1, wherein the walking mechanism further includes a first driving assembly and a second driving assembly, the first driving assembly and the second driving assembly being mounted to the base, the first driving assembly being configured to drive the first driving wheel, and the second driving assembly being configured to drive the second driving wheel.
3. The inspection robot walking mechanism according to claim 1, wherein the walking mechanism further includes a shock absorbing assembly, and the pinch rollers are connected to the base through the shock absorbing assembly.
4. The inspection robot walking mechanism according to claim 3, wherein the shock absorption assembly includes a slide slidably disposed on the base and an elastic member rotatably mounted on the slide, the elastic member being elastically supported between the slide and the base.
5. The inspection robot walking mechanism according to claim 1, wherein the base is C-shaped, and the first drive wheel, the second drive wheel and the pinch rollers are spaced apart along the extension direction of the base.
6. The inspection robot walking mechanism according to claim 5, wherein the first drive wheel is disposed at one end of the base, the second drive wheel is disposed at the other end of the base, and the pinch roller is disposed in the middle of the base.
7. The inspection robot walking mechanism according to any one of claims 1-6, further including: and the rotating assembly is installed on the base and used for rotatably connecting the base and the inspection robot body.
8. The inspection robot walking mechanism according to claim 7, wherein the rotating assembly includes a bearing seat, a swivel bearing and a rotating shaft, the bearing seat is used for connecting the inspection robot body, one end of the rotating shaft is rotatably connected to the bearing seat through the swivel bearing, and the other end of the rotating shaft is connected to the base.
9. The inspection robot walking mechanism according to claim 1, wherein at least one of the wheel circumferences of the first driving wheel, the second driving wheel and the pinch wheel is provided with an elastic wear-resistant layer.
10. An inspection robot, characterized in that, includes an inspection robot body and at least one traveling mechanism according to any one of claims 1-9, the traveling mechanism is installed on the top of the inspection robot body.
11. The inspection robot according to claim 10, wherein the inspection robot body is provided with at least two travelling mechanisms, and each travelling mechanism is rotatably connected with the inspection robot body.
12. An inspection system comprising a circular track and an inspection robot according to claim 10 or 11.
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| CN202011575809.9A CN114683294A (en) | 2020-12-28 | 2020-12-28 | Walking mechanism of inspection robot, inspection robot and inspection system |
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| CN202011575809.9A CN114683294A (en) | 2020-12-28 | 2020-12-28 | Walking mechanism of inspection robot, inspection robot and inspection system |
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