CN203666388U - Inspection robot and walking mechanism of inspection robot - Google Patents

Abstract

The utility model discloses a walking mechanism, the middle part of the transmission shaft is coaxially fitted with a bearing seat and a reduction box, one side of the transmission shaft is arranged in parallel with a motor reducer, and the output end of the motor reducer is provided with a coaxial linkage The first gear, the transmission shaft is coaxially fitted with the second gear meshed with the first gear; the middle part of the transmission shaft is respectively coaxially fitted with the first deep groove ball bearing matching the bearing seat, and the outer gear box with the gear box. The second deep groove ball bearing matching the end plate, the inner end of the transmission shaft is respectively coaxially fitted with the third deep groove ball bearing and the fourth deep groove ball bearing matching the inner end plate of the reduction box, and The third deep groove ball bearing and the fourth deep groove ball bearing are respectively located on both sides of the inner end plate of the reduction box along the axial direction of the transmission shaft. The walking mechanism can make the movement of the inspection robot more flexible. The utility model also discloses a patrol inspection robot using the walking mechanism.

Description

Inspection robot and its walking mechanism

technical field

The utility model relates to the technical field of inspection robot accessories, in particular to a walking mechanism. The utility model also relates to an inspection robot using the walking mechanism.

Background technique

In the current power grid system, the inspection robot is a relatively common inspection telemetry equipment. As the main structural component, the walking mechanism plays a vital role in the overall working effect of the inspection robot. With the continuous improvement of production and use requirements, people have put forward higher requirements for the performance of the walking mechanism.

At present, the walking mechanism of the existing inspection robot usually adopts a simple motor with a reducer and the driving mode of outputting the power to the wheels. Although this driving mode can meet the basic work needs of the inspection robot, its movement direction The torque output of the machine is insufficient, and it is difficult to realize the free forward and backward operation during the working process, especially in the case of high load, the operation in the driving direction is more difficult.

Therefore, how to make the movement of the inspection robot more flexible is an important technical problem to be solved by those skilled in the art.

Utility model content

The purpose of the utility model is to provide a walking mechanism, which can make the movement of the inspection robot more flexible. Another object of the present utility model is to provide a patrol robot using the above walking mechanism.

In order to solve the above technical problems, the utility model provides a walking mechanism, including a transmission shaft, the outer end of the transmission shaft is coaxially fitted with a wheel hub, and the outer periphery of the wheel hub is coaxially fitted with a tire. The middle part is coaxially fitted with a bearing housing and a reduction box. A motor reducer is arranged parallel to one side of the transmission shaft. The bushing is equipped with a second gear meshed with the first gear;

The middle part of the transmission shaft is coaxially fitted with a first deep groove ball bearing compatible with the bearing seat and a second deep groove ball bearing compatible with the outer end plate of the reduction box. The inner end of the shaft is respectively coaxially fitted with a third deep groove ball bearing and a fourth deep groove ball bearing which are compatible with the inner end plate of the reduction box, and the third deep groove ball bearing and the first Four deep groove ball bearings are respectively located on both sides of the inner end plate of the reduction box along the axial direction of the transmission shaft.

Preferably, the output end of the motor reducer is coaxially sleeved with a first positioning sleeve matched with the first gear.

Preferably, the middle part of the transmission shaft is coaxially sleeved with a second positioning sleeve matched with the second gear.

Preferably, the drive shaft and the hub are linked through splines.

Preferably, the tire is a solid tire.

The utility model also provides an inspection robot, which includes a chassis, and the chassis is provided with a motor and a walking mechanism that cooperate with each other, and the walking mechanism is specifically the walking mechanism described in any one of the above.

With respect to the above-mentioned background technology, the walking mechanism provided by the utility model includes a transmission shaft, the outer end of the transmission shaft is coaxially sleeved with a hub, the outer periphery of the hub is coaxially sleeved with tires, and the middle part of the transmission shaft The coaxial sleeve is equipped with a bearing seat and a reduction box. A motor reducer is arranged parallel to one side of the transmission shaft. The second gear meshed with the first gear is sleeved; the middle part of the transmission shaft is respectively coaxially sleeved with the first deep groove ball bearing matched with the bearing seat, and the outer end of the reduction box The second deep groove ball bearing matching the plate, the inner end of the transmission shaft is coaxially fitted with the third deep groove ball bearing and the fourth deep groove ball bearing matching the inner end plate of the reduction box bearings, and the third deep groove ball bearing and the fourth deep groove ball bearing are respectively located on both sides of the inner end plate of the reduction box along the axial direction of the transmission shaft. During the working process, the first deep groove ball bearing, the second deep groove ball bearing, the third deep groove ball bearing, and the fourth deep groove ball bearing can significantly improve the movement direction of the traveling mechanism. The torque output makes the whole movement process of the inspection robot more flexible.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the schematic diagram of the assembly structure of the walking mechanism provided by a kind of embodiment of the present utility model;

Fig. 2 is a schematic diagram of the assembly structure of the chassis part of the inspection robot provided by a specific embodiment of the present invention.

Detailed ways

The core of the utility model is to provide a walking mechanism, which can make the movement of the inspection robot more flexible; at the same time, it provides an inspection robot using the above-mentioned walking mechanism.

In order to enable those skilled in the art to better understand the solution of the utility model, the utility model will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Please refer to FIG. 1 , which is a schematic diagram of an assembly structure of a walking mechanism provided by a specific embodiment of the present invention.

In a specific embodiment, the walking mechanism provided by the utility model includes a transmission shaft 11, the outer end of the transmission shaft 11 is coaxially sleeved with a hub 12, and the outer periphery of the hub 12 is coaxially sleeved with a tire 13, and the outer end of the transmission shaft 11 is coaxially sleeved with a tire 13. The middle part is coaxially covered with a bearing seat 14 and a reduction box. One side of the transmission shaft 11 is provided with a motor reducer 15 in parallel. The shaft sleeve is equipped with the second gear 162 meshed with the first gear 161; the middle part of the transmission shaft 11 is respectively coaxially sleeved with the first deep groove ball bearing 173 that is compatible with the bearing seat 14, and the outer end plate 191 of the reduction box. The matched second deep groove ball bearing 174, the third deep groove ball bearing 175 and the fourth deep groove ball bearing matching with the inner end plate 192 of the reduction box are respectively coaxially sleeved on the inner end of the transmission shaft 11 176, and the third deep groove ball bearing 175 and the fourth deep groove ball bearing 176 are respectively located on both sides of the inner end plate 192 of the reduction box along the axial direction of the transmission shaft 11. During the working process, the first deep groove ball bearing 173, the second deep groove ball bearing 174, the third deep groove ball bearing 175, and the fourth deep groove ball bearing 176 can significantly improve the torque output in the moving direction of the traveling mechanism, Therefore, the whole moving process of the inspection robot is more flexible.

Further, the output end of the motor reducer 15 is coaxially sleeved with a first positioning sleeve 181 matched with the first gear 161 . The first positioning sleeve 181 can ensure the relative assembly position between the first gear 161 and its associated fittings, so that the overall transmission structure of the traveling mechanism is more stable and reliable.

More specifically, the middle part of the transmission shaft 11 is coaxially sleeved with a second positioning sleeve 182 matched with the second gear 162 . The second positioning sleeve 182 can ensure the relative assembly position between the second gear 162 and its associated fittings, so that the overall transmission structure of the traveling mechanism is more stable and reliable.

On the other hand, the drive shaft 11 and the hub 12 are linked through splines 111 . The assembly structure of this spline connection is relatively simple and reliable, and its transmission efficiency is high. Of course, the connection form between the transmission shaft 11 and the hub 12 is not limited to the spline connection shown in the figure, as long as it can meet the actual use requirements of the running mechanism.

In addition, the tire 13 is a solid tire. The solid tire has good wear resistance, and its structure is simple and reliable, so that the overall structural reliability and service life of the running gear can be correspondingly improved. It should be pointed out that the above-mentioned tire 13 being a solid tire is only a preferred solution, and it is not limited to the solid tire shown in the figure, as long as it can meet the actual use requirements of the running mechanism.

Please refer to FIG. 2 , which is a schematic diagram of the assembly structure of the chassis part of the inspection robot provided by a specific embodiment of the present invention.

In a specific embodiment, the inspection robot provided by the utility model includes a chassis 21, and the chassis 21 is provided with a motor 22 and a walking mechanism 23 that cooperate with each other, and the walking mechanism 23 is specifically the walking mechanism as described in the above embodiments . The movement of the inspection robot is relatively flexible.

In summary, the walking mechanism provided in the utility model includes a transmission shaft, the outer end of the transmission shaft is coaxially fitted with a wheel hub, the outer periphery of the wheel hub is coaxially fitted with tires, and the middle part of the transmission shaft is coaxially fitted with a wheel hub. The shaft sleeve is equipped with a bearing seat and a reduction box. A motor reducer is arranged parallel to one side of the transmission shaft. The output end of the motor reducer is provided with a first gear coaxially linked with it. There is a second gear meshed with the first gear; the middle part of the transmission shaft is coaxially fitted with the first deep groove ball bearing matched with the bearing seat, and the outer end plate of the reduction box The matching second deep groove ball bearing, the inner end of the transmission shaft is respectively coaxially fitted with the third deep groove ball bearing and the fourth deep groove ball bearing matching the inner end plate of the reduction box , and the third deep groove ball bearing and the fourth deep groove ball bearing are respectively located on both sides of the inner end plate of the reduction box along the axial direction of the transmission shaft. During the working process, the first deep groove ball bearing, the second deep groove ball bearing, the third deep groove ball bearing, and the fourth deep groove ball bearing can significantly improve the movement direction of the traveling mechanism. The torque output makes the whole movement process of the inspection robot more flexible.

In addition, the inspection robot provided by the utility model using the above-mentioned walking mechanism can move more flexibly.

The walking mechanism provided by the utility model and the inspection robot using the walking mechanism have been introduced in detail above. In this paper, specific examples are used to illustrate the principle and implementation of the present utility model, and the descriptions of the above embodiments are only used to help understand the method and core idea of the present utility model. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the utility model, some improvements and modifications can also be made to the utility model, and these improvements and modifications also fall into the protection of the claims of the utility model. within range.

Claims (6)

1. A walking mechanism, characterized in that: it comprises a transmission shaft, the outer end of the transmission shaft is coaxially sleeved with a wheel hub, the outer periphery of the wheel hub is coaxially sleeved with tires, and the middle part of the transmission shaft is coaxially sleeved There is a bearing seat and a reduction box, a motor reducer is arranged parallel to one side of the transmission shaft, the output end of the motor reducer is provided with a first gear coaxially linked with it, and the transmission shaft is coaxially sleeved with a a second gear meshed with the first gear; The middle part of the transmission shaft is coaxially fitted with a first deep groove ball bearing compatible with the bearing seat and a second deep groove ball bearing compatible with the outer end plate of the reduction box. The inner end of the shaft is respectively coaxially fitted with a third deep groove ball bearing and a fourth deep groove ball bearing which are compatible with the inner end plate of the reduction box, and the third deep groove ball bearing and the first Four deep groove ball bearings are respectively located on both sides of the inner end plate of the reduction box along the axial direction of the transmission shaft. 2. The traveling mechanism according to claim 1, characterized in that: the output end of the motor reducer is coaxially sleeved with a first positioning sleeve matched with the first gear. 3. The running mechanism according to claim 1, characterized in that: a second positioning sleeve matched with the second gear is coaxially sleeved in the middle of the transmission shaft. 4. The running mechanism according to claim 1, characterized in that: the transmission shaft and the hub are linked through splines. 5. The running gear according to claim 1, characterized in that: said tire is a solid tire. 6. An inspection robot, comprising a chassis, the chassis is provided with a motor and a walking mechanism that cooperate with each other, it is characterized in that: the walking mechanism is specifically the walking mechanism as described in any one of claims 1 to 5 .

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