An omnidirectional wheel train and vacuum leak detection robot

Abstract

The invention discloses an omnidirectional wheel system and a vacuum leak detection robot, and belongs to the technical field of robots. A power gear, which can rotate and can move up and down in different height gears, is arranged at the center of a chassis of the omnidirectional wheel system, wherein the power gear is a spur gear and is driven to rotate through a motor; a plurality of traveling wheel systems are arranged on the chassis around the power gear; a steering spur gear and a transmission spur gear are arranged on each traveling wheel system; the power gear can be lifted up and down to change the gestures of the traveling wheels or to be used for transmitting the traveling power; the vacuum leak detection robot comprises a leak detection mechanism, a telescopic mechanism and a traveling mechanism; the telescopic mechanism is arranged on the upper part of the traveling mechanism; the leak detection mechanism is arranged on the upper part of the telescopic mechanism; a camera is arranged on the leak detection mechanism; the traveling mechanism adopts the omnidirectional wheel system according to the invention. According to the invention, the omnidirectional wheel system is less in power source, reliable and compact in structure and high in degree of freedom; the vacuum leak detection robot is flexible in movement, efficient and good in leak detection effect, and can realize automation and visualization.

Description

Technical field: [0001] The invention belongs to the technical field of robots, and in particular relates to a novel omnidirectional gear train and a vacuum leak detection robot using the same to automatically detect leak points in a vacuum container. Background technique: [0002] With the development of modern chemical industry, aerospace, chemical, nuclear power and other industries have more and more demands on vacuum containers, and vacuum containers are gradually developing in the direction of large-scale, multi-layer, and material composite. In order to achieve heat insulation, heat preservation, anti-rust, moisture-proof and other functions, many vacuum containers are designed as sandwich structures composed of different materials, and the structural forms are becoming more and more complex, which makes vacuum leak detection more and more difficult. [0003] At present, most vacuum containers have complex structures such as insulation layers, decorative panels, or re...

AI Technical Summary

Problems solved by technology

[0004] Due to the limited internal space of the vacuum container, the volume of the leak detection robot is bound to be limited. The existing vacuum leak detection robots usually have limited walking ability, and there is no compact and efficient walking mechanism. The walking of the leak detection robot in the vacuum container will face great challenges. difficulty

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