A wheeled robot with a composite drive that can replace a faulty walking wheel

Abstract

The present invention relates to the technical field of intelligent inspection robots for substations, and specifically discloses a wheeled robot with a composite drive that can replace a faulty walking wheel. The present invention designs a replacement wheel conversion mechanism, and the replacement wheel conversion mechanism and two normal wheels form a three-wheel differential drive system. Once a group fails, the other drive system can automatically switch to replace it. The present invention sets up a walking fault multiplexing mechanism, which combines the linear sliding mechanism for faults and the wheel drive motor for driving the wheel assembly to form a walking fault multiplexing unit. In this way, the linear sliding mechanism, the replacement wheel conversion mechanism, and the screw-nut folding mechanism for driving the wheels to fold and flip only need to be driven by the wheel drive motor of the robot itself, and no additional driving equipment needs to be set up to achieve the folding and flipping of the wheels.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent inspection robots for substations, and particularly to a wheeled robot with composite drive that can replace a faulty walking wheel. Background Art

[0002] Intelligent inspection robots for substations are mainly used for autonomous inspection and data collection of outdoor equipment in substations; through a wireless communication system, the inspection data is transmitted to the local monitoring background in real time to complete functions such as data analysis, processing, early warning, and warning; remote centralized control management of the system is achieved through a remote centralized control background.

[0003] Intelligent inspection robots for substations have functions of autonomous navigation, positioning, charging, and inspection. They apply the technology of combining infrared thermal imaging and high-definition video, accurately identify various instrument readings in the substation and the current and voltage heating phenomena of equipment, timely detect equipment defects, and improve the efficiency of equipment inspection. At the same time, through background data analysis, abnormal information is promptly informed to relevant operation and maintenance personnel so that they can handle abnormal problems in a timely manner. There are generally problems in substations such as a large number of equipment, high density, narrow inspection roads, and complex road conditions. In view of the above situation, the walking requirements for intelligent inspection robots must have characteristics such as strong power, flexible steering, and small turning radius.

[0004] However, the original three-wheel or four-wheel differential drive method has large steering noise, severe shaking, and will shorten the life of the robot. Once any one of the wheel drives fails, it will cause the robot to malfunction, and it is difficult to repair in harsh environments such as substations.

[0005] In view of this, the present invention proposes a wheeled robot with composite drive that can replace a faulty walking wheel. Summary of the Invention

[0006] The purpose of the present invention is to provide a wheeled robot with composite drive that can replace a faulty walking wheel in view of the deficiencies of the prior art.

[0007] To solve the above technical problems, the following technical solutions are adopted:

[0008] A wheeled robot with composite drive that can replace a faulty walking wheel, comprising a vehicle body chassis and four wheel assemblies arranged on the vehicle body chassis, and a screw-nut folding mechanism capable of driving the wheels to fold and turn is connected to each of the four wheel assemblies;

[0009] A linear sliding mechanism and an alternative wheel conversion mechanism are arranged on the vehicle body chassis. The linear sliding mechanism is installed in the middle of the bottom of the vehicle body chassis, and an alternative wheel conversion mechanism capable of sliding along the linear sliding mechanism is provided on the linear sliding mechanism;

[0010] A failure walking multiplexing mechanism is provided between the linear sliding mechanism and the wheel assembly. The failure walking multiplexing mechanism combines the linear sliding mechanism for failure and the wheel drive motor driving the wheel assembly to form a walking failure multiplexing unit.

[0011] When one of the wheels fails, the linear sliding mechanism drives the alternative wheel conversion mechanism to move to one side of the failed wheel. The alternative wheel conversion mechanism is connected to the screw nut folding mechanism, and the alternative wheel conversion mechanism drives the screw nut folding mechanism to move. The screw nut folding mechanism flips the failed wheel upward, and the alternative wheel conversion mechanism and the normal wheels drive the wheeled robot to walk together.

[0012] Furthermore, the failure walking multiplexing mechanism includes an intermediate connection component and a multiplexing clutch component. One end of the intermediate connection component is connected to the linear sliding mechanism, and the other end of the intermediate connection component is connected to the multiplexing clutch component. The multiplexing clutch component is arranged on the wheel assembly.

[0013] Furthermore, the multiplexing clutch component includes a first bevel gear, a second bevel gear, a clutch, and a clutch transmission shaft. The wheel of the wheel assembly is connected to a wheel shaft, and the first bevel gear is sleeved on the wheel shaft. The end of the wheel shaft is connected to a wheel drive motor. The first bevel gear is meshed with the second bevel gear, and the clutch transmission shaft is sleeved inside the second bevel gear. The upper part of the clutch transmission shaft is connected to the clutch, and the upper part of the clutch is connected to the intermediate connection component.

[0014] Furthermore, the intermediate connection component includes a flexible shaft. One end of the flexible shaft is connected to the output end of the multiplexing clutch component, and the other end of the flexible shaft is connected to the input end of the linear sliding mechanism.

[0015] Furthermore, the intermediate connection component includes a plurality of universal couplings connected end to end, a first universal coupling member, and a second universal coupling member. The universal coupling at the head is connected to the first universal coupling member, the first universal coupling member is connected to the output end of the multiplexing clutch component, the flexible shaft at the tail is connected to the second universal coupling member, and the second universal coupling member is connected to the input end of the linear sliding mechanism.

[0016] Furthermore, the linear sliding mechanism includes a slide table for the alternative wheel conversion mechanism to slide. The slide table is fixedly installed on the vehicle body chassis. One side of the slide table is connected to a linear transmission component, the linear transmission component is connected to the alternative wheel conversion mechanism, and the linear transmission component is connected to the intermediate connection component.

[0017] Further, the alternative wheel conversion mechanism includes an alternative wheel and an alternative wheel fixing seat connected to the upper part of the alternative wheel. The alternative wheel fixing seat is slidably mounted on the linear sliding mechanism, and alternative wheel protruding blocks are provided on both sides of the alternative wheel fixing seat.

[0018] Further, the alternative wheel is designed such that the center of the alternative wheel is higher than the center of the wheel of the wheel assembly.

[0019] Further, the screw-nut folding mechanism includes a screw, a nut provided on the screw, and a limiting member provided on the nut. A sliding groove matching the limiting member is provided on the vehicle body chassis;

[0020] Under the action of the limiting member and the sliding groove, after the alternative wheel conversion mechanism is connected to the screw-nut folding mechanism, the alternative wheel conversion mechanism drives the nut of the screw-nut folding mechanism to perform a linear motion, converts the linear motion of the nut into a rotational motion of the screw, and then drives the wheel on the screw to flip upward. The alternative wheel conversion mechanism and the normal wheels together drive the wheeled robot to walk.

[0021] Further, the screw-nut folding mechanism further includes a flipping plate. One side of the flipping plate is connected to the external thread of the screw through a flipping plate hole, and the other side of the flipping plate is connected with a wheel.

[0022] Further, a torsion spring is sleeved on the screw, and the torsion spring is installed in the space formed by the flipping plate hole of the flipping plate and the external thread of the screw.

[0023] Further, a clutch mechanism is provided on the alternative wheel conversion mechanism, and the clutch mechanism is used to put the alternative wheel conversion mechanism and the screw-nut folding mechanism in two states of connection and separation.

[0024] Further, the clutch mechanism includes a nut connection hole provided on the nut and an alternative wheel electromagnetic connection assembly matching the nut connection hole. When the linear sliding mechanism drives the alternative wheel conversion mechanism to move, the alternative wheel electromagnetic connection assembly of the alternative wheel conversion mechanism matches the nut connection block of the screw-nut folding mechanism.

[0025] Further, the clutch mechanism includes a contact connection block provided on the nut and an alternative wheel protruding block matching the contact connection block. When the linear sliding mechanism drives the alternative wheel conversion mechanism to move, the alternative wheel protruding block of the alternative wheel conversion mechanism is in contact connection with the contact connection block of the screw-nut folding mechanism.

[0026] Furthermore, the clutch mechanism includes a nut electromagnetic connection assembly provided on the nut and an alternative wheel connection groove that matches the nut electromagnetic connection assembly. When the linear sliding mechanism drives the alternative wheel conversion mechanism to move, the alternative wheel connection groove of the alternative wheel conversion mechanism matches the nut electromagnetic connection assembly of the screw nut folding mechanism.

[0027] Furthermore, the clutch mechanism includes a contact connection groove provided on the nut and an alternative wheel electromagnetic connection assembly that matches the contact connection groove. When the linear sliding mechanism drives the alternative wheel conversion mechanism to move, the alternative wheel electromagnetic connection assembly of the alternative wheel conversion mechanism is in contact connection with the contact connection groove of the screw nut folding mechanism.

[0028] Furthermore, an electromagnetic restrictor is provided on the vehicle body chassis. The electromagnetic restrictor includes an electromagnetic controller and an electromagnetic bolt. The electromagnetic controller is installed on the vehicle body chassis, and the electromagnetic bolt is provided on the electromagnetic controller. The electromagnetic bolt acts on the nut.

[0029] Due to the adoption of the above technical solution, the following beneficial effects are achieved:

[0030] The present invention is a wheeled robot with a composite drive for replacing a faulty walking wheel. The present invention designs an alternative wheel conversion mechanism. The alternative wheel conversion mechanism and the normal two wheels form a three-wheel differential drive system. Once one group fails, the other drive system can automatically switch to replace it. The present invention sets up a fault walking reuse mechanism. The fault walking reuse mechanism combines the linear sliding mechanism for faults and the wheel drive motor driving the wheel assembly to form a walking fault reuse unit. In this way, the linear sliding mechanism for driving the folding and flipping of the wheels, the alternative wheel conversion mechanism, and the screw nut folding mechanism only need to be driven by the wheel drive motor of the robot itself, and no additional drive equipment needs to be set up to achieve the folding and flipping of the wheels.

[0031] Specifically, when a fault occurs in one of the wheel assemblies, the wheel drive motor drives the wheel shaft to work. Under the meshing action of the first bevel gear and the second bevel gear, the clutch drive shaft is driven to rotate. Then, the main control system controls the clutch to connect the clutch drive shaft and the intermediate connection assembly, thereby driving the linear sliding mechanism to move. Finally, the linear sliding mechanism drives the alternative wheel conversion mechanism to move to one side of the faulty wheel. When the alternative wheel conversion mechanism is connected to the screw nut folding mechanism, the alternative wheel conversion mechanism drives the screw nut folding mechanism to move. The screw nut folding mechanism flips the faulty wheel upward, and the alternative wheel conversion mechanism and the normal wheels drive the wheeled robot to walk together. This can not only solve the inconvenience brought by repairing robots in harsh environments such as substations, but also improve the service life of the walking system of the robot and improve the reliability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below in conjunction with the accompanying drawings:

[0033] Figure 1 Fig. Figure 1 is a schematic perspective view of the bottom surface of a wheeled robot with a composite drive and replaceable faulty walking wheels according to Embodiment 1 of the present invention.

[0034] Figure 2 Fig. Figure 2 is a schematic perspective view of another perspective of a wheeled robot with a composite drive and replaceable faulty walking wheels according to Embodiment 1 of the present invention.

[0035] Figure 3 Fig. Figure 3 is a schematic front view of a wheeled robot with a composite drive and replaceable faulty walking wheels according to Embodiment 1 of the present invention.

[0036] Figure 4 Fig. Figure 4 is a schematic rear view of a wheeled robot with a composite drive and replaceable faulty walking wheels according to Embodiment 1 of the present invention.

[0037] Figure 5 Fig. Figure 5 is a schematic left view of a wheeled robot with a composite drive and replaceable faulty walking wheels according to Embodiment 1 of the present invention.

[0038] Figure 6 Fig. Figure 6 is a schematic right view of a wheeled robot with a composite drive and replaceable faulty walking wheels according to Embodiment 1 of the present invention.

[0039] Figure 7 Fig. Figure 7 is a schematic top view of a wheeled robot with a composite drive and replaceable faulty walking wheels according to Embodiment 1 of the present invention.

[0040] Figure 8 Fig. Figure 8 is a schematic bottom view of a wheeled robot with a composite drive and replaceable faulty walking wheels according to Embodiment 1 of the present invention.

[0041] Figure 9 Fig. Figure 9 is a schematic view of the connection between the replacement wheel conversion mechanism and the screw nut folding mechanism according to Embodiment 1 of the present invention.

[0042] Figure 10 Fig. Figure 10 is a schematic view of the replacement wheel fixing seat according to Embodiment 1 of the present invention.

[0043] Figure 11 Fig. Figure 11 is a schematic view of the nut according to Embodiment 1 of the present invention.

[0044] Figure 12 Fig. Figure 12 is a schematic view of the electromagnetic restraint according to Embodiment 1 of the present invention.

[0045] Figure 13It is a schematic structural diagram of the fault walking multiplexing mechanism according to Embodiment 1 of the present invention.

[0046] Figure 14 It is a three-dimensional structural schematic diagram of a wheeled robot with a composite drive and an alternative fault walking wheel according to Embodiment 2 of the present invention.

[0047] Figure 15 It is a schematic structural diagram of another perspective of a wheeled robot with a composite drive and an alternative fault walking wheel according to Embodiment 2 of the present invention.

[0048] Figure 16 It is a schematic structural diagram of the fault walking multiplexing mechanism according to Embodiment 2 of the present invention.

[0049] Figure 17 It is a schematic structural diagram of the connection between the alternative wheel conversion mechanism and the screw nut folding mechanism according to Embodiment 3 of the present invention.

[0050] Figure 18 It is a schematic structural diagram of the alternative wheel fixing seat according to Embodiment 3 of the present invention.

[0051] Figure 19 It is a schematic structural diagram of the nut according to Embodiment 3 of the present invention.

[0052] Figure 20 It is a schematic structural diagram of the connection between the alternative wheel conversion mechanism and the screw nut folding mechanism according to Embodiment 4 of the present invention.

[0053] Figure 21 It is a schematic structural diagram of the alternative wheel fixing seat according to Embodiment 4 of the present invention.

[0054] Figure 22 It is a schematic structural diagram of the nut according to Embodiment 4 of the present invention.

[0055] Figure 23 It is a schematic structural diagram of the connection between the alternative wheel conversion mechanism and the screw nut folding mechanism according to Embodiment 5 of the present invention.

[0056] Figure 24 It is a schematic structural diagram of the alternative wheel fixing seat according to Embodiment 5 of the present invention.

[0057] Figure 25 It is a schematic structural diagram of the nut according to Embodiment 5 of the present invention.

[0058] Figure 26 It is a bottom three-dimensional structural schematic diagram of a wheeled robot with a composite drive and an alternative fault walking wheel according to Embodiment 6 of the present invention.

[0059] Figure 27 It is a three-dimensional structural schematic diagram of the alternative wheel conversion mechanism with a lifting device according to Embodiment 6 of the present invention.

[0060] Figure 28 It is a schematic three-dimensional structure diagram of another way to replace the lifting device on the wheel conversion mechanism according to Embodiment 6 of the present invention.

[0061] In the figure: 1-vehicle chassis, 2-wheel assembly, 3-screw nut folding mechanism, 4-linear sliding mechanism, 5-replacement wheel conversion mechanism, 6-clutch mechanism, 7-electromagnetic limiting member, 8-intermediate connection assembly, 9-reusable clutch assembly, 10-lifting device.

[0062] 11-sliding groove, 12-flipping groove, 13-vehicle chassis through hole.

[0063] 21-wheel, 22-wheel drive motor, 23-wheel shaft, 24-wheel bracket.

[0064] 31-screw rod, 32-nut, 33-limiting member, 34-flipping plate, 35-first bearing seat, 36-second bearing seat, 37-limiting seat, 39-torsion spring.

[0065] 341-flipping convex block, 342-flipping plate hole.

[0066] 41-slide table, 42-linear drive assembly.

[0067] 51-replacement wheel, 52-replacement wheel fixing seat.

[0068] 61-contact connection block, 62-replacement wheel convex block, 63-contact connection groove, 64-replacement wheel electromagnetic connection assembly, 65-nut electromagnetic connection assembly, 66-replacement wheel connection groove, 67-nut connection hole.

[0069] 641-replacement wheel electromagnetic controller, 642-replacement wheel electromagnetic pin, 643-replacement wheel fixing plate, 644-replacement wheel extension plate.

[0070] 651-nut electromagnetic controller, 652-nut electromagnetic pin, 653-nut mounting plate.

[0071] 71-electromagnetic controller, 72-electromagnetic pin.

[0072] 81-flexible shaft, 82-universal coupling, 83-first universal coupling member, 84-second universal coupling member.

[0073] 91-first bevel gear, 92-second bevel gear, 93-clutch, 94-clutch drive shaft.

[0074] 101-planar cam, 102-linear bearing seat, 103-lifting column, 104-lifting spring, 105-upper moving seat, 106-lower moving seat. Detailed implementation mode

[0075] To make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention. Embodiment

[0076] As Figure 1-13 shown, a wheeled robot with a composite drive for replacing a faulty walking wheel includes a vehicle body chassis 1 and four wheel assemblies 2 provided on the vehicle body chassis 1. Each of the four wheel assemblies 2 is connected to a screw-nut folding mechanism 3 that can drive the wheel 21 to fold and turn.

[0077] The four wheel assemblies 2 respectively include two front-side wheels 21 and two rear-side wheels 21 provided on the vehicle body chassis 1, and wheel drive motors 22 that drive the four wheels 21 to move respectively. This part is prior art and will not be described in detail one by one.

[0078] Specifically, each of the four wheel assemblies 2 includes a wheel 21, a wheel drive motor 22, a wheel shaft 23, and a wheel bracket 24. The wheel 21 is connected to the wheel shaft 23, the wheel shaft 23 is connected to the wheel drive motor 22, the wheel drive motor 22 is connected to the wheel bracket 24 through a motor bracket, and the wheel bracket 24 is connected to a turning plate.

[0079] Specifically, a linear sliding mechanism 4 and an alternative wheel conversion mechanism 5 are provided on the vehicle body chassis 1. The linear sliding mechanism 4 is installed in the middle of the bottom of the vehicle body chassis 1, and the alternative wheel conversion mechanism 5 that can slide along the linear sliding mechanism 4 is provided on the linear sliding mechanism 4.

[0080] A fault walking multiplexing mechanism is provided between the linear sliding mechanism 4 and the wheel assembly 2. The fault walking multiplexing mechanism combines the linear sliding mechanism 4 for faults and the wheel drive motor 22 that drives the wheel assembly 2 to form a walking fault multiplexing unit. In this way, the linear sliding mechanism 4, the alternative wheel conversion mechanism 5, and the screw-nut folding mechanism 3 that drive the wheel 21 to fold and turn only need to be driven by the wheel drive motor 2 of the robot itself, and no additional driving equipment needs to be provided to realize the folding and turning of the wheel 21.

[0081] Specifically, when one of the wheels 21 fails, the linear sliding mechanism 4 drives the alternative wheel conversion mechanism 5 to move to one side of the faulty wheel 21. The alternative wheel conversion mechanism 5 is connected to the screw-nut folding mechanism 3. The alternative wheel conversion mechanism 5 drives the screw-nut folding mechanism 3 to move. The screw-nut folding mechanism 3 flips the faulty wheel 21 upward, and the alternative wheel conversion mechanism 5 and the normal wheel 21 together drive the wheeled robot to move forward.

[0082] As a further illustration of the embodiments of the present invention, the faulty walking multiplexing mechanism includes an intermediate connection assembly 8 and a multiplexing clutch assembly 9. One end of the intermediate connection assembly 8 is connected to the linear sliding mechanism 4, and the other end of the intermediate connection assembly 8 is connected to the multiplexing clutch assembly 9. The multiplexing clutch assembly 9 is arranged on the wheel assembly 2.

[0083] As a further illustration of the embodiments of the present invention, the multiplexing clutch assembly 9 includes a first bevel gear 91, a second bevel gear 92, a clutch 93, and a clutch transmission shaft 94. A wheel shaft 23 is connected to the wheel 21 of the wheel assembly 2. The first bevel gear 91 is sleeved on the wheel shaft 23. A wheel drive motor 22 is connected to the end of the wheel shaft 3. The first bevel gear 91 is meshed with the second bevel gear 92. The clutch transmission shaft 94 is sleeved inside the second bevel gear 92. The upper part of the clutch transmission shaft 94 is connected to the clutch 93, and the upper part of the clutch 93 is connected to the intermediate connection assembly 8. Specifically, when one of the wheel assemblies 2 fails, the wheel drive motor 22 drives the wheel shaft to work. Under the meshing action of the first bevel gear 91 and the second bevel gear 92, the clutch transmission shaft 94 is driven to rotate. Then, the main control system controls the clutch 93 to connect the clutch transmission shaft 94 and the intermediate connection assembly 8, thereby driving the linear sliding mechanism 4 to move. Finally, the linear sliding mechanism 4 drives the alternative wheel conversion mechanism 5 to move to one side of the faulty wheel 21. When the alternative wheel conversion mechanism 5 is connected to the screw-nut folding mechanism 3, the alternative wheel conversion mechanism 5 drives the screw-nut folding mechanism 3 to move. The screw-nut folding mechanism 3 flips the faulty wheel 21 upward, and the alternative wheel conversion mechanism 5 and the normal wheel 21 together drive the wheeled robot to move forward. This can not only solve the inconvenience caused by the maintenance robot in harsh environments such as substations, but also improve the service life of the walking system of the robot and enhance the reliability of the robot.

[0084] As a further description of the embodiments of the present invention, the intermediate connection component 8 includes a flexible shaft 81. One end of the flexible shaft 81 is connected to the output end of the multiplexing clutch component 9, and the other end of the flexible shaft 81 is connected to the input end of the linear sliding mechanism 4. Since the wheel assembly 2 needs to be folded and flipped, the distance and angle from the sliding table 41 will change. Therefore, in this embodiment, by setting the flexible shaft 81, the force of the wheel 21 driving motor is smoothly transmitted to the linear sliding mechanism 4, and the linear sliding mechanism 4 for fault use and the wheel driving motor 22 driving the wheel assembly 2 are combined to form a walking fault multiplexing unit. In this way, the linear sliding mechanism 4, the alternative wheel conversion mechanism 5, and the screw nut folding mechanism 3 for driving the folding and flipping of the wheel 21 only need to be driven by the wheel driving motor 22 of the robot itself, and no additional driving device needs to be set, so that the folding and flipping of the wheel 21 can be realized.

[0085] As a further description of the embodiments of the present invention, the linear sliding mechanism 4 includes a sliding table 41 on which the alternative wheel conversion mechanism 5 can slide. The sliding table 41 is fixedly installed on the vehicle body chassis 1. One side of the sliding table 41 is connected with a linear transmission component 42, the linear transmission component 42 is connected with the alternative wheel conversion mechanism 5, and the linear transmission component 42 is connected with the intermediate connection component 8.

[0086] As a further description of the embodiments of the present invention, the linear transmission component 42 is connected with a screw nut device or a slide rail slider device. In this embodiment, the linear transmission component 42 is connected with a screw nut device, and the screw nut device is arranged in the sliding table 41. The screw nut device can drive the alternative wheel conversion mechanism 5 to slide on the sliding table 41.

[0087] Specifically, the linear transmission component 42 can be an existing reduction transmission device such as a gear reduction transmission box for transmission, a worm and worm gear reduction transmission box, or a bevel gear reduction transmission box. By setting a reasonable linear transmission component 42, not only can a reasonable screw rotation speed be output to the screw nut device, but also the torque transmitted from the intermediate connection component 8 can be steered, which is convenient for better transmission to the screw nut device, and then drives the alternative wheel conversion mechanism 5 to slide on the sliding table 41. However, if the reasonable torque and speed have been adjusted in the intermediate connection component 8, the linear transmission component 42 may not be set.

[0088] As a further description of the embodiments of the present invention, the alternative wheel conversion mechanism 5 includes an alternative wheel 51 and an alternative wheel fixing seat 52 connected to the upper part of the alternative wheel 51. The alternative wheel fixing seat 52 is slidably installed on the linear sliding mechanism 4, and the alternative wheel protrusion blocks 62 are arranged on both sides of the alternative wheel fixing seat 52.

[0089] Preferably, the replacement wheel 51 in this embodiment can be an existing universal wheel, wheel 21, etc. Preferably, it is a universal wheel.

[0090] Specifically, the replacement wheel fixing seat 52 is a U-shaped seat, and the inner surface of the U-shaped seat is attached to the slide table 41 of the linear sliding mechanism 4, facilitating the linear sliding mechanism 4 to drive the replacement wheel conversion mechanism 5 to slide.

[0091] As a further description of the embodiment of the present invention, the screw nut folding mechanism 3 includes a screw rod 31, a nut 32 arranged on the screw rod 31, and a limiting member 33 arranged on the nut 32. A sliding groove 11 matching the limiting member 33 is provided on the vehicle body chassis 1.

[0092] Specifically, the limiting member 33 can be a limiting pin, a limiting rod, a limiting block or a limiting protrusion. The limiting member 33 can also be designed with a driving member that can drive the limiting pin, the limiting rod, the limiting block or the limiting protrusion to insert into the sliding groove 11 on the basis of the limiting pin, the limiting rod, the limiting block or the limiting protrusion. The driving member can be an existing electromagnetic limiting device, a magnetic attraction limiting device, a push rod motor, etc., for better controlling the limiting member 33 to insert into the sliding groove 11, ensuring that when the replacement wheel conversion mechanism 5 drives the screw nut folding mechanism 3 to move, the nut 32 moves linearly along with the replacement wheel conversion mechanism 5, and converting the linear motion of the nut 32 into the rotational motion of the screw rod 31, ensuring that the screw rod 31 drives the wheel 21 to flip upward, preventing the faulty wheel assembly 2 from affecting the normal walking of the robot.

[0093] Specifically, the limiting member 33 can be integrally formed with the nut 32, or the limiting member 33 and the nut 32 are separately designed. During use, the limiting member 33 and the nut 32 are fixedly connected together.

[0094] Preferably, the limiting member 33 and the nut 32 in this embodiment are integrally formed, and the limiting member 33 is a limiting block.

[0095] Specifically, in this embodiment, under the action of the limiting member 33 and the sliding groove 11, after the replacement wheel conversion mechanism 5 is connected to the screw nut folding mechanism 3, the replacement wheel conversion mechanism 5 drives the nut 32 of the screw nut folding mechanism 3 to move linearly, converting the linear motion of the nut 32 into the rotational motion of the screw rod 31, and then driving the wheel 21 on the screw rod 31 to flip upward, preventing the faulty wheel assembly 2 from affecting the normal walking of the robot, so that the replacement wheel conversion mechanism 5 and the normal wheel 21 drive the wheeled robot to walk together.

[0096] As a further illustration of the embodiments of the present invention, the screw-nut folding mechanism 3 further includes a turning plate 34. One side of the turning plate 34 is connected to the screw rod 31, and the other side of the turning plate 34 is connected with a wheel 21. Specifically, the turning plate 34 is connected through a wheel bracket 24. The wheel bracket 24 is connected with a wheel driving motor 22. The wheel driving motor 22 is connected with a wheel shaft 23, and the wheel shaft 23 is connected with a wheel 21.

[0097] Specifically, the turning plate 34 is provided with a turning raised block 341 on one side of the screw rod 31. The vehicle body chassis 1 is provided with a turning groove 12 that matches the turning raised block 341. By providing the turning raised block 341 and the turning groove 12, when the screw rod 31 drives the turning plate 34 to rotate, it is convenient to form a rotation space between the turning raised block 341 and the turning groove 12, ensuring that the faulty wheel 21 can be smoothly turned upwards and improving the layout rationality of the entire structure.

[0098] As a further illustration of the embodiments of the present invention, a torsion spring 39 is sleeved on the screw rod 31. The torsion spring 39 is installed in the space formed by the turning plate hole 342 of the turning plate 34 and the external thread of the screw rod 31. Specifically, by providing the torsion spring 39, the wheel 21 and the vehicle body chassis 1 are in a vertical state. Only when an external force acts and it is necessary to overcome the force of the torsion spring 39 additionally, the turning plate 34 will drive the wheel 21 group to rotate. This ensures that the wheel 21 in normal use is always in a moving state, and the moving wheel 21 will not be turned over due to the existence of the screw-nut folding mechanism.

[0099] As a further illustration of the embodiments of the present invention, the screw-nut folding mechanism 3 further includes a first bearing seat 35, a second bearing seat 36 and a limit seat 37. The first bearing seat 35, the second bearing seat 36 and the screw rod 31 are all fixedly installed on the vehicle body chassis 1, and the first bearing seat 35 and the second bearing seat 36 are respectively arranged on the left and right sides of the screw rod 31. In addition, the limit seat 37 is arranged on the screw rod 31, and a space for installing the turning plate 34 is formed between the limit seat 37 and the first bearing seat 35, facilitating that the turning plate 34 will not deviate axially from the screw rod 31 during turning.

[0100] As a further illustration of the embodiments of the present invention, the screw rod 31 can be provided with a threaded section that matches the nut 32 within the stroke range of the nut 32, and the threaded section can be not provided on the side where the turning plate 34 is installed, and a key is provided on this section to ensure that the turning plate 34 and the screw rod 31 are fixedly connected together, ensuring that there is no relative rotational sliding between the turning plate 34 and the screw rod 31, so as to ensure that the turning plate 34 can smoothly drive the faulty wheel 21 upwards.

[0101] Specifically, a clutch mechanism 6 is provided on the alternative wheel conversion mechanism 5, and the clutch mechanism 6 is used to connect and disconnect the alternative wheel conversion mechanism 5 and the lead screw nut folding mechanism 3 in two states.

[0102] As a further description of the embodiment of the present invention, the clutch mechanism 6 includes a contact connection block 61 provided on the nut 32 and an alternative wheel protrusion block 62 that matches the contact connection block 61. When the linear sliding mechanism 4 drives the alternative wheel conversion mechanism 5 to move, the alternative wheel protrusion block 62 of the alternative wheel conversion mechanism 5 is in contact connection with the contact connection block 61 of the lead screw nut folding mechanism 3.

[0103] Specifically, by providing the contact connection block 61 and the alternative wheel protrusion block 62, when the linear sliding mechanism 4 drives the alternative wheel conversion mechanism 5 to move to one side of the faulty wheel 21, the protruding part of the alternative wheel protrusion block 62 is in contact and fit with the protruding part of the contact connection block 61, so as to ensure that the alternative wheel conversion mechanism 5 and the lead screw nut folding mechanism 3 are in a connected state. In this way, under the action of the contact connection block 61 and the alternative wheel protrusion block 62, the alternative wheel conversion mechanism 5 drives the lead screw nut folding mechanism 3 to move, and the lead screw nut folding mechanism 3 flips the faulty wheel 21 upward, and the alternative wheel conversion mechanism 5 and the normal wheel 21 drive the wheeled robot to walk together.

[0104] As a further description of the embodiment of the present invention, in order to improve the safety of the entire robot, electromagnetic limiters 7 can be provided beside the four lead screw nut folding mechanisms 3. Specifically, the electromagnetic limiter 7 includes an electromagnetic controller 71 and an electromagnetic plug 72. The electromagnetic controller 71 is installed on the vehicle body chassis 1, and the electromagnetic plug 72 is provided on the electromagnetic controller 71. The electromagnetic plug 72 acts on the nut 32. Specifically, a through hole 13 of the vehicle body chassis 1 for the electromagnetic plug 72 to penetrate is provided on the vehicle body chassis 1. When the wheel assembly 2 is not damaged, the electromagnetic plug 72 can pass through the through hole 13 of the vehicle body chassis 1 to limit the nut 32, ensuring that the lead screw nut folding mechanism 3 does not drive the wheel 21 to move during the movement of the wheel 21 and ensuring the safety of the entire robot.

[0105] As a further description of the embodiment of the present invention, two of the wheel assemblies 2 on the same side are folded and flipped upward as spare wheel assemblies 2, and the alternative wheel conversion mechanism is located below the spare wheel assemblies 2. Two of the wheel assemblies 2 on the other side are folded and flipped downward as walking wheel assemblies 2, and the walking wheel assemblies 2 and the alternative wheel conversion mechanism form a three-wheel walking differential drive system. Specifically, in this embodiment, see Figures 1-8, where two of the wheel assemblies 2 located on the front side are folded and flipped upward to serve as spare wheel assemblies 2, and the alternative wheel conversion mechanism is located below the spare wheel assemblies 2. Two of the wheel assemblies 2 located on the rear side are folded and flipped downward to serve as traveling wheel assemblies 2, and the traveling wheel assemblies 2 and the alternative wheel conversion mechanism form a three-wheel differential drive system.

[0106] As a deformation of the three-wheel differential drive system formed by the traveling wheel assemblies 2 and the alternative wheel conversion mechanism, all four wheel assemblies 2 are folded and flipped downward to serve as traveling wheel assemblies 2. The alternative wheel conversion mechanism is fixedly arranged on the slide table 41, and the alternative wheel is lifted by a lifting device so that the alternative wheel does not contact the ground. The four wheel assemblies 2 form a four-wheel traveling differential drive system.

[0107] As a further description of the embodiment of the present invention, the nut 32 in this embodiment is a non-self-locking nut 32. Since the linear motion of the nut is converted into the linear motion of the lead screw, it belongs to the reverse motion of the lead screw nut mechanism. If the nut 32 is set as a self-locking nut 32, the driving force for converting the linear motion of the nut into the linear motion of the lead screw is relatively large, and it is very likely that it cannot be driven. However, if the nut does not have self-locking, the nut 32 may move due to other external factors, causing the wheel assembly 2 to also make a flipping motion, thus affecting the normal walking and use of this robot. Therefore, the present application sets the above-mentioned clutch mechanism to connect the lead screw nut folding mechanism and the alternative wheel conversion mechanism, ensuring that when the wheel 21 fails, the lead screw nut folding mechanism can drive the faulty wheel 21 to flip, and the alternative wheel conversion mechanism completes the remaining inspection work. Furthermore, a through hole 13 of the vehicle body chassis 1 for the electromagnetic plug 72 to pass through is provided on the vehicle body chassis 1. When the wheel assembly 2 is not damaged, the electromagnetic plug 72 can pass through the through hole 13 of the vehicle body chassis 1 to limit the nut 32, ensuring that during the movement of the wheel 21, the lead screw nut folding mechanism 3 will not drive the wheel 21 to move, thereby ensuring the safety of the entire robot.

[0108] As a further description of the embodiment of the present invention, in this embodiment, when one of the two wheels 21 located on the rear side fails, the linear sliding mechanism 4 drives the alternative wheel conversion mechanism 5 to move to one side of the faulty wheel 21. Under the action of the clutch mechanism 6, the alternative wheel conversion mechanism 5 is connected to the lead screw nut folding mechanism 3. The alternative wheel conversion mechanism 5 drives the lead screw nut folding mechanism 3 to move, and the lead screw nut folding mechanism 3 flips the faulty wheel 21 upward. The alternative wheel conversion mechanism 5 and the normal wheel 21 drive the wheeled robot to walk together.

[0109] As a further illustration of the embodiments of the present invention, in this embodiment, for the two wheels 21 located at the rear side, when both of the two wheels 21 fail simultaneously, in the above-described manner, the linear sliding mechanism 4 drives the alternative wheel conversion mechanism 5 to move to one side of the failed wheel 21. Under the action of the clutch mechanism 6, the alternative wheel conversion mechanism 5 is connected to the lead screw nut folding mechanism 3. The alternative wheel conversion mechanism 5 drives the lead screw nut folding mechanism 3 to move, and the lead screw nut folding mechanism 3 flips the failed wheel 21 upward. Then, the alternative wheel conversion mechanism 5 and the normal wheel 21 together drive the wheeled robot to move forward.

[0110] Since the wheels 21 of the alternative wheel conversion mechanism are universal wheels, compared with the other four wheels 21, they generally do not fail. And in practice, generally only one wheel 21 of the wheeled robot fails, and failures of two or more wheels 21 generally do not occur. Therefore, the wheeled robot of the present invention can meet the wheel 21 failures in most cases.

[0111] In addition, the above-described manner can ensure that one side of the wheels 21 fails once. Therefore, theoretically, when other components and systems of the wheeled robot are free of failures, it can ensure that the service life of the wheel assembly 2 of the wheeled robot is twice as long as the original.

[0112] As a further preferred embodiment of the present invention, the center of the universal wheels of the alternative wheel conversion mechanism 5 can be designed to be higher than the centers of the front and rear wheels. In this way, during the process of the linear sliding mechanism 4 driving the universal wheels to slide to one side of the failed wheel 21, first, the two alternative wheels 21 are flipped downward. Since the center of the universal wheels is higher than the centers of the front and rear wheels, the two flipped alternative wheels 21 can be temporarily kept off the ground, thereby reducing the requirement for the driving force of the linear sliding mechanism 4. When the linear sliding mechanism 4 drives the universal wheels close to one side of the failed wheel 21, the two normal alternative wheels 21 touch the ground. Similarly, since the center of the universal wheels is higher than the centers of the front and rear wheels, the two failed wheels 21 can be lifted off the ground. Then, the linear sliding mechanism 4 drives the universal wheels to continue sliding a certain distance to one side of the failed wheel, causing the two failed wheels 21 that are not touching the ground (lifted by the universal wheels) to be flipped upward. At this time, a two-wheel differential three-wheel drive system is formed by the universal wheels and the two flipped-down normal alternative wheels 21.

[0113] All in all, flipping the two failed wheels 21 after they are lifted off the ground by the universal wheels can also reduce the requirement for the driving force of the linear sliding mechanism 4. Flipping the two normal alternative wheels 21 after they are lifted off the ground by the universal wheels can also reduce the requirement for the driving force of the linear sliding mechanism 4.

[0114] The working principle of the embodiments of the present invention:

[0115] Case 1: For the case where the above-mentioned walking wheel assembly 2 and the alternative wheel conversion mechanism form a three-wheel walking differential drive system. Assume that the alternative wheel conversion mechanism is arranged on the front side or the rear side of the sliding table 41. For the convenience of description, assume that the alternative wheel conversion mechanism is arranged on the front side of the sliding table 41. At this time, the wheel assembly 2 located on the front side folds and flips upward, and the wheel assembly 2 and the alternative wheel conversion mechanism on the rear side drive the wheeled robot to walk together. At this time, the two steering motors and the drive motor on the rear wheels drive the trolley to move. When there is no failure usually, the nut 32 can be limited by the electromagnetic pin 72 to ensure that during the movement of the wheel 21, the screw nut folding mechanism 3 will not drive the wheel 21 to rotate and flip up the wheel 21, ensuring the safety of the entire robot. When one of the rear wheels 21 fails or two wheels 21 fail together, the wheel 21 drive motor drives the wheel 21 shaft to work. Under the meshing action of the first bevel gear 91 and the second bevel gear 92, the clutch drive shaft 94 is driven to rotate, and then the main control system controls the clutch 93 to connect the clutch drive shaft 94 and the intermediate connection assembly 8, thereby driving the linear sliding mechanism 4 to move, and finally driving the alternative wheel conversion mechanism to move to one side of the failed wheel 21 through the linear sliding mechanism 4. Specifically, the linear drive member of the linear sliding mechanism 4 drives the alternative wheel fixing seat 52 and the alternative wheel 51 to move to the rear side of the vehicle body chassis 1. By setting the contact connection block 61 and the alternative wheel convex block 62, when the linear sliding mechanism 4 drives the alternative wheel conversion mechanism 5 to move to the rear side of the failed wheel 21, the convex part of the alternative wheel convex block 62 is in contact and fits with the convex part of the contact connection block 61, so as to ensure that the alternative wheel conversion mechanism 5 and the screw nut folding mechanism 3 are in a connected state. In this way, under the action of the contact connection block 61 and the alternative wheel convex block 62, the alternative wheel conversion mechanism 5 drives the screw nut folding mechanism 3 to move. Specifically, under the action of the limiting member 33 and the sliding groove 11, after the alternative wheel conversion mechanism 5 is connected to the screw nut folding mechanism 3, the alternative wheel conversion mechanism 5 drives the nut 32 of the screw nut folding mechanism 3 to move linearly, converts the linear motion of the nut 32 into the rotational motion of the screw rod 31, and then drives the rear wheel 21 on the screw rod 31 to flip upward. When the wheel 21 is completely flipped to the top, at the same time, the nut 32 moves to the limit position of the movement stroke of the screw rod 31, that is, the limiting member 33 of the nut 32 moves from one end of the sliding groove 11 to the other end. At the same time, the two normal wheels 21 on the front side are also folded down, so as to form a three-wheel mechanism with two front wheels and the alternative wheel conversion mechanism on the rear side. Finally, the main control system controls the normal wheel drive motor 22 to drive the two rear wheels 21 to move. The alternative wheel conversion mechanism 5 and the two normal wheels 21 form a three-wheel differential drive system, and the alternative wheel conversion mechanism 5 and the normal wheels 21 drive the wheeled robot to walk together.This can not only solve the problem of inconvenience brought by maintenance robots in harsh environments such as substations, but also increase the service life of the walking system of the robot and improve the reliability of the robot.

[0116] Case 2: The case where all four of the wheel assemblies 2 are folded and turned downward to serve as walking wheel assemblies 2, and the four wheel assemblies 2 form a four-wheel walking differential drive system. Assume that the alternative wheel conversion mechanism is arranged in the middle of the slide table 41, and for the convenience of use, a lifting mechanism is arranged on the alternative wheel conversion mechanism to lift the alternative wheel up so that it does not contact the ground. At this time, the wheel assemblies 2 located on the front side and the rear side are both folded and turned downward, and the four-wheel walking differential drive system drives the wheeled robot to walk. When there is no failure usually, the nut 32 can be limited by the electromagnetic pin 72 to ensure that during the movement of the wheel 21, the screw nut folding mechanism 3 will not drive the wheel 21 to rotate and turn the wheel 21 up, ensuring the safety of the entire robot. When one of the wheels 21 fails, the present invention is described with one of the wheels 21 failing. Assume that the failed wheel 21 is a rear wheel 21. The wheel 21 drive motor drives the wheel 21 shaft to work. Under the meshing action of the first bevel gear 91 and the second bevel gear 92, the clutch drive shaft 94 is driven to rotate, and then the main control system controls the clutch 93 to connect the clutch drive shaft 94 and the intermediate connection assembly 8, thereby driving the linear sliding mechanism 4 to move. Finally, the linear sliding mechanism 4 drives the alternative wheel conversion mechanism to move to one side of the failed wheel 21. The linear drive member of the linear sliding mechanism 4 drives the alternative wheel fixing seat 52 and the alternative wheel 51 to move to the rear side of the vehicle body chassis 1. By providing the contact connection block 61 and the alternative wheel projection block 62, when the linear sliding mechanism 4 drives the alternative wheel conversion mechanism 5 to move to the rear side of the failed wheel 21, the protruding part of the alternative wheel projection block 62 is in contact and fits with the protruding part of the contact connection block 61, thereby ensuring that the alternative wheel conversion mechanism 5 and the screw nut folding mechanism 3 are in a connected state. In this way, under the action of the contact connection block 61 and the alternative wheel projection block 62, the alternative wheel conversion mechanism 5 drives the screw nut folding mechanism 3 to move. Specifically, under the action of the limiting member 33 and the sliding groove 11, after the alternative wheel conversion mechanism 5 is connected to the screw nut folding mechanism 3, the alternative wheel conversion mechanism 5 drives the nut 32 of the screw nut folding mechanism 3 to move linearly, converts the linear movement of the nut 32 into the rotational movement of the screw 31, and then drives the wheel 21 on the screw 31 to turn upward. When the wheel 21 is completely turned to the upper side, at the same time, the nut 32 moves to the limit position of the movement stroke of the screw 31, that is, the limiting member 33 of the nut 32 moves from one end of the sliding groove 11 to the other end. Finally, the main control system controls the normal wheel drive motor 22 to drive two wheels 21 to move. The alternative wheel conversion mechanism 5 and the two normal rear wheels 21 form a three-wheel differential drive system, and the alternative wheel conversion mechanism 5 and the normal wheels 21 together drive the wheeled robot to walk. This can not only solve the problem of inconvenience caused by repairing robots in harsh environments such as substations, but also improve the service life of the walking system of the robot and improve the reliability of the robot. Embodiment

[0117] See Figures 14-16 Figures 14-16 , the difference from Embodiment 1 is that in this embodiment, the intermediate connection assembly 8 of the flexible shaft 81 is improved. Specifically, the intermediate connection assembly 8 includes a plurality of universal couplings 82 connected end to end, a first universal coupling member 83, and a second universal coupling member 84. The universal coupling 82 at the head is connected to the first universal coupling member 83, the first universal coupling member 83 is connected to the output end of the multiplexing clutch assembly 9, the flexible shaft 81 at the tail is connected to the second universal coupling member 84, and the second universal coupling member 84 is connected to the input end of the linear sliding mechanism 4. Two or more universal couplings 82 can be provided as needed. In this embodiment, two are sufficient. The function of the universal coupling 82 is the same as the technical effect of Embodiment 1 above. Since the wheel assembly 2 needs to be folded and flipped, the distance and angle from the sliding table 41 will change. Therefore, in this embodiment, by providing the universal coupling 82, the first universal coupling member 83, and the second universal coupling member 84, the force of the wheel 21 driving motor is smoothly transmitted to the linear sliding mechanism 4, and the linear sliding mechanism 4 for troubleshooting and the wheel driving motor 22 driving the wheel assembly 2 are combined to form a walking failure multiplexing unit. In this way, the linear sliding mechanism 4 for driving the folding and flipping of the wheel 21, the alternative wheel conversion mechanism 5, and the screw nut folding mechanism 3 only need to be driven by the wheel driving motor 22 of the robot itself, and no additional driving device needs to be provided to realize the folding and flipping of the wheel 21. Embodiment

[0118] As Figures 17-19 shown, as a further description of the embodiment of the present invention, the clutch mechanism 6 includes a contact connection block 61 provided on the nut 32 and an alternative wheel protrusion block 62 matching the contact connection block 61. When the linear sliding mechanism 4 drives the alternative wheel conversion mechanism 5 to move, the alternative wheel protrusion block 62 of the alternative wheel conversion mechanism 5 is in contact connection with the contact connection block 61 of the screw nut folding mechanism 3.

[0119] Specifically, by providing the contact connection block 61 and the alternative wheel protrusion block 62, when the linear sliding mechanism 4 drives the alternative wheel conversion mechanism 5 to move to one side of the faulty wheel 21, the protruding part of the alternative wheel protrusion block 62 is in contact and fit with the protruding part of the contact connection block 61, so as to ensure that the alternative wheel conversion mechanism 5 and the screw nut folding mechanism 3 are in a connected state. In this way, under the action of the contact connection block 61 and the alternative wheel protrusion block 62, the alternative wheel conversion mechanism 5 drives the screw nut folding mechanism 3 to move, and the screw nut folding mechanism 3 flips the faulty wheel 21 upward, and the alternative wheel conversion mechanism 5 and the normal wheel 21 drive the wheeled robot to walk together.

[0120] On the basis of the above-mentioned embodiment 1 or 2, in order to improve the safety of the entire structure, the clutch mechanism 6 also includes a contact connection groove 63 arranged on the nut 32, and a replacement wheel electromagnetic connection component 64 matching the contact connection groove 63. When the linear sliding mechanism 4 drives the replacement wheel conversion mechanism 5 to move, the replacement wheel electromagnetic connection component 64 of the replacement wheel conversion mechanism 5 is in contact and connected with the contact connection groove 63 of the screw nut folding mechanism 3.

[0121] Specifically, the alternative wheel electromagnetic connection assembly 64 includes an alternative wheel electromagnetic controller 641 and an alternative wheel electromagnetic pin 642. The alternative wheel electromagnetic controller 641 is fixedly mounted on the alternative wheel fixing plate 643 of the alternative wheel fixing seat 52. The alternative wheel electromagnetic controller 641 is connected to the alternative wheel electromagnetic pin 642. The alternative wheel electromagnetic pin 642 matches the contact connection groove 63 on the nut 32.

[0122] In the above manner, through the contact connection block 61 and the replacement wheel protrusion block 62, the protrusion portion of the replacement wheel protrusion block 62 is contacted and fitted with the protrusion portion of the contact connection block 61, ensuring that the protrusion portion of the replacement wheel protrusion block 62 is tightly fitted and connected to one side of the protrusion portion of the contact connection block 61. Furthermore, by setting a contact connection groove 63 and a replacement wheel electromagnetic connection assembly 64, the other side of the contact connection groove 63 is supported by the replacement wheel electromagnetic connection assembly 64. Specifically, when the raised portion of the replacement wheel protrusion block 62 contacts and fits with the raised portion of the contact connection block 61, the replacement wheel electromagnetic controller 641 of the replacement wheel electromagnetic connection assembly 64 is controlled by the main control system to work, and the replacement wheel electromagnetic pin 642 of the replacement wheel electromagnetic controller 641 is inserted into the contact connection groove 63, thereby ensuring that both ends of the nut 32 are connected and fit with the replacement wheel protrusion block 62, so that when the replacement wheel conversion mechanism 5 drives the screw nut folding mechanism 3 to move, the nut 32 will not fall off from the replacement wheel protrusion block 62, thereby improving the safety of the entire structure. Example

[0123] like Figures 20-22 As shown, as a further illustration of an embodiment of the present invention, the clutch mechanism 6 includes a contact and connection block 61 arranged on the nut 32, and a replacement wheel protrusion block 62 matching the contact and connection block 61. When the linear sliding mechanism 4 drives the replacement wheel conversion mechanism 5 to move, the replacement wheel protrusion block 62 of the replacement wheel conversion mechanism 5 is in contact and connected with the contact and connection block 61 of the screw nut folding mechanism 3.

[0124] Specifically, by setting a contact connection block 61 and a replacement wheel protrusion block 62, when the linear sliding mechanism 4 drives the replacement wheel conversion mechanism 5 to move to the side of the faulty wheel 21, the protrusion of the replacement wheel protrusion block 62 contacts and fits with the protrusion of the contact connection block 61, thereby ensuring that the replacement wheel conversion mechanism 5 and the screw nut folding mechanism 3 are in a connected state. In this way, under the action of the contact connection block 61 and the replacement wheel protrusion block 62, the replacement wheel conversion mechanism 5 drives the screw nut folding mechanism 3 to move, and the screw nut folding mechanism 3 flips the faulty wheel 21 upward, and the replacement wheel conversion mechanism 5 and the normal wheel 21 drive the wheeled robot to walk together.

[0125] On the basis of the above-mentioned embodiment 1 or 2, in order to improve the safety of the entire structure, the clutch mechanism 6 includes a nut electromagnetic connection assembly 65 arranged on the nut 32, and an alternative wheel connection groove 66 matching the nut electromagnetic connection assembly 65. When the linear sliding mechanism 4 drives the alternative wheel conversion mechanism 5 to move, the alternative wheel connection groove 66 of the alternative wheel conversion mechanism 5 matches the nut electromagnetic connection assembly 65 of the screw nut folding mechanism 3.

[0126] Specifically, the nut electromagnetic connection assembly 65 includes a nut electromagnetic controller 651 and a nut electromagnetic plug 652. A nut mounting plate 653 is provided on the nut 32, and the nut mounting plate 653 is installed with a nut electromagnetic controller 651. The nut electromagnetic controller 651 is connected to the nut electromagnetic plug 652, and the nut electromagnetic plug 652 matches the alternative wheel connecting groove 66 on the alternative wheel fixing seat 52.

[0127] In the above manner, through the contact connection block 61 and the replacement wheel protrusion block 62, the protrusion portion of the replacement wheel protrusion block 62 is contacted and fitted with the protrusion portion of the contact connection block 61, ensuring that the protrusion portion of the replacement wheel protrusion block 62 is tightly fitted and connected to one side of the protrusion portion of the contact connection block 61. Furthermore, by setting a nut electromagnetic connection component 65 and a replacement wheel connecting groove 66, the other side of the contact connecting groove 63 is supported by the replacement wheel electromagnetic connection component 64. Specifically, when the raised portion of the replacement wheel protrusion block 62 contacts and fits with the raised portion of the contact connecting block 61, the nut electromagnetic controller 651 of the nut electromagnetic connection component 65 is controlled by the main control system to operate, and the nut electromagnetic pin 652 of the nut electromagnetic controller 651 is inserted into the replacement wheel connecting groove 66, thereby ensuring that both ends of the nut 32 are connected and fit with the replacement wheel protrusion block 62, so that when the replacement wheel conversion mechanism 5 drives the screw nut folding mechanism 3 to move, the nut 32 will not fall off from the replacement wheel protrusion block 62, thereby improving the safety of the entire structure. Example

[0128] like Figures 23-25As shown, the difference from Embodiment 1 or 2 lies in that in this embodiment, the specific structure of the clutch mechanism 6 is redesigned. Specifically, the clutch mechanism 6 includes a nut connection hole 67 provided on the nut 32 and an alternative wheel electromagnetic connection assembly 64 that matches the nut connection hole 67. When the linear sliding mechanism 4 drives the alternative wheel conversion mechanism 5 to move, the alternative wheel electromagnetic connection assembly 64 of the alternative wheel conversion mechanism 5 matches the connection block of the nut 32 of the screw-nut folding mechanism 3.

[0129] Specifically, alternative wheel extension plates 644 extend outward from the U-shaped sides of the alternative wheel fixed seat 52, forming a "ji" shape as a whole.

[0130] Specifically, the alternative wheel electromagnetic connection assembly 64 includes an alternative wheel electromagnetic controller 641 and an alternative wheel electromagnetic pin 642. The alternative wheel electromagnetic controller 641 is fixedly installed on the alternative wheel extension plate 644 of the alternative wheel fixed seat 52. The alternative wheel electromagnetic controller 641 is connected to the alternative wheel electromagnetic pin 642, and the alternative wheel electromagnetic pin 642 matches the nut connection hole 67 on the nut 32.

[0131] Specifically, by setting the nut connection hole 67 and the alternative wheel electromagnetic connection assembly 64, the alternative wheel electromagnetic connection assembly 64 includes an alternative wheel electromagnetic controller 641 and an alternative wheel electromagnetic pin 642. When the linear sliding mechanism 4 drives the alternative wheel conversion mechanism 5 to move to one side of the faulty wheel 21 and the alternative wheel electromagnetic pin 642 is aligned with the nut connection hole 67 in the vertical direction, the main control system of the wheeled robot controls the alternative wheel electromagnetic controller 641 to drive the alternative wheel electromagnetic pin 642 to move, and inserts the alternative wheel electromagnetic pin 642 into the nut connection hole 67, so as to ensure that the alternative wheel conversion mechanism 5 and the screw-nut folding mechanism 3 are in a connected state. The alternative wheel conversion mechanism 5 drives the screw-nut folding mechanism 3 to move, and the screw-nut folding mechanism 3 flips the faulty wheel 21 upward. The alternative wheel conversion mechanism 5 and the normal wheel 21 drive the wheeled robot to walk together. Embodiment

[0132] As Figure 26 shown, the difference from Embodiments 1-5 lies in that in this embodiment, the structure of the alternative wheel conversion mechanism 5 is improved, and the number of alternative wheels 51 is changed from one to two.

[0133] Refer to Figure 27 Two of the wheel assemblies 2 located on the same side are folded and flipped upward as spare wheel assemblies 2, and the alternative wheel conversion mechanism 5 is located below the spare wheel assemblies 2. Two of the wheel assemblies 2 located on the other side are folded and flipped downward as walking wheel assemblies 2. The walking wheel assemblies 2 and the alternative wheel conversion mechanism 5 form a four-wheel walking differential drive system.

[0134] See Figure 28 For the four wheel assemblies 2 to be folded and turned downward as walking wheel assemblies 2, the alternative wheel conversion mechanism 5 is fixedly arranged on the sliding table 41, and the alternative wheel is lifted by the lifting device 10 so that the alternative wheel does not contact the ground, and the four wheel assemblies 2 form a four-wheel walking differential drive system.

[0135] The above-mentioned Figure 27 and Figure 28 The alternative wheel conversion mechanisms 5 are both provided with lifting devices 10. The lifting device 10 includes a planar cam 101 arranged on the vehicle body chassis 1 and a lifting assembly arranged on the alternative wheel fixing seat. The lifting assembly includes a linear bearing seat 102, a lifting column 103, a lifting spring 104, an upper moving seat 105 and a lower moving seat 106. The linear bearing seat 102 is installed in the mounting hole of the alternative wheel fixing seat. The lifting column 103 is sleeved in the linear bearing seat 102. The upper end of the lifting column 103 is connected to the upper moving seat 105. The upper moving seat 105 is matched with the planar cam 101. The lower end of the lifting column 103 is connected to the lower moving seat 106. The lifting spring 104 is sleeved on the lifting column 103. The upper end of the lifting spring 104 is connected to the upper moving seat 105. The lower end of the lifting spring 104 is connected to the linear bearing seat 102. Through the above-mentioned lifting device 10, when the alternative wheel conversion mechanism 5 is in use, the upper moving seat 105 is in contact with the planar cam 101, so that the alternative wheel touches the ground and can be used for fault replacement. When the alternative wheel conversion mechanism 5 is not in use, under the action of the sliding table 41, the upper moving seat 105 is in contact with the vehicle body chassis 1 through the inclined surface of the planar cam 101, so that the alternative wheel does not touch the ground, and the alternative wheel conversion mechanism 5 will not affect the normal use of the normal wheeled robot.

[0136] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent replacements or modifications made based on the present invention to solve basically the same technical problems and achieve basically the same technical effects are all covered by the protection scope of the present invention.

Claims

1. A wheeled robot with a composite drive to replace a faulty walking wheel, comprising a vehicle chassis and four wheel assemblies disposed on the vehicle chassis, characterized in that: Each of the four wheel assemblies is connected with a lead screw nut folding mechanism capable of driving the wheels to fold and turn over. A linear sliding mechanism and an alternative wheel conversion mechanism are arranged on the vehicle body chassis. The linear sliding mechanism is installed in the middle of the bottom of the vehicle body chassis, and the alternative wheel conversion mechanism capable of sliding along the linear sliding mechanism is arranged on the linear sliding mechanism. A fault walking multiplexing mechanism is arranged between the linear sliding mechanism and the wheel assembly. The fault walking multiplexing mechanism combines the linear sliding mechanism for fault and the wheel drive motor driving the wheel assembly to form a walking fault multiplexing unit. When one of the wheels fails, the linear sliding mechanism drives the alternative wheel conversion mechanism to move to one side of the faulty wheel. The alternative wheel conversion mechanism is connected with the lead screw nut folding mechanism, and the alternative wheel conversion mechanism drives the lead screw nut folding mechanism to move. The lead screw nut folding mechanism turns the faulty wheel upwards, and the alternative wheel conversion mechanism and the normal wheels drive the wheeled robot to walk together. The fault walking multiplexing mechanism includes an intermediate connection component and a multiplexing clutch component. One end of the intermediate connection component is connected with the linear sliding mechanism, the other end of the intermediate connection component is connected with the multiplexing clutch component, and the multiplexing clutch component is arranged on the wheel assembly.

2. The wheeled robot with a replaceable fault walking wheel capable of composite driving according to claim 1, wherein: The multiplexing clutch component includes a first bevel gear, a second bevel gear, a clutch and a clutch transmission shaft. The wheel of the wheel assembly is connected with a wheel shaft, the first bevel gear is sleeved on the wheel shaft, the end of the wheel shaft is connected with a wheel drive motor, the first bevel gear is meshed and connected with the second bevel gear, the clutch transmission shaft is sleeved in the second bevel gear, the upper part of the clutch transmission shaft is connected with the clutch, and the upper part of the clutch is connected with the intermediate connection component.

3. The wheeled robot with a replaceable fault walking wheel that can be compound-driven according to claim 2, characterized in that: The intermediate connection component includes a flexible shaft. One end of the flexible shaft is connected with the output end of the multiplexing clutch component, and the other end of the flexible shaft is connected with the input end of the linear sliding mechanism.

4. The wheeled robot with a replaceable fault walking wheel capable of composite driving according to claim 3, characterized in that: The intermediate connection component includes a plurality of universal couplings connected end to end, a first universal coupling and a second universal coupling. The universal coupling at the head is connected with the first universal coupling, the first universal coupling is connected with the output end of the multiplexing clutch component, the flexible shaft at the tail is connected with the second universal coupling, and the second universal coupling is connected with the input end of the linear sliding mechanism.

5. A wheeled robot with a replaceable fault-tolerant walking wheel that can be compound-driven according to claim 1, characterized in that: The linear sliding mechanism includes a slide table for the alternative wheel conversion mechanism to slide. The slide table is fixedly installed on the vehicle body chassis. One side of the slide table is connected with a linear transmission component, the linear transmission component is connected with the alternative wheel conversion mechanism, and the linear transmission component is connected with the intermediate connection component.

6. A wheeled robot with a composite drive and replaceable malfunctioning walking wheels according to any one of claims 1-5, characterized in that: The alternative wheel conversion mechanism includes an alternative wheel and an alternative wheel fixing seat connected to the upper part of the alternative wheel. The alternative wheel fixing seat is slidably installed on the linear sliding mechanism, and alternative wheel protrusion blocks are arranged on both sides of the alternative wheel fixing seat.

7. The wheeled robot with a replaceable fault-tolerant walking wheel capable of composite drive according to claim 6, characterized in that: The alternative wheel is designed such that the center of the alternative wheel is higher than the center of the wheel of the wheel assembly.

8. The wheeled robot with a replaceable fault-tolerant walking wheel capable of composite driving according to claim 6, characterized in that: The screw-nut folding mechanism includes a screw rod, a nut arranged on the screw rod, and a limiting member arranged on the nut. A sliding groove matching the limiting member is provided on the vehicle body chassis. Under the action of the limiting member and the sliding groove, after the alternative wheel conversion mechanism is connected to the screw-nut folding mechanism, the alternative wheel conversion mechanism drives the nut of the screw-nut folding mechanism to perform a linear motion, converts the linear motion of the nut into a rotational motion of the screw rod, and further drives the wheel on the screw rod to flip upward. The alternative wheel conversion mechanism and the normal wheels drive the wheeled robot to walk together.

9. The wheeled robot with a replaceable fault walking wheel capable of composite driving according to claim 8, characterized in that: The screw-nut folding mechanism further includes a flip plate. One side of the flip plate is connected to the external thread of the screw rod through a flip plate hole, and the other side of the flip plate is connected with a wheel.

10. A wheeled robot with a replaceable fault walking wheel that can be compound-driven according to claim 9, characterized in that: A torsion spring is sleeved on the screw rod, and the torsion spring is installed in the space formed by the flip plate hole of the flip plate and the external thread of the screw rod.

11. A wheeled robot with a replaceable faulty walking wheel that can be compound-driven, characterized in that: A clutch mechanism is provided on the alternative wheel conversion mechanism, and the clutch mechanism is used to put the alternative wheel conversion mechanism and the screw-nut folding mechanism in two states of connection and separation.

12. The wheeled robot with a replaceable fault walking wheel that can be compound-driven according to claim 11, wherein: The clutch mechanism includes a nut connection hole arranged on the nut and an alternative wheel electromagnetic connection component matching the nut connection hole. When the linear sliding mechanism drives the alternative wheel conversion mechanism to move, the alternative wheel electromagnetic connection component of the alternative wheel conversion mechanism matches the nut connection block of the screw-nut folding mechanism.

13. A wheeled robot with a replaceable fault-tolerant walking wheel that can be compound-driven according to claim 11, characterized in that: The clutch mechanism includes a contact connection block arranged on the nut and an alternative wheel convex block matching the contact connection block. When the linear sliding mechanism drives the alternative wheel conversion mechanism to move, the alternative wheel convex block of the alternative wheel conversion mechanism is in contact connection with the contact connection block of the screw-nut folding mechanism.

14. A wheeled robot with a replaceable fault-tolerant walking wheel that can be compound-driven according to claim 13, characterized in that: The clutch mechanism includes a nut electromagnetic connection component arranged on the nut and an alternative wheel connection groove matching the nut electromagnetic connection component. When the linear sliding mechanism drives the alternative wheel conversion mechanism to move, the alternative wheel connection groove of the alternative wheel conversion mechanism matches the nut electromagnetic connection component of the screw-nut folding mechanism.

15. A wheeled robot with a replaceable fault walking wheel that can be compound-driven according to claim 13, characterized in that: The clutch mechanism includes a contact connection groove arranged on the nut and an alternative wheel electromagnetic connection component matching the contact connection groove. When the linear sliding mechanism drives the alternative wheel conversion mechanism to move, the alternative wheel electromagnetic connection component of the alternative wheel conversion mechanism is in contact connection with the contact connection groove of the screw-nut folding mechanism.

16. A wheeled robot with a replaceable fault-tolerant walking wheel capable of composite drive according to claim 8, characterized in that: An electromagnetic limiting member is provided on the vehicle body chassis. The electromagnetic limiting member includes an electromagnetic controller and an electromagnetic bolt. The electromagnetic controller is installed on the vehicle body chassis, and the electromagnetic bolt is arranged on the electromagnetic controller. The electromagnetic bolt acts on the nut.

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