Driving device of inspection robot and inspection robot

Abstract

The present disclosure relates to a driving device of an inspection robot and the inspection robot. The driving device comprises a mounting seat, two driving wheels oppositely arranged to contact two sides of a track, the two driving wheels being movably arranged on the mounting seat, a power device connected with the driving wheels to drive the driving wheels to rotate, and an adjusting member for driving the two driving wheels to move towards each other or away from each other to contact the two sides of the track. In the present disclosure, the driving wheels are movably arranged on the mounting seat, the driving wheels are arranged in two to contact the two sides of the track, so that the inspection robot can move along the track, the power device is connected with the driving wheels to drive the driving wheels to rotate, and the adjusting member is used to adjust the distance between the two driving wheels to adapt to tracks with different widths, so that the application range is wider.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of inspection robots, in particular, to a driving device of an inspection robot and the inspection robot. BACKGROUND

[0002] The track type inspection robot is a kind of cable tunnel inspection robot with track type advancing mechanism, which can realize behaviors such as autonomous advancing, retreating, turning and climbing, and is widely used in urban underground comprehensive pipe gallery inspection. The robot is a machine device that automatically performs work, which can accept human command, run pre-programmed programs, and act according to the principles and guidelines formulated by artificial intelligence technology. Its task is to assist or replace human work.

[0003] However, the current track type inspection robot still has some defects, such as: it cannot adjust the distance during use, making it difficult to be used for tracks of different widths, the application range is limited, and there is a use limitation. SUMMARY

[0004] The purpose of the present disclosure is to provide a driving device of an inspection robot and the inspection robot, which can solve the above problems.

[0005] In order to achieve the above purpose, the present disclosure provides a driving device of an inspection robot, comprising: a mounting seat; two driving wheels arranged opposite to each other to contact with both sides of the track, the two driving wheels being movably arranged on the mounting seat; a power device connected with the driving wheels to drive the driving wheels to rotate; and an adjusting member for driving the two driving wheels to move towards each other or away from each other to contact with both sides of the track.

[0006] Optionally, the driving device further comprises a mounting plate, the mounting plate being provided with two mounting plates opposite to each other for mounting the two driving wheels, the mounting plate being movably arranged on the mounting seat to drive the driving wheels to move.

[0007] Optionally, a slide is arranged on the mounting seat, the mounting plate is in sliding connection with the slide, and the adjusting member is connected with the two mounting plates to drive the mounting plates to move.

[0008] Optionally, the adjusting member is configured as a bidirectional screw rod, the bidirectional screw rod having two sections of external threads with opposite rotation directions, each section of the external thread being in threaded connection with one of the mounting plates to drive the two mounting plates to move towards each other or away from each other, and one end of the bidirectional screw rod being provided with a hand wheel to rotate the bidirectional screw rod.

[0009] Optionally, the power device comprises a driving motor and a driving rod, one end of the driving rod is connected with the driving motor, the other end of the driving rod passes through the two mounting plates in sequence, the driving rod is connected with the two driving wheels through a transmission assembly, and the mounting plates are movable along the driving rod.

[0010] Optionally, the transmission assembly comprises a transmission shaft connected with the driving wheels, a first bevel gear arranged at the end of the transmission shaft, a transmission pipe sleeved outside the driving rod and rotationally connected with the mounting plates, and a second bevel gear arranged outside the transmission pipe in a circumferential direction and engaged with the first bevel gear, the driving motor drives the transmission pipe to rotate through the driving rod, and the transmission pipe is movable along the driving rod with the mounting plates.

[0011] Optionally, the outer side of the driving rod is provided with a sliding strip extending in the same direction as the driving rod, the inner side of the transmission pipe is provided with a sliding groove, the sliding groove is slidingly connected with the sliding strip so that the transmission pipe is movable along the driving rod, and the sliding strip extends into the sliding groove so that the driving rod can drive the transmission pipe to rotate.

[0012] Optionally, the driving wheels are horizontally arranged and perpendicular to the mounting plates, the transmission shaft is connected with the mounting plates through a fixing block arranged outside the mounting plates, and the transmission shaft is rotationally connected with the fixing block, and the driving wheels pass through the mounting plates to contact the track.

[0013] Optionally, the driving device further comprises a walking wheel arranged inside the mounting plate to contact the top of the track.

[0014] The present disclosure also provides a driving device of a patrol robot.

[0015] Through the above technical solution, in the driving device of the patrol robot provided by the present disclosure, the driving wheels are movably arranged on the mounting seat, the driving wheels are provided with two driving wheels to contact the two sides of the track, so that the patrol robot can move along the track, the power device is connected with the driving wheels to drive the driving wheels to rotate, and the adjusting member is used to adjust the distance between the two driving wheels to adapt to tracks of different widths, so that the application range is wider.

[0016] Other features and advantages of the present disclosure will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, and are used together with the following specific embodiments to explain the present disclosure, but do not constitute a limitation on the present disclosure. In the drawings:

[0018] Figure 1is a front view of a driving device in the present disclosure;

[0019] Figure 2 is a top view of a driving device in the present disclosure;

[0020] Figure 3 is a front view of a connection between a sliding groove and a sliding strip in the present disclosure;

[0021] Figure 4 is a side view of a connection between a sliding groove and a sliding strip in the present disclosure;

[0022] Figure 5 is a structural schematic diagram of a mounting plate in the present disclosure.

[0023] Explanation of reference signs

[0024] 1, track; 2, mounting seat; 3, driving wheel; 4, power device; 41, driving motor; 42, driving rod; 421, sliding strip; 5, transmission assembly; 51, transmission shaft; 52, first bevel gear; 53, transmission pipe; 531, sliding groove; 54, second bevel gear; 6, fixed block; 7, adjusting member; 71, hand wheel; 72, external thread; 8, mounting plate; 81, through hole; 9, fixed table; 10, fixed plate; 11, walking wheel. DETAILED DESCRIPTION

[0025] The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

[0026] In the present disclosure, the orientation words such as "top, bottom" used herein generally refer to the top, bottom of the corresponding components in the direction of gravity, and "inner, outer" refers to the inner, outer relative to the outline of the component or structure itself. In addition, it should be noted that the terms such as "first, second" used herein are used to distinguish one element from another element, and do not have sequential and important meanings. In addition, in the description with reference to the drawings, the same reference signs in different drawings represent the same elements.

[0027] The present disclosure provides a driving device of an inspection robot, comprising: a mounting seat 2; a driving wheel 3, two of which are arranged opposite to each other and in contact with both sides of a track 1, the two driving wheels 3 being movably arranged on the mounting seat 2; a power device 4 connected with the driving wheel 3 to drive the driving wheel 3 to rotate; and an adjusting member 7 for driving the two driving wheels 3 to move towards each other or away from each other to contact both sides of the track 1.

[0028] Through the technical scheme, in the driving device of the inspection robot provided by the present disclosure, the driving wheels 3 are movably arranged on the mounting seat 2, the driving wheels 3 are provided with two wheels in contact with the two sides of the track 1, so that the inspection robot can move along the track 1, the power device 4 is connected with the driving wheels 3 to drive the driving wheels 3 to rotate, and the adjusting member 7 is used to adjust the distance between the two driving wheels 3 to adapt to tracks 1 of different widths, and the application range is wider.

[0029] As an optional embodiment, as shown in Figures 1-2 The driving device further comprises mounting plates 8, the mounting plates 8 are oppositely provided with two plates for mounting the two driving wheels 3, for example, the mounting plates 8 are vertically arranged with the mounting seat 2, the mounting plates 8 are movably arranged on the mounting seat 2 to drive the driving wheels 3 to move, and the driving wheels 3 are arranged on the mounting seat 2 through the mounting plates 8 and are driven to move by moving the mounting plates 8.

[0030] Optionally, the mounting seat 2 is provided with slides, the slides are arranged along the moving direction of the mounting plates 8, for example, two slides can be arranged in parallel, the mounting plates 8 are in sliding connection with the slides, the adjusting member 7 is connected with the two mounting plates 8 to drive the mounting plates 8 to move, and the two mounting plates 8 are moved to the direction of approaching or moving away from each other to control the distance between the two driving wheels 3. In other embodiments, the adjusting member 7 can also be connected with only one of the mounting plates 8, and the distance between the two mounting plates 8 is adjusted by moving one of the mounting plates 8.

[0031] The adjusting member 7 is configured as a bidirectional screw rod, the bidirectional screw rod is provided with two sections of external threads 72 with opposite rotation directions, each section of the external thread 72 is in threaded connection with one of the mounting plates 8 to drive the two mounting plates 8 to move to the direction of approaching or moving away from each other, the bidirectional screw rod is vertically arranged with the mounting plates 8 to drive the mounting plates 8 to move along the extension direction of the bidirectional screw rod, one end of the bidirectional screw rod is provided with a hand wheel 71 to rotate the bidirectional screw rod, for example, one end of the bidirectional screw rod is rotatably connected with a fixed table 9 arranged on the mounting seat 2 through a bearing, the other end penetrates through a fixed plate 10 arranged on the mounting seat 2 and is rotatably connected with the fixed plate 10 through a bearing, and the hand wheel 71 is arranged on the end of the bidirectional screw rod extending out of the fixed plate 10. When mounting, the distance between the two driving wheels 3 needs to be manually adjusted, at this time, the hand wheel 71 is rotated to rotate the bidirectional screw rod, and since the two sections of the external threads 72 on the bidirectional screw rod have opposite rotation directions, the movement directions of the two mounting plates 8 are opposite, that is, the movement directions of the two mounting plates 8 are towards the direction of approaching or moving away from each other.

[0032] As an optional embodiment, as shown in Figures 1-5As shown, the power device 4 comprises a driving motor 41 and a driving rod 42, one end of the driving rod 42 is connected with the driving motor 41, the other end passes through the two mounting plates 8 in sequence, for example, the driving motor 41 is arranged on the fixed table 9, the driving rod 42 is arranged perpendicularly with the mounting plate 8, one end of the driving rod 42 passes through the two mounting plates 8 and is rotatably connected with the fixed plate 10 through a bearing, the fixed plate 10 is used for supporting the driving rod 42, the driving rod 42 is connected with the two driving wheels 3 through the transmission assembly 5 to drive the two driving wheels 3 to rotate, that is, one driving motor 41 drives the two driving wheels 3 to rotate simultaneously, which can save cost on the one hand and ensure that the two driving wheels 3 rotate at the same speed on the other hand, the mounting plate 8 can move along the driving rod 42, that is, the driving rod 42 does not hinder the movement of the mounting plate 8. In other embodiments, two driving motors 41 can also be arranged, one driving motor 41 is arranged on each mounting plate 8, and each driving motor 41 is connected with one driving wheel 3.

[0033] Optionally, as shown in Figure 1 The transmission assembly 5 comprises a transmission shaft 51 connected with the driving wheel 3, a first bevel gear 52 arranged at the end of the transmission shaft 51, a transmission pipe 53 sleeved outside the driving rod 42 and rotatably connected with the mounting plate 8, and a second bevel gear 54 circumferentially arranged outside the transmission pipe 53 and meshed with the first bevel gear 52, the driving motor 41 drives the transmission pipe 53 to rotate through the driving rod 42, and the transmission pipe 53 can move along the driving rod 42 with the mounting plate 8, the transmission pipe 53 is fixedly arranged on the mounting plate 8 and rotatably connected with the mounting plate 8 through a bearing, the transmission shaft 51 passes through the transmission pipe 53 so that the mounting plate 8 can move along the driving rod 42, the outside of the transmission pipe 53 is circumferentially provided with the second bevel gear 54 meshed with the first bevel gear 52 on the transmission shaft 51, the driving rod 42 drives the transmission pipe 53 to rotate to drive the transmission shaft 51 to drive the driving wheel 3 to rotate, and the transmission pipe 53 moves synchronously with the mounting plate 8, so that the first bevel gear 52 is always meshed with the second bevel gear 54 when the mounting plate 8 moves.

[0034] As shown in Figures 3-4 The outside of the driving rod 42 is provided with a sliding strip 421 extending in the same direction as the driving rod 42, the inside of the transmission pipe 53 is provided with a sliding groove 531, the sliding strip 421 is slidably connected with the sliding groove 531 so that the transmission pipe 53 can move along the driving rod 42, the sliding strip 421 extends into the sliding groove 531 so that the driving rod 42 can drive the transmission pipe 53 to rotate, and the sliding strip 421 extending into the sliding groove 531 has a mutual limiting effect, so that the driving rod 42 can drive the transmission pipe 53 to rotate, and the sliding strip 421 and the sliding groove 531 can ensure that the transmission pipe 53 can move along the driving rod 42 and the driving rod 42 can also drive the transmission pipe 53 to rotate.

[0035] In addition, as shown in Figures 1-2 and Figure 5As shown, the driving wheel 3 is horizontally arranged and perpendicular to the mounting plate 8, that is, the driving wheel 3 is in contact with the two sides of the track 1 in the horizontal direction, the mounting plate 8 is vertically arranged, the transmission shaft 51 is connected with the mounting plate 8 through the fixing block 6 arranged outside the mounting plate 8, and the transmission shaft 51 is rotationally connected with the fixing block 6, the transmission shaft 51 is vertically arranged with the driving wheel 3, for example, the transmission shaft 51 is arranged at the bottom of the driving wheel 3, the transmission shaft 51 is fixed through the fixing block 6 to mount the driving wheel 3 on the mounting plate 8, and the driving wheel 3 penetrates through the mounting plate 8 to be in contact with the track 1, that is, the transmission shaft 51 is arranged outside the mounting plate 8, and the mounting plate 8 is provided with a through hole 81 for the driving wheel 3 to penetrate.

[0036] As an optional embodiment, as shown in Figures 1-2 As shown, the driving device further comprises walking wheels 11 arranged on the inner side of the mounting plate 8 to be in contact with the top of the track 1, and the walking wheels 11 are arranged at least in two opposite positions, so that the driving device is hoisted on the track 1, and the driving wheel 3 is only in contact with the side surface of the track 1 without being in contact with the bottom surface to increase the friction. The transmission shaft 51 is arranged outside the mounting plate 8 because if it is arranged inside the mounting plate 8, it will occupy a larger space and increase the distance between the two mounting plates 8, so that the walking wheels 11 need to be arranged larger, resulting in an increase in cost.

[0037] The present disclosure also provides a patrol robot, which comprises the driving device of the patrol robot described above, and the patrol robot provided with the driving device can be applied to tracks 1 of various widths, and has a wider application range.

[0038] In actual use, the patrol robot is placed on the track 1, the mounting plate 8 is moved towards each other by rotating the adjusting member 7 through the hand wheel 71, the driving wheel 3 and the walking wheel 11 are in contact with the track 1, the driving motor 41 is turned on, the driving motor 41 drives the driving rod 42 to rotate, the transmission pipe 53 is rotated by the relative limiting action of the sliding bar 421 and the sliding groove 531, the transmission shaft 51 is rotated through the action of the first bevel gear 52 and the second bevel gear 54, so that the transmission shaft 51 drives the driving wheel 3 to rotate synchronously, and then walking is realized.

[0039] The preferred embodiments of the present disclosure are described in detail above with reference to the drawings, but the present disclosure is not limited to the specific details in the above-described embodiments, and various simple modifications can be made to the technical solutions of the present disclosure within the technical concept of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0040] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0041] Furthermore, various embodiments of the present disclosure can be arbitrarily combined with each other, as long as the idea of the present disclosure is not violated, and it should be considered as disclosed in the present disclosure.

Claims

1. A drive device for an inspection robot, characterized in that, The utility model relates to a driving device of a patrol robot, comprising: a mounting base; two driving wheels arranged oppositely and in contact with two sides of a track, the two driving wheels being movably arranged on the mounting base; a power device connected to the driving wheels to drive the driving wheels to rotate; an adjusting member for driving the two driving wheels to move towards each other or away from each other to contact the two sides of the track; a mounting plate oppositely provided with two mounting plates for mounting the two driving wheels, the mounting plate being movably arranged on the mounting base to drive the driving wheels to move, the power device comprising a driving motor and a driving rod, one end of the driving rod being connected to the driving motor, the other end of the driving rod sequentially penetrating through the two mounting plates, the driving rod being connected to the two driving wheels through a transmission assembly, the mounting plate being movable along the driving rod; the transmission assembly comprising a transmission shaft connected to the driving wheels, a first bevel gear arranged at an end of the transmission shaft, a transmission pipe sleeved outside the driving rod and rotationally connected to the mounting plate, and a second bevel gear circumferentially arranged outside the transmission pipe and meshing with the first bevel gear, the driving motor driving the transmission pipe to rotate through the driving rod, and the transmission pipe being movable along the driving rod with the mounting plate.

2. The drive device of the inspection robot according to claim 1, characterized by The mounting base is provided with a slide, the mounting plate is in sliding connection with the slide, and the adjusting member is connected to the two mounting plates to drive the mounting plates to move.

3. The drive device of the inspection robot according to claim 2, wherein The adjusting member is configured as a bidirectional screw rod, the bidirectional screw rod having two sections of external threads with opposite rotation directions, each section of the external thread being in threaded connection with one of the mounting plates to drive the two mounting plates to move towards each other or away from each other, and one end of the bidirectional screw rod being provided with a hand wheel to rotate the bidirectional screw rod.

4. The drive device of the inspection robot according to claim 1, characterized by The driving rod is provided outside with a slide bar extending in the same direction as the driving rod, the transmission pipe is provided inside with a sliding groove, the sliding groove is in sliding connection with the slide bar to enable the transmission pipe to move along the driving rod, and the slide bar extends into the sliding groove to enable the driving rod to drive the transmission pipe to rotate.

5. The drive device of the inspection robot according to claim 1, wherein The driving wheels are horizontally arranged and perpendicular to the mounting plate, the transmission shaft is connected to the mounting plate through a fixing block arranged outside the mounting plate, and the transmission shaft is in rotational connection with the fixing block, and the driving wheels penetrate through the mounting plate to contact the track.

6. The drive device of the inspection robot according to claim 1, wherein The driving device further comprises a walking wheel arranged inside the mounting plate to contact the top of the track.

7. A patrol robot characterized by comprising: The utility model relates to a driving device of a patrol robot, comprising: the driving device of the patrol robot according to any one of claims 1-6.

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