A driving wheel mechanism with obstacle avoidance function for an inspection robot

Abstract

The present invention discloses a drive wheel mechanism with obstacle avoidance for an inspection robot. The drive wheel mechanism includes a driver, a transmission wheel connected to the driver, and multiple travel drive wheels that contact the rolling surface of a corrugated guardrail. The multiple travel drive wheels are arranged in groups to form at least one travel drive wheel group. The travel drive wheels in the same group are connected by a transmission toothed belt, and the transmission wheel is connected to at least one of the travel drive wheel groups by the transmission toothed belt. The drive wheel mechanism also includes a first spring floating structure that provides radial floating support for the multiple travel drive wheels. This drive wheel mechanism can drive the inspection robot to move smoothly at the connection or deformation portion of the guardrail.

Description

Technical Field

[0001] The present invention relates to the field of inspection robots, and in particular to a driving wheel mechanism with an obstacle avoidance function of the inspection robot. Background Art

[0002] Currently, highway construction inspection methods primarily include manual inspections, fixed roadside inspections, and mobile robots. Manual inspections are time-consuming, labor-intensive, and inefficient, while fixed roadside inspection robots have limited coverage. With technological advancements, the use of mobile inspection robots to replace manual labor in high-risk tasks is becoming a trend.

[0003] CN109514577A discloses a patrol robot that uses a crawler-type walking mechanism to move on the ground. This patrol robot may inadvertently intrude into motor vehicle lanes or construction sites, affecting road traffic or construction.

[0004] CN110497379A discloses a highway inspection robot that travels along guardrails. The robot includes a travel device, a limiting device, a power generation device, and an inspection device. The travel device travels along the guardrail and includes at least two travel mechanisms, which are flexibly connected by a latch. Each travel mechanism includes a travel motor, a traveling frame, a roller, a first pulley, a second pulley, a driven shaft, a synchronous belt, and a driving shaft. The limiting devices are respectively arranged on the top and bottom plates of the traveling frame of each traveling mechanism; each limiting device includes a first side pressure wheel, a support frame, a second side pressure wheel, and a support. However, due to the unevenness of the guardrail connection area, the inspection robot has difficulty smoothly crossing obstacles when traveling. Moreover, the guardrails are exposed to the natural environment for a long time and may be deformed by traffic accidents, which may make it impossible for the inspection robot to even cross different guardrails for inspection. In addition, the rollers of the walking mechanism of the inspection robot simultaneously integrate the function of guiding the inspection robot's moving direction and the function of driving the inspection robot to walk, which further affects the smooth movement of the inspection robot.

[0005] Therefore, there is an urgent need for a driving solution for an inspection robot that can move smoothly at the connection or deformation parts of the guardrail.

[0006] The content of this background technology description is only for facilitating understanding of the relevant technology in this field and is not regarded as an admission of the prior art. Summary of the Invention

[0007] Therefore, an embodiment of the present invention intends to provide a driving wheel mechanism that improves the obstacle avoidance capability of the inspection robot when facing a guardrail connection portion or a deformed portion.

[0008] According to an embodiment of the present invention, a driving wheel mechanism with an obstacle avoidance function of an inspection robot is provided, wherein the driving wheel mechanism includes a driver, a transmission wheel driven by the driver, and a plurality of walking driving wheels in contact with the rolling surface of the corrugated guardrail.

[0009] Wherein, the multiple travel driving wheels are arranged in groups to form at least one travel driving wheel group, the travel driving wheels in the same group are connected by a transmission toothed belt, and the transmission wheel is connected to at least one of the travel driving wheel groups by a transmission toothed belt.

[0010] Wherein, the driving wheel mechanism further includes a first spring floating structure that provides radial floating support for the multiple traveling driving wheels.

[0011] Optionally, the plurality of travel driving wheels are arranged in groups to constitute a plurality of travel driving wheel groups, wherein the travel driving wheels of different groups are independently driven by the transmission wheels;

[0012] There are multiple transmission wheels, including a main transmission wheel directly connected to the driver and at least one slave transmission wheel connected to the main transmission wheel via a transmission toothed belt;

[0013] Wherein, each of the transmission wheels is drivingly connected to the corresponding travel drive wheel set.

[0014] Optionally, the driving wheel mechanism further includes a plurality of tensioning wheels corresponding to the plurality of travel driving wheel groups, and the tensioning wheels tension the transmission toothed belts of the corresponding travel driving wheel groups.

[0015] Optionally, the plurality of travel driving wheels are arranged in groups to form a plurality of travel driving wheel groups connected in series, so that the end travel driving wheel of each travel driving wheel group constitutes the starting travel driving wheel of the next series travel driving wheel group;

[0016] The transmission wheel is connected to the starting travel driving wheel of the first series travel driving wheel group through a transmission toothed belt.

[0017] Optionally, the plurality of travel driving wheels are arranged in groups to form a single travel driving wheel set, and the transmission wheel is synchronously connected to all the travel driving wheels in the single travel driving wheel set via a single transmission toothed belt.

[0018] Optionally, the travel driving wheel includes a wheel body and a wheel axle, and the travel driving wheel further includes at least one gear transmission part provided on the wheel axle;

[0019] The transmission wheel also includes at least one tooth transmission part.

[0020] Optionally, the plurality of travel driving wheels are configured as a plurality of first lower side supporting wheels in contact with the front rolling surface of the lower edge of the corrugated guardrail;

[0021] Wherein, the driving wheel mechanism further comprises a plurality of second lower side supporting wheels configured to contact the back rolling surface of the lower edge of the corrugated guardrail and a plurality of third lower side supporting wheels configured to contact the side rolling line of the lower edge of the corrugated guardrail;

[0022] Wherein, the second lower side support wheel and the third lower side support wheel are walking idler wheels.

[0023] Optionally, the number of the first lower supporting wheels is the same as the number of the second lower supporting wheels, so that each first lower supporting wheel is radially corresponding to one second lower supporting wheel.

[0024] Optionally, the first spring floating structure includes a plurality of first floating blocks corresponding to the plurality of travel driving wheels, a plurality of first springs, a first limiting member, and a guide rod with a limiting flange;

[0025] Each of the first floating blocks supports one of the travel drive wheels, and each of the first floating blocks is movably supported on a limiting flange of the guide rod along the guide rod;

[0026] Wherein, at least one first spring is arranged between each first floating block and the first limiting member.

[0027] Optionally, the driving wheel mechanism further comprises a second spring floating structure providing radial floating support for the plurality of second lower supporting wheels;

[0028] Wherein, the second spring floating structure comprises a plurality of second floating blocks corresponding to the plurality of second lower supporting wheels, a plurality of second springs, a second limiting member and a guide rod with a limiting flange;

[0029] Each of the second floating blocks supports one of the second lower supporting wheels, and each of the second floating blocks is movably supported on a limiting flange of the guide rod along the guide rod;

[0030] Wherein, at least one second spring is arranged between each second floating block and the second limiting member.

[0031] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0032] By combining an elastic floating structure in the drive wheel mechanism and arranging the walking drive wheels in groups through a transmission toothed belt, this design can effectively absorb impact when the inspection robot is walking, providing the inspection robot with effective obstacle avoidance capabilities, ensuring the stability of the drive wheels when passing through deformed parts or connection parts, while still providing effective walking drive capabilities.

[0033] Furthermore, by setting the driving wheel mechanism at the lower edge of the corrugated guardrail, the inspection robot has the ability to be installed at a distance from the top of the guardrail, avoiding the interference of the guardrail column or the connection between the guardrail column and the guardrail with the movement of the inspection robot along the corrugated guardrail. This design greatly improves the practicality and applicability of the inspection robot.

[0034] It will be understood that various embodiments of the present invention may only achieve some of the above-mentioned technical effects, but not necessarily all of the above-mentioned technical effects, and that it is not excluded that various embodiments of the present invention may also have additional optional features and technical effects. Other optional features and technical effects of the embodiments of the present invention are partially described below, and some of them can be understood by reading this document. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The elements shown are not limited to the scale shown in the drawings. The same or similar reference numerals in the drawings represent the same or similar elements, wherein:

[0036] Figures 1A to 1C Schematic side views of various corrugated guardrails are shown;

[0037] Figure 2 A schematic perspective view of an inspection robot mounted on a corrugated guardrail is shown;

[0038] Figure 3 A schematic perspective view of another inspection robot being installed on a corrugated guardrail is shown;

[0039] Figure 4 A schematic perspective view of another inspection robot being installed on a corrugated guardrail is shown;

[0040] Figure 5 A schematic structural diagram of a driving wheel mechanism with an obstacle avoidance function according to an embodiment of the present invention is shown;

[0041] Figure 6 Shown according to Figure 5 A partially exploded view of the drive wheel mechanism with obstacle avoidance function in the illustrated embodiment;

[0042] Figure 7 Shown according to Figure 5 A partially exploded view of the drive wheel mechanism with obstacle avoidance function in the illustrated embodiment;

[0043] Figure 8 A schematic structural diagram of another driving wheel mechanism with obstacle avoidance function according to an embodiment of the present invention is shown;

[0044] Figure 9 A schematic structural diagram of another driving wheel mechanism with obstacle avoidance function according to an embodiment of the present invention is shown;

[0045] Figure 10 Shown according to Figure 9 A partially exploded view of the drive wheel mechanism with obstacle avoidance function in the illustrated embodiment;

[0046] Figure 11 A schematic structural diagram of another driving wheel mechanism with obstacle avoidance function according to an embodiment of the present invention is shown;

[0047] Figure 12 Shown according to Figure 11 A partially exploded view of the drive wheel mechanism with obstacle avoidance function in the illustrated embodiment;

[0048] Figure 13 A partially exploded view of another driving wheel mechanism with obstacle avoidance function according to an embodiment of the present invention is shown; and

[0049] Figure 14 A schematic structural diagram of another driving wheel mechanism with obstacle avoidance function according to an embodiment of the present invention is shown;

[0050] In the present invention, the same or similar reference numerals are used to indicate the same or similar features or components.

[0051] Description of reference numerals:

[0052] 1-Inspection robot;

[0053] 10-waveform guide wheel mechanism;

[0054] 20- driving wheel mechanism;

[0055] 21 - first lower supporting wheel (travel driving wheel); 210 - wheel body; 211 - wheel axle; 212 - first gear transmission part; 213 - second gear transmission part;

[0056] 22-second lower support wheel; 220-wheel body; 221-wheel axle; 222-bearing;

[0057] 23- third lower side supporting wheel;

[0058] 24- transmission wheel; 242- tooth transmission part; 242'- first tooth transmission part; 243'- second tooth transmission part;

[0059] 25-Drive;

[0060] 261- transmission toothed belt; 262- transmission toothed belt; 263- transmission toothed belt; 264- transmission toothed belt;

[0061] 27 - first spring floating mechanism; 271 - first floating block; 272 - first spring; 273 - first spring guide pin; 274 - first limiting member; 275 - first mounting member; 276 - guide rod; 2761 - limiting flange; 277 - third spring;

[0062] 28 - second spring floating mechanism; 281 - second floating block; 282 - second spring; 283 - second spring guide pin; 284 - second stopper; 285 - second mounting member; 287 - fourth spring;

[0063] 29-tension pulley;

[0064] 50-housing;

[0065] 60-Inspection agencies;

[0066] L-Guardrail;

[0067] P-Guardrail Post

[0068] G-Ground. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with specific embodiments and accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0070] As used herein, the term "including" and its variations represent open inclusion, i.e., "including but not limited to." Unless otherwise stated, the term "or" means "and / or." The term "based on" means "based at least in part on." The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment." The term "another embodiment" means "at least one additional embodiment." The terms "first," "second," etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0071] The present invention will be further described below with reference to the embodiments and drawings. The specific embodiments are only used to further illustrate the present invention and do not limit the scope of protection of the claims of the present invention.

[0072] In various embodiments of the present invention, a drive wheel mechanism for a road inspection robot is provided. More specifically, embodiments of the present invention provide a drive wheel mechanism for a road inspection robot with corrugated guardrails. It will be appreciated that the inspection robot provided by embodiments of the present invention can be widely applied to various roads, as long as the roadside has corrugated guardrails. In the exemplary embodiment, the road is a highway. It will be appreciated that the inspection robot provided by embodiments of the present invention can be applied to various road scenarios, such as highways, including but not limited to newly constructed roads / highways (as long as corrugated guardrails have already been constructed), road / highway reconstruction and expansion scenarios, and road / highway scenarios already in use. In various exemplary embodiments below, the inspection robot according to embodiments of the present invention will be described in conjunction with the highway reconstruction and expansion scenario. However, as previously mentioned, the inspection robot according to embodiments of the present invention can also be applied to other road scenarios with corrugated guardrails. For example, the inspection robot according to embodiments of the present invention can be used to inspect the roadside of an already open highway to confirm traffic safety or road violations.

[0073] Several embodiments of the present invention will be described below with reference to the accompanying drawings.

[0074] refer to Figures 1A to 1C , shows a schematic diagram of a road corrugated guardrail L, which is a three-wave guardrail.

[0075] The following will Figures 1A to 1C The inspection robot according to the embodiment of the present invention is described by taking the corrugated guardrail shown as an example.

[0076] like Figure 2 FIG. 1 shows an inspection robot 1 for a corrugated guardrail according to an embodiment of the invention, which may include a corrugated guide wheel mechanism 10, a drive wheel mechanism 20, and a housing 50. The corrugated guide wheel mechanism 10 includes at least one set of corrugated guide wheels, each set of corrugated guide wheels being configured to roll along a corrugated structure of the corrugated guardrail, which will not be described in detail here. The inspection robot 1 is a bottom-supported type, for example, which may be suitable for Figure 1A The corrugated guardrail shown.

[0077] like Figure 3 FIG. 1 shows an inspection robot 1 for a corrugated guardrail according to an embodiment of the invention, which may include a corrugated guide wheel mechanism 10, a drive wheel mechanism 20, and a housing 50. The corrugated guide wheel mechanism 10 includes at least two sets of corrugated guide magnetic wheels, each set of corrugated guide magnetic wheels being configured to roll along a corrugated structure of the corrugated guardrail, which will not be described in detail here. The inspection robot 1 has a magnetic structure, for example, including the above-mentioned corrugated guide magnetic wheels and retaining magnets, which may be suitable for Figures 1A to 1C The corrugated guardrail shown.

[0078] like Figure 4FIG. 1 shows an inspection robot 1 for a corrugated guardrail according to an embodiment of the invention, which may include a corrugated guide wheel mechanism 10, a drive wheel mechanism 20, a ground support wheel structure 30, and a housing 50. The corrugated guide wheel mechanism 10 includes at least one set of corrugated guide wheels, each set of corrugated guide wheels being configured to roll along a corrugated structure of the corrugated guardrail, which will not be described in detail here. The inspection robot 1 has a ground support wheel structure, and depending on the drive wheel mechanism and the optional back support wheel, the inspection robot 1 may be suitable for Figure 1A Corrugated guardrail, Figure 1A and Figure 1B Corrugated guardrail or Figures 1A to 1C The corrugated guardrail shown.

[0079] The following will refer to Figures 5 to 14 The drive wheel mechanism 20 of the embodiment of the present invention is described. The drive wheel mechanism 20 can be mounted to the housing 50 ( Figures 2 to 4 ).

[0080] Figures 5 to 7 A driving wheel mechanism 20 according to an embodiment of the present invention is shown, which can be used as follows Figure 2 and Figure 4 In the inspection robot 1 shown. Figures 5 to 7 As shown, the driving wheel mechanism 20 may include a plurality of first lower side supporting wheels 21, a plurality of second lower side supporting wheels 22, and a plurality of third lower side supporting wheels 23. The first lower side supporting wheels 21 may contact the front rolling surface of the lower edge of the corrugated guardrail L, the second lower side supporting wheels 22 may contact the back rolling surface of the lower edge of the corrugated guardrail L, and the third lower side supporting wheels 23 may contact the side rolling line of the lower edge of the corrugated guardrail L.

[0081] like Figures 5 to 7 As shown, the driving wheel mechanism 20 further includes a driver 25 and a transmission wheel 24 driven by the driver 25. Figures 5 to 7 As shown, the first lower support wheel 21 is configured as a travel drive wheel, and the second lower support wheel 22 and the third lower support wheel 23 are configured as travel idle wheels. Figure 7 As shown, the first lower support wheel 21 (travel drive wheel) may include a wheel body 210 and an axle 211, and the wheel body 210 may be fixedly mounted with the axle 211 for synchronous rotation. The second lower support wheel 22 may also include a wheel body 220 and an axle 221, and optionally further include a bearing 222. The bearing 222 is sleeved on the axle 221, and the wheel body 220 is sleeved on the bearing 222, so that the wheel body 220 can freely rotate relative to the axle 221. The third lower support wheel 23, which serves as a travel idler wheel, may also include an axle body, an axle, and an optional bearing (not shown).

[0082] like Figures 5 to 7As shown, a plurality of first lower side support wheels 21 (travel drive wheels) are configured to be arranged in parallel in the direction of travel, and a plurality of first lower side support wheels 22 are configured to be arranged in parallel in the direction of travel. Figures 5 to 7 As shown, the number of the first lower side supporting wheels 21 and the second lower side supporting wheels 22 (for example, 4) is the same, and each first lower side supporting wheel 21 is radially corresponding to a second lower side supporting wheel 22 to clamp the lower edge of the corrugated guardrail L between the first lower side supporting wheel 21 and the second lower side supporting wheel 22. Figures 5 to 7 As shown, the third lower supporting wheel 23 is located at the front and rear ends of the first lower supporting wheel 21 and the second lower supporting wheel 22 respectively.

[0083] like Figures 5 to 7 As shown, the first lower support wheels 21 can be arranged in groups to form at least one travel drive wheel group, the transmission wheel 24 is connected to at least one of the travel drive wheel groups through a transmission toothed belt 261, and the travel drive wheels in the same group are connected through transmission toothed belts 262, 263, and 264 (as shown in FIG. Figure 7 More specifically, Figures 5 to 7 As shown, multiple first lower support wheels 21 (travel drive wheels) are arranged in groups to form multiple (3) travel drive wheel groups (two travel drive wheels in each group) connected in series. The transmission wheel 24 is connected to the starting travel drive wheel of the first series travel drive wheel group through a transmission toothed belt 261. The end travel drive wheel of each travel drive wheel group constitutes the starting travel drive wheel of the next series travel drive wheel group. Figures 5 to 7 As shown, the transmission wheel 24 may include at least one tooth transmission portion 242, wherein: Figure 7 In the partially exploded view shown, the transmission wheel 24 is removed to better illustrate its tooth transmission portion 242. Figures 5 to 7 As shown, the tooth transmission portion 242 can be provided on the outer circumference of the transmission wheel 24 . Figures 5 to 7 As shown, the first lower support wheel 21 (travel driving wheel) may further include at least one (for example, two) tooth transmission parts provided on the wheel shaft 211. Specifically, as Figures 5 to 7 As shown, except for the terminal travel drive wheel of the last series-connected travel drive wheel group, which includes only a single tooth transmission portion (second tooth transmission portion 213), the axles 211 of the remaining first lower support wheels 21 (travel drive wheels) may include a first tooth transmission portion 212 and a second tooth transmission portion 213. In the illustrated embodiment, the first tooth transmission portion 212 provided on the first lower support wheel 21 (travel drive wheel) can be used to drive the other (downstream) first lower support wheels 21 (travel drive wheels) in the same group via a toothed belt, and the second tooth transmission portion 213 can be driven by the transmission wheel 24 or the other (upstream / starting) first lower support wheels 21 (travel drive wheels) in the same group via a toothed belt.

[0084] Continue to refer Figures 5 to 7As shown, the driving wheel mechanism 20 may further include a first spring floating structure 27 for providing radial floating for the first lower supporting wheel 21 (travel driving wheel).

[0085] like Figures 5 to 7 As shown, the first spring floating structure 27 includes a plurality of first floating blocks 271, a plurality of first springs 272, a first stopper 274, and a guide rod 276 having a stopper flange 2761. Each first floating block 271 supports a first lower support wheel 21 (travel drive wheel), more specifically, the axle 211 of the first lower support wheel 21 (travel drive wheel). Accordingly, the first floating block 271 may be provided with an axle hole (not shown) for accommodating the axle 211. Each first floating block 271 is movably supported along the guide rod 276 by the stopper flange 2761 of the guide rod 276. Figures 5 to 7 In the illustrated embodiment, the first stopper 274 is fixedly mounted. At least one (e.g., two) first springs 272 may be disposed between each first floating block 271 and the first stopper 274. More specifically, the first springs 272 may be received in spring holes (not shown) in the first floating block 271 and the first stopper 274, respectively. Figures 5 to 7 As shown, the first spring floating structure 27 may further include a first spring guide pin 273 fixedly mounted to the first floating block 271 and / or the first stopper 274. The first spring guide pin 273 extends through the first spring 272 to guide the elastic expansion and contraction of the first spring 272. In the illustrated embodiment, the first spring guide pin 273 extends through the through-hole of the first stopper 274 and is fixed to the spring hole of the first floating block 271. Furthermore, the first spring floating structure 27 may further include a first mounting member 275 located at the end of a guide rod 276, which may be used to maintain the structural stability of the first spring floating structure 27.

[0086] like Figures 5 to 7 As shown, the driving wheel mechanism 20 may further include a second spring floating structure 28 for providing radial floating for the second lower supporting wheel 22 .

[0087] like Figures 5 to 7 As shown, the second spring floating structure 28 includes a plurality of second floating blocks 281, a plurality of second springs 282, a second stopper 284, and a guide rod 276 having a stopper flange 2761. Each second floating block 281 supports a second lower support wheel 22, more specifically, the axle 221 of the second lower support wheel 22. Accordingly, the second floating blocks 281 may be provided with an axle hole (not shown) for accommodating the axle 221. Each second floating block 281 is movably supported along the guide rod 276 by the stopper flange 2761 of the guide rod 276. Figures 5 to 7In the illustrated embodiment, the second stopper 284 is fixedly mounted. At least one (e.g., two) second springs 282 may be disposed between each second floating block 281 and the second stopper 284. More specifically, the second springs 282 may be received in spring holes (not labeled) in the second floating block 281 and the second stopper 284, respectively. Figures 5 to 7 As shown, the second spring floating structure 28 may further include a second spring guide pin 283 fixedly mounted to the second floating block 281 and / or the second stopper 284. The second spring guide pin 283 extends through the second spring 282 to guide the elastic expansion and contraction of the second spring 282. In the illustrated embodiment, the second spring guide pin 283 extends through the through-hole of the second stopper 284 and is fixed to the spring hole of the second floating block 281. Furthermore, the second spring floating structure 28 may further include a second mounting member 285 located at the end of a guide rod 286 (not shown) to maintain the structural stability of the second spring floating structure 28.

[0088] exist Figures 5 to 7 In the illustrated embodiment, the first spring float structure 27 and the second spring float structure 28 may share a guide rod and a guide rod stop flange. Specifically, the guide rod extends through the optional first mounting member, the first stop member, the first floating block, the second floating block, the second stop member, and the optional second mounting member. In a normal state, the first floating block and the second floating block abut opposite sides of the guide rod stop flange. However, it is contemplated that the second spring float structure 28 may have a separate guide rod from the guide rod used for the first spring float structure 27, and this falls within the scope of the invention.

[0089] In this embodiment, by arranging the driving wheel mechanism at the lower edge of the corrugated guardrail, the inspection robot can be installed at a distance from the top of the guardrail, that is, there is no top mounting structure, thereby avoiding the top mounting structure and the Figures 1A to 1C Interference between guardrail posts and guardrail connections shown.

[0090] By incorporating an elastic floating structure into the driving wheel mechanism and arranging the walking driving wheels in groups through a transmission toothed belt, an effective obstacle avoidance capability can be provided for the inspection robot. In this article, obstacle avoidance covers crossing uneven walking surfaces such as protrusions and depressions at the connection part, and also covers deformation of the corrugated guardrail due to various reasons. As an explanation and not a limitation, the spring floating structure according to the embodiment of the present invention can provide radial floating capability for the supporting wheel to ensure that the supporting wheel itself that encounters an obstacle (including deformation) can cross the obstacle, and arranging the first lower side supporting wheel as the walking driving wheel in a group can help the walking supporting wheel currently facing the obstacle to overcome the problem of lack of driving force with the help of the driving force of other walking driving wheels in the same group, so that when encountering an obstacle, it can not only avoid the obstacle radially, but also ensure the walking driving capability of crossing the obstacle in the walking direction.

[0091] Although not shown in the figures, in a preferred embodiment, the first lower support wheel and the second lower support wheel are preloaded when in the installed state, that is, there is a floating spring force applied in the direction of the corrugated guardrail in the installed state, thereby providing better supporting force while helping to avoid recessed obstacles.

[0092] refer to Figure 8 , shows a driving wheel mechanism according to another embodiment of the present invention, which can also be used as Figure 2 and Figure 4 The inspection robot 1 shown. Figure 8 In the embodiment shown, the driving wheel mechanism 20 also includes a plurality of first lower side support wheels 21, a plurality of second lower side support wheels 22 and a plurality of third lower side support wheels 23, a driving wheel 24, a driver 25, a first spring floating structure and a second spring floating structure, and a plurality of transmission toothed belts for transmission. Figure 8 In the embodiment shown, the first lower support wheels 21 can also be arranged in groups to form at least one travel drive wheel group, and the transmission wheel 24 is connected to at least one of the travel drive wheel groups through a transmission toothed belt, and the travel drive wheels in the same group are connected through a transmission toothed belt. Figure 8 The embodiment shown is Figures 5 to 7 The illustrated embodiment differs in that the first stopper is not fixedly mounted but rather movably mounted along the guide rod, and a third spring is disposed between the first stopper and the first mounting member, thereby providing the first lower support wheel 21 (travel drive wheel) with a secondary radial spring float. This secondary spring float is applied to multiple first lower support wheels 21 (travel drive wheels), rather than to a single first lower support wheel 21 (travel drive wheel). Here, the first stopper 274 constitutes the primary stopper, and the first mounting member constitutes the secondary stopper. In a more preferred embodiment, the third spring 277 can have a significantly greater spring force than the first spring. Preferably, a corresponding third spring is provided for each first floating block, and the spring force of the corresponding third spring is significantly greater than the spring force of the corresponding first spring.

[0093] Optionally, Figure 8 The embodiment shown is Figures 5 to 7The illustrated embodiment also differs in that the second stopper 284 is not fixedly mounted but rather movably mounted along the guide rod, and a fourth spring 287 is disposed between the second stopper 284 and the second mounting member 285, thereby providing the second lower support wheel 22 with a secondary radial spring float capability. This secondary spring float is for the entire second lower support wheel 22, rather than for a single second lower support wheel 22. Here, the second stopper 284 constitutes the primary stopper, and the second mounting member 285 constitutes the secondary stopper. In a more preferred embodiment, the fourth spring 287 can have a significantly greater spring force than the second spring 282. Preferably, a corresponding fourth spring is provided for each second spring provided for the second floating block, and the spring force of the corresponding fourth spring is significantly greater than the spring force of the corresponding second spring.

[0094] Figure 8 The drive wheel mechanism of the illustrated embodiment exhibits significantly better obstacle avoidance capabilities. This may be because, by way of explanation and not limitation, the drive wheel mechanism of this embodiment exhibits improved overall obstacle avoidance capabilities for the multiple support wheels when facing long obstacles (including those that are deformed), while also ensuring the travel drive capabilities of the grouped travel drive wheels.

[0095] refer to Figure 9 and Figure 10 , shows a driving wheel mechanism according to another embodiment of the present invention, which can also be used as Figure 2 and Figure 4 The inspection robot 1 shown. Figure 9 and Figure 10 In the embodiment shown, the driving wheel mechanism also includes a plurality of first lower side support wheels 21, a plurality of second lower side support wheels 22 and a plurality of third lower side support wheels 23, a driving wheel 24, a driver 25, a first spring floating structure and a second spring floating structure and a plurality of transmission toothed belts for transmission (in Figure 9 and Figure 10 In the embodiment shown, some identical or similar components such as the limiting components, the mounting components, and the guide rods are omitted or truncated to better illustrate the differences. Figure 9 and Figure 10 In the embodiment shown, the first lower support wheels 21 can also be arranged in groups to form at least one travel drive wheel group, and the transmission wheel 24 is connected to at least one of the travel drive wheel groups through a transmission toothed belt, and the travel drive wheels in the same group are connected through a transmission toothed belt. Figures 5 to 7 The difference of the embodiment shown is that in Figure 9 and Figure 10In the illustrated embodiment, multiple lower support wheels 21 (travel drive wheels) are arranged in groups to form multiple (two) travel drive wheel sets. Travel drive wheels in the same group are connected to corresponding transmission wheels 24 via toothed belts 262 and 263. Travel drive wheels 21 in different groups are independently driven by the transmission wheels 24. There are multiple transmission wheels 24 (two in the illustration), including a main transmission wheel directly connected to the driver 25 and at least one slave transmission wheel connected to the main transmission wheel via a toothed belt 261. Each transmission wheel 24 is drivenly connected to its corresponding travel drive wheel set. Accordingly, each transmission wheel 24 includes a first gear transmission portion 242' and a second gear transmission portion 243'. In the illustrated embodiment, the transmission wheels 24 may have two wheel bodies, each with a gear transmission portion disposed on its outer circumference. The main transmission wheel body may be fixedly connected to the driver's drive shaft in a non-rotatable manner, while the slave transmission wheel body may be fixedly connected to the axle of the slave transmission wheel in a non-rotatable manner. The axle of the slave transmission wheel is, in turn, rotatably supported in a fixed base.

[0096] like Figure 9 and Figure 10 As shown, the drive wheel mechanism 20 further includes multiple (e.g., two) tensioning pulleys 29 corresponding to the multiple travel drive wheel assemblies. The tensioning pulleys 29 tension the corresponding travel drive wheel assemblies via toothed belts 262 and 263. Although not shown in the figures, in a preferred embodiment, springs may be provided between the tensioning pulleys 29 for adjacent travel drive wheel assemblies to achieve balanced tensioning of the adjacent travel drive wheel assemblies.

[0097] Although not shown in the figures, in an alternative embodiment, a plurality of travel drive wheels may be arranged in groups to form a single travel drive wheel group, and the transmission wheel 24 is synchronously connected to all the travel drive wheels 21 in the single travel drive wheel group through a single transmission toothed belt 261.

[0098] In a further embodiment, the driving wheel mechanism 20 may further include a plurality of back-side supporting wheels (not labeled) configured to contact the back side of the corrugated guardrail.

[0099] refer to Figure 11 and Figure 12 , shows a driving wheel mechanism according to another embodiment of the present invention, which can be used as Figure 3 The inspection robot 1 shown. The driving wheel mechanism 20 may include a plurality of first lower side supporting wheels 21 configured as walking driving wheels, and the first lower side supporting wheels 21 are in contact with the front rolling surface of the lower edge of the corrugated guardrail L. In this embodiment, the second and third lower side supporting wheels are no longer provided.

[0100] like Figure 11 and Figure 12As shown, the driving wheel mechanism further includes a driver 25 and a transmission wheel 24 driven by the driver 25, which is used to drive the first lower side support wheel 21 configured as a travel driving wheel. Figure 12 As shown, the first lower supporting wheel 21 (travel driving wheel) may include a wheel body 210 and a wheel axle 211 (not labeled), and the wheel body 210 may be fixedly mounted with the wheel axle 211 (not labeled) to rotate synchronously.

[0101] like Figure 11 and Figure 12 As shown, a plurality of first lower support wheels 21 (travel drive wheels) are configured to be arranged in parallel in the traveling direction.

[0102] like Figure 11 and Figure 12 As shown, the first lower support wheels 21 can be arranged in groups to form at least one travel drive wheel group, the transmission wheel 24 is connected to at least one of the travel drive wheel groups through a transmission toothed belt 261, and the travel drive wheels in the same group are connected through transmission toothed belts 262, 263, and 264 (as shown in FIG. Figure 12 More specifically, Figure 11 and Figure 12 As shown, multiple first lower support wheels 21 (travel drive wheels) are arranged in groups to form multiple (3) travel drive wheel groups (two travel drive wheels in each group) connected in series. The transmission wheel 24 is connected to the starting travel drive wheel of the first series travel drive wheel group through a transmission toothed belt 261. The end travel drive wheel of each travel drive wheel group constitutes the starting travel drive wheel of the next series travel drive wheel group. Figure 11 and Figure 12 As shown, the transmission wheel 24 may include at least one tooth transmission portion 242. Figure 11 and Figure 12 As shown, the gear transmission portion 242 can be arranged on the outer circumference of the transmission wheel 24. Figure 11 and Figure 12 As shown, the first lower support wheel 21 (travel driving wheel) may further include at least one (for example, two) tooth transmission parts provided on the wheel shaft 211. Specifically, as Figure 11 and Figure 12As shown, except for the terminal travel drive wheel of the last series-connected travel drive wheel group, which includes only a single tooth transmission portion (second tooth transmission portion 213), the axles 211 of the remaining first lower support wheels 21 (travel drive wheels) may include a first tooth transmission portion 212 and a second tooth transmission portion 213. In the illustrated embodiment, the first tooth transmission portion 212 provided on the first lower support wheel 21 (travel drive wheel) can be used to drive the other (downstream) first lower support wheels 21 (travel drive wheels) in the same group via a toothed belt, and the second tooth transmission portion 213 can be driven by the transmission wheel 24 or the other (upstream / starting) first lower support wheels 21 (travel drive wheels) in the same group via a toothed belt.

[0103] Continue to refer Figure 11 and Figure 12 The driving wheel mechanism 20 may further include a spring floating structure for providing radial floating for the first lower supporting wheel 21 (travel driving wheel).

[0104] like Figure 11 and Figure 12 As shown, the spring floating structure includes a plurality of floating blocks 271, a plurality of first springs 272, a limiting member 274, and a guide rod 276 having a limiting flange 2761. Each floating block 271 supports a first lower support wheel 21 (travel driving wheel), more specifically, supports the axle 211 of the first lower support wheel 21 (travel driving wheel). Accordingly, the floating block 271 can be provided with an axle hole (not marked) for accommodating the axle 211. Each floating block 271 is movably supported on the limiting flange 2761 of the guide rod 276 along the guide rod 276. Figure 11 and Figure 12 In the embodiment shown, the stopper 274 is fixedly mounted. At least one (e.g., two) first springs 272 may be provided between each floating block 271 and the stopper 274. More specifically, the first springs 272 may be received in spring holes (not shown) in the floating block 271 and the stopper 274, respectively. Figure 11 and Figure 12 As shown, the spring float structure 27 may further include a spring guide pin 273 fixedly mounted to the float block 271 and / or the stopper 274. The spring guide pin 273 extends through the first spring 272 to guide the elastic expansion and contraction of the first spring 272. In the illustrated embodiment, the spring guide pin 273 extends through the through-hole of the stopper 274 and is fixed to the spring hole of the float block 271. Furthermore, the spring float structure may further include a mounting member 275 located at the end of the guide rod 276, which may be used to maintain the structural stability of the spring float structure.

[0105] exist Figure 11 and Figure 12The driving wheel mechanism in the embodiment shown can be constructed so as not to extend substantially beyond the side of the lower edge of the corrugated guardrail. In combination with the above-mentioned installation at a distance from the top of the guardrail, the inspection robot of the embodiment of the present invention is installed only on one side (front) of the corrugated guardrail. Figure 3 The advantage of such a design is that it can be more widely applied to various corrugated guardrails. For example, the structure can be applied not only to Figure 1A The corrugated guardrail shown has a larger back space and can be used for Figure 1B The corrugated guardrail shown here, which has less space on the back side, can even be used for Figure 1C The corrugated guardrail shown has no backside space at the connection between the guardrail post and the corrugated guardrail. It will be appreciated that embodiments of the present invention can advantageously be used to install inspection robots for corrugated guardrails without ground mounting, or even without backside mounting. However, it will be appreciated that the drive wheel mechanism of embodiments of the present invention can be located elsewhere on the corrugated guardrail and still achieve obstacle avoidance (in this case, the travel drive wheels are no longer the lower support wheels).

[0106] refer to Figure 13 , shows a driving wheel mechanism according to another embodiment of the present invention, which can also be used as Figure 3 The inspection robot 1 shown. Figure 13 In the embodiment shown, the driving wheel mechanism also includes a plurality of first lower side supporting wheels 21, a driving wheel 24, a driver 25, a spring floating structure 27 and a plurality of transmission toothed belts for transmission. Figure 13 In the embodiment shown, the first lower support wheels 21 can also be arranged in groups to form at least one travel drive wheel group, and the transmission wheel 24 is connected to at least one of the travel drive wheel groups through a transmission toothed belt 261, and the travel drive wheels in the same group are connected through transmission toothed belts 262, 263, and 264. Figure 13 The embodiment shown is Figure 11 and Figure 12 The illustrated embodiment differs in that the stopper 274 is not fixed but movably mounted along the guide rod, and a third spring 277 is disposed between the stopper 274 and the mounting member 275. This provides the first lower support wheel 21 (travel drive wheel) with a secondary radial spring float. This secondary spring float applies to multiple first lower support wheels 21 (travel drive wheels) as a whole, rather than to a single first lower support wheel 21 (travel drive wheel). Here, the stopper 274 constitutes the primary stopper, and the mounting member 275 constitutes the secondary stopper. In a more preferred embodiment, the third spring 277 can have a significantly greater spring force than the first spring 272. Preferably, a corresponding third spring is provided for each first spring provided for each floating block, and the spring force of the corresponding third spring is significantly greater than the spring force of the corresponding first spring.

[0107] Figure 13 The drive wheel mechanism of the illustrated embodiment exhibits significantly better obstacle avoidance capabilities. This may be because, by way of explanation and not limitation, the drive wheel mechanism of this embodiment exhibits improved overall obstacle avoidance capabilities for the multiple support wheels when facing long obstacles (including those that are deformed), while also ensuring the travel drive capabilities of the grouped travel drive wheels.

[0108] refer to Figure 14 , shows a driving wheel mechanism according to another embodiment of the present invention, which can also be used as Figure 3 The inspection robot 1 shown. Figure 14 In the embodiment shown, the driving wheel mechanism also includes a plurality of first lower side supporting wheels 21, a driving wheel 24, a driver 25, a spring floating structure 27 and a plurality of transmission toothed belts for transmission (in Figure 14 In the embodiment shown, some identical or similar components such as guide rods are omitted or truncated to better show the differences). Figure 14 In the embodiment shown, the first lower support wheels 21 can also be arranged in groups to form at least one travel drive wheel group, and the transmission wheel 24 is connected to at least one of the travel drive wheel groups through a transmission toothed belt, and the travel drive wheels in the same group are connected through a transmission toothed belt. Figure 11 and Figure 12 The difference of the embodiment shown is that in Figure 14 In the illustrated embodiment, multiple first lower support wheels 21 (travel drive wheels) are arranged in groups to form multiple (two) travel drive wheel sets. Travel drive wheels in the same group are connected to corresponding transmission wheels 24 via toothed belts 262 and 263. Travel drive wheels 21 in different groups are independently driven by the transmission wheels 24. There are multiple transmission wheels 24 (two in the illustration), including a main transmission wheel directly connected to the driver 25 and at least one slave transmission wheel connected to the main transmission wheel via a toothed belt 261. Each transmission wheel 24 is connected to its corresponding travel drive wheel set. Accordingly, each transmission wheel 24 includes a first gear transmission portion 242' and a second gear transmission portion 243'. In the illustrated embodiment, the transmission wheels 24 may have two wheel bodies, each with a gear transmission portion disposed on its outer circumference. The main transmission wheel body may be fixedly connected to the driver's drive shaft in a non-rotatable manner, while the slave transmission wheel body may be fixedly connected to the axle of the slave transmission wheel in a non-rotatable manner. The axle of the slave transmission wheel is, in turn, rotatably supported in a fixed base.

[0109] like Figure 14 As shown, the driving wheel mechanism 20 further includes a plurality of (eg, two) tensioning wheels 29 corresponding to the plurality of travel driving wheel groups. The tensioning wheels 29 tension the corresponding travel driving wheel groups through transmission toothed belts 262 and 263 .

[0110] Although the present invention has been described in detail above using general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made thereto based on the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection claimed in the present invention. In this document, multiple embodiments of the present invention are described, but for the sake of simplicity, the description of each embodiment is not exhaustive, and the same or similar features or parts between the various embodiments may be omitted. In this document, "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" are intended to apply to at least one embodiment or example of the present invention, but not all embodiments. The above terms do not necessarily mean to refer to the same embodiment or example. Those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they contradict each other.

[0111] While the exemplary systems and methods of the present invention have been specifically shown and described with reference to the foregoing embodiments, these are merely examples of the best modes for implementing the present systems and methods. Those skilled in the art will appreciate that various changes may be made to the embodiments of the systems and methods described herein when implementing the present systems and / or methods without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A driving wheel mechanism with obstacle avoidance function for a corrugated guardrail inspection robot, characterized in that: The driving wheel mechanism includes a driver, a transmission wheel connected by the driver, and a plurality of travel driving wheels in contact with the front rolling surface of the corrugated guardrail. The plurality of travel drive wheels are arranged in groups to form a plurality of travel drive wheel groups, the travel drive wheels in the same group are connected via a transmission toothed belt, and the transmission wheel is connected to at least one of the travel drive wheel groups via a transmission toothed belt; Wherein, the driving wheel mechanism further comprises a first spring floating structure providing radial floating support for the plurality of traveling driving wheels; Among them, different groups of travel drive wheels are driven independently by the transmission wheels; There are multiple transmission wheels, including a main transmission wheel directly connected to the driver and at least one slave transmission wheel connected to the main transmission wheel via a transmission toothed belt; Wherein, each of the transmission wheels is drivingly connected to the corresponding travel drive wheel set; The driving wheel mechanism also includes a plurality of tensioning wheels corresponding to the plurality of travel driving wheel groups, and springs are arranged between the tensioning wheels of adjacent travel driving wheel groups, and the tensioning wheels of adjacent travel driving wheel groups tension the transmission belts of adjacent travel driving wheel groups.

2. The driving wheel mechanism with obstacle avoidance function of the corrugated guardrail inspection robot according to claim 1 is characterized in that: The travel driving wheel comprises a wheel body and a wheel axle, and the travel driving wheel further comprises at least one gear transmission part arranged on the wheel axle; The transmission wheel also includes at least one tooth transmission part.

3. The driving wheel mechanism with obstacle avoidance function of the corrugated guardrail inspection robot according to claim 1 is characterized in that: The plurality of travel driving wheels are configured as a plurality of first lower side supporting wheels in contact with the front rolling surface of the lower edge of the corrugated guardrail; Wherein, the driving wheel mechanism further comprises a plurality of second lower side supporting wheels configured to contact the back rolling surface of the lower edge of the corrugated guardrail and a plurality of third lower side supporting wheels configured to contact the side rolling line of the lower edge of the corrugated guardrail; Wherein, the second lower side support wheel and the third lower side support wheel are walking idler wheels.

4. The driving wheel mechanism with obstacle avoidance function of the corrugated guardrail inspection robot according to claim 3 is characterized in that: The number of the first lower supporting wheels is the same as the number of the second lower supporting wheels, so that each first lower supporting wheel is radially corresponding to one second lower supporting wheel.

5. The driving wheel mechanism with obstacle avoidance function of the corrugated guardrail inspection robot according to claim 1 is characterized in that: The first spring floating structure includes a plurality of first floating blocks corresponding to the plurality of travel driving wheels, a plurality of first springs, a first limiting member and a guide rod with a limiting flange; Each of the first floating blocks supports one of the travel drive wheels, and each of the first floating blocks is movably supported on a limiting flange of the guide rod along the guide rod; Wherein, at least one first spring is arranged between each first floating block and the first limiting member.

6. The driving wheel mechanism with obstacle avoidance function of the corrugated guardrail inspection robot according to claim 3 or 4, characterized in that: The driving wheel mechanism further includes a second spring floating structure that provides radial floating support for the plurality of second lower side support wheels; Wherein, the second spring floating structure comprises a plurality of second floating blocks corresponding to the plurality of second lower supporting wheels, a plurality of second springs, a second limiting member and a guide rod with a limiting flange; Each of the second floating blocks supports one of the second lower supporting wheels, and each of the second floating blocks is movably supported on a limiting flange of the guide rod along the guide rod; Wherein, at least one second spring is arranged between each second floating block and the second limiting member.

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