Robot walking structure suitable for multiple scenes and X-ray detection robot

Abstract

The invention belongs to the technical field of power robots. The robot walking structure suitable for multiple scenes and the X-ray detection robot are innovatively developed, the distance between the two front driving wheels and the distance between the two rear driving wheels can be adjusted, the robot walking structure can be matched with different power transmission line distances, the shallow V-shaped widened front driving wheels and the deep V-shaped rear driving wheels are combined, and the space between the two front driving wheels and the space between the two rear driving wheels can be adjusted. On the premise of ensuring the guidance quality of the walking mechanism, the passing capacity of the robot is improved, deviation of the walking direction is avoided, and the defect that a robot with an existing walking mechanism cannot detect an anti-loosening crimping pipe and a crimping pipe with a shunt reinforcing wire is overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power robots, and in particular to a robot walking structure suitable for multiple scenarios and an X-ray detection robot. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] X-rays have strong penetrating power and can penetrate the object being inspected. Materials of different densities absorb X-rays to different degrees. Therefore, the X-rays that penetrate the object are received by the detector and converted into electrical signals. Then, they are processed by the computer system to form an image with image information, thereby realizing the detection of the internal structure of the object. X-ray inspection robots have been used in the non-destructive testing of tension clamps, joint pipes and crimping pipes of power transmission lines. They can perform real-time digital imaging, intuitively detect the internal structure, and discover and eliminate safety hazards.

[0004] The walking mechanism of an X-ray inspection robot generally includes four walking wheels to meet the needs of walking on transmission lines. However, the walking wheels of existing X-ray inspection robots have the following problems: (1) The spacing between transmission lines is not fixed, and there are 400mm, 450mm, 500mm, etc. The spacing between the walking wheels needs to be adjusted. However, the walking wheels of existing X-ray inspection robots are mostly fixed in spacing and cannot be adaptively adjusted; (2) When there are shunt reinforcement lines in the transmission lines, the conventional walking mechanism has poor passability, and thus cannot detect the crimping tubes when there are shunt reinforcement lines; (3) The adjustment plate of the horizontal double-split conductor is arranged vertically, and the conventional walking mechanism cannot pass through. For the anti-loosening type front crimping tube, the traditional X-ray inspection robot cannot detect it. Summary of the invention

[0005] In order to address the deficiencies in the prior art, the present invention provides a robot walking structure and an X-ray inspection robot suitable for multiple scenarios, which can be used for the inspection of compression tubes with shunt reinforcement lines and the inspection of horizontal double-split anti-loosening compression tubes, greatly improving the environmental adaptability of the X-ray inspection robot.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a robot walking structure suitable for multiple scenarios.

[0008] A robot walking structure suitable for multiple scenarios, comprising: a support frame, front drive wheels and rear drive wheels, wherein the front drive wheels include a first front drive wheel and a second front drive wheel which are arranged symmetrically along the center line of the support frame, and the rear drive wheels include a first rear drive wheel and a second rear drive wheel which are arranged symmetrically along the center line of the support frame;

[0009] The driving motor of the first front driving wheel is connected to the first adjusting square tube, the first adjusting square tube is connected to one end of the first intermediate supporting square tube through a first latch, the driving motor of the second front driving wheel is connected to the second adjusting square tube, the second adjusting square tube is connected to one end of the first intermediate supporting square tube through a second latch, and the first intermediate supporting square tube is connected to the supporting frame;

[0010] The driving motor of the first rear driving wheel is connected to the third adjusting square tube, the third adjusting square tube is connected to one end of the second intermediate supporting square tube through a third pin, the driving motor of the second rear driving wheel is connected to the fourth adjusting square tube, the fourth adjusting square tube is connected to one end of the second intermediate supporting square tube through a fourth pin, and the second intermediate supporting square tube is connected to the support frame.

[0011] As a further limitation of the first aspect of the present invention, the first latch and the second latch are symmetrically arranged along the vertical center line of the first intermediate supporting square tube, and the third latch and the fourth latch are symmetrically arranged along the vertical center line of the second intermediate supporting square tube.

[0012] As a further limitation of the first aspect of the present invention, the first front drive wheel and the second front drive wheel have the same structure, and both include:

[0013] A front drive hub, a front support hub, a rubber wheel and an extended nylon roller. The rubber wheels are respectively covered on the outside of the front drive hub and the front support hub. The front drive hub and the front support hub are relatively fixedly connected and form a first V-shaped structure. The front drive hub is used to be connected to the drive motor through a motor adapter flange, and the front support hub is connected to the extended nylon roller.

[0014] As a further limitation of the first aspect of the present invention, the front driving hub is fixedly connected to the front supporting hub by screws.

[0015] As a further limitation of the first aspect of the present invention, the first rear drive wheel and the second rear drive wheel have the same structure, and both include:

[0016] The rear drive hub, the rear support hub and the rubber wheel, the rubber wheel is respectively covered on the outer sides of the rear drive hub and the rear support hub, the rear drive hub and the rear support hub are relatively fixedly connected and form a second V-shaped structure, the rear drive hub is used to connect to the drive motor through the motor adapter flange, and the inner angle of the second V-shaped structure is smaller than the inner angle of the first V-shaped structure.

[0017] As a further limitation of the first aspect of the present invention, the rear driving wheel hub is fixedly connected to the rear supporting wheel hub by screws.

[0018] As a further limitation of the first aspect of the present invention, the wheel diameter of the rear drive wheel is larger than the wheel diameter of the front drive wheel.

[0019] As a further limitation of the first aspect of the present invention, the wheelbase of the first front drive wheel and the second front drive wheel is adjusted by the first adjustment square tube, the first latch, the second adjustment square tube and the second latch, and the wheelbase adjustment range is 400 mm, 450 mm and 500 mm;

[0020] The wheelbase of the first rear drive wheel and the second rear drive wheel is adjusted by the third adjustment square tube, the third latch, the fourth adjustment square tube and the fourth latch, and the wheelbase adjustment range is 400mm, 450mm and 500mm.

[0021] As a further limitation of the first aspect of the present invention, the driving motor of the first front driving wheel is connected to the first adjusting square tube, and a driving motor outlet shielding cover is provided at the connecting portion; the driving motor of the second front driving wheel is connected to the second adjusting square tube, and a driving motor outlet shielding cover is provided at the connecting portion;

[0022] The driving motor of the first rear driving wheel is connected to the third adjusting square tube, and a driving motor outlet shielding cover is provided at the connecting position; the driving motor of the second rear driving wheel is connected to the fourth adjusting square tube, and a driving motor outlet shielding cover is provided at the connecting position.

[0023] In a second aspect, the present invention provides an X-ray inspection robot, comprising the robot walking structure suitable for multiple scenarios as described in the first aspect of the present invention.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The present invention innovatively develops a robot walking structure suitable for multiple scenarios. The spacing between the two front drive wheels and the spacing between the two rear drive wheels are adjustable, and can adapt to different transmission line spacings. The shallow V-shaped widened front drive wheel has strong passability but weak guidance, and the deep V-shaped rear drive wheel has weak passability but strong guidance. The shallow V-shaped widened front drive wheel is combined with the deep V-shaped rear drive wheel. Under the premise of ensuring the guidance of the walking mechanism, the robot's passability is improved and the deviation of the walking direction is avoided, which makes up for the deficiency that robots under the current walking mechanism cannot detect anti-loosening type compression tubes and compression tubes with shunt reinforcement lines.

[0026] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0028] Figure 1 A front view of a robot walking structure suitable for multiple scenarios provided in Example 1 of the present invention;

[0029] Figure 2 A top view of a robot walking structure suitable for multiple scenarios provided in Example 1 of the present invention;

[0030] Figure 3 An assembly diagram of the front traveling mechanism provided in Example 1 of the present invention;

[0031] Figure 4 Front drive wheel structure diagram (with motor) provided for embodiment 1 of the present invention

[0032] Figure 5 Front drive wheel structure diagram provided for embodiment 1 of the present invention (without motor)

[0033] Figure 6 A top view of the rear walking mechanism provided in Example 1 of the present invention;

[0034] Figure 7 A cross-sectional view of the rear walking mechanism provided in Example 1 of the present invention;

[0035] Figure 8 A schematic diagram of the rear drive wheel structure provided in Example 1 of the present invention;

[0036] Among them, 1, front drive wheel; 1-1, first front drive wheel; 1-2, second front drive wheel; 2, rear drive wheel; 2-1, first rear drive wheel; 2-2, second rear drive wheel; 3, support frame; 4, first drive motor; 5, second drive motor; 6, first intermediate support square tube; 7, first adjustment square tube; 8, second adjustment square tube; 9, first latch; 10, second latch; 11, first drive motor outlet shielding cover; 12, second drive motor outlet shielding cover; 13. Front support hub; 14. Front drive hub; 15. Extended nylon roller; 16. Motor adapter flange; 17. Second intermediate support square tube; 18. Third adjustment square tube; 19. Fourth adjustment square tube; 20. Third drive motor; 21. Fourth drive motor; 22. Third latch; 23. Fourth latch; 24. Shielding cover for the wire outlet of the third drive motor; 25. Shielding cover for the wire outlet of the fourth drive motor; 26. Rear support hub; 27. Rear drive hub; 28. Screws. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0038] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0039] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0040] Embodiment 1:

[0041] In this implementation, a robot walking structure suitable for multiple scenarios is proposed, such as Figure 1 and Figure 2 As shown, it includes: a support frame 3, a front drive wheel 1 and a rear drive wheel 2, wherein the front drive wheel 1 includes a first front drive wheel 1-1 and a second front drive wheel 1-2 that are symmetrically arranged along the center line of the support frame 3, and the rear drive wheel 2 includes a first rear drive wheel 2-1 and a second rear drive wheel 2-2 that are symmetrically arranged along the center line of the support frame 3;

[0042] like Figure 3 As shown, the driving motor of the first front driving wheel 1-1 (i.e., the first driving motor 4) is connected to one end of the first intermediate supporting square tube 6 through the first adjusting square tube 7 through the first latch 9, the driving motor of the second front driving wheel 1-2 (i.e., the second driving motor 5) is connected to one end of the first intermediate supporting square tube 6 through the second adjusting square tube 8 through the second latch 10, and the first intermediate supporting square tube 6 is connected to the supporting frame 3;

[0043] like Figure 4 , Figure 5 and Figure 6 As shown, the driving motor of the first rear driving wheel 2-1 (i.e., the third driving motor 20) is connected to one end of the second intermediate supporting square tube 17 through the third adjusting square tube 18 via the third pin 22, the driving motor of the second rear driving wheel 2-2 (i.e., the fourth driving motor 21) is connected to one end of the second intermediate supporting square tube 17 through the fourth adjusting square tube 19 via the fourth pin 23, and the second intermediate supporting square tube 17 is connected to the support frame 3.

[0044] In this implementation, preferably, the first latch 9 and the second latch 10 are arranged symmetrically along the vertical center line of the first intermediate supporting square tube 6, and the third latch 22 and the fourth latch 23 are arranged symmetrically along the vertical center line of the second intermediate supporting square tube 17. The first latch 9 and the second latch 10 are used to achieve quick release and positioning.

[0045] In this implementation, preferably, the first front drive wheel 1-1 and the second front drive wheel 1-2 have the same structure and both include:

[0046] The front drive hub 14, the front support hub 13, the rubber wheel (to increase friction) and the extended nylon roller 15, the rubber wheels are respectively covered on the outside of the front drive hub 14 and the front support hub 13, the front drive hub 14 and the front support hub 13 are relatively fixedly connected and form a first V-shaped structure, the first V-shaped structure adopts a shallow V-shaped structure, the front drive hub 14 is used to connect to the drive motor through the motor adapter flange 16, the front support hub 13 is connected to the extended nylon roller 15, and can easily cross the anti-vibration hammer, the anti-loosening type compression pipe and the horizontally arranged adjustment plate. Because the width of the entire front drive wheel is large and the shallow V-shaped structure is adopted, the wire with the shunt reinforcement line can pass through, and it will not fall out of the wire when it deviates from the moving direction.

[0047] In this implementation, preferably, the front driving hub 14 is fixedly connected to the front supporting hub 13 by screws.

[0048] In this implementation, preferably, the first rear drive wheel 2-1 and the second rear drive wheel 2-2 have the same structure, such as Figure 7 and Figure 8 As shown, all include:

[0049] The rear drive hub 27, the rear support hub 26 and the rubber wheel (to increase friction), the rubber wheel is respectively covered on the outer side of the rear drive hub 27 and the rear support hub 26, the rear drive hub 27 and the rear support hub 26 are relatively fixedly connected and form a second V-shaped structure, the rear drive hub 27 is used to connect to the drive motor through the motor adapter flange 16, and the rear drive wheel adopts a deep V-shaped structure, which can play a guiding role.

[0050] In this implementation, the inner angle of the second V-shaped structure is smaller than the inner angle of the first V-shaped structure, that is, the first V-shaped structure is a shallow V-shaped structure, and the second V-shaped structure is a deep V-shaped structure. The shallow V-shaped widened front drive wheel is combined with the deep V-shaped rear drive wheel. Under the premise of ensuring the guidance of the walking mechanism, the robot's passing ability is improved, the deviation of the walking direction is avoided, and the deficiency that the robot under the current walking mechanism cannot detect anti-loosening type compression tubes and compression tubes with diversion reinforcement lines is compensated.

[0051] In this implementation, preferably, the rear driving hub 27 and the rear supporting hub 26 are fixedly connected by screws 28 .

[0052] In this implementation, preferably, the wheel diameter of the rear drive wheel 2 is larger than the wheel diameter of the front drive wheel 1 .

[0053] In this implementation, preferably, the wheelbase of the first front driving wheel 1-1 and the second front driving wheel 1-2 are adjusted by the first adjustment square tube 7, the first latch 9, the second adjustment square tube 8 and the second latch 10, and the wheelbase adjustment range is 400mm, 450mm and 500mm;

[0054] The wheelbase of the first rear driving wheel 2-1 and the second rear driving wheel 2-2 is adjusted by the third adjusting square tube 18, the third latch 22, the fourth adjusting square tube 19 and the fourth latch 23, and the wheelbase adjustment range is 400mm, 450mm and 500mm.

[0055] In this implementation, preferably, the drive motor of the first front drive wheel 1-1 (i.e., the first drive motor 4) is connected to the first adjustment square tube 7, and a first drive motor outlet shielding cover 11 is provided at the connection portion; the drive motor of the second front drive wheel 1-2 (i.e., the second drive motor 5) is connected to the second adjustment square tube 8, and a second drive motor outlet shielding cover 12 is provided at the connection portion;

[0056] The driving motor of the first rear driving wheel 2-1 (i.e., the third driving motor 20) is connected to the third adjusting square tube 18, and a third driving motor outlet shielding cover 24 is provided at the connecting position; the driving motor of the second rear driving wheel 2-2 (i.e., the fourth driving motor 21) is connected to the fourth adjusting square tube 19, and a fourth driving motor outlet shielding cover 25 is provided at the connecting position.

[0057] Embodiment 2:

[0058] This implementation method provides an X-ray inspection robot, including the robot walking structure suitable for multiple scenarios described in Example 1 of the present invention.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot walking structure suitable for multiple scenarios, It is characterized in that include: A support frame, front drive wheels and rear drive wheels, wherein the front drive wheels include a first front drive wheel and a second front drive wheel that are symmetrically arranged along the center line of the support frame, and the rear drive wheels include a first rear drive wheel and a second rear drive wheel that are symmetrically arranged along the center line of the support frame; The driving motor of the first front driving wheel is connected to the first adjusting square tube, the first adjusting square tube is connected to one end of the first intermediate supporting square tube through a first latch, the driving motor of the second front driving wheel is connected to the second adjusting square tube, the second adjusting square tube is connected to the other end of the first intermediate supporting square tube through a second latch, and the first intermediate supporting square tube is connected to the supporting frame; The driving motor of the first rear driving wheel is connected to the third adjusting square tube, the third adjusting square tube is connected to one end of the second intermediate supporting square tube through a third pin, the driving motor of the second rear driving wheel is connected to the fourth adjusting square tube, the fourth adjusting square tube is connected to the other end of the second intermediate supporting square tube through a fourth pin, and the second intermediate supporting square tube is connected to the support frame.

2. The robot walking structure suitable for multiple scenarios as claimed in claim 1, characterized in that: The first latch and the second latch are arranged symmetrically along the vertical center line of the first intermediate supporting square tube, and the third latch and the fourth latch are arranged symmetrically along the vertical center line of the second intermediate supporting square tube.

3. The robot walking structure suitable for multiple scenarios as claimed in claim 1, characterized in that: The first front drive wheel and the second front drive wheel have the same structure and both include: A front drive hub, a front support hub, a rubber wheel and an extended nylon roller. The rubber wheels are respectively covered on the outside of the front drive hub and the front support hub. The front drive hub and the front support hub are relatively fixedly connected and form a first V-shaped structure. The front drive hub is used to be connected to the drive motor through a motor adapter flange, and the front support hub is connected to the extended nylon roller.

4. The robot walking structure suitable for multiple scenarios as claimed in claim 3, characterized in that: The front driving wheel hub is fixedly connected with the front supporting wheel hub by screws.

5. The robot walking structure suitable for multiple scenarios as claimed in claim 3, characterized in that: The first rear drive wheel and the second rear drive wheel have the same structure and both include: The rear drive hub, the rear support hub and the rubber wheel, the rubber wheel is respectively covered on the outer sides of the rear drive hub and the rear support hub, the rear drive hub and the rear support hub are relatively fixedly connected and form a second V-shaped structure, the rear drive hub is used to connect to the drive motor through the motor adapter flange, and the inner angle of the second V-shaped structure is smaller than the inner angle of the first V-shaped structure.

6. The robot walking structure suitable for multiple scenarios as claimed in claim 5, characterized in that: The rear driving wheel hub is fixedly connected with the rear supporting wheel hub by screws.

7. The robot walking structure suitable for multiple scenarios according to any one of claims 1 to 6, characterized in that: The wheel diameter of the rear driving wheel is larger than the wheel diameter of the front driving wheel.

8. The robot walking structure suitable for multiple scenarios according to any one of claims 1 to 6, characterized in that: The wheelbase of the first front driving wheel and the second front driving wheel is adjusted by the first adjusting square tube, the first latch, the second adjusting square tube and the second latch, and the wheelbase adjustment range is 400mm, 450mm and 500mm; The wheelbase of the first rear drive wheel and the second rear drive wheel is adjusted by the third adjustment square tube, the third latch, the fourth adjustment square tube and the fourth latch, and the wheelbase adjustment range is 400mm, 450mm and 500mm.

9. The robot walking structure suitable for multiple scenarios according to any one of claims 1 to 6, characterized in that: The driving motor of the first front driving wheel is connected to the first adjusting square tube, and a shielding cover for the driving motor outlet is provided at the connecting position; the driving motor of the second front driving wheel is connected to the second adjusting square tube, and a shielding cover for the driving motor outlet is provided at the connecting position; The driving motor of the first rear driving wheel is connected to the third adjusting square tube, and a driving motor outlet shielding cover is provided at the connecting position; the driving motor of the second rear driving wheel is connected to the fourth adjusting square tube, and a driving motor outlet shielding cover is provided at the connecting position.

10. An X-ray inspection robot, characterized in that: A robot walking structure suitable for multiple scenarios comprising the structure described in any one of claims 1 to 9.

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