Chassis structure of inspection robot

Abstract

The invention relates to the technical field of inspection robots, and discloses an inspection robot chassis structure which comprises a chassis, moving wheels are installed on the two sides of the bottom of a base, a storage cavity is formed in the bottom of the base, and the inspection robot chassis structure further comprises buffer mechanisms arranged at the two ends of the chassis; a moving mechanism; the driving mechanisms are arranged on the two sides in the containing cavity and connected with the moving mechanism. According to the inspection robot, movement of the inspection robot can be achieved in cooperation with the moving wheels, the impact force borne by the inspection mechanism when the inspection mechanism collides with an object can be relieved through the buffer mechanisms at the front end and the rear end of the chassis, and the buffer protection effect is achieved; the driving mechanism drives the moving mechanism to descend and enables the moving wheels to leave the ground, and the contact area with the ground is increased through the moving mechanism, so that the problem that normal movement of the inspection robot is affected due to the fact that the moving wheels slip on a wet and slippery road surface can be effectively solved.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, in particular to a chassis structure of an inspection robot. Background Art

[0002] The inspection robot is a programmable multifunctional operating machine based on a mobile sensing execution platform and equipped with a variety of sensors. It is used for customized services such as specific equipment status monitoring, operation and industry business processing. The inspection robot has the advantages of being trackless, deployable, intelligent, clustered, and resistant to high cold and high temperatures. It can perform inspection tasks autonomously or by remote control in an unmanned environment instead of manual labor. It is widely used in special environments such as chemical industry and electric power.

[0003] In the prior art, a chassis structure of an inspection robot (CN221477330u) further limits the position of a slider that slides in a slide groove through a compression spring, and at the same time, the slider cooperates with a support rod and a connecting rod to fix a fixed column above the bottom plate. The compression spring cooperates with the slider to provide shock absorption protection for the robot placed on the chassis during the robot inspection process, thereby improving the protective effect of the chassis on the robot during the inspection process, ensuring the service life of the robot, and avoiding an increase in the use cost. However, in the prior art, the inspection robot moves along the ground through pulleys. On slippery sections of the ground, the pulley is prone to slipping during the movement of the pulley due to the small contact area between the pulley and the ground, thereby affecting the normal movement of the inspection robot. For this reason, a person skilled in the art has proposed a chassis structure of an inspection robot to solve the problems raised in the above background. Summary of the invention

[0004] The purpose of the present invention is to provide a chassis structure of an inspection robot to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A chassis structure of an inspection robot comprises a chassis, movable wheels are installed on both sides of the bottom of the base, a storage cavity is opened at the bottom of the base, and further comprises:

[0007] A buffer mechanism, which is arranged at both ends of the chassis and is used for buffering;

[0008] A moving mechanism, the moving mechanism is used to assist the base in moving;

[0009] The driving mechanism is arranged on both sides of the storage cavity and connected to the moving mechanism, and is used to drive the moving mechanism to enter and exit the storage cavity.

[0010] As a preferred technical solution of the present invention, a protective cover is installed on the chassis to protect the surroundings of the inspection robot installed on the chassis.

[0011] As a preferred technical solution of the present invention, the buffer mechanism includes sliding cavities opened at both ends of the chassis, and there are two sliding cavities at each end of the chassis. A slide plate is slidably arranged in the sliding cavity, and the slide plate is fixedly connected to a slide rod. A protective plate is installed at the end of the slide rod away from the slide plate, and a spring connected to the slide plate is arranged in the sliding cavity.

[0012] As a preferred technical solution of the present invention, the moving mechanism includes two movable plates, which are symmetrically arranged in the storage cavity, and two groups of symmetrically distributed brackets are arranged on the movable plates, each group of brackets is set in two and symmetrically arranged on the movable plates, and the two brackets in each group are respectively rotatably provided with a first rotating shaft and a second rotating shaft, and a plurality of supporting wheels are rotatably provided on the brackets between the first rotating shaft and the second rotating shaft, and driving wheels are installed on the first rotating shaft and the second rotating shaft, and the two driving wheels are connected by a driving belt transmission, and bumps are arranged at intervals on the driving belt.

[0013] As a preferred technical solution of the present invention, the driving mechanism includes two symmetrically distributed guide grooves opened on the top of the storage cavity, a guide block is slidably arranged in the guide groove, the guide block is hinged to one end of the second connecting arm, the other end of the second connecting arm is hinged to one end of the movable plate, the other end of the movable plate is hinged to one end of the second connecting arm, and the other end of the first connecting arm is hinged to the end of the storage cavity, a threaded rod threadedly connected to the guide block is rotatably arranged in the guide groove, and a bidirectional motor connected to the threaded rod is installed in the chassis.

[0014] The present invention has the following benefits: when the present invention is in use, the movement of the inspection robot can be realized in conjunction with the moving wheels, and the buffer mechanism at the front and rear ends of the chassis can reduce the impact force received by the inspection mechanism when it collides with an object, thereby playing a role of buffering protection. When the inspection robot moves on a slippery road section, the driving mechanism drives the moving mechanism to descend and the moving wheels to leave the ground, and the contact area with the ground is increased by the moving mechanism, thereby effectively avoiding the problem of the moving wheels slipping on a slippery road surface and affecting the normal movement of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The figure is a schematic diagram of the chassis structure of an inspection robot.

[0016] Figure 2 The figure is a schematic diagram of the structure of a moving mechanism in the chassis structure of an inspection robot.

[0017] Figure 3 The figure is a schematic diagram of the structure of a driving belt and a bump in the chassis structure of a patrol robot.

[0018] In the figure: 1. chassis; 2. protective cover; 3. moving wheel; 4. sliding cavity; 5. spring; 6. slide plate; 7. slide rod; 8. protective plate; 9. storage cavity; 10. movable plate; 11. first connecting arm; 12. second connecting arm; 13. guide groove; 14. guide block; 15. threaded rod; 16. bidirectional motor; 17. bracket; 18. first rotating shaft; 19. second rotating shaft; 20. driving wheel; 21. driving belt; 22. bump; 23. supporting wheel. DETAILED DESCRIPTION

[0019] The technical solution of the present invention is further described in detail below in conjunction with specific implementation methods.

[0020] See also Figure 1-3 A chassis structure of an inspection robot includes a chassis 1, movable wheels 3 are installed on both sides of the bottom of the base, and the movable wheels 3 are driven by an external driving device. The driving device can be set as a servo motor, which will not be described in detail here. A storage cavity 9 is opened at the bottom of the base, and also includes:

[0021] Buffer mechanisms, which are arranged at both ends of the chassis 1 and are used for buffering;

[0022] A moving mechanism, the moving mechanism is used to assist the base in moving;

[0023] The driving mechanism is arranged on both sides of the storage chamber 9 and is connected to the moving mechanism, so as to drive the moving mechanism to enter and exit the storage chamber 9.

[0024] When in use, the inspection robot can be moved in conjunction with the mobile wheels 3. The buffer mechanisms at the front and rear ends of the chassis 1 can reduce the impact force received by the inspection mechanism when it collides with an object, thereby playing a role of buffering protection. When the inspection robot moves on a slippery road, the driving mechanism drives the mobile mechanism to descend and the mobile wheels 3 are off the ground. The mobile mechanism increases the contact area with the ground, thereby effectively avoiding the mobile wheels 3 slipping on a slippery road surface and affecting the normal movement of the inspection robot.

[0025] In one case of this embodiment, a protective cover 2 is installed on the chassis 1 to protect the surroundings of the inspection robot installed on the chassis 1.

[0026] In one case of the present embodiment, the buffer mechanism includes a sliding cavity 4 opened at both ends of the chassis 1, and there are two sliding cavities 4 at each end of the chassis 1, and a slide plate 6 is slidably arranged in the sliding cavity 4, and the slide plate 6 is fixedly connected to the slide rod 7, and a protective plate 8 is installed at the end of the slide rod 7 away from the slide plate 6, a spring 5 connected to the slide plate 6 is arranged in the sliding cavity 4, and a damping shock absorber connected to the slide plate 6 is also arranged in the sliding cavity 4.

[0027] When in use, the inspection robot is installed on the base. When the inspection robot moves back and forth, when a collision occurs, it will contact the protective plate 8 first and push the protective plate 8, so that the slide plate 6 at the end of the slide rod 7 slides in the slide cavity 4 and squeezes the spring 5. The impact force is absorbed by the spring 5, and the damping shock absorber can achieve the effect of buffering and vibration reduction.

[0028] In one case of the present embodiment, the moving mechanism includes two movable plates 10, which are symmetrically arranged in the storage cavity 9. Two groups of symmetrically distributed brackets 17 are arranged on the movable plates 10, and each group of brackets 17 is set to two and symmetrically arranged on the movable plate 10. The two brackets 17 in each group are respectively rotatably arranged with a first rotating shaft 18 and a second rotating shaft 19, and a plurality of supporting wheels are rotatably arranged between the first rotating shaft 18 and the second rotating shaft 19 on the bracket 17. Drive wheels 20 are installed on the first rotating shaft 18 and the second rotating shaft 19, and the two drive wheels 20 are connected by a drive belt 21. The drive belt 21 is provided with bumps 22 at intervals. The first rotating shaft 18 of the present application is driven by an external driving device, and the driving device can be set to a servo motor, which will not be described in detail here.

[0029] When the inspection robot moves on a slippery road, the contact area between the moving wheel 3 and the ground is small, so it is easy to slip during the movement. In order to ensure the normal movement of the inspection robot, in this embodiment, the driving mechanism drives the movable plate 10 to descend, and the movable plate 10 will drive the driving belt 21 to descend, supporting the driving belt 21 to contact the ground, so that the moving wheel 3 is off the ground, and the multiple protrusions 22 on the driving belt 21 will contact the ground, thereby increasing the contact area with the ground, thereby improving the stability of the entire inspection robot when moving, and effectively avoiding the problem of the moving wheel 3 slipping on a slippery road surface and affecting the normal movement of the inspection robot.

[0030] In one case of the present embodiment, the driving mechanism includes two symmetrically distributed guide grooves 13 opened at the top of the storage chamber 9, a guide block 14 is slidably arranged in the guide groove 13, the guide block 14 is hinged to one end of the second connecting arm 12, the other end of the second connecting arm 12 is hinged to one end of the movable plate 10, the other end of the movable plate 10 is hinged to one end of the second connecting arm 12, and the other end of the first connecting arm 11 is hinged to the end of the storage chamber 9, a threaded rod 15 threadedly connected to the guide block 14 is rotatably arranged in the guide groove 13, and a bidirectional motor 16 connected to the threaded rod 15 is installed in the chassis 1.

[0031] When it is necessary to drive the moving mechanism out of the storage chamber 9, the bidirectional motor 16 is started through the controller of the inspection robot to drive the threaded rod 15 to rotate, so that the guide rod slides toward one end of the first connecting arm 11, and cooperates with the first connecting arm 11 and the second connecting arm 12 to drive the movable plate 10 to descend, so that the moving mechanism can be moved out of the storage chamber 9.

[0032] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0033] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A chassis structure of an inspection robot, comprising a chassis, characterized in that: Moving wheels are installed on both sides of the bottom of the base, and a storage cavity is opened at the bottom of the base, and further includes: A buffer mechanism, which is arranged at both ends of the chassis and is used for buffering; A moving mechanism, the moving mechanism is used to assist the base in moving; The driving mechanism is arranged on both sides of the storage cavity and connected to the moving mechanism, and is used to drive the moving mechanism to enter and exit the storage cavity.

2. The inspection robot chassis structure according to claim 1, characterized in that: A protective cover is installed on the chassis to protect the periphery of the inspection robot installed on the chassis.

3. The inspection robot chassis structure according to claim 1, characterized in that: The buffer mechanism includes sliding cavities opened at both ends of the chassis, two sliding cavities are set at each end of the chassis, and a slide plate is slidably arranged in the sliding cavity, the slide plate is fixedly connected to the slide rod, and a protective plate is installed at the end of the slide rod away from the slide plate, and a spring connected to the slide plate is arranged in the sliding cavity.

4. The inspection robot chassis structure according to claim 1, characterized in that: The moving mechanism includes two movable plates, which are symmetrically arranged in the storage cavity. Two groups of symmetrically distributed brackets are arranged on the movable plates, and each group of brackets is provided with two brackets, which are symmetrically arranged on the movable plates. The two brackets in each group are respectively rotatably provided with a first rotating shaft and a second rotating shaft, and a plurality of supporting wheels are rotatably provided on the brackets between the first rotating shaft and the second rotating shaft. Driving wheels are installed on the first rotating shaft and the second rotating shaft, and the two driving wheels are connected by a driving belt transmission, and bumps are arranged at intervals on the driving belt.

5. The inspection robot chassis structure according to claim 4, characterized in that: The driving mechanism includes two symmetrically distributed guide grooves opened on the top of the storage cavity, a guide block is slidably arranged in the guide groove, the guide block is hinged to one end of the second connecting arm, the other end of the second connecting arm is hinged to one end of the movable plate, the other end of the movable plate is hinged to one end of the second connecting arm, and the other end of the first connecting arm is hinged to the end of the storage cavity, a threaded rod threadedly connected to the guide block is rotatably arranged in the guide groove, and a bidirectional motor connected to the threaded rod is installed in the chassis.

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