Inspection robot

Abstract

The invention provides an inspection robot. The inspection robot comprises a base body; the at least two marching devices are oppositely arranged on the base body, each marching device comprises a driving assembly and a marching wheel, and the driving assemblies are in driving connection with the marching wheels so as to drive the marching wheels to rotate; the at least two guiding devices are arranged on the base body, the at least two guiding devices and the at least two advancing devices are arranged in a one-to-one correspondence mode, each guiding device comprises a connecting assembly and a guiding wheel, the connecting assembly is arranged on the driving assembly, and the guiding wheel is rotatably arranged on the connecting assembly. The problem that in the prior art, an inspection robot is poor in adaptability to the ground is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to an inspection robot. Background Art

[0002] At present, inspection robots, as an automated equipment, are not only equipped with various sensors, cameras and complex control devices, but also have autonomous navigation and data analysis functions. They can move within a predetermined area and collect data, detect anomalies or perform other specified tasks. With the advantages of high efficiency, low cost and reduced risk of human inspection, inspection robots are widely used in factories, warehouses, buildings, public places and other working environments, becoming an indispensable part of modern facility management. Since explosive warehouses are used to store and handle various explosive materials, such as gunpowder, explosives, fuel, gas, etc., the application of inspection robots is more important in this high-risk environment. Inspection robots can regularly check the various safety indicators of explosive warehouses to ensure that explosive materials are stored and transported in a safe and controlled environment, thereby reducing potential accident risks.

[0003] In the prior art, the walking mechanism of the inspection robot usually adopts a set of walking wheels and two sets of guide wheels to complete the normal movement of the inspection robot. This structural design ensures the smooth operation and low energy consumption characteristics of the inspection robot, allowing the inspection robot to complete inspection tasks for a longer time.

[0004] However, in actual use, the inspection robot's structural design of combining one set of walking wheels and two sets of guide wheels has high requirements for the working environment, especially the need to keep the ground flat. The ground of the explosives warehouse may be uneven or have foreign objects due to long-term use and freight handling. At this time, the guide wheels of the inspection robot are easily stuck, causing the inspection robot to be unable to move normally or deviate from the inspection route. Summary of the invention

[0005] The main purpose of the present invention is to provide an inspection robot to solve the problem of poor adaptability of the inspection robot to the ground in the prior art.

[0006] In order to achieve the above-mentioned purpose, according to the present invention, there is provided an inspection robot, comprising: a base; at least two traveling devices, the at least two traveling devices are relatively arranged on the base, the traveling devices include a driving assembly and a traveling wheel, the driving assembly is drivingly connected to the traveling wheel to drive the traveling wheel to rotate; at least two guiding devices are arranged on the base, the at least two guiding devices are arranged one-to-one with the at least two traveling devices, the guiding devices include a connecting assembly and a guiding wheel, the connecting assembly is arranged on the driving assembly, and the guide wheel is rotatably arranged on the connecting assembly.

[0007] Furthermore, the driving assembly includes: a driving structure, which is arranged on the base; a transmission structure, which is arranged on the driving structure and connected to the traveling wheel, and the driving structure is drivingly connected to the transmission structure to drive the transmission structure to drive the traveling wheel to rotate.

[0008] Furthermore, the driving structure has an output shaft, and the transmission structure includes a driving gear and a driven gear, the driving gear is sleeved on the output shaft, and the driven gear is meshed with the driving gear and connected to the traveling wheel.

[0009] Furthermore, the driving assembly also includes a protective structure, which is arranged on the driving structure, and the protective structure has a protective cavity, and the transmission structure is located in the protective cavity; wherein the connecting assembly and the protective structure are integrally formed.

[0010] Furthermore, the connecting assembly includes a main structure, which is arranged on the driving structure, and the base includes a mounting structure, which has a mounting recess, and at least part of the main structure is located in the mounting recess, so that the mounting structure and the main structure are connected by fasteners that are passed through the mounting structure and the main structure; wherein the main structure has a first hollow portion.

[0011] Furthermore, the connecting component also includes a connecting structure, which is arranged at one end of the main structure away from the driving structure. The inspection robot also includes a receiving device, which includes a receiving component and a coupling component that are connected to each other. The receiving component is rotatably arranged on the connecting structure, and the coupling component is used for rotatably setting the guide wheel.

[0012] Furthermore, the inspection robot also includes a rear wheel device, which includes: a load-bearing component, which is arranged on a base, and the load-bearing component has a second hollow portion; at least two rear wheel assemblies, at least two rear wheel assemblies are relatively arranged on the load-bearing component, and a load-bearing space is formed between the at least two rear wheel assemblies, and at least part of the load-bearing component is located in the load-bearing space; wherein, the rear wheel assembly includes a supporting structure, a coupling structure and a rear wheel, the supporting structure is rotatably arranged on the load-bearing component, the coupling structure is arranged on the supporting structure, and the rear wheel is rotatably arranged on the coupling structure.

[0013] Furthermore, the inspection robot also includes a cover device, which includes: an upper cover assembly, which is arranged on the base to cover the accommodating cavity of the base; a front cover assembly, which is arranged at one end of the base; and a rear cover assembly, which is arranged at the other end of the base, wherein an accommodating space is formed between at least part of the inner wall of the rear cover assembly and at least part of the inner wall of the front cover assembly, and at least part of the accommodating space is connected to at least part of the accommodating cavity; wherein at least part of the traveling device, at least part of the guiding device and at least part of the rear wheel device are all located in the accommodating space.

[0014] Furthermore, the upper cover assembly includes: a first cover body, which is flippably arranged at one end of the base body close to the front cover assembly, and the first cover body has a matching recess; a second cover body, which is flippably arranged at one end of the base body close to the rear cover assembly; a locking structure, which is arranged at one end of the second cover body close to the first cover body, and the locking structure has a locking state and an unlocking state. When the locking structure is in the locking state, the locking structure extends into the matching recess to connect the first cover body and the second cover body; when the locking structure is in the unlocking state, the locking structure is disengaged from the matching recess to separate the first cover body and the second cover body.

[0015] Furthermore, the inspection robot also includes: a detection device, which is arranged on the base and contacts the outside world through the front cover assembly, and is used to detect the surrounding environment; a control device, which is arranged on the base and located in the accommodating cavity, and is used to receive detection data from the detection device; a heat dissipation device, which is arranged on the control device to dissipate heat from the control device; and a plurality of shock-absorbing devices, which are arranged at intervals around the central axis of the base to reduce shock to the base.

[0016] By applying the technical solution of the present invention, at least two traveling devices of the inspection robot are relatively arranged on the base, and the traveling device includes a driving assembly and a traveling wheel, and the driving assembly is drivingly connected to the traveling wheel to drive the traveling wheel to rotate. At least two guiding devices are arranged on the base, and the at least two guiding devices are arranged one-to-one with the at least two traveling devices. The guiding device includes a connecting assembly and a guiding wheel, and the connecting assembly is arranged on the driving assembly, and the guiding wheel is rotatably arranged on the connecting assembly. In this way, the traveling device drives the traveling wheel to rotate through the driving assembly, thereby driving the movement of the base, and realizing the traveling stability of the inspection robot. At the same time, the guiding device is arranged one-to-one with the traveling device, realizing the guidance and direction of the traveling direction of the traveling device, and realizing the traveling reliability of the inspection robot. At the same time, the arrangement of the connecting component on the driving component, on the one hand, enables the guide wheel to move under the drive of the driving component when the ground is uneven, thereby avoiding the guide wheel from deviating from the route due to uneven ground, thereby improving the adaptability of the inspection robot to the ground and ensuring the travel reliability of the inspection robot; on the other hand, it also reduces the risk of the guide wheel getting stuck, further improving the adaptability of the inspection robot to the ground and the travel reliability, thereby solving the problem of poor adaptability of the inspection robot to the ground in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the present application 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 an improper limitation of the present invention. In the drawings:

[0018] Figure 1 A perspective view of the overall structure of an inspection robot according to an embodiment of the present invention is shown;

[0019] Figure 2 An exploded view of the overall structure of an embodiment of the inspection robot according to the present invention is shown;

[0020] Figure 3 A partial structural stereogram of an embodiment of the inspection robot according to the present invention is shown;

[0021] Figure 4 Shows Figure 3 Exploded diagram of the structure;

[0022] Figure 5 A perspective view of a rear wheel device of an inspection robot according to the present invention is shown;

[0023] Figure 6 A partial structural stereogram of an embodiment of the inspection robot according to the present invention is shown;

[0024] Figure 7 Shows Figure 6 Exploded diagram of the structure;

[0025] Figure 8 A perspective view showing a control device of an embodiment of an inspection robot according to the present invention;

[0026] Fig. 9 Shows Figure 8 Exploded diagram of the structure.

[0027] The above drawings include the following reference numerals:

[0028] 10. base body; 11. mounting structure; 111. mounting recess; 12. accommodating cavity;

[0029] 20. Traveling device; 21. Driving assembly; 211. Driving structure; 2111. Output shaft; 212. Transmission structure; 2121. Driving gear; 2122. Driven gear; 213. Protective structure; 2131. Protective cavity; 22. Traveling wheel;

[0030] 30. guide device; 31. connection assembly; 311. main structure; 3111. first hollow portion; 312. connection structure; 32. guide wheel;

[0031] 40. receiving device; 41. receiving assembly; 42. joining assembly;

[0032] 50, rear wheel device; 51, bearing assembly; 511, second hollow portion; 52, rear wheel assembly; 521, receiving structure; 522, joint structure; 523, rear wheel; 524, bearing space;

[0033] 60. Cover device; 61. Upper cover assembly; 611. First cover; 6111. Matching recess; 612. Second cover; 6121. Operation recess; 613. Locking structure; 62. Front cover assembly; 63. Rear cover assembly;

[0034] 70. Detection device;

[0035] 80. Control device;

[0036] 90. Heat dissipation device;

[0037] 100. Shock-absorbing device. DETAILED DESCRIPTION

[0038] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0039] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0040] In the present invention, unless otherwise specified, the directional words used, such as "up" and "down", usually refer to the directions shown in the drawings, or to the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "left" and "right" usually refer to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit the present invention.

[0041] In order to solve the problem of poor ground adaptability of inspection robots in the prior art, the present application provides an inspection robot.

[0042] like Figures 1 to 9 As shown, the inspection robot includes a base 10, at least two traveling devices 20 and at least two guiding devices 30. The at least two traveling devices 20 are relatively arranged on the base 10, and the traveling device 20 includes a driving assembly 21 and a traveling wheel 22, and the driving assembly 21 is drivingly connected to the traveling wheel 22 to drive the traveling wheel 22 to rotate. At least two guiding devices 30 are arranged on the base 10, and the at least two guiding devices 30 are arranged one-to-one with the at least two traveling devices 20. The guiding device 30 includes a connecting assembly 31 and a guiding wheel 32, and the connecting assembly 31 is arranged on the driving assembly 21, and the guiding wheel 32 is rotatably arranged on the connecting assembly 31.

[0043] By applying the technical solution of this embodiment, at least two traveling devices 20 of the inspection robot are relatively arranged on the base 10, and the traveling device 20 includes a driving assembly 21 and a traveling wheel 22, and the driving assembly 21 is drivingly connected to the traveling wheel 22 to drive the traveling wheel 22 to rotate. At least two guiding devices 30 are arranged on the base 10, and at least two guiding devices 30 are arranged one-to-one with at least two traveling devices 20. The guiding device 30 includes a connecting assembly 31 and a guiding wheel 32, and the connecting assembly 31 is arranged on the driving assembly 21, and the guiding wheel 32 is rotatably arranged on the connecting assembly 31. In this way, the traveling device 20 drives the traveling wheel 22 to rotate through the driving assembly 21, thereby driving the base 10 to move, and realizing the traveling stability of the inspection robot. At the same time, the guiding device 30 is arranged one-to-one with the traveling device 20, and realizes the guidance and direction of the traveling direction of the traveling device 20, and realizes the traveling reliability of the inspection robot. At the same time, the arrangement of the connecting component 31 on the driving component 21, on the one hand, enables the guide wheel 32 to move under the driving action of the driving component 21 when the ground is uneven, thereby avoiding the guide wheel 32 from deviating from the route due to the uneven ground, thereby improving the adaptability of the inspection robot to the ground and ensuring the travel reliability of the inspection robot; on the other hand, it also reduces the risk of the guide wheel 32 being stuck, further improving the adaptability of the inspection robot to the ground and the travel reliability, thereby solving the problem of poor adaptability of the inspection robot to the ground in the prior art.

[0044] In this embodiment, the number of traveling devices 20 is two.

[0045] It should be noted that the number of traveling devices 20 is not limited thereto, and can be adjusted according to working conditions and usage requirements. Optionally, the number of traveling devices 20 is three, four, six, eight, or more.

[0046] In this embodiment, two guiding devices 30 are provided.

[0047] It should be noted that the number of guiding devices 30 is not limited thereto, and can be adjusted according to working conditions and usage requirements. Optionally, the number of guiding devices 30 is three, four, six, eight, or more.

[0048] Specifically, the base body 10 is formed by welding profiles.

[0049] like Figure 3 and Figure 4As shown, the driving assembly 21 includes a driving structure 211 and a transmission structure 212. The driving structure 211 is disposed on the base 10. The transmission structure 212 is disposed on the driving structure 211 and connected to the traveling wheel 22. The driving structure 211 is drivingly connected to the transmission structure 212 to drive the transmission structure 212 to drive the traveling wheel 22 to rotate. In this way, the driving structure 211 drives the traveling wheel 22 through the transmission structure 212, thereby ensuring the driving reliability of the driving structure 211 and the movement reliability of the traveling wheel 22.

[0050] In this embodiment, the driving structure 211 is a servo motor.

[0051] like Figure 4 As shown, the driving structure 211 has an output shaft 2111, and the transmission structure 212 includes a driving gear 2121 and a driven gear 2122. The driving gear 2121 is sleeved on the output shaft 2111, and the driven gear 2122 is meshed with the driving gear 2121 and connected to the traveling wheel 22. In this way, the transmission structure 212 enables the driving force of the driving structure 211 to be efficiently and quickly transmitted to the traveling wheel 22 through the driving gear 2121 and the driven gear 2122, further ensuring the operating reliability of the traveling wheel 22. At the same time, the setting method of the driving gear 2121 and the driven gear 2122 can, on the one hand, adjust the driving torque and operating speed of the traveling wheel 22 to adapt to different terrains and task requirements, thereby improving the versatility of the inspection robot; on the other hand, through the precise matching of the gear transmission, the operating stability and reliability of the inspection robot are ensured.

[0052] like Figures 2 to 4 As shown, the driving component 21 also includes a protective structure 213, which is arranged on the driving structure 211. The protective structure 213 has a protective cavity 2131, and the transmission structure 212 is located in the protective cavity 2131. Among them, the connecting component 31 and the protective structure 213 are integrally formed. In this way, the setting mode of the protective structure 213 can separate the transmission structure 212 from the outside world, avoid the influence of the external environment on the transmission structure 212, and extend the service life of the transmission structure 212. At the same time, the setting mode of the connecting component 31 and the protective structure 213 as one piece, on the one hand, realizes the connection between the connecting component 31 and the driving component 21, and then realizes the connection between the guiding device 30 and the traveling device 20; on the other hand, it enhances the overall rigidity of the inspection robot and improves the operation stability and reliability of the inspection robot.

[0053] In this embodiment, the protection structure 213 is a gear box.

[0054] like Figure 3 and Figure 6As shown, the connection assembly 31 includes a main structure 311, which is arranged on the driving structure 211, and the base 10 includes a mounting structure 11, which has a mounting recess 111, and at least part of the main structure 311 is located in the mounting recess 111, so that the mounting structure 11 and the main structure 311 are connected by fasteners through the mounting structure 11 and the main structure 311. Among them, the main structure 311 has a first hollow portion 3111. In this way, the main structure 311 and the mounting structure 11 are connected by fasteners, so as to realize the connection between the connection assembly 31 and the base 10, and ensure the installation stability and reliability of the guide device 30. At the same time, the setting method of the first hollow portion 3111, on the one hand, reduces the weight of the main structure 311, realizes the lightweight design of the main structure 311, and thus realizes the lightweight design of the inspection robot; on the other hand, it can serve as a heat dissipation channel, improves the heat dissipation performance of the inspection robot, and ensures the operation reliability of the inspection robot.

[0055] like Figure 3 and Figure 4 As shown, the connection assembly 31 also includes a connection structure 312, which is arranged at one end of the main structure 311 away from the driving structure 211. The inspection robot also includes a receiving device 40, which includes a receiving assembly 41 and a coupling assembly 42 connected to each other. The receiving assembly 41 is rotatably arranged on the connection structure 312, and the coupling assembly 42 is used for the guide wheel 32 to be rotatably arranged. In this way, the receiving device 40 is connected to the connection assembly 31 through the connection structure 312. At the same time, the setting method of the receiving device 40 realizes the independent rotation of the guide wheel 32, so that the guide wheel 32 can rotate flexibly according to the ground conditions, improves the movement flexibility of the guide wheel 32, and enhances the adaptability of the inspection robot to the ground.

[0056] In this embodiment, the receiving assembly 41 rotates along its own central axis, and the guide wheel 32 rotates along its own central axis. The central axis of the receiving assembly 41 is arranged perpendicular to the central axis of the guide wheel 32. In this way, the above arrangement expands the rotation range of the guide wheel 32 and improves the rotation flexibility of the guide wheel 32.

[0057] like Figure 2 and Figure 5As shown, the inspection robot further includes a rear wheel device 50, and the rear wheel device 50 includes a bearing assembly 51 and at least two rear wheel assemblies 52. The bearing assembly 51 is arranged on the base 10, and the bearing assembly 51 has a second hollow portion 511. At least two rear wheel assemblies 52 are relatively arranged on the bearing assembly 51, and a bearing space 524 is formed around at least two rear wheel assemblies 52, and at least part of the bearing assembly 51 is located in the bearing space 524. Among them, the rear wheel assembly 52 includes a receiving structure 521, a coupling structure 522 and a rear wheel 523, the receiving structure 521 is rotatably arranged on the bearing assembly 51, the coupling structure 522 is arranged on the receiving structure 521, and the rear wheel 523 is rotatably arranged on the coupling structure 522. In this way, the rear wheel device 50 is connected to the base 10 through the bearing assembly 51. At the same time, the arrangement of the second hollow portion 511, on the one hand, reduces the weight of the bearing assembly 51, realizes the lightweight design of the bearing assembly 51, and further ensures the lightweight design of the inspection robot; on the other hand, it can serve as a heat dissipation channel, further improving the heat dissipation performance of the inspection robot. At the same time, the arrangement of the rear wheel assembly 52 realizes the independent rotation of the rear wheel 523, and improves the mobility of the rear wheel 523. At the same time, the above arrangement increases the movement flexibility of the inspection robot, further improves the reliability and smoothness of the operation of the inspection robot, and further enhances the adaptability of the inspection robot to the ground.

[0058] In this embodiment, the receiving structure 521 rotates along its own central axis, and the rear wheel 523 rotates along its own central axis. The central axis of the receiving structure 521 is perpendicular to the central axis of the rear wheel 523. In this way, the above arrangement expands the rotation range of the rear wheel 523 and improves the rotation flexibility of the rear wheel 523.

[0059] like Figure 6 and Figure 7 As shown, the inspection robot further includes a cover device 60, which includes an upper cover assembly 61, a front cover assembly 62 and a rear cover assembly 63. The upper cover assembly 61 is arranged on the base 10 to cover the accommodating cavity 12 of the base 10. The front cover assembly 62 is arranged at one end of the base 10. The rear cover assembly 63 is arranged at the other end of the base 10, and an accommodating space is formed between at least part of the inner wall of the rear cover assembly 63 and at least part of the inner wall of the front cover assembly 62, and at least part of the accommodating space is connected to at least part of the accommodating cavity 12. Among them, at least part of the traveling device 20, at least part of the guiding device 30 and at least part of the rear wheel device 50 are all located in the accommodating space. In this way, the above-mentioned arrangement can effectively protect key components such as the traveling device 20, the guiding device 30 and the rear wheel device 50, avoid the influence of the external environment, and extend the service life of the inspection robot; on the other hand, it makes the inspection robot more beautiful and improves the beauty and attractiveness of the inspection robot.

[0060] like Figure 7 As shown, the upper cover assembly 61 includes a first cover body 611, a second cover body 612 and a locking structure 613. The first cover body 611 is reversibly arranged at one end of the base 10 close to the front cover assembly 62, and the first cover body 611 has a matching recess 6111. The second cover body 612 is reversibly arranged at one end of the base 10 close to the rear cover assembly 63. The locking structure 613 is arranged at one end of the second cover body 612 close to the first cover body 611, and the locking structure 613 has a locking state and an unlocking state. When the locking structure 613 is in the locking state, the locking structure 613 extends into the matching recess 6111 to connect the first cover body 611 and the second cover body 612. When the locking structure 613 is in the unlocking state, the locking structure 613 is disengaged from the matching recess 6111 to separate the first cover body 611 and the second cover body 612. In this way, the staff only needs to unlock the locking structure 613 and flip the first cover 611 and the second cover 612 to inspect the inspection robot, which reduces the difficulty of disassembly and maintenance for the staff and improves the work efficiency of the staff. At the same time, the setting method of the locking structure 613 can lock the first cover 611 and the second cover 612 when the staff completes the inspection, ensuring the protective effect of the upper cover assembly 61 on the base 10.

[0061] In this embodiment, the locking structure 613 is a locking pin.

[0062] In this embodiment, the first cover 611 and the second cover 612 are both flippably disposed on the base 10 via pins.

[0063] Specifically, the staff flips the first cover body 611 by operating the recessed portion 6121 to separate the first cover body 611 from the second cover body 612 .

[0064] like Figure 1 , Figure 7 , Figure 8 and Fig. 9As shown, the inspection robot also includes a detection device 70, a control device 80, a heat sink 90 and a plurality of shock absorbing devices 100. The detection device 70 is arranged on the base 10 and contacts the outside through the front cover assembly 62, and is used to detect the surrounding environment. The control device 80 is arranged on the base 10 and is located in the accommodating cavity 12, so as to receive the detection data of the detection device 70. The heat sink 90 is arranged on the control device 80 to dissipate the heat of the control device 80. A plurality of shock absorbing devices 100 are arranged at intervals around the central axis of the base 10 to dampen the base 10. In this way, the arrangement of the detection device 70 and the control device 80 enables the inspection robot to monitor and detect the surrounding environment in real time, improves the inspection robot's ability to detect risks, and also improves the inspection robot's ability to avoid risks and warn. At the same time, the arrangement of the heat sink 90 ensures the heat dissipation performance of the control device 80, thereby ensuring the operating stability and reliability of the control device 80. At the same time, the arrangement of multiple shock absorbing devices 100 can effectively absorb and disperse the impact force of the ground or obstacles on the base 10, further improving the adaptability of the inspection robot to different terrains and improving the operating stability of the inspection robot.

[0065] In this embodiment, the detection device 70 includes an obstacle avoidance radar, a smoke sensor, and an infrared sensor.

[0066] In this embodiment, the heat dissipation device 90 is a heat dissipation fan.

[0067] In this embodiment, the control device 80 includes a switching power supply, a battery, a single chip microcomputer, a vision board, a sensor board and a passive heat sink.

[0068] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0069] At least two traveling devices of the inspection robot are relatively arranged on the base, and the traveling device includes a driving component and a traveling wheel, and the driving component is drivingly connected to the traveling wheel to drive the traveling wheel to rotate. At least two guiding devices are arranged on the base, and the at least two guiding devices are arranged one-to-one with the at least two traveling devices, and the guiding device includes a connecting component and a guiding wheel, and the connecting component is arranged on the driving component, and the guiding wheel is rotatably arranged on the connecting component. In this way, the traveling device drives the traveling wheel to rotate through the driving component, thereby driving the movement of the base, and realizing the traveling stability of the inspection robot. At the same time, the guiding device is arranged one-to-one with the traveling device, realizing the guidance and direction of the traveling direction of the traveling device, and realizing the traveling reliability of the inspection robot. At the same time, the arrangement of the connecting component on the driving component, on the one hand, enables the guide wheel to move under the drive of the driving component when the ground is uneven, thereby avoiding the guide wheel from deviating from the route due to uneven ground, thereby improving the adaptability of the inspection robot to the ground and ensuring the travel reliability of the inspection robot; on the other hand, it also reduces the risk of the guide wheel getting stuck, further improving the adaptability of the inspection robot to the ground and the travel reliability, thereby solving the problem of poor adaptability of the inspection robot to the ground in the prior art.

[0070] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0071] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0072] 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 patrol robot, characterized in that: include: A substrate (10); At least two traveling devices (20), at least two of the traveling devices (20) are arranged on the base (10) relative to each other, the traveling devices (20) comprising a driving assembly (21) and a traveling wheel (22), the driving assembly (21) being drivingly connected to the traveling wheel (22) to drive the traveling wheel (22) to rotate; At least two guiding devices (30) are arranged on the base (10), and the at least two guiding devices (30) are arranged in a one-to-one correspondence with the at least two traveling devices (20). The guiding device (30) comprises a connecting component (31) and a guiding wheel (32). The connecting component (31) is arranged on the driving component (21), and the guiding wheel (32) is rotatably arranged on the connecting component (31).

2. The inspection robot according to claim 1, characterized in that: The driving assembly (21) comprises: A driving structure (211) is arranged on the base (10); The transmission structure (212) is arranged on the driving structure (211) and connected to the traveling wheel (22); the driving structure (211) is drivingly connected to the transmission structure (212) so as to drive the transmission structure (212) to drive the traveling wheel (22) to rotate.

3. The inspection robot according to claim 2, characterized in that: The driving structure (211) has an output shaft (2111), and the transmission structure (212) comprises a driving gear (2121) and a driven gear (2122), wherein the driving gear (2121) is sleeved on the output shaft (2111), and the driven gear (2122) is meshed with the driving gear (2121) and connected to the traveling wheel (22).

4. The inspection robot according to claim 2, characterized in that: The driving assembly (21) further comprises a protective structure (213), wherein the protective structure (213) is arranged on the driving structure (211), the protective structure (213) has a protective cavity (2131), and the transmission structure (212) is located in the protective cavity (2131); wherein the connecting assembly (31) and the protective structure (213) are integrally formed.

5. The inspection robot according to claim 2, characterized in that: The connecting assembly (31) comprises a main structure (311), wherein the main structure (311) is arranged on the driving structure (211). The base (10) comprises a mounting structure (11), the mounting structure (11) having a mounting recess (111), at least a portion of the main structure (311) being located in the mounting recess (111), so that the mounting structure (11) and the main structure (311) are connected by fasteners penetrating the mounting structure (11) and the main structure (311); Wherein, the main structure (311) has a first hollow portion (3111).

6. The inspection robot according to claim 5, characterized in that: The connecting assembly (31) further comprises a connecting structure (312), wherein the connecting structure (312) is arranged at an end of the main structure (311) away from the driving structure (211). The inspection robot further comprises a receiving device (40), wherein the receiving device (40) comprises a receiving component (41) and a coupling component (42) which are connected to each other, wherein the receiving component (41) is rotatably arranged on the connecting structure (312), and the coupling component (42) is used for rotatably arranging the guide wheel (32).

7. The inspection robot according to claim 1, characterized in that: The inspection robot further comprises a rear wheel device (50), wherein the rear wheel device (50) comprises: A bearing assembly (51) is arranged on the base (10), and the bearing assembly (51) has a second hollow portion (511); at least two rear wheel assemblies (52), the at least two rear wheel assemblies (52) being arranged opposite to each other on the carrying assembly (51), a carrying space (524) being formed between the at least two rear wheel assemblies (52), and at least a portion of the carrying assembly (51) being located in the carrying space (524); Wherein, the rear wheel assembly (52) comprises a supporting structure (521), a coupling structure (522) and a rear wheel (523); the supporting structure (521) is rotatably arranged on the supporting assembly (51); the coupling structure (522) is arranged on the supporting structure (521); and the rear wheel (523) is rotatably arranged on the coupling structure (522).

8. The inspection robot according to claim 7, characterized in that: The inspection robot further comprises a cover device (60), wherein the cover device (60) comprises: An upper cover assembly (61) is arranged on the base (10) to cover the accommodating cavity (12) of the base (10); A front cover assembly (62) is arranged at one end of the base (10); A rear cover assembly (63) is arranged at the other end of the base (10), and an accommodation space is formed between at least a portion of the inner wall of the rear cover assembly (63) and at least a portion of the inner wall of the front cover assembly (62), and at least a portion of the accommodation space is in communication with at least a portion of the accommodation cavity (12); Wherein, at least part of the traveling device (20), at least part of the guiding device (30) and at least part of the rear wheel device (50) are all located in the accommodating space.

9. The inspection robot according to claim 8, characterized in that: The upper cover assembly (61) comprises: A first cover body (611) is flippably arranged at one end of the base body (10) close to the front cover assembly (62), and the first cover body (611) has a matching recess (6111); A second cover body (612) is flippably disposed on one end of the base body (10) close to the rear cover assembly (63); A locking structure (613) is arranged at one end of the second cover body (612) close to the first cover body (611), and the locking structure (613) has a locking state and an unlocking state. When the locking structure (613) is in the locking state, the locking structure (613) extends into the matching recess (6111) to connect the first cover body (611) and the second cover body (612); when the locking structure (613) is in the unlocking state, the locking structure (613) is removed from the matching recess (6111) to separate the first cover body (611) and the second cover body (612).

10. The inspection robot according to claim 8, characterized in that: The inspection robot also includes: A detection device (70), arranged on the base (10) and passing through the front cover assembly (62) to contact the outside world, and used for detecting the surrounding environment; A control device (80) is arranged on the base (10) and located in the accommodating cavity (12), and is used to receive detection data from the detection device (70); A heat dissipation device (90) is arranged on the control device (80) to dissipate heat from the control device (80); A plurality of shock absorbing devices (100) are arranged at intervals around the central axis of the base (10) to absorb shock to the base (10).

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