Walking mechanism and inspection robot with same

Abstract

The invention provides a walking mechanism and an inspection robot with the same. The walking mechanism comprises a walking wheel mechanism which comprises a driving device and a first wheel body; the steering wheel mechanism comprises a mounting assembly and a second wheel body, the mounting assembly comprises a first mounting structure, a second mounting structure and at least two connecting structures, and the first mounting structure is connected with the second mounting structure through the at least two connecting structures; the connecting position of at least one connecting structure and the first mounting structure is a position S1, the connecting position of at least one connecting structure and the second mounting structure is a position S2, the connecting position of at least another connecting structure and the first mounting structure is a position S3, the connecting position of at least another connecting structure and the second mounting structure is a position S4, and the positions S1, S2, S3 and S4 surround to form a quadrilateral structure; and the quadrilateral structure is positioned above the second wheel body. The problem that in the prior art, a ground inspection robot runs unstably when running on the uneven ground or the ground with low adhesive force is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to a walking mechanism and an inspection robot having the same. Background Art

[0002] At present, inspection robots are robot systems that can patrol, monitor and inspect designated areas or equipment autonomously or semi-autonomously. They are usually equipped with various sensors, cameras and other detection equipment to collect data and perform specific tasks. In the prior art, inspection robots are generally divided into tracked inspection robots and trackless inspection robots. Tracked inspection robots are further divided into guide rail type and guided type. When performing tasks, such robots rely on pre-installed tracks or guide rails to move along the tracks. Trackless inspection robots include ground inspection robots and crawling inspection robots. Ground inspection robots are designed to travel on flat ground and are usually equipped with wheels or tracks. Crawling inspection robots have foot-type or spider-type walking mechanisms and can crawl on uneven or vertical surfaces, such as pipelines, bridges, wind farms and other structures to perform inspection tasks.

[0003] Specifically, for inspection robots in explosive warehouses, the most widely used ones are ground inspection robots. However, ground inspection robots in the prior art are suitable for flat roads. When the ground is bumpy or has low adhesion, such as epoxy floor, ground inspection robots often break down or frequently deviate from the established path, thus affecting the inspection efficiency. Summary of the invention

[0004] The main purpose of the present invention is to provide a walking mechanism and an inspection robot having the same, so as to solve the problem in the prior art that the ground inspection robot runs unsteadily when traveling on a bumpy or low-adhesion ground.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided a walking mechanism for an inspection robot, the walking mechanism comprising: a walking wheel mechanism, comprising a driving device and a first wheel body, the driving device is drivingly connected to the first wheel body to drive the first wheel body to rotate; a steering wheel mechanism, comprising a mounting assembly and a second wheel body, the mounting assembly comprising a first mounting structure, a second mounting structure and at least two connecting structures, the first mounting structure is connected to the second mounting structure through at least two connecting structures, and the at least two connecting structures are arranged at intervals along the height direction of the steering wheel mechanism; the second wheel body is rotatably arranged on the first mounting structure and / or the second mounting structure; wherein, at least one connecting structure is connected to the first mounting structure at a position S1 and to the second mounting structure at a position S2, and at least another connecting structure is connected to the first mounting structure at a position S3 and to the second mounting structure at a position S4, and positions S1, S2, S3 and S4 are surrounded to form a quadrilateral structure, and the quadrilateral structure is located above the second wheel body.

[0006] Further, a line connecting the position S1 and the position S2 is arranged parallel to the travel direction of the traveling mechanism; and / or a line connecting the position S3 and the position S4 is arranged parallel to the travel direction of the traveling mechanism.

[0007] Furthermore, each connection structure includes: a connection body; two connection columns, both of which are arranged on the connection body; wherein one connection column is movably connected to the first mounting structure, and the other connection column is movably connected to the second mounting structure.

[0008] Further, the first mounting structure has at least two first through holes, and the steering wheel mechanism also includes: at least two first bearing structures, at least two first bearing structures are arranged in a one-to-one correspondence with the at least two first through holes, and each first bearing structure is arranged in a first through hole corresponding thereto; the outer ring of each first bearing structure is connected to the first through hole corresponding thereto, and a connecting column extends into the inner ring of the first bearing structure and is fixedly connected to the inner ring; at least two first bearing structures are arranged in a one-to-one correspondence with the at least two connecting structures; and / or, the second mounting structure has at least two second through holes, and the steering wheel mechanism also includes: at least two second bearing structures, at least two second bearing structures are arranged in a one-to-one correspondence with the at least two second through holes, and each second bearing structure is arranged in a second through hole corresponding thereto; the outer ring of each second bearing structure is connected to the second through hole corresponding thereto, and a connecting column extends into the inner ring of the second bearing structure and is fixedly connected to the inner ring; at least two second bearing structures are arranged in a one-to-one correspondence with the at least two connecting structures.

[0009] Furthermore, the walking wheel mechanism also includes a frame, and the driving device is arranged on the frame; the walking mechanism also includes: a first compression spring, the first end of the first compression spring is connected to at least one connecting structure, and the second end of the first compression spring is connected to the vehicle body; and / or, a second compression spring, the first end of the second compression spring is connected to at least one frame, and the second end of the second compression spring is connected to the vehicle body.

[0010] Furthermore, the first mounting structure has a third through hole, and the traveling mechanism also includes a fastener, which is passed through the third through hole and the vehicle body to connect the vehicle body and the traveling mechanism.

[0011] Furthermore, the second mounting structure includes: a mounting body, including a mounting plate and a connecting sleeve, the connecting sleeve is arranged on the mounting plate, and the mounting plate has a second through hole; a mounting frame, including a frame body and a mounting sleeve, the mounting sleeve is arranged on the frame body, and the second wheel body is rotatably arranged on the frame body; a third bearing structure is arranged in the mounting sleeve; a connecting rod is passed through the third bearing structure and the connecting sleeve and is threadedly connected to the connecting sleeve; wherein the mounting sleeve is located below the connecting sleeve.

[0012] Furthermore, the driving device is a motor, and the walking wheel mechanism also includes a transmission assembly, which includes: a driving wheel connected to the motor shaft of the motor; a driven wheel connected to the first wheel body; and a belt mounted on the driving wheel and the driven wheel.

[0013] According to another aspect of the present invention, there is provided an inspection robot, comprising a vehicle body, a walking mechanism, a smoke sensor and / or an infrared sensor, wherein the walking mechanism is arranged on the vehicle body and located below the vehicle body, and the smoke sensor and / or the infrared sensor is arranged on the vehicle body; wherein the walking mechanism is the above-mentioned walking mechanism.

[0014] Furthermore, the vehicle body includes: a vehicle frame, the running mechanism is connected to the vehicle frame; an enclosure structure, arranged around the vehicle frame, the smoke sensor and / or infrared sensor is arranged on the enclosure structure; a top plate, covered above the enclosure structure, and an inspection window is arranged on the top plate.

[0015] Applying the technical solution of the present invention, the walking mechanism for the inspection robot includes a walking wheel mechanism and a steering wheel mechanism. The walking wheel mechanism includes a driving device and a first wheel body, and the driving device is drivingly connected to the first wheel body to drive the first wheel body to rotate. The steering wheel mechanism includes a mounting assembly and a second wheel body, and the mounting assembly includes a first mounting structure, a second mounting structure, and at least two connecting structures. The first mounting structure is connected to the second mounting structure through at least two connecting structures, and the at least two connecting structures are spaced apart along the height direction of the steering wheel mechanism; the second wheel body is rotatably arranged on the first mounting structure and / or the second mounting structure. In this way, at least one connecting structure is connected to the first mounting structure at position S1 and to the second mounting structure at position S2, and at least another connecting structure is connected to the first mounting structure at position S3 and to the second mounting structure at position S4. Position S1, position S2, position S3 and position S4 form a quadrilateral structure around the second wheel body, and the quadrilateral structure is located above the second wheel body to press the second wheel body, thereby ensuring that the second wheel body is always in contact with the ground, increasing the contact area and adhesion between the walking mechanism and the ground, thereby solving the problem in the prior art that the ground inspection robot is unstable when driving on bumpy or low-adhesion ground, so that the inspection robot can adapt to a relatively uneven road environment, and even on a low-adhesion ground, the inspection robot can move relatively smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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:

[0017] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of the inspection robot according to the present invention is shown;

[0018] Figure 2 Shows Figure 1 An exploded view of the inspection robot in Figure 1;

[0019] Figure 3 A schematic diagram of the three-dimensional structure after the walking mechanism according to the present invention is assembled with a vehicle frame is shown;

[0020] Figure 4 Shows Figure 3 An enlarged schematic diagram of point A of the walking mechanism;

[0021] Figure 5 Shows Figure 3 An enlarged schematic diagram of point B of the walking mechanism;

[0022] Figure 6An exploded view of an embodiment of a walking mechanism according to the present invention and a vehicle frame is shown;

[0023] Figure 7 Shows Figure 3 A schematic diagram of the three-dimensional structure of the steering wheel mechanism of the walking mechanism;

[0024] Figure 8 Shows Figure 7 Exploded diagram of the steering wheel mechanism.

[0025] The above drawings include the following reference numerals:

[0026] 10. Travel wheel mechanism; 11. Driving device; 12. First wheel body; 13. Frame;

[0027] 20. Steering wheel mechanism; 21. Second wheel body; 22. First mounting structure; 23. Second mounting structure; 231. Mounting body; 2311. Mounting plate; 2312. Connecting sleeve; 232. Mounting frame; 2321. Frame; 2322. Mounting sleeve; 233. Third bearing structure; 234. Connecting rod; 24. Connecting structure; 241. Connecting body; 242. Connecting column; 25. First bearing structure; 26. Second bearing structure;

[0028] 30. Car body; 31. Car frame; 32. Enclosure structure; 33. Top plate; 34. Inspection window;

[0029] 40. Transmission assembly; 41. Driving wheel; 42. Driven wheel; 43. Belt;

[0030] 50. Smoke sensor;

[0031] 61. First mounting position; 62. Second mounting position; 63. Third mounting position; 64. Fourth mounting position. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] 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.

[0035] In order to solve the problem in the prior art that a ground inspection robot runs unsteadily when traveling on a bumpy or low-adhesion ground, the present application provides a walking mechanism and an inspection robot having the same.

[0036] like Figures 1 to 8 As shown, the walking mechanism is used for the inspection robot, and the walking mechanism includes a walking wheel mechanism 10 and a steering wheel mechanism 20. The walking wheel mechanism 10 includes a driving device 11 and a first wheel body 12, and the driving device 11 is drivingly connected to the first wheel body 12 to drive the first wheel body 12 to rotate. The steering wheel mechanism 20 includes a mounting assembly and a second wheel body 21, and the mounting assembly includes a first mounting structure 22, a second mounting structure 23 and at least two connecting structures 24. The first mounting structure 22 is connected to the second mounting structure 23 through at least two connecting structures 24, and at least two connecting structures 24 are spaced apart along the height direction of the steering wheel mechanism 20; the second wheel body 21 is rotatably arranged on the first mounting structure 22 and / or the second mounting structure 23. Among them, the connection position of at least one connecting structure 24 with the first mounting structure 22 is position S1 and the connection position with the second mounting structure 23 is position S2, the connection position of at least another connecting structure 24 with the first mounting structure 22 is position S3 and the connection position with the second mounting structure 23 is position S4, position S1, position S2, position S3 and position S4 surround to form a quadrilateral structure, and the quadrilateral structure is located above the second wheel body 21.

[0037] By applying the technical solution of this embodiment, at least one connecting structure 24 is connected to the first mounting structure 22 at position S1 and is connected to the second mounting structure 23 at position S2, at least another connecting structure 24 is connected to the first mounting structure 22 at position S3 and is connected to the second mounting structure 23 at position S4, positions S1, S2, S3 and S4 are surrounded to form a quadrilateral structure, and the quadrilateral structure is located above the second wheel body 21 to press the second wheel body 21, thereby ensuring that the second wheel body 21 is always in contact with the ground, increasing the contact area and adhesion between the walking mechanism and the ground, thereby solving the problem of unstable operation of the ground inspection robot when driving on bumpy or low-adhesion ground in the prior art, so that the inspection robot can adapt to a relatively uneven road environment, and even on a low-adhesion ground, the inspection robot can also move relatively smoothly.

[0038] In this embodiment, there are two connection structures 24, and the two connection structures 24 are arranged at intervals along the height direction of the steering wheel mechanism 20, and the second wheel body 21 is rotatably arranged on the second mounting structure 23. The connection position of one connection structure 24 with the first mounting structure 22 is position S1 and the connection position with the second mounting structure 23 is position S2, and the connection position of the other connection structure 24 with the first mounting structure 22 is position S3 and the connection position with the second mounting structure 23 is position S4. Position S1, position S2, position S3 and position S4 surround to form a quadrilateral structure, and the quadrilateral structure is located above the second wheel body 21. In this way, when the inspection robot faces uneven ground or obstacles, it can maintain the stability of the robot through the adaptive adjustment of the steering wheel mechanism 20, avoiding rollover or walking difficulties caused by terrain changes.

[0039] Optionally, the line connecting the position S1 and the position S2 is parallel to the travel direction of the traveling mechanism; and / or, the line connecting the position S3 and the position S4 is parallel to the travel direction of the traveling mechanism. In this way, the above parallel arrangement ensures the smoothness and stability of the steering wheel mechanism 20 during steering, and reduces friction and energy loss during steering. At the same time, the above arrangement makes the quadrilateral structure a parallelogram.

[0040] In this embodiment, the line connecting the position S1 and the position S2 is parallel to the travel direction of the walking mechanism, and the line connecting the position S3 and the position S4 is parallel to the travel direction of the walking mechanism. In this way, through the optimization of the parallel setting, the inspection robot can turn more flexibly and accurately in complex environments, reduce friction during turning, and not only improve the maneuverability of the inspection robot in narrow spaces, but also extend the service life of the inspection robot and reduce maintenance costs.

[0041] like Figure 8 As shown, each connection structure 24 includes a connection body 241 and two connection columns 242. Both connection columns 242 are arranged on the connection body 241. Among them, one connection column 242 is movably connected to the first mounting structure 22, and the other connection column 242 is movably connected to the second mounting structure 23. In this way, the design of the above-mentioned movable connection allows the steering wheel mechanism 20 to be fine-tuned in the vertical direction, so as to better adapt to the ups and downs of the ground, ensure the stable walking of the inspection robot on various terrains, especially in outdoor inspections, and can effectively cope with uneven ground. At the same time, the above-mentioned setting makes the structure of the connection structure 24 simpler, easier to process and realize, and reduces the processing cost and difficulty of the connection structure 24.

[0042] Specifically, the above-mentioned setting of the movable connection enables the inspection robot to cope with irregular changes in the ground by adjusting the height of the second wheel body 21 when inspecting outdoors, such as in complex terrains such as forests, mountains or city streets, thereby ensuring the robot's stable walking on various terrains and improving the inspection efficiency and accuracy of data collection. At the same time, this feature also enhances the inspection robot's obstacle-crossing ability, enabling it to cross small gullies or climb slight slopes.

[0043] Optionally, the first mounting structure 22 has at least two first through holes, the steering wheel mechanism 20 further includes at least two first bearing structures 25, the at least two first bearing structures 25 are arranged in a one-to-one correspondence with the at least two first through holes, and each first bearing structure 25 is arranged in a first through hole corresponding thereto; the outer ring of each first bearing structure 25 is connected to the first through hole corresponding thereto, a connecting column 242 extends into the inner ring of the first bearing structure 25 and is fixedly connected to the inner ring; at least two first bearing structures 25 are arranged in a one-to-one correspondence with at least two connecting structures 24; and / or, the second mounting structure 23 has at least two second through holes, the steering wheel mechanism 20 further includes at least two second bearing structures 26, at least two second bearing structures 26 are arranged in a one-to-one correspondence with at least two second through holes, and each second bearing structure 26 is arranged in a second through hole corresponding thereto; the outer ring of each second bearing structure 26 is connected to the second through hole corresponding thereto, a connecting column 242 extends into the inner ring of the second bearing structure 26 and is fixedly connected to the inner ring; at least two second bearing structures 26 are arranged in a one-to-one correspondence with at least two connecting structures 24. In this way, through the above-mentioned setting of the bearing structure, not only the friction of the steering wheel mechanism 20 during movement is reduced, but also the steering flexibility and response speed are improved, which is suitable for inspection tasks that require fast steering or operation in a small space.

[0044] In this embodiment, the first mounting structure 22 has two first through holes, and there are two first bearing structures 25, and the two first bearing structures 25 are arranged in a one-to-one correspondence with the two first through holes. The second mounting structure 23 has two second through holes, and there are two second bearing structures 26, and the two second bearing structures 26 are arranged in a one-to-one correspondence with the two second through holes. In this way, the above-mentioned arrangement of the first bearing structure 25 and the second bearing structure 26 greatly improves the movement efficiency and accuracy of the steering wheel mechanism 20, reduces the inertial impact of the inspection robot during rapid steering, and ensures the smooth operation of the inspection robot. At the same time, the smooth rotation of the bearing structure also reduces the operating noise of the inspection robot.

[0045] Optionally, the walking wheel mechanism 10 also includes a frame 13, and the driving device 11 is arranged on the frame 13. The walking mechanism also includes a first compression spring, the first end of the first compression spring is connected to at least one connecting structure 24, and the second end of the first compression spring is connected to the vehicle body 30; and / or, the walking mechanism also includes a second compression spring, the first end of the second compression spring is connected to at least one frame 13, and the second end of the second compression spring is connected to the vehicle body 30. In this way, the above-mentioned setting of the compression spring enables the inspection robot to automatically adjust the contact pressure between the second wheel body 21 and the ground through the elastic action of the spring when encountering obstacles or ground undulations, so as to maintain good grip, and is suitable for inspections on variable terrains. At the same time, the parallelogram structure cooperates with the compression spring to achieve the steering wheel mechanism 20 to keep touching the ground on uneven roads, so that the operation is smooth.

[0046] In this embodiment, the walking mechanism further includes a first compression spring and a second compression spring, wherein the first end of the first compression spring is connected to two connecting structures 24, and the second end of the first compression spring is connected to the vehicle body 30. The first end of the second compression spring is connected to the frame 13, and the second end of the second compression spring is connected to the vehicle body 30. Specifically, each connecting structure 24 has a first mounting position 61, and the vehicle body 30 has a second mounting position 62, and the two ends of the first compression spring are respectively mounted on the first mounting position 61 and the second mounting position 62. The frame 13 has a third mounting position 63, and the vehicle body 30 also has a fourth mounting position 64, and the two ends of the second compression spring are respectively mounted on the third mounting position 63 and the fourth mounting position 64.

[0047] like Figure 8 As shown, the first mounting structure 22 has a third through hole, and the running mechanism further includes a fastener, which is inserted into the third through hole and the vehicle body 30 to connect the vehicle body 30 and the running mechanism. In this way, the above arrangement of the fastener ensures a firm connection between the running mechanism and the vehicle body 30, and avoids loosening when driving at high speed or encountering impact.

[0048] In this embodiment, the reliable connection of the fasteners provides a safety guarantee for the inspection robot to travel at high speed, avoiding equipment failure or data collection interruption caused by loose connection. At the same time, the easy disassembly of the fasteners also facilitates equipment maintenance and component replacement, reducing long-term operating costs.

[0049] like Figure 8As shown, the second mounting structure 23 includes a mounting body 231, a mounting frame 232, a third bearing structure 233 and a connecting rod 234. The mounting body 231 includes a mounting plate 2311 and a connecting sleeve 2312, the connecting sleeve 2312 is arranged on the mounting plate 2311, and the mounting plate 2311 has a second through hole. The mounting frame 232 includes a frame body 2321 and a mounting sleeve 2322, the mounting sleeve 2322 is arranged on the frame body 2321, and the second wheel body 21 is rotatably arranged on the frame body 2321. The third bearing structure 233 is arranged in the mounting sleeve 2322. The connecting rod 234 is inserted into the third bearing structure 233 and the connecting sleeve 2312 and is threadedly connected to the connecting sleeve 2312. Among them, the mounting sleeve 2322 is located below the connecting sleeve 2312. In this way, the above arrangement not only simplifies the structure of the steering wheel mechanism 20, but also improves the convenience of its maintenance and replacement.

[0050] In this embodiment, by optimizing the structure of the steering wheel mechanism 20, not only the design is simplified, but it also helps to reduce manufacturing costs, improve maintenance efficiency, greatly reduce the interruption time of inspection tasks, and improve the robot's operating efficiency under extreme conditions.

[0051] like Figure 6 As shown, the driving device 11 is a motor, and the walking wheel mechanism 10 also includes a transmission assembly 40, which includes a driving wheel 41, a driven wheel 42 and a belt 43. Among them, the driving wheel 41 is connected to the motor shaft of the motor, and the driven wheel 42 is connected to the first wheel body 12. The belt 43 is sleeved on the driving wheel 41 and the driven wheel 42. In this way, the transmission assembly 40 driven by the motor connects the driving wheel 41 and the driven wheel 42 through the belt 43, which not only improves the driving efficiency, but also reduces the wear caused by direct contact, and is suitable for long-term continuous inspection tasks.

[0052] Specifically, the efficient combination of the motor and the belt 43 transmission provides a long-lasting power output for the inspection robot, reducing maintenance and downtime. At the same time, the non-rigid connection characteristics of the belt 43 transmission can also absorb some vibrations, extending the service life of the motor and transmission assembly 40 and reducing operating costs.

[0053] like Figure 1 As shown, the present application also provides an inspection robot, including a vehicle body 30, a walking mechanism, a smoke sensor 50 and / or an infrared sensor, wherein the walking mechanism is arranged on the vehicle body 30 and is located below the vehicle body 30, and the smoke sensor 50 and / or the infrared sensor is arranged on the vehicle body 30. Among them, the walking mechanism is the above-mentioned walking mechanism.

[0054] In this embodiment, the inspection robot integrated with the smoke sensor 50 and the infrared sensor can perform tasks under various extreme conditions. For example, in the smoke environment at the beginning of a fire, the inspection robot can quickly identify the smoke source, monitor the development of the fire in real time, and provide valuable information for rescue personnel. In the dark night or underground facilities, the infrared sensor can penetrate the darkness and capture abnormal heat sources, such as overheating of equipment or potential heat source leakage, which is crucial for accident prevention and safety monitoring.

[0055] like Figure 1 As shown, the vehicle body 30 includes a vehicle frame 31, an enclosure structure 32 and a top plate 33. The walking mechanism is connected to the vehicle frame 31. The enclosure structure 32 is arranged around the vehicle frame 31, and the smoke sensor 50 and / or the infrared sensor are arranged on the enclosure structure 32. The top plate 33 is covered on the top of the enclosure structure 32, and an inspection window 34 is arranged on the top plate 33. In this way, the above-mentioned arrangement of the inspection window 34 facilitates the inspection and maintenance of the interior of the inspection robot, and the integration of the smoke sensor 50 and the infrared sensor enables the inspection robot to monitor the smoke concentration and temperature changes in the environment in real time, which is suitable for inspections in places with high fire risks, such as safety monitoring in high-rise buildings, underground garages or storage areas for flammable and explosive items, effectively preventing and early discovering safety hazards such as fires, improving the practicality and safety of the inspection robot, and providing a strong guarantee for the safety of personnel and property.

[0056] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0057] The walking mechanism for the inspection robot includes a walking wheel mechanism and a steering wheel mechanism. The walking wheel mechanism includes a driving device and a first wheel body, and the driving device is drivingly connected to the first wheel body to drive the first wheel body to rotate. The steering wheel mechanism includes a mounting assembly and a second wheel body, and the mounting assembly includes a first mounting structure, a second mounting structure and at least two connecting structures. The first mounting structure is connected to the second mounting structure through at least two connecting structures, and the at least two connecting structures are spaced apart along the height direction of the steering wheel mechanism; the second wheel body is rotatably arranged on the first mounting structure and / or the second mounting structure. In this way, at least one connecting structure is connected to the first mounting structure at position S1 and to the second mounting structure at position S2, and at least another connecting structure is connected to the first mounting structure at position S3 and to the second mounting structure at position S4. Position S1, position S2, position S3 and position S4 form a quadrilateral structure around the second wheel body, and the quadrilateral structure is located above the second wheel body to press the second wheel body, thereby ensuring that the second wheel body is always in contact with the ground, increasing the contact area and adhesion between the walking mechanism and the ground, thereby solving the problem in the prior art that the ground inspection robot is unstable when driving on bumpy or low-adhesion ground, so that the inspection robot can adapt to a relatively uneven road environment, and even on a low-adhesion ground, the inspection robot can move relatively smoothly.

[0058] Obviously, the embodiments described above are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0059] 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.

[0060] 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.

[0061] 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 walking mechanism for an inspection robot, characterized in that: The walking mechanism comprises: A walking wheel mechanism (10) comprises a driving device (11) and a first wheel body (12), wherein the driving device (11) is drivingly connected to the first wheel body (12) to drive the first wheel body (12) to rotate; A steering wheel mechanism (20) comprises a mounting assembly and a second wheel body (21), wherein the mounting assembly comprises a first mounting structure (22), a second mounting structure (23) and at least two connecting structures (24), wherein the first mounting structure (22) is connected to the second mounting structure (23) via at least two connecting structures (24), and the at least two connecting structures (24) are arranged at intervals along the height direction of the steering wheel mechanism (20); and the second wheel body (21) is rotatably arranged on the first mounting structure (22) and / or the second mounting structure (23); The connection position of at least one of the connection structures (24) and the first mounting structure (22) is position S1, and the connection position with the second mounting structure (23) is position S2; the connection position of at least another connection structure (24) and the first mounting structure (22) is position S3, and the connection position with the second mounting structure (23) is position S4; the positions S1, S2, S3, and S4 surround to form a quadrilateral structure, and the quadrilateral structure is located above the second wheel body (21).

2. The walking mechanism according to claim 1, characterized in that: The line connecting the position S1 and the position S2 is parallel to the travel direction of the traveling mechanism; and / or the line connecting the position S3 and the position S4 is parallel to the travel direction of the traveling mechanism.

3. The walking mechanism according to claim 1, characterized in that: Each of the connecting structures (24) comprises: Connecting body (241); Two connecting posts (242), both of which are arranged on the connecting body (241); One of the connecting columns (242) is movably connected to the first mounting structure (22), and the other connecting column (242) is movably connected to the second mounting structure (23).

4. The walking mechanism according to claim 3, characterized in that: The first mounting structure (22) has at least two first through holes, and the steering wheel mechanism (20) further comprises: At least two first bearing structures (25), at least two first bearing structures (25) are arranged in a one-to-one correspondence with at least two first through holes, and each first bearing structure (25) is arranged in a first through hole corresponding thereto; the outer ring of each first bearing structure (25) is connected to the first through hole corresponding thereto, and one of the connecting columns (242) extends into the inner ring of the first bearing structure (25) and is fixedly connected to the inner ring; at least two first bearing structures (25) are arranged in a one-to-one correspondence with at least two connecting structures (24); and / or, The second mounting structure (23) has at least two second through holes, and the steering wheel mechanism (20) further comprises: At least two second bearing structures (26), at least two second bearing structures (26) are arranged in a one-to-one correspondence with at least two second through holes, and each second bearing structure (26) is arranged in a second through hole corresponding thereto; the outer ring of each second bearing structure (26) is connected to the second through hole corresponding thereto, and one connecting column (242) extends into the inner ring of the second bearing structure (26) and is fixedly connected to the inner ring; at least two second bearing structures (26) are arranged in a one-to-one correspondence with at least two connecting structures (24).

5. The walking mechanism according to claim 1, characterized in that: The walking wheel mechanism (10) further comprises a frame (13), and the driving device (11) is arranged on the frame (13); the walking mechanism further comprises: a first compression spring, wherein a first end of the first compression spring is connected to at least one of the connection structures (24), and a second end of the first compression spring is connected to a vehicle body (30); and / or A second compression spring, wherein a first end of the second compression spring is connected to at least one of the frames (13), and a second end of the second compression spring is connected to the vehicle body (30).

6. The walking mechanism according to claim 1, characterized in that: The first mounting structure (22) has a third through hole, and the running mechanism further comprises a fastener, which is inserted through the third through hole and the vehicle body (30) to connect the vehicle body (30) and the running mechanism.

7. The walking mechanism according to claim 4, characterized in that: The second mounting structure (23) comprises: A mounting body (231), comprising a mounting plate (2311) and a connecting sleeve (2312), wherein the connecting sleeve (2312) is arranged on the mounting plate (2311), and the mounting plate (2311) has the second through hole; A mounting frame (232), comprising a frame body (2321) and a mounting sleeve (2322), wherein the mounting sleeve (2322) is arranged on the frame body (2321), and the second wheel body (21) is rotatably arranged on the frame body (2321); A third bearing structure (233) is arranged in the mounting sleeve (2322); A connecting rod (234), which is inserted into the third bearing structure (233) and the connecting sleeve (2312) and is threadedly connected to the connecting sleeve (2312); Wherein, the installation sleeve (2322) is located below the connecting sleeve (2312).

8. The traveling mechanism according to claim 1, characterized in that: The driving device (11) is a motor, and the walking wheel mechanism (10) further includes a transmission assembly (40), and the transmission assembly (40) includes: A driving wheel (41) connected to the motor shaft of the motor; A driven wheel (42) connected to the first wheel body (12); A belt (43) is sleeved on the driving wheel (41) and the driven wheel (42).

9. A patrol robot, characterized in that: The vehicle comprises a vehicle body (30), a running mechanism, a smoke sensor (50) and / or an infrared sensor, wherein the running mechanism is arranged on the vehicle body (30) and is located below the vehicle body (30), and the smoke sensor (50) and / or the infrared sensor are arranged on the vehicle body (30); wherein the running mechanism is the running mechanism according to any one of claims 1 to 8.

10. The inspection robot according to claim 9, characterized in that: The vehicle body (30) comprises: A vehicle frame (31), wherein the walking mechanism is connected to the vehicle frame (31); An enclosure structure (32) is arranged around the vehicle frame (31), and the smoke sensor (50) and / or the infrared sensor are arranged on the enclosure structure (32); A top plate (33) is arranged above the surrounding structure (32), and an inspection window (34) is arranged on the top plate (33).

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