Vector chassis of inspection robot

Abstract

The vector chassis of the inspection robot relates to the technical field of robots and comprises a chassis frame, arc-shaped glass fiber plates are fixedly mounted on the upper portions and the lower portions of the four corners of the chassis frame, four sets of aluminum alloy plates are arranged in the middle of the front portion and the rear portion of the chassis frame, and glass fiber plate springs are arranged on the upper portions and the lower portions of square through holes in the four corners of the chassis frame. A plurality of bolt hole sets are formed in the positions, close to the aluminum alloy plate, of the glass fiber plate springs, bolts penetrate through one bolt hole set to be fixedly connected with the aluminum alloy plate, through grooves are formed in the middles of the glass fiber plate springs at the same upper position and the same lower position, and omnidirectional wheel train structures are fixedly installed in the through grooves. Each omni-directional wheel train structure is composed of a steering driving structure and a driving roller structure, all the modules can independently rotate at any angle, the running speed is independently configured, and the vector wheel moving chassis can move in any direction and any track by controlling the angle and the running speed of all the vector wheel modules. And meanwhile, extremely high maneuverability and high road holding force are achieved.

Description

Technical Field

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

[0002] With the development of robot technology, the demand for mobile robots is increasing, especially the application of inspection robots in complex environments is very extensive.

[0003] The omnidirectional mobile chassis currently available in the market include Mecanum wheel chassis, 90-degree omnidirectional wheel chassis, two-wheel differential chassis and other driving forms. The above chassis types have high movement flexibility, but relatively poor grip and driving force. In addition, the omnidirectional wheel system of the traditional chassis aluminum frame is exposed on the outside and has poor protection. In addition, a shock absorbing mechanism is also provided on the chassis frame. In the past, tension springs were used for shock absorption. The disadvantage is that when the chassis aluminum frame collides due to errors during debugging, it is difficult to make corresponding adjustments quickly.

[0004] Vector wheel chassis, also known as "Swerve Chassis", is a chassis drive form that has gradually developed in the past twenty years. Therefore, it is necessary to design a vector chassis for an inspection robot to solve the above problems. Summary of the invention

[0005] The present invention provides a vector chassis of an inspection robot, which solves the above-mentioned technical problems.

[0006] In order to solve the above technical problems, the present invention provides a vector chassis of an inspection robot, including a chassis frame, wherein arc-shaped fiberglass plates are fixedly installed at the four corners of the chassis frame, and four groups of aluminum alloy plates are arranged in the front and rear middle parts of the chassis frame, and connecting plates are fixedly connected to the upper and lower ends of the chassis frame on the upper and lower sides of the aluminum alloy plates, and fiberglass leaf springs are arranged at the upper and lower sides of the square through holes at the four corners of the chassis frame, and the fiberglass leaf springs are provided with multiple groups of bolt hole groups near the aluminum alloy plates, and are fixedly connected to the aluminum alloy plates by passing bolts through one group of bolt hole groups, and a through groove is provided in the middle of each fiberglass leaf spring at the same upper and lower positions, and an omnidirectional wheel system structure is fixedly installed in the through groove, and a positioning code disk is fixedly installed at the center bottom of the chassis frame;

[0007] The omnidirectional wheel train structure includes a bearing outer ring cover fixed in a glass fiber leaf spring through-groove, a crossed roller bearing is fixedly installed on the inner upper part of the bearing outer ring cover, a bearing inner ring upper cover is fixed on the top of the inner ring of the crossed roller bearing, an inner ring glass fiber is fixed on the top of the bearing inner ring upper cover, a bearing inner ring lower cover is fixed on the lower part of the inner ring of the crossed roller bearing, an inner meshing external gear is fixed inside the bearing outer ring cover near the bearing inner ring lower cover, a driving roller structure is fixed on the bottom of the bearing inner ring lower cover, the driving roller structure is transmission-connected to the inner meshing external gear, and a steering drive structure is fixed on the side end of the driving roller structure, located in the middle of the bearing outer ring cover.

[0008] Furthermore, the bearing outer ring cover, the bearing inner ring upper cover and the bearing inner ring lower cover respectively press the outer ring and the inner ring of the crossed roller bearing up and down, and the cross-roller bearing outer ring cover and the bearing inner ring lower cover are L-shaped in cross-section and are interference fit with the outer and inner rings of the crossed roller bearing respectively.

[0009] Furthermore, the steering drive structure includes a mounting shell fixed to the bottom of the lower cover of the inner ring of the bearing and an internal gear meshing with the internal meshing external gear. A drive motor 1 is fixed through the top of the mounting shell, and the rotating shaft of the drive motor 1 is rigidly connected to the internal gear through a top screw.

[0010] Furthermore, a magnetic encoder is fixed on the top side of the mounting shell, the magnetic encoder shaft penetrates the mounting shell and is transmission-connected with an elastic coupling, the elastic coupling is transmission-connected with the mounting coupling, an encoder gear is fixed on the outside of the mounting coupling and meshes with the internal gear, encoder radial limit plates are fixed on both sides of the bottom of the mounting shell, and the encoder radial limit plate shaft is rotationally connected with the encoder gear.

[0011] Furthermore, the driving roller structure includes motor seats fixed on both sides of the bottom of the lower cover of the bearing inner ring, a steering wheel body is arranged between the two motor seats, a hub fixing seat is arranged in the middle of the steering wheel body, a thin-walled bearing is installed in the middle of the inner wall of the steering wheel body, the hub fixing seat is passed through and fixed on one of the motor seats, a second driving motor is fixed inside the hub fixing seat, a flange bearing is fixed on the upper inner ring of the other motor seat, a retaining spring is provided on the inner ring of the flange bearing, a transmission coupling is fixed on the inner ring of the retaining spring, a coupling fixing panel is fixed on the outside of the coupling and is fixedly connected to the steering wheel body, the second driving motor shaft passes through the hub fixing seat and is transmission-connected to the transmission coupling, and a reinforcement frame is installed at the lower part of the motor seat and is fixedly connected to the mounting shell.

[0012] Furthermore, the positioning code disk, drive motor 1, magnetic encoder and drive motor 2 are all electrically connected to an external robot control terminal.

[0013] Compared with the related art, the inspection robot vector chassis provided by the present invention has the following beneficial effects:

[0014] The present invention provides four omnidirectional wheel train structures, each of which is composed of two power systems, namely a steering drive structure and a driving roller structure. Each module can independently rotate at any angle and independently configure a driving speed. By controlling the angle and driving speed of each vector wheel module, the vector wheel mobile chassis can realize movement in any direction and along any trajectory, and at the same time has extremely strong maneuverability and high grip.

[0015] The present invention provides that arc-shaped fiberglass plates are used at the four corners of the chassis frame to replace the traditional aluminum tube welding, which can reduce the deformation of the chassis frame caused by the chassis aluminum frame hitting the site, and adopts a fiberglass leaf spring with adjustable deformation, that is, the length of the force arm of the leaf spring is changed by changing the bolt hole group of the aluminum alloy plate and the fiberglass leaf spring, which can greatly improve the speed of adjusting the shock absorption and improve the debugging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an overall schematic diagram of a vector chassis of an inspection robot according to the present invention;

[0017] Figure 2 This is a schematic diagram of the bottom of a vector chassis of an inspection robot according to the present invention;

[0018] Figure 3 This is a schematic diagram of the connection of the arc-shaped glass fiber board of the present invention;

[0019] Figure 4 It is a schematic diagram of the structure of the omnidirectional gear train of the present invention;

[0020] Figure 5 It is a schematic cross-sectional view of the omnidirectional gear train structure of the present invention;

[0021] Figure 6 It is a schematic cross-sectional view of the driving roller structure of the present invention;

[0022] Figure 7 It is a cross-sectional schematic diagram of the steering drive structure of the present invention.

[0023] Numbers in the figure: 1, chassis frame; 2, arc-shaped fiberglass plate; 3, fiberglass leaf spring; 31, bolt hole group; 32, aluminum alloy plate; 33, connecting plate; 4, omnidirectional gear train structure; 41, bearing outer ring cover; 42, internal meshing external gear; 43, steering drive structure; 431, drive motor 1; 432, mounting housing; 433, magnetic encoder; 434, elastic coupling; 435, internal gear; 436, encoder gear; 4361, Encoder radial limit plate; 437, installation coupling; 44, driving roller structure; 441, driving motor 2; 442, motor seat; 443, hub fixing seat; 444, thin-walled bearing; 445, steering wheel body; 446, coupling fixing panel; 447, flange bearing; 448, reinforcement frame; 45, cross roller bearing; 451, bearing inner ring upper cover; 452, bearing inner ring lower cover; 46, inner ring fiberglass; 5, positioning code disk. DETAILED DESCRIPTION

[0024] Example, by Figure 1-7As shown, a vector chassis of an inspection robot comprises a chassis frame 1, wherein arc-shaped fiberglass plates 2 are fixedly installed at the four corners of the chassis frame 1, four groups of aluminum alloy plates 32 are arranged in the front and rear middle parts of the chassis frame 1, and connecting plates 33 are fixedly installed at the upper and lower ends of the aluminum alloy plates 32 and are fixedly connected to the upper and lower ends of the chassis frame 1, and fiberglass leaf springs 3 are arranged at the upper and lower parts of the square through holes at the four corners of the chassis frame 1, and the fiberglass leaf springs 3 are provided with a plurality of groups of bolt hole groups 31 near the positions of the aluminum alloy plates 32, and are fixedly connected to the aluminum alloy plates 32 by passing bolts through one group of bolt hole groups 31, and a through groove is provided in the middle part of each fiberglass leaf spring 3 at the same upper and lower positions, and an omnidirectional wheel system structure 4 is fixedly installed in the through groove, and a positioning code disk 5 is fixedly installed at the center bottom of the chassis frame 1.

[0025] Specifically, the chassis frame 1 is made of 1mm thick 20*20mm aluminum tube slotted and welded by argon arc welding, and is light in weight. Compared with the traditional chassis aluminum frame, the four corners are connected by arc-shaped fiberglass plates 2 to replace the traditional aluminum tube welding.

[0026] The elastic limit value of glass fiber is much greater than that of aluminum tube, which can reduce the deformation of the aluminum frame caused by the chassis aluminum frame hitting the ground (the impact points are generally at the four corners).

[0027] ② The fiberglass board is arc-shaped and tangent to the chassis aluminum frame. Compared with the corners of the traditional chassis aluminum frame, the force is more dispersed during collision, which increases the life of the fiberglass board and provides better protection for the chassis aluminum frame;

[0028] ③ The fiberglass board wraps the omnidirectional wheel train structure 4 inside (), thereby protecting the omnidirectional wheel train structure 4.

[0029] ④ The welding process of the vector chassis aluminum frame uses a mold made by milling slots in the Osson board with an engraving machine, which is used to embed the aluminum tube into the wooden board to play a limiting role, solving the problem of deformation of the chassis aluminum frame after welding in the past. The square through hole frees up space for the welding head when welding the side, so that the front, back and sides of the aluminum tube can be welded at one time. The flatness of the chassis aluminum frame ensures the normal use of the subsequent fiberglass leaf spring 3.

[0030] Among them, the traditional chassis frame 1 used to use tension springs for shock absorption. The disadvantage is that when the chassis aluminum frame collides due to an error during the debugging process, it is difficult to make corresponding adjustments quickly. In order to improve the adjustability of the shock absorption, a glass fiber leaf spring 3 with adjustable deformation is designed, that is, by changing the bolt hole group 31 of the aluminum alloy plate 32 and the glass fiber leaf spring 3 to change the lever arm length of the leaf spring, which can greatly increase the speed of adjusting the shock absorption and improve the debugging efficiency.

[0031] In this embodiment, the omnidirectional wheel train structure 4 includes a bearing outer ring cover 41 fixed in the through groove of the glass fiber leaf spring 3, a crossed roller bearing 45 is fixedly installed on the upper inner part of the bearing outer ring cover 41, a bearing inner ring upper cover 451 is fixed on the top of the inner ring of the crossed roller bearing 45, an inner ring glass fiber 46 is fixed on the top of the bearing inner ring upper cover 451, a bearing inner ring lower cover 452 is fixed on the lower inner ring of the crossed roller bearing 45, an inner meshing external gear 42 is fixed inside the bearing outer ring cover 41 near the bearing inner ring lower cover 452, a driving roller structure 44 is fixed at the bottom of the bearing inner ring lower cover 452, the driving roller structure 44 is transmission-connected to the inner meshing external gear 42, and a steering drive structure 43 is fixed on the side end of the driving roller structure 44, located in the middle of the bearing outer ring cover 41.

[0032] Specifically, the reason for selecting the crossed roller bearing 45 is that the crossed roller bearing can withstand both large axial forces (bearing the weight of the machine) and large radial forces (sudden braking). Therefore, it is used as the optimal solution for the steering system bearing. The bearing clearance is very small, which can solve the poor gear meshing caused by excessive bearing clearance.

[0033] Among them, the outer ring cover 41 of the bearing, the upper cover 451 of the inner ring of the bearing and the lower cover 452 of the inner ring of the bearing respectively press the outer ring of the cross roller bearing 45 and the inner ring of the cross roller bearing 45, and the cross section of the outer ring cover 41 and the lower cover 452 of the bearing inner ring are L-shaped, and are respectively interference fit with the outer and inner rings of the cross roller bearing 45; because it is necessary to transmit a large torque, radial force and axial force through the cross roller bearing 45, the outer ring cover 41 of the bearing, the upper cover 451 of the bearing inner ring and the lower cover 452 of the bearing inner ring are designed to press the inner ring of the bearing and the outer ring of the bearing. The upper part of the outer ring cover 41 and the lower cover 452 of the bearing inner ring are L-shaped, and are respectively interference fit with the outer and inner rings of the cross roller bearing, and the lower part of the outer ring cover 41 and the upper cover 451 of the bearing inner ring are glass fiber rings, and the upper and lower covers are tightened by screws.

[0034] In this embodiment, the steering drive structure 43 includes an installation shell 432 fixed at the bottom of the bearing inner ring lower cover 452 and an internal gear 435 meshing with the internal meshing external gear 42. A driving motor 431 is fixed through the top of the installation shell 432. The rotating shaft of the driving motor 431 is rigidly connected to the internal gear 435 through a top screw. A magnetic encoder 433 is fixed to the top of the side of the installation shell 432. The rotating shaft of the magnetic encoder 433 penetrates the installation shell 432 and is transmission-connected to an elastic coupling 434. The elastic coupling 434 is transmission-connected to an installation coupling 437. An encoder gear 436 is fixed to the outside of the installation coupling 437 and meshes with the internal gear 435. Encoder radial limit plates 4361 are fixed on both sides of the bottom of the installation shell 432. The rotating shaft of the encoder radial limit plate 4361 is rotationally connected to the encoder gear 436.

[0035] Specifically, the driving motor 431 is rigidly connected to the internal gear 435 through a top screw. Since there is a gap in the driving motor 431, in order to reduce the gap, the top screw of the internal gear 435 is screwed on the end of the D-shaped shaft (the root of the shaft, the gap magnification is slightly smaller) as much as possible, and the internal meshing external gear 42 is meshed with the internal gear 435;

[0036] Since the shaft diameter of the magnetic encoder 433 is too thin, it is difficult to design a DIY rigid coupling, and only an elastic coupling 434 can be used. The encoder gear 436 is connected to the encoder gear 436 through the internal thread in the flange, and one side of the shaft end is connected to the elastic coupling 434 through the mounting coupling 437, and the other side of the shaft end is interference fit with the miniature flange bearing and connected to the encoder radial limit plate 4361. The encoder radial limit plate 4361 is added because the elastic coupling 434 is too soft, and the encoder gear 432 will be tilted and not coaxial when meshing with the internal gear 435. Therefore, the encoder radial limit plate 4361 and the miniature flange bearing rigidly connected to the mounting housing 432 are added to ensure that the encoder gear 432 and the internal gear 435 mesh well. In addition, the flange bearing is used because the flange edge has an axial limit effect on the bearing.

[0037] In this embodiment, the driving roller structure 44 includes a motor seat 442 fixed on both sides of the bottom of the bearing inner ring lower cover 452, a steering wheel body 445 is arranged between the two motor seats 442, a hub fixing seat 443 is arranged in the middle of the steering wheel body 445, a thin-walled bearing 444 is installed in the middle of the inner wall of the hub fixing seat 443 and connected to the steering wheel body 445, the hub fixing seat 443 is penetrated and fixed on one of the motor seats 442, a driving motor 2 441 is fixed inside the hub fixing seat 443, a flange bearing 447 is fixed on the upper inner ring of the other motor seat 442, a retaining spring is sleeved on the inner ring of the flange bearing 447, a transmission coupling is fixed on the inner ring of the retaining spring, a coupling fixing panel 446 is fixed on the outer side of the coupling and is fixedly connected to the steering wheel body 445, the rotating shaft of the driving motor 2 441 penetrates the hub fixing seat 443 and is transmission-connected to the transmission coupling, and a reinforcement frame 448 is installed at the lower part of the motor seat 442 and is fixedly connected to the mounting shell 432.

[0038] Specifically, the left motor seat 442 is rigidly connected to the reduction box of the driving motor 2 441 through the hub fixing seat 443, and is connected to the hub of the steering wheel body 445 through the 6811ZZ thin-walled bearing 444 to achieve relative rotation with the steering wheel body 445, and a structure similar to a shaft shoulder is provided on the left motor seat 442 to axially limit the 6811ZZ thin-walled bearing 444. The hub of the steering wheel body 445 is provided with a hole to perform an interference fit with the 6811ZZ thin-walled bearing 444, and a small end face is provided to axially limit the thin-walled bearing 444 in the opposite direction, and the inner diameter of the end face is smaller than the inner diameter of the outer ring of the thin-walled bearing 444, and larger than the outer diameter of the inner ring, so as to avoid relative rotation and wear between the hub of the steering wheel body 445 and the inner ring of the thin-walled bearing 444. In addition, in order to reduce the stress concentration of the left motor seat 442, a 3D printed part is added to reinforce the motor seat.

[0039] The right motor seat 442 is connected through a DIY rigid coupling (limited to ensure the coaxiality of the motor shaft and the coupling), upper and lower pressure covers of the coupling (transmitting the motor shaft torque and ensuring the coaxiality of the motor shaft and the coupling) and a coupling fixing panel 446 (transmitting the motor torque from the coupling to the hub of the steering wheel body 445), and a 17-23-4 flange bearing 447 is provided on the right motor seat 442 to support the coupling, and a structure similar to a shaft shoulder is provided to limit the flange bearing 447, and a retaining spring is provided on the coupling for axially limiting the flange bearing 447 in another direction.

[0040] Among them, the positioning code disk 5, the driving motor 1 431, the magnetic encoder 433 and the driving motor 2 441 are all electrically connected to the external robot control terminal.

[0041] Working principle:

[0042] When working, the four omnidirectional wheel train structures 4 are controlled by the external robot control end to realize the all-round movement of the chassis frame 1. First, the driving motor 2 is controlled to drive the steering wheel body 445 to roll on the two motor seats. The four steering wheel bodies 445 roll at the same time to drive the chassis frame 1 to move. However, when it is necessary to turn and adjust the direction, the external robot control end controls the steering driving structure 43, and the driving motor 1 431 drives the internal gear 435 to rotate. The internal gear 435 and the internal meshing external gear 43 are transmitted, so that the rotation driving structure 43 rotates around the internal meshing external gear 43, and the driving roller structure 44 follows the rotation, thereby adjusting the moving direction.

[0043] When the inner gear 435 and the inner meshing outer gear 43 are in transmission, the inner gear 435 and the encoder gear 436 are in transmission. The encoder gear 435 drives the rotating shaft of the magnetic encoder 433 to rotate by installing the coupling 437 and the elastic coupling 434, and records the number of rotations of the driving motor 431, and sends it to the external robot control end, so as to determine the range of rotation, and realize the omnidirectional movement of the chassis frame 1 by controlling the steering angles of the steering drive structures 43 of the four steering wheel bodies 455 respectively;

[0044] The four corners of the chassis frame 1 are connected by arc-shaped fiberglass plates instead of traditional aluminum tube welding, which can reduce the deformation of the chassis frame 1 caused by the chassis aluminum frame hitting the site, and adopt an adjustable deformation fiberglass leaf spring 3, that is, by changing the bolt hole group 31 of the aluminum alloy plate 32 and the fiberglass leaf spring 3 to change the length of the leaf spring's force arm, which can greatly increase the speed of adjusting the shock absorption and improve the debugging efficiency.

Claims

1. A vector chassis of an inspection robot, comprising a chassis frame (1), characterized in that: The four corners of the chassis frame (1) are fixedly mounted with arc-shaped fiberglass plates (2), the front and rear middle parts of the chassis frame (1) are provided with four groups of aluminum alloy plates (32), the aluminum alloy plates (32) are fixedly mounted with connecting plates (33) at the top and bottom and are fixedly connected to the upper and lower ends of the chassis frame (1), the four corners of the chassis frame (1) are provided with fiberglass leaf springs (3) at the top and bottom, and the fiberglass leaf springs (3) are provided with multiple groups of bolt hole groups (31) near the aluminum alloy plates (32), and are fixedly connected to the aluminum alloy plates (32) by bolts penetrating one of the groups of bolt hole groups (31), and the fiberglass leaf springs (3) are provided with through grooves at the middle of each fiberglass leaf spring (3) at the same upper and lower positions, and an omnidirectional wheel system structure (4) is fixedly mounted in the through grooves, and a positioning code disk (5) is fixedly mounted at the center bottom of the chassis frame (1); The omnidirectional gear train structure (4) comprises a bearing outer ring cover (41) fixed in a through groove of a glass fiber leaf spring (3); a cross roller bearing (45) is fixedly installed in the upper inner part of the bearing outer ring cover (41); a bearing inner ring upper cover (451) is fixed at the top of the inner ring of the cross roller bearing (45); an inner ring glass fiber (46) is fixed at the top of the bearing inner ring upper cover (451); a bearing inner ring lower cover (452) is fixed at the lower inner ring of the cross roller bearing (45); an inner meshing external gear (42) is fixed inside the bearing outer ring cover (41) near the bearing inner ring lower cover (452); a driving roller structure (44) is fixed at the bottom of the bearing inner ring lower cover (452); the driving roller structure (44) is transmission-connected to the inner meshing external gear (42); and a steering drive structure (43) is fixed at the side end of the driving roller structure (44) in the middle of the bearing outer ring cover (41).

2. The inspection robot vector chassis according to claim 1, characterized in that: The bearing outer ring cover (41), the bearing inner ring upper cover (451) and the bearing inner ring lower cover (452) respectively press the outer ring of the crossed roller bearing (45) and the inner ring of the crossed roller bearing (45) up and down; the cross-sections of the bearing outer ring cover (41) and the bearing inner ring lower cover (452) are L-shaped and are interference fit with the outer and inner rings of the crossed roller bearing (45) respectively.

3. The inspection robot vector chassis according to claim 1, characterized in that: The steering drive structure (43) comprises a mounting shell (432) fixed at the bottom of the bearing inner ring lower cover (452) and an internal gear (435) meshing with the internal meshing external gear (42); a driving motor (431) is fixed through the top of the mounting shell (432); and a rotating shaft of the driving motor (431) is rigidly connected to the internal gear (435) via a top screw.

4. The inspection robot vector chassis according to claim 3, characterized in that: A magnetic encoder (433) is fixed to the top of the mounting shell (432); the rotating shaft of the magnetic encoder (433) passes through the mounting shell (432) and is transmission-connected to an elastic coupling (434); the elastic coupling (434) is transmission-connected to a mounting coupling (437); an encoder gear (436) is fixed to the outside of the mounting coupling (437) and meshes with an internal gear (435); encoder radial limit plates (4361) are fixed to both sides of the bottom of the mounting shell (432); the rotating shaft of the encoder radial limit plates (4361) is rotationally connected to the encoder gear (436).

5. The inspection robot vector chassis according to claim 3 is characterized in that: The driving roller structure (44) comprises motor seats (442) fixed on both sides of the bottom of the bearing inner ring lower cover (452), a steering wheel body (445) is arranged between the two motor seats (442), a hub fixing seat (443) is arranged in the middle of the steering wheel body (445), a thin-walled bearing (444) is installed in the middle of the inner wall of the hub fixing seat (443) and connected to the steering wheel body (445), the hub fixing seat (443) penetrates and is fixed on one of the motor seats (442), and a driving roller structure (44) is fixed inside the hub fixing seat (443). The second driving motor (441) is provided with a flange bearing (447) fixed on the inner ring of the upper part of the other motor seat (442), and the inner ring of the flange bearing (447) is provided with a retaining spring, and the inner ring of the retaining spring is fixed with a transmission coupling, and the outer side of the coupling is fixed with a coupling fixing panel (446) fixedly connected to the steering wheel body (445), and the rotating shaft of the second driving motor (441) passes through the wheel hub fixing seat (443) and is transmission-connected to the transmission coupling, and the lower part of the motor seat (442) is provided with a reinforcement frame (448) fixedly connected to the mounting shell (432).

6. The inspection robot vector chassis according to claim 5, characterized in that: The positioning code disc (5), the first drive motor (431), the magnetic encoder (433) and the second drive motor (441) are all electrically connected to an external robot control terminal.

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