Walking mechanism and inspection robot

Abstract

The present application provides a walking mechanism and an inspection robot. The walking mechanism includes a base, a walking motor assembly, a second guide assembly and a pair of first guide assemblies. The walking motor assembly includes a motor and a drive wheel in rolling contact with the bottom surface of the track. The first guide assembly is rotatably connected to the base and includes a first support wheel in rolling contact with the top surface of the track and a first guide wheel in rolling contact with the side surface thereof. When the walking mechanism moves in a straight line, the first axis of the first support wheel is directly above the second axis of the drive wheel and the two are parallel. The second guide assembly is rotatably connected to the second end of the base plate and includes a second support wheel in rolling contact with the top surface of the track and a second guide wheel in rolling contact with the side surface thereof. When the walking mechanism turns, the second guide assembly and the pair of first guide assemblies form a multi-stage swing mechanism to improve stability during horizontal turning; the drive wheel and the first support wheel are coaxially arranged to reduce the turning resistance of the drive wheel and increase the service life of the drive wheel.

Description

Technical Field

[0001] The present application relates to the field of robot driving, and in particular to a walking mechanism and an inspection robot. Background Art

[0002] Inspection robots typically utilize a combination of drive wheels and guide wheels to navigate specific tracks. The design of these guide and drive wheels is crucial for enabling inspection robots to navigate curved tracks. Existing inspection robots experience significant resistance from the drive wheels when navigating curved tracks, which reduces their service life. Summary of the Invention

[0003] The present application provides a walking mechanism and an inspection robot, which can reduce the resistance of the driving wheels when turning.

[0004] The present application provides a walking mechanism capable of walking on a track, the walking mechanism comprising: a base, a walking motor assembly, a second guide assembly, and a pair of first guide assemblies, the base comprising a bottom plate located below the track, the walking motor assembly being located below and connected to the bottom plate, the walking motor assembly comprising a motor and a drive wheel, the motor driving the drive wheel to rotate, and the drive wheel being in rolling contact with the bottom surface of the track, a pair of first guide assemblies being symmetrically arranged on either side of a first end of the bottom plate, the first guide assembly being rotatably connected to the base, the first guide assembly comprising a first support wheel and a first guide wheel, the first support wheel being in rolling contact with the top surface of the track, and the first guide wheel being in rolling contact with the side surface of the track, and when the walking mechanism moves in a straight line, the first axis of the first support wheel is directly above and parallel to the second axis of the drive wheel, the second guide assembly being rotatably connected to a second end of the bottom plate opposite to the first end, the second guide assembly comprising a second support wheel and a second guide wheel, the second support wheel being in rolling contact with the top surface of the track, and the second guide wheel being in rolling contact with the side surface of the track.

[0005] Furthermore, the first guide assembly includes a supporting wheel frame and a guide wheel frame, the supporting wheel frame is rotatably connected to the base, the rotation axis of the supporting wheel frame is arranged in the vertical direction, the first supporting wheel is arranged at the top end of the supporting wheel frame, and the guide wheel frame is assembled on the supporting wheel frame, and the first guide wheels are arranged as a pair and are rotatably connected to the two ends of the guide wheel frame in the horizontal direction.

[0006] Furthermore, the base includes a supporting wheel seat assembled on the bottom plate along a vertical direction, and the supporting wheel frame is rotatably connected to the supporting wheel seat.

[0007] Furthermore, the second guide assembly includes a U-shaped swing arm frame and a pair of guide wheel seats assembled and fixed to the swing arm frame, the swing arm frame is assembled on the base plate in the vertical direction, the swing arm frame includes a fixed plate and a pair of ears connected to the fixed plate, the fixed plate is rotatably connected to the base plate, a pair of guide wheel seats are respectively assembled on a pair of ears, the second support wheels are provided as a pair and are respectively rotatably connected to the top ends of a pair of ears, the second guide wheels are provided in two pairs and are respectively rotatably connected to the two ends of a pair of guide wheel seats in the horizontal direction.

[0008] Furthermore, the travel motor assembly includes a first mounting plate, a second mounting plate, a drive shaft, a limit block, a fixing screw and a first synchronous wheel, the drive shaft is rotatably connected to the first mounting plate and the second mounting plate, the first synchronous wheel and the drive wheel are fixed to the drive shaft, the motor drives the first synchronous wheel to rotate, the first synchronous wheel is provided with an assembly hole, one end of the drive shaft is assembled in the assembly hole, the limit block includes a fixing portion and a convex edge connected to the fixing portion, the convex edge abuts against the outer side surface of the drive wheel, the fixing portion is located in the assembly hole and is provided with a first mounting hole, the fixing screw is fixed to the drive shaft after passing through the first mounting hole, before the fixing screw is locked, there is a gap between the fixing portion and the drive shaft, and after the fixing screw is locked, the fixing portion abuts against the drive shaft.

[0009] Furthermore, the motor is fixed to the first mounting plate, the motor is located between the first guide assembly and the second guide assembly, the travel motor assembly includes a second synchronous wheel fixed to the motor shaft of the motor and a synchronous belt connecting the first synchronous wheel and the second synchronous wheel, the travel motor assembly includes a protective shell fixed to the first mounting plate and located on the outside of the first mounting plate, the first synchronous wheel, the second synchronous wheel and the synchronous belt are located in the protective shell, and the drive wheel and the motor are located on the inside of the first mounting plate.

[0010] Furthermore, the walking motor assembly includes a first mounting plate, a second mounting plate, a drive shaft, a pressure plate, a rotating shaft and an elastic member. The first mounting plate and the second mounting plate are arranged opposite to each other, and both ends of the drive shaft and the rotating shaft are rotatably connected to the first mounting plate and the second mounting plate respectively. The two ends of the pressure plate are fixed to the first mounting plate and the second mounting plate respectively. The pressure plate and the base plate are arranged opposite to each other, and the base plate is connected to the rotating shaft. The elastic member is located at the first end of the base plate and one end thereof is fixed to the base plate, and the other opposite end is fixed to the pressure plate. The tension of the elastic member causes the driving wheel to contact the bottom surface of the track.

[0011] Furthermore, the walking mechanism includes a release screw, which is located at the second end of the base plate. A through hole is provided on the base plate, and one of the first mounting plate and the second mounting plate is provided with a threaded hole. The release screw passes through the through hole and is threadedly connected to the threaded hole. During the rotation of the release screw, the walking motor assembly moves away from one end of the driving wheel toward the direction close to the track, so that the driving wheel moves away from the track to break contact with the track.

[0012] Furthermore, the rotating shaft is provided with a plurality of first limiting holes arranged in sequence along its length direction, the base plate is provided with a plurality of second limiting holes, and the walking mechanism includes a plurality of limiting screws, which are assembled in sequence in the second limiting holes and the first limiting holes and fixed to the rotating shaft.

[0013] An embodiment of the present application further provides an inspection robot including the walking mechanism.

[0014] The walking mechanism of the embodiment of the present application includes a base, a walking motor assembly, a second guide assembly and a pair of first guide assemblies, the pair of first guide assemblies are symmetrically arranged on both sides of the first end of the base plate, the first guide assembly can swing relative to the base, the first guide assembly includes a first support wheel and a first guide wheel, the first support wheel is in rolling contact with the top surface of the track, and the first guide wheel is in rolling contact with the side of the track, and the second guide assembly is rotatably connected to the second end of the base plate opposite to the first end. The second guide assembly includes a second support wheel and a second guide wheel, the second support wheel is in rolling contact with the top surface of the track, and the second guide wheel is in rolling contact with the side of the track. When the walking mechanism turns, the second guide assembly and the pair of first guide assemblies form a multi-stage swing mechanism to improve the stability during horizontal turning; the first axis of the first support wheel is located directly above the second axis of the driving wheel and the two are parallel, and the driving wheel and the first support wheel are coaxially arranged to reduce the cornering resistance of the driving wheel and improve the service life of the driving wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the assembled walking mechanism and track according to an embodiment of the present application;

[0016] Figure 2 yes Figure 1 A schematic diagram of another perspective of the running mechanism and track after assembly shown;

[0017] Figure 3 yes Figure 1 The top view of the running gear and track after assembly is shown;

[0018] Figure 4 yes Figure 1 The right side view of the walking mechanism and track after assembly is shown;

[0019] Figure 5 yes Figure 1 Schematic diagram of the walking mechanism shown;

[0020] Figure 6 yes Figure 5 A top view of the walking mechanism is shown, wherein the first guide assembly and the second guide assembly are in a swinging state;

[0021] Figure 7 yes Figure 5 The schematic diagram of the walking mechanism shown is when it is turning on a curved track;

[0022] Figure 8 yes Figure 7 A top view of the schematic diagram shown;

[0023] Figure 9 yes Figure 5 A top view of the running gear is shown;

[0024] Figure 10 yes Figure 5 An exploded view of the running gear shown;

[0025] Figure 11 yes Figure 10 An exploded view of the first guide assembly of the walking mechanism shown;

[0026] Figure 12 yes Figure 10 An exploded view of the second guide assembly of the walking mechanism shown;

[0027] Figure 13 yes Figure 5 Another exploded view of the running gear shown;

[0028] Figure 14 yes Figure 13 Exploded view of the travel motor assembly shown;

[0029] Figure 15 yes Figure 5 A schematic cross-sectional view of the walking mechanism shown;

[0030] Figure 16 yes Figure 15 An enlarged view of the circled portion at A of the cross-sectional schematic diagram shown;

[0031] Figure 17 yes Figure 5 The schematic diagram of the walking mechanism shown is in the unfastened state;

[0032] Figure 18 yes Figure 17 a side view of the schematic diagram shown;

[0033] Figure 19 yes Figure 17 The diagram shown is a left side view. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments (or "implementations") of the present application will be described clearly and completely here with reference to the accompanying drawings. In the following description, when referring to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0035] If there are terms in the embodiments of this application that refer to directional indications or positional relationships (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationship and movement of the components in a specific posture (as shown in the accompanying drawings); if the specific posture changes, the directional indication or positional relationship will also change accordingly. In addition, the terms "first" and "second" in the embodiments of this application are used only for descriptive convenience and should not be understood as indicating or implying relative importance.

[0036] Ginseng Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 The walking mechanism 100 of the embodiment of the present application can walk on the track 200. The walking mechanism 100 includes a base 1, a walking motor assembly 2, a first guide assembly 3 and a second guide assembly 4.

[0037] The base 1 includes a bottom plate 11 below the track 200, and the bottom plate 11 is provided with a through-hole 111. The base 1 also includes a support wheel seat 12 vertically assembled on the bottom plate 11. The support wheel seat 12 is provided separately from the bottom plate 11, facilitating processing and molding. The support wheel seat 12 and the bottom plate 11 can also be provided integrally.

[0038] The travel motor assembly 2 is located below the base plate 11 and connected to the base plate 11. The travel motor assembly 2 includes a motor 21 and a drive wheel 22. The motor 21 drives the drive wheel 22 to rotate. After passing through the through hole 111, the drive wheel 22 rolls in contact with the bottom surface 201 of the track 200.

[0039] The first guide assemblies 3 are provided as a pair and are symmetrically arranged on either side of the first end 112 of the base plate 11. The first guide assemblies 3 are connected to the base 1 and can swing relative to the base 1. The first guide assemblies 3 include a first support wheel 31 and a first guide wheel 32. The first support wheel 31 is in rolling contact with the top surface 202 of the track 200, and the first guide wheel 32 is in rolling contact with the side surface 203 of the track 200.

[0040] The second guide assembly 4 is rotatably connected to a second end 113 of the base plate 11, opposite the first end 112. The second guide assembly 4 includes a second support wheel 41 and a second guide wheel 42. The second support wheel 41 is in rolling contact with the top surface 202 of the track 200, and the second guide wheel 42 is in rolling contact with the side surface 203 of the track 200. The top surface 202 is disposed opposite the bottom surface 201, and the side surface 203 connects the top surface 202 and the bottom surface 201.

[0041] Ginseng Figure 6 、 Figure 7 and Figure 8 When the walking mechanism 100 turns, the first guide wheel 32 is squeezed by the curved rail end, driving the first guide assembly 3 to rotate, and the second guide wheel 42 is squeezed by the curved rail end, driving the second guide assembly 4 to rotate, thereby achieving turning. When turning horizontally, the second guide assembly 4 and a pair of the first guide assemblies 3 form a multi-stage swing mechanism, which improves the stability during horizontal turning.

[0042] Ginseng Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9 When the walking mechanism 100 moves in a straight line, the first axis L1 of the first support wheel 31 is located directly above the second axis L2 of the drive wheel 22 and the two are parallel. The drive wheel 22 and the first support wheel 31 are arranged coaxially, which reduces the cornering resistance of the drive wheel 22 and improves the service life of the drive wheel 22.

[0043] Ginseng Figures 10 and 11 The support wheel seat 12 includes a bottom wall 121, a pair of connecting walls 122 extending vertically from the bottom wall 121, and a top wall 123 connected to the pair of connecting walls 122. The top wall 123 is disposed opposite the bottom wall 121. The top wall 123 is provided with a first hole 1231, and the bottom wall 121 is provided with a second hole (not shown).

[0044] The bottom wall 121 is also provided with a plurality of first assembly holes (not shown). The walking mechanism 100 includes a plurality of first screws 51. These first screws 51 pass through the first assembly holes and secure to the base plate 11, facilitating assembly and disassembly of the support wheel seat 12. The support wheel seat 12 and the base plate 11 can also be secured by welding or snap fastening.

[0045] The first guide assembly 3 further includes a support wheel frame 33 and a guide wheel frame 34. The support wheel frame 33 is rotatably connected to the base 1. The rotation axis of the support wheel frame 33 is arranged along the vertical direction.

[0046] In one embodiment, the support wheel frame 33 is rotatably connected to the support wheel seat 12 .

[0047] The first support wheel 31 is mounted on the top of the support wheel frame 33. In one embodiment, the assembly shaft of the first support wheel 31 is threadedly connected to the support wheel frame 33 to facilitate assembly and disassembly of the first support wheel 31. The assembly shaft of the first support wheel 31 can be threadedly connected to the support wheel frame 33 after being coated with thread glue.

[0048] The guide wheel frame 34 is assembled on the support wheel frame 33. A pair of first guide wheels 32 are provided, each rotatably connected to the horizontal ends of the guide wheel frame 34. In one embodiment, the assembly shaft of the first guide wheel 32 is threadedly connected to the guide wheel frame 34 to facilitate assembly and disassembly of the first guide wheel 32. The assembly shaft of the first guide wheel 32 can be coated with thread sealant and then threadedly connected to the guide wheel frame 34.

[0049] In one embodiment, the guide wheel frame 34 is assembled on the inner side of the support wheel frame 33. In another embodiment, the guide wheel frame 34 is assembled on the outer side of the support wheel frame 33.

[0050] The guide wheel frame 34 and the support wheel frame 33 are provided separately, which is convenient for processing and molding. The guide wheel frame 34 and the support wheel frame 33 can also be provided as one piece. The guide wheel frame 34 and the support wheel frame 33 can be fixed by screws, welding, or snap fastening.

[0051] The support wheel frame 33 includes a main body 331 and a protrusion 332 extending from the main body 331. The first support wheel 31 is rotatably connected to the protrusion 332. The main body 331 is provided with a channel 3311. The walking mechanism 100 includes a connecting shaft 61. When the support wheel frame 33 is assembled with the support wheel seat 12, the main body 331 is located between the top wall 123 and the bottom wall 121. The connecting shaft 61 passes through the first hole 1231, the channel 3311, and the second hole in sequence, so that the support wheel frame 33 is rotatably connected to the support wheel seat 12.

[0052] A retaining spring 611 may be fixed to the top end of the connecting shaft 61 for axial limitation.

[0053] The walking mechanism 100 further includes a pair of bushings 62 assembled in the channel 3311. The bushings 62 are respectively located at both ends of the connecting shaft 61 and sleeved on the connecting shaft 61 to prevent wear between the connecting shaft 61 and the supporting wheel frame 33.

[0054] The bushing 62 is mainly used for supporting, positioning or reducing friction and wear between components.

[0055] The guide wheel frame 34 includes a second assembly hole 341 , and the walking mechanism 100 includes a plurality of second screws 52 . The plurality of second screws 52 pass through the second assembly hole 341 and are fixed to the main body 331 , making it easy to assemble and disassemble the guide wheel frame 34 .

[0056] The assembly direction of the first guide wheel 32 is perpendicular to the assembly direction of the first support wheel 31. In one embodiment, the first guide wheel 32 is assembled to the guide wheel frame 34 in a vertical direction. The first support wheel 31 is assembled to the protrusion 332 in a horizontal direction.

[0057] Ginseng Figure 10 and Figure 12 The second guide assembly 4 includes a U-shaped swing arm 43 and a pair of guide wheel seats 44 assembled and fixed to the swing arm 43. The swing arm 43 and the guide wheel seats 44 are separate components, facilitating processing and molding. When the traveling mechanism 100 enters the curved track end, the guide wheels 22 are squeezed by the curved track end, driving the swing arm 43 to rotate, thereby achieving the curve.

[0058] The swing arm 43 is vertically assembled on the base plate 11. The swing arm 43 includes a fixing plate 431 and a pair of ears 432 connected to the fixing plate 431. The fixing plate 431 is located above the base plate 11 and is rotatably connected to the base plate 11, allowing the swing arm 43 to rotate circumferentially relative to the base plate 11.

[0059] The second support wheels 41 are provided as a pair and are rotatably connected to the top ends of the pair of ears 432. In one embodiment, the assembly shafts of the second support wheels 41 are threadedly connected to the ears 432 to facilitate assembly and disassembly of the second support wheels 41. The assembly shafts of the second support wheels 41 can be coated with thread sealant and then threadedly connected to the ears 432.

[0060] The walking mechanism 100 includes a bearing 7, which is located between the fixed plate 431 and the base plate 11. The fixed plate 431 is fixed to the inner ring of the bearing 7, and the outer ring of the bearing 7 is fixed to the base plate 11, thereby achieving a rotational connection between the swing arm 43 and the base plate 11.

[0061] In one embodiment, the bearing 7 is a crossed roller bearing, which is a high-precision, high-rigidity rolling bearing. Its core feature is that the rollers are arranged crosswise (90° staggered), and can withstand radial, axial and moment loads at the same time.

[0062] The fixing plate 431 is provided with a third assembly hole 4311. The walking mechanism 100 includes a third screw 53, which passes through the third assembly hole 4311 and is fixed to the inner ring of the bearing 7. The outer ring of the bearing 7 is provided with a fourth assembly hole 71. The walking mechanism 100 includes a fourth screw 54, which passes through the fourth assembly hole 71 and is fixed to the base plate 11.

[0063] A pair of guide wheel seats 44 are respectively assembled on a pair of ears 432. Two pairs of second guide wheels 42 are provided, one at each horizontal end of a pair of guide wheel seats 44. In one embodiment, the assembly shaft of the second guide wheel 42 is threadedly connected to the guide wheel seat 44 to facilitate assembly and disassembly of the second guide wheel 42. The assembly shaft of the second guide wheel 42 can be coated with thread sealant and then threadedly connected to the guide wheel seat 44.

[0064] In one embodiment, the pair of guide wheel seats 44 are respectively assembled on the outer sides of the pair of ears 432 .

[0065] The guide wheel seat 44 and the ear portion 432 can be fixed by screws, welding, snapping, etc.

[0066] The assembly direction of the second guide wheel 42 is perpendicular to the assembly direction of the second support wheel 41. In one embodiment, the second guide wheel 42 is assembled to the guide wheel seat 44 in a vertical direction. The second support wheel 41 is assembled to the ear portion 432 in a horizontal direction.

[0067] The second guide assembly 4 further includes a pair of third support wheels 45 rotatably connected to opposite ends of the fixing plate 431. The pair of third support wheels 45 roll in contact with the bottom surface 201 of the track 200 to prevent the second guide assembly 4 end of the walking mechanism 100 from tilting.

[0068] A pair of third support wheels 45 are horizontally assembled to the fixing plate 431. The pair of third support wheels 45 are positioned opposite the pair of second support wheels 41. The axes of the third support wheels 45 are located directly below and parallel to the axes of the second support wheels 41. In one embodiment, the assembly shafts of the third support wheels 45 are threadedly connected to the fixing plate 431 to facilitate assembly and disassembly of the third support wheels 45. The assembly shafts of the third support wheels 45 can be coated with thread sealant and then threadedly connected to the fixing plate 431.

[0069] Ginseng Figure 13 、 Figure 14 、 Figure 15 and Figure 16 The travel motor assembly 2 includes a first mounting plate 231 , a second mounting plate 232 , a drive shaft 24 , a limit block 25 , a fixing screw 26 and a first synchronous wheel 27 .

[0070] The first mounting plate 231 and the second mounting plate 232 are disposed opposite each other. The ends of the drive shaft 24 are rotatably connected to the first mounting plate 231 and the second mounting plate 232, respectively. The first synchronous wheel 27 and the drive wheel 22 are fixed to the drive shaft 24. The motor 21 drives the first synchronous wheel 27 to rotate, which in turn rotates the drive shaft 24, which in turn rotates the drive wheel 22.

[0071] The first synchronous wheel 27 has an assembly hole 271, into which one end of the drive shaft 24 is assembled. The stopper 25 includes a fixing portion 251 and a flange 252 connected to the fixing portion 251. The flange 252 abuts against the outer surface of the drive wheel 22. The fixing portion 251 is located within the assembly hole 271 and has a first mounting hole 2511. The fixing screw 26 passes through the first mounting hole 2511 and is secured to the drive shaft 24.

[0072] Before the fixing screw 26 is tightened, there is a gap between the fixing portion 251 and the drive shaft 24. After the fixing screw 26 is tightened, the fixing portion 251 abuts against the drive shaft 24. When the fixing screw 26 is tightened, the axial gap between the drive shaft 24 and the limit block 25 is eliminated, thereby preventing the drive shaft 24 from axially moving on the side of the limit block 25. This eliminates the axial gap, achieves axial limitation on the side of the first synchronous wheel 27, and ensures the stability of the traveling mechanism 100.

[0073] In one embodiment, the gap is constrained to be less than or equal to 1 mm by a tolerance, and the size of the gap can be adjusted according to actual needs.

[0074] The travel motor assembly 2 also includes a first bearing 281 and a second bearing 282. The inner ring of the first bearing 281 is fixed to one end of the drive shaft 24, and its outer ring is fixed to the first mounting plate 231, thereby achieving a rotational connection between the drive shaft 24 and the first mounting plate 231. The inner ring of the second bearing 282 is fixed to one end of the drive shaft 24, and its outer ring is fixed to the second mounting plate 232, thereby achieving a rotational connection between the drive shaft 24 and the second mounting plate 232.

[0075] In one embodiment, a first step 241 is provided on the driving shaft 24 . The first step 241 is located on the inner side of the first bearing 281 to abut against the inner ring of the first bearing 281 .

[0076] The travel motor assembly 2 further includes a shaft sleeve 283 , which is sleeved on the drive shaft 24 and clamped between the inner ring of the first bearing 281 and the first synchronous wheel 27 to prevent the first synchronous wheel 27 from axial movement.

[0077] The travel motor assembly 2 also includes a key 284. The drive shaft 24 is provided with a first keyway 240, and the first synchronous wheel 27 is provided with a second keyway (not shown). The key 284 is located in the first keyway 240 and the second keyway to prevent the first synchronous wheel 27 from rotating relative to the drive shaft 24, ensuring that the two rotate synchronously.

[0078] In one embodiment, a second step 242 is provided on the driving shaft 24 . The second step 242 is located on the inner side of the driving wheel 22 to resist the driving wheel 22 and prevent the driving wheel 22 from axially moving.

[0079] In one embodiment, the travel motor assembly 2 further includes a gear 285 sleeved on the drive shaft 24 and fixed to the drive wheel 22 .

[0080] In one embodiment, the travel motor assembly 2 further includes a gear limit block 286 sleeved on the drive shaft 24 and fixed to the gear 285 to prevent the drive wheel 22 from axially moving.

[0081] When assembling the walking motor assembly 2, the first bearing 281 is passed through the driving shaft 24 and pressed against the first step 241. The first bearing 281 is fixed to the first mounting plate 231. The bushing 283 is passed through the driving shaft 24 and pressed against the first bearing 281. The key 284 is placed in the first keyway 240, and the first synchronous wheel 27 is installed on the driving shaft 24, and the first synchronous wheel 27 is pressed against the bushing 283. The limit block 25 is inserted into the assembly hole 271 of the first synchronous wheel 27. The limit block 25 is locked on the driving shaft 24 by the fixing screw 26. The driving wheel 22 passes through the driving shaft 24 and presses against the first step 241. On the second step 242 of the drive shaft 24, the gear 285 is fastened to the drive wheel 22 by the fifth screw 287, the gear limit block 286 is connected to the gear 285 by the sixth screw 288, and is fastened to the drive shaft 24 by the seventh screw 289, thereby achieving the fastening between the drive wheel 22, the gear 285, the gear limit block 286 and the drive shaft 24, so that the drive wheel 22 has no axial movement on the drive shaft 24; the second bearing 282 is passed through the drive shaft 24 and fixed on the second mounting plate 232, and the second bearing 282 is not axially fixed to the drive shaft 24 to prevent the drive shaft 24 from axial over-determination.

[0082] Statically indeterminate: refers to the existence of redundant constraints in the direction of force.

[0083] The seventh screw 289 is assembled along the radial direction of the drive shaft 24 , and the fifth screw 287 and the sixth screw 288 are assembled along the axial direction of the drive shaft 24 .

[0084] The motor 21 is fixed to the first mounting plate 231 , and the third axis of the motor shaft of the motor 21 is parallel to the second axis L2 of the driving wheel 22 . The motor 21 is located between the first guide assembly 3 and the second guide assembly 4 .

[0085] The travel motor assembly 2 includes a second synchronous wheel 290 fixed to the motor shaft of the motor 21 and a synchronous belt 291 connecting the first synchronous wheel 27 and the second synchronous wheel 290. The synchronous belt 291 can also be replaced by the meshing of gears between the motor 21 and the drive shaft 24.

[0086] In one embodiment, the travel motor assembly 2 includes a protective shell 293 fixed to the first mounting plate 231 and located outside the first mounting plate 231. The first synchronous wheel 27, the second synchronous wheel 290, and the synchronous belt 291 are located within the protective shell 293. The drive wheel 22 and the motor 21 are located inside the first mounting plate 231.

[0087] In one embodiment, the travel motor assembly 2 includes a pressing plate 294 , a rotating shaft 295 and an elastic member 296 .

[0088] The ends of the rotating shaft 295 are rotatably connected to the first mounting plate 231 and the second mounting plate 232, respectively. The ends of the pressing plate 294 are fixed to the first mounting plate 231 and the second mounting plate 232, respectively. The pressing plate 294 is disposed opposite the base plate 11. The base plate 11 is connected to the rotating shaft 295. The elastic member 296 is located at the first end 112 of the base plate 11, with one end fixed to the base plate 11 and the other end fixed to the pressing plate 294. The tension of the elastic member 296 causes the drive wheel 22 to contact the track 200.

[0089] The pressing plate 294 is separately provided with the first mounting plate 231 and the second mounting plate 232 to facilitate processing and molding. The pressing plate 294 can also be integrally provided with the first mounting plate 231 or the second mounting plate 232 .

[0090] The rotating shaft 295 is provided with a plurality of first limiting holes 2951 sequentially arranged along its length, and the base plate 11 is provided with a plurality of second limiting holes 115. The walking mechanism 100 includes a plurality of limiting screws 84, which are sequentially assembled in the second limiting holes 115 and the first limiting holes 2951 and fixed to the rotating shaft 295.

[0091] During assembly, the pressure plate 294 is fixed to the first mounting plate 231 by the eighth screw 91; the motor 21 is fixed to the first mounting plate 231 by the ninth screw 92; the second mounting plate 232 is fixed to the pressure plate 294 by the tenth screw 93; the two ends of the rotating shaft 295 are respectively assembled with the inner ring of the third bearing 81 and the inner ring of the fourth bearing 82, the third bearing 81 is fixed to the first mounting plate 231, and the outer ring of the fourth bearing 82 is fixed to the second mounting plate 232.

[0092] The walking motor assembly 2, the first guide assembly 3, and the second guide assembly 4 are modularly arranged to improve production operability and after-sales maintainability; the walking mechanism 100 makes technical preparations for future intelligent high-precision transmission and Internet of Things equipment.

[0093] In one embodiment, the walking motor assembly 2 includes an upper hook plate 83 fixed to the base plate 11 and a lower hook plate 86 fixed to the pressure plate 294 , and both ends of the elastic member 296 are hooked and fixed to the upper hook plate 83 and the lower hook plate 86 respectively.

[0094] The elastic members 296 are provided in two numbers, and are respectively located on opposite sides of the driving wheel 22. The elastic members 296 can also be provided one by one, and are located in the middle position of the travel motor assembly 2.

[0095] The travel motor assembly 2 is only responsible for driving, and its rigid structure restricts itself from turning. The turning of the travel mechanism 100 is achieved by rotating the first guide assembly 3 and the second guide assembly 4 to change the direction.

[0096] When an abnormality occurs while the traveling mechanism 100 is traveling on the track 200, since the motor 21 has a braking function, the motor 21 will lock the driving wheel 22 on the track 200. When the electric control fails, manual unlocking is required to move the traveling mechanism 100.

[0097] Ginseng Figure 5 and Figure 17 、 Figure 18 and Figure 19 The walking mechanism 100 includes a release screw 85, and the release screw 85 is located at the second end 113 of the base plate 11. The elastic member 296 is located at the first end 112 of the base plate 11.

[0098] The bottom plate 11 is provided with a through hole 114. One of the first mounting plate 231 and the second mounting plate 232 is provided with a threaded hole 2311. The release screw 85 passes through the through hole 114 and is threadedly connected to the threaded hole 2311.

[0099] Utilizing the seesaw principle, during the rotation of the release screw 85 , the travel motor assembly 2 moves away from one end of the drive wheel 22 toward the track 200 , causing the drive wheel 22 to move away from the track 200 to break contact with the track 200 .

[0100] In one embodiment, the through hole 114 is a waist-shaped hole, and the present application does not limit the shape of the through hole 114 .

[0101] In one embodiment, the base plate 11 is provided with a storage hole 116. When the release screw 85 is not in use, the release screw 85 can be assembled on the storage hole 116 of the base plate 11, which is not only convenient for storage but also prevents the release screw 85 from being lost.

[0102] In one embodiment, the receiving hole 116 is located on one side of the through hole 114 .

[0103] In one embodiment, the release screw 85 is always fixed to the first mounting plate 231 or the second mounting plate 232.

[0104] An embodiment of the present application further provides an inspection robot, comprising the walking mechanism 100 .

[0105] The elastic member 296 provides sufficient pressure to the driving wheel 22 so that the static friction between the driving wheel 22 and the track 200 is greater than the driving resistance and acceleration resistance of the inspection robot, thereby ensuring that the driving wheel 22 can drive the inspection robot to move.

[0106] It should be noted that the technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without conflict. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the accompanying drawings; all modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application shall be included in the scope of protection of this application.

Claims

1. A walking mechanism capable of walking on a track, characterized in that: The walking mechanism comprises: a base, comprising a bottom plate located below the track; A travel motor assembly is located below the base plate and connected to the base plate, the travel motor assembly includes a motor and a drive wheel, the motor drives the drive wheel to rotate, and the drive wheel is in rolling contact with the bottom surface of the track; a pair of first guide assemblies symmetrically disposed on both sides of the first end of the base plate, the first guide assemblies being rotatably connected to the base, the first guide assemblies comprising a first support wheel and a first guide wheel, the first support wheel being in rolling contact with the top surface of the track, the first guide wheel being in rolling contact with the side surface of the track, and when the walking mechanism moves in a straight line, the first axis of the first support wheel is directly above the second axis of the drive wheel and the two are parallel; a second guide assembly rotatably connected to a second end of the base plate opposite to the first end, the second guide assembly comprising a second support wheel and a second guide wheel, the second support wheel being in rolling contact with a top surface of the track, and the second guide wheel being in rolling contact with a side surface of the track; The walking motor assembly includes a first mounting plate, a second mounting plate, a driving shaft, a pressure plate, a rotating shaft and an elastic member, the first mounting plate and the second mounting plate are arranged opposite to each other, both ends of the driving shaft and the rotating shaft are rotatably connected to the first mounting plate and the second mounting plate respectively, the two ends of the pressure plate are fixed to the first mounting plate and the second mounting plate respectively, the pressure plate and the base plate are arranged opposite to each other, the base plate is connected to the rotating shaft, the elastic member is located at a first end of the base plate and one end thereof is fixed to the base plate, and the other end opposite to the elastic member is fixed to the pressure plate, and the tension of the elastic member causes the driving wheel to contact the bottom surface of the track; The walking mechanism includes a release screw, which is located at the second end of the base plate. A through hole is provided on the base plate, and one of the first mounting plate and the second mounting plate is provided with a threaded hole. The release screw passes through the through hole and is threadedly connected to the threaded hole. During the rotation of the release screw, the end of the walking motor assembly moves away from the driving wheel toward the direction close to the track, so that the driving wheel moves away from the track to break contact with the track.

2. The walking mechanism according to claim 1, characterized in that: The first guide assembly includes a supporting wheel frame and a guide wheel frame. The supporting wheel frame is rotatably connected to the base. The rotation axis of the supporting wheel frame is arranged in the vertical direction. The first supporting wheel is arranged at the top end of the supporting wheel frame. The guide wheel frame is assembled on the supporting wheel frame. The first guide wheels are arranged as a pair and are rotatably connected to the two ends of the guide wheel frame in the horizontal direction.

3. The walking mechanism according to claim 2, characterized in that: The base includes a supporting wheel seat assembled on the bottom plate along a vertical direction, and the supporting wheel frame is rotatably connected to the supporting wheel seat.

4. The traveling mechanism according to claim 1, characterized in that: The second guide assembly includes a U-shaped swing arm frame and a pair of guide wheel seats assembled and fixed to the swing arm frame, the swing arm frame is assembled on the base plate in the vertical direction, the swing arm frame includes a fixed plate and a pair of ears connected to the fixed plate, the fixed plate is rotatably connected to the base plate, a pair of guide wheel seats are respectively assembled on a pair of ears, the second support wheels are provided as a pair and are respectively rotatably connected to the top ends of a pair of ears, the second guide wheels are provided in two pairs and are respectively rotatably connected to the two ends of a pair of guide wheel seats in the horizontal direction.

5. The traveling mechanism according to claim 1, characterized in that: The walking motor assembly includes a first mounting plate, a second mounting plate, a driving shaft, a limit block, a fixing screw and a first synchronous wheel, the driving shaft is rotatably connected to the first mounting plate and the second mounting plate, the first synchronous wheel and the driving wheel are fixed to the driving shaft, the motor drives the first synchronous wheel to rotate, the first synchronous wheel is provided with an assembly hole, one end of the driving shaft is assembled in the assembly hole, the limit block includes a fixing portion and a convex edge connected to the fixing portion, the convex edge abuts against the outer side surface of the driving wheel, the fixing portion is located in the assembly hole and is provided with a first mounting hole, the fixing screw is fixed to the driving shaft after passing through the first mounting hole, before the fixing screw is locked, there is a gap between the fixing portion and the driving shaft, and after the fixing screw is locked, the fixing portion abuts against the driving shaft.

6. The traveling mechanism according to claim 5, characterized in that: The motor is fixed to the first mounting plate, and the motor is located between the first guide assembly and the second guide assembly. The travel motor assembly includes a second synchronous wheel fixed to the motor shaft of the motor and a synchronous belt connecting the first synchronous wheel and the second synchronous wheel. The travel motor assembly includes a protective shell fixed to the first mounting plate and located on the outside of the first mounting plate. The first synchronous wheel, the second synchronous wheel and the synchronous belt are located in the protective shell, and the drive wheel and the motor are located on the inner side of the first mounting plate.

7. The traveling mechanism according to claim 1, characterized in that: The bottom plate is provided with a receiving hole, and when the release screw is not in use, the release screw is assembled in the receiving hole.

8. The traveling mechanism according to claim 1, characterized in that: The elastic members are provided in two numbers, which are respectively located on opposite sides of the driving wheel; the walking motor assembly includes an upper hook plate fixed to the base plate and a lower hook plate fixed to the pressure plate, and the two ends of the elastic member are respectively hooked and fixed to the upper hook plate and the lower hook plate.

9. The traveling mechanism according to claim 1, characterized in that: The rotating shaft is provided with a plurality of first limiting holes arranged in sequence along its length direction, the base plate is provided with a plurality of second limiting holes, and the walking mechanism includes a plurality of limiting screws, which are assembled in sequence in the second limiting holes and the first limiting holes and fixed to the rotating shaft.

10. A patrol robot, characterized in that: Comprising the walking mechanism according to any one of claims 1 to 9.

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