Inspection robot driving mechanism with small-angle turning radius

Abstract

The utility model belongs to the technical field of inspection robots, and particularly relates to an inspection robot driving mechanism with a small turning radius, which comprises an inspection robot body and a chassis which are sequentially mounted from top to bottom, a rotating mechanism is installed between the top of each walking mechanism and the chassis, each rotating mechanism drives the corresponding walking mechanism to adjust the walking direction, each rotating mechanism sequentially comprises a mounting base, a connecting piece, a fluted disc, an inner gear ring and a second motor, the top end of each mounting base is welded to the bottom of the chassis, and the top end of each connecting piece is welded to the bottom of the chassis. The rotating mechanism is additionally arranged between the walking mechanism and the chassis, the walking mechanism can be driven by the rotating mechanism to rotate at the bottom of the chassis, the advancing direction of the walking mechanism can be conveniently adjusted in an auxiliary mode, and the small-angle turning radius turning of the equipment can be achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of inspection robots, and in particular relates to a driving mechanism of an inspection robot with a small turning radius. Background Art

[0002] The inspection robot consists of four parts: execution system, communication system, control system and operation and maintenance system. The execution system includes a driving mechanism for driving the inspection robot to walk.

[0003] The existing driving mechanism includes a chassis, wheels rotatably installed around the chassis, and drive motors in the chassis that drive the four wheels to rotate. In order to improve the turning performance of the inspection robot, four drive motors are generally used, and the four wheels are individually driven to rotate by the four drive motors, thereby reducing the turning radius of the inspection robot. However, in some narrow spaces, the inspection robot cannot operate in sequence to complete the turning operation, and the inspection robot needs to repeat the rear turning adjustment many times to complete the overall turning operation of the inspection robot. However, the inspection robot generally only has a camera installed on the front side of the equipment. During the backward movement of the inspection robot, the inspection robot cannot view the environment on the rear side, which may cause the equipment to be hit, greatly reducing the practicability of the equipment. Utility Model Content

[0004] The utility model aims to provide a driving mechanism of an inspection robot with a small turning radius, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a patrol robot drive mechanism with a small turning radius, comprising: a patrol robot body and a chassis installed in sequence from top to bottom, three walking mechanisms distributed in a triangular shape at the bottom of the chassis, a rotating mechanism is installed between the top of each walking mechanism and the chassis, and each of the rotating mechanisms drives the corresponding walking mechanism to adjust the walking direction.

[0006] Preferably, the rotating mechanism includes a mounting seat, a connecting piece, a toothed disc, an inner gear ring and a second motor in sequence, the top of the mounting seat is welded to the bottom of the chassis, the second motor is installed in the mounting seat, the toothed disc is detachably installed on the output end of the second motor, the connecting piece is sleeved on the bottom of the mounting seat, and the connecting piece is detachably installed on the top of the walking mechanism, and the connecting piece is provided with an inner gear ring meshing with the toothed disc.

[0007] Preferably, an internal thread groove penetrates the connecting member from top to bottom, and the toothed disc is interference fit in the internal thread groove.

[0008] Preferably, an external thread seat is provided on the top of the walking mechanism, and one end of the external thread seat is screwed into the internal thread groove.

[0009] Preferably, an output shaft is further provided at the output end of the second motor, an indented hole extending into the output shaft passes through the rotation axis of the toothed disc, a fastening bolt is provided in the indented hole, and the inner diameter of the internal thread groove is smaller than the outer diameter of the toothed disc.

[0010] Preferably, the walking mechanism includes a rotating seat and a wheel, the externally threaded seat is welded to the top of the rotating seat, a rotating chamber for accommodating the rotation of the gear is longitudinally opened at the bottom of the rotating seat, a rotating shaft is provided on the rotating seat and horizontally passes through the rotating chamber, a rotatable transmission wheel is installed in the rotating seat, an external gear sleeve is provided on the rotating shaft and passes through the wheel and the transmission wheel, and the gear and the transmission wheel are both meshed on the external gear sleeve.

[0011] Preferably, a driving member for driving the transmission wheel to rotate is also installed in the rotating seat, and a mounting groove is provided at the bottom of the rotating seat, and the driving member and the transmission wheel are both installed in the mounting groove.

[0012] Preferably, the driving member includes a first motor and a main gear installed at the output end of the first motor, the main gear is arranged above the transmission wheel, and a belt is provided between the main gear and the transmission wheel.

[0013] Preferably, the rotating shaft includes two coaxially spliced ​​rotating sections, and the two rotating sections are each provided with an external threaded section at one end away from each other, the outer diameter of the external threaded section is larger than the outer diameter of the rotating section, the external gear sleeve is arranged on the two rotating sections, and the two symmetrical ends of the rotating seat are each equipped with nuts threaded on the corresponding external threaded sections.

[0014] Preferably, coaxial threaded holes are provided at opposite ends of the two rotating sections, and a connecting bolt for axial connection is provided between the two threaded holes.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] (1) The utility model adds a rotating mechanism between the traveling mechanism and the chassis. The rotating mechanism can drive the traveling mechanism to rotate at the bottom of the chassis, thereby facilitating auxiliary adjustment of the travel direction of the traveling mechanism and enabling the equipment to turn at a small turning radius.

[0017] (2) The utility model adds a mounting seat, a connecting member, a toothed disc, an inner gear ring and a second motor. The second motor can drive the toothed disc to rotate, thereby driving the connecting member to rotate through the inner gear ring meshing with the toothed disc, and then driving the traveling mechanism to rotate through the connecting member, thereby achieving adjustment of the traveling direction of the traveling mechanism.

[0018] (3) The utility model adds internal thread grooves and external thread seats that cooperate with each other, and the walking mechanism and the mounting seat can be detachably assembled through the internal thread grooves and the external thread grooves, so that the walking mechanism can be easily removed from the rotating mechanism and replaced.

[0019] (4) The utility model adds a recessed hole, a fastening bolt and an internal thread groove, and the fastening bolt and the recessed hole facilitate the detachable installation of the toothed disc on the output shaft. After the toothed disc is removed, the connecting piece can be removed from the mounting seat, so that the toothed disc and the inner gear ring can be easily inspected and repaired.

[0020] (5) The utility model adds wheels, transmission wheels, rotating shafts and external gear sleeves that cooperate with each other. The wheels and transmission wheels can be connected to each other through the external gear sleeve. After the rotating shaft is pulled out, the wheels can be replaced. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a side view of the utility model;

[0022] Figure 2 It is a front view of the rotating mechanism and the walking mechanism of the utility model;

[0023] Figure 3 It is a cross-sectional view of the rotating mechanism and the walking mechanism of the utility model;

[0024] Figure 4 It is a front view of the connecting piece and the inner gear ring of the utility model;

[0025] Figure 5 This is a schematic diagram of the matching of the toothed disc and the inner gear ring of the utility model;

[0026] Figure 6 for Figure 3 Enlarged view of point A in the middle;

[0027] Figure 7 It is a schematic diagram of the cooperation of the wheel, the outer gear sleeve and the rotating section of the utility model;

[0028] Figure 8 It is a schematic diagram of the cooperation of the transmission wheel, the outer gear sleeve and the rotating section of the utility model;

[0029] Fig. 9 It is a stereoscopic diagram of the external thread section, the rotating section and the connecting bolt of the utility model;

[0030] In the figure: 1. Inspection robot body; 2. Chassis; 3. Mounting seat; 4. Connector; 5. Rotating seat; 6. Wheel; 7. Rotating shaft; 8. Nut; 9. External gear sleeve; 10. Rotating bin; 11. External threaded section; 12. Rotating section; 13. Connecting bolt; 14. Threaded hole; 15. Mounting groove; 16. Transmission wheel; 17. Belt; 18. First motor; 19. Main gear; 20. Internal threaded groove; 21. Internal gear ring; 22. Second motor; 23. Toothed disc; 24. External threaded seat; 25. Inner recessed hole; 26. Output shaft; 27. Fastening bolt. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0032] refer to Figure 1 As shown, the utility model provides a patrol robot driving mechanism with a small turning radius, comprising: a patrol robot body 1 and a chassis 2 installed in sequence from top to bottom, three walking mechanisms distributed in a triangular shape at the bottom of the chassis 2, a rotating mechanism is installed between the top of each walking mechanism and the chassis 2, and each rotating mechanism drives the corresponding walking mechanism to adjust the walking direction.

[0033] As mentioned above, when using the inspection robot body 1, chassis 2 and three walking mechanisms provided by the utility model, there are three walking mechanisms in the figure, and it can also be set to four. The four walking mechanisms can improve the walking stability of the inspection robot body 1. By adding a rotating mechanism connected to the chassis 2 to the walking mechanism, the walking mechanism can be driven to adjust the walking direction, so that the inspection robot body 1 can make a small-angle turning radius turn without retreating, thereby improving the application scope of the inspection of the inspection robot body 1.

[0034] In the present utility model, combined with Figure 2-3 As shown, the rotating mechanism of this embodiment includes a mounting seat 3, a connecting member 4, a toothed disc 23, an inner gear ring 21 and a second motor 22 in sequence. The top of the mounting seat 3 is welded to the bottom of the chassis 2, the second motor 22 is mounted in the mounting seat 3, the toothed disc 23 is detachably mounted on the output end of the second motor 22, the connecting member 4 is sleeved on the bottom of the mounting seat 3, and the connecting member 4 is detachably mounted on the top of the walking mechanism, and the connecting member 4 is provided with an inner gear ring 21 meshing with the toothed disc 23.

[0035] As mentioned above, when using the rotating mechanism provided by the utility model, the mounting seat 3 in the rotating mechanism provides a mounting position for the second motor 22 on the chassis 2, and at the same time provides a rotating mounting position for the connecting member 4 through the mounting seat 3. The connecting member 4 is mounted on the toothed disc 23 through the meshing of the inner gear ring 21. When the second motor 22 is started, the toothed disc 23 can be driven to rotate, and the connecting member 4 can be driven to rotate and rotate with the toothed disc 23 through the inner gear ring 21, thereby driving the walking mechanism to rotate and rotate with the connecting member 4, which is convenient for adjusting the walking direction of the walking mechanism.

[0036] Further, in order to facilitate the installation of the toothed disc 23 on the connecting member 4, refer to Figure 3-5 As shown, the connecting member 4 is penetrated with an internal thread groove 20 from top to bottom, and the toothed disc 23 is interference-fitted in the internal thread groove 20. The internal gear ring 21 is interference-fitted in the internal thread groove 20 on the connecting member 4 by a pressure device, so that the connecting member 4 rotates with the rotation of the internal gear ring 21.

[0037] Further, in order to facilitate the connection between the connecting member 4 and the walking mechanism, refer to Figure 3 As shown, an external thread seat 24 is provided on the top of the traveling mechanism, and one end of the external thread seat 24 is screwed into the internal thread groove 20. After the connecting member 4 is installed on the mounting seat 3, the external thread seat 24 on the traveling mechanism is screwed into the internal thread groove 20 on the connecting member 4. When the connecting member 4 is driven to rotate, the traveling mechanism rotates accordingly, so that the walking direction of the traveling mechanism can be adjusted.

[0038] Further, in order to facilitate the detachable installation of the toothed disc 23 on the mounting seat 3, refer to Figure 3 and Figure 5-6 As shown, the output end of the second motor 22 is also provided with an output shaft 26, and the center of the rotating shaft 7 of the gear plate 23 is penetrated by an indented hole 25 extending into the output shaft 26, and a fastening bolt 27 is provided in the indented hole 25, and the inner diameter of the internal thread groove 20 is smaller than the outer diameter of the gear plate 23. The internal thread groove 20 is divided into two parts from top to bottom. The inner diameter of the upper internal thread groove 20 is smaller than the inner diameter of the lower internal thread groove 20. The connecting piece 4 is sleeved on the mounting seat 3 through the upper internal thread groove 20. At this time, the toothed disc 23 is detachably mounted on the output shaft 26 through the recessed hole 25 and the fastening bolts 27. At this time, the lower internal thread groove 20 is on the outer side of the toothed disc 23, and the toothed disc 23 is meshed with the inner gear ring 21 in the internal thread groove 20. Since the inner diameter of the upper internal thread groove 20 is smaller than the outer diameter of the toothed disc 23, the connecting piece 4 cannot be separated from the toothed disc 23. The above steps can be reversed to remove the connecting piece 4 from the mounting seat 3, which is convenient for inspection and replacement of the toothed disc 23 and the inner gear ring 21.

[0039] In the present utility model, combined with Figure 3As shown, the walking mechanism of this embodiment includes a rotating seat 5 and a wheel 6, an external threaded seat 24 is welded to the top of the rotating seat 5, a rotating chamber 10 for accommodating the rotation of the gear is longitudinally opened at the bottom of the rotating seat 5, a rotating shaft 7 is provided on the rotating seat 5 and passes through the rotating chamber 10 horizontally, a rotatable transmission wheel 16 is installed in the rotating seat 5, an external gear sleeve 9 is sleeved on the rotating shaft 7 and passes through the wheel 6 and the transmission wheel 16, and the gear and the transmission wheel 16 are both meshed on the external gear sleeve 9.

[0040] Combination Figure 3 As shown, a driving member for driving the transmission wheel 16 to rotate is also installed in the rotating base 5 , and a mounting groove 15 is provided at the bottom of the rotating base 5 , and the driving member and the transmission wheel 16 are both installed in the mounting groove 15 .

[0041] As described above, when using the traveling mechanism provided by the utility model, the wheel 6 in the traveling mechanism is rotatably mounted on the rotating seat 5 through the rotating bin 10, and the outer gear sleeve 9 is rotatably set between the wheel 6 and the transmission wheel 16 through the rotating shaft 7. Since the wheel 6 and the transmission wheel 16 are both engaged with the outer gear sleeve 9, when the transmission wheel 16 rotates, the wheel 6 is easily driven to rotate through the outer gear sleeve 9.

[0042] Further, in order to facilitate the rotational driving of the transmission wheel 16, refer to Figure 3 As shown, the driving member includes a first motor 18 and a main gear 19 installed at the output end of the first motor 18. The main gear 19 is arranged above the transmission wheel 16, and a belt 17 is provided between the main gear 19 and the transmission wheel 16. The belt 17 facilitates the power connection between the main gear 19 and the transmission wheel 16. When the first motor 18 is started, the main gear 19 is driven to rotate, thereby driving the transmission wheel 16 to rotate through the belt 17, and then driving the wheel 6 to rotate through the outer gear sleeve 9.

[0043] In the present utility model, combined with Figure 7-9 As shown, the rotating shaft 7 of this embodiment includes two coaxially spliced ​​rotating sections 12, and the two rotating sections 12 are provided with external thread sections 11 at the ends opposite to each other. The outer diameter of the external thread section 11 is larger than the outer diameter of the rotating section 12, and the external gear sleeve 9 is arranged on the two rotating sections 12. The symmetrical ends of the rotating seat 5 are equipped with nuts 8 threaded on the corresponding external thread sections 11.

[0044] As mentioned above, when using the rotating shaft 7 provided by the utility model, when the rotating shaft 7 passes through the rotating seat 5, the external gear sleeve 9 passes through the wheel 6 and the transmission wheel 16 respectively. At this time, the external threaded sections 11 at both ends of the rotating shaft 7 are both on the outside of the rotating seat 5, and the two nuts 8 are respectively screwed on the two external threaded sections 11, so that the external gear sleeve 9 is restricted between the wheel 6 and the transmission wheel 16. Since the wheel 6 and the transmission wheel 16 are both engaged with the straight gear sleeve, when the transmission wheel 16 rotates, the wheel 6 can be driven to rotate through the external gear sleeve 9, thereby driving the inspection robot body 1 to walk.

[0045] Further, in order to splice the two rotating segments 12, refer to Figure 4 and Fig. 9 As shown, coaxial threaded holes 14 are provided at opposite ends of the two rotating segments 12, and a connecting bolt 13 for axial connection is provided between the two threaded holes 14. The two ends of the connecting bolt 13 can be screwed to the two rotating segments 12 through the two threaded holes 14, so that the two rotating segments 12 provide a rotation position for the outer gear sleeve 9.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A driving mechanism of an inspection robot with a small turning radius, characterized in that: include: An inspection robot body (1) and a chassis (2) are installed in sequence from top to bottom, wherein the bottom of the chassis (2) is provided with three walking mechanisms distributed in a triangular shape, a rotating mechanism is installed between the top of each walking mechanism and the chassis (2), and each rotating mechanism drives the corresponding walking mechanism to adjust the walking direction.

2. The inspection robot driving mechanism with a small turning radius according to claim 1, characterized in that: The rotating mechanism comprises a mounting seat (3), a connecting member (4), a toothed disc (23), an inner toothed ring (21) and a second motor (22) in sequence; the top end of the mounting seat (3) is welded to the bottom of the chassis (2); the second motor (22) is mounted in the mounting seat (3); the toothed disc (23) is detachably mounted on the output end of the second motor (22); the connecting member (4) is sleeved on the bottom of the mounting seat (3) and detachably mounted on the top of the walking mechanism; the connecting member (4) is provided with an inner toothed ring (21) meshing with the toothed disc (23).

3. The driving mechanism of the inspection robot with a small turning radius according to claim 2, characterized in that: An internal thread groove (20) runs through the connecting piece (4) from top to bottom, and the toothed disc (23) is interference fit in the internal thread groove (20).

4. The driving mechanism of the inspection robot with a small turning radius according to claim 3, characterized in that: An external thread seat (24) is provided at the top of the walking mechanism, and one end of the external thread seat (24) is screwed into the internal thread groove (20).

5. The driving mechanism of the inspection robot with a small turning radius according to claim 4, characterized in that: An output shaft (26) is also provided at the output end of the second motor (22); a recessed hole (25) extending into the output shaft (26) passes through the center of the rotating shaft (7) of the toothed disc (23); a fastening bolt (27) is provided in the recessed hole (25); and the inner diameter of the internal thread groove (20) is smaller than the outer diameter of the toothed disc (23).

6. The inspection robot driving mechanism with a small turning radius according to claim 4, characterized in that: The walking mechanism comprises a rotating seat (5) and a wheel (6), the external thread seat (24) is welded to the top of the rotating seat (5), a rotating chamber (10) for accommodating the rotation of a gear is longitudinally opened at the bottom of the rotating seat (5), a rotating shaft (7) is provided on the rotating seat (5) and passes through the rotating chamber (10) in a transverse direction, a rotatable transmission wheel (16) is installed in the rotating seat (5), an external gear sleeve (9) is sleeved on the rotating shaft (7) and passes through the wheel (6) and the transmission wheel (16), and the gear and the transmission wheel (16) are both meshed with the external gear sleeve (9).

7. The driving mechanism of the inspection robot with a small turning radius according to claim 6, characterized in that: A driving member for driving the transmission wheel (16) to rotate is also installed in the rotating seat (5). A mounting groove (15) is provided at the bottom of the rotating seat (5), and the driving member and the transmission wheel (16) are both installed in the mounting groove (15).

8. The inspection robot driving mechanism with a small turning radius according to claim 7, characterized in that: The driving member comprises a first motor (18) and a main gear (19) mounted at the output end of the first motor (18); the main gear (19) is arranged above the transmission wheel (16); and a belt (17) is provided between the main gear (19) and the transmission wheel (16).

9. The driving mechanism of the inspection robot with a small turning radius according to claim 6, characterized in that: The rotating shaft (7) comprises two coaxially connected rotating sections (12), the two rotating sections (12) are each provided with an external thread section (11) at one end which is away from the other end, the external thread section (11) having an outer diameter greater than the outer diameter of the rotating section (12), the external gear sleeve (9) being arranged on the two rotating sections (12), and nuts (8) being threadedly connected to the corresponding external thread sections (11) being installed at both symmetrical ends of the rotating seat (5).

10. The driving mechanism of the inspection robot with a small turning radius according to claim 9, characterized in that: The two rotating sections (12) are each provided with a coaxial threaded hole (14) at one opposite end, and a connecting bolt (13) for axial connection is provided between the two threaded holes (14).

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