Traveling steering device of inspection robot

Abstract

The utility model relates to an inspection robot advancing steering device, and relates to the technical field of inspection robots. The device comprises an inspection robot base, wheel mounting positions are arranged at the four corners of the bottom of the inspection robot base, rotatable steering wheels are arranged in inner cavities of the wheel mounting positions, axles are rotationally connected to the four corners of the bottom of the inspection robot base, and the steering wheels are rotationally connected to the surfaces of the axles; supporting shafts are fixedly connected to the four corners of the bottom of the inspection robot base, and the axles are rotationally connected to the surfaces of the supporting shafts. Through cooperative use of the supporting shaft, the axle and the connecting rod, the transmission effect on the racks and the steering wheels is achieved, meanwhile, under cooperative use of the direction changing assembly and the stepping motor, the two racks are driven to move, and then the four steering wheels can rotate at the same angle at the same time; therefore, the purposes of four-wheel synchronous steering, small steering radius and flexible use can be achieved.

Description

Technical Field

[0001] This application relates to the technical field of inspection robots, and in particular to a traveling steering device for an inspection robot. Background Art

[0002] Inspection robots can perform inspection operations at industrial production sites, power facilities, warehouses, tunnels, pipelines, etc. according to a preset route or autonomously plan a path based on the real-time environment, promptly detect abnormal situations such as equipment failures, leaks, fire hazards, etc., and transmit relevant information to the control center in a timely manner so as to take corresponding measures for handling.

[0003] Under the background of the rapid development of modern technology, inspection robots are increasingly widely used in various fields. The traveling steering performance of inspection robots directly affects their work efficiency, flexibility, and adaptability. Some inspection robots adopt a two-wheel steering design, resulting in an unstable and inflexible steering process, a large turning radius, and difficulty in adapting to narrow and complex working environments. Therefore, it is necessary to provide a traveling steering device for an inspection robot that adopts a four-wheel synchronous steering method to shorten the turning radius, make the inspection robot travel flexibly, and expand the application scenarios of the inspection robot. Summary of the Utility Model

[0004] In order to solve the existing technical problems, this application provides a traveling steering device for an inspection robot.

[0005] A traveling steering device for an inspection robot provided by this application adopts the following technical solution: A traveling steering device for an inspection robot includes a base of the inspection robot. Wheel mounting positions are provided at the four corners of the bottom of the base of the inspection robot. A rotatable steering wheel is provided in the inner cavity of the wheel mounting position. Axles are rotatably connected to the four corners of the bottom of the base of the inspection robot. The steering wheels are rotatably connected to the surface of the axles. Support shafts are fixedly connected to the four corners of the bottom of the base of the inspection robot. The axles are rotatably connected to the surface of the support shafts. Slidable racks are provided on the front side and the rear side of the bottom of the base of the inspection robot. Both ends of the racks are rotatably connected to connecting rods. The end of the connecting rod away from the rack is rotatably connected to the axle. A direction-changing assembly is provided at the bottom of the base of the inspection robot.

[0006] By using the above technical solution, through the combined use of the support shafts, axles, and connecting rods, a transmission effect on the racks and steering wheels is achieved. At the same time, under the combined use of the direction-changing assembly and the stepper motor, the two racks are driven to displace, so that the four steering wheels can simultaneously rotate by the same angle, thus achieving the purposes of four-wheel synchronous steering, a small turning radius, and flexible use.

[0007] Preferably, the direction-changing assembly includes rotating columns rotatably connected to the front side and the rear side of the bottom of the inspection robot base. A driving gear is fixedly connected to the surface of the rotating column on the front side, and a driven gear is fixedly connected to the surface of the rotating column on the rear side.

[0008] Preferably, fixing pins are fixedly connected to both sides of the bottoms of the driving gear and the driven gear, and swing rods are rotatably connected to the surfaces of the two fixing pins on the same side.

[0009] By adopting the above technical solution, through the setting of the direction-changing assembly, the driving gear and the driven gear are used in cooperation to simultaneously engage and drive the two racks, so that the two racks can slide left and right simultaneously. At the same time, with the cooperation of the fixing pins and the swing rods, the driving gear and the driven gear are synchronously rotated, so that the four axles can drive the four steering wheels to rotate at the same angle respectively.

[0010] Preferably, a fixing frame is fixedly connected to the front side of the bottom of the inspection robot base. A stepping motor is fixedly installed in the inner cavity of the fixing frame. The output shaft of the stepping motor is fixedly connected to a driving bevel gear, and a stress bevel gear is fixedly connected to the surface of the rotating column on the front side.

[0011] By adopting the above technical solution, through the cooperation of the fixing frame and the driving bevel gear, the stress bevel gear is driven to rotate, so that the rotating column can drive the driving gear to rotate, providing a driving source for the steering of the four steering wheels.

[0012] Preferably, the driving gear and the driven gear are respectively engaged with the two racks, and the driving bevel gear and the stress bevel gear are engaged with each other.

[0013] Preferably, limit sleeves are fixedly connected to both the front side and the rear side of the bottom of the inspection robot base, and the racks are slidably connected to the inner cavities of the limit sleeves.

[0014] In summary, the present application includes at least one of the following beneficial technical effects:

[0015] 1. Through the cooperation of the support shaft, the axle and the connecting rod, the present utility model drives the rack and the steering wheel. At the same time, with the cooperation of the direction-changing assembly and the stepping motor, the two racks are driven to displace, so that the four steering wheels can rotate at the same angle simultaneously, achieving the purpose of four-wheel synchronous steering, small turning radius and flexible use.

[0016] 2. Through the arrangement of the direction-changing assembly in the present utility model, the active gear and the driven gear are used in cooperation, which simultaneously plays a role in meshing and driving the two racks, enabling the two racks to slide left and right simultaneously. Meanwhile, with the cooperation of the fixed pin and the swing rod, the active gear and the driven gear are synchronously rotated, and further enabling the four axles to drive the four steering wheels to rotate at the same angle respectively.

[0017] 3. Through the cooperation of the fixed frame and the driving bevel gear in the present utility model, the driven bevel gear is driven to rotate, enabling the rotating column to drive the active gear to rotate and providing a driving source for the steering of the four steering wheels. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings forming a part of this application are used to provide a further understanding of this application, making other features, objectives, and advantages of this application more obvious. The schematic embodiments and descriptions of the drawings of this application are used to explain this application and do not constitute an improper limitation of this application. In the drawings:

[0019] Figure 1 is a three-dimensional schematic diagram of the structure of the present utility model.

[0020] Figure 2 is a three-dimensional schematic diagram of the racks and the connecting rod of the structure of the present utility model.

[0021] Figure 3 is a three-dimensional schematic diagram of the direction-changing assembly and the stepping motor of the structure of the present utility model.

[0022] Description of the reference numerals in the drawings: 1. Base of the inspection robot; 2. Wheel mounting position; 3. Steering wheel; 4. Axle; 5. Support shaft; 6. Rack; 7. Connecting rod; 8. Limit sleeve; 9. Direction-changing assembly; 91. Rotating column; 92. Active gear; 93. Driven gear; 94. Fixed pin; 95. Swing rod; 10. Fixed frame; 11. Stepping motor; 12. Driving bevel gear; 13. Driven bevel gear. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] In order to enable those skilled in the art of this technology to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0024] It should be noted that in the description, claims and the above drawings of this application, terms such as "first", "second", etc. are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so as to implement the embodiments of this application described herein. In addition, the terms "comprising", "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0025] In this application, the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe this application and its embodiments, and are not used to limit that the indicated devices, elements or components must have a specific orientation, or be constructed and operated in a specific orientation.

[0026] Moreover, in addition to being able to represent an orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0027] In addition, the meaning of the term "plurality" should be two or more.

[0028] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The following will refer to the drawings and combine the embodiments to detail this application.

[0029] Embodiment 1:

[0030] Combine Figures 1-3, an embodiment of the present application discloses a traveling steering device for an inspection robot, including an inspection robot base 1. Limit sleeves 8 are fixedly connected to both the front side and the rear side of the bottom of the inspection robot base 1. A rack 6 is slidably connected to the inner cavity of the limit sleeve 8. Wheel mounting positions 2 are provided at the four corners of the bottom of the inspection robot base 1. A rotatable steering wheel 3 is provided in the inner cavity of the wheel mounting position 2. Axles 4 are rotatably connected to the four corners of the bottom of the inspection robot base 1. The steering wheel 3 is rotatably connected to the surface of the axle 4. Support shafts 5 are fixedly connected to the four corners of the bottom of the inspection robot base 1. The axle 4 is rotatably connected to the surface of the support shaft 5. Slidable racks 6 are provided on both the front side and the rear side of the bottom of the inspection robot base 1. Connecting rods 7 are rotatably connected to both ends of the rack 6. The end of the connecting rod 7 away from the rack 6 is rotatably connected to the axle 4. A steering component 9 is provided at the bottom of the inspection robot base 1. A fixed frame 10 is fixedly connected to the front side of the bottom of the inspection robot base 1. A stepping motor 11 is fixedly installed in the inner cavity of the fixed frame 10. The output shaft of the stepping motor 11 is fixedly connected to a driving bevel gear 12. A driven bevel gear 13 is fixedly connected to the surface of the rotating column 91 at the front side. Through the cooperation of the fixed frame 10 and the driving bevel gear 12, the driven bevel gear 13 is driven to rotate, so that the rotating column 91 can drive the driving gear 92 to rotate, providing a driving source for the steering of the four steering wheels 3.

[0031] Embodiment Two:

[0032] Combined with Figures 1-3 , the steering component 9 includes rotating columns 91 rotatably connected to the front side and the rear side of the bottom of the inspection robot base 1. A driving gear 92 is fixedly connected to the surface of the rotating column 91 at the front side. A driven gear 93 is fixedly connected to the surface of the rotating column 91 at the rear side. The driving gear 92 and the driven gear 93 are respectively meshed with the two racks 6. The driving bevel gear 12 and the driven bevel gear 13 are meshed. Fixed pins 94 are fixedly connected to both sides of the bottoms of the driving gear 92 and the driven gear 93. A swing rod 95 is rotatably connected to the surface of the two fixed pins 94 on the same side. Through the setting of the steering component 9, the cooperation of the driving gear 92 and the driven gear 93 simultaneously meshes and drives the two racks 6, so that the two racks 6 can slide left and right simultaneously. At the same time, through the cooperation of the fixed pins 94 and the swing rod 95, the driving gear 92 and the driven gear 93 are synchronously rotated, and further the four axles 4 can drive the four steering wheels 3 to rotate by the same angle respectively.

[0033] Working principle: When the utility model is in use, the user turns on the stepper motor 11, and the stepper motor 11 drives the driving bevel gear 12 to rotate. Under the meshing transmission of the driving bevel gear 12 and the stressed bevel gear 13, the rotating column 91 on the front side rotates, and drives the driving gear 92 to rotate. During the rotation of the driving gear 92, under the transmission of the swing rod 95 and the fixing pin 94, the driven gear 93 rotates by the same angle as the driving gear 92. Since the driving gear 92 and the driven gear 93 are respectively in meshing transmission with the two racks 6, the two racks 6 can move synchronously. During the sliding of the racks 6, a pushing and pulling action is exerted on the connecting rod 7. At the same time, the axle 4 rotates around its connection position with the support shaft 5 under the transmission of the connecting rod 7, causing the deflection of the steering wheel 3. Under the combined action of the four steering wheels 3, the base 1 of the inspection robot can be turned.

[0034] To sum up: The traveling steering device of the inspection robot, through the combined use of the support shaft 5, the axle 4 and the connecting rod 7, plays a transmission role for the racks 6 and the steering wheels 3. At the same time, under the combined use of the steering component 9 and the stepper motor 11, the two racks 6 are driven to move, so that the four steering wheels 3 can rotate by the same angle at the same time, and the purposes of four-wheel synchronous steering, small turning radius and flexible use can be achieved.

[0035] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A traveling and steering device for an inspection robot, characterized in that: The invention comprises a patrol robot base (1), wherein wheel mounting positions (2) are arranged at four corners of the bottom of the patrol robot base (1), a rotatable steering wheel (3) is arranged in the inner cavity of the wheel mounting position (2), the four corners of the bottom of the patrol robot base (1) are rotatably connected to axles (4), the steering wheel (3) is rotatably connected to the surface of the axle (4), the four corners of the bottom of the patrol robot base (1) are fixedly connected to support shafts (5), the axle (4) is rotatably connected to the surface of the support shaft (5), the front and rear sides of the bottom of the patrol robot base (1) are arranged with slidable racks (6), both ends of the racks (6) are rotatably connected to connecting rods (7), the end of the connecting rod (7) away from the racks (6) is rotatably connected to the axle (4), and a direction-changing component (9) is arranged at the bottom of the patrol robot base (1).

2. The inspection robot travel steering device according to claim 1, characterized in that: The direction-changing assembly (9) comprises a rotating column (91) rotatably connected to the front and rear sides of the bottom of the inspection robot base (1); a driving gear (92) is fixedly connected to the surface of the rotating column (91) located on the front side, and a driven gear (93) is fixedly connected to the surface of the rotating column (91) located on the rear side.

3. The inspection robot travel steering device according to claim 2, characterized in that: Both sides of the bottom of the driving gear (92) and the driven gear (93) are fixedly connected with fixing pins (94), and the surfaces of the two fixing pins (94) on the same side are rotatably connected with a swing rod (95).

4. The inspection robot travel steering device according to claim 3, characterized in that: A fixing frame (10) is fixedly connected to the front side of the bottom of the inspection robot base (1), a stepping motor (11) is fixedly installed in the inner cavity of the fixing frame (10), an output shaft of the stepping motor (11) is fixedly connected to a driving bevel gear (12), and a force-bearing bevel gear (13) is fixedly connected to the surface of the rotating column (91) located on the front side.

5. The inspection robot travel steering device according to claim 4, characterized in that: The driving gear (92) and the driven gear (93) are respectively meshed with the two racks (6), and the driving bevel gear (12) is meshed with the force-bearing bevel gear (13).

6. The inspection robot travel steering device according to claim 1, characterized in that: The front side and the rear side of the bottom of the inspection robot base (1) are both fixedly connected to a limiting sleeve (8), and the rack (6) is slidably connected to the inner cavity of the limiting sleeve (8).

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