Inspection robot with damping chassis

Abstract

The utility model discloses an inspection robot with a damping chassis. The inspection robot comprises an inspection vehicle body, the damping chassis and a driving assembly, according to the application, the shock absorbers are arranged on the metal chassis, so that the metal chassis can face the existence of uneven ground and obstacles, and a shock absorption system matched with a damping regulator is adopted to ensure that carried precision equipment is prevented from being influenced by vibration, so that the accuracy of data and the safety of the equipment are guaranteed; each universal wheel is composed of a center coupler, a stainless steel hub and a rubber roller around the stainless steel hub, the rubber material has the advantages of being smooth in operation and high in road gripping capacity, and the axis of each roller and the axis of the hub form a 45-degree angle, so that a wheel body can continuously roll forwards, and meanwhile part of steering force is converted into normal force. The platform can freely move in any direction, self-adaptive direction adjustment can be achieved no matter in indoor or outdoor narrow terrains, and it is guaranteed that the inspection robot completes inspection work in time.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, and particularly relates to an inspection robot with a shock-absorbing chassis. Background Art

[0002] At present, with the great development of smart grid and robot technologies, more and more robots are applied to substation inspections, achieving all-weather, all-round and fully autonomous inspections of substation equipment, replacing the traditional manual inspection method, improving the automation and intelligence of substation inspections, and playing an increasingly important role in substation inspections.

[0003] In the existing inspection robot system, for full-range inspections indoors and outdoors, when facing relatively complex terrains, such as bumpy or narrow road conditions, the inspection robot cannot make effective response methods. When bumping, it will cause the overall vibration of the inspection robot to be too large, which will further affect the unstable connection of the components of the inspection robot and result in data loss, etc., so that the inspection robot cannot complete the inspection work in time.

[0004] Therefore, the existing technology still needs to be improved. Summary of the Invention

[0005] In view of the deficiencies of the above-mentioned existing technology, the purpose of the utility model is to provide an inspection robot with a shock-absorbing chassis, aiming to solve the problem that in the existing technology, when facing relatively complex terrains, the inspection robot cannot make effective response methods, resulting in the inspection robot being unable to complete the inspection work in time.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] In a first aspect, an inspection robot with a shock-absorbing chassis includes an inspection vehicle body, and further includes:

[0008] A shock-absorbing chassis is arranged at the lower end of the inspection vehicle body, and the shock-absorbing chassis is composed of three metal chassis arranged in parallel in the vertical direction. The two metal chassis far from the inspection vehicle body are fixedly connected by support connecting rods, and the metal chassis close to the inspection vehicle body is connected to the middle metal chassis through shock absorbers;

[0009] A driving assembly is arranged on the metal chassis far from the inspection vehicle body and extends outward from the metal chassis. The driving assembly is set to 4 groups, and each group is independently driven.

[0010] Further, the driving assembly includes:

[0011] A DC brushed motor is arranged on the metal chassis far from the inspection vehicle body;

[0012] The metal clamping coupling is connected to the driving end of the DC brushed motor at one end;

[0013] The universal wheel is connected to the other end of the metal clamping coupling and is located on the side of the metal chassis.

[0014] Further, the universal wheel includes:

[0015] The metal stainless - steel hub is arranged on the outer ring of the metal clamping coupling, and a plurality of arc - shaped grooves are circumferentially formed on the outer ring of the metal stainless - steel hub;

[0016] The rubber roller is arranged in the arc - shaped groove and is connected to the metal stainless - steel hub through a fixing member, and the axis of the rubber roller forms a 45° angle with the axis of the metal stainless - steel hub.

[0017] Further, a damping regulator is provided between the metal chassis and the shock absorber.

[0018] Further, the thickness of the metal chassis is 4 mm, and it is made of aluminum alloy material, and a plurality of holes are formed on the metal chassis.

[0019] The technical solution adopted by the present utility model has the following beneficial effects:

[0020] In this application, by setting shock absorbers on the metal chassis, it can face uneven ground and the presence of obstacles, and a shock - absorbing system with a damping regulator is adopted to ensure that the precision equipment carried is not affected by vibration, thereby ensuring the accuracy of data and the safety of the equipment; while the universal wheel is composed of a central coupling, a stainless - steel hub and rubber rollers around it. The rubber material has the characteristics of smooth operation and strong grip. The axis of the roller forms a 45 - degree angle with the axis of the hub, enabling the wheel body to roll continuously forward, and at the same time converting part of the steering force into a normal force to achieve free movement of the platform in any direction. The motor controls the rotation speed and direction of each wheel to realize movements such as the vehicle moving forward, laterally, diagonally and rotating. Whether in narrow indoor or outdoor terrains, it can achieve adaptive direction adjustment to ensure that the inspection robot completes the inspection work in a timely manner. Description of the Drawings

[0021] Figure 1 It is a schematic structural diagram of an inspection robot with a shock - absorbing chassis provided by the present utility model;

[0022] Figure 2 It is a schematic chassis structural diagram of an inspection robot with a shock - absorbing chassis provided by the present utility model.

[0023] 1. Camera detection unit; 2. Solar energy storage unit; 3. Communication unit; 4. Alarm light; 5. Voice alarm unit; 6. Radar navigation unit; 7. Power switch; 8. Ultrasonic sensor unit; 9. Carbon fiber shell; 10. Metal chassis; 11. Shock absorber; 12. Damping regulator; 13. Support connecting rod; 14. DC brush motor; 15. Metal stainless steel wheel hub; 16. Metal clamping coupling; 17. Rubber roller. Detailed implementation manner

[0024] To make the objectives, technical solutions and effects of the present utility model clearer and more definite, the following further describes the present utility model in detail with reference to the accompanying drawings and by way of examples. It should be understood that the specific examples described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0025] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0026] It should also be noted that the same or similar reference numerals in the drawings of the embodiments of the present utility model correspond to the same or similar components; in the description of the present utility model, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be understood as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0027] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0028] An inspection robot with a shock-absorbing chassis, comprising an inspection vehicle body and a shock-absorbing chassis. The shock-absorbing chassis is arranged at the lower end of the inspection vehicle body, and the shock-absorbing chassis is composed of three metal chassis 10 arranged in parallel in the vertical direction. The two metal chassis 10 away from the inspection vehicle body are fixedly connected by support connecting rods 13, and the metal chassis 10 of the layer close to the inspection vehicle body is connected to the middle-layer metal chassis 10 by shock absorbers 11; and a driving assembly is arranged on the metal chassis 10 of the layer away from the inspection vehicle body and extends outward from the metal chassis 10. The driving assembly is set to 4 groups, and each group is independently driven; wherein, the driving assembly includes a DC brushed motor 14, a metal clamping coupling 16 and a universal wheel. The DC brushed motor 14 is arranged on the metal chassis 10 of the layer away from the inspection vehicle body; one end of the metal clamping coupling 16 is connected to the driving end of the DC brushed motor 14; the universal wheel is connected to the other end of the metal clamping coupling 16 and is located on the side of the metal chassis 10

[0029] The upper two layers of the three-layer chassis are equipped with 6 independent shock absorbers, which can more effectively absorb and weaken vibrations from different frequencies and amplitudes. The good shock-absorbing effect can reduce the impact and vibration on the internal components of the robot, thereby extending the service life of the robot. The lower-layer chassis is used for fixing the motor equipment. The design of the three-layer chassis can adapt to various terrains, such as flat roads, rough roads or stairs, etc. By adjusting the stiffness and damping coefficient of the shock absorbers, the robot can drive smoothly on different terrains. Compared with a single-layer chassis, the three-layer chassis can provide a higher load-bearing capacity, which is suitable for carrying more detection equipment

[0030] In this embodiment, please refer to Figure 2 , the shock-absorbing chassis is composed of a chassis shell, a driving unit, a universal wheel, a shock-absorbing unit and a control unit. The chassis shell is composed of three all-metal plates. The two all-metal plates at the bottom layer are connected by six metal connecting shafts, which are mainly used to fix each unit and protect the normal operation of the system. The topmost all-metal plate is connected by six shock absorbers 11 to maintain the stability of the trolley in a complex environment. The four DC brushed motors 14 in the driving assembly provide the necessary power for the universal wheels, enabling them to rotate and push the trolley to move, and are responsible for controlling the speed and direction of each wheel, so as to realize the overall movement and steering of the trolley. The universal wheel is a specially designed wheel that can achieve omnidirectional movement, including moving forward, backward, left and right and spinning. This design allows the robot to move in any direction in the plane by controlling the rotation speed and direction of each wheel without changing the direction of the wheels, and can operate flexibly in narrow or crowded spaces

[0031] In this embodiment, a damping regulator 12 is provided between the metal chassis 10 and the shock absorber 11. The damping regulator 12 and the shock absorber 11 cooperate together to suppress the oscillation when the spring rebounds after absorbing shock and the impact from the road surface. When passing through an uneven road surface, although the shock-absorbing spring can filter the road vibration, the spring itself will still have reciprocating motion. The shock absorber 11 is used to suppress this spring bounce, and a damping regulator 12 is designed in the shock absorber 11. By adjusting the damping, the strength of shock absorption can be selectively controlled, thereby protecting the equipment carried by the robot and ensuring the stability during the inspection process and the accuracy of data.

[0032] In an embodiment of the present utility model, please refer to Figure 1 , the inspection vehicle body is a commonly used inspection vehicle body in the prior art, and is specifically composed of a camera detection unit 1, a solar energy storage unit 2, a communication unit 3, an alarm lamp 4, a voice alarm unit 5, a radar navigation unit 6, a power switch 7, an ultrasonic sensor unit 8, and a carbon fiber shell; among them, the carbon fiber shell is coated on the shock-absorbing chassis, and the ultrasonic sensor unit 8 is arranged at the front end of the carbon fiber shell 9 to realize ultrasonic detection action. The radar navigation unit 6 is arranged at the upper part of the front end of the carbon fiber shell 9 to perform radar detection and navigation to accurately locate the inspection route. The upper end of the carbon fiber shell is also provided with a camera detection unit 1, a voice alarm unit 5 and an alarm lamp 4 for facilitating operations such as fault monitoring. The communication unit 3 is arranged at the rear part of the carbon fiber shell 9 to facilitate timely reporting of the operation situation to the staff; the power switch 7 is arranged on the side of the carbon fiber shell 9 to control the overall operation of the robot, and the solar energy storage unit 2 is arranged at the upper end outside the carbon fiber shell 9 to facilitate outdoor inspection operations.

[0033] During specific use, the drive assembly on the chassis can be combined and adjusted with devices such as the radar navigation unit 6 on the inspection vehicle body. For different complex terrains or narrow road conditions, the DC brush motor 14 can be adjusted to realize the use of the omnidirectional wheels and better complete the inspection work.

[0034] In this embodiment, the universal wheel is composed of a metal stainless steel hub 15 and rubber rollers 17 around the metal stainless steel hub 15. The metal stainless steel hub 15 is arranged on the outer ring of the metal clamping coupling 16, and a plurality of arc grooves are circumferentially formed on the outer ring of the metal stainless steel hub 15; the rubber rollers 17 are arranged in the arc grooves and connected to the metal stainless steel hub 15 through fixing members. The axis of the rubber roller 17 forms a 45° angle with the axis of the metal stainless steel hub 15; the rubber material has the characteristics of smooth operation and strong grip. The axis of the rubber roller 17 forms a 45-degree angle with the axis of the hub. This design enables the universal wheel to roll continuously forward, and at the same time converts part of the steering force into a normal force, realizing the free movement of the platform in any direction. The DC brushed motor 14 controls the rotation speed and direction of each wheel to realize the forward movement, lateral movement, diagonal movement and rotation of the vehicle.

[0035] The chassis of the trolley is made of high-strength aluminum alloy with a thickness of 4 mm and a material of 6061. The surface is sandblasted and oxidized, and multiple holes are made to support the addition of more peripheral structures.

[0036] In this application, an efficient shock absorption system is adopted to ensure that the precision equipment carried is not affected by vibration, thereby ensuring the accuracy of data and the safety of the equipment; the design of the universal wheel breaks through the traditional movement limitations, endows the robot with freedom of movement, and can operate flexibly in narrow or crowded spaces. In addition, the integrated radar navigation unit 6 enables the robot to achieve precise autonomous navigation and intelligent obstacle avoidance, improving the automation level of the operation. In terms of material selection, lightweight and high-strength materials are widely used in the chassis manufacturing, which not only reduces the overall weight, but also enhances the load capacity and durability, ensuring the stability and safety of the robot during task execution.

[0037] After considering the specification and practicing the disclosed solutions herein, those skilled in the art will readily conceive of other embodiments of the present invention. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include the common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present invention are pointed out by the claims.

Claims

1. An inspection robot with a shock-absorbing chassis, comprising an inspection vehicle body, characterized in that: Also includes: A shock-absorbing chassis is provided at the lower end of the inspection vehicle body, and the shock-absorbing chassis is formed by three layers of metal chassis arranged in parallel in the vertical direction, the two layers of metal chassis away from the inspection vehicle body are fixedly connected by supporting connecting rods, and the layer of metal chassis close to the inspection vehicle body is connected to the middle layer of metal chassis through shock absorbers; The driving components are arranged on a metal chassis away from the inspection vehicle body and extend out of the metal chassis. The driving components are arranged in 4 groups, and each group is driven independently.

2. The inspection robot with a shock-absorbing chassis according to claim 1, characterized in that: The drive assembly comprises: The DC brushed motor is installed on a metal chassis away from the inspection vehicle body; Metal clamping coupling, one end of which is connected to the driving end of the DC brush motor; The universal wheel is connected to the other end of the metal clamping coupling and is located on the side of the metal chassis.

3. The inspection robot with a shock-absorbing chassis according to claim 2, characterized in that: The universal wheel comprises: The metal stainless steel hub is arranged on the outer ring of the metal clamping coupling, and a plurality of arc grooves are opened in the circumference of the outer ring of the metal stainless steel hub; The rubber roller is arranged in the arc groove and connected to the metal stainless steel hub through a fixing piece. The axis of the rubber roller forms an angle of 45° with the axis of the metal stainless steel hub.

4. The inspection robot with a shock-absorbing chassis according to claim 1, characterized in that: A damping adjuster is arranged between the metal chassis and the shock absorber.

5. The inspection robot with a shock-absorbing chassis according to claim 1, characterized in that: The metal chassis is 4 mm thick and is made of aluminum alloy, and a plurality of holes are provided on the metal chassis.

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