Traveling device of inspection robot
By designing a patrol robot travel device including a support device, a power device and a track device, the problem of single movement trajectory of the robot and inaccurate counting in the prior art is solved, and the flexible movement and accurate counting of the robot in complex environments is realized.
Patent Information
- Application Number
- CN202422369018.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-27
- Publication Date
- 2025-06-13
- Estimated Expiration
- 2034-09-27
AI Technical Summary
The traveling devices of existing patrol robots can only move in a straight line, lacking the patrol ability to complex production environments, and the traditional counting method is prone to slip, affecting the counting accuracy.
A patrol robot travel device is designed, including a support device, a power device and a track device. The support device consists of an outer support shell, driven wheel, clamping spring, auxiliary wheel and fixed pulley. The power device consists of a suspension frame, a motor, a reducer and a pulley. The track device includes an I-track and a synchronous belt. Through the collaborative work of these components, the robot can move flexibly and count accurately in complex environments.
The device adds a turning function to the inspection robot, improves the diversity of moving trajectories, and facilitates inspection of complex production environments. At the same time, precise statistics of close distances are achieved through synchronization wheels and photoelectric encoders, solving the problem of easy slippage in traditional counting methods.
Smart Images
Figure CN222973389U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of the design of the traveling device of an inspection robot, and particularly relates to the traveling device of an inspection robot. Background Art
[0002] An inspection robot is an intelligent robot that can automatically perform inspection work according to a preset route and task. In large factories, such as petrochemical factories, the inspection robot can regularly check the operating conditions of various devices. For example, it can detect the temperature and pressure of pipelines to check for leakage points. It can enter some areas that are dangerous to humans, such as areas with high temperature, high radiation, or toxic gas leakage, for inspection. For example, around the distillation tower in an oil refinery, the inspection robot can shuttle through narrow passages to detect whether there are cracks on the appearance of the tower body and whether the valves are working properly.
[0003] The existing traveling device of an inspection robot can only drive the robot to move in a straight line, and the movement trajectory of the robot is relatively single, lacking the ability to inspect a more complex production environment. At the same time, the traditional counting method is prone to slipping during the traveling process, affecting the counting accuracy and having low precision. Content of the Utility Model
[0004] The purpose of the utility model is to provide a traveling device for an inspection robot to solve the problems existing in the above background art.
[0005] To achieve the above purpose, the utility model provides the following technical solutions:
[0006] The traveling device of an inspection robot includes a support device. A power device is arranged at the bottom of the support device, and a track device is arranged at the top of the support device. The support device includes an outer support shell. Two connecting blocks are symmetrically and fixedly arranged on the front surface of the outer support shell. Four driven wheels are symmetrically and rotatably arranged on the top of the outer support shell. A clamping spring is arranged below the driven wheels. An auxiliary wheel is fixedly arranged inside the clamping spring. A fixed pulley is arranged between the auxiliary wheels. A rotating arm is rotatably arranged on one side of the outer support shell. A synchronous wheel is rotatably arranged at the front end of the rotating arm. An optical encoder is installed at the bottom of the synchronous wheel. The power device includes a suspension bracket. Two connecting heads are symmetrically and fixedly arranged at the bottom of the suspension bracket. A motor is installed in the middle of the suspension bracket. A speed reducer is installed at the output end of the motor. A first belt pulley is arranged at the output end of the speed reducer. A second belt pulley is arranged behind the first belt pulley. A driving wheel is arranged on one side of the second belt pulley. The track device includes an I-beam track, and a synchronous belt is arranged in the middle of the I-beam track.
[0007] Furthermore: The clamping spring is bolted to the outer support shell. The driven wheel is connected to the outer support shell by a bearing. The rotating arm is connected to the outer support shell through a spring.
[0008] Further: The connecting head passes through the outer support shell, and the connecting head and the connecting block are connected together by a spring.
[0009] Further: The suspension bracket is slidably connected to the outer support shell.
[0010] Further: The first pulley and the second pulley are connected together by a belt.
[0011] Further: The driving wheel is connected to the suspension bracket by a bearing, and the second pulley is connected to the driving wheel by a flat key.
[0012] Compared with the prior art, the beneficial effects of the present utility model are:
[0013] 1. The driving wheel and the driven wheel clamp the intermediate I-beam track to drive the device to move along the I-beam track. The fixed pulley on the top of the outer support shell closely adheres to the bottom side of the I-beam track to prevent the device from moving left and right. At the same time, the four clamping springs on the top of the outer support shell push the auxiliary wheels to also closely adhere to the bottom side of the I-beam track through elastic force. When the device turns, the clamping springs corresponding to the four auxiliary wheels adaptively expand and contract to continuously adjust the posture of the robot and smoothly transition the arc part of the I-beam track, adding a turning function to the robot, improving the diversity of the robot's moving trajectory, and facilitating the inspection of relatively complex production environments;
[0014] 2. The synchronous belt is attached to the middle of the I-beam track. The spring between the outer support shell and the rotating arm drives the synchronous wheel to closely adhere to the synchronous belt through elastic force. When the robot walks, the photoelectric encoder under the synchronous wheel starts to count, realizing accurate statistics of short distances, improving the problem that the traditional counting method is prone to slipping and affecting the counting accuracy. At the same time, the synchronous wheel can also operate on the arc I-beam track, and can accurately count when the device turns. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0016] Figure 1 is a schematic structural diagram of the inspection robot traveling device described in the present utility model;
[0017] Figure 2 is an axonometric view of the inspection robot traveling device described in the present utility model;
[0018] Figure 3It is a schematic structural diagram of the support device of the inspection robot traveling device described in the present utility model;
[0019] Figure 4 It is a schematic structural diagram of the power device of the inspection robot traveling device described in the present utility model.
[0020] In the attached drawings: 1. Support device; 101. Outer support shell; 102. Connecting block; 103. Driven wheel; 104. Clamping spring; 105. Auxiliary wheel; 106. Fixed pulley; 107. Rotating arm; 108. Synchronous pulley; 109. Photoelectric encoder; 2. Power device; 201. Suspension bracket; 202. Connecting head; 203. Motor; 204. Reducer; 205. First belt pulley; 206. Second belt pulley; 207. Driving wheel; 3. Track device; 301. I-beam track; 302. Synchronous belt. Specific embodiments
[0021] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and 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, and therefore should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", etc. 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", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more.
[0022] In the description of the present utility model, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood through specific situations.
[0023] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0024] Please refer to Figures 1 - 4 , the inspection robot traveling device, including a support device 1, a power device 2 is arranged at the bottom of the support device 1, and a track device 3 is arranged at the top of the support device 1.
[0025] In this embodiment: The support device 1 includes an outer support shell 101, two connecting blocks 102 are symmetrically and fixedly arranged on the front surface of the outer support shell 101, four driven wheels 103 are symmetrically rotatably arranged at the top of the outer support shell 101, a clamping spring 104 is arranged below the driven wheels 103, an auxiliary wheel 105 is fixedly arranged inside the clamping spring 104, a fixed pulley 106 is arranged between the auxiliary wheels 105, a rotating arm 107 is rotatably arranged on one side of the outer support shell 101, a synchronous pulley 108 is rotatably arranged at the front end of the rotating arm 107, an optical encoder 109 is installed at the bottom of the synchronous pulley 108, the clamping spring 104 is bolted to the outer support shell 101, the driven wheel 103 is connected to the outer support shell 101 by a bearing, the rotating arm 107 and the outer support shell 101 are connected together by a spring, the rest of the inspection robot components are installed at the bottom of the outer support shell 101, the whole device is supported by four driven wheels 103 hanging on the I-beam track 301, the driven wheels 103 hang the outer support shell 101, the connecting blocks 102 on the outer support shell 101 lift the connecting heads 202 on both sides of the suspension bracket 201 through a spring, the fixed pulley 106 at the top of the outer support shell 101 is closely attached to the bottom side of the I-beam track 301 to prevent the device from moving left and right. At the same time, the four clamping springs 104 at the top of the outer support shell 101 push the auxiliary wheels 105 against the bottom side of the I-beam track 301 through elastic force. When the device turns, the clamping springs 104 corresponding to the four auxiliary wheels 105 adaptively expand and contract, continuously adjusting the robot's posture and smoothly transitioning the arc part of the I-beam track 301. The spring between the outer support shell 101 and the rotating arm 107 drives the synchronous pulley 108 to closely adhere to the synchronous belt 302 through elastic force. When the robot walks, the optical encoder 109 under the synchronous pulley 108 starts to count to achieve accurate statistics of short distances. The synchronous pulley 108 can also operate on the arc I-beam track 301;
[0026] In this embodiment: The power device 2 includes a suspension bracket 201. Two connecting heads 202 are symmetrically and fixedly arranged at the bottom of the suspension bracket 201. A motor 203 is installed in the middle of the suspension bracket 201. A speed reducer 204 is installed at the output end of the motor 203. A first pulley 205 is arranged at the output end of the speed reducer 204. A second pulley 206 is arranged behind the first pulley 205. A driving wheel 207 is arranged on one side of the second pulley 206. The connecting head 202 passes through the outer support shell 101, and the connecting head 202 and the connecting block 102 are connected together by a spring. The suspension bracket 201 is slidably connected to the outer support shell 101. The first pulley 205 and the second pulley 206 are connected together by a belt. The driving wheel 207 is connected to the suspension bracket 201 by a bearing. The second pulley 206 and the driving wheel 207 are connected by a flat key. The spring drives the driving wheel 207 on the suspension bracket 201 to tightly press against the bottom surface of the I-beam track 301. During travel, the suspension bracket 201 supports the output power of the motor 203. After being decelerated by the speed reducer 204, it drives the first pulley 205 to rotate. The first pulley 205 drives the second pulley 206 to rotate through the belt, driving the driving wheel 207 to rotate under the support of the suspension bracket 201. The driving wheel 207 and the driven wheel 103 clamp the middle I-beam track 301 to drive the device to move along the I-beam track 301;
[0027] In this embodiment: The track device 3 includes an I-beam track 301. A synchronous belt 302 is arranged in the middle of the I-beam track 301, and the synchronous belt 302 is attached to the middle of the I-beam track 301.
[0028] Working principle: The remaining components of the inspection robot are installed at the bottom of the outer support shell 101. The whole device is supported by four driven wheels 103 suspended on the I-beam track 301. The driven wheels 103 suspend the outer support shell 101. The connecting block 102 on the outer support shell 101 pulls the connecting heads 202 on both sides of the suspension bracket 201 through a spring. The spring drives the driving wheels 207 on the suspension bracket 201 to tightly press against the bottom surface of the I-beam track 301. When moving forward, the suspension bracket 201 supports the output power of the motor 203. After being decelerated by the reducer 204, it drives the first pulley 205 to rotate. The first pulley 205 drives the second pulley 206 to rotate through a belt, driving the driving wheels 207 to rotate under the support of the suspension bracket 201. The driving wheels 207 and the driven wheels 103 clamp the middle I-beam track 301 to drive the device to move along the I-beam track 301. The fixed pulley 106 at the top of the outer support shell 101 closely adheres to the bottom side of the I-beam track 301 to prevent the device from moving left and right. At the same time, four clamping springs 104 at the top of the outer support shell 101 push the auxiliary wheels 105 to also closely adhere to the bottom side of the I-beam track 301 through elastic force. When the device turns, the corresponding clamping springs 104 of the four auxiliary wheels 105 adaptively expand and contract, continuously adjusting the robot's posture and smoothly transitioning the arc part of the I-beam track 301. The synchronous belt 302 is attached to the middle of the I-beam track 301. The spring between the outer support shell 101 and the rotating arm 107 drives the synchronous wheel 108 to closely adhere to the synchronous belt 302 through elastic force. When the robot walks, the photoelectric encoder 109 under the synchronous wheel 108 starts to count, realizing the precise statistics of the short distance. The synchronous wheel 108 can also operate on the arc I-beam track 301.
[0029] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. The inspection robot travel device is characterized by: It comprises a supporting device (1), a power device (2) is arranged at the bottom of the supporting device (1), and a track device (3) is arranged at the top of the supporting device (1); The support device (1) comprises an outer support shell (101), two connection blocks (102) are symmetrically fixedly arranged on the front of the outer support shell (101), four driven wheels (103) are symmetrically rotatably arranged on the top of the outer support shell (101), a clamping spring (104) is arranged below the driven wheel (103), an auxiliary wheel (105) is fixedly arranged inside the clamping spring (104), a fixed pulley (106) is arranged between the auxiliary wheels (105), a rotating arm (107) is rotatably arranged on one side of the outer support shell (101), a synchronous wheel (108) is rotatably arranged at the front end of the rotating arm (107), and a photoelectric encoder (109) is installed at the bottom of the synchronous wheel (108); The power device (2) comprises a suspension frame (201), two connectors (202) are symmetrically fixedly arranged at the bottom of the suspension frame (201), a motor (203) is installed in the middle of the suspension frame (201), a reducer (204) is installed at the output end of the motor (203), a first pulley (205) is arranged at the output end of the reducer (204), a second pulley (206) is arranged behind the first pulley (205), and a driving wheel (207) is arranged on one side of the second pulley (206); The track device (3) comprises an I-shaped track (301), and a synchronous belt (302) is arranged in the middle of the I-shaped track (301).
2. The inspection robot travel device according to claim 1, characterized in that: The clamping spring (104) is bolted to the outer support shell (101), the driven wheel (103) is bearing-connected to the outer support shell (101), and the rotating arm (107) is connected to the outer support shell (101) via a spring.
3. The inspection robot travel device according to claim 1, characterized in that: The connecting head (202) passes through the outer supporting shell (101), and the connecting head (202) and the connecting block (102) are connected together via a spring.
4. The inspection robot travel device according to claim 1, characterized in that: The suspension frame (201) is slidably connected to the outer support shell (101).
5. The inspection robot travel device according to claim 1, characterized in that: The first pulley (205) and the second pulley (206) are connected together via a belt.
6. The inspection robot travel device according to claim 1, characterized in that: The driving wheel (207) is connected to the bearing of the suspension frame (201), and the second pulley (206) is connected to the driving wheel (207) by a flat key.