Swing arm wheel type structure of intelligent inspection robot walking system

Abstract

The utility model provides a swing arm wheel type structure of an intelligent inspection robot walking system, and belongs to the technical field of mechanical design. The swing arm wheel type structure of the intelligent inspection robot walking system comprises a pair of swing arm structures, each swing arm structure comprises a pair of front swing arms, the two sides of each swing arm structure are each provided with a pair of vehicle bodies, the two sides of the bottoms of the pair of vehicle bodies are each provided with a lower wheel set, and each lower wheel set comprises a pair of first bearings; a rear walking system is arranged on the side, away from the swing arm structure, between the pair of vehicle bodies and comprises a pair of rear swing arms, the pair of front swing arms and the pair of rear swing arms are hinged to the pair of vehicle bodies through bolts, the two sides of the pair of vehicle bodies are each connected with a pair of front swing arm springs, one pair of front swing arm springs are connected with the front swing arms, and the other pair of front swing arm springs are connected with the rear swing arms. By arranging the upper wheel set spring and the lower wheel set spring, when the wheel base is changed, the springs reset, and therefore the self-resetting effect of the wheel base is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical design, and more specifically, to a swing-arm wheel structure of a walking system for an intelligent inspection robot. Background Art

[0002] With the rapid development of the civil engineering field in China, China has achieved great achievements in bridge construction. At present, the total number of highway bridges in China is close to 800,000, and the total number of railway bridges has exceeded 200,000, making China undoubtedly the world's largest bridge country. With the continuous development of China's highway network, the traffic volume is increasing, the vehicle load is increasing, and the problems faced by in-service bridges during the operation period are increasing day by day. More than 100,000 bridges have become dangerous bridges. Numerous bridge safety accidents indicate that China is in urgent need of bridge structure detection and safety assessment methods. At present, most of the bridge structure health detections are manual detections. Bridge structure health detection includes many items such as deformation monitoring, stress monitoring, dynamic characteristic monitoring, temperature detection, and appearance problem detection. Completing these through manual labor is costly, dangerous, and time-consuming. Especially for the detection inside the bridge, it is often restricted by the internal space of the bridge. The operation difficulty for the detection personnel is high and they cannot reach some special positions for operation. Developing a detection robot to complete the detection work is an effective solution.

[0003] Existing robots generally have four motion modes: wheeled, tracked, rail-mounted, and multi-legged. The most widely used walking systems for inspection robots in bridge detection are multi-legged and wheeled. At present, it has been proposed that the detection of the outside of the bridge is now completed by a multi-legged wall-climbing robot, and the detection of stay cables is completed by a wheeled climbing robot. At present, there are relatively few robots for the detection of the inside and outside of bridges and the walking systems they adopt. Summary of the Utility Model

[0004] To make up for the above deficiencies, the utility model provides a swing-arm wheel structure of a walking system for an intelligent inspection robot.

[0005] The utility model is implemented as follows:

[0006] The swing-arm wheel structure of the walking system for an intelligent inspection robot includes a pair of swing-arm structures. The swing-arm structure includes a pair of front swing arms. A pair of vehicle bodies are installed on both sides of the swing-arm structure. A pair of transverse connecting plates are provided on both sides between the pair of vehicle bodies. A pair of lower wheel groups are provided on both sides of the bottom of the pair of vehicle bodies, and the lower wheel group includes a pair of first bearings. A pair of upper wheel groups are provided on both sides of the top of the pair of vehicle bodies, and the upper wheel group includes a pair of second bearings. A pair of grooves are provided on both sides of the outside of the pair of vehicle bodies, and a vehicle body spring is connected between the pair of grooves. A rear walking system is provided on one side of the pair of vehicle bodies away from the swing-arm structure, and the rear walking system includes a pair of rear swing arms.

[0007] Further, a pair of the front swing arms and a pair of the rear swing arms are respectively hinged to a pair of vehicle bodies through bolts.

[0008] Further, a pair of front swing arm springs are connected to both sides of a pair of the vehicle bodies, and one pair of the front swing arm springs are respectively connected to the front swing arms, and the other pair of rear swing arm springs are respectively connected to a pair of the rear swing arms.

[0009] The beneficial effect of adopting the above further solution is that by providing the front swing arm springs, when the vehicle body springs and the front swing arm springs stretch or compress, the swing arms are driven to rotate.

[0010] Further, a connecting rod is connected to one side of the bottom of a pair of the front swing arms and a pair of the rear swing arms, and a lower wheel set spring is sleeved outside one pair of the connecting rods, and one end of the lower wheel set spring is connected to a bearing.

[0011] Further, an upper wheel set spring is sleeved outside the other pair of the connecting rods, and one end of a pair of the upper wheel set springs is connected to another pair of bearings.

[0012] The beneficial effect of adopting the above further solution is that by providing the upper wheel set spring, when the wheelbase is changed, the spring resets so that the wheelbase self-resets.

[0013] The beneficial effect of the present utility model is as follows: The swing arm wheel type structure of the intelligent inspection robot walking system obtained by the above design of the present utility model. A transverse connecting rod between a pair of vehicle bodies can be directly connected to the swing arm structure through bolts, and is connected to the upper end of the swing arm. Deep groove ball bearings are embedded in the upper and lower wheel sets, and are respectively connected to the swing arm structure and the vehicle body shell through flat head bolts. While simplifying the structure, it is convenient for installation and disassembly. At the same time, the swing arm structure is connected to the thrust bearing at the lower part of the vehicle body through 10mm precision reamed hole bolts, and the swing arm is fixed through bolts. The swing arm and the vehicle body shell form an integral body to realize the rotation of the swing arm. Transverse connecting springs are respectively added to the upper and lower wheel sets to realize the change of the wheelbase. The swing arm structure and the middle part of the vehicle body are respectively connected through the swing arm spring and the vehicle body spring. In this way, when there is a need, the wheelbase can be changed. When the wheelbase changes, one side spring is compressed and the other side spring stretches, so that the wheelbase realizes self-reset. When the wheelbase changes, the vehicle body spring and the upper swing arm spring stretch or compress, driving the swing arm to rotate and the wheelbase to change. After the change is completed, the spring resets so that the wheelbase self-resets. By providing the upper wheel set and the lower wheel set, it is not only a walking wheel, but also enables the robot to clamp the track to ensure non-derailment. Description of the Drawings

[0014] To more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for practical use in the embodiments. It should be understood that the following drawings only show some embodiments of the present utility model, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0015] Figure 1 Schematic three-dimensional structure diagram of the walking system of the swing-arm wheel structure of the intelligent inspection robot walking system provided by the present utility model;

[0016] Figure 2 Schematic working diagram of the walking system of the swing-arm wheel structure of the intelligent inspection robot walking system provided by the present utility model;

[0017] Figure 3 Explosion diagram of the walking system of the swing-arm wheel structure of the intelligent inspection robot walking system provided by the present utility model.

[0018] In the figure: 1. Swing-arm structure; 2. Horizontal connecting plate; 3. Lower wheel set; 4. Lower wheel set spring; 5. Upper wheel set; 6. Upper wheel set spring; 7. Front swing-arm spring; 8. Vehicle body spring; 9. Rear walking system; 10. Vehicle body. Specific embodiments

[0019] To make the purposes, technical solutions, and advantages of the embodiments of the present utility model clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the 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 belong to the scope protected by the present utility model.

[0020] Therefore, the following detailed description of the embodiments of the present utility model provided in the drawings is not intended to limit the scope of the present utility model to be protected, but merely represents the selected embodiments of the present utility model. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by the present utility model.

[0021] Embodiment 1 of the swing-arm wheel structure of the intelligent inspection robot walking system of the present utility model

[0022] The present utility model provides the following technical solutions: As shown in reference to Figures 1-3, including a pair of swing arm structures 1, the swing arm structure 1 includes a pair of front swing arms, a pair of vehicle bodies 10 are installed on both sides of the swing arm structure 1, transverse connecting plates 2 are provided on both sides between the pair of vehicle bodies 10, lower wheel sets 3 are provided on both sides of the bottom of the pair of vehicle bodies 10, and the lower wheel set 3 includes a pair of first bearings. Upper wheel sets 5 are provided on both sides of the top of the pair of vehicle bodies 10, and the upper wheel set 5 includes a pair of second bearings. Grooves are provided on both outer sides of the pair of vehicle bodies 10, and a vehicle body spring 8 is connected between the pair of grooves. A rear traveling system 9 is provided on one side of the pair of vehicle bodies 10 away from the swing arm structure 1, and the rear traveling system 9 includes a pair of rear swing arms. The pair of front swing arms and the pair of rear swing arms are respectively hinged to the pair of vehicle bodies 10 by bolts. A pair of front swing arm springs 7 are connected to both sides of the pair of vehicle bodies 10, and one pair of the front swing arm springs 7 are respectively connected to the front swing arms, and the other pair of rear swing arm springs are respectively connected to the pair of rear swing arms. A connecting rod is connected to one side of the bottom of the pair of front swing arms and the pair of rear swing arms, and a lower wheel set spring 4 is sleeved on the outside of one pair of the connecting rods. One end of the lower wheel set spring 4 is connected to the bearing, and an upper wheel set spring 6 is sleeved on the outside of the other pair of connecting rods, and one end of the pair of upper wheel set springs 6 is connected to the other pair of bearings. By providing the front swing arm spring 7, the vehicle body spring 8 and the front swing arm spring 7 stretch or compress, driving the swing arm to rotate. By providing the upper wheel set spring 6, when the wheelbase changes, the spring resets so that the wheelbase self-resets.

[0023] Specifically, the working principle of the swing arm wheel structure of the intelligent inspection robot traveling system: When in use, the transverse connecting rod between the pair of vehicle bodies 10 can be directly connected to the swing arm structure 11 by bolts, and is connected to the upper end of the swing arm. Deep groove ball bearings are embedded in the upper and lower wheel sets, and are respectively connected to the swing arm structure 1 and the vehicle body 10 shell by flat head bolts. While simplifying the structure, it is convenient for installation and disassembly. At the same time, the swing arm structure 1 is connected to the thrust bearing at the lower part of the vehicle body 10 by 10mm precision reamed hole bolts, and the swing arm is fixed by bolts. The swing arm and the vehicle body 10 shell form an integral body to realize the rotation of the swing arm. Transverse connecting springs are respectively added to the upper and lower wheel sets 3 to realize the change of the wheelbase. The swing arm structure 1 is connected to the vehicle body 10 through the swing arm spring and the vehicle body spring 8 respectively in the upper part and the middle part. In this way, when there is a need, the wheelbase can be changed. When the wheelbase changes, one side spring is compressed and the other side spring stretches, so that the wheelbase can self-reset. When the wheelbase changes, the vehicle body spring 8 and the upper swing arm spring stretch or compress, driving the swing arm to rotate and the wheelbase to change. After the change is completed, the spring resets so that the wheelbase self-resets. By providing the upper wheel set 5 and the lower wheel set 4, not only are they traveling wheels, but also the robot can be clamped to the track to ensure no derailment.

[0024] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. The swing arm wheel structure of the intelligent inspection robot walking system is characterized in that Comprising a pair of swing arm structures (1), The swing arm structure (1) includes a pair of front swing arms. A pair of vehicle bodies (10) are installed on both sides of the swing arm structure (1). Transverse connecting plates (2) are provided on both sides between the pair of vehicle bodies (10). Lower wheel sets (3) are provided on both sides of the bottom of the pair of vehicle bodies (10), and the lower wheel set (3) includes a pair of first bearings. Upper wheel sets (5) are provided on both sides of the top of the pair of vehicle bodies (10), and the upper wheel set (5) includes a pair of second bearings. Grooves are provided on both outer sides of the pair of vehicle bodies (10), and a vehicle body spring (8) is connected between the pair of grooves. A rear traveling system (9) is provided on the side of the pair of vehicle bodies (10) away from the swing arm structure (1), and the rear traveling system (9) includes a pair of rear swing arms.

2. The swing arm wheel structure of the intelligent inspection robot walking system according to claim 1, characterized in that The pair of front swing arms and the pair of rear swing arms are respectively hinged to the pair of vehicle bodies (10) by bolts.

3. The swing arm wheel structure of the intelligent inspection robot walking system according to claim 1, characterized in that, A pair of front swing arm springs (7) are connected to both sides of the pair of vehicle bodies (10), and one pair of the front swing arm springs (7) are respectively connected to the front swing arms, and the other pair of rear swing arm springs are respectively connected to the pair of rear swing arms.

4. The swing arm wheel structure of the intelligent inspection robot walking system according to claim 1, characterized in that One side of the bottom of the pair of front swing arms and the pair of rear swing arms is respectively connected with a connecting rod, and a lower wheel set spring (4) is sleeved on the outside of one pair of the connecting rods, and one end of the lower wheel set spring (4) is connected with a bearing.

5. The swing arm wheel structure of the intelligent inspection robot walking system according to claim 4, characterized in that, An upper wheel set spring (6) is sleeved on the outside of the other pair of connecting rods, and one end of the pair of upper wheel set springs (6) is connected with the other pair of bearings.

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