Traveling mechanism of inspection robot

Abstract

The utility model provides a walking mechanism of an inspection robot, which belongs to the technical field of robots and comprises a stepping component and a supporting component arranged on one side of the stepping component. The stepping assembly comprises a bearing piece, a driving piece arranged on the outer surface of the bearing piece and an auxiliary piece arranged on the inner wall of the bearing piece. The bearing part comprises a motor protection box and a mounting box fixedly connected to the bottom of the bearing part. Parts in the driving part are matched to simulate gait actions, and the robot is endowed with certain climbing ability, so that the robot has certain climbing ability and can move on a relatively complex terrain; through cooperation of the driving piece and the supporting assembly, the robot can be effectively prevented from toppling over in the climbing or advancing process, so that the stability of the walking process is greatly improved; and meanwhile, the practicability and reliability of the robot are further improved through the walking trolley supporting multifunctional extension.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and particularly relates to a walking mechanism of an inspection robot. Background Art

[0002] By integrating advanced sensors, autonomous navigation, and machine vision technologies, inspection robots can automatically perform equipment and environmental monitoring tasks in various environments, collect and analyze data in real time, detect and report abnormal situations in a timely manner, effectively improve the inspection efficiency and safety, and reduce labor costs and risks at the same time.

[0003] Some inspection robots in the prior art usually move only by means of tire drive. This moving method may have the defect of poor climbing performance. In the face of complex terrains, especially when climbing is required, even if the motor power is sufficient, it may not be able to climb smoothly due to insufficient friction between the tires and the ground. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a walking mechanism of an inspection robot, aiming to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the utility model provides the following technical solutions:

[0006] A walking mechanism of an inspection robot includes a stepping component and a supporting component arranged on one side of the stepping component;

[0007] The stepping component includes a bearing member, a driving member arranged on the outer surface of the bearing member, and an auxiliary member arranged on the inner wall of the bearing member;

[0008] The bearing member includes a motor protection box and an installation box fixedly connected to the bottom of the bearing member;

[0009] As a preferred solution of the utility model, the driving member includes a motor adaptively installed on the inner wall of the motor protection box, a coupling fixedly connected to the output end of the motor, a first bevel gear fixedly sleeved on the penetrating end of the coupling, a second bevel gear meshed with the inner surface of the first bevel gear, a connecting shaft fixedly connected to the inner surface of the second bevel gear, runners respectively fixedly connected to both ends of the connecting shaft, a cam fixedly connected to the inner surface of the runner, and a first driving rod and a second driving rod fixedly connected to the outer surface of the cam. The outer surface of the connecting shaft is in rotational contact with the inner surface of the installation box.

[0010] As a preferred solution of the present utility model, the driving member further includes a first swing rod hinged to the other end of the second driving rod, a triangular plate hinged to the other end of the first driving rod, a second swing rod hinged to one side of the triangular plate, a positioning plate hinged to the bottom of the second swing rod, a friction block fixedly connected to the bottom of the positioning plate, and a support rod fixedly connected to the other side of the friction block;

[0011] The other end of the first driving rod is hinged to the top of the triangular plate, one end of the first swing rod is hinged to the other side of the triangular plate, the bottom end of the first swing rod is hinged to the top of the positioning plate, and the top of the second swing rod is hinged to the outer surface of the first swing rod.

[0012] As a preferred solution of the present utility model, the two cams are symmetrically arranged with the connecting shaft as the center, and a camera is fixedly arranged on the top surface of the motor protection box.

[0013] As a preferred solution of the present utility model, the auxiliary member includes a plurality of heat dissipation holes opened on one side of the motor protection box, and a motor frame fixedly sleeved on the outer surface of the motor, and the motor frame is fixedly connected to the inner wall of the motor protection box.

[0014] As a preferred solution of the present utility model, the auxiliary member further includes a storage battery fixedly installed on the inner wall of the motor protection box and used in cooperation with the motor, and the motor is electrically connected to the storage battery.

[0015] As a preferred solution of the present utility model, the support assembly includes a steel cable fixedly arranged on one side of the installation box, and a walking trolley fixedly arranged at the other end of the installation box.

[0016] As a preferred solution of the present utility model, the support assembly further includes a counterweight block fixedly arranged at the center position of the top surface of the walking trolley and used in cooperation with the walking trolley.

[0017] Compared with the prior art, the beneficial effects of the present utility model are as follows: By simulating gait actions through the cooperation of various components in the driving member, the robot is given a certain climbing ability, enabling it to have a certain climbing ability, so that it can move on relatively complex terrains; Through the cooperation of the driving member and the support assembly, it can effectively prevent the robot from tipping over during climbing or traveling, thereby greatly improving the stability of the walking process; At the same time, through the walking trolley that supports multifunctional expansion, the practicability and reliability of the robot are further improved. Description of the Drawings

[0018] To more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. Among them:

[0019] Figure 1 is a schematic diagram of the overall structure of the present utility model;

[0020] Figure 2 is the Figure 1 enlarged schematic diagram of the partial structure at A in the present utility model;

[0021] Figure 3 is a schematic diagram of the internal structure of the carrier in the present utility model;

[0022] Figure 4 is the Figure 3 enlarged schematic diagram of the partial structure at B in the present utility model.

[0023] In the figure: 100, traveling mechanism; 101, carrier; 101a, motor protection box; 101b, installation box; 102, driving member; 102a, motor; 102b, coupling; 102c, first bevel gear; 102d, second bevel gear; 102e, connecting shaft; 102f, runner; 102g, cam; 102h, first driving rod; 102i, second driving rod; 102j, first swinging rod; 102k, triangular plate; 102l, second swinging rod; 102m, positioning plate; 102n, friction block; 102o, support rod; 103, auxiliary member; 103a, heat dissipation hole; 103b, motor bracket; 103c, storage battery; 200, support assembly; 201, steel cable; 202, traveling trolley; 203, counterweight block; T, camera. Specific Embodiments

[0024] To make the above objects, features, and advantages of the present utility model more obvious and understandable, the following will give a detailed description of the specific embodiments of the present utility model with reference to the accompanying drawings of the specification.

[0025] In the following description, many specific details are set forth in order to fully understand the present utility model. However, the present utility model can also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0026] Second, the so-called "one embodiment" or "embodiment" herein refers to specific features, structures or characteristics that may be included in at least one implementation manner of the present utility model. The "in one embodiment" that appears in different places in this specification does not all refer to the same embodiment, nor is it an individual or alternative embodiment that is mutually exclusive with other embodiments.

[0027] Embodiment

[0028] Referring to Figures 1 to 4 , which is an embodiment of the present utility model. This embodiment provides a walking mechanism for an inspection robot, including a stepping component 100 and a supporting component 200, which can achieve the effect of driving the walking trolley 202 to move synchronously through the driving member 102, so that the walking trolley 202 has a certain climbing ability.

[0029] The stepping component 100, and the supporting component 200 arranged on one side of the stepping component 100;

[0030] The stepping component 100 includes a carrier 101, a driving member 102 arranged on the outer surface of the carrier 101, and an auxiliary member 103 arranged on the inner wall of the carrier 101.

[0031] It should be noted that the supporting component 200 is used to apply a reverse force to the driving member 102, so as to prevent the driving member 102 from tipping over during walking.

[0032] The carrier 101 includes a motor protection box 101a, and an installation box 101b fixedly connected to the bottom of the carrier 101;

[0033] It should be noted that the carrier 101 is used to support the driving member 102, and the auxiliary member 103 is used to provide power for the driving member 102.

[0034] The driving member 102 includes a motor 102a adaptively installed on the inner wall of the motor protection box 101a, a coupling 102b fixedly connected to the output end of the motor 102a, a first bevel gear 102c fixedly sleeved on the penetrating end of the coupling 102b, a second bevel gear 102d meshing with the inner surface of the first bevel gear 102c, a connecting shaft 102e fixedly connected to the inner surface of the second bevel gear 102d, runners 102f respectively fixedly connected to both ends of the connecting shaft 102e, a cam 102g fixedly connected to the inner surface of the runner 102f, and a first driving rod 102h and a second driving rod 102i fixedly connected to the outer surface of the cam 102g;

[0035] More specifically, the motor protection box 101a is used to protect the motor 102a from external influences. The mounting box 101b is used to support the connecting shaft 102e, enabling the connecting shaft to stably support the second bevel gear 102d. When the motor 102a is started, it drives the coupling 102b to rotate, causing the coupling 102b to drive the first bevel gear 102c to rotate synchronously. Through the cooperation of the first bevel gear 102c and the second bevel gear 102d, the connecting shaft 102e is driven to rotate. Then, the connecting shaft 102e drives the connecting shafts 102e and the cams 102g at both ends to rotate synchronously, so that the cams 102g drive the two first drive rods 102h and the second drive rod 102i to rotate simultaneously.

[0036] Specifically, the driving member 102 further includes a first swing rod 102j hinged to the other end of the second drive rod 102i, a triangular plate 102k hinged to the other end of the first drive rod 102h, a second swing rod 102l hinged to one side of the triangular plate 102k, a positioning plate 102m hinged to the bottom of the second swing rod 102l, a friction block 102n fixedly connected to the bottom of the positioning plate 102m, and a support rod 102o fixedly connected to the other side of the friction block 102n.

[0037] The outer surface of the connecting shaft 102e is in rotational contact with the inner surface of the mounting box 101b. The other end of the first drive rod 102h is hinged to the top of the triangular plate 102k. One end of the first swing rod 102j is hinged to the other side of the triangular plate 102k. The bottom end of the first swing rod 102j is hinged to the top of the positioning plate 102m. The top of the second swing rod 102l is hinged to the outer surface of the first swing rod 102j.

[0038] Among them, when the first drive rod 102h rotates clockwise from above the runner 102f downward, it can drive the upper end of the triangular plate 102k to tilt forward. While driving the bottom end of the triangular plate 102k to perform a clockwise circular motion through the second drive rod 102i, it drives the first swing rod 102j to perform a counterclockwise circular motion with the bottom end of the triangular plate 102k as the center, and drives the triangular plate 102k to rise a certain distance.

[0039] It should be explained that during the upward movement of the triangular plate 102k, it can drive the second swing rod 102l to perform a counterclockwise circular motion. Through the cooperation of the first swing rod 102j and the second swing rod 102l, while driving the positioning plate 102m and the support rod 102o to move forward, they rise a certain distance. Then, through the limit of the support rod 102o by the first swing rod 102j, the support rod 102o limits the friction block 102n, so that the friction block 102n moves synchronously with the positioning plate 102m and the support rod 102o, thus performing a leg-lifting and stepping motion. When the first driving rod 102h rotates clockwise from below the runner 102f to above, the above-mentioned motion can be reversed, thus performing a pushing motion on the ground. Through the interactive cooperation of the two actions, while the driving member 102 continues to walk forward, it has a certain climbing ability.

[0040] Specifically, the two cams 102g are symmetrically arranged with the connecting shaft 102e as the center, and a camera T is fixedly arranged on the top surface of the motor protection box 101a.

[0041] Among them, the initial positions of the two cams 102g are respectively at the top and bottom of the connecting shaft 102e. The camera T supports 360° panoramic rotation, has 4 million pixels and 2.5K ultra-low light full-color image quality, and it can transmit the collected images to the remote terminal in real time through the Internet. The camera T is a prior art, and this solution will not be described in detail, and those skilled in the art can clearly understand the working principle.

[0042] Furthermore, the auxiliary member 103 includes a plurality of heat dissipation holes 103a opened on one side of the motor protection box 101a, and a motor frame 103b fixedly sleeved on the outer surface of the motor 102a. The motor frame 103b is fixedly connected to the inner wall of the motor protection box 101a.

[0043] Preferably, the auxiliary member 103 further includes a storage battery 103c fixedly installed on the inner wall of the motor protection box 101a and cooperating with the motor 102a. The motor 102a is electrically connected to the storage battery 103c.

[0044] It should be explained that the heat dissipation holes 103a are used to discharge the heat generated by the motor 102a and the storage battery 103c during use from the temperature inside the motor protection box 101a, so as to prevent the motor 102a and the storage battery 103c from malfunctioning or being damaged due to excessive temperature.

[0045] It should be noted that the support assembly 200 includes a steel cable 201 fixedly arranged on one side of the installation box 101b, and a walking trolley 202 fixedly arranged at the other end of the installation box 101b.

[0046] Among them, the steel cable 201 is made of high-carbon steel with high hardness and strength, which can withstand large tensile and compressive forces and is not easily deformed. Through the cooperation of the driving member 102 and the steel cable 201, the traveling trolley 202 can be pulled to move synchronously. The user can install additional accessories, such as a cargo box, a tray, etc., on the top of the traveling trolley 202 according to actual needs to achieve the function of transporting items.

[0047] Furthermore, the support assembly 200 further includes a counterweight 203 fixedly arranged at the center position of the top surface of the traveling trolley 202 and used in cooperation with the traveling trolley 202. The counterweight 203 is used to prevent the traveling trolley 202 from tipping over.

[0048] It should be further explained that the counterweight 203 is used to apply a downward pressure to the traveling trolley 202, so that the bottom of the traveling trolley 202 is always in contact with the ground, so that the traveling trolley 202 can limit the driving member 102 through the cooperation with the steel cable 201, and prevent the driving member 102 from tipping forward during the walking process.

[0049] During use, the motor 102a is started to drive the coupling 102b to rotate, so that the coupling 102b drives the first bevel gear 102c to rotate synchronously. Through the cooperation of the first bevel gear 102c and the second bevel gear 102d, the connecting shaft 102e is driven to rotate, and then the connecting shafts 102e at both ends of the connecting shaft 102e and the cam 102g are driven to rotate synchronously, so that the cam 102g drives the two first driving rods 102h and the second driving rod 102i to rotate at the same time. By the first driving rod 102h rotating clockwise from above the runner 102f to below, the upper end of the triangular plate 102k is driven to tilt forward, and then the bottom end of the triangular plate 102k is driven to perform a clockwise circular motion by the second driving rod 102i;

[0050] At the same time, the first swing rod 102j is driven to perform a counterclockwise circular motion with the bottom end of the triangular plate 102k as the center, and the triangular plate 102k is driven to rise a certain distance, so that the triangular plate 102k drives the second swing rod 102l to perform a counterclockwise circular motion. Through the cooperation of the first swing rod 102j and the second swing rod 102l, while driving the positioning plate 102m and the support rod 102o to move forward, they rise a certain distance. Then, through the limitation of the support rod 102o by the first swing rod 102j, the support rod 102o limits the friction block 102n, so that the friction block 102n moves synchronously with the positioning plate 102m and the support rod 102o, thus performing an action of lifting the leg and taking a step;

[0051] When the first driving rod 102h rotates clockwise from below to above the runner 102f, the above-mentioned movement track will be reversed, thereby performing a pedaling action. Through the interaction of lifting the leg and taking a step and the pedaling action, while the driving member 102 continues to walk forward, it has a certain climbing ability. Then, through the cooperation of the driving member 102 and the steel cable 201, the walking trolley 202 is driven to move synchronously, so as to achieve the effect of enabling the walking trolley 202 to have a certain climbing ability;

[0052] A downward pressure is applied to the walking trolley 202 through the counterweight 203, so that the bottom of the walking trolley 202 is always in contact with the ground, so that the walking trolley 202 can limit the driving member 102 through the cooperation with the steel cable 201, and prevent the driving member 102 from tipping forward during walking.

[0053] In summary, through the cooperation of the various components in the driving member 102 to simulate the gait action, the robot is given a certain climbing ability, enabling it to have a certain climbing ability, so that it can move on relatively complex terrains; through the cooperation of the driving member 102 and the support assembly 200, it can effectively prevent the robot from tipping over during climbing or traveling, so as to greatly improve the stability of the walking process; at the same time, through the walking trolley 202 that supports multi-functional expansion, the practicability and reliability of the robot are further improved.

[0054] Importantly, it should be noted that the construction and arrangement of the present application shown in multiple different exemplary embodiments are only illustrative. Although only a few embodiments are described in detail in this disclosure, those who refer to this disclosure should easily understand that many modifications are possible without substantially departing from the novel teachings and advantages of the subject matter described in this application (for example, the dimensions, scales, structures, shapes and proportions of various elements, and parameter values (such as temperature, pressure, etc.), installation arrangements, use of materials, color, orientation changes, etc.). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature, number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means-plus-function" clause is intended to cover the structure that performs the recited function in this disclosure, and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present invention. Therefore, the present invention is not limited to a specific embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0055] In addition, in order to provide a concise description of the exemplary embodiments, all features of the actual embodiments may not be described (i.e., those features that are not relevant to the currently contemplated best mode of carrying out the present utility model or those features that are not relevant to the implementation of the present utility model).

[0056] It should be understood that, in the development of any actual implementation, as in any engineering or design project, numerous specific implementation decisions may be made. Such development efforts may be complex and time-consuming, but for those of ordinary skill in the art who benefit from this disclosure, without undue experimentation, such development efforts will be routine work in design, manufacturing, and production.

[0057] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and not to limit them. Although the present utility model has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present utility model can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present utility model, and they should all be covered within the scope of the claims of the present utility model.

Claims

1. A walking mechanism for a patrol robot, characterized in that: including, a stepping component (100), and a support component (200) arranged on one side of the stepping component (100); the stepping component (100) includes a carrier (101), a driving component (102) arranged on the outer surface of the carrier (101), and an auxiliary component (103) arranged on the inner wall of the carrier (101); the carrier (101) includes a motor protection box (101a), and a mounting box (101b) fixedly connected to the bottom of the carrier (101).

2. The walking mechanism of the inspection robot according to claim 1, characterized in that: the driving component (102) includes a motor (102a) adaptively mounted on the inner wall of the motor protection box (101a), a coupling (102b) fixedly connected to the output end of the motor (102a), a first bevel gear (102c) fixedly sleeved on the penetrating end of the coupling (102b), a second bevel gear (102d) meshed with the inner surface of the first bevel gear (102c), a connecting shaft (102e) fixedly connected to the inner surface of the second bevel gear (102d), runners (102f) respectively fixedly connected to both ends of the connecting shaft (102e), cams (102g) fixedly connected to the inner surfaces of the runners (102f), and a first driving rod (102h) and a second driving rod (102i) fixedly connected to the outer surfaces of the cams (102g), the outer surface of the connecting shaft (102e) is in rotational contact with the inner surface of the mounting box (101b).

3. The walking mechanism of the inspection robot according to claim 2, characterized in that: the driving component (102) further includes a first swing rod (102j) hinged to the other end of the second driving rod (102i), a triangular plate (102k) hinged to the other end of the first driving rod (102h), a second swing rod (102l) hinged to one side of the triangular plate (102k), a positioning plate (102m) hinged to the bottom of the second swing rod (102l), a friction block (102n) fixedly connected to the bottom of the positioning plate (102m), and a support rod (102o) fixedly connected to the other side of the friction block (102n); the other end of the first driving rod (102h) is hinged to the top of the triangular plate (102k), one end of the first swing rod (102j) is hinged to the other side of the triangular plate (102k), the bottom end of the first swing rod (102j) is hinged to the top of the positioning plate (102m), and the top of the second swing rod (102l) is hinged to the outer surface of the first swing rod (102j).

4. The walking mechanism of the inspection robot according to claim 3, characterized in that: the two cams (102g) are symmetrically arranged with the connecting shaft (102e) as the center, and a camera (T) is fixedly arranged on the top surface of the motor protection box (101a).

5. The walking mechanism of the inspection robot according to claim 4, characterized in that: the auxiliary component (103) includes a plurality of heat dissipation holes (103a) opened on one side of the motor protection box (101a), and a motor frame (103b) fixedly sleeved on the outer surface of the motor (102a), the motor frame (103b) is fixedly connected to the inner wall of the motor protection box (101a).

6. The walking mechanism of an inspection robot according to claim 5, characterized in that: The auxiliary component (103) further includes a storage battery (103c) fixedly installed on the inner wall of the motor protection box (101a) and used in cooperation with the motor (102a), and the motor (102a) is electrically connected to the storage battery (103c).

7. The walking mechanism of an inspection robot according to claim 6, characterized in that: The support assembly (200) includes a steel cable (201) fixedly arranged on one side of the installation box (101b), and a traveling trolley (202) fixedly arranged at the other end of the installation box (101b).

8. The walking mechanism of the inspection robot according to claim 7, characterized in that: The support assembly (200) further includes a counterweight (203) fixedly arranged at the center position of the top surface of the traveling trolley (202) and used in cooperation with the traveling trolley (202).

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