Inspection robot based on multi-wheel driving

Abstract

An inspection robot based on multi-wheel driving comprises a base, a mechanical arm is installed on the base, and the mechanical arm can be fixed at multiple positions in the length direction of the base; the base comprises a rectangular frame body, two connecting beams are symmetrically arranged in the frame body in the length direction, and a plurality of reinforcing beams are arranged between the two connecting beams and the frame body. A mounting plate is arranged in the space between the four reinforcing beams located on the outermost side and the frame body, a servo motor is mounted on the mounting plate, an encoder is arranged in the servo motor, and the output end of the servo motor faces downwards and penetrates through the mounting plate to be connected with a wheel set assembly. The four sets of moving wheels are all provided with hub motors, four-wheel drive of rotation of the moving wheels can be achieved, large power is provided for overall movement, the design of four sets of servo motors is matched, steering of the robot is facilitated, and the robot is more flexible.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to an inspection robot based on multi-wheel drive. Background Art

[0002] Currently, inspection robots are used in industries such as electricity, petrochemicals, and rail transit. They play an important role in monitoring the operation of power equipment, obtaining parameters of chemical equipment, the flatness of tracks, and cleaning the bottom of tracks. In addition, comprehensive inspections of municipal roads ensure timely maintenance of roads. Existing inspection robots usually have the functions of automatic navigation and automatic obstacle avoidance, and a robotic arm is installed on a mobile chassis. Different inspection functions are achieved by installing functional parts with different functions at the end of the robotic arm. For example, Chinese patent number CN211440001U discloses an inspection robot and an inspection system, which can achieve overall movement through two drive wheels 113 installed at the bottom of the mobile platform 110, and can complete the acquisition of inspection images through the imaging device 120 installed by the mechanical arm 121. However, after investigation, the inventor found that this type of inspection robot adopts a two-wheel drive form, which is not easy to turn on relatively narrow roads, and has low power and poor obstacle crossing ability. In addition, the existing inspection robot steering system usually uses a drive motor in conjunction with a belt and pulley for rotation. On the one hand, the space of the mobile platform is relatively limited, making the overall structure more complicated. On the other hand, it increases the overall weight of the inspection robot, and the mechanical arm 121 can only rotate in multiple directions. It is fixedly installed with the mobile platform 110, has poor flexibility, and cannot flexibly adapt to different working conditions. Utility Model Content

[0003] In order to solve the technical problems existing in the above-mentioned background technology, the utility model provides an inspection robot based on multi-wheel drive.

[0004] The technical solution of this utility model is as follows:

[0005] A multi-wheel drive inspection robot comprises a base, on which a robotic arm is mounted, and which can be fixed at multiple positions along the length direction of the base;

[0006] The base includes a frame body, which is arranged in a rectangular shape. Two connecting beams are symmetrically arranged in the frame body along the length direction, and a plurality of reinforcing beams are respectively arranged between the two connecting beams and the frame body;

[0007] A mounting plate is provided in the space between the four outermost reinforcing beams and the frame body. A servo motor is mounted on the mounting plate, and the servo motor has a built-in encoder. The output end of the servo motor faces downward and passes through the mounting plate to be connected to a wheel assembly.

[0008] In order to protect the servo motor and the inside of the base and to facilitate the installation of the robotic arm, protective plates are installed all around the frame body, and the upper ends of the protective plates are connected to a top plate.

[0009] In order to adjust the installation position of the robotic arm along the length direction of the base to adapt to different working conditions, a bottom plate is connected to the bottom of the robotic arm, and the bottom plate can slide along the length direction of the top plate and is fixed to the top plate by bolts.

[0010] The specific fixing method of the robotic arm is that two supporting beams are installed on the two connecting beams, and two mounting grooves are opened on the top plate, and the two mounting grooves are aligned with the two supporting beams in the vertical direction respectively;

[0011] Two slide bars are installed at the bottom of the base plate and are respectively slidably matched with the two mounting grooves. A plurality of mounting holes are provided on the support beam along the length direction, and bolts pass through the base plate and the slide bars and are matched with the mounting holes.

[0012] The design of the wheel assembly is that the wheel assembly includes a bogie, the top of the bogie is connected to the output end of the servo motor through a torque transmission shaft, and the bottom of the bogie is connected to a moving wheel, and the moving wheel is driven to rotate by a hub motor.

[0013] In order to facilitate the control of the entire mobile system, a support plate is provided at the upper end of any connecting beam and the frame body, and an industrial computer and a controller are provided on the support plate. The industrial computer is electrically connected to the controller, and the controller is electrically connected to the robotic arm, servo motor and hub motor respectively.

[0014] In order to power the entire system, a protective shell is connected to the bottom of the two connecting beams, and a battery is arranged in the protective shell. The battery is electrically connected to the robotic arm, servo motor, hub motor, industrial computer and controller respectively.

[0015] In order to facilitate navigation and obstacle avoidance, a radar is provided on the top plate, and the radar is electrically connected to the controller.

[0016] In order to facilitate starting the entire mobile robot, a start button and an emergency stop button are provided on the top plate, which are electrically connected to the controller respectively.

[0017] The beneficial effects of the present invention are as follows: the present invention is a patrol robot based on multi-wheel drive. First, a robotic arm is installed on a base, and the control of the robotic arm can be realized through an industrial computer and a controller, so that a driving part is installed at the end of the robotic arm to complete different inspection tasks according to actual applications; secondly, through the design of the wheel assembly, the function of the robotic arm moving along with the base can be realized, so that the entire robot can move and inspect different positions of the working environment; and the four sets of mobile wheels are equipped with hub motors, which can realize four-wheel drive for the rotation of the mobile wheels, providing greater power for the overall movement. With the design of the four sets of servo motors, each set of mobile wheels can complete steering, realizing four-wheel drive for steering, facilitating the steering of the robot and making it more flexible. Moreover, the built-in encoder of the servo motor is installed in the base, making the overall structure more tidy and more convenient to move in a small space. Moreover, through the design of the bottom plate and the top plate, the fixed position of the robotic arm on the base can be changed, and the position of the robotic arm relative to the base can be adjusted according to the actual working environment, thereby greatly improving the practicality and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By reading the detailed description of the preferred embodiment below, the solutions and advantages of the present application will become clear to those skilled in the art. The accompanying drawings are only used to illustrate the preferred embodiment and are not to be considered as limiting the present invention.

[0019] In the attached figure:

[0020] Figure 1 Schematic diagram of the overall structure;

[0021] Figure 2 Schematic diagram of the internal structure of the base;

[0022] Figure 3 This is a partial cross-sectional view from the front;

[0023] Figure 4 It is a side partial view;

[0024] The components represented by the reference numerals in the figure are:

[0025] 1. Base; 101. Frame body; 102. Connecting beam; 103. Reinforcement beam; 104. Mounting plate; 105. Protective plate; 106. Top plate; 107. Support beam; 108. Mounting slot; 109. Slide; 110. Mounting hole; 111. Support plate; 2. Robotic arm; 3. Servo motor; 4. Wheel assembly; 41. Bogie; 42. Torque transmission shaft; 43. Moving wheel; 44. Hub motor; 45. Parallelogram moving mechanism; 46. Shock absorption mechanism; 5. Bottom plate; 6. Bolts; 7. Industrial computer; 8. Controller; 9. Protective shell; 10. Battery; 11. Radar; 12. Start button; 13. Emergency stop button; 14. Charging port; 15. Charging pile. DETAILED DESCRIPTION

[0026] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0027] Example

[0028] As mentioned in the background technology, the existing inspection robots adopt a two-wheel drive form. On the one hand, the power is small, it is more laborious to walk on some rugged roads, and it is not easy to turn on narrow roads, which makes the inspection robots have many defects in actual use. Even if there are inspection robots with four wheels equipped with steering systems, most of them use motors to drive the driving wheels to rotate, and use belts to drive the driven wheels to rotate, and then drive the mobile road to turn. This design method occupies a large chassis space. Therefore, the inventors have improved the existing inspection robots and designed a new type of inspection robot, which will be explained in detail below with reference to the diagrams.

[0029] This embodiment provides a multi-wheel drive inspection robot. Figure 1 , including a base 1, on which a robotic arm 2 is installed. The robotic arm 2 is a multi-axis type, adopts existing technology, which is a relatively mature technology of our company and can complete actions in multiple directions. It will not be described in detail in this solution, and it can be fixed at multiple positions along the length direction of the base 1, so that the robotic arm 2 can adjust its position along the length direction of the base 1, so that it is fixed in the middle position of the base 1 when performing road inspections, and can be moved to the front end of the base 1 and fixed when performing actions such as cleaning and taking pictures, to prevent other objects from obstructing the base 1 and causing the robotic arm 2 to be unable to move to the working position, making the fixed position of the robotic arm 2 more flexible and adapting to the needs of different working environments.

[0030] Specific, combined Figure 2The base 1 includes a frame body 101, which is formed by four frame beams connected end to end and is arranged in a rectangular shape. Two connecting beams 102 are symmetrically arranged along the length direction in the frame body 101, that is, parallel to the side direction of the frame body 101, and a plurality of reinforcing beams 103 are respectively arranged between the two connecting beams 102 and the frame body 101, that is, the reinforcing beams 103 are arranged perpendicular to the connecting beams 102, and can be connected by welding or bolts 6. In this solution, four reinforcing beams 103 are arranged between each connecting beam 102 and the frame body 101, which improves the strength of the frame body 101.

[0031] On the basis of the above structure, the frame body 101 is equipped with protective plates 105 on all sides. The protective plates 105 can protect the components inside the frame body 101, and the upper end of the protective plates 105 is connected to a top plate 106. The top plate 106 is used to install the robotic arm 2, wherein the bottom of the robotic arm is connected to a bottom plate 5, and the bottom plate 5 can slide along the length direction of the top plate 106 and is fixed to the top plate 106 by bolts 6. Moreover, in order to improve the stability of the installation of the bottom plate 5, two supporting beams 107 are installed on the two connecting beams 102. The length of the supporting beam 107 is consistent with the length of the connecting beam 102. Two mounting grooves 108 are opened on the top plate 106, and the two mounting grooves 108 are respectively connected to the two supporting beams 107 in the vertical direction. Aligned, that is, the mounting groove 108 is located directly above the support beam 107, and two slide bars 109 are installed at the bottom of the base plate 5, which slide with the two mounting grooves 108 respectively. The length of the slide bar 109 does not exceed the length of the base plate 5. When the slide plate moves along the top plate 106, the slide bar 109 slides in the mounting groove 108 to provide a guide for the movement of the base plate 5. A plurality of mounting holes 110 are provided on the support beam 107 along the length direction, and the bolts 6 pass through the base plate 5 and the slide bars 109 and are connected with the mounting holes 110. The bolts 6 are installed at the four corners of the base plate 5, directly above the slide bar 109. By cooperating with the bolts 6 and different mounting holes 110 on the support beam 107, the robotic arm 2 is fixed at different positions of the top plate 106 along with the base plate 5.

[0032] In this embodiment, a mounting plate 104 is provided in the space between the four outermost reinforcing beams 103 and the frame body 101, that is, the four reinforcing beams 103 closest to the short side edges of the frame body 101. The mounting plate 104 blocks the space and can be connected by welding or bolts 6. A servo motor 3 is installed on the mounting plate 104, the model used is M8010-6, and it has a built-in encoder. The output end of the servo motor 3 faces downward and passes through the mounting plate 104 to be connected to the wheel assembly 4, which can convert the rotational motion into an electrical signal and transmit it to the servo motor 3, so that the servo motor 3 drives the wheel assembly 4 to rotate and steer, thereby realizing steering four-wheel drive.

[0033] Specific, combined Figure 3 The wheel assembly 4 includes a bogie 41, the top of the bogie 41 is connected to the output end of the servo motor 3 through a torque transmission shaft 42, and a moving wheel 43 is connected to the bottom of the bogie 41, and the moving wheel 43 is driven to rotate by a hub motor 44. The hub motor 44 is installed on both the bogie and the moving wheel 43, which can drive the moving wheel 43 to rotate, realizing the four-wheel drive of the moving wheel 43, and the four-wheel drive of the steering is four-wheel eight-wheel drive movement. A parallelogram moving mechanism 45 is also provided in the bogie 41, which can make the moving wheel 43 always perpendicular to the ground when swinging, thereby improving the robot's ability to cope with complex road conditions, and a shock absorbing mechanism 46 is provided in the bogie 41, which can effectively reduce the vibration force generated by the moving wheel 43, and the inventors of the above-mentioned parallelogram moving mechanism 45 and shock absorbing mechanism 46 have disclosed in patent number CN220147415U, an omnidirectional steering wheel system, and no redundant description is made.

[0034] Among them, this scheme is also equipped with a control system to realize automatic inspection of the robot, wherein a support plate 111 is provided between any connecting beam 102 and the upper end of the frame body 101, and an industrial computer 7 and a controller 8 are provided on the support plate 111. The model of the industrial computer 7 is Apchi TAC-7020NN. The industrial computer 7 is electrically connected to the controller 8, and the controller 8 is electrically connected to the robotic arm 2, the servo motor 3 and the hub motor 44 respectively. The controller 8 can control the start and shut down of the above-mentioned electronic components. The controller 8 can accept the control instructions sent by the industrial computer 7 and accurately control the above-mentioned electronic components. In order to facilitate the start of the entire robot outside the base 1, a start button 12 is provided on the top plate 106, which is electrically connected to the controller 8. Moreover, an emergency stop button 13 is also provided on the top plate 106, which is also electrically connected to the controller 8, so as to facilitate the rapid shutdown of the inspection robot when a fault occurs.

[0035] In order to facilitate the power supply of the entire system, a protective shell 9 is connected to the bottom of the two connecting beams 102, and a battery 10 is set in the protective shell 9. The battery 10 is electrically connected to the robot arm 2, the servo motor 3, the hub motor 44, the industrial computer 7 and the controller 8 respectively, and the battery 10 is externally connected to the charging port 14. Figure 4 , can be moved to the charging pile 15 for charging, and a radar 11 of model mid360 is provided on the top plate 106, and the radar 11 is electrically connected to the controller 8. The arrangement of the radar 11 realizes the navigation and obstacle avoidance of the robot.

Claims

1. A multi-wheel drive inspection robot, characterized in that: The invention comprises a base (1), wherein a mechanical arm (2) is mounted on the base (1) and can be fixed at multiple positions along the length direction of the base (1); The base (1) comprises a frame body (101) which is arranged in a rectangular shape. Two connecting beams (102) are symmetrically arranged in the frame body (101) along the length direction, and a plurality of reinforcing beams (103) are respectively arranged between the two connecting beams (102) and the frame body (101). A mounting plate (104) is provided in the space between the four outermost reinforcement beams (103) and the frame body (101); a servo motor (3) is mounted on the mounting plate (104) and has a built-in encoder; an output end of the servo motor (3) faces downward and passes through the mounting plate (104) to be connected to a wheel assembly (4); A support plate (111) is provided between any one of the connecting beams (102) and the upper end of the frame body (101), and an industrial control computer (7) and a controller (8) are provided on the support plate (111), the industrial control computer (7) and the controller (8) are electrically connected, and the controller (8) is electrically connected to the robotic arm (2), the servo motor (3) and the hub motor (44) respectively; The frame body (101) is provided with protective plates (105) on all sides, and the upper ends of the protective plates (105) are connected to a top plate (106). A radar (11) is provided on the top plate (106), and the radar (11) is electrically connected to a controller (8).

2. The multi-wheel drive inspection robot according to claim 1, characterized in that: The bottom of the mechanical arm (2) is connected to a bottom plate (5), and the bottom plate (5) can slide along the length direction of the top plate (106) and is fixed to the top plate (106) by bolts (6).

3. The multi-wheel drive inspection robot according to claim 2, characterized in that: Two supporting beams (107) are installed on the two connecting beams (102), and two mounting grooves (108) are opened on the top plate (106), and the two mounting grooves (108) are respectively aligned with the two supporting beams (107) in the vertical direction; Two slide bars (109) are installed at the bottom of the base plate (5) and are respectively slidably matched with the two mounting grooves (108). A plurality of mounting holes (110) are provided on the support beam (107) along the length direction, and the bolts (6) pass through the base plate (5) and the slide bars (109) and are matched with the mounting holes (110).

4. The multi-wheel drive inspection robot according to claim 1, characterized in that: The wheel assembly (4) comprises a bogie (41), the top of the bogie (41) is connected to the output end of the servo motor (3) via a torque transmission shaft (42), the bottom of the bogie (41) is connected to a moving wheel (43), and the moving wheel (43) is driven to rotate by a hub motor (44).

5. The multi-wheel drive inspection robot according to claim 1, characterized in that: The bottoms of the two connecting beams (102) are connected to a protective shell (9), and a battery (10) is provided in the protective shell (9). The battery (10) is electrically connected to the robot arm (2), the servo motor (3), the hub motor (44), the industrial computer (7), and the controller (8), respectively.

6. The multi-wheel drive inspection robot according to claim 1, characterized in that: The top plate (106) is provided with a start button (12) and an emergency stop button (13), which are electrically connected to the controller (8) respectively.

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