Wheel type crawling detection robot

Abstract

The utility model relates to a wheel type crawling detection robot which comprises a connecting module, the connecting module comprises a base and stabilizing wheel assemblies installed on the two sides of the base, and the stabilizing wheel assemblies are the first stabilizing wheel assembly and the second stabilizing wheel assembly respectively. The first stabilizing wheel assembly and the second stabilizing wheel assembly are located on the two sides of the base in the first direction correspondingly. The first driving wheel assembly and the second driving wheel assembly are installed on the two sides, in the second direction, of the base correspondingly; the first driving wheel assembly and the second driving wheel assembly each comprise a steering driving device connected with the base, a steering frame connected with the steering driving device, a magnetic wheel connected with the steering frame and a walking driving device for driving the magnetic wheel to rotate, and the first direction is perpendicular to the second direction. The two magnetic wheels can reach the inner angle in sequence, through the mutual push-pull effect of the two magnetic wheels, the magnetic hindrance can be overcome, transition of the inner angle is achieved, and therefore the better inner angle transition capacity is achieved.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a wheeled crawling detection robot. Background Art

[0002] Wheeled crawling inspection robots are a special type of robot capable of traversing vertical or near-vertical surfaces. These robots typically utilize magnetic attachment technology to achieve stable movement along walls, ceilings, or other smooth vertical surfaces. Wheeled magnetic wall-climbing robots can perform tasks in dangerous or hard-to-reach areas, reducing risks to personnel, particularly at height or in hazardous environments. These robots are often customizable for different tasks and applications. They can be equipped with a variety of sensors, tools, and equipment to meet specific needs. Their wheeled design makes them highly portable and deployable, allowing them to quickly reach the task location when needed.

[0003] Chinese patent publication number CN113525558A discloses a wheeled robot comprising a connection module and a powered wheel assembly. The connection module comprises a base, and stabilizing wheel assemblies mounted on either side of the base, namely a first stabilizing wheel assembly and a second stabilizing wheel assembly. The first and second stabilizing wheel assemblies each comprise a transmission mechanism, casters connected to the transmission mechanism, and a drive motor that drives the transmission mechanism to extend or retract. When the transmission mechanism is extended, the casters extend outward; when the transmission mechanism is retracted, the casters retract to within the diameter of the powered wheel assembly. The stabilizing wheel assemblies enable the wheeled robot to maintain its posture even when stopped, without consuming additional energy.

[0004] However, the above-mentioned wheeled robot is a two-wheel differential robot, and its inner corner transition capability is relatively weak. For example, when realizing the transition of an inner 90° angle, the two magnetic wheels of the two-wheel differential robot will be adsorbed on the two wall surfaces at the same time, and the adsorption force of the magnetic wheels on the two wall surfaces is the same. Therefore, the forward force provided by the friction force of the magnetic wheels cannot overcome the effect of the magnetic force and cannot pass the inner corner. Instead, it will be adsorbed at the inner corner and cannot move. Utility Model Content

[0005] The purpose of the present utility model is to solve the problem of weak inner corner transition capability of the above-mentioned wheeled robot and to provide a wheeled crawling detection robot with better inner corner transition capability.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0007] A wheeled crawling detection robot includes a connecting module, which includes a base, stabilizing wheel assemblies installed on both sides of the base, namely a first stabilizing wheel assembly and a second stabilizing wheel assembly; the first stabilizing wheel assembly and the second stabilizing wheel assembly are respectively located on both sides of the base in a first direction; and further includes a first driving wheel assembly and a second driving wheel assembly respectively installed on both sides of the base in a second direction; the first driving wheel assembly and the second driving wheel assembly both include a steering drive device connected to the base, a bogie connected to the steering drive device, a magnetic wheel connected to the bogie, and a walking drive device that drives the magnetic wheel to rotate, and the first direction and the second direction are perpendicular to each other.

[0008] In the above technical solution, the magnetic wheel can be adsorbed on the wall or curved surface, the walking drive device drives the magnetic wheel to rotate so that the robot can move, and the steering drive device can drive the magnetic wheel and the walking drive device to turn synchronously, so that the first drive wheel assembly and the second drive wheel assembly can each have different steering directions, which can flexibly control the movement direction of the robot. The combination of the two can realize omnidirectional movement on walls and curved surfaces.

[0009] When the robot moves laterally, the axes of the magnetic wheels are parallel to the second direction. The first and second stabilizing wheel assemblies provide stable support, preventing the robot from tipping over during movement. When the robot is stopped, regardless of the orientation of the magnetic wheel axes, the first and second stabilizing wheel assemblies provide stable support, allowing the robot to carry a greater load. When navigating an inner corner, the first and second drive wheel assemblies reach the inner corner one after the other. The magnetic wheel that first contacts the opposite surface at the inner corner is then attracted by the magnetic forces of the two walls. The following magnetic wheel then continues to provide driving force. The combined force of the magnetic force exerted on the opposite surface and the propulsion force of the following magnetic wheel creates a positive pressure force on the magnetic wheels in contact with the two surfaces. This increases the friction between the first magnetic wheel in contact with both surfaces and the wall. This increased friction prevents the wheel from leaving the plane and provides more stable travel. Therefore, the robot can effectively achieve inner corner transitions during this process.

[0010] Preferably, the bogie includes a horizontal member and a vertical member connected to one end of the horizontal member, and the end of the horizontal member remote from the vertical member is connected to the output end of the steering drive device. To improve the balance of the robot, the horizontal portion of the bogie is extended to one side by a distance sufficient to avoid the installation space for the magnetic wheel, so that the center of the magnetic wheel in the radial direction is close to or aligned with the centerline of the base.

[0011] Preferably, the axis of the magnetic wheel is parallel to the first direction, and the magnetic wheel is located within the projection coverage of the base in the second direction, or the base is located within the projection coverage of the magnetic wheel in the second direction. In these cases, the robot's center of gravity is located at the base, which can improve the robot's balance and make driving more stable. If the projection range of the magnetic wheel and the base only partially overlap, the robot's center of gravity is likely to be located outside the base, resulting in poor balance of the robot.

[0012] Preferably, the travel drive device includes a power motor; the magnetic wheel includes a magnetic ring mounted on the output shaft of the power motor and friction rings located on either side of the magnetic ring. The magnetic rings cause the magnetic wheel to adhere to the walking surface, and the power motor then drives the magnetic rings and friction rings to rotate, enabling the robot to travel on the walking surface.

[0013] Preferably, the steering drive device is a steering gear, which can accurately control the angle of rotation, thereby facilitating the first drive wheel assembly and the second drive wheel assembly to rotate to different angles according to the requirements of the driving route.

[0014] Preferably, the steering drive device is connected to the base via a mounting bracket.

[0015] Preferably, the first drive wheel assembly and the second drive wheel assembly are symmetrically distributed on both sides of the base with the center of the base as the reference point. When transitioning the inner angle, the driving force value of the rear magnetic wheel must increase the positive pressure of the front magnetic wheel. If the arrangement is symmetrical, the positive pressure of the front magnetic wheel itself and the driving force of the magnetic wheel can be on the same line, so that the positive pressure of the front magnetic wheel reaches the maximum, that is, the increase in friction force reaches the best state. At the same time, the distance between the first drive wheel assembly and the second drive wheel assembly and the base is also the same. During control, the operation control logic of the first drive wheel assembly and the second drive wheel assembly can be consistent, and there is no need to have different control parameters due to different distances from the base, making control simpler.

[0016] Preferably, the first drive wheel assembly and the second drive wheel assembly have the same structure, the two sides of the base can be balanced, and the driving balance is better.

[0017] Preferably, the vehicle further includes a controller module, the controller module being mounted on the top surface of the base and near or located at the center of the base; the controller module being electrically connected to the steering drive device, the travel drive device, the first stabilizing wheel assembly, and the second stabilizing wheel assembly. The controller module sends control signals to control the steering drive device, the travel drive device, the first stabilizing wheel assembly, and the second stabilizing wheel assembly.

[0018] Preferably, a camera detection module is further installed on the base. The camera detection module is used to collect image data during the working process, and the camera detection module is electrically connected to the controller module.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: the two magnetic wheels will reach the inner corner one after another, and through the mutual push-pull action of the two magnetic wheels, the magnetic obstruction can be overcome to achieve the transition of the inner corner, thereby having better inner corner transition capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural diagram of a wheeled crawling inspection robot of the present invention;

[0021] Figure 2 Schematic diagram of the wheeled crawling inspection robot moving in various directions according to the present invention;

[0022] Figure 3 This is a schematic diagram of a wheeled crawling inspection robot moving on the outer wall of a circular tube according to the present invention;

[0023] Figure 4 This is a schematic diagram of a wheeled crawling inspection robot moving on the inner wall of a circular tube;

[0024] Figure 5 This is a schematic diagram of a wheeled crawling inspection robot of the present invention in contact with an inner corner;

[0025] Figure 6 This is a schematic diagram of a wheeled crawling inspection robot in a transition inner corner according to the present invention;

[0026] Figure 7 This is a schematic diagram of a wheeled crawling inspection robot of the present invention when completing the transition inner angle;

[0027] Figure 8 This is a structural schematic diagram of another embodiment of a wheeled crawling inspection robot of the present invention. DETAILED DESCRIPTION

[0028] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different perspectives and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended solely to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0029] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. Therefore, the drawings only show components related to the present invention and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0030] Example 1

[0031] like Figure 1 The figure shows an embodiment 1 of a wheeled crawling detection robot, including a connecting module 1, which includes a base 101, stabilizing wheel assemblies 102 installed on both sides of the base 101, which are respectively a first stabilizing wheel assembly and a second stabilizing wheel assembly; the first stabilizing wheel assembly and the second stabilizing wheel assembly are respectively located on both sides of the base 101 in the first direction; and also include a first driving wheel assembly 2 and a second driving wheel assembly 3 respectively installed on both sides of the base 101 in the second direction; the first driving wheel assembly 2 and the second driving wheel assembly 3 both include a steering drive device 4 connected to the base 101, a bogie 5 connected to the steering drive device 4, a magnetic wheel 6 connected to the bogie 5, and a walking drive device 7 for driving the magnetic wheel 6 to rotate, and the first direction and the second direction are perpendicular to each other. The specific structure of the connecting module 1 is consistent with the structure of the Chinese patent with publication number CN113525558A, and will not be described in detail here. In this embodiment,

[0032] Specifically, the bogie 5 includes a horizontal member 501 and a vertical member 502 connected to one end of the horizontal member 501. The end of the horizontal member 501 away from the vertical member 502 is connected to the output end of the steering drive device 4. To improve the balance of the robot, the horizontal portion of the bogie 5 is extended to one side by one end to avoid the installation space of the magnetic wheel 6. The axis of the magnetic wheel 6 is parallel to the first direction, and the center of the magnetic wheel 6 in the radial direction is close to the center line of the base 101 or is aligned with the center line of the base 101. In this embodiment, based on the fact that the center of the magnetic wheel 6 in the radial direction is close to the center line of the base 101 or is aligned with the center line of the base 101, the magnetic wheel 6 is located within the projection coverage of the base 101 in the second direction, so that the center of gravity of the robot is located at the base 101, which can improve the balance of the robot and make its driving more stable. Of course, in other embodiments, the projection ranges of the magnetic wheel 6 and the base 101 only partially overlap, but the center of the magnetic wheel 6 in the radial direction is close to the center line of the base 101. However, this structure will make the robot less balanced.

[0033] Furthermore, the walking drive device 7 includes a power motor; the magnetic wheel 6 includes a magnetic ring 601, both mounted on the output shaft of the power motor, and friction rings 602, respectively, located on either side of the magnetic ring 601. The magnetic ring 601 causes the magnetic wheel 6 to adhere to the walking surface, and then the power motor drives the magnetic ring 601 and friction ring 602 to rotate, enabling the robot to walk on the walking surface. In this embodiment, the outer diameter of the magnetic ring 601 is smaller than the outer diameter of the friction ring 602, which may be made of rubber. The smaller outer diameter of the magnetic ring 601 allows it to directly contact the walking surface, thereby not affecting the robot's movement.

[0034] In this embodiment, preferably, the steering drive device 4 is connected to the base 101 via a mounting bracket. The steering drive device 4 can be a motor such as a steering gear, a servo motor or a stepping motor that can accurately control the rotation angle.

[0035] The working principle of this embodiment is as follows: the magnetic wheel 6 can be adsorbed on a wall or a curved surface, the travel drive device 7 drives the magnetic wheel 6 to rotate so that the robot can move, and the steering drive device 4 can drive the magnetic wheel 6 and the travel drive device 7 to turn synchronously, so that the first drive wheel assembly 2 and the second drive wheel assembly 3 can each have a different steering direction, which can flexibly control the movement direction of the robot. The combination of the two can achieve omnidirectional movement on walls and curved surfaces.

[0036] like Figure 2 The figure shows that the robot is traveling in different directions. When traveling horizontally, that is, in the first direction as shown in the figure, that is, in the Y direction, the first drive wheel assembly 2 and the second drive wheel assembly 3 both make the axis of the magnetic wheel 6 perpendicular to the first direction through their respective steering drive devices 4, and the driving direction is parallel to the first direction. The power motor drives the friction ring 602 to rotate, and the robot can move in the first direction.

[0037] When turning, the front magnetic wheel 6 is required to move and steer in the second direction, which is the X direction as shown in the figure. In this embodiment, the first drive wheel assembly 2 is located in the front. The steering mechanism 4 of the first drive wheel assembly 2 drives the bogie 5 to steer the robot. The principle of diagonal movement is similar to that of lateral movement, except that the magnetic wheel 6 must be rotated to a specific angle with the first direction, depending on the direction of movement.

[0038] like Figure 3The robot is shown transitioning between two vertical steel pipes, with the first drive wheel assembly 2 acting as the front wheel. Based on the aforementioned robot turning principle, after the first drive wheel assembly 2 passes, the second drive wheel assembly 3 continues to move in the direction of the steel pipe, causing the robot to rotate and continue its transition. When the second drive wheel assembly 3 reaches the transition point, i.e., the turning position, it also rotates like the first drive wheel assembly 2. Throughout this process, the magnetic ring 601 maintains a tight bond with the steel pipe wall, preventing it from separating.

[0039] like Figure 4 and 5 The figure shows a schematic diagram of the robot moving inside and outside a circular pipe. Under the adsorption effect of the magnetic ring 601, the robot can move in any direction on the outer wall or inner wall of the pipe according to the above-mentioned movement method.

[0040] like Figure 6-7 The figure shows the state change of the robot transitioning to the inner corner. In this embodiment, the first driving wheel assembly 2 first reaches the inner corner. At this time, the magnetic wheel 6 of the first driving wheel assembly 2 is called the first magnetic wheel 6 for the convenience of description. The first magnetic wheel 6 is subjected to the magnetic attraction of two walls, which are a vertical wall and a horizontal wall respectively. Then the magnetic wheel 6 of the second driving wheel assembly 3 is called the second magnetic wheel 6 for the convenience of description. The second magnetic wheel 6 continues to provide driving force. Under the combined action of the magnetic force of the vertical wall and the driving force of the second magnetic wheel 6, the combined force constitutes the positive pressure of the friction force of the first magnetic wheel 6, which increases the friction between the first magnetic wheel 6 and the wall. After the friction is increased, it is not easy to leave the plane and the driving is more stable, so that the first driving wheel assembly 2 leaves the horizontal wall and enters the vertical wall. Driven by the first driving wheel assembly 2, the second driving wheel assembly 3 also follows and enters the vertical wall through its own driving force and adsorption force. In this process, the robot can better realize the function of inner angle transition.

[0041] In addition, when the robot stops, no matter what direction the axis of the magnetic wheel 6 is in, the first stabilizing wheel assembly and the second stabilizing wheel assembly can provide stable support so that the robot can carry a larger load.

[0042] The beneficial effects of this embodiment include utilizing the first and second drive wheel assemblies 2 and 3 to achieve different angles of rotation, enabling good adaptability to surfaces such as steel pipes and enabling movement in any direction. When transitioning to an interior corner, the two magnetic wheels 6 will reach the interior corner one after another. The mutual push-pull interaction between the two magnetic wheels overcomes magnetic resistance and enables transition to the interior corner, thus providing improved interior corner transition capabilities.

[0043] Example 2

[0044] Embodiment 2 of a wheeled crawling inspection robot differs from embodiment 1 in that it further includes a controller module 8, which is mounted on the top surface of a base 101 and is near or located at the center of the base 101. The controller module 8 is electrically connected to the steering drive device 4, the travel drive device 7, the first stabilizing wheel assembly, and the second stabilizing wheel assembly. The controller module 8 sends control signals to control the drive motors of the steering drive device 4, the travel drive device 7, and the first and second stabilizing wheel assemblies. The control module includes a controller and a power supply, which provides power to the controller, the steering drive device 4, the travel drive device 7, and the drive motors in the first and second stabilizing wheel assemblies.

[0045] In this embodiment, a fixing frame is mounted on the top surface of the base 101, and the controller module 8 is mounted on the bottom surface of the fixing frame, located between the top surface of the base 101 and the bottom surface of the fixing frame. In other embodiments, the controller module 8 can also be mounted on the top surface of the fixing frame.

[0046] The remaining features and technical effects of this embodiment are consistent with those of Example 1.

[0047] Example 3

[0048] like Figure 8 The figure shows an embodiment 3 of a wheeled crawling detection robot. The difference from embodiment 2 is that a camera detection module 9 is also installed on the base 101 for collecting image data during the working process. The camera detection module 9 is electrically connected to the controller module 8.

[0049] The remaining features and technical effects of this embodiment are consistent with those of Example 1 or Example 2.

[0050] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or modification made by those skilled in the art based on the present invention shall fall within the protection scope of the present invention.

Claims

1. A wheeled crawling detection robot, comprising a connection module (1), wherein the connection module (1) comprises a base (101), and stabilizing wheel assemblies (102) mounted on both sides of the base (101), which are respectively a first stabilizing wheel assembly and a second stabilizing wheel assembly; the first stabilizing wheel assembly and the second stabilizing wheel assembly are respectively located on both sides of the base (101) in a first direction; and characterized in that: The invention also includes a first drive wheel assembly (2) and a second drive wheel assembly (3) respectively mounted on both sides of the base (101) in the second direction; the first drive wheel assembly (2) and the second drive wheel assembly (3) each include a steering drive device (4) connected to the base (101), a bogie (5) connected to the steering drive device (4), a magnetic wheel (6) connected to the bogie (5), and a travel drive device (7) for driving the magnetic wheel (6) to rotate, wherein the first direction and the second direction are perpendicular to each other.

2. A wheeled crawling detection robot according to claim 1, characterized in that: The bogie (5) comprises a horizontal member (501) and a vertical member (502) connected to one end of the horizontal member (501); one end of the horizontal member (501) away from the vertical member (502) is connected to the output end of the steering drive device (4).

3. A wheeled crawling detection robot according to claim 2, characterized in that: When the axis of the magnetic wheel (6) is in a state parallel to the first direction, the magnetic wheel (6) is located within the projection coverage of the base (101) in the second direction, or the base (101) is located within the projection coverage of the magnetic wheel (6) in the second direction.

4. A wheeled crawling inspection robot according to claim 1, characterized in that: The travel drive device (7) includes a power motor; the magnetic wheel (6) includes a magnetic ring (601) mounted on the output shaft of the power motor and friction rings (602) located on both sides of the magnetic ring (601).

5. The wheeled crawling inspection robot according to claim 1, characterized in that: The steering drive device (4) is a steering gear.

6. The wheeled crawling inspection robot according to claim 1, characterized in that: The steering drive device (4) is connected to the base (101) via a mounting frame.

7. A wheeled crawling inspection robot according to any one of claims 1 to 6, characterized in that: The first driving wheel assembly (2) and the second driving wheel assembly (3) are symmetrically distributed on both sides of the base (101) with the center of the base (101) as a reference point.

8. The wheeled crawling detection robot according to claim 7, characterized in that: The first driving wheel assembly (2) and the second driving wheel assembly (3) have the same structure.

9. A wheeled crawling inspection robot according to any one of claims 1 to 6, characterized in that: The invention also includes a controller module (8), which is installed on the top surface of the base (101) and close to the center of the base (101) or located at the center of the base (101); the controller module (8) is electrically connected to the steering drive device (4), the travel drive device (7), the first stabilizing wheel assembly and the second stabilizing wheel assembly.

10. The wheeled crawling inspection robot according to claim 9, characterized in that: A camera detection module (9) is also installed on the base (101).

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