Chassis structure of inspection robot

Abstract

The utility model relates to an inspection robot chassis structure which is characterized in that the inspection robot chassis structure comprises a chassis box body and crawler belt mechanisms arranged on the two side portions of the chassis box body, each crawler belt mechanism comprises a crawler belt, a driving wheel driving the crawler belt to move and a guide wheel used for guiding the crawler belt, and at least one guide wheel is a tensioning wheel capable of adjusting the tightness degree of the crawler belt. According to the working principle of the chassis structure of the inspection robot, the crawler mechanisms are arranged on the two sides of the chassis box body, the crawler is driven by the driving wheels to move forwards, meanwhile, the crawler is guided through the guide wheels, and in addition, the tightness of the crawler is adjusted through the adjustment of the tensioning wheels; the inspection robot can work in a complex ground environment, the problems of slipping and unstable running are solved, the ditch crossing capacity of getting on and off an elevator is high in the ground environment with an overhead layer, and the problem that chassis wheels are clamped in gaps of an elevator car in the prior art is solved.

Description

Technical Field

[0001] The utility model relates to a mechanism of an inspection robot, in particular to a chassis structure of the inspection robot. Background Art

[0002] Inspection robots are used for inspection, security, alarm and other tasks in various complex environments such as logistics centers, factories, airports, and substations.

[0003] Currently, inspection robots are used in scenarios where the road surface is relatively flat, usually cement floors or painted floors. Inspection robots used on these floors can use a wheeled chassis. However, for inspection robots in poultry breeding sites, due to the complex ground conditions in poultry breeding sites, especially floors with elevated floors, inspection robots need to take industrial elevators to go up and down, and the elevated floors are made of steel grids. The current wheeled chassis are prone to slipping, instability, poor ditch crossing ability and other problems when operating in these scenarios.

[0004] For example, the invention applied for by the applicant in 2021, named "Base connection structure of video monitoring equipment", with announcement number CN217428253U, includes a movable base and a fixed frame arranged on the movable base, and the fixed frame includes a chassis and two vertical columns fixed vertically on the chassis. A cross brace is provided on the two vertical columns parallel to and close to the chassis, and a through groove is provided in the middle of the cross brace. The two vertical columns are fixed on the inner periphery of the through groove. The design of the traveling wheels under the chassis of this patent is unreasonable, which makes it easy to slip, be unstable, and have poor ditch crossing ability when running in poultry breeding places. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a chassis structure for an inspection robot, which has a reasonable design and is conducive to improving the stability of the inspection robot's operation and facilitating the adjustment of the track tightness.

[0006] The utility model provides a chassis structure of an inspection robot, which is characterized by comprising a chassis box and a crawler mechanism arranged on both sides of the chassis box, wherein the crawler mechanism comprises a crawler, a driving wheel for driving the crawler to move, and a guide wheel for guiding the crawler, wherein at least one guide wheel is a tensioning wheel capable of adjusting the tightness of the crawler.

[0007] Preferably, a fixing block is installed on the inner wall surface of the above-mentioned chassis box body, and a guide groove is provided on the fixing block. The part of the axle of the tensioning wheel that penetrates into the chassis box body is provided with a sliding sleeve that can slide and cooperate with the guide groove to limit the position, and a threaded hole is provided in the sliding sleeve. The fixing block and the front wall panel of the chassis box body are provided with a channel coaxial with the threaded hole, and a bolt that can only rotate but not move axially is passed through the channel, and the head of the bolt extends out of the chassis box body to facilitate rotation adjustment, and the bolt is threadedly connected to the threaded hole.

[0008] Preferably, the inner end of the axle of the tensioning wheel is provided with an external thread, and the external thread is threadedly connected to a nut whose end face presses against the side surface of the fixing block.

[0009] Preferably, there are three guide wheels, namely the first guide wheel, the second guide wheel and the third guide wheel, wherein the first guide wheel is a tensioning wheel, the second guide wheel and the third guide wheel are horizontally arranged, and the vertical distance between the upper edge of the first guide wheel and the lower edge of the second guide wheel or the third guide wheel is equal to the diameter of the driving wheel.

[0010] Preferably, a window for taking out and placing batteries is provided on the front wall panel of the chassis box, and a detachable connecting window panel is installed on the window. A battery mounting rack for fixing batteries is provided inside the chassis box, and a pull-out opening of the mounting rack faces the window.

[0011] Preferably, an anti-collision strip sensor is provided below the front wall panel of the above-mentioned chassis box body, and the anti-collision strip sensor is installed on the anti-collision positioning frame, and the anti-collision positioning frame includes a first mounting strip and a second groove-shaped strip vertically fixed on both sides of the first mounting strip, the inner side edge of the anti-collision strip sensor is inserted into the groove bottom of the first mounting strip, and a channel for the wire of the anti-collision strip sensor to pass through is formed between the groove bottom of the second groove-shaped strip and the side of the first mounting strip, and the outer end of the second groove-shaped strip has an inclined plate piece for closing the outer end of the channel, and the end of the inclined plate piece abuts the side of the anti-collision strip sensor.

[0012] Preferably, a U-shaped diagonal support plate is fixedly installed on the outer side of the above-mentioned second groove-shaped strip, a through hole is provided on the first mounting strip, a screw for locking the anti-collision strip sensor is passed through the through hole, and a screw hole is provided on the U-shaped diagonal support plate, and the U-shaped diagonal support plate is threadedly fixed to the front wall panel of the chassis box by a screw passing through the screw hole.

[0013] The working principle of the chassis structure of the inspection robot of the utility model is that a crawler mechanism is arranged on both sides of the chassis box, and the crawler realizes the moving action under the drive of the driving wheel, and the guidance of the crawler is realized by the guide wheel. In addition, the tightness of the crawler is adjusted by adjusting the tensioning wheel, so that the inspection robot can work in a complex ground environment without the problem of slipping and unstable operation. Moreover, in a ground environment with an overhead floor, the cross-ditch ability of the upper and lower elevators is strong, avoiding the problem of the chassis wheels being stuck in the gap of the elevator car in the past. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a three-dimensional image from one perspective of the inspection robot;

[0015] Figure 2 This is a stereoscopic image from another perspective of the inspection robot;

[0016] Figure 3 It is a cross-sectional perspective view of the chassis structure;

[0017] Figure 4 It is an exploded view of the tensioner, shaft, fixed block, etc.

[0018] Figure 5 This is an exploded view of the connections of the anti-collision bar sensor, etc.

[0019] Figure 6 yes Figure 2 A partial view of

[0020] Figure 7 yes Figure 3 A partial view of the . DETAILED DESCRIPTION

[0021] To make the above features and advantages of the present invention more clearly understood, embodiments are given below with reference to the accompanying drawings for detailed description, but the present invention is not limited thereto.

[0022] The chassis structure of the inspection robot of the present invention includes a chassis box A1 and a track mechanism A2 arranged on both sides of the chassis box A1. The chassis box A1 is a rigid box. The track mechanism A2 includes a track A3, a driving wheel A4 that drives the track to move, and a guide wheel A5 for guiding the track, at least one of which is a tensioning wheel A6 that can adjust the tightness of the track.

[0023] By arranging crawler mechanisms on both sides of the chassis box, the crawlers realize the moving motion under the drive of the driving wheel, and the guidance of the crawlers is realized by the guide wheel. In addition, the tightness of the crawlers is adjusted by adjusting the tensioning wheel, so that the inspection robot can work in complex ground environments without slipping or unstable operation. In the ground environment with an overhead floor, the cross-ditch ability of the upper and lower elevators is strong, avoiding the problem of the chassis wheels getting stuck in the gap of the elevator car in the past.

[0024] A fixed block A7 close to the tensioning wheel A6 is installed on the inner wall surface of the above-mentioned chassis box A1, and the fixed block is provided with a guide groove A8. The length direction of the guide groove A8 is consistent with the tensioning adjustment direction of the tensioning wheel A6. The part of the wheel axle A9 of the tensioning wheel A6 that penetrates into the chassis box body is fixed with a sliding sleeve A10 that can slide and cooperate with the guide groove to limit the position, wherein the tensioning wheel A6 and the wheel axle A9 are coaxially sleeved and can rotate relative to each other. The sliding sleeve A10 is fixedly connected to the wheel axle A9 or made into one piece, and a threaded hole A11 is opened in the sliding sleeve, and the threaded hole A11 is perpendicular to the axis of the wheel axle A9.

[0025] A hole A27 coaxial with the threaded hole A11 is provided on the fixed block A7 and the front wall panel A26 of the chassis box, and a bolt A12 which can only rotate but not move axially is passed through the hole. The bolt A12 can only rotate but not move axially. Two limiting grooves can be provided on the bolt A12, and a retaining ring is clamped in the limiting groove. The retaining ring is placed on the inner and outer side surfaces of the front wall panel A26, so that the bolt A12 can only rotate but not move axially.

[0026] The bolt A12 is threadedly connected to the threaded hole A11, and the bolt A12 and the sleeve A10 form a screw-nut mechanism. The head of the bolt extends out of the chassis box. When in use, the operator rotates the head of the bolt, and the rotation of the bolt A12 drives the sleeve A10 to move axially in the guide groove A8, thereby driving the wheel axle A9 and the tensioning wheel A6 to move along the length direction of the guide groove A8, thereby realizing the tension adjustment of the track by the tensioning wheel A6.

[0027] In order to ensure the stability and reliability of the tensioning wheel A6 after adjustment, the inner end of the axle A9 of the above-mentioned tensioning wheel is provided with an external thread, and the external thread is threadedly connected to a nut A13 whose end face is pressed against the side of the fixed block. By tightening the nut, the axle A9 and the tensioning wheel A6 can be stably fastened in the corresponding positions.

[0028] The above-mentioned guide wheels A5 have three, namely the first guide wheel, the second guide wheel and the third guide wheel, among which the first guide wheel is a tensioning wheel, the second guide wheel and the third guide wheel are arranged horizontally, and the vertical distance between the upper edge of the first guide wheel and the lower edge of the second guide wheel or the third guide wheel is equal to the diameter of the driving wheel, and the guidance limit of the crawler track is achieved through the guidance of the second guide wheel or the third guide wheel.

[0029] In order to facilitate the installation and removal of the battery, a window A15 for taking and placing the battery A14 is opened on the front wall panel A26 of the above-mentioned chassis box A1, and a detachable connecting window panel A16 is installed on the window. The detachable connecting window panel A16 can be connected to the window by screws or buckles. A battery mounting rack A17 for fixing the battery is provided in the chassis box body. The battery mounting rack A17 can be a rigid rack with a shape comparable to that of the battery. The battery is preferably in a rectangular shape. The battery mounting rack A17 can also be a rectangular shell with an opening on one side to serve as a pull-out for the mounting rack. The opening is opposite to the window. When removing and installing the battery, the detachable connecting window panel A16 is removed, the battery power supply circuit is installed, and the battery is inserted into the battery mounting bracket A17 (the battery mounting bracket A17 may have a fastening buckle or a screw hole for locking the battery to achieve fastening of the battery to the battery mounting bracket A17), and then the detachable connecting window panel A16 is installed. Compared with the existing battery being installed on the bottom surface of the inspection robot (multiple people are required to help lay down the equipment when removing and installing the battery, which is not only easy to be bumped and damaged, but also affects the removal and installation efficiency), the present application greatly facilitates the removal and installation of the battery.

[0030] In order to reduce damage to the circuit of the anti-collision strip sensor A18, an anti-collision strip sensor A18 is provided below the front wall panel A26 of the above-mentioned chassis box A1, and the anti-collision strip sensor is installed on the anti-collision positioning frame A19. The anti-collision positioning frame A19 includes a first mounting bar A20 (which can be a solid bar or a groove bar) and a second grooved plate A21 vertically fixed (welded and fixed) on both sides of the first mounting bar. The first mounting bar A20 can be a solid bar or a groove bar, and the second grooved plate A21 is a channel steel. The side portion of the first mounting bar A20 in the longitudinal direction is used to install the longitudinal direction portion of the anti-collision strip sensor A18, and the second grooved plate A21 is used to install the width direction portion that wraps the anti-collision strip sensor A18.

[0031] The inner side of the anti-collision strip sensor A18 is fixed to one side of the first mounting strip, and a channel A22 for the wires of the anti-collision strip sensor to pass through is formed between the bottom of the second groove-shaped strip and the side of the first mounting strip. The outer end of the second groove-shaped strip is provided with an inclined plate A23 for closing the outer end of the channel, and the end of the inclined plate abuts the side of the anti-collision strip sensor; through the channel A22 and the above structure, the wires of the anti-collision strip sensor can be kept from being exposed, thereby preventing the exposed wires from being damaged by being gnawed by mice.

[0032] A U-shaped diagonal support plate A29 is welded and fixedly installed on the outer side of the above-mentioned second groove-shaped strip. A through hole A24 is provided on the first mounting strip, and a screw for locking the anti-collision strip sensor is passed through the through hole. A screw hole A25 is provided on the U-shaped diagonal support plate, and the U-shaped diagonal support plate is threadedly connected and fixed to the front wall panel A26 of the chassis box by screws passing through the screw holes.

[0033] In order to realize the lifting and lowering of the camera assembly of the inspection robot, the upper surface of the above-mentioned chassis box A1 is provided with a base plate A27 and a lifting structure of the inspection robot camera assembly provided on the upper surface of the base plate. The bottom surface of the base plate A27 is flat, and the upper surface of the chassis box A1 is also flat, so that the base plate A27 and the chassis box A1 can be locked by screws, thereby facilitating the detachable connection between the base plate A27 and the chassis box A1. In addition, 2-4 handles A28 are provided on the base plate A27 to facilitate lifting the base plate as a whole and separating it from the chassis box A1, thereby facilitating the maintenance of the chassis box A1, or the maintenance of the lifting structure or control equipment above the chassis box A1.

[0034] The working principle of the chassis structure of the inspection robot of the utility model is that a crawler mechanism is arranged on both sides of the chassis box, and the crawler realizes the moving action under the drive of the driving wheel, and the guidance of the crawler is realized by the guide wheel. In addition, the tightness of the crawler is adjusted by adjusting the tensioning wheel, so that the inspection robot can work in a complex ground environment without the problem of slipping and unstable operation. Moreover, in a ground environment with an overhead floor, the cross-ditch ability of the upper and lower elevators is strong, avoiding the problem of the chassis wheels being stuck in the gap of the elevator car in the past.

[0035] The above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A chassis structure of an inspection robot, characterized by: The camshaft is connected to the chassis box body by a plurality of movable parts, and the movable parts are connected to the movable parts in a plurality of movable parts.

2. The inspection robot chassis structure according to claim 1, characterized in that: An external thread is provided at the inner end of the wheel shaft of the tensioning wheel, and a nut with an end face pressed against the side surface of the fixing block is threadedly connected to the external thread.

3. The inspection robot chassis structure according to claim 1 or 2, characterized in that: There are three guide wheels, namely the first guide wheel, the second guide wheel and the third guide wheel, wherein the first guide wheel is a tensioning wheel, the second guide wheel and the third guide wheel are arranged horizontally, and the vertical distance between the upper edge of the first guide wheel and the lower edge of the second guide wheel or the third guide wheel is equal to the diameter of the driving wheel.

4. The inspection robot chassis structure according to claim 1 or 2, characterized in that: A window for taking out and placing batteries is provided on the front wall panel of the chassis box, and a detachable connecting window panel is installed on the window. A battery mounting rack for fixing batteries is provided inside the chassis box, and a pull-out opening of the mounting rack faces the window.

5. The inspection robot chassis structure according to claim 1 or 2, characterized in that: An anti-collision strip sensor is provided below the front wall panel of the chassis box, and the anti-collision strip sensor is installed on the anti-collision positioning frame. The anti-collision positioning frame includes a first mounting strip and a second grooved strip vertically fixed to both sides of the first mounting strip. The inner side edge of the anti-collision strip sensor is inserted into the groove bottom of the first mounting strip, and a channel for the wire of the anti-collision strip sensor to pass through is formed between the groove bottom of the second grooved strip and the side of the first mounting strip. The outer end of the second grooved strip is provided with an inclined plate for closing the outer end of the channel, and the end of the inclined plate abuts the side of the anti-collision strip sensor.

6. The inspection robot chassis structure according to claim 5, characterized in that: A U-shaped diagonal support plate is fixedly installed on the outer side of the second groove-shaped strip, a through hole is provided on the first mounting strip, a screw for locking the anti-collision strip sensor is passed through the through hole, a screw hole is provided on the U-shaped diagonal support plate, and the U-shaped diagonal support plate is threadedly fixed to the front wall panel of the chassis box by screws passing through the screw holes.

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