Inspection robot

Abstract

The utility model relates to the technical field of robots, and discloses an inspection robot. The inspection robot comprises a box body; the steering bearing is arranged at the bottom of the box body in the height direction of the box body; the switching assembly is arranged on the steering bearing; the driving mechanism is connected with the switching assembly and used for driving the inspection robot to move; and the steering bearing is rotatably connected with at least one of the bottom of the box body and the switching assembly. The moving flexibility and stability of the inspection robot are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, for example to a patrol robot. BACKGROUND

[0002] As a kind of robot that can automatically walk on preset route, patrol robot is gradually replacing traditional manual patrol.For example, in energy industry, patrol robot patrols and inspects equipment, pipeline and facility in power, oil and natural gas and other energy fields, helps to detect and prevent potential leakage, failure and safety problems.

[0003] The working environment of patrol robot is complex, which makes it impossible for patrol robot to only move in straight line during patrol.Therefore, it is crucial to ensure the flexibility of patrol robot movement.

[0004] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present application, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0005] To have a basic understanding of some aspects of the disclosed embodiments, a brief overview is given below.The summary is not an overall description of the application, nor is it intended to determine key / important elements or delineate the scope of the embodiments, but as a prelude to the detailed description below.

[0006] The embodiments of the present disclosure provide a patrol robot, which improves the flexibility and stability of patrol robot movement.

[0007] In some embodiments, a patrol robot is provided, comprising: a box body; a steering bearing arranged at the bottom of the box body in the height direction of the box body; a transfer assembly arranged at the steering bearing; a driving mechanism connected with the transfer assembly and arranged for driving the patrol robot to move; wherein the steering bearing is rotatably connected with at least one of the bottom of the box body and the transfer assembly.

[0008] The patrol robot provided by the embodiments of the present disclosure can achieve the following technical effects:

[0009] In the embodiments of the present disclosure, the steering bearing is rotatably connected with at least one of the bottom of the box body and the transfer assembly, to allow the transfer assembly to rotate relative to the box body.By arranging the steering bearing between the bottom of the box body and the transfer assembly, the movement direction of the patrol robot is flexibly adjusted, and the flexibility and stability of the patrol robot movement are improved.

[0010] The above general description and the following description are only exemplary and explanatory, and are not used to limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0011] One or more embodiments are illustrated by way of example in the figures that are not intended to be limiting of the embodiments so as to illustrate exemplary principles of the embodiments. Like reference numerals refer to like elements throughout the drawings, and the figures are not necessarily to scale, with an emphasis on illustrating exemplary embodiments of the embodiments, where:

[0012] Figure 1 is a structural schematic diagram of a patrol robot provided by an embodiment of the present disclosure;

[0013] Figure 2 is a structural schematic diagram of a patrol robot provided by an embodiment of the present disclosure; Figure 1 is a structural schematic diagram of an enlarged structure at Y in the embodiment shown;

[0014] Figure 3 is a structural schematic diagram of a patrol robot provided by an embodiment of the present disclosure;

[0015] Figure 4 is a bottom view of a patrol robot provided by another embodiment of the present disclosure;

[0016] Figure 5 is a structural schematic diagram of a steering bearing provided by an embodiment of the present disclosure;

[0017] Figure 6 is a structural schematic diagram of a switching assembly provided by an embodiment of the present disclosure;

[0018] Figure 7 is a structural schematic diagram of a reinforcing member provided by an embodiment of the present disclosure;

[0019] Figure 8 is a front view of a patrol robot provided by an embodiment of the present disclosure;

[0020] Figure 9 is a structural schematic diagram of a patrol robot provided by an embodiment of the present disclosure; Figure 8 is a structural schematic diagram of an enlarged structure at X in the embodiment shown;

[0021] Figure 10 is a structural schematic diagram of a track provided by an embodiment of the present disclosure.

[0022] Reference signs:

[0023] 10 patrol robot; 101 box body;

[0024] 402 driving mechanism; 403 front axle assembly; 404 second walking assembly; 405 second transmission member; 406 rear axle assembly; 407 first walking assembly; 408 first transmission member; 409 rotating sleeve; 410 walking wheel; 411 track wheel; 412 abutting portion; 413 walking part; 414 power assembly; 415 driving motor; 416 speed reducer; 417 brake; 424 track; 425 track base; 426 supporting part; 427 bearing part; 428 connecting part; 429 guiding part; 430 controller; 432 adapter mechanism; 449 steering bearing; 433 adapter assembly; 434 adapter plate; 435 steering surface; 436 adapter surface; 437 adapter flange; 438 adapter; 439 first adapter plate body; 440 second adapter plate body; 441 third adapter plate body; 442 clamping piece; 443 first clamping plate; 444 clamping groove; 445 second clamping plate; 446 reinforcing piece; 447 reinforcing plate body; 448 wing part;

[0025] 601 chassis support. DETAILED DESCRIPTION

[0026] In order to enable a more detailed understanding of the features and technical content of the present disclosure, the implementation of the present disclosure is described in detail below, and the attached drawings are used for reference only, and do not limit the present disclosure. In the following technical description, in order to facilitate explanation, through multiple details, a sufficient understanding of the disclosed embodiments is provided. However, one or more embodiments can still be implemented without these details. In other cases, in order to simplify the drawings, well-known structures and devices can be simplified.

[0027] The terms "first", "second", and the like in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0028] In this disclosure, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of the embodiments of this disclosure and their implementations, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to require them to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in the embodiments of this disclosure according to the specific circumstances.

[0029] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0030] Unless otherwise stated, the term "multiple" means two or more.

[0031] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0032] The term "and / or" describes an association between objects, indicating that there can be three relationships. For example, A and / or B means that there are three relationships: A, B, and A and B.

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0034] In some embodiments, combined with Figures 1 to 4 As shown, an inspection robot 10 is provided, including a housing 101, a connecting mechanism 432, and a drive mechanism 402. The connecting mechanism 432 is disposed at the bottom of the housing 101 along the height direction of the housing 101. The drive mechanism 402 is connected to the connecting mechanism 432 and is used to drive the inspection robot 10 to move. In this embodiment, the connecting mechanism 432 is used to connect the bottom of the housing 101 and the drive mechanism 402.

[0035] In some embodiments, the adapter mechanism 432 is detachably connected to the bottom of the box 101. In this embodiment, the adapter mechanism 432 is detachably connected to the bottom of the box 101 to facilitate replacement and maintenance of the driving mechanism 402 when it is damaged, or replacement of the driving mechanism 402 according to the needs of the use environment.

[0036] Optionally, in combination with Figures 1 to 5 As shown, the adapter mechanism 432 includes a steering bearing 449 and an adapter assembly 433. The steering bearing 449 is arranged along the height direction of the box 101 at the bottom of the box 101. The adapter assembly 433 is arranged at the steering bearing 449. The driving mechanism 402 is arranged in connection with the adapter assembly 433 for driving the inspection robot 10 to move. The steering bearing 449 is rotatably connected to at least one of the bottom of the box 101 and the adapter assembly 433.

[0037] In this embodiment, the adapter assembly 433 is used to connect the driving mechanism 402, and the steering bearing 449 is rotatably connected to at least one of the bottom of the box 101 and the adapter assembly 433 to allow the adapter assembly 433 to rotate relative to the box 101. By arranging the steering bearing 449 between the bottom of the box 101 and the adapter assembly 433, the adapter mechanism 432 can flexibly adjust the moving direction of the inspection robot 10, and improve the stability of the inspection robot 10 moving.

[0038] In a specific application, in combination with Figures 3 to 5 As shown, the inspection robot 10 moves on the track 424. The steering bearing 449 allows the adapter assembly 433 to rotate relative to the box 101, so that the inspection robot 10 can easily travel along a curved path, better adapt to the slight changes of the track 424, reduce the bumping feeling caused by the unevenness or deformation of the track 424, and improve the flexibility and stability of the inspection robot 10. In addition, through the steering bearing 449, the driving mechanism 402 can move more smoothly when turning, reducing the friction between the driving mechanism 402 and the track 424 and reducing wear.

[0039] In some embodiments, the steering bearing 449 and the adapter assembly 433 are detachably connected. In this embodiment, the steering bearing 449 and the adapter assembly 433 are detachably connected to facilitate replacement and maintenance of the driving mechanism 402 when it is damaged, or replacement of the driving mechanism 402 according to the needs of the use environment.

[0040] Optionally, in combination with Figure 6As shown, the adapter assembly 433 includes an adapter plate 434, an adapter piece 438, and a clamping piece 442. The adapter plate 434 is disposed on the steering bearing 449. The adapter piece 438 is connected to the adapter plate 434 away from the steering bearing 449. The clamping piece 442 is connected to the adapter piece 438 away from the adapter plate 434, and the clamping piece 442 includes a first clamping plate 443 connected to the driving mechanism 402.

[0041] In this embodiment, the adapter plate 434, the adapter piece 438, and the clamping piece 442 collectively constitute the adapter assembly 433. The adapter plate 434 is used to connect the adapter piece 438 and the steering bearing 449. The clamping piece 442 is used to connect the adapter piece 438 and the driving mechanism 402. Through the adapter plate 434, the adapter piece 438, and the clamping piece 442, the steering bearing 449 and the driving mechanism 402 are stably connected.

[0042] In some embodiments, the steering bearing 449 and the adapter plate 434 are rotatably connected.

[0043] In some embodiments, the steering bearing 449 and the adapter plate 434 are detachably connected.

[0044] Optionally, in combination with Figure 6 As shown, the adapter plate 434 includes a steering surface 435 close to the steering bearing 449 and an adapter surface 436 disposed opposite the steering surface 435. The steering surface 435 is connected to the steering bearing 449. The adapter plate 434 is provided with an adapter flange 437 on the adapter surface 436. The adapter flange 437 is formed on opposite sides of the adapter surface 436 in a direction from the steering surface 435 toward the adapter surface 436. The adapter surface 436 and the adapter flange 437 are fixedly connected to the adapter piece 438. In this embodiment, the adapter flange 437 is formed on opposite sides of the adapter surface 436 in a direction from the steering surface 435 toward the adapter surface 436, which realizes one-piece forming to strengthen the structural strength of the adapter plate 434. In addition, the adapter piece 438 is fixedly connected to the adapter surface 436 and the adapter flange 437, which increases the connection area between the adapter piece 438 and the adapter plate 434, thereby improving the connection strength between the adapter piece 438 and the adapter plate 434 and the structural strength of the adapter assembly 433.

[0045] Optionally, in combination with Figure 6As shown, the adapter 438 comprises a first adapter plate body 439, a second adapter plate body 440, and a third adapter plate body 441. The planes in which the first adapter plate body 439 and the second adapter plate body 440 lie are parallel to each other. The opposite sides of the third adapter plate body 441 are respectively connected to the first adapter plate body 439 and the second adapter plate body 440, and the plane in which the third adapter plate body 441 lies is perpendicular to the planes in which the first adapter plate body 439 and the second adapter plate body 440 lie. The planes in which the first adapter plate body 439 and the second adapter plate body 440 lie are perpendicular to the planes in which the adapter surface 436 and the adapter flange 437 lie. The plane in which the third adapter plate body 441 lies is parallel to the adapter surface 436. The first adapter plate body 439, the second adapter plate body 440, and the third adapter plate body 441 are integrally formed. The sides of the first adapter plate body 439 and the second adapter plate body 440 away from the third adapter plate body 441 are respectively connected to the adapter plate 434. The first adapter plate body 439 and the second adapter plate body 440 are fixedly connected to the adapter surface 436 and the adapter flange 437. The third adapter plate body 441 is connected to the clamping member 442. In this embodiment, the first adapter plate body 439, the second adapter plate body 440, and the third adapter plate body 441 are integrally formed to strengthen the structural strength of the adapter 438, and thus the structural strength of the adapter assembly 433 is improved.

[0046] Optionally, in combination with Figure 6 As shown, the clamping member 442 further comprises a second clamping plate 445. The number of the first clamping plates 443 is two, and the two first clamping plates 443 are respectively located on the opposite sides of the second clamping plate 445, and the planes in which the first clamping plates 443 and the second clamping plate 445 lie are perpendicular to each other. The first clamping plates 443 and the second clamping plate 445 are integrally formed. The plane in which the second clamping plate 445 lies is parallel to the plane in which the third adapter plate body 441 lies. The second clamping plate 445 is connected to the adapter 438. The second clamping plate 445 is fixedly connected to the third adapter plate 434. The two first clamping plates 443 are respectively connected to the driving mechanism 402. In this embodiment, the first clamping plates 443 and the second clamping plate 445 are integrally formed to strengthen the structural strength of the clamping member 442, and thus the structural strength of the adapter assembly 433 is improved.

[0047] In some embodiments, in combination with Figure 6 As shown, the number of the adapters 438 is two, and the two adapters 438 are respectively arranged at the opposite ends of the adapter plate 434 along the length direction of the adapter plate 434. The number of the clamping members 442 is two, and the two clamping members 442 are respectively arranged corresponding to the two adapters 438. The first clamping plates 443 on the two clamping members 442 are respectively connected to the driving mechanism 402.

[0048] In some embodiments, in combination with Figure 4As shown, the driving mechanism 402 includes a front axle assembly 403 and a rear axle assembly 406. The rear axle assembly 406 is located behind the front axle assembly 403 along the moving direction of the inspection robot 10. The front axle assembly 403 and / or the rear axle assembly 406 are used to drive the inspection robot 10 to move. The number of steering bearings 449 is two, and the two steering bearings 449 are arranged at the bottom of the box body 101 in an interval. The number of adapter assemblies 433 is two, and the two adapter assemblies 433 are arranged one-to-one corresponding to the two steering bearings 449. The two adapter assemblies 433 are arranged in connection with the front axle assembly 403 and the rear axle assembly 406 respectively.

[0049] In this embodiment, the front axle assembly 403 is an integrated assembly of the front wheel part of the inspection robot 10, and the rear axle assembly 406 is an integrated assembly of the rear wheel part of the inspection robot 10. By subdividing the driving mechanism 402 into the front axle assembly 403 and the rear axle assembly 406, the balance and stability of the inspection robot 10 are maintained. At the same time, through the cooperative work of the front axle assembly 403 and the rear axle assembly 406, the inspection robot 10 can more flexibly cope with various complex terrains and obstacles. Through the arrangement of the two adapter assemblies 433 in connection with the front axle assembly 403 and the rear axle assembly 406 respectively, the adapter mechanism 432 is connected with the bottom of the box body 101 and the driving mechanism 402.

[0050] Optionally, in combination with Figure 4 As shown, the rear axle assembly 406 includes a first walking assembly 407. The first walking assembly 407 is arranged in connection with the adapter assembly 433. In this embodiment, the first walking assembly 407 is the executor of the movement of the inspection robot 10, and is responsible for converting the received driving force into actual movement. Through the arrangement of the first walking assembly 407 in connection with the adapter assembly 433, the rear axle assembly 406 is arranged in connection with the adapter assembly 433.

[0051] Optionally, in combination with Figure 4 As shown, the first walking assembly 407 includes a first transmission member 408 and a walking wheel 410. The adapter assembly 433 is arranged in connection with the first transmission member 408. The walking wheel 410 is fixedly connected or detachably connected with the output end of the first transmission member 408.

[0052] In this embodiment, the output end of the first transmission member 408 refers to the part of the first transmission member 408 responsible for transmitting power or motion to the walking wheel 410. The first transmission member 408 is used to transmit power to the walking wheel 410 so that the walking wheel 410 can roll relative to the ground or track 424. The walking wheel 410 is detachably connected to the output end of the first transmission member 408 to facilitate replacement and maintenance when the walking wheel 410 is worn or damaged, or to replace different walking wheels 410 according to the needs of the use environment. In this embodiment, the first walking assembly 407 is connected to the adapter assembly 433 through the connection of the adapter assembly 433 with the first transmission member 408.

[0053] In some embodiments, the first transmission member 408 includes a steering gear (not shown in the figure) and a transmission shaft (not shown in the figure). The input end of the steering gear is connected to the output end of the power assembly 414, and the output end of the steering gear is connected to the transmission shaft. The opposite ends of the transmission shaft are fixedly or detachably connected to the walking wheel 410. The output end of the power assembly 414 refers to the part of the power assembly responsible for outputting mechanical power or energy externally. The input end of the steering gear refers to the part connected to the output end of the power assembly 414, which allows power to be transmitted from the power assembly 414 to the inside of the steering gear. The output end of the steering gear refers to the part connected to the transmission shaft, which allows power to be transmitted from the inside of the steering gear to the transmission shaft. The steering gear is a device that converts power on a vertical transmission shaft (in this embodiment, the output end of the power assembly 414, such as the output shaft of the speed reducer 416) by 90° to a horizontal transmission shaft. The two vertical transmission shafts connected by the steering gear can change the direction of transmission.

[0054] In some embodiments, in combination with Figure 4 As shown, the first transmission member 408 further includes a rotating sleeve 409, which is sleeved on the transmission shaft. The first clamping plate 443 has a clamping groove 444 near the end of the driving mechanism 402. The rotating sleeve 409 is clamped with the clamping groove 444. In this embodiment, the connection of the adapter assembly 433 and the first transmission member 408 is achieved by clamping the rotating sleeve 409 with the clamping groove 444.

[0055] Optionally, in combination with Figure 4 As shown, the front axle assembly 403 includes a second walking assembly 404. The second walking assembly 404 is connected to the adapter assembly 433. In this embodiment, the second walking assembly 404 is the executor of the movement of the inspection robot 10, and is responsible for converting the received driving force into actual movement. The connection of the front axle assembly 403 and the adapter assembly 433 is achieved by connecting the adapter assembly 433 to the second walking assembly 404.

[0056] Optionally, in combination with Figure 4As shown, the second walking assembly 404 comprises a second transmission member 405 and a walking wheel 410. The adapter assembly 433 is arranged in connection with the second transmission member 405. The walking wheel 410 is fixedly connected or detachably connected with the output end of the second transmission member 405.

[0057] In this embodiment, the output end of the second transmission member 405 refers to the part of the second transmission member 405 responsible for transmitting power or motion to the walking wheel 410. The second transmission member 405 is used to transmit power to the walking wheel 410, so that the walking wheel 410 can roll relative to the ground or the track 424. The walking wheel 410 is detachably connected with the output end of the second transmission member 405, so as to facilitate replacement and maintenance when the walking wheel 410 is worn or damaged, or to replace different walking wheels 410 according to the needs of the use environment. In this embodiment, the second walking assembly 404 is arranged in connection with the adapter assembly 433 by connecting the second transmission member 405.

[0058] In some embodiments, the specific structure of the second transmission member 405 is the same as that of the first transmission member 408. For the specific structure of the second transmission member 405, and the connection arrangement of the adapter assembly 433 and the second transmission member 405, please refer to the above-mentioned embodiments of the first transmission member 408, and the connection arrangement of the adapter assembly 433 and the first transmission member 408, which will not be repeated here.

[0059] In a specific application, the front axle assembly 403 and the rear axle assembly 406 respectively comprise the second transmission member 405 and the first transmission member 408. The number of the steering bearing 449 is two, and the two steering bearings 449 are arranged at intervals on the bottom of the box body 101. The number of the adapter assembly 433 is two, and the two adapter assemblies 433 are arranged one-to-one corresponding to the two steering bearings 449. The two adapter assemblies 433 are arranged in connection with the second transmission member 405 and the first transmission member 408 respectively, so as to realize the connection of the two adapter assemblies 433 with the front axle assembly 403 and the rear axle assembly 406 respectively, and realize the connection of the adapter mechanism 432 with the bottom of the box body 101 and the driving mechanism 402.

[0060] Optionally, in combination with Figure 2 and Figure 4 As shown, the adapter mechanism 432 further comprises a reinforcing member 446. The reinforcing member 446 is arranged on the bottom of the box body 101 along the height direction of the box body 101. Among them, the steering bearing 449 is arranged on the reinforcing member 446 and is fixedly connected or rotatably connected with the reinforcing member 446.

[0061] In this embodiment, the reinforcing member 446 is further introduced to connect the bottom of the box body 101 and the steering bearing 449, so as to increase the connection strength of the steering bearing 449 and the bottom of the box body 101, and improve the structural stability of the inspection robot 10.

[0062] Optionally, in combination with Figure 7 As shown in the figure, the reinforcing member 446 comprises a reinforcing plate body 447. The reinforcing plate body 447 is arranged at the bottom of the box body 101 along the height direction of the box body 101. Wings 448 extending outward are formed on the circumferential edge of the reinforcing plate body 447. The number of wings 448 is four, and the four wings 448 are uniformly spaced along the circumference of the reinforcing plate body 447. In this embodiment, by forming four uniformly spaced wings 448 extending outward on the circumferential edge of the reinforcing plate body 447, the reinforcing member 446 can more effectively disperse stress from the concentrated point to a larger area, reducing the risk of stress concentration and enhancing the connection strength of the bottom of the box body 101 and the steering bearing 449.

[0063] In some embodiments, the number of walking wheels 410 in the rear axle assembly 406 is two, and both of the two walking wheels 410 are fixedly connected or detachably connected with the output end of the first transmission member 408. The number of walking wheels 410 in the front axle assembly 403 is two, and both of the two walking wheels 410 are fixedly connected or detachably connected with the output end of the second transmission member 405.

[0064] Optionally, in combination with Figure 8 and Figure 9 As shown in the figure, the walking wheel 410 comprises a track wheel 411, which is in rolling connection with the track 424 and can roll relative to the track 424 along the extension direction of the track 424.

[0065] In this embodiment, the walking wheel 410 is designed as a track wheel 411, and the walking wheel 410 and the track 424 are in rolling connection, so that the track wheel 411 can freely roll along the extension direction of the track 424, thereby guiding the inspection robot 10 to move along the preset path (the extension direction of the track 424). In this embodiment, the track 424 provides a clear moving path for the inspection robot 10. By rolling along the track 424 through the track wheel 411, the path accuracy of the inspection robot 10 during movement is ensured. The track 424 provides a complete moving channel and a stable support surface for the inspection robot 10, while the track wheel 411 can roll smoothly along the track 424, reducing shaking or deviation caused by uneven terrain or external interference, thereby enhancing the stability and safety of the inspection robot 10 during movement. In addition, the track 424 can also reduce the resistance that needs to be overcome by the inspection robot 10 during movement, thereby further reducing energy consumption and improving inspection efficiency.

[0066] Optionally, in combination with Figure 9As shown, the track wheel 411 comprises an abutting portion 412 and a walking portion 413. The abutting portion 412 is fixedly or detachably connected with the output end of the first transmission member 408. The walking portion 413 is connected with one side of the abutting portion 412. In the process of rolling of the track wheel 411 relative to the track 424, the walking portion 413 is in rolling connection with the top of the track 424, and the abutting portion 412 is in abutment with the inner side or the outer side of the track 424.

[0067] In this embodiment, the abutting portion 412 is connected with the output end of the first transmission member 408, so as to ensure that the power can be smoothly transmitted to the track wheel 411. The walking portion 413 is connected with one side of the abutting portion 412 and in rolling connection with the top of the track 424, so as to guide the inspection robot 10 to move along the track 424. In the process of rolling of the track wheel 411 relative to the track 424, the abutting portion 412 is in abutment with the inner side or the outer side of the track 424, which provides an additional support point for the track wheel 411 and enhances the stability of the inspection robot 10 during movement, so as to prevent the inspection robot 10 from shaking or deviating from the track 424 during high-speed movement or when encountering external force interference, and improve the safety of the inspection robot 10.

[0068] Optionally, in combination with Figure 9 As shown, in the case that the abutting portion 412 is in abutment with the inner side of the track 424, the walking portion 413 is in the shape of a circular truncated cone, and the diameter of the cross section of the walking portion 413 gradually decreases from the side connected with the abutting portion 412 to the side away from the abutting portion 412.

[0069] In this embodiment, the walking portion 413 is in the shape of a circular truncated cone, and the diameter of the cross section of the walking portion 413 gradually decreases from the side connected with the abutting portion 412 to the side away from the abutting portion 412. Since the abutting portion 412 is in abutment with the inner side of the track 424 and the walking portion 413 is in rolling connection with the top of the track 424, when the track wheel 411 rolls on the track 424, the abutting portion 412 in abutment with the inner side of the track 424 can generate a deflection force, so that the track wheel 411 stably rolls relative to the track 424. At the same time, by virtue of the abutment of the abutting portion 412 with the inner side of the track 424, it can effectively avoid the side overturning or disengagement of the inspection robot 10 during movement along the track 424.

[0070] Optionally, in combination with Figure 10 As shown, the track 424 comprises a track base 425, a supporting portion 426 and a supporting portion 427. The supporting portion 426 is arranged on the track base 425. The supporting portion 427 is arranged on the supporting portion 426. The track wheel 411 is in rolling connection with the supporting portion 427.

[0071] In this embodiment, the track base 425 is used to bear the track 424 and all the loads on the track 424. The support part 426 is arranged on the track base 425 to support and fix the bearing part 427. The bearing part 427 is in rolling connection with the track wheel 411 to provide a stable rolling path for the track wheel 411. In this embodiment, the track 424 structure combining the track base 425, the support part 426 and the bearing part 427 provides a stable and smooth rolling path for the track wheel 411.

[0072] Optionally, in combination with Figure 10 As shown, along the height direction of the track 424, the width of the track base 425 gradually decreases from bottom to top.

[0073] In this embodiment, along the height direction of the track 424, the width of the track base 425 gradually decreases from bottom to top, that is, the cross-sectional width of the track base 425 gradually decreases from the bottom to the top. By gradually reducing the width of the track base 425 along the height direction of the track 424 from bottom to top, the track base 425 presents a tapered, stepped or other gradually narrowing geometry. In this embodiment, by gradually reducing the width of the track base 425, the structural safety is ensured while unnecessary material use is reduced, thereby reducing cost, weight, pressure on the foundation, transportation and installation cost. In addition, by gradually reducing the width of the track base 425, it helps to reduce the air resistance generated when the inspection robot 10 passes through, thereby improving the operation efficiency and energy consumption performance of the inspection robot 10.

[0074] Optionally, in combination with Figure 10 As shown, the bearing part 427 includes a connecting part 428 and a guiding part 429, the connecting part 428 is arranged in connection with the support part 426, and the guiding part 429 is arranged in connection with the connecting part 428 and the track wheel 411 is in rolling connection with the guiding part 429, wherein along the height direction of the track 424, the width of the connecting part 428 gradually increases from bottom to top.

[0075] In this embodiment, the connecting part 428 is used to connect the guiding part 429 and the support part 426 to ensure the stability and continuity of the track 424. The guiding part 429 is used to guide the rolling of the track wheel 411. Along the height direction of the track 424, the width of the connecting part 428 gradually increases from bottom to top, so that the connecting part 428 presents a gradually expanding shape in the vertical direction. By gradually increasing the width of the connecting part 428 to enhance the structural stability of the bearing part 427, the pressure generated when the track wheel 411 passes through can be more effectively dispersed, the service life is prolonged, and at the same time, better support is provided for the guiding part 429 to ensure that the track wheel 411 remains stable and efficient during rolling.

[0076] Optionally, in combination with Figure 4As shown, the driving mechanism 402 further comprises a controller 430. The controller 430 is arranged at the bottom of the box body 101 along the height direction of the box body 101, and is in communication connection with one or both of the front axle assembly 403 and the rear axle assembly 406 for driving the inspection robot 10 to move.

[0077] In this embodiment, the controller 430 is introduced to realize the motion control of the inspection robot 10, such as driving the driving motor 415 in one or both of the front axle assembly 403 and the rear axle assembly 406 for driving the inspection robot 10 to move; on flat ground, reducing the output power of the driving motor 415 to reduce energy consumption; in complex terrain, increasing the output power of the driving motor 415 to ensure the stability and passability of the inspection robot 10, and dynamically adjusting the power and speed of the driving motor 415 according to actual needs, so as to optimize resource allocation.

[0078] Optionally, in combination with Figure 4 As shown, the driving mechanism 402 further comprises a brake 417. The brake 417 is arranged in the front axle assembly 403 and / or the rear axle assembly 406, and is used for braking the front axle assembly 403 and / or the rear axle assembly 406.

[0079] In this embodiment, by arranging the brake 417 to brake the front axle assembly 403 and / or the rear axle assembly 406, when the inspection robot 10 needs to stop moving or decelerate, it can stop safely and stably, avoiding excessive movement or collision due to inertia, and improving the safety of the inspection robot 10.

[0080] In some embodiments, the brake 417 is an electromagnetic brake. The structure of the electromagnetic brake mainly includes an electromagnetic coil, a fixed disc, a brake disc, a spring and the like. Among them, the electromagnetic coil is the core part of the electromagnetic brake, and the electromagnetic brake controls the generation and disappearance of the magnetic field by changing the size and direction of the current. The fixed disc and the brake disc are connected by threads, and there is also a layer of friction plate on the brake disc, which can increase the friction between the brake disc and the fixed disc. The spring plays a buffering and supporting role to ensure the normal operation of the brake. The working principle of the electromagnetic brake is mainly to use electromagnetic force to realize braking and stopping movement. When energized, the electromagnetic coil will generate a magnetic field, and the magnetic field will attract the brake disc to generate friction with the fixed disc, thereby realizing the effect of braking. When not energized, the electromagnetic coil does not generate a magnetic field, and the friction between the brake disc and the fixed disc disappears, and the movement can continue.

[0081] In some embodiments, the brake 417 is arranged in one or both of the front axle assembly 403 and the rear axle assembly 406 for driving the inspection robot 10 to move.

[0082] In this embodiment, brake 417 is used to slow down or stop the movement of the inspection robot 10, and is disposed in one or both of the front axle assembly 403 and the rear axle assembly 406 for driving the movement of the inspection robot 10. This can be understood as follows: when the front axle assembly 403 is used to drive the inspection robot 10, brake 417 is disposed in the front axle assembly 403; when the rear axle assembly 406 is used to drive the inspection robot 10, brake 417 is disposed in the rear axle assembly 406; when both the front axle assembly 403 and the rear axle assembly 406 are used to drive the inspection robot 10, brake 417 is disposed in both the front axle assembly 403 and the rear axle assembly 406. By directly mounting the brake 417 onto the front axle assembly 403 and / or the rear axle assembly 406 that drives the inspection robot 10, the brake 417 can directly act on the front axle assembly 403 and / or the rear axle assembly 406, which are drive components. This enhances the braking capability of the inspection robot 10, enabling it to respond to braking signals more quickly and accurately when it needs to stop or decelerate, thereby improving the safety of the inspection robot 10.

[0083] In some embodiments, the brake 417 is disposed on the rear axle assembly 406. When the rear axle assembly 406 includes a first travel assembly 407, the brake 417 is located on the first travel assembly 407. When the first travel assembly 407 includes a first transmission member 408 and travel wheels 410, the brake 417 is disposed on the first transmission member 408 and connected to the side of the travel wheel 410 near the first transmission member 408. When the brake 417 is an electromagnetic brake, the brake disc in the electromagnetic brake is connected to the travel wheel 410. When there are two travel wheels 410, there are two brakes 417. The two brakes 417 are configured in a one-to-one correspondence with the two travel wheels 410.

[0084] In some embodiments, the brake 417 is disposed on the front axle assembly 403. The specific arrangement relationship between the brake 417 and the front axle assembly 403 is similar to that described above, where the brake 417 is disposed on the rear axle assembly 406; this will not be repeated here.

[0085] Optionally, combined Figures 1 to 4 As shown, the inspection robot 10 also includes a chassis support 601. The chassis support 601 is disposed at the bottom of the housing 101 along the height direction of the housing 101. The drive mechanism 402 is disposed on the chassis support 601. In this embodiment, the chassis support 601 is used to support the drive mechanism 402 to enable the inspection robot 10 to move and perform inspection tasks in different environments.

[0086] In a specific application, the number of the steering bearings 449 is two, and the two steering bearings 449 are arranged at the chassis support 601 in the moving direction of the inspection robot 10. The number of the adapter assemblies 433 is two, and the two adapter assemblies 433 are arranged one-to-one with the two steering bearings 449. The two adapter assemblies 433 are arranged in connection with the second transmission member 405 and the first transmission member 408 respectively, so as to realize the arrangement of the two adapter assemblies 433 in connection with the front axle assembly 403 and the rear axle assembly 406 respectively. Among them, in the moving direction of the inspection robot 10, the rear axle assembly 406 is located behind the front axle assembly 403. The rear axle assembly 406 is used to drive the inspection robot 10. The controller 430 is arranged at the chassis support 601, and a signal output end of the controller 430 is in communication connection with the rear axle assembly 406. The signal output end of the controller 430 refers to the part of the controller 430 responsible for sending control signals or instructions outward.

[0087] It should be noted that the input end and the output end of each component in the embodiments of the present disclosure can be understood as the initial component and the terminal component through which the kinetic energy, data or motion is transmitted in the process of transmission in the component. Based on the different specific structures of each component and the different connection forms between each component, the specific forms of the input end and the output end are different, including but not limited to gears, bearings, shafts, connecting rods, wires, contacts or interfaces, etc.

[0088] The above description and drawings sufficiently illustrate the embodiments of the present disclosure to enable one skilled in the art to practice them. Other embodiments can include structural and other changes. The embodiments represent only the possible variations. Individual components and functions are optional unless explicitly required, and the order of operations can be changed. Some parts and features of some embodiments can be included or replaced by parts and features of other embodiments. The embodiments of the present disclosure are not limited to the structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A patrol robot characterized by comprising: The utility model relates to a kind of patrol robots, including: Box body; Steering bearing, along the height direction of box body, is provided to the bottom of box body; Adapter assembly, is provided to steering bearing; Driving mechanism, with adapter assembly connection setting, is used to drive patrol robot to move; Wherein, steering bearing and the bottom of box body and adapter assembly two of at least one rotatable connection.

2. The patrol robot according to claim 1, characterized in that, Steering bearing and adapter assembly can be detachably connected.

3. The patrol robot according to claim 1 or 2, characterized in that, Adapter assembly includes: Adapter plate, is provided to steering bearing; Adapter piece, with the side of adapter plate away from steering bearing connection setting; Clamping piece, with the end of adapter piece away from adapter plate connection setting, clamping piece includes first clamping plate, first clamping plate with driving mechanism connection setting.

4. The patrol robot of claim 3, wherein: The adapter plate includes a steering surface proximate to the steering bearing and an adapter surface disposed opposite the steering surface, the steering surface being connected to the steering bearing; An adapter flange is formed on opposite sides of the adapter surface extending from the steering surface toward the adapter surface.

5. The patrol robot according to claim 3, wherein, The adapter piece includes: A first adapter plate body, A second adapter plate body, the first and second adapter plate bodies lying in parallel planes; A third adapter plate body, opposite sides of the third adapter plate body being connected to the first and second adapter plate bodies, and a plane of the third adapter plate body being perpendicular to the planes of the first and second adapter plate bodies; Wherein, the first and second adapter plate bodies are connected to the adapter plate on sides away from the third adapter plate body, and the third adapter plate body is connected to the clamping piece.

6. The patrol robot according to claim 3, wherein, The driving mechanism includes a rotating sleeve. The first clamping plate includes a clamping slot proximate to an end of the driving mechanism, and the rotating sleeve is clamped to the clamping slot.

7. The patrol robot of claim 3, wherein: The first clamping plate includes two first clamping plates; The clamping piece further includes a second clamping plate, the two first clamping plates being located on opposite sides of the second clamping plate, and the first and second clamping plates lying in perpendicular planes; Wherein, the second clamping plate is connected to the adapter piece, and the two first clamping plates are connected to the driving mechanism.

8. The patrol robot of claim 3, wherein: The adapter piece includes two adapter pieces, the two adapter pieces being located at opposite ends of the adapter plate along a length direction of the adapter plate; The clamping piece includes two clamping pieces, the two clamping pieces being located at opposite ends of the adapter plate along a length direction of the adapter plate.

9. The patrol robot according to claim 1 or 2, characterized by, Further including: A reinforcing member, located at the bottom of the box body along the height direction of the box body; Wherein, the steering bearing is located at the reinforcing member and is fixedly connected or rotatably connected to the reinforcing member.

10. The patrol robot according to claim 9, wherein, The reinforcing member includes a reinforcing plate body, located at the bottom of the box body along the height direction of the box body; Wing portions extending outward are formed on a circumferential edge of the reinforcing plate body, and the wing portions are evenly spaced along the circumferential edge of the reinforcing plate body.

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