Operation and maintenance robot

Abstract

The embodiment of the utility model provides an operation and maintenance robot. The operation and maintenance robot comprises a robot body and a driving device, the driving device is connected to the bottom end of the robot body and comprises a driving assembly and a moving part, and the driving assembly is used for driving the moving part to advance so as to drive the robot body to advance; when braking force is applied to the moving part, interaction force is generated between the moving part and the supporting face so that the moving part can be kept static. The operation and maintenance robot provided by the embodiment of the utility model can have a relatively large road holding force while having a relatively small size.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of computing, and particularly relate to an operation and maintenance robot. BACKGROUND

[0002] With the development of big data, cloud computing and artificial intelligence (AI), the frequency of installation and debugging of computing devices is increasing, and computing devices need to be frequently mounted in or removed from a cabinet.

[0003] The operation and maintenance robot can be used to mount and remove computing devices. The operation and maintenance robot includes a robot body and a plug-in mechanism. The bottom of the robot body has wheels that can drive the robot body to move to the cabinet, and then the plug-in mechanism moves to align with the corresponding slot in the cabinet. The plug-in mechanism clamps the computing device and mounts or removes the computing device from the cabinet. When the plug-in mechanism plugs in or plugs out the computing device, there will be an interaction force between the plug-in mechanism and the computing device. Therefore, the operation and maintenance robot is required to have good grip to provide stable support for the plug-in mechanism. It is difficult for the operation and maintenance robot to have a small volume while having a large grip. CONTENT OF THE UTILITY MODEL

[0004] Embodiments of the present application provide an operation and maintenance robot that can have a small volume while having a large grip.

[0005] In a first aspect, embodiments of the present application provide an operation and maintenance robot, comprising: a robot body and a driving device, the driving device being connected to the bottom end of the robot body, the driving device comprising a driving assembly and a moving piece, the driving assembly being configured to drive the moving piece to move, so as to drive the robot body to move; when the moving piece is subjected to a braking force, the moving piece is configured to generate an interaction force with a support surface, so as to keep the moving piece stationary.

[0006] The operation and maintenance robot provided by the embodiments of the present application has the following advantages. The robot body and the driving device are provided, the driving device is connected to the bottom end of the robot body, the driving device includes a driving assembly and a moving piece, and the driving assembly is configured to drive the moving piece to move, so as to drive the robot body to move. When the operation and maintenance robot needs to plug in or plug out the computing device, the driving assembly stops driving the moving piece to move, and at this time, the moving piece is subjected to a braking force, so that the moving piece has an interaction force with the support surface. The interaction force makes the operation and maintenance robot have a large grip, thereby avoiding the movement or tilting of the operation and maintenance robot, so that the robot body can provide better support for the plug-in mechanism. Compared with the related art in which a supporting leg is needed to support the robot body, the movement and the action of keeping stationary to provide the grip of the operation and maintenance robot are both completed by the moving piece, so that the supporting leg can be omitted, and the operation and maintenance robot can have a small volume while having a large grip.

[0007] In a possible implementation, the operation and maintenance robot provided by the embodiment of the present application, the driving device includes four driving wheel devices, the four driving wheel devices are arranged at the bottom end of the robot body and are respectively located at the four top corners of the robot body; the driving assembly includes a first driving motor, the moving member includes a first wheel body, the first driving motor is used to drive the first wheel body to move to drive the robot body to travel; when the first driving motor stops driving the first wheel body to travel, a braking force is applied to each first wheel body to keep each first wheel body stationary. When the first driving motor stops driving the first wheel body to travel, a braking force is applied to each of the four first wheel bodies, and thus the sum of the braking forces on the four first wheel bodies is large, further increasing the grip of the operation and maintenance robot.

[0008] In a possible implementation, the operation and maintenance robot provided by the embodiment of the present application, the first driving motor includes a motor body, a connecting shaft and a brake part, the motor body is connected with the connecting shaft, the connecting shaft is connected with the first wheel body, and the motor body is used to drive the connecting shaft to rotate to drive the first wheel body to travel; when the motor body stops driving the connecting shaft to rotate, the brake part abuts against the connecting shaft to apply a resistance on the connecting shaft, so that the first wheel body is kept stationary. By applying the resistance on the connecting shaft by using the brake part in the first driving motor, the braking of the first wheel body can be realized, which avoids the additional setting of an additional braking mechanism, so that the structure of the driving device is simple and the occupied volume is small, thereby further reducing the volume of the operation and maintenance robot.

[0009] In a possible implementation, the operation and maintenance robot provided by the embodiment of the present application, the driving assembly further includes a second driving motor, and the second driving motor is used to drive the first wheel body to turn. In this way, the driving wheel device can drive the operation and maintenance robot to turn or make a U-turn.

[0010] In a possible implementation, the operation and maintenance robot provided by the embodiment of the present application, the driving wheel device further includes a mounting plate, the first wheel body, the first driving motor and the second driving motor are connected with the mounting plate; and the mounting plate is connected with the bottom end of the robot body. When the driving wheel device needs to be replaced, the mounting plate can be disassembled from the support frame, so that the replacement of the driving wheel device is convenient.

[0011] In a possible implementation, the operation and maintenance robot provided by the embodiment of the present application further comprises a support frame, which is arranged at the bottom end of the robot body; the support frame comprises a support frame body and first and second connecting arms connected to the two sides of the support frame body, the support frame body has a groove recessed away from the robot body, and two of the driving wheel devices are connected to the first connecting arm and the other two driving wheel devices are connected to the second connecting arm. In this way, the connection mode of the driving wheel devices and the first connecting arm and the connection mode of the driving wheel devices and the second connecting arm can be set according to actual use requirements.

[0012] In a possible implementation, the operation and maintenance robot provided by the embodiment of the present application is characterized in that the two driving wheel devices connected to the first connecting arm are fixedly connected to the first connecting arm, and the two driving wheel devices connected to the second connecting arm are movable relative to the second connecting arm. In this way, when the support surface on which the operation and maintenance robot travels or stops is uneven, since the two driving wheel devices connected to the second connecting arm can move in the third direction relative to the second connecting arm, any one of the two driving wheel devices connected to the first connecting arm and the two driving wheel devices connected to the second connecting arm can form a plane through three points, and the other of the two driving wheel devices connected to the second connecting arm moves in the third direction to the plane on which the bottom surface of the pit or the top surface of the protrusion is located, thereby reducing the inclination of the operation and maintenance robot and making the operation and maintenance robot run more smoothly.

[0013] In a possible implementation, the operation and maintenance robot provided by the embodiment of the present application is characterized in that the support frame further comprises a connecting piece, the connecting piece is rotatably connected to the second connecting arm, one of the two driving wheel devices connected to the second connecting arm is connected to one end of the connecting piece, and the other driving wheel device is connected to the other end of the connecting piece. The rotation of the connecting piece relative to the second connecting arm can drive the two driving wheel devices connected to the second connecting arm to move simultaneously, so that the two driving wheel devices connected to the second connecting arm can be quickly moved into position.

[0014] In a possible implementation, the operation and maintenance robot provided by the embodiment of the present application is characterized in that the support frame further comprises elastic pieces, and the two driving wheel devices connected to the second connecting arm are connected to the second connecting arm through the elastic pieces. The elastic pieces are used to respectively connect the two driving wheel devices and the second connecting arm, so that the two driving wheel devices can move relative to the second connecting arm and also buffer the pressure exerted by the robot body on the driving wheel devices.

[0015] In a possible implementation, the operation and maintenance robot provided by the embodiment of the present application, the driving device is a track device, the track device is arranged at the bottom end of the robot body and located at the opposite two side edges of the robot body; the driving assembly comprises a transmission belt and a third driving motor, the moving piece comprises a second wheel body and a third wheel body, the second wheel body and the third wheel body are connected at the opposite two ends of the transmission belt, and the transmission belt is wrapped outside the second wheel body and the third wheel body, the transmission belt is connected with the robot body and can move relative to the robot body, and the transmission belt is used to contact the supporting surface; the third driving motor is connected with the robot body, and the third driving motor drives the second wheel body and the third wheel body to rotate through the transmission belt. The contact area of the transmission belt and the supporting surface is large, therefore, the friction between the transmission belt and the supporting surface is also large, so that the braking force is large, and then the operation and maintenance robot has large gripping force, so that the operation and maintenance robot can be prevented from moving or toppling, and the robot body can provide better support for the plugging mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structural schematic diagram of a data center;

[0017] Figure 2 is a structural schematic diagram of a computing device installed on a cabinet body;

[0018] Figure 3 is a structural schematic diagram of an operation and maintenance robot provided by the embodiment of the present application;

[0019] Figure 4 is a process schematic diagram of the operation and maintenance robot provided by the embodiment of the present application carrying a computing device;

[0020] Figure 5 is a structural schematic diagram of the driving device and the support frame in the operation and maintenance robot provided by the embodiment of the present application;

[0021] Figure 6 is another structural schematic diagram of the driving device and the support frame in the operation and maintenance robot provided by the embodiment of the present application;

[0022] Figure 7 is a structural schematic diagram of the driving wheel device in the operation and maintenance robot provided by the embodiment of the present application;

[0023] Figure 8 is an internal structural schematic diagram of the first driving motor in the operation and maintenance robot provided by the embodiment of the present application;

[0024] Figure 9 is still another structural schematic diagram of the driving device and the support frame in the operation and maintenance robot provided by the embodiment of the present application;

[0025] Figure 10 is a partial explosion schematic diagram of Figure 9 ​

[0026] Figure 11 A structure schematic view of a second supporting arm and a driving device in an operation and maintenance robot provided by an embodiment of the present application is shown in the figure;

[0027] Figure 12 A still another structure schematic view of a driving device and a supporting frame in an operation and maintenance robot provided by an embodiment of the present application is shown in the figure.

[0028] Explanation of reference numerals:

[0029] 10, operation and maintenance robot;

[0030] 100, robot body; 110, side plate; 120, slide rail;

[0031] 200, driving device;

[0032] 200a, driving wheel device; 200a', first driving wheel device; 200a", second driving wheel device; 200a'", third driving wheel device; 200a"", fourth driving wheel device;

[0033] 200b, track device;

[0034] 210, driving assembly; 211, first driving motor; 2111, motor body; 2112, connecting shaft; 2113, brake part;

[0035] 212, second driving motor; 2121, motor body; 2122, first gear;

[0036] 213, transmission belt; 214, third driving motor;

[0037] 220, moving piece; 221, first wheel body; 222, second wheel body; 223, third wheel body;

[0038] 230, mounting plate; 231, first mounting hole;

[0039] 240, second gear;

[0040] 250, connecting rod;

[0041] 300, plug-in mechanism;

[0042] 400, supporting frame;

[0043] 410, supporting frame body; 411, groove;

[0044] 420, first connecting arm;

[0045] 430, second connecting arm; 431, support; 4311, first mounting hole; 432, rotating shaft; 433, bearing;

[0046] 440, connecting piece; 441, second mounting hole;

[0047] 450, elastic piece;

[0048] 20, cabinet body; 21, slot;

[0049] 30, computing device;

[0050] 1000, data center;

[0051] X, first direction;

[0052] Y, second direction;

[0053] Z, third direction. DETAILED DESCRIPTION

[0054] The terms used in the embodiments of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application. The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0055] With the development of big data, cloud computing and artificial intelligence (AI), the frequency of installation and debugging of computing devices is increasing, and computing devices need to be frequently mounted in or removed from the cabinet.

[0056] Figure 1 is a structural schematic view of a data center; Figure 2 is a structural schematic view of a computing device mounted on a cabinet.

[0057] Referring to Figure 1 and Figure 2 , the data center 1000 can include a machine room (not labeled in the figure) and a plurality of cabinet bodies 20 and a plurality of computing devices 30 arranged in the machine room.

[0058] The cabinet body 20 serves as a support component for the computing device 30. Please continue to refer to Figure 2 , the cabinet body 20 has a first direction X, a second direction Y and a third direction Z, wherein the first direction X can be the width direction of the cabinet body 20, the second direction Y can be the depth direction of the cabinet body 20, and the third direction Z can be the height direction of the cabinet body. The cabinet body 20 has a plurality of slots 21 arranged along the third direction Z (in Figure 2 , the slots 21 along one of the slots 21 in the cabinet body 20 are schematically shown by a dashed line), each slot 21 can be used to install one computing device 30, and a plurality of computing devices 30 are arranged along the third direction Z.

[0059] Please continue to refer to Figure 1As shown in the figure, the machine room is also provided with an operation and maintenance robot 10. The operation and maintenance robot 10 can move in the channel formed by the two adjacent rows of cabinet bodies 20 to move the computing device 30 to the vicinity of the cabinet body 20. The operation and maintenance robot 10 can also rack the computing device 30 into the cabinet body 20 or de-rack the computing device 30 from the cabinet body 20. The size of the channel formed by the cabinet bodies 20 in the data center 1000 is small, so the volume of the operation and maintenance robot 10 needs to be small to facilitate the movement of the operation and maintenance robot 10 in the channel.

[0060] Figure 3 A structural schematic diagram of an operation and maintenance robot provided by an embodiment of the present application is provided. Figure 4 A process schematic diagram of the operation and maintenance robot carrying a computing device provided by an embodiment of the present application is provided. Figure 5 A structural schematic diagram of a driving device and a support frame in the operation and maintenance robot provided by an embodiment of the present application is provided.

[0061] Referring to Figures 3 to 5 As shown in the figure, the operation and maintenance robot 10 provided by the embodiment of the present application includes a robot body 100 and a driving device 200. The driving device 200 is arranged at the bottom end of the robot body 100. The driving device 200 includes a driving assembly 210 and a moving piece 220. The driving assembly 210 is used to drive the moving piece 220 to travel to drive the robot body 100 to travel. When the moving piece 220 is subjected to a braking force, the interaction force between the moving piece 220 and the support surface makes the moving piece 220 remain stationary.

[0062] The support surface can be the ground in the machine room or other surface for the operation and maintenance robot 10 to travel.

[0063] Please continue to refer to Figure 3 and Figure 4 As shown in the figure, the operation and maintenance robot 10 also includes a plugging mechanism 300, and the robot body 100 is used to support the plugging mechanism 300. Specifically, the robot body 100 includes two side plates 110 arranged opposite to each other along a first direction X. The side plate 110 has a slide rail 120 extending along a third direction Z. The plugging mechanism 300 is connected with the slide rail 120 and can move along the third direction Z on the slide rail 120. For example, the plugging mechanism 300 can be moved to align with one of the slot positions 21 in the cabinet body 20 along the third direction Z. When racking, the computing device 30 is located on the plugging mechanism 300. The plugging mechanism 300 clamps the computing device 30 and pushes the computing device 30 along the second direction Y to move towards the cabinet body 20, so as to rack the computing device 30 into the cabinet body 20. When de-racking, the plugging mechanism 300 clamps the computing device 30 and pulls the computing device 30 along the second direction Y to move away from the cabinet body 20, so as to de-rack the computing device 30 from the cabinet body 20.

[0064] The computing device 30 has a plurality of first connectors, and the cabinet 20 has a plurality of second connectors, the first connectors are connected with the second connectors one by one. When the plug-pull mechanism 300 is plugged or pulled with the computing device 30, the plug-pull force between the first connectors and the second connectors needs to be overcome, and there will be an interaction force between the plug-pull mechanism 300 and the computing device 30. Therefore, the operation and maintenance robot 10 is required to provide higher grip force to stably support the plug-pull mechanism 300. The robot body 100 has a large size along the third direction Z, and especially when the plug-pull mechanism 300 is plugged or pulled to the computing device 30 in the slot 21 near the upper end of the cabinet 20, the interaction force between the plug-pull mechanism 300 and the computing device 30 can make the robot body 100 easily fall down, and further increase the requirement of the grip force of the operation and maintenance robot 10. As described above, the size of the operation and maintenance robot 10 along the first direction X or the second direction Y needs to be small to facilitate the travel in the passage between the cabinets 20. Therefore, the robot body 100 needs to have both small size and large grip force.

[0065] Please continue to see Figures 3 to 5 As shown, the driving device 200 is connected to the bottom end of the robot body 100 along the third direction Z. Specifically, the operation and maintenance robot 10 further includes a support frame 400, the support frame 400 is arranged at the bottom end of the robot body 100, and the driving assembly 210 and the moving piece 220 can be connected with the support frame 400, and the support frame 400 is used to support the robot body 100. The moving piece 220 is in contact with the support surface to travel or turn on the support surface.

[0066] When the operation and maintenance robot 10 needs to move to the vicinity of the cabinet 20, the driving assembly 210 can drive the moving piece 220 to travel, and the moving piece 220 can drive the operation and maintenance robot 10 to move to the cabinet 20, and then the driving assembly 210 stops driving the moving piece 220 to travel, at this time, the braking force is applied to the moving piece 220, and the braking force applied to the moving piece 220 can make the moving piece 220 and the support surface have an interaction force. The braking force can be the resistance applied to the moving piece 220 by the driving assembly 210, or the friction between the moving piece 220 and the support surface due to the gravity of the operation and maintenance robot 10 itself, or the sum of the resistance applied to the moving piece 220 by the driving assembly 210 and the friction.

[0067] The braking force causes the mobile piece 220 and the support surface to have an interaction force, which is the resistance of the mobile piece 220 to move, so that the mobile piece 220 can be kept stationary; when the mobile piece 220 moves again, the mobile piece 220 has to overcome the interaction force between the mobile piece 220 and the support surface, so that the interaction force between the mobile piece 220 and the support surface causes the operation and maintenance robot 10 to have greater grip, thereby avoiding the operation and maintenance robot 10 from moving or toppling over, so that the robot body 100 can provide better support to the plugging mechanism 300.

[0068] The operation and maintenance robot 10 provided by the embodiment of the application has the following advantages. The operation and maintenance robot 10 is provided with the robot body 100 and the driving device 200, the driving device 200 is connected to the bottom end of the robot body 100, the driving device 200 includes the driving assembly 210 and the mobile piece 220, the driving assembly 210 drives the mobile piece 220 to move, and the robot body 100 can be driven to move. When the operation and maintenance robot 10 needs to plug or unplug the computing device 30, the driving assembly 210 stops driving the mobile piece 220 to move, at this time, the mobile piece 220 is applied with a braking force to cause the mobile piece 220 and the support surface to have an interaction force. The interaction force causes the operation and maintenance robot 10 to have greater grip, thereby avoiding the operation and maintenance robot 10 from moving or toppling over, so that the robot body 100 can provide better support to the plugging mechanism 300. Compared with the related art in which a supporting leg needs to be arranged to support the robot body, the operation and maintenance robot 10 can complete the actions of moving and keeping stationary to provide grip by the mobile piece 220, so that the supporting leg can be omitted, and the operation and maintenance robot 10 can have smaller size while having greater grip.

[0069] In addition, the operation and maintenance robot 10 can complete the actions of moving and providing grip by the mobile piece 220, so that the action process of controlling the supporting leg to extend and retract can also be omitted, and the efficiency of the operation and maintenance robot 10 to put or take the computing device 30 on or off the shelf is higher.

[0070] Next, a first embodiment of the driving device 200 is described.

[0071] Figure 6 Another structural schematic diagram of the driving device and the support frame in the operation and maintenance robot provided by the embodiment of the application; Figure 7 A structural schematic diagram of the driving device in the operation and maintenance robot provided by the embodiment of the application.

[0072] Referring to Figure 6 and Figure 7As shown, the driving device 200 includes four active wheel devices 200a, which are arranged at the bottom end of the robot body 100 and are respectively located at the four top corners of the robot body 100, the driving assembly 210 includes a first driving motor 211, and the moving part 220 includes a first wheel body 221, the first driving motor 211 is used to drive the first wheel body 221 to move, so as to drive the robot body 100 to move; when the brake force is applied to each first wheel body 221, the interaction force between the first wheel body 221 and the support surface makes each first wheel body 221 keep stationary.

[0073] The active wheel device 200a is arranged at the bottom end of the robot body 100 along the third direction Z, wherein the active wheel device 200a is arranged at the four top corners of the support frame 400, so that the weight of the robot body 100 can be distributed on the four active wheel devices 200a, and the active wheel device 200a can provide stable support for the robot body 100.

[0074] The driving assembly 210 in each active wheel device 200a includes a first driving motor 211, and the moving part 220 in each active wheel device 200a includes a first wheel body 221, the first driving motor 211 can drive the first wheel body 221 to move, so as to provide sufficient power for the movement of the operation and maintenance robot 10. When the first driving motor 211 stops driving the first wheel body 221 to move, the brake force is applied to the four first wheel bodies 221, so that the sum of the brake forces on the four first wheel bodies 221 is large, which further increases the grip of the operation and maintenance robot 10.

[0075] Figure 8 The internal structure of the first driving motor in the operation and maintenance robot provided in the embodiments of the present application is shown in the figure.

[0076] Referring to Figure 8 As shown, in a possible implementation, the first driving motor 211 includes a motor body 2111, a connecting shaft 2112 and a brake part 2113, the motor body 2111 is connected with the connecting shaft 2112, the connecting shaft 2112 is connected with the first wheel body 221, and the motor body 2111 is used to drive the connecting shaft 2112 to rotate, so as to drive the first wheel body 221 to move; when the motor body 2111 stops driving the connecting shaft 2112 to rotate, the brake part 2113 abuts against the connecting shaft 2112 to apply resistance on the connecting shaft 2112, so that the first wheel body 221 keeps stationary.

[0077] Specifically, the connecting shaft 2112 can be connected with the first wheel body 221 through a transmission mechanism. When the motor body 2111 drives the connecting shaft 2112 to rotate, the connecting shaft 2112 can drive the first wheel body 221 to move through the transmission mechanism. The brake 2113 can be a band brake sleeved on the connecting shaft 2112. When the motor body 2111 stops driving the connecting shaft 2112 to rotate, the band brake abuts against the outer ring of the connecting shaft 2112 so that the connecting shaft 2112 remains stationary. Thus, the first wheel body 221 connected with the connecting shaft 2112 also remains stationary and is subjected to a braking force. The brake of the first wheel body 221 is achieved by applying resistance to the connecting shaft 2112 through the brake 2113 in the first drive motor 211, which avoids the need to additionally set an additional brake mechanism, simplifies the structure of the driving device 200 and occupies a smaller volume, thereby further reducing the volume of the operation and maintenance robot 10.

[0078] In another possible implementation, the electromagnetic force of the coil in the motor body 2111 can prevent the connecting shaft 2112 from rotating, thereby applying a braking force to the first wheel body 221.

[0079] Please continue to participate Figure 7 As shown, the driving assembly 220 further includes a second drive motor 212, which is configured to drive the first wheel body 221 to steer, so that the driving wheel device 200a drives the operation and maintenance robot 10 to steer or turn around. Please continue to refer to Figure 6 and Figure 7 As shown, the driving wheel device 200a further includes a mounting plate 230, and the first wheel body 221, the first drive motor 211 and the second drive motor 212 are connected with the mounting plate 230. The mounting plate 230 is connected with the bottom end of the robot body 100.

[0080] The mounting plate 230 can be connected with the support frame 400 at the bottom end of the robot body 100. For example, the mounting plate 230 can be provided with a first mounting hole 231, and the support frame 400 is provided with a second mounting hole. A fastener is inserted into the first mounting hole 231 and the second mounting hole to connect the mounting plate 230 with the support frame 400. The mounting plate 230 is connected with the first wheel body 221, the first drive motor 211 and the second drive motor 212. When the driving wheel device 200a needs to be replaced, the mounting plate 230 can be detached from the support frame 400, which facilitates the replacement of the driving wheel device 200a.

[0081] Please continue to refer to Figure 7As shown, in a possible implementation, the second driving motor 212 includes a motor body 2121 and a first gear 2122 connected with the motor body 2121, the main driving wheel device 200a further includes a second gear 240, the first wheel body 221 is connected with the second gear 240 through a connecting rod 250, the second gear 240 is further rotatably connected with a plate 230, and the first gear 2122 is engaged with the second gear 240. The motor body 2121 drives the first gear 2122 to rotate, the first gear 2122 can drive the second gear 240 to rotate, and the second gear 240 drives the first wheel body 221 to turn.

[0082] Figure 9 Another structural schematic view of the driving device and the support frame in the operation and maintenance robot provided in the embodiments of the present application.

[0083] Referring to Figure 9 As shown, the support frame 400 includes a support frame body 410 and a first connecting arm 420 and a second connecting arm 430 connected on both sides of the support frame body 410, the support frame body 410 has a recess 411 recessed towards the robot body 100, wherein two main driving wheel devices 200a are connected with the first connecting arm 420, and the other two main driving wheel devices 200a are connected with the second connecting arm 430.

[0084] The support frame body 410 has a recess 411 recessed towards the support surface, so that the center of gravity of the support frame 400 is lower, and the stability of the operation and maintenance robot 10 is more favorable. The first connecting arm 420 and the second connecting arm 430 are connected on both sides of the support frame body 410 along the first direction X, the first connecting arm 420 and the second connecting arm 430 can be support arms composed of a plurality of plates, and the first connecting arm 420 and the second connecting arm 430 have high strength. The first connecting arm 420 has two main driving wheel devices 200a connected on both ends along the second direction Y, and the second connecting arm 430 has two main driving wheel devices 200a connected on both ends along the second direction Y, so that the connection mode of the main driving wheel device 200a and the first connecting arm 420 and the connection mode of the main driving wheel device 200a and the second connecting arm 430 can be set according to actual use requirements.

[0085] Figure 10 For Figure 9 A partial explosion schematic view is shown. Among them Figure 10 Part of the plate in the second connecting arm 430 is omitted.

[0086] Referring to Figure 9 and Figure 10 As shown, the two main driving wheel devices 200a connected with the first connecting arm 420 are fixedly connected with the first connecting arm 420, and the two main driving wheel devices 200a connected with the second connecting arm 430 are movable relative to the second connecting arm 430.

[0087] Specifically, the driving wheel devices 200a connected with the first connecting arm 420 are respectively a first driving wheel device 200a' and a second driving wheel device 200a", and the driving wheel devices 200a connected with the second connecting arm 430 are respectively a third driving wheel device 200a'" and a fourth driving wheel device 200a""; wherein the mounting plate 230 in the first driving wheel device 200a' and the second driving wheel device 200a" can be fixedly connected with the first connecting arm 420 through fasteners. The third driving wheel device 200a'" and the fourth driving wheel device 200a"" can move along the third direction Z relative to the second connecting arm 430.

[0088] Therefore, when the support surface on which the maintenance robot 10 travels or stops is uneven, for example, the support surface has protrusions or pits, since the third driving wheel device 200a'" and the fourth driving wheel device 200a"" can move along the third direction Z relative to the second connecting arm 430, the first driving wheel device 200a', the second driving wheel device 200a" and the third driving wheel device 200a'" (or the fourth driving wheel device 200a"") can form a plane, and the fourth driving wheel device 200a"" (or the third driving wheel device 200a'") moves along the third direction Z to the plane on which the bottom surface of the pit or the top surface of the protrusion is located, thereby reducing the inclination of the maintenance robot 10, so that the operation of the maintenance robot 10 is more stable.

[0089] Please continue to refer to Figure 10 As shown in the figure, in a possible implementation, the support frame 400 further comprises a connecting piece 440, the connecting piece 440 is rotatably connected with the second connecting arm 430, among the two driving wheel devices 200a connected with the second connecting arm 430, one driving wheel device 200a is connected with one end of the connecting piece 440, and the other driving wheel device 200a is connected with the other end of the connecting piece 440.

[0090] Specifically, the second connecting arm 430 is provided with a support 431, the support 431 has a first mounting hole 4311, the connecting piece 440 has a second mounting hole 441, and the rotating shaft 432 is inserted into the first mounting hole 4311 and the second mounting hole 441, so that the connecting piece 440 is rotatably connected with the support 431, thereby making the connecting piece 440 rotatably connected with the second connecting arm 430. The rotating shaft 432 can be rotatably connected with the first mounting hole 4311 through a bearing 433.

[0091] One end of the connecting piece 440 along the second direction Y is connected with the third driving wheel device 200a’”, and the other end of the connecting piece 440 along the second direction Y is connected with the fourth driving wheel device 200a””, so that the third driving wheel device 200a’”, the connecting piece 440 and the fourth driving wheel device 200a”” form a rotating structure with the support 431 as a fulcrum and the connecting piece 440 as a lever, and when the connecting piece 440 rotates around the support 431, the third driving wheel device 200a’” and the fourth driving wheel device 200a”” can move along the third direction Z relative to the support frame 400. In this way, the third driving wheel device 200a’” and the fourth driving wheel device 200a”” can be simultaneously moved by the rotation of the connecting piece 440 relative to the second connecting arm 430, so that the third driving wheel device 200a’” and the fourth driving wheel device 200a”” can be quickly moved to the position.

[0092] Figure 11 A structure diagram of a second supporting arm and a driving device in a maintenance robot is provided in the embodiments of the present application.

[0093] Referring to Figure 11 In another possible implementation, the support frame 400 further includes elastic members 450, and the two driving wheel devices 200a connected with the second connecting arm 430 are both connected with the second connecting arm 430 through the elastic members 450.

[0094] The elastic members 450 are two, one of which is connected between the second connecting arm 430 and the third driving wheel device 200a’”, and the other of which is connected between the second connecting arm 430 and the fourth driving wheel device 200a””. The elastic members 450 can be coil springs or elastic sleeves. For example, when the third driving wheel device 200a’” is located on the convex, the third driving wheel device 200a’” moves towards the second connecting arm 430, and the compression amount of the elastic member 450 between the third driving wheel device 200a’” and the second connecting arm 430 is greater than the compression amount between the fourth driving wheel device 200a”” and the second connecting arm 430. For another example, when the third driving wheel device 200a’” is located on the concave, the third driving wheel device 200a’” moves away from the second connecting arm 430, and the compression amount of the elastic member 450 between the third driving wheel device 200a’” and the second connecting arm 430 is less than the compression amount between the fourth driving wheel device 200a”” and the second connecting arm 430. By connecting the third driving wheel device 200a’” and the second connecting arm 430 through the elastic members 450 and connecting the fourth driving wheel device 200a”” and the second connecting arm 430 through the elastic members 450, not only can the third driving wheel device 200a’” and the fourth driving wheel device 200a”” move relative to the second connecting arm 430, but also the pressure applied by the robot body 100 on the driving wheel devices 200a can be buffered.

[0095] Figure 12 Another structural schematic view of the driving device and the support frame in the operation and maintenance robot provided by the embodiment of the present application is shown.

[0096] Referring to Figure 12 As shown, the driving device 200 is a track device 200b, which is arranged at the bottom end of the robot body 100 and located at the opposite two side edges of the robot body 100; the driving assembly 210 includes a transmission belt 213 and a third driving motor 214, and the moving member 220 includes a second wheel body 222 and a third wheel body 223, the second wheel body 222 and the third wheel body 223 are connected at the opposite two ends of the transmission belt 213, and the transmission belt 213 is wrapped around the outer rings of the second wheel body 222 and the third wheel body 223, the transmission belt 213 is connected with the robot body 100 and can move relative to the robot body 100, the transmission belt 213 is used to contact with the support surface, the third driving motor 214 is connected with the robot body 100, and the third driving motor 214 drives the second wheel body 222 and the third wheel body 223 to rotate through the transmission belt 213.

[0097] Specifically, still taking the operation and maintenance robot 10 with the support frame 400 at the bottom end of the robot body 100 as an example, the track device 200b can be arranged at the opposite two side edges of the support frame 400 along the second direction Y. In each track device 200b, the third driving motor 214 can be connected with the support frame 400, and one side of the support frame 400 facing the track device 200b can be provided with a clamping groove (not shown in the figure), and the transmission belt 213 is partially located in the clamping groove, and the third driving motor 214 can drive the transmission belt 213 to move in the clamping groove to make the transmission belt 213 rotate. The two ends of the transmission belt 213 along the first direction X are connected with the second wheel body 222 and the third wheel body 223, and when the transmission belt 213 rotates, the second wheel body 222 and the third wheel body 223 can be driven to rotate, and in turn the operation and maintenance robot 10 can move.

[0098] The transmission belt 213 is wrapped around the outer rings of the second wheel body 222 and the third wheel body 223, and when the third driving motor 214 stops driving the transmission belt 213 to move, the friction force between the transmission belt 213 and the support surface can form a braking force. Since the contact area between the transmission belt 213 and the support surface is large, the friction force between the transmission belt 213 and the support surface is also large, so that the braking force is large, and in turn the operation and maintenance robot 10 has a large gripping force, thereby avoiding the movement or tilting of the operation and maintenance robot 10, so that the robot body 100 can provide better support for the plugging mechanism 300.

[0099] In the description of the embodiments of the present application, it should be noted that unless specifically defined and limited otherwise, the terms "mount", "connect", "connection" should be understood broadly, for example, can be fixed connection, can also be indirectly connected through the intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0100] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, and not to limit them; although the embodiments of the present application have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An operation and maintenance robot, characterized in that, The utility model relates to a robot body, a drive device connected to the bottom end of the robot body, the drive device comprising a drive assembly and a moving part, the drive assembly is used to drive the moving part to travel to drive the robot body to travel, when the brake force is applied to the moving part, the moving part is used to generate the interaction force between the support surface to make the moving part keep still. The drive device comprises four driving wheel devices, four driving wheel devices are arranged at the bottom end of the robot body and are respectively located at the four top corners of the robot body. The drive assembly comprises a first drive motor, the moving part comprises a first wheel body, the first drive motor is used to drive the first wheel body to move to drive the robot body to travel, when the first drive motor stops driving the first wheel body to travel, brake force is applied to each first wheel body to make each first wheel body keep still.

2. The operation and maintenance robot according to claim 1, characterized in that, The first drive motor comprises a motor body, a connecting shaft and a brake part, the motor body is connected with the connecting shaft, the connecting shaft is connected with the first wheel body, the motor body is used to drive the connecting shaft to rotate to drive the first wheel body to travel. When the motor body stops driving the connecting shaft to rotate, the brake part abuts against the connecting shaft to apply resistance on the connecting shaft, so that the first wheel body keeps still.

3. The operation and maintenance robot according to claim 2, characterized in that, The drive assembly further comprises a second drive motor, the second drive motor is used to drive the first wheel body to turn. The driving wheel device further comprises a mounting plate, the first wheel body, the first drive motor and the second drive motor are connected with the mounting plate; the mounting plate is connected with the bottom end of the robot body.

4. The operation and maintenance robot according to claim 2, characterized in that, The operation and maintenance robot further comprises a support frame arranged at the bottom end of the robot body.

5. The operation and maintenance robot according to claim 4, characterized in that, The support frame comprises a support frame body and first and second connecting arms connected to both sides of the support frame body, the support frame body has a recess recessed away from the robot body, wherein two driving wheel devices are connected with the first connecting arm, and the other two driving wheel devices are connected with the second connecting arm.

6. The operation and maintenance robot according to any one of claims 2 to 5, characterized in that, The two driving wheel devices connected with the first connecting arm are fixedly connected with the first connecting arm, and the two driving wheel devices connected with the second connecting arm are movable relative to the second connecting arm. The support frame further comprises a connecting piece rotatably connected with the second connecting arm, one of the two driving wheel devices connected with the second connecting arm is connected with one end of the connecting piece, and the other driving wheel device is connected with the other end of the connecting piece.

7. The operation and maintenance robot according to claim 6, characterized in that, The support frame further comprises an elastic piece, and the two driving wheel devices connected with the second connecting arm are connected with the second connecting arm through the elastic piece.

8. The operation and maintenance robot according to claim 7, characterized in that, The drive device is a track device arranged at the bottom end of the robot body and located at the opposite two side edges of the robot body.

9. The operation and maintenance robot according to claim 7, characterized in that, ​ 10. The operation and maintenance robot according to claim 1, characterized in that, ​ The driving assembly comprises a transmission belt and a third driving motor, the moving part comprises a second wheel body and a third wheel body, the second wheel body and the third wheel body are connected at opposite ends of the transmission belt, and the transmission belt is wrapped around the outer rings of the second wheel body and the third wheel body, the transmission belt is connected with the robot body and can move relative to the robot body, and the transmission belt is used to contact with a supporting surface; the third driving motor is connected with the robot body, and the third driving motor drives the second wheel body and the third wheel body to rotate through the transmission belt.

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