Driving chassis of inspection robot and inspection robot

Abstract

The utility model relates to the technical field of robots, and discloses a driving chassis of an inspection robot and the inspection robot. The driving chassis of the inspection robot comprises a chassis support which comprises a first end and a second end which are oppositely arranged; the driving mechanism is arranged on the chassis support and located between the first end and the second end, and the driving mechanism is used for driving the inspection robot to move; and the cleaning mechanisms are arranged at the first end and the second end of the chassis support correspondingly and used for cleaning the ground or the track in the moving direction of the inspection robot. The ground in the moving direction of the inspection robot can be cleaned, and the inspection accuracy, safety and stability are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, for example to a driving chassis of a patrol robot and the 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 etc.energy field, to help detect and prevent potential leakage, failure and safety problem.

[0003] In energy delivery system, such as tubular delivery belt system, patrol robot is mainly in open field environment, which leads to the walking piece, such as walking wheel or track, installed on the driving chassis of patrol robot, easily contaminated by outdoor silt and other sundries, affecting the stable movement of robot, and further affecting the normal work of robot. CONTENT OF THE UTILITY MODEL

[0004] To have a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below.The summary is not a general review, nor is it intended to determine key / important components or delineate the scope of protection of these embodiments, but as a prelude to the detailed description below.

[0005] The driving chassis of patrol robot and the patrol robot provided by the embodiments of the present disclosure can clean the ground in the moving direction of the patrol robot, improve the accuracy, safety and stability of the patrol.

[0006] In some embodiments, a driving chassis of a patrol robot is provided, comprising: a chassis support comprising a first end and a second end arranged oppositely; a driving mechanism arranged on the chassis support and between the first end and the second end, the driving mechanism being used to drive the patrol robot to move; a cleaning mechanism arranged on the first end and the second end of the chassis support respectively, and used to clean the ground or track in the moving direction of the patrol robot.

[0007] In some embodiments, a patrol robot is provided, comprising: the driving chassis of a patrol robot as described in the above embodiments.

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

[0009] The driving chassis of the inspection robot and the inspection robot provided by the embodiments of the present disclosure, the moving direction of the inspection robot includes the forward direction and the backward direction of the inspection robot, the cleaning mechanism is arranged at the first end and the second end of the chassis support respectively, so as to clean the ground in the moving direction of the inspection robot, thereby ensuring that the inspection robot will not be affected by the ground debris, dust and the like during the movement, and improving the accuracy, safety and stability of the inspection. In addition, the ground debris and dust are cleaned by the cleaning mechanism, which can reduce the wear and damage of the driving mechanism and other components caused by the ground debris and dust, thereby prolonging the service life of the inspection robot.

[0010] The foregoing 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 exemplarily illustrated by corresponding drawings, which do not constitute limitation on the embodiments, elements with the same reference numerals in the drawings are shown as similar elements, the drawings do not constitute proportional limitation, and wherein:

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

[0013] Figure 2 is a structural schematic diagram of the inspection robot provided by an embodiment of the present disclosure;

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

[0015] Figure 4 is a structural schematic diagram of the fixed part provided by an embodiment of the present disclosure;

[0016] Figure 5 is a front view of the inspection robot provided by an embodiment of the present disclosure;

[0017] Figure 6 is Figure 5 the enlarged structural schematic diagram of X in the embodiment shown;

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

[0019] Figure 8 is a bottom view of the driving chassis provided by an embodiment of the present disclosure;

[0020] Figure 9 is a structural schematic diagram of the positioning part provided by an embodiment of the present disclosure;

[0021] Figure 10 is a structural schematic view of a connecting seat provided by one embodiment of the present disclosure;

[0022] Figure 11 is a structural schematic view of a patrol robot provided by another embodiment of the present disclosure;

[0023] Figure 12 is Figure 11 is a structural schematic view of the enlarged structure at Y in the embodiment shown;

[0024] Figure 13 is a structural schematic view of a steering bearing provided by one embodiment of the present disclosure;

[0025] Figure 14 is a structural schematic view of an adapter assembly provided by one embodiment of the present disclosure;

[0026] Figure 15 is a structural schematic view of a reinforcing member provided by one embodiment of the present disclosure.

[0027] Reference signs:

[0028] 10 patrol robot;

[0029] 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 portion; 414 power assembly; 415 driving motor; 416 speed reducer; 417 first brake; 418 parking mechanism; 419 tensioning member; 420 electric tensioning member; 421 mechanical tensioning assembly; 422 brake cable; 423 second controller; 424 track; 425 track base; 426 supporting portion; 427 bearing portion; 428 connecting portion; 429 guiding portion; 430 first controller; 432 adapter mechanism; 449 steering bearing; 433 adapter assembly; 434 adapter plate; 435 steering surface; 436 adapter surface; 437 adapter flange; 438 adapter member; 439 first adapter plate body; 440 second adapter plate body; 441 third adapter plate body; 442 clamping member; 443 first clamping plate; 444 clamping groove; 445 second clamping plate; 446 reinforcing member; 447 reinforcing plate body; 448 wing portion;

[0030] 501 anti-collision magnetic induction strip; 502 positioning switch; 503 positioning member; 504 positioning plate body; 505 positioning surface; 506 recessed surface; 507 positioning flange; 508 first extension flange; 509 second extension flange; 510 proximity switch; 511 electromagnetic switch; 512 photoelectric switch;

[0031] 600 driving chassis; 601 chassis support; 626 first end; 627 second end; 602 connecting seat; 603 first plate body; 604 lightening hole; 605 second plate body; 606 mounting surface; 607 connecting surface; 608 first mounting portion; 609 second mounting portion; 610 cleaning mechanism; 611 connecting assembly; 612 telescopic assembly; 613 mounting pipe; 614 sliding groove; 615 connecting pipe; 616 sliding piece; 617 first cleaning piece; 618 connecting piece; 619 connecting cavity; 620 cleaning opening; 621 mounting opening; 622 bristles; 623 plug-in piece; 624 fixing piece; 625 second cleaning piece. DETAILED DESCRIPTION

[0032] In order to enable a more detailed understanding of the features and technical content of the embodiments of the present disclosure, the implementation of the embodiments of the present disclosure is described in detail below, and the attached drawings are only used for reference and do not limit the embodiments of 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.

[0033] The terms "first", "second", and the like in the specification and claims of the embodiments 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.

[0034] In the embodiments of the present disclosure, the terms "upper", "lower", "inner", "middle", "outer", "front", "back", and the like indicate the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the embodiments of the present disclosure and its embodiments, and are not used to limit the indicated devices, elements or components must have a specific orientation, or be constructed and operated in a specific orientation. And, in addition to indicating the orientation or positional relationship, the above-mentioned terms can also be used to represent other meanings, for example, the term "upper" can also be used to represent a certain attachment relationship or connection relationship in some cases. For those skilled in the art, the specific meaning of these terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0035] In addition, the terms "set", "connected", and "fixed" should be construed broadly. For example, "connected" can be fixed connection, detachable connection, or integral configuration; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium, or internal connection between two devices, elements, or components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present disclosure according to the specific circumstances.

[0036] Unless otherwise specified, the term "plurality" means two or more.

[0037] In the embodiments of the present disclosure, the character " / " represents an "or" relationship between the objects before and after it. For example, A / B means A or B.

[0038] The term "and / or" is a description of the association relationship between objects, which means that there can be three relationships. For example, A and / or B means: A, B, A and B, three relationships.

[0039] It should be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0040] In some embodiments, in combination with Figures 1 to 3 As shown, a driving chassis 600 of the inspection robot is provided. The driving chassis 600 includes a chassis support 601, a driving mechanism 402, and a cleaning mechanism 610. The chassis support 601 includes a first end 626 and a second end 627 arranged oppositely. The driving mechanism 402 is arranged on the chassis support 601 and located between the first end 626 and the second end 627, and is used to drive the inspection robot 10 to move. The cleaning mechanism 610 is arranged on the first end 626 and the second end 627 of the chassis support 601 respectively, and is used to clean the ground or the track 424 in the moving direction of the inspection robot 10.

[0041] In this embodiment, the driving chassis 600 is applied to the inspection robot 10. The moving direction of the inspection robot 10 includes the forward direction and the backward direction of the inspection robot 10. The first end 626 is in the same direction as the forward direction of the inspection robot 10. The chassis support 601 is used to carry the driving mechanism 402 and the cleaning mechanism 610. The cleaning mechanism 610 is arranged at the first end 626 and the second end 627 of the chassis support 601, respectively, so as to clean the ground in the moving direction of the inspection robot 10, thereby ensuring that the inspection robot 10 is not affected by ground debris, dust, etc. during movement, improving the accuracy, safety and stability of the inspection. In addition, the ground debris and dust are cleaned by the cleaning mechanism 610, which can reduce the wear and damage of the driving mechanism 402 and other components caused by the ground debris and dust, thereby prolonging the service life of the inspection robot 10.

[0042] In some embodiments, in combination with Figure 2 and Figure 5 As shown, when the inspection robot 10 walks on the track 424, the cleaning mechanism 610 can be used to clean the track 424 in the moving direction of the inspection robot 10.

[0043] Optionally, in combination with Figure 3 As shown, the cleaning mechanism 610 includes a connecting assembly 611 and a first cleaning piece 617. One end of the connecting assembly 611 is connected and arranged with the chassis support 601. The first cleaning piece 617 is connected and arranged with the other end of the connecting assembly 611.

[0044] In this embodiment, the first cleaning piece 617 is used to clean the ground, and the connecting assembly 611 is used to connect the chassis support 601 and the connecting assembly 611. By connecting the chassis support 601 and the connecting assembly 611 through the connecting assembly 611, the first cleaning piece 617 can clean the ground in the moving direction of the inspection robot 10 during the process of driving the chassis support 601 to move relative to the ground by the driving mechanism 402, thereby driving the inspection robot 10 to move.

[0045] Optionally, in combination with Figure 3 As shown, the connecting assembly 611 includes a telescopic assembly 612. The fixed end of the telescopic assembly 612 is connected and arranged with the chassis support 601, and the telescopic end of the telescopic assembly 612 is connected and arranged with the first cleaning piece 617. The telescopic assembly 612 can be telescoped in a direction perpendicular to the moving direction of the inspection robot 10 to drive the first cleaning piece 617 to move in a direction perpendicular to the moving direction of the inspection robot 10.

[0046] In this embodiment, the fixed end of the telescopic assembly 612 refers to the part of the telescopic assembly 612 that remains stationary. When the telescopic assembly 612 is in operation, the fixed end serves as a reference point or anchor point, providing stable support and positioning. The telescopic end of the telescopic assembly 612 refers to the part of the telescopic assembly 612 that can move relative to the fixed end. Through telescopic action, the telescopic end can move away from or approach the fixed end, thereby adjusting the length or position of the entire telescopic assembly 612. In this embodiment, the telescopic assembly 612 is capable of telescoping in a direction perpendicular to the movement direction of the inspection robot 10, thereby driving the first cleaning member 617 to move in a direction perpendicular to the movement direction of the inspection robot 10, so that the cleaning mechanism 610 can adjust the height of the first cleaning member 617 as needed, thereby adapting to a more extensive and complex environment, improving the flexibility and reliability of the inspection robot 10.

[0047] Optionally, the telescopic assembly 612 includes a telescopic motor (not shown in the figure). The telescopic motor is arranged on the chassis support 601, and the output end of the telescopic motor is arranged in connection with the first cleaning member 617. The output end of the telescopic motor refers to the part of the telescopic motor responsible for transmitting power or motion. In this embodiment, by arranging the telescopic motor to constitute the telescopic assembly 612, automatic height or position adjustment of the first cleaning member 617 is achieved, thereby improving the degree of automation of the inspection robot 10.

[0048] Optionally, the telescopic assembly 612 includes a spring (not shown in the figure). One end of the spring is arranged in connection with the chassis support 601, and the other end of the spring is arranged in connection with the first cleaning member 617. In this embodiment, by arranging the spring to constitute the telescopic assembly 612, the first cleaning member 617 can passively telescope under the action of stress, so that the cleaning mechanism 610 can adapt to different road surface environments, thereby improving the flexibility and reliability of the inspection robot 10.

[0049] Optionally, in combination with Figure 3 As shown, the telescopic assembly 612 includes a mounting tube 613 and a connecting tube 615. One end of the mounting tube 613 is arranged in connection with the chassis support 601. One end of the connecting tube 615 is slidably connected to the other end of the mounting tube 613, and the other end of the connecting tube 615 is arranged in connection with the first cleaning member 617. The connecting tube 615 can slide relative to the mounting tube 613 along the length direction of the mounting tube 613.

[0050] In this embodiment, by sliding the connecting tube 615 relative to the mounting tube 613 along the length direction of the mounting tube 613, the telescopic assembly 612 is realized to telescope in a direction perpendicular to the movement direction of the inspection robot 10, thereby realizing the first cleaning member 617 to move in a direction perpendicular to the movement direction of the inspection robot 10.

[0051] Optionally, in combination with Figure 3As shown, the mounting pipe 613 is sleeved on the connecting pipe 615. The mounting pipe 613 includes sliding grooves 614, which are respectively arranged on opposite sides of the mounting pipe 613 and extend along the length direction of the mounting pipe 613. The telescopic assembly 612 further includes sliding members 616, which are respectively arranged on the connecting pipe 615 and penetrate the connecting pipe 615 to be close to the mounting pipe 613 and are in sliding connection with the sliding grooves 614.

[0052] In this embodiment, the sliding grooves 614 are respectively arranged on opposite sides of the mounting pipe 613 and extend along the length direction of the mounting pipe 613 to form a stable guide structure. The connecting pipe 615 is designed as a moving part of the telescopic assembly 612 and is provided with the sliding members 616 that are matched with the sliding grooves 614 and are close to the mounting pipe 613. The sliding members 616 penetrate the connecting pipe 615 close to the mounting pipe 613 and are in sliding connection with the sliding grooves 614, so that the connecting pipe 615 can smoothly and accurately slide along the sliding grooves 614 in the mounting pipe 613, thereby realizing the telescopic function of the telescopic assembly 612. In this embodiment, the sliding grooves 614 and the sliding members 616 make the sliding of the connecting pipe 615 in the mounting pipe 613 more stable, thereby reducing the risk of poor telescopic performance or damage caused by shaking or deviation. Meanwhile, the guiding effect of the sliding grooves 614 enables the connecting pipe 615 to slide in a predetermined direction, thereby ensuring the telescopic accuracy and reliability of the telescopic assembly 612.

[0053] Optionally, in combination with Figure 3 As shown, the first cleaning member 617 includes a connecting member 618 and bristles 622. The connecting member 618 is connected to the end of the connecting assembly 611 away from the chassis support 601. The bristles 622 are arranged on the connecting member 618.

[0054] In this embodiment, the connecting member 618 is connected to the end of the connecting assembly 611 away from the chassis support 601 to ensure that the first cleaning member 617 can remain stable during the movement of the inspection robot 10 and will not affect the cleaning effect due to shaking or bumping. The bristles 622 are used to remove dirt and debris on the ground. Through the connecting member 618 and the bristles 622, the first cleaning member 617 can clean the ground in the moving direction of the inspection robot 10.

[0055] In some embodiments, the material of the bristles 622 is nylon or polyester fiber. In this embodiment, the bristles 622 are made of nylon or polyester fiber to ensure that the bristles 622 have good cleaning performance and durability.

[0056] Optionally, in combination with Figure 3 and Figure 4As shown, the connecting member 618 comprises a connecting cavity 619 and a cleaning port 620, the cleaning port 620 is located on the side of the connecting member 618 away from the connecting assembly 611 and is in communication with the connecting cavity 619. The first cleaning member 617 further comprises a plug-in member 623. The plug-in member 623 is arranged in the connecting cavity 619. Part of the bristles 622 is arranged in the connecting member 618 through the cleaning port 620 and is connected with the plug-in member 623, and the part of the bristles 622 protruding out of the cleaning port 620 is used for cleaning the ground.

[0057] In this embodiment, the plug-in member 623 is arranged in the connecting cavity 619, and part of the bristles 622 is arranged in the connecting member 618 through the cleaning port 620 and is connected with the plug-in member 623, so that the bristles 622 can be arranged in the connecting member 618, and part of the bristles 622 protrudes out of the cleaning port 620, which ensures that the bristles 622 can directly contact the ground to effectively clean the ground.

[0058] Optionally, in combination with Figure 3 and Figure 4 As shown, the side of the connecting member 618 adjacent to the cleaning port 620 is further provided with a mounting port 621. The mounting port 621 is in communication with the cleaning port 620 and the connecting cavity 619. The first cleaning member 617 further comprises a fixing member 624. The fixing member 624 is arranged at the end of the connecting member 618 close to the mounting port 621. When the plug-in member 623 is arranged in the connecting cavity 619, the fixing member 624 abuts against the plug-in member 623.

[0059] In this embodiment, the mounting port 621 is arranged on the side of the connecting member 618 adjacent to the cleaning port 620, and the mounting port 621 is in communication with the cleaning port 620 and the connecting cavity 619 to form a mounting channel, so as to facilitate the technician to install the plug-in member 623 provided with the bristles 622 in the connecting cavity 619 from the mounting port 621, and make part of the bristles 622 protrude out of the cleaning port 620, realize the installation of the plug-in member 623, and thus realize the installation of the bristles 622. When the plug-in member 623 is arranged in the connecting cavity 619, the fixing member 624 abuts against the plug-in member 623 to realize the fixation of the plug-in member 623, and thus realize the fixation of the plug-in member 623. In this embodiment, the mounting port 621 and the fixing member 624 are arranged to facilitate the replacement of the bristles 622 when needed.

[0060] In some embodiments, in combination with Figure 3 and Figure 8 As shown, the driving mechanism 402 comprises a front axle assembly 403 and a rear axle assembly 406, the front axle assembly 403 and the rear axle assembly 406 are arranged at intervals on the chassis support 601, and along the advancing direction of the inspection robot 10, the front axle assembly 403 is located in front of the rear axle assembly 406. Among them, the cleaning mechanism 610 is located in front of the front axle assembly 403 along the advancing direction of the inspection robot 10.

[0061] In this embodiment, the front axle assembly 403 is an integrated component of the front wheel part of the inspection robot 10. By arranging the cleaning mechanism 610 in front of the front axle assembly 403 in the advancing direction of the inspection robot 10, the ground or track 424 in the advancing direction of the inspection robot 10 or the ground or track 424 after the movement of the inspection robot 10 can be cleaned, thereby improving the cleaning ability of the inspection robot 10.

[0062] Optionally, in combination with Figure 3 and Figure 8 As shown in the figure, the front axle assembly 403 comprises a second walking assembly 404. The second walking assembly 404 is arranged on the chassis support 601. Among them, the cleaning mechanism 610 is located in front of the second walking assembly 404 in the advancing direction of the inspection robot 10.

[0063] In this embodiment, the second walking assembly 404 is the executor of the movement of the inspection robot 10, which is responsible for converting the received driving force into actual movement. In this embodiment, by arranging the cleaning mechanism 610 in front of the second walking assembly 404 in the advancing direction of the inspection robot 10, it is ensured that the ground or track 424 in the advancing direction of the inspection robot 10 or the ground or track 424 after the movement of the inspection robot 10 can be accurately cleaned.

[0064] Optionally, in combination with Figure 3 and Figure 8 As shown in the figure, the second walking assembly 404 comprises a second transmission member 405 and a walking wheel 410. The second transmission member 405 is arranged on the chassis support 601. The walking wheel 410 is fixedly or detachably connected with the output end of the second transmission member 405. Among them, the cleaning mechanism 610 is located in front of the walking wheel 410 in the advancing direction of the inspection robot 10. 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.

[0065] In this embodiment, 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 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, by arranging the cleaning mechanism 610 in front of the walking wheel 410 in the advancing direction of the inspection robot 10, the ground or track 424 in the moving direction of the walking wheel 410 can be cleaned. In this embodiment, the connecting assembly 611 is located in front of the walking wheel 410 in the advancing direction of the inspection robot 10, so that the first cleaning member 617 is located in front of the walking wheel 410, and the ground in the advancing direction of the walking wheel 410 can be cleaned.

[0066] Optionally, the number of the walking wheels 410 in the front axle assembly 403 is two, and each of the two walking wheels 410 is fixedly or detachably connected with the output end of the second transmission member 405. In this embodiment, when the number of the walking wheels 410 in the front axle assembly 403 is two, the number of the cleaning mechanisms 610 is two, and the two walking wheels 410 and the two cleaning mechanisms 610 are arranged one by one. Specifically, the number of the connecting assemblies 611 is two, the two connecting assemblies 611 are arranged one by one with the two walking wheels 410, and the number of the first cleaning members 617 is two, the two first cleaning members 617 are arranged one by one with the two connecting assemblies 611.

[0067] In some embodiments, in combination with Figure 3 and Figure 8 It is shown that the driving mechanism 402 includes the front axle assembly 403 and the rear axle assembly 406, the front axle assembly 403 and the rear axle assembly 406 are arranged at intervals on the chassis support 601, and along the advancing direction of the inspection robot 10, the front axle assembly 403 is located in front of the rear axle assembly 406. Among them, the cleaning mechanism 610 is located behind the rear axle assembly 406 along the advancing direction of the inspection robot 10.

[0068] In this embodiment, the rear axle assembly 406 is an integrated assembly of the rear wheel part of the inspection robot 10. By arranging the cleaning mechanism 610 behind the rear axle assembly 406 along the advancing direction of the inspection robot 10, the ground or the track 424 in the moving direction of the inspection robot 10 can be cleaned during the backward movement or the forward movement of the inspection robot 10, and the cleaning ability of the inspection robot 10 is improved.

[0069] Optionally, in combination with Figure 3 and Figure 8 It is shown that the rear axle assembly 406 includes the first walking assembly 407. The first walking assembly 407 is arranged on the chassis support 601. Among them, the cleaning mechanism 610 is located behind the first walking assembly 407 along the advancing direction of the inspection robot 10.

[0070] In this embodiment, the first walking assembly 407 is the executor of the movement of the inspection robot 10, which is responsible for converting the received driving force into actual movement. In this embodiment, by arranging the cleaning mechanism 610 behind the first walking assembly 407 along the advancing direction of the inspection robot 10, it is ensured that the ground or the track 424 in the moving direction of the inspection robot 10 can be accurately cleaned.

[0071] Optionally, in combination with Figure 3 and Figure 8As shown, the first walking assembly 407 includes a first transmission member 408 and a walking wheel 410. The first transmission member 408 is arranged on the chassis support 601. The walking wheel 410 is fixedly or detachably connected with an output end of the first transmission member 408. Among them, the cleaning mechanism 610 is located behind the walking wheel 410 in the advancing direction of the inspection robot 10. 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.

[0072] In this embodiment, 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 with the output end of the first transmission member 408, 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, by arranging the cleaning mechanism 610 behind the walking wheel 410 in the advancing direction of the inspection robot 10, the ground or track 424 in the moving direction of the walking wheel 410 is cleaned. Specifically, the connecting assembly 611 is located behind the walking wheel 410 in the advancing direction of the inspection robot 10, so that the first cleaning member 617 is located behind the walking wheel 410, and the ground or track 424 in the moving direction of the walking wheel 410 is cleaned.

[0073] Optionally, the number of walking wheels 410 in the rear axle assembly 406 is two, and the two walking wheels 410 are fixedly or detachably connected with the output end of the first transmission member 408. In this embodiment, when the number of walking wheels 410 in the rear axle assembly 406 is two, the number of cleaning mechanisms 610 is two, and the two walking wheels 410 and the two cleaning mechanisms 610 are arranged one by one. Specifically, the number of connecting assemblies 611 is two, the two connecting assemblies 611 are arranged one by one with the two walking wheels 410, and the number of first cleaning members 617 is two, the two first cleaning members 617 are arranged one by one with the two connecting assemblies 611.

[0074] In some embodiments, in combination Figure 3 and Figure 8 As shown, the driving mechanism 402 includes a front axle assembly 403 and a rear axle assembly 406. The front axle assembly 403 and the rear axle assembly 406 are arranged at intervals in the moving direction of the inspection robot 10 on the chassis support 601, and in the advancing direction of the inspection robot 10, the rear axle assembly 406 is located behind the front axle assembly 403. Among them, the front axle assembly 403 and / or the rear axle assembly 406 are used to drive the inspection robot 10 to move. A plurality of cleaning mechanisms 610 are respectively located in front of the front axle assembly 403 and behind the rear axle assembly 406 in the advancing direction of the inspection robot 10.

[0075] In this embodiment, the driving mechanism 402 is subdivided into the front axle assembly 403 and the rear axle assembly 406 in order to maintain the balance and stability of the robot. Through the cooperation of the front axle assembly 403 and the rear axle assembly 406, the inspection robot 10 can be more flexible to cope with various complex terrains and obstacles. In addition, along the advancing direction of the inspection robot 10, the cleaning mechanism 610 is arranged in front of the front axle assembly 403 and behind the rear axle assembly 406, so that during the advancing movement or the retreating movement of the inspection robot 10, the ground or the track 424 in the moving direction of the inspection robot 10 can be swept, and the cleaning ability of the inspection robot 10 is improved.

[0076] In a specific application, in combination with Figure 3 and Figure 8 As shown in the figure, the driving mechanism 402 includes the front axle assembly 403 and the rear axle assembly 406, which are arranged in the moving direction of the inspection robot 10 and are spaced apart on the chassis support 601, and along the advancing direction of the inspection robot 10, the front axle assembly 403 is located in front of the rear axle assembly 406. The front axle assembly 403 and the rear axle assembly 406 each include two walking wheels 410. The number of cleaning mechanisms 610 is four. Among them, two cleaning mechanisms 610 are respectively located in front of the two walking wheels 410 in the front axle assembly 403 along the advancing direction of the inspection robot 10, and the other two cleaning mechanisms 610 are respectively located behind the two walking wheels 410 in the rear axle assembly 406 along the advancing direction of the inspection robot 10.

[0077] Optionally, in combination with Figures 1 to 3 As shown in the figure, when the driving mechanism 402 includes the walking wheel 410, the driving chassis 600 further includes a second cleaning member 625. The second cleaning member 625 is arranged on the chassis support 601 and abuts against the walking wheel 410.

[0078] In this embodiment, the second cleaning member 625 is further introduced, which is arranged on the chassis support 601 and abuts against the walking wheel 410, so that when the walking wheel 410 rolls, the walking wheel 410 will generate friction with the second cleaning member 625, thereby using the generated friction to clean the dirt or debris that may be attached to the surface of the walking wheel 410, realizing automatic cleaning of the dirt on the surface of the walking wheel 410, further improving the driving effect of the driving chassis 600, avoiding the problem of poor movement or damage caused by the dirt of the walking wheel 410, improving the moving efficiency of the chassis, and prolonging the service life of the walking wheel 410.

[0079] In some embodiments, the specific structure of the second cleaning member 625 is the same as that of the first cleaning member 617. For the specific structure of the second cleaning member 625, refer to the above-mentioned first cleaning member 617, which will not be described here.

[0080] In some embodiments, the first cleaning member 620 and the second cleaning member 625 are arranged in a one-to-one correspondence. Figures 1 to 3 As shown, the number of the walking wheels 410 is multiple, and the number of the second cleaning members 625 is multiple. The multiple second cleaning members 625 and the multiple walking wheels 410 are arranged in a one-to-one correspondence. For example, the number of the walking wheels 410 is four, and the number of the second cleaning members 625 is four. The four walking wheels 410 and the four second cleaning members 625 are arranged in a one-to-one correspondence.

[0081] In some embodiments, the first cleaning member 620 and the second cleaning member 625 are arranged in a one-to-one correspondence. Figure 8 As shown, the rear axle assembly 406 is used to drive the inspection robot 10 to move, and the rear axle assembly 406 further includes a power assembly 414. The power assembly 414 is arranged on the chassis bracket 601, and the output end of the power assembly 414 is connected and arranged with the input end of the first walking assembly 407, for driving the first walking assembly 407 to move, so as to drive the inspection robot 10 to move.

[0082] The output end of the power assembly 414 refers to the part of the power assembly responsible for outputting mechanical power or energy to the outside. The input end of the first walking assembly 407 refers to the part connected with the power source (in this embodiment, the power assembly 414) and receiving driving force. In this embodiment, the output end of the power assembly 414 is connected with the input end of the first walking assembly 407, and the power assembly 414 drives the movement of the first walking assembly 407 by transmitting torque or force. The first walking assembly 407, as the direct executor of the movement of the inspection robot 10, is responsible for converting driving force into actual movement.

[0083] Optionally, the first cleaning member 620 and the second cleaning member 625 are arranged in a one-to-one correspondence. Figure 8 As shown, the power assembly 414 includes a driving motor 415 and a speed reducer 416. The driving motor 415 is arranged on the chassis bracket 601. The input end of the speed reducer 416 is connected and arranged with the output end of the driving motor 415, and the output end of the speed reducer 416 is connected and arranged with the input end of the first walking assembly 407.

[0084] In this embodiment, the output end of the driving motor 415 refers to the part of the driving motor 415 that generates rotational power, that is, the shaft of the driving motor 415. The input end of the speed reducer 416 refers to the part that receives rotational power, and the output end of the speed reducer 416 outputs rotational power after being reduced in speed and increased in torque. The driving motor 415 is the power source of the power assembly 414, which converts electrical energy into mechanical energy to provide power for the movement of the inspection robot 10. The speed reducer 416 is used to convert the high-speed rotation of the driving motor 415 into low-speed high-torque output to meet the needs of the movement of the inspection robot 10. Through the speed reducer 416, the rotational speed of the driving motor 415 can be effectively reduced, and the output torque can be increased, so that the inspection robot 10 can move stably on various terrains. In this embodiment, the driving motor 415 is directly connected to the speed reducer 416, reducing the loss in the energy transmission process and improving the efficiency of power transmission, so that the inspection robot 10 can respond to instructions more quickly and stably when moving. By reducing the rotational speed to increase the output torque using the speed reducer 416, the inspection robot 10 can maintain stable movement performance when facing complex terrain or needing to overcome greater resistance. At the same time, the increased torque also helps to improve the climbing and obstacle-crossing capabilities of the inspection robot 10, improving the reliability of the inspection robot 10.

[0085] In some embodiments, the front axle assembly 403 is used to drive the movement of the inspection robot 10, and its specific structure is referred to the specific structure of the rear axle assembly 406 used to drive the movement of the inspection robot 10 in the above-mentioned embodiments, which will not be described here.

[0086] 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 connected or detachably connected to the road wheels 410. The input end of the steering gear refers to the part of the steering gear that is connected to the output end of the power assembly 414, allowing 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 of the steering gear that is connected to the transmission shaft, allowing 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 the vertical transmission shaft (in this embodiment, the output end of the power assembly 414, such as the output shaft of the speed reducer 416) to the horizontal transmission shaft by 90°. Through the two vertical transmission shafts connected by the steering gear, the transmission direction can be changed.

[0087] In some embodiments, the specific structure of the second transmission member 405 is the same as that of the first transmission member 408, and the specific structure of the second transmission member 405 is referred to the specific structure of the first transmission member 408 described in the above-mentioned embodiments, which will not be described here.

[0088] Optionally, in combination withFigure 5 and Figure 6 As shown in FIGS. 11 and 12, the walking wheel 410 includes 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.

[0089] In this embodiment, the walking wheel 410 is designed as the track wheel 411, which is in rolling connection with the track 424, 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 stably roll along the track 424, reducing shaking or deviation caused by uneven terrain or external force interference, and 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.

[0090] Optionally, in combination with Figure 5 and Figure 6 As shown in FIGS. 11 and 12, the track wheel 411 includes 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 abuts against the inner side or the outer side of the track 424.

[0091] 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 is 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 abuts against the inner side or the outer side of the track 424, thereby providing an additional support point for the track wheel 411 and enhancing the stability of the inspection robot 10 during movement, preventing the inspection robot 10 from shaking or deviating from the track 424 during high-speed movement or encountering external force interference, and improving the safety of the inspection robot 10.

[0092] Optionally, in combination with Figures 5 to 7As shown, in the case where the abutting portion 412 abuts against the inner side surface of the track 424, the walking portion 413 is frustoconical, and the diameter of the cross section of the walking portion 413 gradually decreases from the side connected to the abutting portion 412 to the side away from the abutting portion 412.

[0093] In this embodiment, the walking portion 413 is frustoconical, and the diameter of the cross section of the walking portion 413 gradually decreases from the side connected to the abutting portion 412 to the side away from the abutting portion 412. Since the abutting portion 412 abuts against the inner side surface of the track 424, the walking portion 413 is in rolling connection with the top of the track 424, so that when the track wheel 411 rolls on the track 424, the abutting portion 412 abutting against the inner side surface 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 abutting the abutting portion 412 against the inner side surface of the track 424, it can effectively avoid the patrol robot 10 from overturning or deviating from the track 424 during movement along the track 424.

[0094] Optionally, in combination with Figure 7 As shown, the track 424 includes a track base 425, a support portion 426, and a supporting portion 427. The support portion 426 is arranged on the track base 425. The supporting portion 427 is arranged on the support portion 426. The track wheel 411 is in rolling connection with the supporting portion 427.

[0095] In this embodiment, the track base 425 is used to bear the track 424 and all loads on the track 424. The support portion 426 is arranged on the track base 425 and is used to support and fix the supporting portion 427. The supporting portion 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 portion 426, and the supporting portion 427 provides a stable and smooth rolling path for the track wheel 411.

[0096] Optionally, in combination with Figure 7 As shown, the width of the track base 425 gradually decreases from bottom to top along the height direction of the track 424.

[0097] In this embodiment, the width of the track base 425 gradually decreases from bottom to top along the height direction of the track 424, i.e., the cross-sectional width of the track base 425 gradually decreases from the bottom to the top of the track base 425. By gradually decreasing the width of the track base 425 from bottom to top along the height direction of the track 424, the track base 425 presents a conical, stepped or other gradually tapered geometry. In this embodiment, by gradually decreasing the width of the track base 425, the structural safety is ensured while unnecessary material usage is reduced, thereby reducing the cost, weight, pressure on the foundation, transportation and installation costs. In addition, by gradually decreasing 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.

[0098] Optionally, in combination with Figure 7 As shown, the supporting part 427 includes a connecting part 428 and a guiding part 429, the connecting part 428 is connected and arranged with the supporting part 426, and the guiding part 429 is connected and arranged with the connecting part 428 and the track wheel 411 is rolling connected with the guiding part 429, wherein the width of the connecting part 428 gradually increases from bottom to top along the height direction of the track 424.

[0099] In this embodiment, the connecting part 428 is used to connect the guiding part 429 and the supporting 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. The width of the connecting part 428 gradually increases from bottom to top along the height direction of the track 424, so that the connecting part 428 presents a gradually expanding morphology in the vertical direction. By gradually increasing the width of the connecting part 428 to enhance the structural stability of the supporting part 427, so as to more effectively disperse the pressure generated when the track wheel 411 passes through, prolong the service life, at the same time, provide better support for the guiding part 429, ensure that the track wheel 411 remains smooth and efficient during rolling.

[0100] Optionally, in combination with Figure 8 As shown, the driving mechanism 402 further includes a first controller 430. The first controller 430 is arranged on the chassis bracket 601, and the first controller 430 is in communication connection with one or both of the front axle assembly 403 and the rear axle assembly 406 for driving the movement of the inspection robot 10.

[0101] In this embodiment, the first controller 430 is introduced to realize the motion control of the inspection robot 10, such as 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, so as to move the inspection robot 10; on flat ground, reduce the output power of the driving motor 415 to reduce energy consumption; in complex terrain, increase the output power of the driving motor 415 to ensure the stability and passability of the inspection robot 10, realize dynamic adjustment of the power and speed of the driving motor 415 according to actual needs, and thus optimize resource allocation.

[0102] Optionally, in combination with Figure 8 As shown, the driving mechanism 402 further comprises a first brake 417. The first brake 417 is arranged in the front axle assembly 403 and / or the rear axle assembly 406, and is used to brake the front axle assembly 403 and / or the rear axle assembly 406.

[0103] In this embodiment, by arranging the first 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 slow down, it can stop safely and stably, avoiding excessive movement or collision due to inertia, and improving the safety of the inspection robot 10.

[0104] In some embodiments, the first brake 417 is an electromagnetic holding brake. The structure of the electromagnetic holding 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 holding brake, and the electromagnetic holding 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, ensuring the normal operation of the brake. The working principle of the electromagnetic holding brake is mainly to use electromagnetic force to realize braking and stopping movement. When energized, the electromagnetic coil will generate a magnetic field, which 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.

[0105] In some embodiments, the first 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.

[0106] In this embodiment, the first brake 417 is used to slow down or stop the movement of the inspection robot 10, and is arranged 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. It can be understood that when the front axle assembly 403 is used to drive the inspection robot 10, the first brake 417 is arranged in the front axle assembly 403; when the rear axle assembly 406 is used to drive the inspection robot 10, the first brake 417 is arranged in the rear axle assembly 406; and when both the front axle assembly 403 and the rear axle assembly 406 are used to drive the inspection robot 10, the first brake 417 is arranged in the front axle assembly 403 and the rear axle assembly 406, respectively. By directly assembling the first brake 417 on the front axle assembly 403 and / or the rear axle assembly 406 for driving the inspection robot 10, the first brake 417 can directly act on the front axle assembly 403 and / or the rear axle assembly 406 as the driving component, thereby enhancing the braking capability of the inspection robot 10, making the inspection robot 10 more quickly and accurately respond to the brake signal when it needs to stop or slow down, and improving the safety of the inspection robot 10.

[0107] In some embodiments, the first brake 417 is arranged in the rear axle assembly 406. When the rear axle assembly 406 includes the first walking assembly 407, the first brake 417 is arranged in the first walking assembly 407. When the first walking assembly 407 includes the first transmission member 408 and the walking wheel 410, the first brake 417 is arranged in the first transmission member 408 and connected to the side of the walking wheel 410 close to the first transmission member 408. When the first brake 417 is an electromagnetic brake, the brake disc in the electromagnetic brake is arranged in connection with the walking wheel 410. When the number of walking wheels 410 is two, the number of first brakes 417 is two. The two first brakes 417 are arranged in one-to-one correspondence with the two walking wheels 410.

[0108] In some embodiments, the first brake 417 is arranged in the front axle assembly 403. The specific arrangement relationship between the first brake 417 and the front axle assembly 403 can refer to the arrangement of the first brake 417 in the rear axle assembly 406 in the above-mentioned embodiments, which will not be described here.

[0109] In some embodiments, the driving chassis 600 further includes a parking mechanism 418. The parking mechanism 418 is arranged in the chassis bracket 601, and the output end of the parking mechanism 418 is arranged in connection with the driving mechanism 402 and is configured to park when the inspection robot 10 stops moving.

[0110] The output end of the parking mechanism 418 refers to the end part of the parking mechanism 418 for transmitting the parking force or parking action to other components (in this embodiment, the driving mechanism 402). Based on the specific structure of the parking mechanism 418, the output end of the parking mechanism 418 can be, but is not limited to, a gear, a ratchet, a pawl, or an electromagnetic lock. In this embodiment, the output end of the parking mechanism 418 is connected and arranged with the driving mechanism 402, so that the parking mechanism 418 can lock the driving mechanism 402 when the inspection robot 10 needs to stop moving, such as reaching a detection point, to prevent accidental movement caused by external factors (such as wind, slope, etc.), ensure the stable parking of the inspection robot 10, and improve the stability and safety of the inspection robot 10. In the parking state, the driving mechanism 402 does not need to work continuously, thereby reducing the energy consumption of the inspection robot 10. In this embodiment, by combining the driving mechanism 402 and the parking mechanism 418, the motion control of the inspection robot 10 is more accurate and flexible, so that the inspection robot 10 can adapt to various complex environments and inspection requirements.

[0111] In this embodiment, the output end of the parking mechanism 418 is connected and arranged with the front axle assembly 403 and / or the rear axle assembly 406. By connecting and arranging the output end of the parking mechanism 418 with the front axle assembly 403 and / or the rear axle assembly 406, when the inspection robot 10 needs to stop moving, the parking mechanism 418 can lock the corresponding front axle assembly 403 and / or rear axle assembly 406 to prevent the inspection robot 10 from accidentally moving due to external factors, and ensure the stability and safety of the inspection robot 10.

[0112] Optionally, in combination with Figure 8 As shown, the parking mechanism 418 includes a tensioning member 419, a mechanical tensioning assembly 421, and a second brake (not shown in the figure). The mechanical tensioning assembly 421 is arranged on the chassis bracket 601 and is connected and arranged with the output end of the tensioning member 419. The second brake is arranged on the driving mechanism 402 and is connected and arranged with the output end of the mechanical tensioning assembly 421.

[0113] The output end of the tensioning member 419 refers to the part of the tensioning member 419 that is ready to transmit the tension to the next component (in this embodiment, the mechanical tensioning assembly 421). In this embodiment, the tensioning member 419 serves as the power source of the parking mechanism 418, for providing tension to drive the parking mechanism 418 to work. The mechanical tensioning assembly 421 is used to transmit the tension generated by the tensioning member 419 to the second brake, thereby achieving the braking or locking of the driving mechanism 402. The second brake is used to brake or lock the driving mechanism 402, thereby preventing the driving mechanism 402 from continuing to rotate or move, to prevent accidental movement of the inspection robot 10 caused by external factors.

[0114] Optionally, in combination with Figure 8As shown, the tensioning member 419 includes a mechanical tensioning member (not shown) and / or an electric tensioning member 420, and the output end of the mechanical tensioning member and / or the electric tensioning member 420 is connected to the input end of the mechanical tensioning assembly 421. The output end of the mechanical tensioning member and the electric tensioning member 420 refers to the part that is ready to transmit the tension to the next component (in this embodiment, the mechanical tensioning assembly 421). The input end of the mechanical tensioning assembly 421 refers to the part in the mechanical tensioning assembly 421 that receives the tension from the tensioning member 419 (the mechanical tensioning member or the electric tensioning member 420). In this embodiment, the tensioning member 419 is used to provide tension to brake or lock the drive mechanism 402.

[0115] In some embodiments, the tensioning member 419 includes a mechanical tensioning member, such as a handle. The mechanical tensioning member drives the mechanical tensioning assembly 421 through manual mechanical movement to achieve braking or locking of the drive mechanism 402. The advantage of the mechanical tensioning member is that it is simple in structure, reliable and durable, and does not require additional power supply.

[0116] In some embodiments, the tensioning member 419 includes a mechanical tensioning member, such as a handle. The mechanical tensioning member drives the mechanical tensioning assembly 421 through manual mechanical movement to achieve braking or locking of the drive mechanism 402. The advantage of the mechanical tensioning member is that it is simple in structure, reliable and durable, and does not require additional power supply. Figure 8 As shown, the tensioning member 419 includes an electric tensioning member 420, such as a motor. The electric tensioning member 420 generates tension through electric power driving to achieve braking or locking of the drive mechanism 402. The advantage of the electric tensioning member 420 is that it is easy to operate and responds quickly, and can adjust the size and speed of the tension as needed.

[0117] In some embodiments, the tensioning member 419 includes a mechanical tensioning member and an electric tensioning member 420. By combining the dual design of the mechanical tensioning member and the electric tensioning member 420, the reliability and safety of the parking mechanism 418 are improved. For example, when one of the mechanical tensioning member and the electric tensioning member 420 fails or cannot work, the other one can still work normally, providing double protection for the parking mechanism 418, thereby improving the reliability and safety of the parking mechanism 418. By combining the dual design of the mechanical tensioning member and the electric tensioning member 420, the parking mechanism 418 can select different tensioning methods according to actual needs, improving the flexibility of the parking mechanism 418. For example, in situations that require quick response and precise control, the electric tensioning member 420 can be selected; in situations that there is no power supply or manual operation is required, the mechanical tensioning member can be selected.

[0118] Optionally, in combination with Figure 8 As shown, when the tensioning member 419 includes an electric tensioning member 420, the parking mechanism 418 further includes a second controller 423. The second controller 423 is arranged on the chassis bracket 601 and is in communication connection with the electric tensioning member 420. In this embodiment, the second controller 423 is introduced to achieve intelligent control of the parking mechanism 418, such as locking the drive mechanism 402 by driving the electric tensioning member 420 when parking is required.

[0119] In some embodiments, the second controller 423 is communicatively connected with the first brake 417. In this embodiment, the second controller 423 is communicatively connected with both the first brake 417 and the electric tensioner 420 to control the brake and the parking brake of the inspection robot 10 to ensure the stable parking of the inspection robot 10.

[0120] Optionally, in combination with the above-mentioned embodiments, the second controller 423 is communicatively connected with the first brake 417 and the electric tensioner 420. Figure 8 As shown, the mechanical tensioning assembly 421 includes a brake cable 422. The opposite ends of the brake cable 422 are respectively connected to the tensioner 419 and the second brake. The brake cable 422 is used to transmit the tension generated by the tensioner 419 to the second brake. Through the tension of the tensioner 419, the brake cable 422 is stretched and generates tension, thereby driving the second brake to brake or lock the driving mechanism 402.

[0121] Optionally, the second brake includes a disc brake (not shown in the figure). The disc brake is arranged on the driving mechanism 402 and is communicatively connected with the output end of the mechanical tensioning assembly 421. In this embodiment, the disc brake is the output end of the parking mechanism 418. The output end of the mechanical tensioning assembly 421 refers to the part of the mechanical tensioning assembly 421 that transmits tension to the next component (such as the second brake). The disc brake is a braking system, also known as a disc brake. Due to its excellent heat dissipation performance and stable braking effect, the disc brake is widely used in high-performance vehicles and scenes that require frequent braking.

[0122] Optionally, the driving chassis 600 further includes an anti-collision magnetic induction strip 501. The anti-collision magnetic induction strip 501 is arranged at the first end 626 and the second end 627 of the chassis bracket 601, respectively, and extends along the width direction of the chassis bracket 601. The anti-collision magnetic induction strip 501 is communicatively connected with the driving mechanism 402 and / or the parking mechanism 418.

[0123] The anti-collision magnetic induction strip 501 is a device designed to prevent or reduce the occurrence of collision accidents. The anti-collision magnetic induction strip 501 is designed based on the principle that like magnetic poles repel each other. The anti-collision magnetic induction strip 501 utilizes magnetic repulsion to generate a certain resistance or warning signal when a vehicle or object approaches, thereby avoiding collision.

[0124] In this embodiment, the anti-collision magnetic induction strips 501 are arranged at opposite ends of the chassis support along the moving direction of the inspection robot 10 to ensure that the inspection robot 10 can effectively perceive the obstacles in the moving direction during movement, thereby reducing the risk of damage or failure of the inspection robot 10 caused by collision during inspection, and improving the safety and reliability of the inspection robot 10. In addition, the anti-collision magnetic induction strips 501 are in communication connection with the driving mechanism 402 and / or the parking mechanism 418, so that when the anti-collision magnetic induction strips 501 detect an obstacle, a signal can be sent to the driving mechanism 402 and / or the parking mechanism 418 in time. When the driving mechanism 402 receives the signal, the inspection robot 10 is controlled to slow down. When the parking mechanism 418 receives the signal, the inspection robot 10 can be parked in time to stop moving.

[0125] Specifically, the anti-collision magnetic induction strips 501 are in communication connection with the first controller 430 of the driving mechanism 402 and / or the second controller 423 of the parking mechanism 418, so as to realize the communication connection between the anti-collision magnetic induction strips 501 and the driving mechanism 402 and / or the parking mechanism 418.

[0126] Optionally, in combination with Figure 3 As shown in the figure, the driving chassis 600 further comprises a positioning switch 502. The positioning switch 502 is arranged on the chassis support 601. In some embodiments, the positioning switch 502 is in communication connection with the driving mechanism 402 and / or the parking mechanism 418.

[0127] In this embodiment, the driving chassis 600 comprises the positioning switch 502, and the positioning switch 502 is in communication connection with the driving mechanism 402 and / or the parking mechanism 418. The positioning switch 502 is used to assist other components to determine the position information of the inspection robot 10, such as cooperating with the parking mechanism 418 to generate arrival position information to the parking mechanism 418 when the inspection robot 10 reaches the position to be detected, so that the parking mechanism 418 controls the inspection robot 10 to park after receiving the arrival position information, so that the inspection robot 10 can efficiently complete the task.

[0128] Optionally, in combination with Figure 3 and Figure 9 As shown in the figure, the positioning switch 502 comprises a positioning member 503 and a proximity switch 510. The positioning member 503 is spacedly distributed on the moving route of the inspection robot 10. The proximity switch 510 is arranged on the chassis support 601, and the proximity switch 510 can generate an interfacing information after interfacing with the positioning member 503.

[0129] In this embodiment, the positioning members 503 are arranged at intervals on the moving route of the inspection robot 10, and are used to provide position information reference for the inspection robot 10. The proximity switch 510 is arranged on the chassis support 601. When the proximity switch 510 is docked with the positioning member 503, the proximity switch 510 can sense the presence of the positioning member 503, and generate corresponding docking information to determine that the inspection robot 10 has reached the position of the positioning member 503. The generated docking information helps the inspection robot 10 to determine its current position. In this embodiment, in combination with the positioning member 503 and the proximity switch 510, high-precision positioning of the inspection robot 10 can be achieved.

[0130] In some embodiments, in combination with Figure 9 As shown in the figure, the positioning member 503 includes a positioning plate body 504 and a positioning flange 507. The positioning flange 507 is located at opposite ends of the positioning plate body 504. The positioning member 503 is installed in the moving route of the inspection robot 10 through the positioning flange 507. When the proximity switch 510 is docked with the positioning plate body 504, the proximity switch 510 generates corresponding docking information. In this embodiment, the positioning plate body 504 includes a positioning surface 505 and a recess surface 506 arranged oppositely. The positioning flange 507 includes a first extension flange 508 and a second extension flange 509. The first extension flange 508 is formed at the recess surface 506 side of the opposite ends of the positioning plate body 504, extending from the positioning surface 505 towards the recess surface 506. The second extension flange 509 is formed at the end of the first extension flange 508 away from the positioning plate body 504, extending from the end of the first extension flange 508 towards the direction away from the positioning plate body 504 along the length direction of the positioning plate body 504. The positioning member 503 is installed in the moving route of the inspection robot 10 through the second extension flange 509. When the proximity switch 510 is docked with the positioning surface 505, the proximity switch 510 generates corresponding docking information. In this embodiment, the positioning plate body 504 and the positioning flange 507 are integrally formed to improve the structural strength and reliability of the positioning member 503.

[0131] In some embodiments, a marker such as a two-dimensional code, an RFID (Radio Frequency Identification) tag, or the like is pasted on the positioning surface 505. The proximity switch 510 includes an encoder arranged on the chassis support 601. The encoder can successfully identify the marker pasted on the positioning surface 505 when the proximity switch 510 is docked with the positioning member 503, to generate docking information and determine that the inspection robot 10 has reached the position of the positioning member 503. When the marker records the position coordinates of the positioning member 503 in the inspection area, the position coordinates of the positioning member 503 can also be obtained as the current position of the inspection robot 10.

[0132] Optionally, in combination with Figure 3As shown, the proximity switch 510 includes an electromagnetic switch 511 and / or a photoelectric switch 512. The electromagnetic switch 511 and / or the photoelectric switch 512 are arranged on the chassis support 601.

[0133] In some embodiments, the positioning member 503 is made of metal, such as stainless steel, aluminum alloy, nickel-titanium alloy, titanium, etc. The proximity switch 510 includes the electromagnetic switch 511 arranged on the chassis support 601. In this embodiment, when the electromagnetic switch 511 detects a metal object (such as the positioning member 503), it will cause a change in the magnetic field to trigger the switch action, determine that the proximity switch 510 and the positioning member 503 are successfully docked, and generate docking information to feed back that the inspection robot 10 and the positioning member 503 are successfully docked. In a specific application, the positioning member 503 can be arranged at a predetermined target position, such as the side of the charging base station. When the proximity switch 510 and the positioning member 503 are successfully docked, the docking information is received, and it is determined that the inspection robot 10 reaches the charging base station. The side of the industrial equipment to be detected is arranged, and when the proximity switch 510 and the positioning member 503 are successfully docked, the docking information is received, and it is determined that the inspection robot 10 reaches the position of the industrial equipment to be detected. The positioning member 503 is arranged at a predetermined inspection route according to a predetermined distance interval, the initial position of the inspection robot 10 is obtained, and the number of docking information received is combined to determine the position of the inspection robot 10 in the predetermined inspection route. In this embodiment, the combination of the electromagnetic switch 511 and the metal positioning member 503 makes the positioning switch 502 have the characteristics of simple structure, high reliability, strong adaptability, etc.

[0134] In some embodiments, the combination of the photoelectric switch 512 and the positioning member 503 makes the positioning switch 502 have the characteristics of high sensitivity, fast response speed, long detection distance, etc. Figure 3 As shown, the proximity switch 510 includes the photoelectric switch 512. The photoelectric switch 512 uses the emission and reception of light to detect the presence of an object. When the light is blocked by an object (such as the positioning member 503), the photoelectric switch 512 will trigger the corresponding action, such as generating docking information. The combination of the photoelectric switch 512 and the positioning member 503 makes the positioning switch 502 have the advantages of high sensitivity, fast response speed, long detection distance, etc.

[0135] In some embodiments, the material of the positioning member 503 is metal. The proximity switch 510 includes an electromagnetic switch 511 and a photoelectric switch 512, both of which are arranged on the chassis support 601. In this embodiment, the electromagnetic switch 511 and the photoelectric switch 512 are arranged together and used to detect the positioning member 503, which improves the environmental adaptability of the inspection robot 10. For example, in a metal environment-intensive scene, the electromagnetic switch 511 is used to detect the position information of the inspection robot 10; in a scene where a non-metal object needs to be detected or higher sensitivity is required, the photoelectric switch 512 is used to detect the position information of the inspection robot 10; in the case where one of the electromagnetic switch 511 and the photoelectric switch 512 is damaged, the other is used to detect the position information of the inspection robot 10. In addition, the integration of the electromagnetic switch 511 and the photoelectric switch 512 for detecting the positioning member 503 can improve the detection accuracy of the inspection robot 10 by verifying the detection results of the electromagnetic switch 511 and the photoelectric switch 512.

[0136] Optionally, as shown in Figure 3 and Figure 10 , the chassis support 601 includes a connecting seat 602. The proximity switch 510 is arranged on the connecting seat 602. In this embodiment, the proximity switch 510 is arranged on the connecting seat 602 to ensure that the proximity switch 510 can be stably installed on the chassis support 601, thereby improving the structural stability of the inspection robot 10. In addition, by adding the connecting seat 602 for installing the proximity switch 510, the distance between the proximity switch 510 and the positioning member 503 when the proximity switch 510 approaches the positioning member 503 is reduced, thereby improving the detection accuracy and reliability of the positioning switch 502.

[0137] In some embodiments, as shown in Figure 3 and Figure 10 , the proximity switch 510 includes an electromagnetic switch 511 and / or a photoelectric switch 512. The electromagnetic switch 511 and / or the photoelectric switch 512 are arranged on the connecting seat 602.

[0138] Optionally, as shown in Figure 10 , the connecting seat 602 includes a first plate body 603 and a second plate body 605. One end of the first plate body 603 is connected and arranged with the chassis support 601. The second plate body 605 is connected and arranged with the other end of the first plate body 603. The planes on which the first plate body 603 and the second plate body 605 are located are perpendicular to each other. The proximity switch 510 is arranged on the second plate body 605. In this embodiment, the first plate body 603 and the second plate body 605 constitute the connecting seat 602, so as to facilitate the stable installation of the proximity switch 510 on the connecting seat 602, and realize the stable installation of the proximity switch 510 on the chassis support 601.

[0139] Optionally, as shown in Figure 10As shown, the number of the first plate bodies 603 is multiple, one end of the multiple first plate bodies 603 is connected with the chassis support 601, and the other end of the multiple first plate bodies 603 is connected with the second plate body 605. In this embodiment, the number of the first plate bodies 603 is increased to improve the connection stability of the connecting seat 602.

[0140] Optionally, in combination with Figure 10 As shown, the first plate body 603 is provided with a weight-reducing hole 604. In this embodiment, the weight-reducing hole 604 is provided on the first plate body 603 to reduce the weight of the connecting seat 602, thereby reducing the weight of the inspection robot 10 and reducing energy consumption.

[0141] Optionally, in combination with Figure 10 As shown, the second plate body 605 includes a first mounting portion 608 and a second mounting portion 609. The first plate body 603 is connected with the first mounting portion 608 away from the chassis support 601. The proximity switch 510 includes an electromagnetic switch 511 and a photoelectric switch 512. The electromagnetic switch 511 is arranged on the side of the first mounting portion 608 away from the first plate body 603. The photoelectric switch 512 is arranged on the second mounting portion 609. In this embodiment, the second plate body 605 includes an installation surface 606 and a connecting surface 607 arranged oppositely. The first plate body 603 is connected with the connecting surface 607 away from the chassis support 601. The electromagnetic switch 511 is arranged on the installation surface 606. A flange is formed at the end of the first mounting portion 608 in the direction from the installation surface 606 to the connecting surface 607 to form the second mounting portion 609. In this embodiment, the first mounting portion 608 and the second mounting portion 609 are integrally formed to improve the structural strength of the second plate body 605, thereby improving the structural stability of the connecting seat 602.

[0142] Optionally, in combination with Figure 11 and Figure 12 As shown, the driving chassis 600 further includes an adapter mechanism 432. The adapter mechanism 432 is arranged on the chassis support 601 and connected with the driving mechanism 402. In this embodiment, the adapter mechanism 432 is used to connect the chassis support 601 and the driving mechanism 402.

[0143] In some embodiments, the adapter mechanism 432 is detachably connected with the chassis support 601. In this embodiment, the adapter mechanism 432 is detachably connected with the chassis support 601 to facilitate replacement and maintenance when the driving mechanism 402 is damaged, or replacement of the driving mechanism 402 according to the needs of the use environment.

[0144] Optionally, in combination with Figures 11 to 13As shown, the switching mechanism 432 includes a steering bearing 449 and a switching assembly 433. The steering bearing 449 is disposed on the chassis support 601. The switching assembly 433 is disposed on the steering bearing 449 and is connected with the driving mechanism 402. The steering bearing 449 is rotatably connected with at least one of the chassis support 601 and the switching assembly 433.

[0145] In this embodiment, the switching assembly 433 is used to connect the driving mechanism 402, and the steering bearing 449 is rotatably connected with at least one of the chassis support 601 and the switching assembly 433 to allow the switching assembly 433 to rotate relative to the chassis support 601. By disposing the steering bearing 449 between the chassis support 601 and the switching assembly 433, the switching mechanism 432 can flexibly adjust the moving direction of the inspection robot 10, and the stability of the movement of the inspection robot 10 is improved. Specifically, the steering bearing 449 allows the switching assembly 433 to rotate relative to the chassis support 601, 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, by the steering bearing 449, the driving mechanism 402 can move more smoothly when turning, reducing the friction between the track wheels 411 and the track 424 and reducing wear.

[0146] In some embodiments, the steering bearing 449 and the switching assembly 433 are detachably connected. In this embodiment, the steering bearing 449 and the switching assembly 433 are detachably connected to facilitate replacement and maintenance when the driving mechanism 402 is damaged, or to replace the driving mechanism 402 according to the needs of the use environment.

[0147] Optionally, in combination with Figure 14 As shown, the switching assembly 433 includes a switching plate 434, a switching piece 438, and a clamping piece 442. The switching plate 434 is disposed on the steering bearing 449. The switching piece 438 is connected with the side of the switching plate 434 away from the steering bearing 449. The clamping piece 442 is connected with the end of the switching piece 438 away from the switching plate 434, and the clamping piece 442 includes a first clamping plate 443 connected with the driving mechanism 402.

[0148] In this embodiment, the switching plate 434, the switching piece 438, and the clamping piece 442 together constitute the switching assembly 433. The switching plate 434 is used to connect the switching piece 438 and the steering bearing 449. The clamping piece 442 is used to connect the switching piece 438 and the driving mechanism 402. By the switching plate 434, the switching piece 438, and the clamping piece 442, the steering bearing 449 and the driving mechanism 402 are stably connected.

[0149] In some embodiments, the steering bearing 449 and the adapter plate 434 are rotatably connected.

[0150] In some embodiments, the steering bearing 449 and the adapter plate 434 are detachably connected.

[0151] Optionally, in combination with Figure 14 As shown, the adapter plate 434 includes a steering surface 435 close to the steering bearing 449 and an adapter surface 436 opposite to the steering surface 435. The steering surface 435 is connected with 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 to the adapter surface 436. The adapter surface 436 and the adapter flange 437 are fixedly connected with 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 to 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 with 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.

[0152] Optionally, in combination with Figure 14 As shown, the adapter piece 438 includes a first adapter plate body 439, a second adapter plate body 440, and a third adapter plate body 441. The planes where the first adapter plate body 439 and the second adapter plate body 440 are located are parallel to each other, and the plane where the third adapter plate body 441 is located is perpendicular to the planes where the first adapter plate body 439 and the second adapter plate body 440 are located. The planes where the first adapter plate body 439 and the second adapter plate body 440 are located are perpendicular to the planes where the adapter surface 436 and the adapter flange 437 are located. The plane where the third adapter plate body 441 is located 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 first adapter plate body 439 and the second adapter plate body 440 are fixedly connected with the adapter surface 436 and the adapter flange 437. The third adapter plate body 441 is connected with the clamping piece 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 piece 438 and thereby improve the structural strength of the adapter assembly 433.

[0153] Optionally, in combination with Figure 14As shown, the clamping piece 442 further comprises a second clamping plate 445. The first clamping plate 443 is two in number, and the two first clamping plates 443 are respectively located on opposite sides of the second clamping plate 445, and the planes on which the first clamping plate 443 and the second clamping plate 445 are located are perpendicular to each other. The first clamping plate 443 and the second clamping plate 445 are integrally formed. Among them, the plane on which the second clamping plate 445 is located is parallel to the plane on which the third adapter plate body 441 is located. The second clamping plate 445 is fixedly connected with the third adapter plate 434. In this embodiment, the first clamping plate 443 and the second clamping plate 445 are integrally formed to strengthen the structural strength of the clamping piece 442, thereby improving the structural strength of the adapter assembly 433.

[0154] In some embodiments, in combination with Figure 14 As shown, the adapter piece 438 is two in number, and the two adapter pieces 438 are respectively arranged at opposite ends of the adapter plate 434 along the length direction of the adapter plate 434. The clamping piece 442 is two in number, and the two clamping pieces 442 are arranged one by one with the two adapter pieces 438. The first clamping plate 443 on the two clamping pieces 442 is connected with the driving mechanism 402.

[0155] In some embodiments, in combination with Figure 3 and Figure 8 As shown, the driving mechanism 402 comprises a front axle assembly 403 and a rear axle assembly 406. The front axle assembly 403 and the rear axle assembly 406 respectively comprise a second transmission member 405 and a first transmission member 408. The steering bearing 449 is two in number, and the two steering bearings 449 are arranged at intervals on the chassis support 601. The adapter assembly 433 is two in number, and the two adapter assemblies 433 are arranged one by one with the two steering bearings 449. The two adapter assemblies 433 are respectively arranged with the second transmission member 405 and the first transmission member 408 to realize the connection of the adapter mechanism 432 between the chassis support 601 and the driving mechanism 402.

[0156] In some embodiments, in combination with Figure 3 and Figure 14 As shown, the first transmission member 408 further comprises a rotating sleeve 409, and the rotating sleeve 409 is sleeved on the transmission shaft. The end of the first clamping plate 443 close to the driving mechanism 402 is provided with a clamping groove 444. 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 realized by clamping the rotating sleeve 409 with the clamping groove 444. The connection of the adapter assembly 433 and the second transmission member 405 can refer to the connection of the adapter assembly 433 and the first transmission member 408, which will not be described here.

[0157] Optionally, in combination with Figure 3and Figure 15 As shown, the adapter mechanism 432 further comprises a reinforcing member 446. The reinforcing member 446 is arranged on the chassis support 601. The steering bearing 449 is arranged on the reinforcing member 446 and fixedly connected or rotatably connected with the reinforcing member 446.

[0158] In this embodiment, the reinforcing member 446 is further introduced to connect the chassis support 601 and the steering bearing 449, so as to increase the connection strength of the steering bearing 449 and the chassis support 601 and improve the structural stability of the inspection robot 10.

[0159] Optionally, in combination with Figure 15 As shown, the reinforcing member 446 comprises a reinforcing plate body 447. Wings 448 extending outward are formed on the circumferential edge of the reinforcing plate body 447. The number of the wings 448 is four, and the four wings 448 are evenly spaced along the circumference of the reinforcing plate body 447. In this embodiment, by forming four evenly 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, reduce the risk of stress concentration, and enhance the connection strength of the chassis support 601 and the steering bearing 449.

[0160] In a specific application, the number of the steering bearings 449 is two, and the two steering bearings 449 are spaced apart along 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 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. Among them, along 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, and the parking mechanism 418 is arranged on the chassis support 601 and the output end is arranged in connection with the front axle assembly 403. The first controller 430 is arranged on the chassis support 601, and the signal output end of the first controller 430 is in communication connection with the rear axle assembly 406. The second controller 423 is arranged on the chassis support 601, and the second controller 423 is in communication connection with the electric tensioning member 420 of the parking mechanism 418. The signal output end of the first controller 430 refers to the part of the first controller 430 responsible for sending control signals or instructions outward.

[0161] In some embodiments, in combination with Figure 1 and Figure 2 As shown, an inspection robot 10 is provided, comprising a driving chassis 600 as described in the above embodiments.

[0162] In the embodiments of the present disclosure, the inspection robot 10 comprises the driving chassis 600 described in the above embodiments, therefore, the technical effects possessed by the driving chassis 600 in the embodiments are also possessed by the embodiments of the present disclosure, which will not be described herein.

[0163] 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 kinetic energy, data or motion is transmitted in the component. Based on the different specific structures of each component and the different connection forms between the components, 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.

[0164] 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. Parts and features of some embodiments can be included or replace 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 drive chassis for a patrol robot, characterized in that, The utility model relates to a drive chassis of a patrol robot, comprising: a chassis support comprising a first end and a second end arranged oppositely; a driving mechanism arranged on the chassis support and located between the first end and the second end, the driving mechanism being used to drive the patrol robot to move; a cleaning mechanism arranged on the first end and the second end of the chassis support respectively, the cleaning mechanism being used to clean the ground or track in the moving direction of the patrol robot; the cleaning mechanism comprising a connecting assembly, one end of the connecting assembly being arranged in connection with the chassis support; the connecting assembly comprising a telescopic assembly, a fixed end of the telescopic assembly being arranged in connection with the chassis support, and a telescopic end of the telescopic assembly being arranged in connection with a first cleaning piece; the first cleaning piece being arranged in connection with the other end of the connecting assembly.

2. The drive chassis of claim 1, wherein, the telescopic assembly comprising: a mounting pipe, one end of the mounting pipe being arranged in connection with the chassis support; a connecting pipe, one end of the connecting pipe being slidably connected with the other end of the mounting pipe, and the other end of the connecting pipe being arranged in connection with the first cleaning piece.

3. The drive chassis of claim 2, wherein, the mounting pipe being sleeved on the connecting pipe; the mounting pipe comprising sliding grooves, the sliding grooves being arranged along the length direction of the mounting pipe and located on opposite sides of the mounting pipe respectively; the telescopic assembly further comprising a sliding piece, the sliding piece penetrating through the connecting pipe and being arranged in sliding connection with the sliding grooves near the one end of the mounting pipe.

4. The drive chassis of claim 1, wherein, the first cleaning piece comprising: a connecting piece, the connecting piece being arranged in connection with the other end of the connecting assembly away from the chassis support; bristles, the bristles being arranged on the connecting piece.

5. The drive chassis according to claim 4, wherein: the connecting piece comprises a connecting cavity and a cleaning port, the cleaning port being located on the side of the connecting piece away from the connecting assembly and being in communication with the connecting cavity; the first cleaning piece further comprising a plug-in piece, the plug-in piece being arranged in the connecting cavity, and part of the bristles being arranged in connection with the plug-in piece through the cleaning port, the part of the bristles protruding out of the cleaning port being used to clean the ground.

6. The drive chassis according to claim 5, wherein: the side of the connecting piece adjacent to the cleaning port is further provided with a mounting port, the mounting port, the cleaning port and the connecting cavity being in communication with each other; the first cleaning piece further comprising a fixing piece, the fixing piece being arranged on the end of the connecting piece close to the mounting port; when the plug-in piece is arranged in the connecting cavity, the fixing piece abuts against the plug-in piece.

7. The drive chassis of any one of claims 1 to 6, wherein, the driving mechanism comprising a walking wheel, the cleaning mechanism being used to clean the ground or track in the moving direction of the walking wheel; and / or, the driving mechanism comprising a walking wheel, the number of the walking wheels being multiple, the number of the cleaning mechanisms being multiple, and the multiple walking wheels and the multiple cleaning mechanisms being arranged in one-to-one correspondence; and / or, the driving mechanism comprising a walking wheel, the drive chassis further comprising a second cleaning piece, the second cleaning piece being arranged on the chassis support and abutting against the walking wheel.

8. A patrol robot characterized by comprising: The utility model relates to a drive chassis of a patrol robot, comprising: the drive chassis of the patrol robot according to any one of claims 1 to 7.

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