Factory inspection robot and walking device thereof

Abstract

The utility model provides a factory inspection robot and a walking device thereof. The walking device of the factory inspection robot comprises a frame, carrying wheels and a suspension transmission system, the carrying wheels are symmetrically arranged on the two sides of the frame through the suspension transmission system; the suspension transmission system comprises a suspension mechanism, a driving mechanism and a transmission mechanism; the suspension mechanism comprises an upper swing arm, a lower swing arm and a shock absorber, the two ends of the upper swing arm, the two ends of the lower swing arm and the two ends of the shock absorber are hinged to a first connecting piece and a second connecting piece respectively, the first connecting piece is fixed to the frame, the second connecting piece is connected with the carrying wheels, and the driving mechanism is arranged on the frame. And two ends of the universal joint are respectively connected with the driving mechanism and the carrying wheel. According to the walking device, vibration of the inspection robot in the walking process can be effectively reduced, the driving stability and steering flexibility are improved, and inspection operation can be completed more efficiently.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically to a factory inspection robot and its walking device. Background Technology

[0002] Factory inspection robots, as an important component of intelligent industrial monitoring equipment, are mainly used in substations, power plants, automobile manufacturing plants, electronics and electrical factories, and warehousing and logistics facilities. They collect environmental data through head-mounted image transmission cameras, identifying anomalies and detecting obstacles. Inspection robots can replace manual labor for routine inspections, effectively improving factory operational safety, reducing labor costs, and enabling continuous 24 / 7 monitoring. Typically equipped with image transmission cameras, environmental sensors, and processors, inspection robots autonomously navigate complex factory environments, collecting, analyzing, and managing data on equipment operating status, safety hazards, and environmental parameters, thus ensuring safe production in the factory.

[0003] However, existing factory inspection robots have shortcomings in application. On the one hand, due to uneven ground, the robot will vibrate violently when walking. These vibrations are transmitted to the camera and other sensing devices through the mechanical structure, which seriously affects the image acquisition quality and positioning accuracy of the robot. On the other hand, the equipment in the factory is arranged in a compact manner and the spatial structure is complex. The robot is not flexible enough in turning during inspection, cannot adapt to the complex situation of the factory, is prone to collisions, and is difficult to complete inspection work efficiently. Utility Model Content

[0004] To address the aforementioned shortcomings of existing technologies, a factory inspection robot and its walking device are provided, which can effectively reduce vibration during robot movement, improve driving stability and steering flexibility, thereby completing inspection tasks more efficiently.

[0005] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows:

[0006] A walking device for a factory inspection robot includes a frame, a carrier wheel, and a suspension transmission system. The carrier wheel is symmetrically arranged on both sides of the frame via the suspension transmission system. The suspension transmission system includes a suspension mechanism, a drive mechanism, and a transmission mechanism. The suspension mechanism includes an upper control arm, a lower control arm, and a shock absorber. The two ends of the upper control arm, the lower control arm, and the shock absorber are respectively hinged to a first connecting member and a second connecting member. The first connecting member is fixed to the frame, and the second connecting member is connected to the carrier wheel. The drive mechanism is located on the frame, and the transmission mechanism includes a universal joint. The two ends of the universal joint are respectively connected to the drive mechanism and the carrier wheel.

[0007] According to the above technical solution, the frame is a double-layer structure, including a base and an upper plate, and the base and the upper plate are connected and fixed by a bracket.

[0008] According to the above technical solution, a bumper is provided around the base, and a guide wheel is movably installed inside the bumper.

[0009] According to the above technical solution, the vehicle frame is equipped with an anti-collision sensor plate, which is fixed to the periphery of the vehicle frame by a bracket.

[0010] According to the above technical solution, a power supply mounting bracket is fixed on the vehicle frame, a power supply is provided inside the power supply mounting bracket, an electronic control switch for controlling the power supply on and off is provided on the power supply mounting bracket, and a display bar for displaying the remaining power of the power supply is also provided on the vehicle frame.

[0011] According to the above technical solution, the carrier wheel is a Mecanum wheel, which includes a hub, a flange and rollers. The rollers are arranged obliquely around the hub and are fixed at both ends by bolts. The flange is fixed to the center of the hub.

[0012] According to the above technical solution, one end of the upper swing arm is hinged to the upper part of the first connecting member via a hinge, and the other end is hinged to the upper part of the second connecting member. The two ends of the lower swing arm are respectively hinged to the lower parts of the first connecting member and the lower parts of the second connecting member. The shock absorbers are symmetrically arranged on both sides of the first connecting member and the second connecting member, and the two ends of the shock absorbers are respectively hinged to the upper part of the first connecting member and the lower part of the second connecting member.

[0013] According to the above technical solution, the drive mechanism includes a wheel frame, a large pulley, a motor, a motor speed controller, a small pulley, and a transmission belt. The wheel frame is fixed on the vehicle frame, the large pulley is installed inside the wheel frame, the large pulley is fixedly connected to the extended shaft of the motor, the motor speed controller is connected to the motor, the small pulley is fixed on the first connecting member, and the transmission belt connects the large pulley and the small pulley.

[0014] According to the above technical solution, one end of the universal joint is connected to the small pulley through the first connecting member via a deep groove ball bearing, and the other end is connected to the flange of the carrier wheel through the second connecting member via a deep groove ball bearing.

[0015] According to the above technical solution, this utility model also provides an inspection robot including the walking device.

[0016] This utility model has the following beneficial effects:

[0017] 1. This utility model provides a factory inspection robot and its walking device. An upper swing arm, a lower swing arm, and a shock absorber are hinged between the transport wheel and the frame, which can effectively buffer the force and torque generated by the vibration of the robot when walking and maintain stability during travel. The universal joint adjusts the transport wheel, which improves the robot's steering flexibility, enabling it to adapt to more complex working environments and complete inspection tasks more efficiently.

[0018] 2. This utility model features an anti-collision sensor plate, a bumper, and guide wheels on the outer periphery of the base. The anti-collision sensor plate can detect obstacles in front and promptly send signals to prevent the robot from colliding. The bumper and guide wheels serve as a second layer of protection, protecting the internal structure of the device in the event of a collision. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the walking device of a factory inspection robot provided for an embodiment of this utility model;

[0021] Figure 2 A schematic diagram of the chassis structure of the walking device of a factory inspection robot provided for an embodiment of this utility model;

[0022] Figure 3 A schematic diagram of the anti-collision sensing plate and display strip structure of the walking device of a factory inspection robot provided for an embodiment of this utility model;

[0023] Figure 4 A schematic diagram of the power supply structure of the walking device of a factory inspection robot provided for an embodiment of this utility model;

[0024] Figure 5 A schematic diagram of the carrier wheel structure of the walking device of a factory inspection robot provided in this embodiment of the present invention;

[0025] Figure 6 A schematic diagram of the suspension transmission system structure of the walking device of a factory inspection robot provided for an embodiment of this utility model;

[0026] Figure 7 A bottom view of the suspension transmission system of a factory inspection robot's walking device, provided as an embodiment of this utility model.

[0027] In the diagram: 1. Frame; 11. Base; 12. Upper plate; 13. Bracket; 14. Bumper; 15. Guide wheel; 16. Power supply; 17. Power supply mounting bracket; 18. Electric control switch; 19. Display bar; 2. Anti-collision sensor plate; 3. Mecanum wheel; 31. Wheel hub; 32. Roller; 33. Flange; 4. Suspension mechanism; 41. First connecting piece; 42. Second connecting piece; 43. Upper control arm; 44. Lower control arm; 45. Shock absorber; 46. Hinge; 47. Spherical bearing; 5. Drive mechanism; 51. Motor; 52. Large pulley; 53. Small pulley; 54. Belt; 55. Motor speed controller; 56. Wheel frame; 57. Tensioner; 6. Universal joint; 61. Deep groove ball bearing. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0029] like Figure 1 As shown, this utility model provides a factory inspection robot and its walking device, including a frame 1, a carrier wheel, and a suspension transmission system. The carrier wheel is symmetrically arranged on both sides of the frame 1 via the suspension transmission system. The suspension transmission system includes a suspension mechanism 4, a drive mechanism 5, and a transmission mechanism. The suspension mechanism 4 includes an upper swing arm 43, a lower swing arm 44, and a shock absorber 45. The two ends of the upper swing arm 43, the lower swing arm 44, and the shock absorber 45 are respectively hinged to a first connecting member 41 and a second connecting member 42. The first connecting member 41 is fixed to the frame 1, and the second connecting member 42 is connected to the carrier wheel. The drive mechanism 5 is located on the frame 1. The transmission mechanism includes a universal joint 6, and the two ends of the universal joint 6 are respectively connected to the drive mechanism 5 and the carrier wheel. This device can effectively reduce the vibration of the robot during walking, improve driving stability and steering flexibility, thereby better completing inspection operations.

[0030] In this embodiment, as Figure 2As shown, the frame 1 has a double-layer structure, with a base 11 as the lower layer and an upper plate 12 as the upper layer. The base 11 and the upper plate 12 are connected and fixed by a bracket 13. The main body of the base 11 is a horizontal support beam, composed of multiple mutually perpendicular carbon square tubes. Holes are drilled at the junctions of the carbon square tubes, and they are fixed with rivets. Bumpers 14 and guide wheels 15 are provided at the four corners of the outer perimeter of the base 11. The bumpers 14 are L-shaped carbon fiber plates, and the guide wheels 15 are movably installed inside the bumpers 14. When the inspection robot is involved in an accident such as a collision, the bumpers 14 can protect the internal structure, and the guide wheels 15 can assist in dissipating force, further reducing the damage.

[0031] In this embodiment, as Figure 3 As shown, the frame 1 is equipped with four anti-collision sensor plates 2, which are respectively set around the inspection robot and fixed on the bracket 13 between the base 11 and the upper plate 12. The anti-collision sensor plates 2 can detect obstacles in front of the inspection robot, emit electrical signals, reduce the walking speed, and avoid collisions with obstacles.

[0032] In this embodiment, as Figure 4 As shown, the frame 1 is also provided with a power supply 16 and a power supply mounting bracket 17. The power supply 16 is fixedly mounted on the upper plate 12 of the frame 1 through the power supply mounting bracket 17. The power supply mounting bracket 17 includes a mechanical frame and an electronic control switch 18. The mechanical frame is fixed to the upper plate 12 by bolts, and the electronic control switch 18 is used to control the on and off of the power supply 16.

[0033] In this embodiment, the vehicle frame 1 is also provided with a display bar 19, which is fixedly installed above the anti-collision sensor plate 2. The display bar 19 can display the remaining power of the power supply 16 and remind the user to replace the power supply 16 in time when the power is low.

[0034] In this embodiment, as Figure 5 As shown, the carrier wheel is a Mecanum wheel 3, which includes a hub 31, a flange 33 and rollers 32. The rollers 32 are made of rubber and are arranged obliquely around the periphery of the hub 31. The two ends of the rollers 32 are fixed to the hub 31 by stainless steel bolts. The hub 31 has a plurality of small holes in an annular array corresponding to the flange 33 in the middle. The flange 33 is fixedly installed in the center of the hub 31 by bolts.

[0035] In this embodiment, as Figure 6As shown, the suspension mechanism 4 includes a first connecting member 41, a second connecting member 42, an upper control arm 43, a lower control arm 44, and a shock absorber 45. The upper and lower ends of the first connecting member 41 are fixedly connected to the upper plate 12 and the base 11 of the frame 1 respectively via carbon fiber plates. The second connecting member 42 is connected to the Mecanum wheel 3. One end of the upper control arm 43 is hinged to a hinge 46 via a spherical bearing 47, and the hinge 46 is connected to the upper part of the first connecting member 41. The other end of the upper control arm 43 is hinged to the upper part of the second connecting member 42 via a spherical bearing 47. Both ends of the lower control arm 44 are hinged to the lower parts of the first connecting member 41 and the lower parts of the second connecting member 42 via spherical bearings 47, respectively. The shock absorbers 45 are symmetrically arranged on both sides of the first connecting member 41 and the second connecting member 42, and both ends of the shock absorbers 45 are hinged to the upper parts of the first connecting member 41 and the lower parts of the second connecting member 42, respectively. The shock absorber 45 includes a hydraulic cylinder and a spring surrounding the hydraulic cylinder, capable of absorbing the impact force generated by vibration. When the inspection robot walks on uneven roads, the upper swing arm 43, the lower swing arm 44 and the shock absorber 45 can reduce the force and torque generated by vibration and maintain stability during travel.

[0036] In this embodiment, the drive mechanism 5 includes a motor 51, a large pulley 52, a small pulley 53, and a transmission belt. The large pulley 52 is mounted on a wheel frame 56, which is mounted on the vehicle frame 1. The upper and lower ends of the wheel frame 56 are fixed to the upper plate 12 and the base 11, respectively. The motor 51 is connected to a motor speed controller 55, which is fixed to the base 11 and is used to control the rotational speed of the motor 51. The large pulley 52 is fixedly connected to the extended shaft of the motor 51, and the small pulley 53 is fixedly mounted on the first connecting member 41. The large pulley 52 and the small pulley 53 are connected by a conveyor belt, preferably a belt 54.

[0037] In this embodiment, the transmission mechanism is a universal joint 6. One end of the universal joint 6 is connected to the small pulley 53 via a deep groove ball bearing 61 passing through the first connecting member 41, and the other end is connected to the flange 33 via a deep groove ball bearing 61 passing through the second connecting member 42. This device adjusts the speed of the motor 51 through the motor speed controller 55 and adjusts the Mecanum wheel 3 through the universal joint 6, improving the robot's steering flexibility. It can achieve a series of special movements such as turning in place, forward and backward movement, left and right translation, and diagonal rotation, adapting to more complex working environments and completing inspection operations more efficiently.

[0038] In this embodiment, as Figure 7 As described above, a tensioning member 57 is provided below the large pulley 52 and the small pulley 53. The tensioning member 57 is fixedly installed on the base 11 of the frame 1 and can adjust the tension of the belt 54.

[0039] This embodiment also provides an inspection robot, including the aforementioned walking device, with other components of the inspection robot mounted on the frame 1 of the walking device.

[0040] The embodiments described above are some, but not all, of the embodiments of this application. The detailed description of the embodiments of this application is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

Claims

1. A walking device for a factory inspection robot, characterized in that: The walking device comprises a frame, a load wheel and a suspension transmission system. The load wheel is symmetrically arranged on both sides of the frame through the suspension transmission system. The suspension transmission system comprises a suspension mechanism, a driving mechanism and a transmission mechanism.

2. The walking device of the factory inspection robot according to claim 1, characterized in that: The frame is a double-layer structure comprising a base and an upper layer plate.

3. The walking device of the factory inspection robot according to claim 2, characterized in that: The base is provided with a bumper.

4. The walking device of the factory inspection robot according to claim 2, characterized by: The frame is provided with an anti-collision sensing plate.

5. The walking device of the factory inspection robot according to claim 1, characterized by: The frame is provided with a power supply mounting rack.

6. The walking device of the factory inspection robot according to claim 1, characterized by: The load wheel is a Mecanum wheel.

7. The walking device of the factory inspection robot according to claim 1, characterized by: The upper swing arm is hingedly connected to the upper part of the first connecting member at one end and to the upper part of the second connecting member at the other end.

8. The walking device of the factory inspection robot according to claim 1, characterized by: The driving mechanism comprises a wheel frame, a large pulley, a motor, a motor speed regulator, a small pulley and a transmission belt.

9. The walking device of the factory inspection robot according to claim 8, characterized by: The universal joint is connected to the small pulley through a deep groove ball bearing at one end and to the flange plate of the load wheel through a deep groove ball bearing at the other end.

10. A factory inspection robot characterized by: The walking device comprises the walking device according to any one of claims 1-9.

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