Modularized driving wheel set inspection robot chassis

Abstract

The utility model provides a modular driving wheel set inspection robot chassis, which belongs to the field of robots and comprises a stepping motor, a wheel set shell and four groups of wheels, the stepping motor is positioned in the middle of the whole chassis and used for driving front and rear wheels to rotate, and the wheels are respectively positioned on two sides of the wheel set shell and used for driving the front and rear wheels to rotate. The whole chassis is composed of a wrapping and smashing device module, a wheel track adjusting module, a bevel gear box module, a linkage module and an anti-collision module. Through the arrangement of the wrapping and smashing device module, the wheel track adjusting module, the bevel gear box module, the linkage module and the anti-collision module, when a single wheel set breaks down (for example, a motor is burnt out, and tires are abraded), the single wheel set can be independently detached and replaced, overall shutdown is not needed, and through structural innovation, the driving wheel set is designed into an independent detachable module, so that the structure is simple and convenient. Rapid fault isolation, flexible function expansion and omnidirectional movement capability are realized, and the full-life-cycle maintenance cost is reduced at the same time.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a modular drive wheel assembly inspection robot chassis. Background Technology

[0002] Inspection robots are robotic systems that can perform inspection tasks autonomously or semi-autonomously. They are mainly used for safe, efficient, and accurate detection and monitoring of industrial equipment to achieve rapid response, effective prevention, and timely handling of problems. With the rapid growth in demand for industrial automation and intelligent inspection, inspection robots are widely used in complex scenarios such as power, petrochemical, and warehousing.

[0003] Traditional inspection robot chassis often adopt an integrated design, with the drive wheel assembly rigidly connected to the chassis body. This results in drawbacks such as poor flexibility, high maintenance costs, and weak adaptability to different scenarios. For example, when the drive wheel assembly fails, the entire chassis needs to be disassembled for repair, leading to extended downtime. To meet different load, terrain, or protection requirements, the chassis structure needs to be redesigned, resulting in long development cycles and high costs.

[0004] To address this, a modular drive wheel assembly inspection robot chassis is proposed. Utility Model Content

[0005] The purpose of this utility model is to address the problems of traditional inspection robot chassis, which mostly adopt an integrated design with the drive wheel assembly rigidly connected to the chassis body, resulting in poor flexibility, high maintenance costs, and weak adaptability to different scenarios.

[0006] To achieve the above-mentioned objectives, this utility model provides the following technical solution:

[0007] The present invention is as follows: a modular drive wheel assembly inspection robot chassis, including a stepper motor, a wheel assembly shell and wheels. The stepper motor is located in the middle of the chassis and is used to drive the front and rear wheels to rotate. There are four sets of wheels, which are located on both sides of the wheel assembly shell. The chassis as a whole is composed of a crushing device module, a wheel track adjustment module, a bevel gearbox module, a linkage module and an anti-collision module.

[0008] As a preferred technical solution of this utility model, the brake module includes a mounting plate fixedly installed on the vehicle body, a brake holder fixedly installed on the mounting plate, and an output shaft installed at the output end of the brake holder.

[0009] As a preferred technical solution of this utility model, the wheel track adjustment module includes a gear one fixedly installed on the bottom end of the output shaft of the rack-wheel track adjustment module, a rack fixing plate fixedly provided on the wheel set housing, a rack one fixedly installed on the rack fixing plate, the rack one meshing with the gear one, a linear slider fixedly installed on the wheel set housing, and a linear slide rail slidably fitted on the linear slider.

[0010] As a preferred technical solution of this utility model, the bevel gearbox module includes a housing fixedly installed on the vehicle body. The housing is provided with three sets of bevel gears. One set of bevel gears is connected to the output end of the stepper motor through a coupling and is driven to rotate by the stepper motor. The three sets of bevel gears mesh with each other. The set of bevel gears connected to the stepper motor drives the other two sets of symmetrically distributed bevel gears to rotate.

[0011] As a preferred technical solution of this utility model, the linkage module includes a housing two fixedly installed on the vehicle body. A worm gear is rotatably installed inside the housing two. A bevel gear one extends outward to form a connecting shaft and is fixedly connected to a worm. The worm and the worm gear are both meshed inside the housing two. At the same time, the worm gear is connected to the wheel through a rotating shaft, a bearing, a bearing sleeve, and a steering mounting shaft.

[0012] As a preferred technical solution of this utility model, the anti-collision module includes two sets of support rods fixedly installed at the front end of the vehicle body, and anti-collision aluminum plates are welded to the ends of the two sets of support rods.

[0013] As a preferred technical solution of this utility model, the linear slide rail is symmetrically arranged on the linear slider at the same end based on the two housings, and the linear slide rail located below the brake is composed of two interconnected linear slide rails.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] 1. Through the set-up impact block module, wheel track adjustment module, bevel gearbox module, linkage module and anti-collision module, when a single wheel set fails (such as motor burnout or tire wear), it can be disassembled and replaced separately without the need for overall shutdown. Through structural innovation, the drive wheel set is designed as an independent detachable module, realizing rapid fault isolation, flexible functional expansion and omnidirectional mobility, while reducing the maintenance cost throughout the entire life cycle.

[0016] 2. At the same time, the wheelset can be disassembled and quickly replaced independently, without the need to shut down the entire machine in case of failure, which can adapt to the needs of multiple scenarios; it is more adaptable. When the chassis fails, maintenance personnel can quickly locate the faulty module by detecting the input and output signals of each module, and replace the faulty module without the need for overall repair, which can reduce costs. Attached Figure Description

[0017] Figure 1 A schematic diagram of the internal structure of the modular drive wheel assembly inspection robot chassis provided by this utility model;

[0018] Figure 2 A schematic diagram of the impactor module structure of the modular drive wheel assembly inspection robot chassis provided by this utility model;

[0019] Figure 3 A schematic diagram of the wheel track adjustment module structure of the modular drive wheel assembly inspection robot chassis provided by this utility model;

[0020] Figure 4 A schematic diagram of the bevel gearbox module structure of the modular drive wheel assembly inspection robot chassis provided by this utility model;

[0021] Figure 5 A schematic diagram of the linkage module structure of the modular drive wheel assembly inspection robot chassis provided by this utility model;

[0022] Figure 6 A schematic diagram of the anti-collision module structure of the modular drive wheel assembly inspection robot chassis provided by this utility model.

[0023] The diagram shows: 1. Stepper motor; 2. Wheel set housing; 3. Wheel; 4. Brake module; 5. Wheelbase adjustment module; 6. Bevel gearbox module; 7. Linkage module; 8. Anti-collision module; 401. Mounting plate; 402. Brake; 403. Output shaft; 501. Gear 1; 502. Rack fixing plate; 503. Rack 1; 504. Linear slider; 505. Linear slide rail; 601. Housing 1; 602. Bevel gear 1; 701. Housing 2; 702. Worm gear; 703. Worm; 801. Support rod; 802. Anti-collision aluminum plate. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model.

[0025] Therefore, the following detailed description of the embodiments of this utility model is not intended to limit the scope of the claimed utility model, but merely to illustrate some embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0026] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0028] like Figure 1 As shown, this embodiment proposes a modular drive wheel assembly inspection robot chassis, including a stepper motor 1, a wheel assembly shell 2, and wheels 3. The stepper motor 1 is located in the middle of the chassis and is used to drive the front and rear wheels to rotate. There are four sets of wheels 3, located on both sides of the wheel assembly shell 2. The chassis as a whole consists of a shock absorber module 4, a wheel track adjustment module 5, a bevel gearbox module 6, a linkage module 7, and an anti-collision module 8. Since the functions of each module are relatively independent, when the chassis malfunctions, maintenance personnel can quickly locate the faulty module by detecting the input and output signals of each module and replace the faulty module, without the need for overall repair, thus reducing costs.

[0029] like Figure 2 As shown, in a preferred embodiment, based on the above method, the brake module 4 further includes a mounting plate 401 fixedly installed on the vehicle body. A brake 402 is fixedly installed on the mounting plate 401, and an output shaft 403 is fitted to the output end of the brake 402. The brake 402 can quickly stop the moving spur gear end and keep it stationary, ensuring the safe and stable operation of the equipment.

[0030] like Figure 2 and Figure 3 As shown, in a preferred embodiment, based on the above method, the wheel track adjustment module 5 further includes a gear 501 fixedly installed on one end of the bottom of the output shaft 403. A rack fixing plate 502 is fixedly installed on the wheel assembly housing 2, and a rack 503 is fixedly installed on the rack fixing plate 502. The rack 503 meshes with the gear 501. A linear slider 504 is fixedly installed on the wheel assembly housing 2, and a linear slide rail 505 is slidably fitted on the linear slider 504. During operation, the gear 501 rotates, driving the racks 503 on both sides to rotate. Since the racks 503 are connected to the wheel assembly housing 2 through the rack fixing plate 502, they can change the distance between the wheels 3 on both sides under the guidance of the linear slider 504 and the linear slide rail 505.

[0031] like Figure 4As shown, in a preferred embodiment, based on the above method, the bevel gearbox module 6 further includes a housing 601 fixedly mounted on the vehicle body. The housing contains three sets of bevel gears 602. One set of bevel gears 602 is connected to the output end of the stepper motor 1 via a coupling, and is driven to rotate by the stepper motor 1. The three sets of bevel gears 602 mesh with each other, and the set of bevel gears 602 connected to the stepper motor 1 drives the other two symmetrically distributed sets of bevel gears 602 to rotate. By outputting power from the stepper motor 1, one set of bevel gears 602 is driven to rotate, which in turn drives the other two sets of bevel gears 602 to rotate, thereby achieving steering of the motion.

[0032] like Figure 5 As shown, in a preferred embodiment, based on the above method, the linkage module 7 further includes a housing 701 fixedly mounted on the vehicle body. A worm gear 702 is rotatably mounted inside the housing 701. A bevel gear 602 extends outwards to form a connecting shaft, which is fixedly connected to a worm 703. Both the worm 703 and the worm gear 702 mesh inside the housing 701. Simultaneously, the worm gear 702 is interconnected with the wheel 3 via a rotating shaft, bearing, bearing sleeve, and steering mounting shaft. The bevel gear 602 drives the worm 703 to rotate, and the worm 703 and worm gear 702 work together to drive one set of wheels 3 to turn, enabling independent steering of all four wheels to achieve on-the-spot turning.

[0033] like Figure 6 As shown, in a preferred embodiment, based on the above method, the anti-collision module 8 further includes two sets of support rods 801 fixedly installed at the front end of the vehicle body, and anti-collision aluminum plates 802 are welded to the ends of the two sets of support rods 801. When the vehicle body is impacted, it will first come into contact with the anti-collision aluminum plates 802, which can reduce the damage to the vehicle body from direct impact.

[0034] like Figure 3 and Figure 5 As shown, in a preferred embodiment, based on the above method, the linear slide rail 505 is further arranged symmetrically on the linear slider 504 at the same end based on the housing 701, and the linear slide rail 505 located below the brake 402 consists of two connected linear slide rails 505.

[0035] Specifically, when this modular drive wheel group inspection robot chassis is in use: the stepper motor 1 works, driving one set of bevel gears 602 to rotate, which in turn drives the other two sets of bevel gears 602 to rotate. The bevel gears 602 drive the worm gear 703 to rotate, and the worm gear 703 and the worm wheel 702 work together to drive one set of wheels 3 to turn. The four wheels can turn independently to achieve turning on the spot.

[0036] When the wheel track needs to be changed, the output shaft 403 drives the two sets of racks 503 on both sides to move in opposite directions, and the wheel track on both sides can be adjusted arbitrarily between 380mm and 510mm. The linear slider 504 is fixed on the wheel assembly housing 2, and the linear slide rail 505 and the linear slider 504 can ensure the stable movement of the wheel hubs on both sides. Since the functions of each module are relatively independent, when the chassis malfunctions, maintenance personnel can quickly locate the faulty module by detecting the input and output signals of each module, and replace the faulty module. There is no need for overall repair, which can reduce costs.

[0037] All technical features in this embodiment can be freely combined according to actual needs.

[0038] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A modular drive wheel assembly inspection robot chassis, comprising a stepper motor (1), a wheel assembly shell (2), and wheels (3), characterized in that, The stepper motor (1) is located in the middle of the chassis and is used to drive the front and rear wheels to rotate. There are four sets of wheels (3) located on both sides of the wheel set shell (2). The chassis consists of a slammer module (4), a wheel track adjustment module (5), a bevel gearbox module (6), a linkage module (7), and an anti-collision module (8).

2. The modular drive wheel assembly inspection robot chassis according to claim 1, characterized in that, The brake module (4) includes a mounting plate (401) fixedly installed on the vehicle body. A brake (402) is fixedly installed on the mounting plate (401), and an output shaft is installed at the output end of the brake (402).

3. The modular drive wheel assembly inspection robot chassis according to claim 1, characterized in that, The wheel track adjustment module (5) includes a gear (501) fixedly installed at one end of the bottom of the output shaft. A rack fixing plate (502) is fixedly installed on the wheel set housing (2). A rack (503) is fixedly installed on the rack fixing plate (502). The rack (503) meshes with the gear (501). A linear slider (504) is fixedly installed on the wheel set housing (2). A linear slide rail (505) is slidably fitted on the linear slider (504).

4. The modular drive wheel assembly inspection robot chassis according to claim 1, characterized in that, The bevel gearbox module (6) includes a housing (601) fixedly installed on the vehicle body. The housing is equipped with three sets of bevel gears (602). One set of bevel gears (602) is connected to the output end of the stepper motor (1) through a coupling and is driven to rotate by the stepper motor (1). The three sets of bevel gears (602) mesh with each other. One set of bevel gears (602) connected to the stepper motor (1) drives the other two sets of symmetrically distributed bevel gears (602) to rotate.

5. The modular drive wheel assembly inspection robot chassis according to claim 4, characterized in that, The linkage module (7) includes a housing two (701) fixedly installed on the vehicle body. A worm gear (702) is rotatably installed inside the housing two (701). A bevel gear one (602) extends outward to form a connecting shaft and is fixedly connected to a worm (703). The worm (703) and the worm gear (702) are both meshed inside the housing two (701). At the same time, the worm gear (702) is connected to the wheel (3) through a rotating shaft, bearing, bearing sleeve and steering mounting shaft.

6. The modular drive wheel assembly inspection robot chassis according to claim 1, characterized in that, The anti-collision module (8) includes two sets of support rods (801) fixedly installed at the front of the vehicle body, and anti-collision aluminum plates (802) are welded to the ends of the two sets of support rods (801).

7. The modular drive wheel assembly inspection robot chassis according to claim 3, characterized in that, The linear slide rail (505) is symmetrically arranged on the linear slider (504) at the same end based on the housing (701), and the linear slide rail (505) located below the brake (402) consists of two connected linear slide rails (505).

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