Modularly assembled omnidirectional driving wheel explosion-proof intelligent inspection robot chassis

Abstract

The utility model relates to special robot manufacturing technical field discloses a kind of modular assembly omnidirectional drive wheel explosion-proof intelligent inspection robot chassis, including explosion-proof cavity, explosion-proof battery compartment structure and walking structure, chassis further includes explosion-proof round pipe, explosion-proof round pipe both ends are equipped with explosion-proof pipe joint, explosion-proof round pipe is connectable plugably explosion-proof cavity and explosion-proof battery compartment structure and walking structure by explosion-proof pipe joint, chassis is further equipped with rotary cable lead-in structure, and rotary cable lead-in structure is used to prevent cable kinking when walking structure turns direction.The utility model solves the problem of opening main cavity when maintaining by the design of explosion-proof round pipe, achieves the effect of modularization quick replacement, without opening compartment, solves the cable kinking problem of omnidirectional steering by the design of rotary cable lead-in structure, realizes safe flexible omnidirectional movement.

Description

Technical Field

[0001] This utility model relates to the field of special robot manufacturing technology, and in particular to a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis. Background Technology

[0002] Existing explosion-proof inspection robot chassis are mainly used in high-risk environments such as petrochemical and coal mining. They generally adopt a single explosion-proof cavity structure with integrated welding or integral casting to house all battery components and control drive units. Although this highly integrated closed design can meet basic explosion-proof requirements, it exposes great limitations when facing equipment failure maintenance or energy replenishment needs. When the battery inside the chassis is depleted or the external walking wheel set is mechanically damaged, the operator cannot directly disassemble and replace the faulty module on site. The entire heavy machine must be moved to a non-explosion-proof safe area and a large number of explosion-proof fastening bolts must be removed before the cavity can be opened for operation. This maintenance method not only causes long-term interruption of inspection tasks, but also the frequent disassembly and assembly of explosion-proof joint surfaces will cause the explosion-proof gap to exceed the standard, thus permanently reducing the explosion-proof safety performance of the equipment.

[0003] Furthermore, due to the design difficulties of explosion-proof dynamic sealing structures, existing explosion-proof robot chassis mostly adopt differential drive or Ackermann steering mechanisms. This makes it impossible for robots to achieve zero-radius rotation or lateral translation in narrow industrial pipe corridors or complex equipment passages, resulting in a serious lack of robot maneuverability. Although some advanced solutions have attempted to introduce omnidirectional steering wheel technology, the lack of a dedicated explosion-proof rotating wiring structure causes the connecting cables to undergo severe mechanical twisting and deformation when the wheel set rotates continuously, which in turn causes the internal conductors of the cables to break or the insulation layer to break, which can easily lead to short circuits and generate extremely dangerous electrical spark hazards.

[0004] Therefore, this utility model proposes a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis to overcome the shortcomings of the existing technology. Utility Model Content

[0005] In view of the problems existing in the technology of explosion-proof intelligent inspection robot chassis, such as the high degree of structural integration making it difficult to replace faulty modules independently, the need to disassemble a large number of explosion-proof bolts for on-site maintenance leading to cumbersome operations and high safety risks, and the lack of an effective rotating wiring structure causing cables to be easily twisted and damaged during omnidirectional movement, this utility model aims to provide a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis with an improved structure that can effectively solve the above problems.

[0006] This utility model provides a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis, including: an explosion-proof cavity; an explosion-proof battery compartment structure for installing batteries; a walking structure for chassis movement; a transmission steering structure for steering the walking structure; and a rotating cable introduction structure for introducing cables into the walking structure.

[0007] The chassis also includes an explosion-proof round tube for detachably connecting the explosion-proof cavity to the explosion-proof battery compartment structure and the walking structure, the explosion-proof round tube having explosion-proof pipe joints inserted at both ends.

[0008] Furthermore, the explosion-proof cavity, the explosion-proof battery compartment structure, or the walking structure are combined with the explosion-proof round tube by means of pluggable connection to the modular explosion-proof interface through the explosion-proof pipe joint, thereby realizing the rapid disassembly and maintenance of each functional module.

[0009] Preferably, the walking structure includes a walking motor, a fixed bushing fixed to the walking motor, an output bushing fitted on the output shaft of the walking motor, a tire mounted on the output bushing, a wheel seat connected to the output bushing, a swing arm rotatably connected to one end of the wheel seat, a shock absorber hinged to the other end of the wheel seat, a swing arm lug for connecting the swing arm rotatably, a shock absorber lug for connecting the shock absorber, and a support flange fixed to the walking structure.

[0010] Preferably, the transmission steering structure includes a steering module bushing for fixing the steering motor, a steering output flange for transmitting steering power, and a steering module cover for introducing cables; the transmission steering structure also includes a transmission box, and the steering module bushing, the steering output flange, and the steering module cover together constitute an explosion-proof steering module, and the connection between the flange of the explosion-proof steering module and the transmission box is combined by setting a sealing ring to form a dynamic seal.

[0011] Preferably, the explosion-proof battery compartment structure includes a main compartment body, a rear cover fixedly connected to the rear side of the main compartment body, a front cover fixedly connected to the front side of the main compartment body, and a mounting bracket for mounting the main compartment body; the rear cover is configured to be openable to allow for pull-out battery replacement, and the front cover is configured to be openable to allow for maintenance of the battery BMS board.

[0012] Preferably, the rotating cable introduction structure includes a cable introduction device connector, an introduction device flange rotatably connected to the cable introduction device connector, a needle roller bearing housed in the introduction device flange, a deep groove ball bearing housed in the introduction device flange, a retaining ring for fixing the deep groove ball bearing, and a rubber plug for sealing; the cable introduction device connector and the explosion-proof pipe connector are detachably connected.

[0013] Preferably, the chassis further includes an explosion-proof wireless charging receiver structure disposed on the chassis, the explosion-proof wireless charging receiver structure being used to wirelessly charge the explosion-proof battery compartment structure.

[0014] Preferably, the cable of the walking motor of the walking structure is arranged so that it passes through the hollow wheel seat and the hollow support flange in sequence, and is introduced into the explosion-proof cavity via the rotating cable introduction structure.

[0015] Preferably, the output bushing and the fixed bushing of the traveling structure are connected by an oil seal to form a dynamic seal, thereby achieving explosion-proof and waterproof functions.

[0016] Preferably, the explosion-proof surface of the explosion-proof cavity is circular; the explosion-proof surface of the explosion-proof battery compartment structure is circular.

[0017] This utility model has the following beneficial effects: 1. This utility model uses an explosion-proof round tube with pluggable explosion-proof pipe connectors at both ends to connect the explosion-proof cavity with the explosion-proof battery compartment structure and the walking structure. This solves the problem that existing explosion-proof robot chassis require complete disassembly or opening of the main explosion-proof cavity during fault repair, which leads to cumbersome operations and significant safety hazards. It achieves the effect of modular quick pluggable replacement without opening the compartment, greatly improving equipment maintenance efficiency and on-site operation safety.

[0018] 2. This utility model solves the problems of insufficient mobility of traditional explosion-proof robots in narrow spaces and easy cable twisting and breakage when the steering wheel turns 360 degrees by setting a drive-control integrated suspension steering wheel with a rotating cable introduction structure. It achieves the effect of ensuring the dynamic sealing explosion-proof performance while realizing the robot's omnidirectional flexible movement and effectively preventing the cable from being damaged due to excessive twisting. Attached Figure Description

[0019] Figure 1 This is a front perspective view of a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis proposed in this utility model; Figure 2 This is a disassembled diagram of the explosion-proof pipe structure of a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis proposed in this utility model; Figure 3 This is a partial structural diagram of an explosion-proof wireless charging receiver structure for a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis proposed in this utility model. Figure 4 This is a partial structural diagram of an explosion-proof wireless charging receiver structure for a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis proposed in this utility model. Figure 5This is a partial tire structure diagram of a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis proposed in this utility model. Figure 6 This is a partial structural diagram of the steering module axle cover of a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis proposed in this utility model. Figure 7 This is a partial structural diagram of the flange of the introduction device for a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis proposed in this utility model. Figure 8 A cross-sectional view of the steering output flange of a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis proposed in this utility model. Figure 9 This is a partial structural diagram of the main body of the chassis of a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot proposed in this utility model. Figure 10 This is a partial structural diagram of the mounting frame for a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis proposed in this utility model.

[0020] Legend: 1. Explosion-proof cavity; 2. Explosion-proof round tube; 3. Explosion-proof wireless charging receiver structure; 4. Explosion-proof battery compartment structure; 5. Transmission and steering structure; 6. Walking structure; 7. Rotary cable entry structure; 8. Mounting bracket; 9. Rear cover; 10. Main body of the compartment; 11. Front cover; 12. Cable entry device connector; 13. Entry device flange; 14. Explosion-proof pipe connector; 15. Rubber plug; 16. Snap ring; 17. Deep groove ball bearing; 18. Liquid needle bearing; 19. Steering module shaft cover; 20. Steering module bushing; 21. Support flange; 22. Shock absorber; 23. Shock absorber lug; 24. Swing arm one; 25. Swing arm lug; 26. Fixed bushing; 27. Walking motor; 28. Output bushing; 29. ​​Steering output flange; 30. Wheel seat; 31. Tire. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions in 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 a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0022] Example: Please refer to Figures 1 to 10This utility model provides a modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis, which aims to solve the problems of existing explosion-proof robot chassis being unable to achieve flexible omnidirectional movement in narrow and complex industrial environments, and the need to disassemble the entire chassis or open the explosion-proof cavity 1 when performing functional module maintenance and repair, resulting in low work efficiency and high safety risks.

[0023] Please refer to Figure 1 and Figure 2 As shown, the modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis includes an explosion-proof cavity 1 as the core installation carrier and control center, an explosion-proof battery compartment structure 4 located on one side of the explosion-proof cavity 1 for providing energy power, a walking structure 6 located below the explosion-proof cavity 1 for realizing the movement function, a transmission steering structure 5 located in conjunction with the walking structure 6 for realizing the steering function, a rotating cable introduction structure 7 located on the explosion-proof cavity 1 for realizing the cable transition connection, an explosion-proof wireless charging receiver structure 3 located on the chassis for power replenishment, and an explosion-proof circular tube 2 for assembling and connecting the above discrete modules into a whole.

[0024] The explosion-proof surface of the explosion-proof cavity 1 adopts a circular design to improve the explosion-proof sealing performance. The explosion-proof surface of the explosion-proof battery compartment structure 4 also adopts a circular design. The explosion-proof cavity 1 and the explosion-proof battery compartment structure 4 are connected by an explosion-proof circular tube 2. The explosion-proof cavity 1 and the walking structure 6 are also connected by an explosion-proof circular tube 2. Explosion-proof pipe joints 14 are fixedly connected to both ends of the explosion-proof circular tube 2. The explosion-proof pipe joints 14 are plugged into and detached from the interfaces reserved on the explosion-proof cavity 1, the explosion-proof battery compartment structure 4, and the walking structure 6. By disconnecting the explosion-proof circular tubes 2 connecting the explosion-proof cavity 1 and each functional module, the explosion-proof battery compartment structure 4 or the walking structure 6 can be independently removed from the chassis for replacement or repair.

[0025] Please refer to Figure 5 , Figure 8 and Figure 10The travel structure 6 has a highly integrated drive and control integrated suspension steering wheel form. The travel structure 6 specifically includes a travel motor 27 that provides driving force, a fixed bushing 26 fixedly connected to the outside of the travel motor 27, an output bushing 28 fitted on the output shaft of the travel motor 27, a tire 31 fixedly installed on the outer periphery of the output bushing 28, a wheel seat 30 located next to the tire 31, a swing arm 24 rotatably connected to one end of the wheel seat 30, a shock absorber 22 hinged to the other end of the wheel seat 30, a swing arm lug 25 for connecting the swing arm 24, a shock absorber lug 23 for connecting the shock absorber 22, and a support flange 21 fixed on the top of the travel structure 6. The travel structure 6 is assembled into a whole by using fasteners, including the swing arm lug 25, the swing arm 24, the support flange 21, the wheel seat 30, the shock absorber 22, the shock absorber lug 23, the fixed bushing 26, the travel motor 27, the output bushing 28, and the tire 31.

[0026] Output bushing 28 is mounted on the output shaft of travel motor 27 to obtain driving power. Fixed bushing 26 is responsible for fixing travel motor 27 and is used to install the swing arm 24 for suspension. An oil seal structure is installed between output bushing 28 and fixed bushing 26 to form a dynamic seal. The oil seal structure can achieve explosion-proof and waterproof functions. One end of wheel seat 30 is fixed with swing arm 24, and the other end of wheel seat 30 is hinged with shock absorber 22. A drive component is provided between shock absorber 22 and swing arm 24. The two sides of the drive component are respectively hinged to the ends of shock absorber 22 and swing arm 24. The output end of the drive component is connected to a reducer. A wheel body, i.e., tire 31, is mounted on the outer sleeve of the reducer. The tire 31 is located on the side of shock absorber 22 and swing arm 24 and is spaced apart from wheel seat 30. The drive component drives the tire 31 to rotate through the reducer to complete the drive.

[0027] Please refer to Figure 6 and Figure 8 For the transmission steering structure 5 that realizes omnidirectional movement function, the transmission steering structure 5 consists of a transmission box and an explosion-proof steering module. The explosion-proof steering module includes a steering module bushing 20, a steering output flange 29, and a steering module cover 19. The steering module bushing 20 is used to fix the steering motor, the steering output flange 29 is used to transmit motor power, and the steering module cover 19 is used to introduce cables for power supply. A sealing ring is provided at the connection between the flange of the explosion-proof steering module and the transmission box to generate a dynamic seal, thereby forming an explosion-proof sealing effect. The power supply cable and signal cable of the travel motor 27 pass through the hollow wheel seat 30 and the hollow support flange 21 in sequence. The cable is then introduced into the explosion-proof cavity 1 through the rotating cable introduction structure 7. This cable routing method, together with the rotating cable introduction structure 7, can prevent the cable from being excessively twisted when the travel structure 6 performs omnidirectional steering.

[0028] As a preferred embodiment, please refer to Figure 9and Figure 10 To facilitate battery maintenance and replacement, the explosion-proof battery compartment structure 4 includes a compartment body 10, a rear cover 9 fixedly connected to the rear side of the compartment body 10, a front cover 11 fixedly connected to the front side of the compartment body 10, and a mounting bracket 8 for mounting the compartment body 10. The rear cover 9 can be opened to allow for pull-out battery replacement, and the front cover 11 can be opened to repair the battery BMS board and wiring.

[0029] As another preferred embodiment, please refer to Figure 7 To prevent the cable from being damaged by excessive twisting when the walking structure 6 turns in all directions, the rotating cable entry structure 7 includes a cable entry device connector 12 and an entry device flange 13 rotatably connected to the cable entry device connector 12. The entry device flange 13 rotates through a liquid needle bearing 18 and a deep groove ball bearing 17 housed inside. A snap ring 16 is used to fix the deep groove ball bearing 17, and a rubber plug 15 is used for sealing. The cable entry device connector 12 is detachably connected to an explosion-proof pipe connector 14.

[0030] As another preferred embodiment, please refer to Figure 3 and Figure 4 In order to achieve rapid and automatic power replenishment of the robot chassis, the chassis also includes an explosion-proof wireless charging receiver structure 3 installed on the chassis. The explosion-proof wireless charging receiver structure 3 is used to wirelessly charge the explosion-proof battery compartment structure 4.

[0031] Working principle: When a certain functional module of the modular assembly omnidirectional drive wheel explosion-proof intelligent inspection robot chassis needs to be repaired or replaced, the maintenance personnel do not need to disassemble the entire modular assembly omnidirectional drive wheel explosion-proof intelligent inspection robot chassis. They only need to disconnect the explosion-proof round pipe 2 connecting the faulty module and the explosion-proof cavity 1. Since the explosion-proof pipe joints 14 at both ends of the explosion-proof round pipe 2 are plug-in detachable connections with the modular explosion-proof interfaces on each module, the maintenance personnel can quickly remove the faulty module, such as the explosion-proof battery compartment structure 4 or the walking structure 6, from the modular assembly omnidirectional drive wheel explosion-proof intelligent inspection robot chassis. Then, the new functional module is installed in the corresponding position and the explosion-proof round pipe 2 is reconnected to complete the replacement operation. During the operation of the modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis, the walking motor 27 in the walking structure 6 drives the tire 31 to rotate through the output shaft sleeve 28 to provide propulsion power. The transmission steering structure 5 drives the walking structure 6 to rotate around the vertical axis to change the direction of travel. During this process, the inlet device flange 13 in the rotating cable inlet structure 7 can rotate synchronously with the walking structure 6 under the support of the liquid needle bearing 18 and the deep groove ball bearing 17. This effectively prevents the cable passing through the rotating cable inlet structure 7 from being excessively twisted and forming a twisted shape during omnidirectional steering. In addition, the oil seal between the output shaft sleeve 28 and the fixed shaft sleeve 26 in the walking structure 6 and the sealing ring in the transmission steering structure 5 always maintain a dynamic sealing state, ensuring the explosion-proof safety performance of the modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis during movement.

Claims

1. A modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis, comprising: Explosion-proof cavity (1); Explosion-proof battery compartment structure for installing batteries (4); (6) Walking structure for chassis movement; A transmission steering structure (5) for steering the walking structure (6); And a rotating cable introduction structure (7) for introducing cables into the walking structure (6); Its features are, The chassis also includes an explosion-proof round tube (2) for detachably connecting the explosion-proof cavity (1) with the explosion-proof battery compartment structure (4) and the walking structure (6). The explosion-proof round tube (2) is connected to two ends with explosion-proof pipe connectors (14), which can be plugged into and detachably connected to the explosion-proof cavity (1), the explosion-proof battery compartment structure (4), or the modular explosion-proof interface on the walking structure (6).

2. The modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis according to claim 1, characterized in that, The walking structure (6) includes a walking motor (27), a fixed bushing (26) fixed to the walking motor (27), an output bushing (28) fitted on the output shaft of the walking motor (27), a tire (31) mounted on the output bushing (28), a wheel seat (30) connected to the output bushing (28), a swing arm (24) rotatably connected to one end of the wheel seat (30), a shock absorber (22) hinged to the other end of the wheel seat (30), a swing arm lug (25) for connecting the swing arm (24), a shock absorber lug (23) for connecting the shock absorber (22), and a support flange (21) fixed to the walking structure (6).

3. The modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis according to claim 1, characterized in that, The transmission steering structure (5) includes a steering module bushing (20) for fixing the steering motor, a steering output flange (29) for transmitting steering power, and a steering module cover (19) for introducing cables. The transmission steering structure (5) also includes a transmission box. The steering module bushing (20), the steering output flange (29), and the steering module cover (19) together constitute an explosion-proof steering module. A sealing ring is provided at the connection between the flange of the explosion-proof steering module and the transmission box to form a dynamic seal.

4. The modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis according to claim 1, characterized in that, The explosion-proof battery compartment structure (4) includes a compartment body (10), a rear cover (9) fixedly connected to the rear side of the compartment body (10), a front cover (11) fixedly connected to the front side of the compartment body (10), and a mounting bracket (8) for mounting the compartment body (10). The rear cover (9) can be opened to realize the pull-out replacement of the battery.

5. The modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis according to claim 1, characterized in that, The rotating cable introduction structure (7) includes a cable introduction device connector (12), an introduction device flange (13) rotatably connected to the cable introduction device connector (12), a liquid needle bearing (18) housed in the introduction device flange (13), a deep groove ball bearing (17) housed in the introduction device flange (13), a retaining ring (16) for fixing the deep groove ball bearing (17), and a rubber plug (15) for sealing. The cable introduction device connector (12) is detachably connected to the explosion-proof pipe connector (14).

6. The modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis according to claim 1, characterized in that, The chassis also includes an explosion-proof wireless charging receiver structure (3) disposed on the chassis, which is used to wirelessly charge the explosion-proof battery compartment structure (4).

7. The modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis according to claim 2, characterized in that, The cable of the walking motor (27) of the walking structure (6) passes through the hollow wheel seat (30) and the hollow support flange (21) in sequence, and is introduced into the explosion-proof cavity (1) via the rotating cable introduction structure (7).

8. The modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis according to claim 2, characterized in that, An oil seal is installed between the output bushing (28) and the fixed bushing (26) of the walking structure (6) to form a dynamic seal, so as to achieve explosion-proof and waterproof functions.

9. The modularly assembled omnidirectional drive wheel explosion-proof intelligent inspection robot chassis according to claim 1, characterized in that, The explosion-proof cavity (1) has a circular explosion-proof surface, and the explosion-proof battery compartment structure (4) has a circular explosion-proof surface.

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