CN119017410B - Self-adaptive double-drive inspection robot - Google Patents
Self-adaptive double-drive inspection robot Download PDFInfo
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- CN119017410B CN119017410B CN202411514975.6A CN202411514975A CN119017410B CN 119017410 B CN119017410 B CN 119017410B CN 202411514975 A CN202411514975 A CN 202411514975A CN 119017410 B CN119017410 B CN 119017410B
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- 238000007689 inspection Methods 0.000 title claims abstract description 144
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000002457 bidirectional effect Effects 0.000 claims description 8
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000012876 topography Methods 0.000 abstract description 3
- 239000013589 supplement Substances 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of inspection robots and discloses a self-adaptive double-drive inspection robot. The inspection robot comprises a mechanical frame and an inspection robot body rotatably arranged on the mechanical frame, wherein the inspection robot body can be converted up and down in a rotating mode, two driving travelling mechanisms and two steering travelling mechanisms are rotatably arranged on the mechanical frame, the two driving travelling mechanisms and the two steering travelling mechanisms can be switched from a rail hanging mode to a ground mode in a rotating mode, and two supporting frames are arranged on the mechanical frame, so that the inspection robot is supported when the inspection robot is switched to the mode, and the inspection robot can be smoothly switched to the mode. The invention can adaptively switch between the rail hanging form and the road surface form according to the topography of the inspection area, combines the lengths of two inspection robots and supplements the shortages of the two inspection robots, thereby improving the applicability of the inspection robots.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to a self-adaptive double-drive inspection robot.
Background
The inspection robot is a robot specially used for replacing manpower to carry out patrol inspection, can sense the surrounding environment through technologies such as a laser radar and an infrared sensor, automatically moves according to a preset path, can finish the inspection task without manual intervention, ensures the accuracy and stability of the inspection process, and can be provided with a high-definition camera to shoot and record various details in the inspection process in real time for post analysis and problem inspection, and the transparency and reliability of work are improved.
At present, the inspection robot is mainly divided into two types according to the inspection mode, one type is a rail-hanging inspection robot, inspection work can be carried out along a built rail, the other type is a ground inspection robot, the ground inspection robot walks on the ground mainly through a moving mechanism, compared with the rail-hanging robot, the rail-hanging inspection robot has the advantages that the rail-hanging inspection robot does not need to be built, the use cost is relatively low, inspection routes can be formulated according to requirements, the defect that the influence of topography is larger is overcome, the rail-hanging inspection robot is quite opposite, and the rail-hanging inspection robot walks on the rail, so that the rail-hanging inspection robot is basically not influenced by topography limitation, but has higher rail-hanging construction cost, and the inspection route is single due to rail-hanging limitation.
Because the existing two-mode inspection robots have respective advantages and disadvantages, the environment adaptability is relatively poor, and the two-mode inspection robots cannot be adjusted according to actual needs, so that certain limitations exist in use, and therefore, the self-adaptive double-drive inspection robot is necessary to be provided.
Disclosure of Invention
In order to solve the technical problems, the invention provides a self-adaptive double-drive inspection robot.
The inspection robot is characterized in that the inspection robot body is rotatably provided with two driving travelling mechanisms and two steering travelling mechanisms, the two driving travelling mechanisms and the two steering travelling mechanisms can be switched from a rail hanging form to a ground form in a rotating manner, and the machine frame is provided with two supporting frames, so that the inspection robot is supported when the inspection robot is switched from the form to the form, and the inspection robot can be smoothly switched.
As a further improvement of the scheme, the driving travelling mechanism comprises a first box body which is rotatably arranged on the mechanical frame, a casing is arranged on the first box body, a first motor is arranged in the first box body, a first telescopic rod is rotatably arranged in the casing, the bottom end of the first telescopic rod is fixedly connected with an output shaft of the first motor, a first roller is arranged on the casing, a shaft rod of the first roller is in transmission connection with the first telescopic rod, and the first motor can drive the first roller to rotate through the first telescopic rod.
As the further improvement of above-mentioned scheme, the top fixed mounting of first casket body has the rectangular pipe, the cover shell slip cap is established outside the rectangular pipe, fixed mounting has a electric putter in the rectangular pipe, electric putter's output pole and cover shell fixed connection to this accessible electric putter drives cover shell and first gyro wheel and goes up and down.
As a further improvement of the scheme, the steering travelling mechanism comprises a second box body which is rotatably arranged on the mechanical frame, the second box body is in transmission connection with the first box body, a second motor is fixedly arranged in the second box body, a second telescopic rod is fixedly arranged on an output shaft of the second motor, a shaft bracket is fixedly arranged at the top end of the second telescopic rod, and a second roller is rotatably arranged on the shaft bracket.
As a further improvement of the scheme, the top of the second box body is fixedly provided with an outer sleeve, an inner sleeve capable of sliding in a telescopic manner is arranged in the outer sleeve, the top end of the second telescopic rod penetrates through the inner sleeve and is rotationally connected with the inner sleeve, the top of the second box body is fixedly provided with a second electric push rod, and an output rod of the second electric push rod is fixedly connected with the inner wall of the top of the inner sleeve.
As a further improvement of the scheme, the mechanical frame is provided with a driving motor and a bidirectional worm which is connected with the driving motor in a transmission way and can rotate, one ends of the two first box body shaft rods are respectively provided with a worm wheel meshed with the bidirectional worm, and a driving rod is arranged between the two first box bodies and the corresponding second box body respectively, so that the two driving travelling mechanisms can synchronously drive the two steering travelling mechanisms to rotate when rotating, and form switching is completed together.
As a further improvement of the scheme, the mechanical frame is rotatably provided with two connecting discs, the two connecting discs are fixedly connected with the inspection robot body through bolts, and shaft rods of the two connecting discs are respectively connected with the two driving rods in a transmission manner, so that the inspection robot body can synchronously finish up-down conversion when the driving travelling mechanism performs form switching.
As a further improvement of the above scheme, the supporting frame comprises a third electric push rod and a foot support fixedly arranged on the output rod of the third electric push rod.
As a further improvement of the scheme, two driving travelling mechanisms and two steering travelling mechanisms are respectively provided with a wheel supporting structure, the wheel supporting structure comprises a cylinder body, a spring and a telescopic frame are slidably arranged in the cylinder body, and the telescopic frame is rotatably provided with a wheel supporting structure.
As a further improvement of the scheme, the brush wheel is arranged on the shaft lever of the supporting wheel, so that when the inspection robot moves on the ground, the brush wheel can clean attachments attached to the first roller and the second roller.
Compared with the prior art, the invention has the beneficial effects that:
Compared with the existing road surface inspection robot or rail-mounted inspection robot, the inspection robot can be adaptively adjusted according to the inspection area, when meeting the area with complex road surface environment, the rail-mounted can be built in the area, so that the inspection robot can be switched to the rail-mounted form to move on the rail for inspection, and when in the area with flat road surface, the inspection robot can be switched to the road surface form to carry out inspection work, so that the rail-mounted can be not built in the area, the cost is saved, and the inspection range is wider due to the limitation of the rail-mounted form which is separated from the inspection range, so that the rail-mounted inspection robot and the road surface inspection robot can make up for the defects, and the applicability of the inspection robot is improved;
Meanwhile, when the movement mechanism of the inspection robot is switched through the driving rod and the connecting disc, the inspection robot body can be converted up and down, so that the monitoring camera on the inspection robot can be converted to the top when the inspection robot is in a road surface form, and the monitoring camera on the inspection robot can be converted to the bottom when the inspection robot is in a rail hanging form, and the inspection robot can maintain a good monitoring visual angle after the inspection robot is in the form switching;
the structure of the first box body, the first motor, the first telescopic rod, the first roller and the like form a driving travelling mechanism of the inspection robot, when the driving travelling mechanism is in a rail hanging mode above the inspection robot, the two first rollers are positioned in the middle, so that the driving travelling mechanism can adapt to the rail hanging mode with a narrower mode, when the driving travelling mechanism is in a road surface mode below the inspection robot, the distance between the two first rollers is larger, so that the inspection robot is more stable when moving on the road surface, and the steering travelling mechanism also has the same characteristics;
the first telescopic rod, the second telescopic rod, the first electric push rod and the second electric push rod are matched, so that the driving travelling mechanism and the steering travelling mechanism can drive the first roller and the second roller and simultaneously have a height adjusting function, the inspection robot can be lifted when in a road surface form, the monitoring range of the camera monitoring device on the inspection robot is relatively larger, and the road surface form of the inspection robot also has a good monitoring visual field;
The four supporting wheels can be propped against two sides of the hanging rail when the inspection robot is in the hanging rail form, so that the inspection robot can be prevented from shifting in the moving process, and when the inspection robot is matched with the hairbrush wheel, the supporting wheels and the hairbrush wheel can be driven to extend under the pushing of the spring when the inspection robot is in the ground form, the four hairbrush wheels can be respectively contacted with the first roller and the second roller, attachments attached to the rollers can be cleaned, and the attachments on the rollers can fall onto the hanging rail when the inspection robot is switched to the hanging rail form, so that the follow-up inspection robot is influenced in moving on the hanging rail.
Drawings
FIG. 1 is a rail hanging form display diagram of a self-adaptive double-drive inspection robot;
FIG. 2 is a first split view of the adaptive dual-drive inspection robot of the present invention;
FIG. 3 is a second split view of the adaptive dual-drive inspection robot of the present invention;
FIG. 4 is a third exploded view of the adaptive dual-drive inspection robot of the present invention;
FIG. 5 is a road surface morphology display view of the self-adaptive double-drive inspection robot;
FIG. 6 is a cross-sectional illustration of the drive travel mechanism;
FIG. 7 is a cross-sectional illustration of a steering travel mechanism;
FIG. 8 is a cross-sectional illustration of a wheel construction;
fig. 9 is a split view showing the steering travelling mechanism and the abutting wheel structure.
Main symbol description:
1. the mechanical frame, 2, a driving motor, 3, a first box body, 4, a rectangular pipe, 5, a shell, 6, a first motor, 7, a first telescopic rod, 8, a first roller, 9, a first electric push rod, 10, a second box body, 11, an outer sleeve, 12, an inner sleeve, 13, a second motor, 14, a second telescopic rod, 15, a shaft bracket, 16, a second roller, 17, a second electric push rod, 18, a barrel, 19, a spring, 20, a telescopic bracket, 21, a supporting wheel, 22, a brush wheel, 23, a third electric push rod, 24, a foot support, 25, a connecting disc, 26 and a patrol robot body.
Detailed Description
The invention will be further described with reference to the drawings and detailed description.
Referring to fig. 1 to 9, the self-adaptive double-drive inspection robot comprises a mechanical frame 1 and an inspection robot body 26 rotatably mounted on the mechanical frame 1, wherein the inspection robot body 26 can be converted up and down in a rotatable manner, two driving travelling mechanisms and two steering travelling mechanisms are rotatably arranged on the mechanical frame 1, the two driving travelling mechanisms and the two steering travelling mechanisms can be switched from a rail hanging form to a ground form in a rotatable manner, and two supporting frames are arranged on the mechanical frame 1, so that the inspection robot is supported when the inspection robot is switched to the form, and the inspection robot can be smoothly switched to the form.
The driving travelling mechanism comprises a first box body 3 which is rotatably arranged on a mechanical frame 1, a casing 5 is arranged on the first box body 3, a first motor 6 is arranged in the first box body 3, a first telescopic rod 7 is rotationally arranged in the casing 5, the bottom end of the first telescopic rod 7 is fixedly connected with an output shaft of the first motor 6, a first roller 8 is arranged on the casing 5, a shaft rod of the first roller 8 is in transmission connection with the first telescopic rod 7, conical gears are arranged on the shaft rod of the first roller 8 and the top end of the first telescopic rod 7, and the two conical gears are meshed with each other, and the first motor 6 can drive the first roller 8 to rotate through the first telescopic rod 7.
Through above-mentioned technical scheme, drive running gear is mainly with two first motors 6 drive two first gyro wheels 8 to this removal that realizes whole inspection robot, because it belongs to an independent power unit, this makes it convenient to carry out the form switching, unrestricted, and independent power unit also more convenient maintenance.
The top fixed mounting of first casket body 3 has rectangular pipe 4, and the cover shell 5 slip cap is established outside rectangular pipe 4, and fixed mounting has first electric putter 9 in the rectangular pipe 4, and the output pole and the cover shell 5 fixed connection of first electric putter 9 to this accessible first electric putter 9 drives cover shell 5 and first gyro wheel 8 and goes up and down.
Through above-mentioned technical scheme, first electric putter 9 cooperation goes up telescopic first telescopic link 7 to make drive running gear both can realize the drive to first gyro wheel 8, can also go up and down as required simultaneously, thereby improved its functional and suitability, simultaneously, rectangular pipe 4 cooperation goes up cover shell 5, not only can accomodate the protection to various transmission structures, can also guarantee its holistic stability when not influencing drive running gear and going up and down simultaneously.
The steering travelling mechanism comprises a second box body 10 rotatably mounted on the mechanical frame 1, the second box body 10 is in transmission connection with the first box body 3, a second motor 13 is fixedly mounted in the second box body 10, a second telescopic rod 14 is fixedly mounted on an output shaft of the second motor 13, a shaft bracket 15 is fixedly mounted at the top end of the second telescopic rod 14, and a second roller 16 is rotatably arranged on the shaft bracket 15.
Through the technical scheme, the steering travelling mechanism is also used as an independent power mechanism and is mainly responsible for controlling the steering control of the whole inspection robot, and meanwhile, the steering travelling mechanism also has the characteristics of convenience in form switching and easiness in maintenance.
The top of the second box body 10 is fixedly provided with an outer sleeve 11, an inner sleeve 12 capable of stretching and sliding is arranged in the outer sleeve 11, the top end of a second telescopic rod 14 penetrates through the inner sleeve 12 and is rotationally connected with the inner sleeve 12, the top of the second box body 10 is fixedly provided with a second electric push rod 17, and an output rod of the second electric push rod 17 is fixedly connected with the inner wall of the top of the inner sleeve 12.
Through above-mentioned technical scheme, cooperate with second telescopic link 14 through second electric putter 17 for turn to the walking machine and can satisfy the control to second gyro wheel 16 and to self flexible simultaneously, and when it cooperatees with drive running gear, both can realize the altitude mixture control to patrol and examine the robot, make patrol and examine the robot and can have better control visual angle when road surface form.
The mechanical frame 1 is provided with a driving motor 2 and a bidirectional worm which is connected with the driving motor 2 in a transmission way and can rotate, the output shaft of the driving motor 2 and the bidirectional worm are respectively provided with a bevel gear, the two bevel gears are meshed, one ends of shaft rods of the two first box bodies 3 are respectively provided with a worm wheel meshed with the bidirectional worm, driving rods are respectively arranged between the two first box bodies 3 and the corresponding second box bodies 10, so that the two driving travelling mechanisms can synchronously drive the two steering travelling mechanisms to rotate when rotating, form switching is completed together, the mechanical frame 1 is rotatably provided with two connecting discs 25, the two connecting discs 25 are fixedly connected with the inspection robot body 26 through bolts, shaft rods of the two connecting discs 25 are respectively connected with the two driving rods in a transmission way, the driving rods and the connecting discs 25 are respectively provided with the bevel gears, and the two bevel gears are meshed with each other, so that the driving travelling mechanisms can synchronously complete up-down switching of the inspection robot body 26 when the form switching.
Through above-mentioned technical scheme, can accomplish the form switching of whole inspection robot through above-mentioned actuating mechanism to whole switching process is simple efficiency relatively, can not influence inspection robot's normal inspection work.
The support frame comprises a third electric push rod 23 and a foot support 24 fixedly arranged on the output rod of the third electric push rod 23.
Through above-mentioned technical scheme, in order to let the robot of patrolling and examining accomplish the form switching smoothly, and not receive ground restriction, need prop up the robot of patrolling and examining through the support frame to this makes the interval of robot of patrolling and examining with ground bigger, with this smooth completion form switching.
The two driving travelling mechanisms and the two steering travelling mechanisms are respectively provided with a wheel supporting structure, each wheel supporting structure comprises a barrel 18, a spring 19 and a telescopic frame 20 are slidably mounted in the barrel 18, each telescopic frame 20 is rotatably provided with a wheel supporting 21, the four wheel supporting structures are respectively fixedly connected with the two casings 5 and the two shaft frames 15, and a brush wheel 22 is arranged on a shaft rod of each wheel supporting 21, so that when the inspection robot moves on the ground, the brush wheel 22 can clean attachments attached to the first roller 8 and the second roller 16, and the shape of the telescopic frame 20 of the wheel supporting structure mounted on the shaft frame 15 is adaptively adjusted, so that the wheel supporting structure can follow the shaft frames 15 and the second roller 16 to perform angle adjustment, and meanwhile can be connected with a hanging rail, and the brush wheel 22 can smoothly contact with the second roller 16 to clean the second roller 16.
Through the technical scheme, when the inspection robot is in the rail hanging form, the four supporting wheels 21 can support against the two sides of the rail hanging, at the moment, the telescopic frame 20 can extrude the spring 19, so that the brush wheel 22 is separated from the first roller 8 and the second roller 16, when the inspection robot is in the rail hanging form, the inspection robot can be limited by the supporting wheels 21, the deviation of the inspection robot on the rail hanging is avoided, when the inspection robot is converted into the ground form, the telescopic frame 20 and the supporting wheels 21 lose the limitation of the rail hanging, under the pushing of the spring 19, the telescopic frame 20 can drive the supporting wheels 21 and the brush wheel 22 to be prolonged, the brush wheel 22 can be contacted with the first roller 8 and the second roller 16, attachments attached to the rollers can be cleaned, and the attachments on the rollers can fall onto the rail hanging form when the rail hanging form is avoided, so that the normal movement of the inspection robot is affected.
The implementation principle of the self-adaptive double-drive inspection robot in the embodiment of the application is as follows:
According to the inspection route of the inspection robot, a hanging rail can be built according to actual needs, and the head end and the tail end of the hanging rail are arranged to be close to the ground, so that the inspection robot can be directly fixed on the hanging rail when being switched to the hanging rail form, and can smoothly fall onto the ground from the hanging rail when being switched to the ground form, so that the inspection robot can carry out inspection work in different forms in different areas in the inspection process, the advantages of the hanging rail type inspection robot and the road surface inspection robot are drawn, and the defects of the hanging rail type inspection robot and the road surface inspection robot are avoided;
When the inspection robot moves to an inspection area with a flat road surface through a hanging rail, the two third electric push rods 23 drive the two foot supports 24 to descend through the output rod until the two foot supports 24 are in contact with the ground, then the driving motor 2 drives the two worm gears to rotate through the bidirectional worm, the two worm gears drive the two driving travelling mechanisms to rotate 180 degrees, the two driving travelling mechanisms drive the two steering travelling mechanisms to rotate 180 degrees through the two driving rods, so that the two first rollers 8 and the two second rollers 16 are transferred from the upper part of the inspection robot body 26 to the lower part, meanwhile, the two driving rods drive the inspection robot body 26 to rotate through the two connecting discs 25 while driving the two steering travelling mechanisms to rotate, so that the inspection robot body 26 synchronously completes up-down conversion, a camera of the inspection robot body is transferred from the bottom to the top, then the camera is automatically adjusted, and then the two third electric push rods 23 drive the two foot supports 24 to retract, so that the two first rollers 8 and the two second rollers 16 are connected with the ground, and the inspection robot body can be switched from the ground to the ground, so that the inspection robot can work form a ground-hanging rail is switched;
When the inspection robot moves to the area with complex road surface environment, the inspection robot is positioned and moved to the beginning end of the hanging rail, the third electric push rod 23 is used for supporting the foot support 24, so that the first roller 8 and the second roller 16 are separated from the ground, then the conversion of the driving travelling mechanism and the steering travelling mechanism is completed, and the driving travelling mechanism and the steering travelling mechanism are clamped on the hanging rail, so that the inspection robot is switched from the ground form to the hanging rail form, and the inspection robot can perform inspection work through the hanging rail when in the area with complex road surface.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention are intended to be within the scope of the present invention as claimed.
Claims (6)
1. The self-adaptive double-drive inspection robot is characterized by comprising a mechanical frame (1) and an inspection robot body (26) rotatably arranged on the mechanical frame (1), wherein the inspection robot body (26) can be converted up and down in a rotating manner;
The mechanical frame (1) is rotatably provided with two driving travelling mechanisms and two steering travelling mechanisms, and the two driving travelling mechanisms and the two steering travelling mechanisms can be switched from a rail hanging form to a ground form in a rotating mode;
The driving travelling mechanism comprises a first box body (3) rotatably mounted on a mechanical frame (1), a casing (5) is arranged on the first box body (3), a first motor (6) is arranged in the first box body (3), a first telescopic rod (7) is rotatably arranged in the casing (5), the bottom end of the first telescopic rod (7) is fixedly connected with an output shaft of the first motor (6), a first roller (8) is arranged on the casing (5), a shaft rod of the first roller (8) is in transmission connection with the first telescopic rod (7), the first motor (6) can drive the first roller (8) to rotate through the first telescopic rod (7), the steering travelling mechanism comprises a second box body (10) rotatably mounted on the mechanical frame (1), a second motor (13) is fixedly mounted in the second box body (10), a second roller (14) is fixedly mounted on the second output shaft (13), and a second roller (15) is fixedly mounted on the top end of the second roller (14);
The mechanical frame (1) is provided with a driving motor (2) and a bidirectional worm which is in transmission connection with the driving motor (2) and can rotate, one ends of shaft rods of the two first box bodies (3) are respectively provided with worm wheels meshed with the bidirectional worm, driving rods are arranged between the two first box bodies (3) and the corresponding second box bodies (10) respectively, so that the two driving travelling mechanisms can synchronously drive the two steering travelling mechanisms to rotate when rotating to finish form switching together, the mechanical frame (1) is rotatably provided with two connecting discs (25), the two connecting discs (25) are fixedly connected with the inspection robot body (26) through bolts, and the shaft rods of the two connecting discs (25) are respectively in transmission connection with the two driving rods, so that the inspection robot body (26) can synchronously finish up-down conversion when the driving travelling mechanisms perform form switching;
Two supporting frames are arranged on the mechanical frame (1) so as to support the inspection robot when the inspection robot switches the form, and the inspection robot can smoothly switch the form.
2. The self-adaptive double-drive inspection robot according to claim 1, wherein a rectangular pipe (4) is fixedly arranged at the top of the first box body (3), the casing (5) is slidably sleeved outside the rectangular pipe (4), a first electric push rod (9) is fixedly arranged in the rectangular pipe (4), and an output rod of the first electric push rod (9) is fixedly connected with the casing (5), so that the casing (5) and the first roller (8) can be driven to lift through the first electric push rod (9).
3. The self-adaptive double-drive inspection robot according to claim 1, wherein an outer sleeve (11) is fixedly installed at the top of the second box body (10), an inner sleeve (12) capable of sliding in a telescopic manner is arranged in the outer sleeve (11), the top end of the second telescopic rod (14) penetrates through the inner sleeve (12) and is rotationally connected with the inner sleeve (12), a second electric push rod (17) is fixedly installed at the top of the second box body (10), and an output rod of the second electric push rod (17) is fixedly connected with the inner wall of the top of the inner sleeve (12).
4. The adaptive double-drive inspection robot according to claim 1, wherein the support frame comprises a third electric push rod (23) and a foot support (24) fixedly mounted on an output rod of the third electric push rod (23).
5. The self-adaptive double-drive inspection robot according to claim 1, wherein the two driving travelling mechanisms and the two steering travelling mechanisms are respectively provided with a wheel supporting structure, the wheel supporting structure comprises a cylinder body (18), a spring (19) and a telescopic frame (20) are slidably mounted in the cylinder body (18), and a wheel supporting (21) is rotatably mounted on the telescopic frame (20).
6. The self-adaptive double-drive inspection robot according to claim 5, wherein a brush wheel (22) is arranged on a shaft lever of the supporting wheel (21), so that the brush wheel (22) can clean attachments attached to the first roller (8) and the second roller (16) when the inspection robot moves on the ground.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202411514975.6A CN119017410B (en) | 2024-10-29 | 2024-10-29 | Self-adaptive double-drive inspection robot |
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| CN202411514975.6A CN119017410B (en) | 2024-10-29 | 2024-10-29 | Self-adaptive double-drive inspection robot |
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| CN119017410A CN119017410A (en) | 2024-11-26 |
| CN119017410B true CN119017410B (en) | 2025-02-11 |
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| CN106965182A (en) * | 2017-04-28 | 2017-07-21 | 西北工业大学 | A kind of wheeled robot and its control method for the in-orbit assembling of space truss |
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| CN119017410A (en) | 2024-11-26 |
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