CN115091910A - Inspection robot chassis based on full steering technology and moving method - Google Patents
Inspection robot chassis based on full steering technology and moving method Download PDFInfo
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- CN115091910A CN115091910A CN202211015949.XA CN202211015949A CN115091910A CN 115091910 A CN115091910 A CN 115091910A CN 202211015949 A CN202211015949 A CN 202211015949A CN 115091910 A CN115091910 A CN 115091910A
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- 238000007689 inspection Methods 0.000 title claims abstract description 42
- 238000005516 engineering process Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000013519 translation Methods 0.000 claims abstract description 24
- 230000010365 information processing Effects 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims abstract description 5
- 230000033001 locomotion Effects 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000009467 reduction Effects 0.000 claims description 10
- 230000035939 shock Effects 0.000 claims description 5
- 239000006096 absorbing agent Substances 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 230000008521 reorganization Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/44—Indexing codes relating to the wheels in the suspensions steerable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/43—Mechanical actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/914—Height Control System
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention belongs to the technical field of intelligent robots, and particularly relates to an inspection robot chassis based on a full steering technology and a moving method, wherein the inspection robot chassis comprises: chassis body, install the information processing system on chassis body and patrol and examine control circuit with information processing system signal connection, chassis body includes: lifting support module with adjustable height, lifting support module bottom installation is used for controlling patrols and examines the robot and carries out the wheelset module that zero radius turned to and the translation, the top of lifting support module is provided with the upper end and connects the platform, and its aim at can realize patrolling and examining the robot and turn to, functions such as horizontal and slant translation and high lift in the ground zero radius.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to an inspection robot chassis based on a full steering technology and a moving method.
Background
Along with the development of the intelligent power grid system, the coverage range of a transformer substation and a power line is wider and wider, and the intelligent power grid system brings convenience to the life of people and also brings new problems for the overhaul and maintenance of equipment. In daily maintenance, if a traditional manual inspection mode is adopted, a large amount of manpower is consumed, the condition of low working efficiency is caused, and meanwhile, the coverage rate, timeliness and accuracy of inspection cannot be guaranteed.
Aiming at various problems possibly caused by manual inspection, the inspection robot of the transformer substation is used for replacing manual inspection to gradually become a trend. However, the current mainstream transformer substation inspection robots have the problems that the steering is inconvenient when the robot travels, the steering radius is large, the mechanical connecting rod transmission mechanism is complex, the overall size of the inspection robot is large and the like.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the inspection robot chassis based on the full steering technology and the moving method, and aims to realize the functions of zero-radius steering, translation, height lifting and the like of the inspection robot in situ.
The technical scheme adopted by the invention is as follows:
the utility model provides a patrol and examine robot chassis based on turn to technique entirely, includes the chassis body, install the information processing system on the chassis body and patrol and examine control circuit with information processing system signal connection, the chassis body includes: the lifting support module with adjustable height, the installation of lifting support module bottom is used for controlling patrolling and examining the wheelset module that the robot carries out zero radius and turns to and the translation, the top of lifting support module is provided with the upper end and connects the platform.
By adopting the technical scheme, the height of the chassis of the inspection robot can be adjusted at will by arranging the height-adjustable module; by arranging the wheel set module on the chassis of the inspection robot, the inspection robot can realize the motion modes of 360-degree pivot steering, transverse translation and oblique translation besides the conventional forward/backward and steering modes; thereby realizing flexible movement under complex terrains.
Preferably, the lifting support module comprises two groups of supporting structures which are respectively arranged at two ends of the upper end connecting platform, each supporting structure comprises a first connecting piece and a second connecting piece, the first connecting pieces are rotatably connected with the upper ends of the second connecting pieces, and a lifting driving assembly for adjusting the included angle between the first connecting pieces and the second connecting pieces is arranged on the upper end connecting platform. The size of an included angle between the first connecting piece and the second connecting piece is adjusted through the lifting driving assembly, and then the overall height of the upper end connecting platform and the chassis is adjusted.
Further, the upper end connection platform is including the link that is used for connecting two sets of bearing structure, the lift drive subassembly sets firmly the speed reduction driving motor in the link including the symmetry, speed reduction driving motor's output is connected with the clutch, the driven plate fixedly connected with lateral meshing structure of clutch, lateral meshing structure include driving fluted disc and driven fluted disc, and driving fluted disc passes through connecting rod fixed connection with the driven plate of clutch, and the fixed one side that sets up at first connecting piece tip of driven fluted disc, the opposite side of first connecting piece tip has set firmly first gear, set firmly the second gear that is connected with first gear engagement on the second connecting piece, the opposite side of keeping away from the clutch of first gear and second gear still is provided with the connection pad, the central point of connection pad and with central point interval first gear and second gear radius and position department all offer with the jackshaft normal running fit of first gear and second gear And a through hole. When the height of the first connecting piece and the second connecting piece needs to be adjusted, the driving disc of the control clutch is in transmission connection with the driven disc, the speed reduction driving motor is started, power of the output end of the speed reduction driving motor is transmitted to the driving fluted disc at the end part of the first connecting piece through the clutch and the driving fluted disc, the driving fluted disc drives the driven fluted disc to rotate, and then the relative included angle between the first connecting piece and the second connecting piece is adjusted.
Preferably, the wheel set module comprises four movable wheels with built-in-wheel motors, and the lower ends of the first connecting piece and the second connecting piece are provided with steering driving assemblies for controlling the advancing directions of the movable wheels. The state of each movable wheel can be separately controlled through the steering driving assembly, and then the inspection vehicle is controlled to complete different motion modes.
Further, turn to the drive assembly and include the dwang with removal wheel central point fixed connection to and the bogie of being connected through motor gear group with dwang one end, the one end that the dwang was kept away from to the bogie is connected with the bottom of first connecting piece and second connecting piece through the bumper shock absorber buffering, motor gear group is used for driving the dwang and rotates around self tip. Through the structure that is provided with the bumper shock absorber, can further strengthen the function of moving away to avoid possible earthquakes of patrolling and examining the car, make its environment that is adapted to different topography.
Further, the motor gear group includes with third gear, fourth gear and steering motor, and the third gear is connected with the meshing of fourth gear, and the recess that is used for installing third gear, fourth gear is offered to the tip of bogie, the end fixing of dwang is provided with the pivot of being connected with the rotation of groove side wall, and the third gear is fixed to be set up in the pivot, and steering motor is fixed to be set up on the bogie, and steering motor's output shaft and groove side wall rotate to be connected, and the fourth gear is fixed to be set up on steering motor's output shaft. When different movement modes need to be adjusted, the power of the output end of the steering motor is transmitted to the rotating rod through the fourth gear and the third gear by starting the steering motor, the rotating rod is driven to rotate around the center of the third gear, and then the relative positions of the four rotating wheels are adjusted.
Preferably, the moving wheel is further provided with an electromagnetic brake. The brake control device is used for controlling the patrol trolley to brake.
A moving method of an inspection robot chassis based on a full steering technology comprises three motion modes, wherein any one of the three motion modes is adopted when the inspection robot chassis moves, and the three motion modes comprise the following steps:
zero radius steering mode: under the driving of a steering motor, a rotating rod is adjusted to a rectangular diagonal line coincidence position formed by connecting lines of the centers of four motors through the power transmission of a third gear and a fourth gear, then the steering motor is locked, and a hub motor is driven at the same speed, so that zero-radius steering is realized;
transverse translation mode: under the drive of the steering motor, the rotating rod is adjusted to be parallel or vertical to the short side of a rectangle formed by connecting the centers of the four motors through the power transmission of the third gear and the fourth gear, and then the steering motor is locked. The hub motor is driven at the same speed, so that transverse translation is realized;
oblique translation mode: under the driving of the steering motor, the included angles of the short sides of the rectangle formed by the connecting lines of the rotating rod and the centers of the four motors are adjusted to be the same through the power transmission of the third gear and the fourth gear, and then the steering motor is locked. The hub motor is driven at the same speed, and oblique translation is achieved.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
the chassis structure of the omnidirectional full-drive inspection robot is adopted, and the height of the chassis of the inspection robot can be adjusted at will by arranging the height-adjustable module; through set up the wheelset module on patrolling and examining the robot chassis, can realize patrolling and examining the robot and except conventional advance retreat and turn to the mode, can also realize 360 pivot turns to, horizontal translation and three kinds of different motion modes of slant translation, and then make turning to of robot more nimble convenient, required space is littleer, can carry out various motions at the small circle efficient, improves and patrols and examines efficiency.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is an overall structure diagram of an inspection robot chassis based on a full steering technology in the invention;
FIG. 2 is a schematic view of the steering drive assembly of the present invention;
FIG. 3 is a schematic view of a portion of the lift drive assembly of the present invention, shown in FIG. 1;
FIG. 4 is a schematic view of a portion of the lift drive assembly of the present invention, shown in FIG. 2;
FIG. 5 is a schematic diagram of a zero radius steering mode of the inspection robot chassis of the present invention;
fig. 6 is a schematic diagram of a mode that the inspection robot chassis carries out transverse translation in the invention;
fig. 7 is a schematic diagram of the mode of oblique translation of the inspection robot chassis in the invention.
Reference numerals
A lifting support module-1; a wheel set module-2; the upper end is connected with a platform-3; a first connecting member-4; a second connecting member-5; a lifting driving component-6; a moving wheel-7; a steering drive assembly-8;
a deceleration driving motor-601; a clutch-602; a driving fluted disc-603; a driven fluted disc-604; a first gear-605; a second gear-606; a connecting disc-607;
rotating the rod-801; the bogie-802; a shock absorber-803; a third gear-804; fourth gear-805; a steering motor-806; groove-807; an electromagnetic brake-808.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of embodiments of the present application, generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
The present invention will be described in detail with reference to fig. 1 to 7.
An inspection robot chassis based on full-steering technology, please refer to fig. 1, which includes a chassis body, an information processing system installed on the chassis body, and an inspection control circuit in signal connection with the information processing system, wherein the chassis body includes: lifting support module 1 with adjustable height, 1 bottom installation of lifting support module is used for controlling patrols and examines the wheelset module 2 that the robot carries out zero radius and turns to and the translation, lifting support module 1's top is provided with upper end connection platform 3.
Specifically, the upper end is connected platform 3 including the link that is used for connecting two sets of bearing structure's hollow structure, information processing system and with information processing system signal connection's the control circuit that patrols and examines all install in the link, still install camera, height sensor, infrared ray temperature sensor and range finding sensor etc. in the link for the messenger patrols and examines the robot and accomplish the function of surveying all ring edge borders. Those skilled in the art can know that the arrangement of the sensors is the prior art, so detailed description of the specific installation relationship and the implementation principle of the sensors is omitted in the present invention.
As a specific example, the lifting support module 1 includes two sets of support structures respectively disposed at two ends of the upper end connection platform 3, the support structures include a first connection member 4 and a second connection member 5, the upper ends of the first connection member 4 and the second connection member 5 are rotatably connected, and a lifting driving assembly 6 is disposed on the upper end connection platform 3 for adjusting the size of the included angle between the first connection member 4 and the second connection member 5. The size of an included angle between the first connecting piece 4 and the second connecting piece 5 is adjusted through the lifting driving assembly 6, and then the whole height of the upper end connecting platform 3 and the chassis is adjusted.
Specifically, first connecting piece 4 and second connecting piece 5 all adopt hollow aluminum alloy steel frame construction, can further alleviate the reorganization quality on chassis, can be used for installing the 24v lithium cell in aluminum alloy steel frame construction's hollow position, solve the power supply problem of motor.
As a specific example, referring to fig. 3 and 4, the lifting drive assembly 6 includes a speed reduction drive motor 601 symmetrically fixed in a connecting frame, an output end of the speed reduction drive motor 601 is connected with a clutch 602, a driven plate of the clutch 602 is fixedly connected with a transverse engagement structure, the transverse engagement structure includes a driving fluted disc 603 and a driven fluted disc 604, the driving fluted disc 603 and the driven fluted disc of the clutch 602 are fixedly connected through a connecting rod, the driven fluted disc 604 is fixedly disposed on one side of an end of a first connecting member 4, a first gear 605 is fixedly disposed on the other side of the end of the first connecting member 4, a second gear 606 engaged with the first gear 605 is fixedly disposed on the second connecting member 5, a connecting disc 607 is further disposed on the other sides of the first gear 605 and the second gear 606 far from the clutch 602, and a central point of the connecting disc 607 and a radius sum of the first gear 605 and the second gear 606 and a central point are disposed at positions where the first gear 605 and the second gear 606 are spaced from the central point The intermediate shaft of the second gear 606 is a rotationally engaged through hole. When the vertical height needs to be adjusted, the driving disc of the clutch 602 is controlled to be in transmission connection with the driven disc, the speed reduction driving motor 601 is started, the power at the output end of the speed reduction driving motor 601 is transmitted to the driving fluted disc 603 at the end part of the first connecting piece 4 through the clutch 602 and the driving fluted disc 603, and the driving fluted disc 603 drives the driven fluted disc 604 to rotate, so that the relative included angle between the first connecting piece 4 and the second connecting piece 5 is adjusted.
As a specific example, the wheel set module 2 includes four moving wheels 7 with built-in-wheel motors, and the lower ends of the first connecting member 4 and the second connecting member 5 are provided with steering driving assemblies 8 for controlling the advancing directions of the moving wheels 7. The state of each moving wheel 7 can be separately controlled through the steering driving assembly 8, and then the inspection vehicle is controlled to complete different motion modes.
As a specific example, the steering driving assembly 8 includes a rotating rod 801 fixedly connected to a central point of the movable wheel 7, and a bogie 802 connected to one end of the rotating rod 801 through a motor gear set, wherein one end of the bogie 802 away from the rotating rod 801 is connected to the bottoms of the first connecting member 4 and the second connecting member 5 through a damper 803 in a buffering manner, specifically, the top of the damper 803 is fixedly connected to the bottoms of the first connecting member 4 and the second connecting member 5 through a connecting bolt set, and the bottom of the damper 803 is fixedly connected to a damper connecting member arranged at one end of the bogie 802 through a bolt set. The motor gear set is used for driving the rotating rod 801 to rotate around the end of the rotating rod 801. Through the structure that is provided with bumper shock absorber 803, can further strengthen the function of moving away to avoid possible earthquakes of patrolling and examining the car, make its environment that is adapted to different topography.
As a specific example, referring to fig. 2, the motor gear set includes a third gear 804, a fourth gear 805 and a steering motor 806, the third gear 804 is engaged with the fourth gear 805, a groove 807 for mounting the third gear 804 and the fourth gear 805 is formed at an end of the bogie 802, a rotating shaft rotatably connected to a side wall of the groove 807 is fixedly disposed at an end of the rotating rod 801, the third gear 804 is fixedly disposed on the rotating shaft, the steering motor 806 is fixedly disposed on the bogie 802, an output shaft of the steering motor 806 is rotatably connected to a side wall of the groove 807, and the fourth gear 805 is fixedly disposed on an output shaft of the steering motor 806. When different motion modes need to be adjusted, by starting the steering motor 806, the power at the output end of the steering motor 806 is transmitted to the rotating rod 801 through the fourth gear 805 and the third gear 804, and the rotating rod 801 is driven to rotate around the center of the third gear 804, so that the relative positions of the four rotating wheels are adjusted.
As a specific example, an electromagnetic brake 808 is further disposed on the moving wheel 7. The brake control device is used for controlling the patrol trolley to brake.
A method for moving an inspection robot chassis based on a full steering technology includes three motion modes, where the inspection robot chassis adopts any one of the three motion modes when moving, please refer to fig. 5-7, and the three motion modes include the following:
zero radius steering mode: under the driving of a steering motor 806, through the power transmission of a third gear 804 and a fourth gear 805, a rotating rod 801 is adjusted to a position coinciding with a rectangular diagonal line formed by connecting the centers of four motors, then the steering motor 806 is locked, and a hub motor is driven at the same speed, so that zero-radius steering is realized;
transverse translation mode: under the driving of the steering motor 806, the rotating rod 801 is adjusted to be parallel or perpendicular to the short side of the rectangle formed by the central connecting lines of the four motors through the power transmission of the third gear 804 and the fourth gear 805, and then the steering motor 806 is locked. The hub motor is driven at the same speed, so that transverse translation is realized;
oblique translation mode: under the driving of the steering motor 806, the power transmission of the third gear 804 and the fourth gear 805 adjusts the included angle between the rotating rod 801 and the short side of the rectangle formed by the connecting lines of the centers of the four motors to be the same, and then the steering motor 806 is locked. The hub motor is driven at the same speed, and oblique translation is achieved.
The working principle and the use are as follows:
step 1: receiving an instruction
A control module in the inspection robot information processing system receives an instruction from a remote upper computer through a wireless device, analyzes the instruction content, obtains a moving instruction and simultaneously obtains the coordinate of a target position in a built-in navigation system;
step 2: data resolution
Comparing the destination position information with the current position information, and calculating the linear velocity and the angular velocity which need to be moved and the needed motion mode by using a track tracking algorithm;
and step 3: output control
The linear velocity information and the angular velocity information are transmitted to a motion control module in a UDP (user datagram protocol) mode, and the motion control module converts the velocity into the rotating speeds of four steering motors 806 and sends the rotating speeds to a driver so as to control the robot to move;
and 4, step 4: determining a location
And (4) repeatedly acquiring attitude information and position information according to a set period, and repeating the steps 2 to 3 until the inspection robot moves to a destination.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides a patrol and examine robot chassis based on turn to technique entirely, includes the chassis body, install the information processing system on the chassis body and patrol and examine control circuit with information processing system signal connection, its characterized in that, the chassis body includes: lifting support module (1) with adjustable height, lifting support module (1) bottom installation is used for controlling patrolling and examining the wheelset module (2) that the robot carries out zero radius and turns to and the translation, the top of lifting support module (1) is provided with upper end connection platform (3).
2. The inspection robot chassis based on full steering technology according to claim 1, characterized in that, the lifting support module (1) includes two sets of bearing structures that set up respectively at the upper end and connect platform (3) both ends, bearing structure includes first connecting piece (4) and second connecting piece (5), the upper end of first connecting piece (4) and second connecting piece (5) is rotated and is connected, and has on upper end connection platform (3) to set up and be used for adjusting lift drive assembly (6) of the contained angle size of first connecting piece (4) and second connecting piece (5).
3. The inspection robot chassis based on the full steering technology according to claim 2, wherein the wheel set module (2) comprises four moving wheels (7) with built-in-wheel motors, and the lower ends of the first connecting piece (4) and the second connecting piece (5) are provided with steering driving components (8) for controlling the advancing directions of the moving wheels (7).
4. Inspection robot chassis based on full steering technique according to claim 2, characterized in that the upper connection station (3) comprises a connection frame for connecting two sets of support structures.
5. The inspection robot chassis based on the full steering technology according to claim 4, wherein the lifting driving assembly (6) comprises speed reduction driving motors (601) symmetrically fixed in the connecting frame, the output end of the speed reduction driving motor (601) is connected with a clutch (602), the driven disc of the clutch (602) is fixedly connected with a transverse meshing structure, the transverse meshing structure comprises a driving fluted disc (603) and a driven fluted disc (604), the driving fluted disc (603) is fixedly connected with the driven fluted disc of the clutch (602) through a connecting rod, the driven fluted disc (604) is fixedly arranged on one side of the end part of the first connecting piece (4), a first gear (605) is fixedly arranged on the other side of the end part of the first connecting piece (4), a second gear (606) in meshing connection with the first gear (605) is fixedly arranged on the second connecting piece (5), and connecting discs (607) are further arranged on the other sides, far away from the clutch (602), of the first gear (605) and the second gear (606), and through holes which are in running fit with the middle shafts of the first gear (605) and the second gear (606) are formed in the central point of each connecting disc (607) and the positions, between the central point and the first gear (605) and the second gear (606), of the radius sum.
6. The inspection robot chassis based on the full steering technology according to claim 3, wherein the steering driving assembly (8) comprises a rotating rod (801) fixedly connected with the center point of the moving wheel (7) and a bogie (802) connected with one end of the rotating rod (801) through a motor gear set, one end of the bogie (802) far away from the rotating rod (801) is connected with the bottoms of the first connecting piece (4) and the second connecting piece (5) in a buffering mode through a shock absorber (803), and the motor gear set is used for driving the rotating rod (801) to rotate around the end of the bogie.
7. The inspection robot chassis based on the full steering technology is characterized in that the motor gear set comprises a third gear (804), a fourth gear (805) and a steering motor (806), the third gear (804) is meshed with the fourth gear (805), a groove (807) for mounting the third gear (804) and the fourth gear (805) is formed in the end portion of the steering frame (802), a rotating shaft rotatably connected with the side wall of the groove (807) is fixedly arranged at the end portion of the rotating shaft (801), the third gear (804) is fixedly arranged on the rotating shaft, the steering motor (806) is fixedly arranged on the steering frame (802), an output shaft of the steering motor (806) is rotatably connected with the side wall of the groove (807), and the fourth gear (805) is fixedly arranged on an output shaft of the steering motor (806).
8. The inspection robot chassis based on the full steering technology according to claim 3, characterized in that the moving wheels (7) are further provided with electromagnetic brakes (808).
9. The method for moving the inspection robot chassis based on the full steering technology is characterized by comprising three motion modes, wherein any one of the three motion modes is adopted when the inspection robot chassis moves, and the three motion modes comprise the following steps:
zero radius steering mode: under the drive of a steering motor (806), a rotating rod (801) is adjusted to a position where a rectangular diagonal line formed by connecting lines of centers of four motors coincides through the power transmission of a third gear (804) and a fourth gear (805), then the steering motor (806) is locked, and a road hub motor is driven at the same speed, so that zero-radius steering is realized;
transverse translation mode: under the driving of a steering motor (806), a rotating rod (801) is adjusted to be parallel or vertical to a short side of a rectangle formed by connecting lines of centers of four motors through power transmission of a third gear (804) and a fourth gear (805), then the steering motor (806) is locked, a road hub motor is driven at the same speed, and transverse translation is realized;
oblique translation mode: under the driving of a steering motor (806), through the power transmission of a third gear (804) and a fourth gear (805), the included angles of the short sides of a rectangle formed by connecting the centers of a rotating rod (801) and four motors are adjusted to be the same, then the steering motor (806) is locked, the hub motors are driven at the same speed, and oblique translation is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211015949.XA CN115091910A (en) | 2022-08-24 | 2022-08-24 | Inspection robot chassis based on full steering technology and moving method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211015949.XA CN115091910A (en) | 2022-08-24 | 2022-08-24 | Inspection robot chassis based on full steering technology and moving method |
Publications (1)
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Application publication date: 20220923 |