The invention discloses a wheel type inspection robot which comprises a rack, a walking device and an information collecting device, and the walking device comprises a plurality of walking wheel assemblies installed on the rack and power assemblies matched with the walking wheel assemblies in a one-to-one mode. The power assembly is installed on the rack and used for driving the walking wheel assembly to rotate so as to drive the robot to run, and the contact position of the walking wheel assembly and the ground has the component velocity in the X direction and the component velocity in the Y direction when the walking wheel assembly rotates. The rotating direction and the rotating speed of the walking wheel assemblies can be independently driven so as to control the component speed of each walking wheel assembly in the X direction and the Y direction, then the driving rack of each walking wheel assembly can achieve advancing, transverse moving, pivot steering and the like, the robot can adapt to rugged terrains, and the operation requirements of transverse movement, steering and the like in a narrow space can be met, manual inspection can be replaced, and the manual labor amount is reduced.
本发明公开了一种轮式巡检机器人,包括机架、行走装置和信息采集装置,所述行走装置包括安装于机架上的若干个行走轮组件以及与各个行走轮组件一一配合的动力组件,所述动力组件安装于机架上用于驱动行走轮组件转动进而实现机器人行驶,述行走轮组件转动时在与地面接触处具有X向和Y向的分速度;本发明中可单独驱动行走轮组件的转动方向以及转动速度,以控制各个行走轮组件在X向和Y向的分速度,进而使得各个行走轮组件的驱动机架可实现前进、横移、原地转向等,利于适配崎岖不平的地势,并且可满足在狭小的空间中的横移、转向等运行要求,可替代人工巡检,降低人工劳动量。
Wheel type inspection robot
轮式巡检机器人
2021-04-16
Patent
Elektronische Ressource
Chinesisch
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