The invention relates to the technical field of intelligent inspection robots of transformer substations, and particularly discloses a wheeled robot capable of replacing fault walking. A replacement wheel switching mechanism is designed, the replacement wheel switching mechanism and two normal wheels form a three-wheel differential driving system, and once one group is damaged, the replacement wheel switching mechanism can drive the two normal wheels to move; and the other group of driving systems can be automatically switched for substitution. Specifically, on the basis of the replacement wheel switching mechanism, a winding and folding mechanism, a linear sliding mechanism and a lead screw nut mechanism are arranged, when a wheel assembly on the rear side breaks down, the winding and folding mechanism pulls the replacement wheel switching mechanism to slide on a sliding table, and the replacement wheel switching mechanism is turned off. The replacement wheel switching mechanism moves to one side of the faulty wheel on the rear side under the action of the sliding table, and the replacement wheel switching mechanism and the normal wheel on the front side drive the wheeled robot to walk together. Therefore, the problem of invariability caused by maintenance of the robot in severe environments such as a transformer substation can be solved, and the service life of a walking system of the robot can be prolonged.

    本发明涉及变电站智能巡检机器人技术领域,具体公开了一种可替代故障行走的轮式机器人,本发明通过设计一个替代轮转换机构,替代轮转换机构和正常的两车轮组成3轮差速驱动系统,一旦一组坏了之后,另外一组驱动系统可自动切换替补。具体的,在上述替代轮转换机构的基础上,设置绕线翻折机构、直线滑动机构和丝杆螺母机构,当其中后侧的车轮组件发生故障时,绕线翻折机构拉动替代轮转换机构在滑台上滑动,替代轮转换机构在滑台的作用下运动到后侧的故障的车轮的一侧,由替代轮转换机构和前侧的正常的车轮一起带动轮式机器人行走。这样不但可解决在变电站等恶劣环境中维修机器人带来的不变,而且可提高机器人的行走系统的使用寿命。


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    Titel :

    Wheeled robot capable of replacing fault walking


    Weitere Titelangaben:

    一种可替代故障行走的轮式机器人


    Beteiligte:
    LI ZHIMING (Autor:in) / JI SONGLIN (Autor:in) / CHEN JIAN (Autor:in) / CHEN YIN (Autor:in)

    Erscheinungsdatum :

    25.04.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge



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