The invention relates to the technical field of intelligent inspection robots of transformer substations, and particularly discloses a wheeled robot capable of being compositely driven and 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 is driven by the replacement wheel switching mechanism; and the other group of driving systems can be automatically switched for substitution. By arranging the fault walking reuse mechanism, the fault walking reuse mechanism combines the fault linear sliding mechanism and the wheel driving motor for driving the wheel assembly to form a walking fault reuse unit, so that the linear sliding mechanism for driving the wheels to fold and turn over replaces a wheel conversion mechanism and a screw nut turnover mechanism; and the wheels can be folded and overturned only by driving the wheels of the robot through the wheel driving motor of the robot without arranging additional driving equipment.
本发明涉及变电站智能巡检机器人技术领域,具体公开了一种可复合驱动的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三轮差速驱动系统,一旦一组坏了之后,另外一组驱动系统可自动切换替补。本发明通过设置故障行走复用机构,故障行走复用机构将故障用的直线滑动机构和驱动所述车轮组件的车轮驱动电机复合形成行走故障复用单元,这样驱动车轮折叠翻转的直线滑动机构、替代轮转换机构和丝杆螺母翻折机构,只需要通过机器人本身的车轮驱动电机来进行驱动,不需要设置额外的驱动设备,就可实现车轮折叠翻转。
Wheeled robot capable of being compositely driven and replacing fault walking
一种可复合驱动的替代故障行走的轮式机器人
23.06.2023
Patent
Elektronische Ressource
Chinesisch
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