Anti-roll support device for vehicle body

Abstract

Anti-vehicle rollover support device, which relates to the technical field of crawling robots. The anti-vehicle rollover support device of the present invention is installed on the side of the vehicle body of the crawling robot, and is characterized in that the support device includes a connection component and a support component. There are two groups of connection components, which are installed at the middle positions on both sides of the vehicle body. There are two sets of support components, which are respectively installed at the lower ends of the connection components on both sides of the vehicle body. The support wheels of the present invention are arranged on both sides of the crawling robot to provide support for the vehicle body, so that the vehicle body is not prone to rollover when walking. A connection structure for adjusting the inclination angle of the support wheel is provided, and the swing angle of the support wheel can be adjusted according to the diameter of the circular pipeline, which is convenient for the support wheel to support on the inner wall of the circular pipeline; moreover, a support structure is also provided, which can adjust the spacing of the support wheels when the circular pipeline changes, better realizing the adaptability to the pipeline change. At the same time, the support wheel can also achieve a small deflection through the ball hinge structure, thereby improving the self-adaptability of the support wheel.

Description

Technical Field

[0001] The present invention relates to the technical field of crawling robots, and in particular to an anti-rollover support device for a vehicle body that prevents a crawling robot from rolling over when traveling in a circular pipeline and improves the detection efficiency of the circular pipeline. Background Art

[0002] When detecting a circular pipeline, due to the small diameter of the circular pipeline, it is difficult for manual detection. Some circular pipelines are relatively deep, and there are more harmful and toxic gases inside the circular pipeline. The risk for the detection personnel to go down is relatively high. At the same time, the circular pipeline is relatively long. When detecting below, the detection personnel are slow and at high risk. There may also be a sudden rise in water in the circular pipeline, threatening the lives of the detection personnel.

[0003] Currently, crawling robots are usually used to detect the inside of pipelines. Four wheels are symmetrically arranged front and back on both sides of the vehicle body of the robot. The wheels walk along the side wall of the circular pipeline. Due to the wet and slippery wall, it is very easy to tilt during walking, resulting in the vehicle body rolling over. The crawling robot cannot move forward to continue detection, and professional personnel are needed to pull out the robot for re-detection, which brings great inconvenience to the detection of circular pipelines and greatly reduces the detection efficiency. Summary of the Invention

[0004] The problem to be solved by the present invention is that the existing crawling robots are prone to tilt and roll over when detecting inside a circular pipeline, resulting in low detection efficiency and inconvenient detection. The present invention provides an anti-rollover support device for a vehicle body that prevents a crawling robot from rolling over when traveling in a circular pipeline and improves the detection efficiency of the circular pipeline.

[0005] The anti-rollover support device of the present invention is installed on the side part of the vehicle body of the crawling robot. It is characterized in that the support device includes a connection component and a support component. There are two groups of connection components, which are installed at the middle positions on both sides of the vehicle body. There are two sets of support components, which are respectively installed at the lower ends of the connection components on both sides of the vehicle body. Among them:

[0006] The connection component includes a connecting rod, a connecting plate, a connecting bolt, an adjusting base and an adjusting rod. Both ends of the connecting rod are fixedly installed on the vehicle body. Connecting holes are provided on both the upper edge and the lower edge of the connecting plate. The connecting hole on the upper edge is sleeved on the connecting rod. The connecting bolt is installed in the connecting hole on the lower edge of the connecting plate. The connecting plate is connected to the support component through the connecting bolt. A connecting base is provided on the back of the connecting plate; the adjusting base is fixed on the side wall of the vehicle body below the connecting rod. A vertical sliding groove is provided on the adjusting base. Bolts are provided on both sides of the upper end and the lower end of the adjusting rod. The upper end is connected to the connecting base on the back of the connecting plate through a nut. The adjusting rod rotates around this connection point; the bolts at the lower end of the adjusting rod are installed in the sliding groove and connected to the sliding groove through a nut, and slide along the sliding groove. The adjusting rod rotates around this connection point;

[0007] The support assembly includes support rods, sleeves, telescopic shafts, support wheels, rotating shafts, spherical hinge seats and spherical hinge heads. Two support rods are horizontally arranged on both sides of the vehicle body, parallel to the side wall of the vehicle body. Connection holes are provided on the inner side of the support rods and are connected to the connection bolts of the connection assembly through the connection holes. Two horizontal sleeves are fixed on the outer side of the support rods. One end of the sleeve is fixed to the side wall of the support rod, and the other end is open. A spring is horizontally fixed at the open end. The telescopic shaft is sleeved in the spring. One end is inserted into the sleeve, and the other end is fixed with a spherical hinge seat. The side wall of the telescopic shaft is fixedly connected to the other end of the spring. One end of the rotating shaft is fixed with a spherical hinge head, and the other end is connected to the support wheel. The spherical hinge head is inserted into the spherical hinge seat.

[0008] The inserted top of the telescopic shaft into the interior of the sleeve has a gap with the inner side wall of the sleeve, and this gap forms a buffer space, facilitating the telescopic shaft to be partially retracted into the sleeve when subjected to an external force, and at the same time, restoring to its original state under the elastic force of the spring.

[0009] A circular ring is provided at the opening port of the sleeve. A circular plate is provided at the end of the telescopic shaft inserted into the sleeve. The inner diameter of the circular ring is smaller than the diameter of the circular plate. The stroke of the circular plate is restricted by the circular ring to prevent the telescopic shaft from disengaging from the sleeve.

[0010] During the detection process of the pipeline interior by the crawling robot, it travels and detects inside the circular pipeline through the wheels carried by the vehicle body. During the traveling process, it is supported and assisted in traveling by the support wheels. When the vehicle body tilts to one side, the support wheel on this side is pressed and drives the telescopic shaft to contract into the sleeve. At this time, the spring on this telescopic shaft is stretched. Under the action of the spring, the telescopic shaft is pulled back to its original position to play a supporting role. When the telescopic shaft moves outward under the action of the spring, the stroke of the circular plate is restricted by the circular ring to prevent the telescopic shaft from slipping out of the sleeve. The structure in which the adjusting rod, the adjusting base and the connecting plate are connected to each other and rotate around the connection point can automatically and real-time adjust the height of the adjusting rod to keep the support wheel attached to the pipe wall. Moreover, the support wheel is connected by a spherical hinge structure and can rotate at multiple angles to keep the support wheel in contact with the pipe wall and provide support to the maximum extent.

[0011] The anti-rollover support device of the present invention has a simple structure, scientific design and convenient use. The support wheels for preventing the vehicle body from rolling over are arranged on both sides of the crawling robot to provide support for the vehicle body, so that the vehicle body is not prone to rollover when walking. At the same time, a connection structure for adjusting the inclination angle of the support wheel is provided, and the inspector can adjust the swing angle of the support wheel according to the diameter of the circular pipeline, so that the support wheel can support on the inner wall of the circular pipeline; moreover, a support structure with a telescopic function is also provided, which can adjust the distance between the support wheels when the circular pipeline changes, better realizing the adaptability to pipeline changes. At the same time, the support wheel can also be slightly deflected through a ball hinge structure, thereby improving the self-adaptability of the support wheel, effectively preventing the crawling robot from being prone to rollover when driving because the surrounding is a circular pipeline, enabling the vehicle body to move forward in the same direction, which can improve the detection efficiency of the circular pipeline; and it adapts to pipelines of multiple sizes, realizing unmanned detection and avoiding more dangerous factors in the detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic structural diagram of the present invention.

[0013] Figure 2 It is a schematic top view structure diagram.

[0014] Figure 3 It is a schematic structural diagram of the connection component.

[0015] Figure 4 It is a schematic structural diagram of the support component.

[0016] Wherein, vehicle body 1, connecting rod 2, connecting plate 3, connecting bolt 4, adjusting base 5, adjusting rod 6, connecting base 7, sliding groove 8, support rod 9, sleeve 10, telescopic shaft 11, support wheel 12, rotating shaft 13, ball hinge seat 14, ball hinge head 15, ring 16, disc 17. DETAILED DESCRIPTION OF THE INVENTION

[0017] Embodiment 1: An anti-rollover support device for a vehicle body is installed on the side part of the vehicle body 1 of a crawling robot. The support device includes a connection component and a support component. There are two groups of connection components, which are installed at the middle positions on both sides of the vehicle body 1. There are two sets of support components, which are respectively installed at the lower ends of the connection components on both sides of the vehicle body 1. Among them:

[0018] The connecting component includes a connecting rod 2, a connecting plate 3, a connecting bolt 4, an adjusting base 5 and an adjusting rod 6. Both ends of the connecting rod 2 are fixedly installed on the vehicle body 1. Connecting holes are provided on both the upper edge and the lower edge of the connecting plate 3. The connecting hole on the upper edge is sleeved on the connecting rod 2. The connecting bolt 4 is installed in the connecting hole on the lower edge of the connecting plate 3. The connecting plate 3 is connected to the supporting component through the connecting bolt 4. A connecting base 7 is provided on the back surface of the connecting plate 3; The adjusting base 5 is fixed on the side wall of the vehicle body 1 below the connecting rod 2. A chute 8 is vertically provided on the adjusting base 5. Bolts are provided on both sides of the upper end and the lower end of the adjusting rod 6. The upper end is connected to the connecting base 7 on the back surface of the connecting plate 3 through a nut. The adjusting rod 6 rotates around this connection point; The bolt at the lower end of the adjusting rod 6 is installed in the chute 8 and is connected to the chute 8 through a nut and slides along the chute 8. The adjusting rod 6 rotates around this connection point;

[0019] The supporting component includes a supporting rod 9, a sleeve 10, a telescopic shaft 11, a supporting wheel 12, a rotating shaft 13, a spherical hinge base 14 and a spherical hinge head 15. Two supporting rods 9 are horizontally arranged on both sides of the vehicle body 1 and are parallel to the side wall of the vehicle body 1. Connecting holes are provided on the inner side of the supporting rod 9 and are connected to the connecting bolt 4 of the connecting component through the connecting holes. Two horizontal sleeves 10 are fixed on the outer side of the supporting rod 9. One end of the sleeve 10 is fixed on the side wall of the supporting rod 9 and the other end is open. A spring is horizontally fixed at the open end; The telescopic shaft 11 is sleeved in the spring. One end is inserted into the sleeve 10 and the other end is fixed with the spherical hinge base 14. The side wall of the telescopic shaft 11 is fixedly connected to the other end of the spring; One end of the rotating shaft 13 is fixed with the spherical hinge head 15 and the other end is connected to the supporting wheel 12. The spherical hinge head 15 is inserted into the spherical hinge base 14.

[0020] The telescopic shaft 11 is inserted into the top of the inner part of the sleeve 10, leaving a gap with the inner side wall of the sleeve 10. This gap forms a buffer space, facilitating the telescopic shaft 11 to be partially retracted into the sleeve 10 when subjected to an external force, and at the same time, restoring its original state through the elastic force of the spring. A circular ring 16 is provided at the opening port of the sleeve 10. A circular plate 17 is provided at the end of the telescopic shaft 11 inserted into the sleeve 10. The inner diameter of the circular ring 16 is smaller than the diameter of the circular plate 17. The stroke of the circular plate 17 is restricted by the circular ring 16 to prevent the telescopic shaft 11 from detaching from the sleeve 10.

[0021] During use, according to the diameter of the circular pipeline, the inclination angle of the connecting plate 3 is adjusted through the adjusting rod 6 of the connecting component, so that the supporting wheel 12 can adhere to the inner wall of the pipeline. During the detection process of the pipeline interior by the crawling robot, the vehicle body 1 drives the wheels to walk and detect inside the circular pipeline. During the walking process, the supporting wheel 12 provides support for auxiliary walking. When the vehicle body 1 tilts to one side, the supporting wheel 12 on this side is pressed and drives the telescopic shaft 11 to contract into the sleeve 10. At this time, the spring on the telescopic shaft 11 is stretched. Under the action of the spring, the telescopic shaft 11 is pulled back to its original position to play a supporting role; when the telescopic shaft 11 moves outwards under the action of the spring, the stroke of the disc 17 is limited by the ring 16 to prevent the telescopic shaft 11 from disengaging from the sleeve 10; the structure in which the adjusting rod 6, the adjusting base 5 and the connecting plate 3 are connected to each other and rotate around the connection point can automatically and real-time adjust the height of the adjusting rod 6 to keep the supporting wheel 12 able to adhere to the pipe wall; moreover, the supporting wheel 12 is connected by a spherical hinge structure, which can realize multi-angle rotation to keep the supporting wheel 12 in contact with the pipe wall and provide the maximum support; when the circular pipeline changes, the width of the supporting wheel 12 can be adjusted to better adapt to the change of the pipeline. At the same time, a small deflection is realized through the spherical hinge structure, thereby improving the self-adaptability of the supporting wheel 12.

Claims

1. An anti-rollover support device for a vehicle body, which is installed on the side of the vehicle body (1) of a crawling robot, and is characterized in that The support device includes a connection component and a support component. There are two sets of connection components, which are installed at the middle positions on both sides of the vehicle body (1). There are two sets of support components, which are respectively installed at the lower ends of the connection components on both sides of the vehicle body (1). Among them: The connection component includes a connecting rod (2), a connecting plate (3), a connecting bolt (4), an adjusting base (5) and an adjusting rod (6). Both ends of the connecting rod (2) are fixedly installed on the vehicle body (1). Connecting holes are provided on both the upper edge and the lower edge of the connecting plate (3). The connecting hole on the upper edge is sleeved on the connecting rod (2). The connecting bolt (4) is installed in the connecting hole on the lower edge of the connecting plate (3). The connecting plate (3) is connected to the support component through the connecting bolt (4). A connection base (7) is provided on the back of the connecting plate (3); The adjusting base (5) is fixed on the side wall of the vehicle body (1) below the connecting rod (2). A chute (8) is vertically provided on the adjusting base (5). Bolts are provided on both sides of the upper end and the lower end of the adjusting rod (6). The upper end is connected to the connection base (7) on the back of the connecting plate (3) through a nut. The adjusting rod (6) rotates around this connection point; The bolts at the lower end of the adjusting rod (6) are installed in the chute (8) and connected to the chute (8) through nuts, and slide along the chute (8). The adjusting rod (6) rotates around this connection point; The support component includes a support rod (9), a sleeve (10), a telescopic shaft (11), a support wheel (12), a rotating shaft (13), a spherical hinge seat (14) and a spherical hinge head (15). Two support rods (9) are horizontally arranged on both sides of the vehicle body (1) and are parallel to the side wall of the vehicle body (1). Connecting holes are provided on the inner side of the support rod (9) and are connected to the connecting bolt (4) of the connection component through the connecting holes. Two horizontal sleeves (10) are fixed on the outer side of the support rod (9). One end of the sleeve (10) is fixed to the side wall of the support rod (9), and the other end is open. A spring is horizontally fixed at the open end; The telescopic shaft (11) is sleeved in the spring, one end is inserted into the sleeve (10), and the other end is fixed with a spherical hinge seat (14). The side wall of the telescopic shaft (11) is fixedly connected to the other end of the spring; One end of the rotating shaft (13) is fixed with a spherical hinge head (15), and the other end is connected to the support wheel (12). The spherical hinge head (15) is inserted into the spherical hinge seat (14); The telescopic shaft (11) is inserted into the top inside the sleeve (10), leaving a gap with the inner side wall of the sleeve (10); A ring (16) is provided at the open port of the sleeve (10). A circular plate (17) is provided at the end of the telescopic shaft (11) inserted into the sleeve (10). The inner diameter of the ring (16) is smaller than the diameter of the circular plate (17).

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