Portable inspection robot with anti-collision structure

Abstract

The application provides a portable inspection robot with an anti-collision structure, and relates to the technical field of inspection robots.The portable inspection robot comprises an anti-collision assembly, and the fixed seat is fixedly installed in the interior of the mobile base.The physical anti-collision assembly can effectively prevent and buffer and protect static or dynamic obstacles encountered by the inspection assembly during the inspection process, is stable in use, avoids the phenomenon that the anti-collision assembly is damaged due to impact during use, is stable in use, and the buffering and anti-collision strength of the anti-collision assembly can be freely adjusted, so that the anti-collision assembly can be used in different inspection environments, and the problems that the inspection robot has no specific anti-collision structure, is easily damaged during the working process, and is troublesome and inconvenient to overhaul after the position sensor is damaged, has poor flexibility and low practicality are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection robots, in particular to a portable inspection robot with anti-collision structure. BACKGROUND

[0002] The inspection robot can replace or assist human to perform inspection work, accurately execute and stop at the designated place according to path planning and operation requirements, provide infrared temperature measurement, meter reading record and abnormal state alarm function for the inspection equipment, and realize real-time uploading of inspection data, information display and report generation and other background functions.

[0003] However, for the current inspection robot, the anti-collision is mostly realized by recognizing position information through the position sensor, and there is no specific anti-collision structure. This design causes the inspection robot to only avoid static obstacles to achieve the purpose of anti-collision, and it is difficult to accurately identify and avoid moving obstacles, which easily causes the inspection robot to be damaged during work. In addition, the maintenance of the position sensor is complicated and troublesome after damage, the flexibility is poor, and the practicality is not high. SUMMARY

[0004] Therefore, the present application provides a portable inspection robot with anti-collision structure, which has an anti-collision assembly. The anti-collision assembly can buffer the impact force when the inspection assembly encounters static or dynamic obstacles, thereby protecting and anti-colliding the inspection assembly. The anti-collision protection force of the device can be freely adjusted, so that it can be adapted to inspection in different environments, effectively protect the safety and stability of the inspection assembly, and has high flexibility and adaptability.

[0005] The present application provides a portable inspection robot with anti-collision structure, which specifically comprises: an inspection assembly, the inspection assembly comprising a robot body and a mobile base, the robot body being fixedly installed on the top of the mobile base, and the inside of the mobile base being installed with an anti-collision assembly; the anti-collision assembly comprising a connecting block, a fixed seat and an anti-collision mechanism, and the anti-collision mechanism comprising a positioning cylinder, a linkage cylinder and a buffer baffle, the positioning cylinder being fixedly installed on the outside of the connecting block, the linkage cylinder being rotatably connected to the inside of the positioning cylinder, the buffer baffle being installed in the inside of the linkage cylinder, and the fixed seat being fixedly installed in the inside of the mobile base.

[0006] Optionally, the anti-collision mechanism is provided on the top and the bottom of the connecting block, and the included angle between the directions of the two groups of anti-collision mechanisms is ninety degrees. The buffer baffle is composed of a buffer baffle a and a buffer baffle b. The buffer baffle a is installed in the linkage cylinder of the anti-collision mechanism on the top of the connecting block, and the buffer baffle b is installed in the linkage cylinder of the anti-collision mechanism on the bottom of the connecting block.

[0007] Optionally, the anti-collision assembly further includes an anti-collision protective ring, and a positioning rod a is provided in the middle of the anti-collision protective ring. The positioning rod a has a regular polygonal cross-sectional shape and is inserted into the interior of the buffer baffle a.

[0008] Optionally, the fixing seat has a positioning rod b with a regular polygonal cross-sectional shape in the middle, and the positioning rod b is inserted into the buffer b.

[0009] Optionally, both ends of the positioning rod a are fitted with anti-collision top springs a, and both ends of the positioning rod b are fitted with anti-collision top springs b. The two ends of the external anti-collision top springs a of the positioning rod a are respectively fixedly installed on the side of the buffer plate a and the side of the spring retaining ring of the anti-collision protection ring, and the two ends of the external anti-collision top springs b of the positioning rod b are respectively fixed on the side of the fixed seat and the side of the buffer plate b.

[0010] Optionally, the buffer baffle has threads on its outer surface, and the buffer baffle is screwed into the inside of the linkage cylinder via the threads.

[0011] Optionally, the side of the buffer plate a is provided with a positioning auxiliary rod, and the inside of the positioning cylinder is provided with a positioning groove, and the positioning auxiliary rod is inserted into the inside of the positioning groove.

[0012] Optionally, the anti-collision component further includes a composite adjusting wheel and an active adjusting wheel, and the composite adjusting wheel and the active adjusting wheel are rotatably connected inside the connecting block, with the angle between the composite adjusting wheel and the active adjusting wheel being ninety degrees.

[0013] Optionally, the front ends of the active adjusting wheel and the compound adjusting wheel are connected by bevel gear transmission. The outer sides of the linkage cylinders of the anti-collision mechanisms at the top and bottom of the connecting block are respectively provided with adjusting tooth ring a and adjusting tooth ring b. The compound adjusting wheel is connected to the adjusting tooth ring b by a back side gear, and the active adjusting wheel is connected to the adjusting tooth ring a by a back side gear.

[0014] Beneficial effects

[0015] The device is equipped with physical anti-collision components, which effectively buffer and protect the inspection components from static or dynamic obstacles encountered during the inspection process. It is stable in use and prevents damage caused by impacts. Furthermore, the buffering and anti-collision force of the anti-collision components can be freely adjusted, allowing it to adapt to different inspection environments. Its high flexibility and adaptability enhance the device's flexibility, adaptability, and practicality.

[0016] Furthermore, the anti-collision protection ring can absorb impacts within a 360-degree range around the inspection component. With the cooperation of two vertically designed anti-collision mechanisms, the anti-collision protection ring can move freely in the plane. When the anti-collision protection ring moves, the impact and impact force can be buffered on the X-axis by the anti-collision top springs a on both sides of the positioning rod a, and the buffered impact force on the Y-axis can be buffered by the anti-collision top springs b on both sides of the positioning rod b, thereby protecting the inspection component. The cooperation of the two anti-collision mechanisms achieves the purpose of the anti-collision protection ring absorbing impacts within a 360-degree range around the inspection component, ensuring stable use and normal operation of the inspection component.

[0017] Furthermore, the protection and buffering force of this device can be freely adjusted, enabling it to be used for inspection work in different environments, making it highly adaptable. When the active adjustment wheel is rotated, the active adjustment wheel and the compound adjustment wheel can rotate synchronously under the transmission of the front bevel gear. Since the active adjustment wheel and the compound adjustment wheel are perpendicular to each other, the active adjustment wheel can drive the linkage cylinder of the anti-collision mechanism at the top of the connecting block to rotate through the transmission of the back gear and the adjustment gear ring a. The compound adjustment wheel can drive the linkage cylinder of the anti-collision mechanism at the bottom of the connecting block to rotate through the transmission of its back gear and the adjustment gear ring b. Thus, the linkage cylinders of the two anti-collision mechanisms rotate synchronously. When the linkage cylinders of the anti-collision mechanisms rotate, they can also drive the buffer baffle to move synchronously in opposite directions through the thread. Thus, the initial working length of the two anti-collision top springs a and the two anti-collision top springs b can be adjusted synchronously. It is flexible in use, easy to adjust, and highly adaptable. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.

[0019] The accompanying drawings described below are only related to some embodiments of the invention and are not intended to limit the invention.

[0020] In the attached diagram:

[0021] Figure 1 A schematic diagram of the structure of the present invention is shown;

[0022] Figure 2 The present invention is shown. Figure 1 A schematic diagram of the bottom structure;

[0023] Figure 3 A cross-sectional view of the internal connecting block of the anti-collision component of the present invention is shown;

[0024] Figure 4 A schematic diagram of the disassembled anti-collision component of the present invention is shown;

[0025] Figure 5This invention shows a schematic diagram of the internal structure of the anti-collision component after adjusting the protective anti-collision force;

[0026] Figure 6 This invention illustrates the internal structure of the anti-collision component when its protective function is triggered.

[0027] Figure 7 The present invention is shown. Figure 3 Enlarged structural diagram of part A in the middle;

[0028] Figure 8 The present invention is shown. Figure 4 Enlarged structural diagram of part B in the middle.

[0029] List of reference numerals

[0030] 1. Inspection Components; 101. Robot Body; 102. Movable Base; 2. Anti-collision Components; 201. Connecting Block; 202. Fixed Base; 2021. Positioning Rod b; 2022. Anti-collision Top Spring b; 203. Anti-collision Protective Ring; 2031. Positioning Rod a; 2032. Anti-collision Top Spring a; 204. Composite Adjusting Wheel; 2041. Active Adjusting Wheel; 3. Anti-collision Mechanism; 301. Positioning Cylinder; 3011. Positioning Groove; 302. Linkage Cylinder; 3021. Adjusting Gear Ring a; 3022. Adjusting Gear Ring b; 303. Buffer Plate a; 3031. Positioning Sub-rod; 304. Buffer Plate b. Detailed Implementation

[0031] To make the objectives, solutions, and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Unless otherwise stated, the terms used herein have their ordinary meanings in the art. The same reference numerals in the drawings represent the same parts.

[0032] Example: Please refer to Figures 1 to 8 :

[0033] This invention proposes a portable inspection robot with an anti-collision structure, comprising: an inspection component 1, which includes a robot body 101 and a mobile base 102. The robot body 101 is fixedly mounted on the top of the mobile base 102, and an anti-collision component 2 is installed inside the mobile base 102. The separate design of the robot body 101 and the mobile base 102 reduces the space occupied by the device during carrying and transportation, making it convenient to carry and transport. The inspection component 1 contains a control device and a battery. The specific structure and working principle of the inspection component 1 are existing mature technologies and will not be described in detail here. The anti-collision component 2 includes a connecting... The connecting block 201, fixed base 202, anti-collision mechanism 3, composite adjusting wheel 204 and active adjusting wheel 2041 are included. The anti-collision mechanism 3 includes a positioning cylinder 301, a linkage cylinder 302 and a buffer baffle. The positioning cylinder 301 is fixedly installed on the outside of the connecting block 201, and the linkage cylinder 302 is rotatably connected to the inside of the positioning cylinder 301. The buffer baffle is installed inside the linkage cylinder 302. The fixed base 202 is fixedly installed inside the movable base 102. The composite adjusting wheel 204 and the active adjusting wheel 2041 are rotatably connected to the inside of the connecting block 201 respectively. The angle between the composite adjusting wheel 204 and the active adjusting wheel 2041 is ninety degrees.

[0034] Furthermore, according to embodiments of the present invention, such as Figure 3 As shown, the anti-collision mechanism 3 is provided at both the top and bottom of the connecting block 201, and the angle between the two sets of anti-collision mechanisms 3 is 90 degrees. The buffer baffle consists of buffer baffle a303 and buffer baffle b304. Buffer baffle a303 is installed inside the linkage cylinder 302 of the anti-collision mechanism at the top of the connecting block, and buffer baffle b304 is installed inside the linkage cylinder 302 of the anti-collision mechanism at the bottom of the connecting block. In use, the cooperation of the two anti-collision mechanisms 3 achieves the purpose of the anti-collision protection ring 203 absorbing the impact within a 360-degree range around the inspection component 1. It is stable in use and ensures the normal operation of the inspection component 1.

[0035] Furthermore, according to embodiments of the present invention, such as Figure 4 As shown, the middle part of the fixed base 202 is provided with a positioning rod b2021 with a cross-sectional shape of a regular polygon, and the positioning rod b2021 is inserted into the interior of the buffer baffle b304. In use, the positioning rod b2021 can achieve the positioning of the entire anti-collision component 2 in use state through the bottom buffer baffle b304, and the use is stable.

[0036] Furthermore, according to embodiments of the present invention, such as Figure 4As shown, the buffer baffle a303 has a positioning auxiliary rod 3031 on its side, and the positioning cylinder 301 has a positioning groove 3011 inside its body. The positioning auxiliary rod 3031 is inserted into the positioning groove 3011. During use, the positioning auxiliary rod 3031 of the buffer baffle a303 can restrict the movement trajectory of the buffer baffle a303 under the action of the positioning groove 3011, so that the top buffer baffle a303 will not rotate. Therefore, when the linkage cylinder 302 rotates, the position of the buffer baffle a303 can be adjusted through the thread of the linkage cylinder 302. And the anti-collision component 2 It also includes a collision protection ring 203, and a positioning rod a2031 is provided in the middle of the collision protection ring 203. The positioning rod a2031 has a regular polygonal cross-sectional shape and is inserted into the buffer baffle a303. The positioning rod a2031 has a regular polygonal cross-sectional shape and is inserted into the buffer baffle a303. By inserting the regular polygonal positioning rod a2031 into the buffer baffle a303, the collision protection ring 203 will not rotate and will always remain in a horizontal state, maintaining the maximum collision protection range for the inspection component 1 and ensuring stable use.

[0037] Furthermore, according to embodiments of the present invention, such as Figure 4 , Figure 5 and Figure 6 As shown, both ends of positioning rod a2031 are fitted with anti-collision top springs a2032, and both ends of positioning rod b2021 are fitted with anti-collision top springs b2022. The two ends of the external anti-collision top springs a2032 of positioning rod a2031 are respectively fixed between the side of buffer plate a303 and the side of the spring retaining ring of anti-collision protection ring 203. The two ends of the external anti-collision top springs b2022 of positioning rod b2021 are respectively fixed between the side of fixed seat 202 and the side of buffer plate b304. In use, under the combined action of the two vertically designed anti-collision mechanisms 3, the anti-collision... The impact protection ring 203 can move freely in the plane. When the impact protection ring 203 moves, the X-axis can be buffered by the impact and impact force through the anti-collision top springs a2032 on both sides of the positioning rod a2031. The impact force of the Y-axis can be buffered by the anti-collision top springs b2022 on both sides of the positioning rod b2021, thereby protecting the inspection component 1. The cooperation of the two anti-collision mechanisms 3 realizes that the impact protection ring 203 can absorb the impact within a 360-degree range around the inspection component 1. It is stable in use and ensures the normal operation of the inspection component 1.

[0038] Furthermore, according to embodiments of the present invention, such as Figure 4As shown, the front ends of the active adjusting wheel 2041 and the compound adjusting wheel 204 are connected by bevel gear transmission. An adjusting gear ring a3021 is provided on the outside of the linkage cylinder 302 of the anti-collision mechanism 3 at the top of the connecting block 201, and an adjusting gear ring b3022 is provided on the outside of the linkage cylinder 302 of the anti-collision mechanism 3 at the bottom of the connecting block 201. The compound adjusting wheel 204 is connected to the adjusting gear ring b3022 via a back-side gear, and the active adjusting wheel 2041 is connected to the adjusting gear ring a3021 via a back-side gear. During use, the protection and buffering force of this device can be freely adjusted, allowing it to be used for inspection work in different environments, demonstrating strong adaptability. When the active adjusting wheel 2041 is rotated, the active adjusting wheel 2041 and the compound adjusting wheel 204 can rotate synchronously under the transmission action of the front bevel gear. Because the active adjusting wheel 2041 and the compound adjusting wheel 204... The two sets of anti-collision mechanism 3 linkage cylinders 302 are perpendicular to each other, so that the active adjustment wheel 2041 can drive the linkage cylinder 302 of the anti-collision mechanism 3 at the top of the connecting block 201 to rotate through the cooperation of the back gear and the adjustment gear ring a3021. The compound adjustment wheel 204 can drive the linkage cylinder 302 of the anti-collision mechanism 3 at the bottom of the connecting block 201 to rotate through the cooperation of its back gear and the adjustment gear ring b3022. Thus, the linkage cylinders 302 of the two anti-collision mechanisms 3 rotate synchronously. The buffer plate has threads on the outside of the plate body, and the buffer plate is screwed into the inside of the linkage cylinder 302 through the threads. When the linkage cylinder 302 of the anti-collision mechanism 3 rotates, it can also drive the buffer plate to move synchronously in opposite directions through the threads. Thus, the initial working length of the two anti-collision top springs a2032 and the two anti-collision top springs b2022 can be adjusted synchronously, which changes the buffering and protection force of the device on the inspection component 1. It is flexible in use and easy to adjust.

[0039] In another embodiment, the top of the positioning cylinder 301 of the anti-collision mechanism 3 at the top of the connecting block 201 is provided with an elastic electric contact rod, and the bottom of the robot body 101 is provided with a circular electric contact piece. The elastic contact rod and the electric contact piece are connected to the two ends of the wire disconnected at the same level as the inspection component 1. Thus, when the device is impacted, the circuit of the inspection component 1 can be automatically disconnected, avoiding the phenomenon that the moving base 102 will continue to move and cause damage to the inspection component 1, thereby further improving the stability of the device.

[0040] The specific usage and function of this embodiment: In this invention, the anti-collision protection force of the anti-collision component 2 of the device is adjusted according to the usage environment of the inspection component 1. When the active adjustment wheel 2041 is rotated, the active adjustment wheel 2041 and the compound adjustment wheel 204 can rotate synchronously under the transmission action of the front bevel gear. Since the active adjustment wheel 2041 and the compound adjustment wheel 204 are perpendicular to each other, the active adjustment wheel 2041 can drive the linkage cylinder 302 of the anti-collision mechanism 3 at the top of the connecting block 201 to rotate through the cooperation of the back gear and the adjustment gear ring a3021. The compound adjustment wheel 204 can drive the linkage cylinder 302 of the anti-collision mechanism 3 at the bottom of the connecting block 201 to rotate through the cooperation of its back gear and the adjustment gear ring b3022. Thus, the linkage cylinders 302 of the two anti-collision mechanisms 3 rotate synchronously. When the linkage cylinders 302 of the anti-collision mechanism 3 rotate, they can also drive the buffer baffle to move synchronously in opposite directions through the thread. Thus, the two anti-collision top springs a203 The initial working lengths of the two anti-collision top springs b2022 can be adjusted synchronously, thus changing the buffering and protection force of the device on the inspection component 1. After adjustment, the inspection component 1 can start inspection work after the power is turned on. When the inspection component 1 is inspecting, the anti-collision protection ring 203 can absorb the impact within a 360-degree range around the inspection component 1. With the cooperation of the two vertically designed anti-collision mechanisms 3, the anti-collision protection ring 203 can move freely in the plane. When the anti-collision protection ring 203 moves, the impact and impact force can be buffered on the X-axis by the anti-collision top springs a2032 on both sides of the positioning rod a2031. The buffered impact force on the Y-axis can be buffered by the anti-collision top springs b2022 on both sides of the positioning rod b2021, thereby protecting the inspection component 1. The cooperation of the two anti-collision mechanisms 3 achieves the purpose of the anti-collision protection ring 203 absorbing the impact within a 360-degree range around the inspection component 1, ensuring the normal operation of the inspection component 1.

[0041] Finally, it should be noted that when describing the position of each component and the mating relationship between them, the present invention usually uses one or a pair of components as examples. However, those skilled in the art should understand that such positions, mating relationships, etc., are also applicable to other components or other pairs of components.

[0042] The above description is merely an exemplary embodiment of the present invention and is not intended to limit the scope of protection of the present invention, which is determined by the appended claims.

Claims

1. A portable inspection robot with an anti-collision structure, characterized in that, include: An inspection component (1) includes a robot body (101) and a mobile base (102). The robot body (101) is fixedly installed on the top of the mobile base (102), and an anti-collision component (2) is installed inside the mobile base (102). The anti-collision component (2) includes a connecting block (201), a fixed seat (202), and an anti-collision mechanism (3). The anti-collision mechanism (3) includes a positioning cylinder (301), a linkage cylinder (302), and a buffer plate. The positioning cylinder (301) is fixedly installed outside the connecting block (201), and the linkage cylinder (302) is rotatably connected inside the positioning cylinder (301). The buffer plate is installed inside the linkage cylinder (302), and the fixed seat (202) is fixedly installed inside the mobile base (102). The anti-collision mechanism (3) is provided at both the top and bottom of the connecting block (201), and the angle between the two sets of anti-collision mechanisms (3) is 90 degrees. The buffer baffle consists of buffer baffle a (303) and buffer baffle b (304). Buffer baffle a (303) is installed inside the linkage cylinder (302) of the anti-collision mechanism at the top of the connecting block, and buffer baffle b (304) is installed inside the linkage cylinder (302) of the anti-collision mechanism at the bottom of the connecting block. The anti-collision component (2) also includes an anti-collision protective ring (203), and a positioning rod a (2031) is provided in the middle of the anti-collision protective ring (203). The positioning rod a (2031) has a regular polygonal cross-sectional shape and is inserted into the interior of the buffer baffle a (303). The fixing base (202) has a positioning rod b (2021) with a regular polygonal cross-section in the middle, and the positioning rod b (2021) is inserted into the buffer b plate b (304). Both ends of the positioning rod a (2031) are fitted with anti-collision top springs a (2032), and both ends of the positioning rod b (2021) are fitted with anti-collision top springs b (2022). The two ends of the external anti-collision top springs a (2032) of the positioning rod a (2031) are respectively fixedly installed on the side of the buffer plate a (303) and the side of the spring retaining ring of the anti-collision protection ring (203), and the two ends of the external anti-collision top springs b (2022) of the positioning rod b (2021) are respectively fixed on the side of the fixed base (202) and the side of the buffer plate b (304). The buffer baffle has threads on its outer surface, and the buffer baffle is screwed into the inside of the linkage cylinder (302) via these threads. The buffer baffle a (303) has a positioning auxiliary rod (3031) on its side, and the positioning cylinder (301) has a positioning groove (3011) inside its body. The positioning auxiliary rod (3031) is inserted into the positioning groove (3011). The anti-collision component (2) further includes a composite adjusting wheel (204) and an active adjusting wheel (2041), and the composite adjusting wheel (204) and the active adjusting wheel (2041) are rotatably connected inside the connecting block (201), with the angle between the composite adjusting wheel (204) and the active adjusting wheel (2041) being ninety degrees. The front ends of the active adjusting wheel (2041) and the compound adjusting wheel (204) are connected by bevel gear transmission. The external parts of the linkage cylinder (302) of the anti-collision mechanism at the top and bottom of the connecting block (201) are respectively provided with adjusting gear ring a (3021) and adjusting gear ring b (3022). The compound adjusting wheel (204) is connected to the adjusting gear ring b (3022) through the back side gear, and the active adjusting wheel (2041) is connected to the adjusting gear ring a (3021) through the back side gear.

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