Crawler chassis structure for transformer substation emergency handling robot to climb stairs

Abstract

The invention relates to the technical field of emergency robots, and discloses a substation emergency handling robot stair climbing crawler chassis structure which comprises a chassis assembly, crawler assemblies are arranged on the two sides of the chassis assembly, a hydraulic rod and a damping disc are arranged on the chassis assembly, and a camera is arranged on the damping disc. A stair climbing assembly is arranged at the front end of the chassis assembly, an adjusting assembly is arranged on the stair climbing assembly, and an anti-collision plate is arranged on the adjusting assembly. According to the stair climbing device, the stair climbing assembly and the hydraulic rod are arranged, and the angle of the stair climbing assembly is adjusted through stretching of the output end of the hydraulic rod so that the stair climbing device can adapt to stairs with different gradients, better road holding force is provided, and the situation that the stair climbing device slips and retreats on the stairs and even falls off the stairs to cause damage is avoided; and by arranging an anti-collision plate, the robot is isolated from an obstacle, and the situation that parts of the robot are damaged due to direct collision between the robot and the obstacle in the advancing process is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of emergency robots, and in particular to a crawler vehicle chassis structure of a transformer substation emergency disposal robot climbing stairs. Background Art

[0002] The substation emergency response robot is a high-tech equipment used in the substation environment to perform emergency tasks in emergency situations. The general wheeled chassis cannot adapt to the complex terrain of the substation and cannot meet the usage requirements in emergency situations.

[0003] The Chinese invention patent with application number 202211135702.1 proposes a substation inspection robot, including a robot base, a cleaning mechanism is arranged inside the robot, a hydraulic rod is arranged below the cleaning mechanism, and a cylinder is arranged on one side of the hydraulic rod; a collection mechanism is located on one side of the hydraulic rod; and a robot body is located above the robot base. The substation inspection robot is provided with a cleaning mechanism at the bottom of the inspection robot, so that the dust is cleaned by a dust collector, and a cylinder and a hydraulic rod are arranged inside the robot base, so that the suction port is extended by the hydraulic rod, so that the suction port can extend into the bottom of the component, and the dust at the bottom of the component is cleaned, so that the robot base can clean the dust at the same time when performing the inspection, thereby improving the practical function of the inspection robot.

[0004] However, in the existing use process, the substation emergency response robot often needs to face the situation of climbing stairs. The track structure in this technical solution is set at a fixed angle and cannot cope with stairs of different slopes. It has poor adaptability and is easy to slip on the stairs, resulting in difficulty in climbing and inconvenience in use. In addition, when the ground road conditions of the substation include repaired sections, for example, there may be potholes and collapses on the road surface. At the same time, the soil on the inner wall of the pothole may be soft or easy to collapse, causing the robot to slip and be unable to escape and climb out of the pothole on its own, affecting the normal inspection of the robot.

[0005] Therefore, it is necessary to solve the above problems through the crawler chassis structure of the substation emergency disposal robot climbing stairs. Summary of the invention

[0006] The purpose of the present invention is to provide a crawler vehicle chassis structure for a substation emergency response robot to climb stairs, so as to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a crawler chassis structure of a substation emergency disposal robot climbing stairs, comprising a chassis assembly, crawler assemblies are arranged on both sides of the chassis assembly, a hydraulic rod and a shock-absorbing plate are arranged on the chassis assembly, a camera is arranged on the shock-absorbing plate, a stair climbing assembly is arranged at the front end of the chassis assembly, an adjustment assembly is arranged on the stair climbing assembly, and an anti-collision plate is arranged on the adjustment assembly;

[0008] The stair climbing assembly comprises a movable plate and a stair climbing linkage wheel, a linkage piece is fixedly arranged on the top surface of the movable plate, the output end of the hydraulic rod is movably connected to the linkage piece, a support shaft is arranged on the central axis of the stair climbing linkage wheel, and the support shaft is movably plugged into the front end of the movable plate;

[0009] The adjustment assembly includes a rotating drum sleeved on a supporting shaft, a side of the rotating drum is fixedly connected to a double-output telescopic cylinder via a connecting plate, an output end of the double-output telescopic cylinder is movably connected to a connecting block, and the connecting block is fixedly connected to the anti-collision plate.

[0010] Preferably, an annular rack is arranged on the outer side of the rotating drum, a driving gear is meshed on the annular rack, a fixing frame is connected to the movable plate, and a gear motor is arranged inside the fixing frame.

[0011] Preferably, a climbing track is wound around the outer side of the climbing linkage wheel, a climbing power wheel is arranged on the inner side of the climbing track, a climbing rotating shaft is arranged on the central axis of the climbing power wheel, and the climbing rotating shaft is movably plugged into the rear end of the movable plate.

[0012] Preferably, the chassis assembly includes a fixed plate, a shock absorbing chamber is provided on the top of the fixed plate, a shock absorbing rod is provided in the shock absorbing chamber, the shock absorbing plate is fixedly arranged on the top of the shock absorbing rod, a fixed arm is fixedly arranged at the front end of the fixed plate, slide grooves are provided on both sides of the front end of the fixed plate, power motors are fixedly arranged on both sides of the rear end of the fixed plate, and the hydraulic rod is movably arranged on the top surface of the fixed plate.

[0013] Preferably, the track assembly comprises a cross beam and a shock-absorbing wheel, wherein the shock-absorbing wheel is arranged below the cross beam, a shock-absorbing shaft is arranged on the shock-absorbing wheel, and a spring is sleeved on the outer side of the shock-absorbing shaft.

[0014] Preferably, the shock-absorbing shaft is movably plugged into the crossbeam, a support wheel is arranged above the crossbeam, a T-shaped rod is arranged on the support wheel, and the T-shaped rod is fixedly arranged on the top surface of the crossbeam.

[0015] Preferably, the track assembly also includes a track power wheel and a track linkage wheel, a rotating shaft sleeve is arranged on the central axis of the track power wheel, a fixing sleeve is arranged on the inner side of the track linkage wheel, a support rod is inserted on the inner side of the fixing sleeve, and a track strip is wound around the outer side of the track power wheel and the track linkage wheel, and the track strip is located on the outer side of the shock-absorbing wheel and the support wheel.

[0016] Technical effects and advantages of the present invention:

[0017] 1. In the present invention, by providing a stair climbing component and a hydraulic rod, the output end of the hydraulic rod is extended and retracted to adjust the angle of the stair climbing component to adapt to stairs with different slopes, provide better grip, and avoid slipping and retreating on the stairs, or even falling down the stairs to cause damage; by providing an anti-collision plate, the robot is isolated from obstacles to avoid direct collision with obstacles during the robot's movement, which may cause damage to the robot parts.

[0018] 2. In the present invention, by setting a movable plate and a stair-climbing linkage wheel, the linkage part is driven to move under the extension and retraction of the output end of the hydraulic rod, thereby driving the movable plate to rotate with the stair-climbing rotation axis as the center, so that the overall angle of the stair-climbing component changes, and the inclination of the stair-climbing component is adjusted to be consistent with the inclination of the stair steps, so as to adapt to stairs of different slopes, so that the robot can climb the stairs stably and avoid slipping and retreating, or even falling down the stairs.

[0019] 3. In the present invention, the camera is used to check whether the robot is moving smoothly, and then the change in the compression of the spring is combined to determine whether the current soil is in a solid state, a slightly collapsed state, or a soft state that is easy to collapse. By controlling the anti-collision plate and the adjustment component, the loose shallow layer of the soil is cleaned or compacted to ensure that the robot can successfully climb out of the pit and continue inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the stair climbing assembly of the present invention;

[0022] Figure 3 This is a schematic diagram of the positional relationship between the adjustment component and the stair climbing component of the present invention;

[0023] Figure 4 for Figure 3 A schematic diagram of the structure enlargement of part A;

[0024] Figure 5 This is a schematic diagram of the chassis assembly structure of the present invention;

[0025] Figure 6 It is a schematic diagram of the structure of the crawler assembly of the present invention;

[0026] Figure 7 It is a schematic diagram of the structure of the shock absorbing mechanism of the present invention.

[0027] In the figure: 1. chassis assembly; 101. fixed plate; 102. fixed arm; 103. shock absorber; 104. power motor; 105. shock absorber rod; 106. slideway; 2. track assembly; 201. track power wheel; 202. track strip; 203. crossbeam; 204. support wheel; 205. shock absorber wheel; 206. T-bar; 207. shock absorber shaft; 208. spring; 209. track linkage wheel; 210. rotating shaft sleeve; 211. fixed sleeve; 212. support rod; 3. hydraulic Pressure rod; 4. Shock absorber plate; 5. Camera; 6. Climbing assembly; 601. Climbing power wheel; 602. Climbing linkage wheel; 603. Climbing track; 604. Climbing rotating shaft; 605. Movable plate; 606. Support shaft; 607. Linkage member; 7. Adjustment assembly; 701. Rotating drum; 702. Ring rack; 703. Connecting plate; 704. Dual-output telescopic cylinder; 705. Connecting block; 706. Driving gear; 707. Gear motor; 708. Fixed bracket; 8. Anti-collision plate. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] In order to solve the problem that when the emergency robot of the substation needs to climb stairs, the setting angle of the crawler chassis cannot cope with stairs of different slopes, the adaptability is poor, and it is easy to slip or even fall on the stairs, making it difficult to climb stairs, embodiment 1 is proposed.

[0030] Embodiment 1:

[0031] The present invention provides Figures 1 to 7The crawler chassis structure of the substation emergency disposal robot climbing stairs shown in the figure includes a chassis assembly 1, crawler assemblies 2 are arranged on both sides of the chassis assembly 1, a hydraulic rod 3 and a shock absorber plate 4 are arranged on the chassis assembly 1, the hydraulic rod 3 is rotatably arranged on the fixed plate 101, the hydraulic rod 3 can rotate with its connection point with the fixed plate 101 as the center of the circle to support it to drive the climbing assembly 6 to adjust the angle, and a camera 5 is arranged on the shock absorber plate 4, the camera 5 observes the road conditions of the robot, and inspects the substation at the same time, timely collects pictures of the on-site environment, and is convenient for timely discovery of safety hazards. The front end of the chassis assembly 1 is provided with a climbing assembly 6, the climbing assembly 6 is rotatably arranged at the front end of the chassis assembly 1, the output end of the hydraulic rod 3 is rotatably connected to the climbing assembly 6, the climbing assembly 6 is provided with an adjustment assembly 7, the adjustment assembly 7 is rotatably arranged at the front end of the climbing assembly 6, and the adjustment assembly 7 is provided with an anti-collision plate 8.

[0032] By setting up the stair climbing component 6 and the hydraulic rod 3, the output end of the hydraulic rod 3 is telescopically adjusted to adjust the angle of the stair climbing component 6 to adapt to stairs with different slopes, provide better grip, and avoid slipping and retreating on the stairs, or even falling down the stairs to cause damage; by setting up the anti-collision plate 8, the robot is isolated from obstacles to avoid direct collision with obstacles during the robot's movement, which may cause damage to the robot parts.

[0033] like Figure 2 As shown, the stair climbing component 6 includes a movable plate 605 and a stair climbing linkage wheel 602, a linkage part 607 is fixedly arranged on the top surface of the movable plate 605, the output end of the hydraulic rod 3 is movably connected to the linkage part 607, the output end of the hydraulic rod 3 is rotatably connected to the linkage part 607, a support shaft 606 is arranged on the central axis of the stair climbing linkage wheel 602, and the support shaft 606 is movably plugged into the front end of the movable plate 605; a stair climbing track 603 is wound around the outer side of the stair climbing linkage wheel 602, a stair climbing power wheel 601 is arranged on the inner side of the stair climbing track 603, a stair climbing rotating shaft 604 is arranged on the central axis of the stair climbing power wheel 601, the stair climbing rotating shaft 604 is movably plugged into the rear end of the movable plate 605, the stair climbing rotating shaft 604 passes through the fixed arm 102, and the stair climbing rotating shaft 604 is connected to a stair climbing motor to provide power for the stair climbing power wheel 601.

[0034] When in use, the robot collects information about the surrounding environment through the camera 5 and observes the road conditions on the robot's route. When the robot travels to the front of the stairs, the height information between the stair steps is collected to obtain the inclination of the steps, and the output end of the hydraulic rod 3 is controlled to retract. The climbing assembly 6 is driven to rotate as a whole to an upward raised state through the linkage 607, so that the inclination of the bottom section of the climbing track 603 is consistent with the inclination of the stairs. Then the robot continues to move forward, so that the climbing track 603 contacts the edge of the stair steps, and then the climbing motor is started, and the climbing power wheel 601 is driven to rotate through the climbing rotating shaft 604, thereby driving the climbing track 603 and the climbing linkage wheel 602 to rotate, providing a stable pulling force for the robot to climb the stairs.

[0035] By setting a movable plate 605 and a stair-climbing linkage wheel 602, the linkage part 607 is driven to move under the extension and retraction of the output end of the hydraulic rod 3, thereby driving the movable plate 605 to rotate with the stair-climbing rotation axis 604 as the center, so that the overall angle of the stair-climbing component 6 changes, and the inclination of the stair-climbing component 6 is adjusted to be consistent with the inclination of the stair steps, so as to adapt to stairs of different slopes, so that the robot can climb the stairs stably and avoid slipping and retreating, or even falling down the stairs.

[0036] like Figure 5 As shown, the chassis assembly 1 includes a fixed plate 101, a shock absorbing chamber 103 is provided on the top of the fixed plate 101, a shock absorbing rod 105 is provided in the shock absorbing chamber 103, and the shock absorbing plate 4 is fixedly provided on the top of the shock absorbing rod 105. The shock absorbing chamber 103, the shock absorbing rod 105 and the shock absorbing plate 4 are used to reduce the shock of the camera 5 to prevent the bumpy road from causing the camera 5 to shake too much, resulting in unclear collected information. A fixed arm 102 is fixedly provided at the front end of the fixed plate 101, slide grooves 106 are provided on both sides of the front end of the fixed plate 101, power motors 104 are fixedly provided on both sides of the rear end of the fixed plate 101, and the hydraulic rod 3 is movably provided on the top surface of the fixed plate 101. Figure 6-Figure 7As shown, the track assembly 2 includes a crossbeam 203 and a shock-absorbing wheel 205. The shock-absorbing wheel 205 is arranged below the crossbeam 203. The crossbeam 203 is fixedly connected to both sides of the fixed plate 101. A shock-absorbing shaft 207 is arranged on the shock-absorbing wheel 205. A spring 208 is sleeved on the outer side of the shock-absorbing shaft 207. The spring 208 plays the role of energy absorption and shock reduction. The top end of the spring 208 is fixedly connected to the crossbeam 203. A boss is arranged at the bottom of the shock-absorbing shaft 207. The bottom end of the spring 208 is fixedly arranged on the boss of the shock-absorbing shaft 207. The shock-absorbing shaft 207 is movably inserted into the crossbeam 203. A through hole is opened on the end face of the crossbeam 203. The shock-absorbing shaft 207 is slidably arranged inside the through hole and can be raised and lowered inside the through hole. A support wheel 204 is arranged above the cross beam 203, and a T-shaped rod 206 is arranged on the support wheel 204, and the T-shaped rod 206 is fixedly arranged on the top surface of the cross beam 203; the track assembly 2 also includes a track power wheel 201 and a track linkage wheel 209, a rotating shaft sleeve 210 is arranged on the central axis of the track power wheel 201, a fixing sleeve 211 is arranged on the inner side of the track linkage wheel 209, a support rod 212 is inserted on the inner side of the fixing sleeve 211, and the support rod 212 is inserted in the slide groove 106, and the rotating shaft sleeve 210 is sleeved on the output shaft of the power motor 104, and the power motor 104 drives the track power wheel 201 to rotate through the rotating shaft sleeve 210, thereby providing power support for the robot to move. The outer sides of the track power wheel 201 and the track linkage wheel 209 are wound with a track strip 202, and the track strip 202 is located on the outer sides of the shock-absorbing wheel 205 and the support wheel 204. The support wheel 204 and the shock absorbing wheel 205 are staggered, and every two shock absorbing wheels 205 and one support wheel 204 form a set of shock absorbing mechanisms. According to the length of the track strip 202, multiple sets of shock absorbing mechanisms are appropriately set to reduce shock during the movement of the robot.

[0037] When in use, the power motor 104 is turned on, the power motor 104 drives the track power wheel 201 to rotate, the track power wheel 201 drives the track bar 202 to rotate, thereby driving the track linkage wheel 209 to rotate, and then driving the robot body to move.

[0038] When the robot is moving, the track bar 202 will be lifted up when passing over hard objects on the ground, causing the shock-absorbing wheel 205 to rise upward, driving the shock-absorbing shaft 207 to slide and rise and fall in the crossbeam 203. During the lifting and lowering process of the shock-absorbing shaft 207, the spring 208 will be compressed, and the elastic force of the spring 208 will drive the shock-absorbing wheel 205 to generate a rebound force, thereby reducing the shock of the robot body during the movement.

[0039] After the hydraulic rod 3 drives the climbing component 6 to adjust according to the angle of the step and resist the step, the climbing track 603 is started and at the same time, the output end of the hydraulic rod 3 is controlled to extend, and the climbing component 6 is driven to rotate as a whole to the initial state through the linkage 607, thereby raising the track linkage wheel 209, so that the bottom surface section of the track strip 202 and the bottom surface section of the climbing track 603 are consistent in inclination, and the overall inclination of the robot is consistent with the stair steps, so that the climbing component 6 slowly pulls the robot up the steps.

[0040] Working principle: First, start the robot inspection and turn on the power motor 104. The power motor 104 drives the track power wheel 201 to rotate. The track power wheel 201 drives the track bar 202 to rotate, thereby driving the track linkage wheel 209 to rotate, and then driving the robot body to move.

[0041] Secondly, the inclination information of the stairs is collected. The surrounding environment is collected through camera 5, and the road conditions on the robot's route are observed. When the robot travels to the front of the stairs, the height information between the steps of the stairs is collected to obtain the degree of inclination of the steps.

[0042] Then, adjust the angle of the climbing component 6, control the output end of the hydraulic rod 3 to retract, and drive the climbing component 6 to rotate as a whole to an upward raised state through the linkage 607, so that the inclination of the bottom section of the climbing track 603 is consistent with the inclination of the stairs. Then the robot continues to move forward, so that the climbing track 603 contacts the edge of the stair steps, and then start the climbing motor, and drive the climbing power wheel 601 to rotate through the climbing rotating shaft 604, thereby driving the climbing track 603 and the climbing linkage wheel 602 to rotate, providing a stable pulling force for the robot to climb the stairs.

[0043] Finally, adjust the inclination of the track assembly 2. After the hydraulic rod 3 drives the climbing assembly 6 to adjust according to the angle of the steps and resist the steps, while the climbing track 603 is started, control the output end of the hydraulic rod 3 to extend, and drive the climbing assembly 6 to rotate to the initial state as a whole through the linkage 607, thereby raising the track linkage wheel 209, so that the bottom surface section of the track strip 202 and the bottom surface section of the climbing track 603 are kept consistent in inclination, and the overall inclination of the robot is kept consistent with the stair steps, so that the climbing assembly 6 slowly pulls the robot up the steps.

[0044] Based on the technical solution of the above-mentioned embodiment 1, when there is a repaired section on the ground road condition of the substation, there may be potholes and collapses on the road surface. When the robot encounters a pothole collapse while driving, the inner wall of the pothole may contain soft or easily collapsed soil, causing the robot's track strip 202 to slip and become unable to climb out of the pothole on its own. Thus, embodiment 2 is proposed to solve the above-mentioned technical problem.

[0045] Embodiment 2:

[0046] like Figure 3-Figure 4 As shown, an adjustment component 7 is provided to adjust the angle of the anti-collision plate 8, so as to assist the robot to escape from trouble by itself. The adjustment component 7 includes a rotating drum 701 sleeved on the support shaft 606. The rotating drum 701 can rotate on the support shaft 606. The side of the rotating drum 701 is fixedly connected with a double-output telescopic cylinder 704 through a connecting plate 703. The anti-collision plate 8 is provided with two and is rotatably connected. The output end of the double-output telescopic cylinder 704 is telescopic, and the anti-collision plate 8 is driven to deflect through the connecting block 705, thereby changing the bending angle of the two anti-collision plates 8. The output end of the double-output telescopic cylinder 704 is movably connected with a coupling. The output end of the dual-output telescopic cylinder 704 is hinged to the connecting block 705, and the connecting block 705 is fixedly connected to the anti-collision plate 8; an annular rack 702 is arranged on the outer side of the rotating drum 701, and the annular rack 702 is meshed with a driving gear 706. A fixed frame 708 is connected to the movable plate 605, and a gear motor 707 is arranged in the fixed frame 708. The driving gear 706 rotates, and the rotating drum 701 is driven to rotate through the annular rack 702, thereby driving the dual-output telescopic cylinder 704 to rotate with the support shaft 606 as the center of the circle, thereby driving the anti-collision plate 8 to rotate around the support shaft 606.

[0047] When the robot drives into a pit, there will be various small protrusions in the pit, causing the track strip 202 to be lifted up when passing through, thereby compressing the spring 208 through the shock-absorbing wheel 205, causing the compression amount of the spring 208 to change irregularly.

[0048] The camera 5 is used to check whether the robot is moving smoothly, and then the current soil firmness is judged by combining the change in the compression of the spring 208. First, according to the inclination of the inner wall of the pit, the output end of the hydraulic rod 3 is controlled to retract, driving the climbing assembly 6 to rotate as a whole to an angle consistent with the inclination of the inner wall of the pit. While the climbing assembly 6 drives the robot to move, the climbing assembly 6 is gradually adjusted to restore the entirety to the initial state, so that the robot as a whole moves along the inner wall of the pit. If the compression of the spring 208 continues to change irregularly, but the camera 5 captures that the robot is moving smoothly, it means that the inner wall soil of the current pit is relatively hard, and the robot can climb out of the pit by itself.

[0049] If the compression amount of the spring 208 continues to change irregularly, but the camera 5 detects that the robot is moving backward, it can be determined that the current soil has a small collapse, the shallow soil is loose, and the stones in the soil roll down, causing the robot to slip and move backward. At this time, the output end of the dual-output telescopic cylinder 704 is controlled to retract, driving the two connecting blocks 705 to approach each other, thereby driving the two anti-collision plates 8 to deflect, changing the bending angle of the anti-collision plates 8, so that the connection between the two anti-collision plates 8 is pushed out in the direction of travel of the robot, from the initial 180° to an obtuse triangle, and then the gear motor 707 is controlled to drive the active gear 706 to rotate, and the active gear 706 drives the rotating drum 701 to rotate through the annular rack 702, thereby driving the dual-output telescopic cylinder 704 to rotate with the support shaft 606 as the center of the circle, and then driving the anti-collision plate 8 to rotate a smaller angle around the support shaft 606, so that the bottom end of the anti-collision plate 8 is inserted into the shallow soil, and then the robot is started to move, the anti-collision plate 8 pushes up the shallow soil that will collapse, and makes the soil move to both sides of the robot along the anti-collision plate 8, so that there is no collapsed soil and stones on the robot's travel route, ensuring that the robot can smoothly drive out of the pit.

[0050] If the compression of the spring 208 continues to change irregularly, and at the same time, the compression of the spring 208 on both sides of the robot is quite different, but the camera 5 captures the situation that the robot moves slowly, it can be judged that the current soil has a large collapse, and the soil is relatively soft as a whole, causing the robot to sink into the soil and produce a tilted state, thereby causing the compression of the spring 208 on one side that is sunk into the soil to be large, and the compression of the spring 208 on the other side to be small. At this time, the output end of the hydraulic rod 3 is controlled to retract, driving the climbing assembly 6 to rotate as a whole to an upwardly raised state, and at the same time, the gear motor 707 is controlled to rotate, driving the anti-collision plate 8 to rotate 90° around the support shaft 606, so that the anti-collision plate 8 rotates to an angle perpendicular to the initial state. At this time, the anti-collision plate 8 is located below the climbing crawler 603, and then the output end of the hydraulic rod 3 is controlled to retract repeatedly, driving the climbing assembly 6 to swing back and forth, thereby driving the anti-collision plate 8 to repeatedly beat the soil through the adjustment assembly 7 to compact the soil, so that the soil on the robot's route becomes solid, ensuring that the robot moves smoothly and avoids sinking into the soil.

[0051] The camera 5 is used to check whether the robot is moving smoothly, and the change in the compression of the spring 208 is combined to determine whether the current soil is in a solid state, a slightly collapsed state, or a soft state that is easy to collapse. The anti-collision plate 8 and the adjustment component 7 are controlled to clean or compact the loose shallow layer of the soil to ensure that the robot can climb out of the pit smoothly.

[0052] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. The crawler chassis structure of the substation emergency disposal robot climbing stairs is characterized by: The invention comprises a chassis assembly (1), crawler assemblies (2) are arranged on both sides of the chassis assembly (1), a hydraulic rod (3) and a shock absorbing plate (4) are arranged on the chassis assembly (1), a camera (5) is arranged on the shock absorbing plate (4), a stair climbing assembly (6) is arranged at the front end of the chassis assembly (1), an adjustment assembly (7) is arranged on the stair climbing assembly (6), and an anti-collision plate (8) is arranged on the adjustment assembly (7); The stair climbing assembly (6) comprises a movable plate (605) and a stair climbing linkage wheel (602); a linkage member (607) is fixedly arranged on the top surface of the movable plate (605); the output end of the hydraulic rod (3) is movably connected to the linkage member (607); a support shaft (606) is arranged on the central axis of the stair climbing linkage wheel (602); and the support shaft (606) is movably plugged into the front end of the movable plate (605); The adjustment assembly (7) comprises a rotating drum (701) sleeved on a supporting shaft (606); a side surface of the rotating drum (701) is fixedly connected to a double-output telescopic cylinder (704) via a connecting plate (703); an output end of the double-output telescopic cylinder (704) is movably connected to a connecting block (705); and the connecting block (705) is fixedly connected to an anti-collision plate (8).

2. The crawler chassis structure of the substation emergency handling robot for climbing stairs according to claim 1 is characterized by: An annular rack (702) is arranged on the outer side of the rotating drum (701), and a driving gear (706) is meshed with the annular rack (702). A fixing frame (708) is connected to the movable plate (605), and a gear motor (707) is arranged inside the fixing frame (708).

3. The crawler chassis structure of the substation emergency handling robot for climbing stairs according to claim 1 is characterized by: A stair climbing crawler (603) is wound around the outer side of the stair climbing linkage wheel (602), a stair climbing power wheel (601) is arranged on the inner side of the stair climbing crawler (603), a stair climbing rotating shaft (604) is arranged on the central axis of the stair climbing power wheel (601), and the stair climbing rotating shaft (604) is movably plugged into the rear end of the movable plate (605).

4. The crawler vehicle chassis structure of the substation emergency disposal robot climbing stairs according to claim 1 is characterized by: The chassis assembly (1) comprises a fixed plate (101), a shock absorbing chamber (103) is provided on the top of the fixed plate (101), a shock absorbing rod (105) is provided in the shock absorbing chamber (103), the shock absorbing plate (4) is fixedly arranged on the top of the shock absorbing rod (105), a fixed arm (102) is fixedly arranged at the front end of the fixed plate (101), sliding grooves (106) are provided on both sides of the front end of the fixed plate (101), power motors (104) are fixedly arranged on both sides of the rear end of the fixed plate (101), and the hydraulic rod (3) is movably arranged on the top surface of the fixed plate (101).

5. The crawler chassis structure of the substation emergency handling robot climbing stairs according to claim 1 is characterized by: The crawler track assembly (2) comprises a cross beam (203) and a shock-absorbing wheel (205), wherein the shock-absorbing wheel (205) is arranged below the cross beam (203), a shock-absorbing shaft (207) is arranged on the shock-absorbing wheel (205), and a spring (208) is sleeved on the outer side of the shock-absorbing shaft (207).

6. The crawler vehicle chassis structure of the substation emergency handling robot climbing stairs according to claim 5 is characterized by: The shock-absorbing shaft (207) is movably plugged into the crossbeam (203); a support wheel (204) is arranged above the crossbeam (203); a T-shaped rod (206) is arranged on the support wheel (204); and the T-shaped rod (206) is fixedly arranged on the top surface of the crossbeam (203).

7. The crawler chassis structure of the substation emergency handling robot climbing stairs according to claim 5 is characterized by: The track assembly (2) further comprises a track power wheel (201) and a track linkage wheel (209); a rotating shaft sleeve (210) is arranged on the central axis of the track power wheel (201); a fixing sleeve (211) is arranged on the inner side of the track linkage wheel (209); a support rod (212) is inserted into the inner side of the fixing sleeve (211); track strips (202) are arranged around the outer sides of the track power wheel (201) and the track linkage wheel (209); and the track strips (202) are located on the outer sides of the shock absorbing wheel (205) and the support wheel (204).

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