A walking anti-collision device for a patrol robot

Abstract

The application belongs to the technical field of inspection robots, and particularly relates to a walking anti-collision equipment of an inspection robot, which discloses the following scheme, including a mobile chassis distributed from bottom to top, a rotating driving seat and a main machine table, the rotating driving seat is used for driving the main machine table to rotate, a camera and an interactive panel are arranged on the main machine table, a plurality of connecting plates are arranged on the outer side of the main machine table, a telescopic mechanism one is connected between the connecting plate and the main machine table, an air bag is slidably connected between adjacent two connecting plates, the plurality of connecting plates and the plurality of air bags form a ring structure in a normal state, and the horizontal length of the connecting plate is less than the horizontal length of the air bag. The sliding connection of the plurality of connecting plates and the air bag can effectively improve the anti-collision protection effect of the inspection robot on itself and students in a school campus.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to a walking anti-collision device for inspection robots. Background Art

[0002] Inspection robots are part of the intelligent campus system and are mainly used for inspection operations on campus or in outdoor classrooms. Safety considerations for inspection robots used in primary school education are particularly important.

[0003] Referring to the Chinese patent application with patent publication number CN114939890A, a walking anti-collision device for an inspection robot is disclosed, including a shell and a monitoring component, wherein the monitoring component is installed above the shell, and also includes an anti-collision component. The shell has a mounting groove, and the mounting groove is located on the outside of the shell. The anti-collision component includes a guide rod, a mounting block, a connecting member and an anti-collision plate. The guide rod is fixedly connected to the shell and is located in the mounting groove. The mounting block is slidably connected to the guide rod, and the anti-collision plate is installed on the mounting block through the connecting member.

[0004] The anti-collision measures used by robots in the existing technology are only aimed at preventing damage to the robot from the external environment. However, when applied to inspection operations in primary school education environments, they do not take into account the robot's collision protection against primary school students running around in disorder. Summary of the Invention

[0005] Based on the technical problems of the background technology, the present invention proposes a walking anti-collision device for an inspection robot.

[0006] The present invention proposes a walking anti-collision device for an inspection robot, which includes a mobile chassis, a rotating drive seat and a main platform distributed from bottom to top. The rotating drive seat is used to drive the main platform to rotate. A camera and an interactive panel are provided on the main platform. Multiple connecting plates are provided on the outside of the main platform. A telescopic mechanism is connected between the connecting plates and the main platform. An airbag bag is slidably connected between two adjacent connecting plates. In a normal state, the multiple connecting plates and the multiple airbag bags form a ring structure, and the horizontal length of the connecting plates is smaller than the horizontal length of the airbag bag.

[0007] Preferably, two sealing strips are provided in the airbag bag, a sealing cavity is provided in the airbag bag between the two sealing strips, air cavities are provided on both sides of the sealing cavity, and the air cavity is provided away from the end opening of the sealing cavity, sealing frames are fixed at both ends of the airbag bag, the sealing frames are in sliding contact with the outer wall of the connecting plate, the outer wall of the connecting plate is located in the air cavity and an inner plate is fixed thereto, the outer side of the inner plate is in sliding contact with the inner side of the air cavity, and the outer wall of the connecting plate is located outside the airbag bag and an outer plate is fixed thereto.

[0008] Preferably, a plurality of horizontally extending ribs 1 are provided on the inner side of the airbag bag, and a plurality of vertically extending ribs 2 are provided on the outer side of the airbag bag.

[0009] Preferably, the telescopic mechanism is provided with a slidingly connected sleeve and a sleeve rod, a spring is connected between the end of the sleeve rod and the sleeve, the end of the sleeve rod is fixed to the connecting plate, and the end of the sleeve is connected to the main station.

[0010] Preferably, the outer wall of the main station is provided with a connecting groove of an annular structure, a fixing bracket is installed at a position on the inner wall of the connecting groove corresponding to the telescopic mechanism 1, a limiting groove is provided on the side wall of the fixing bracket for sliding contact with the outer wall of the sleeve 1, a limiting block is fixed at one end of the sleeve for sliding contact with the inner wall of the connecting groove, and a spring 2 is connected between the two ends of the limiting block and the two ends of the fixing bracket.

[0011] Preferably, a second telescopic mechanism is connected between the airbag bag and the rotary drive seat, and the second telescopic mechanism can slide relative to the outer wall of the rotary drive seat.

[0012] Preferably, the outer wall of the rotary drive seat is installed with a guide rail frame with an annular structure, and a guide rail groove with an annular structure is provided in the guide rail frame. A slider corresponding to the position of the airbag bag is slidingly connected in the guide rail groove, and an extension rod is fixed to the position of the slider facing the airbag bag.

[0013] Preferably, a mounting block is fixed to the outer wall of the extension rod, and the second telescopic mechanism is provided with two groups of spring telescopic rods, and both ends of the spring telescopic rods are rotatably connected to the mounting block and the sealing frame respectively.

[0014] Preferably, the spring telescopic rod is provided with a slidingly connected sleeve 2 and sleeve rod 2, a spring 3 is connected between the end of the sleeve rod 2 and the inner wall of the sleeve 2, mounting frames are fixed at positions corresponding to the sleeve 2 on both sides of the mounting block, and a connecting frame is fixed at a position corresponding to the sleeve rod 2 on the outer wall of the sealing frame.

[0015] Preferably, ends of the second sleeve and the second sleeve rod that are away from each other are fixed with vertical shafts, and the vertical shafts are rotatably connected to the mounting frame and the connecting frame.

[0016] The beneficial effects of the present invention are:

[0017] 1. In the present invention, the air bags distributed over a large area are used to provide collision buffering protection for students to prevent them from being injured. The air bags can be movably arranged along the connecting plates to improve the cushioning protection effect. During the rotation of the main unit, if there is an obstacle in the rotation direction or a student suddenly appears, the connecting plate can slide into the air bag to avoid direct collision. The sliding of the connecting plate into the air bag can inflate the air bag to improve the collision protection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of a walking anti-collision device for an inspection robot proposed by the present invention;

[0019] Figure 2 This is a structural diagram of the mobile chassis, rotating drive seat and main unit of a patrol robot walking anti-collision device proposed by the present invention;

[0020] Figure 3 This is a partial structural diagram of the connection slot position of a walking anti-collision device for an inspection robot proposed by the present invention;

[0021] Figure 4 This is a schematic diagram of the connection position structure of the connecting plate and airbag bag of a walking anti-collision device for an inspection robot proposed by the present invention;

[0022] Figure 5 This is a structural diagram of a telescopic mechanism of a walking anti-collision device for an inspection robot proposed by the present invention;

[0023] Figure 6 This is a schematic diagram of the outer structure of an airbag bag of a walking anti-collision device for an inspection robot proposed by the present invention;

[0024] Figure 7 This is a schematic diagram of the inner structure of an airbag bag of a walking anti-collision device for an inspection robot proposed by the present invention;

[0025] Figure 8 This is a schematic diagram of the second structure of the telescopic mechanism of the inspection robot walking anti-collision equipment proposed by the present invention.

[0026] In the figure: 1 mobile chassis, 2 rotating drive seat, 3 main machine platform, 301 connecting slot, 4 camera, 5 interactive panel, 6 connecting plate, 7 airbag bag, 701 air cavity, 8 telescopic mechanism 1, 9 sealing frame, 10 inner plate, 11 outer plate, 12 rib 1, 13 rib 2, 14 sleeve 1, 15 sleeve rod 1, 16 fixed frame, 161 limit slot, 17 limit block, 18 spring 2, 19 guide rail frame, 191 guide rail slot, 20 telescopic mechanism 2, 21 slider, 22 sleeve 2, 23 sleeve rod 2, 24 connecting frame, 25 extension rod, 26 mounting block, 27 mounting frame. DETAILED DESCRIPTION

[0027] Example 1: Reference Figures 1-6, a patrol robot walking anti-collision device, including a mobile chassis 1, a rotating drive seat 2 and a main platform 3 distributed from bottom to top, the mobile chassis 1 is used to realize the overall mobile operation of the robot, the rotating drive seat 2 is used to drive the main platform 3 to rotate, and a camera 4 and an interactive panel 5 are provided on the main platform 3. It should be noted that: the above means are conventional means of the patrol robot, which controls the movement path of the patrol robot through the program to patrol the campus, conducts predictive warnings through the camera 4, and interacts or reminds students through the interactive panel 5. A plurality of connecting plates 6 distributed in a ring array are provided on the outside of the main platform 3, and a telescopic mechanism 8 is connected between the connecting plate 6 and the main platform 3, and an air bag 7 is slidably connected between two adjacent connecting plates 6. In the normal state, multiple connecting plates 6 and multiple airbag bags 7 form an annular structure, and the horizontal length of the connecting plates 6 is smaller than that of the airbag bags 7. When in use, the connecting plates 6 and the airbag bags 7 with an annular structure on the outside protect the robot equipment itself, avoiding direct collisions with the outside of the main station 3 to cause damage to the internal electronic components or affect the work; when inspecting on the primary school campus, if students run and collide with the outside of the robot, the airbag bags 7 distributed over a large area can provide collision buffering protection for the students to avoid injuries, and the airbag bags 7 can be movably arranged along the connecting plates 6 to improve the buffering protection effect; if the students collide with the position of the connecting plates 6, the airbag bags 7 on both sides can be compressed and wrapped inward by the telescopic mechanism 8 to provide protection;

[0028] It is also directly connected to the main station 3 through multiple connecting plates 6 and allows the connecting plates 6 to slide with the airbag bag 7. During the rotation of the main station 3, if there is an obstacle in the forward direction of rotation or a student suddenly appears, the connecting plates 6 can slide toward the airbag bag 7 to avoid direct collision, and the sliding of the connecting plates 6 toward the airbag bag 7 can inflate the airbag bag 7 to improve the collision protection effect; thus, through the sliding connection setting of the above-mentioned multiple connecting plates 6 and the airbag bag 7, the anti-collision protection effect of the inspection robot on itself and students in the primary school campus can be effectively improved.

[0029] In the present invention, two sealing strips are provided in the airbag bag 7, a sealing cavity is provided in the airbag bag 7 between the two sealing strips, air cavities 701 are provided on both sides of the sealing cavity of the airbag bag 7, the air cavity 701 is provided away from the end opening of the sealing cavity, sealing frames 9 are fixed at both ends of the airbag bag 7, a through groove is provided in the middle position of the sealing frame 9, the inner wall of the through groove is in sliding contact with the outer wall of the connecting plate 6, the outer wall of the connecting plate 6 is located in the air cavity 701 and is fixed with an inner plate 10, the outer side of the inner plate 10 is in sliding contact with the inner side of the air cavity 701, the outer wall of the connecting plate 6 is located outside the airbag bag 7 and is fixed with an outer plate 11, the cross section of the inner plate 10 and the outer plate 11 is The surfaces are larger than the inner cross-section of the groove, and the sealing cavity and the cavity between the sealing strip and the inner plate 10 are filled with gas. The sealing in the sealing cavity can always keep the inflated state, and the sealing sliding between the connecting plate 6 and the sealing frame 9 can keep the gas filling between the inner plate 10 and the sealing strip for a long time; thereby, during use, the connecting plate 6 and the airbag bag 7 can slide relative to each other while maintaining the effectiveness of the airbag bag 7 in cushioning impact, and when the connecting plate 6 moves relative to the airbag bag 7, the squeezing effect on the end of the airbag bag 7 can be improved, so that the airbag bag 7 is deformed to improve the cushioning effect and improve the protection effect on students.

[0030] In the present invention, a plurality of horizontally extending ribs 12 are provided on the inner side of the airbag bag 7 to ensure that the airbag bag 7 can maintain an adaptive arc state with the connecting plate 6 in a normal state, and a plurality of vertically extending ribs 13 are provided on the outer side of the airbag bag 7 to enable the airbag bag 7 to maintain stability in the vertical extension direction in a normal state, thereby ensuring the protection range of the airbag bag 7.

[0031] In the present invention, the telescopic mechanism 8 is provided with a sleeve 14 and a sleeve rod 15 that are slidably connected. A spring 1 is connected between the end of the sleeve rod 15 and the sleeve 14. The end of the sleeve rod 15 away from the sleeve 14 is fixed between the connecting plate 6, and the end of the sleeve 14 away from the sleeve rod 15 is connected to the main platform 3. In this way, telescopic movement is achieved by the slidably connected sleeve rod 15 and sleeve 14, and the sliding friction between the sleeve rod 15 and sleeve 14 is used to offset the force for buffering.

[0032] In the present invention, a connecting groove 301 of an annular structure is provided at a position on the outer wall of the main frame 3 corresponding to the telescopic mechanism 18, a fixing frame 16 is installed at a position on the inner wall of the connecting groove 301 corresponding to the telescopic mechanism 18, a limiting groove 161 is provided on the side wall of the fixing frame 16 for sliding contact with the outer wall of the sleeve 14, a limiting block 17 is fixed on the end of the sleeve 14 away from the sleeve rod 15 for sliding contact with the inner wall of the connecting groove 301, the width of the limiting block 17 is greater than the width of the limiting groove 161, and a spring 2 18 is connected between the two ends of the limiting block 17 and the two ends of the fixing frame 16. When the platform 3 rotates, the spring 2 18 is pushed by the fixing frame 16 fixed to the outer wall of the main platform 3 to push the telescopic mechanism 1 8 and the connecting plate 6. On the one hand, when the connecting plate 6 rotates and hits the student or object, the mobility of the connecting plate 6 prevents the damage caused by continued rigid movement; on the other hand, if an object or a student contacts a certain connecting plate 6 before rotation, the connecting plate 6 can be kept stationary first and the spring 2 18 can be stretched and retracted, so that the airbag bag 7 at the adjacent position is deformed to gradually cover the connecting plate 6, thereby improving the buffering effect of the equipment and the safety protection effect for external students.

[0033] Example 2: Reference Figures 1-8 , a walking anti-collision device for an inspection robot, based on Example 1, a telescopic mechanism 20 is connected between the airbag bag 7 and the rotating drive seat 2, and the telescopic mechanism 20 can slide relative to the outer wall of the rotating drive seat 2, while ensuring that the airbag bag 7 can rotate relatively in a circle, and auxiliary support the airbag bag 7 to improve the stability of the airbag bag 7 in the vertical direction.

[0034] In the present invention, a guide rail frame 19 with an annular structure is installed on the outer wall of the rotating drive seat 2, and a guide rail groove 191 with an annular structure is provided in the guide rail frame 19. A slider 21 corresponding to the position of the airbag bag 7 is slidingly connected in the guide rail groove 191. An extension rod 25 is fixed to the position of the slider 21 facing the airbag bag 7, and a mounting block 26 is fixed to the outer wall of the extension rod 25. The telescopic mechanism 20 is provided with two groups of spring telescopic rods, and the two ends of the spring telescopic rods are respectively rotatably connected to the mounting block 26 and the sealing frame 9. Therefore, the airbag bag 7 maintains an arc state in the same circumferential direction as the connecting plate 6 in a normal state through the sealing frame 9 and the telescopic mechanism 20, so as to improve the impact buffering effect and the impact protection effect for students.

[0035] In the present invention, the spring telescopic rod is provided with a slidingly connected sleeve 22 and a sleeve rod 23, a spring 3 is connected between the end of the sleeve rod 23 and the inner wall of the sleeve 22, mounting frames 27 are fixed at positions corresponding to the sleeve 22 on both sides of the mounting block 26, a connecting frame 24 is fixed at positions corresponding to the sleeve rod 23 on the outer wall of the sealing frame 9, and the ends of the sleeve 22 and the sleeve rod 23 that are away from each other are fixed with vertical axes, and the vertical axis is rotatably connected to the mounting frame 27 and the connecting frame 24, thereby enabling the sealing frames 9 at both ends of the airbag bag 7 to open and close to bend the airbag bag 7 to ensure the deformation state during the collision, thereby improving the protection effect against collision of students.

[0036] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A walking anti-collision device for an inspection robot, comprising a mobile chassis (1), a rotating drive seat (2) and a main platform (3) arranged from bottom to top, wherein the rotating drive seat (2) is used to drive the main platform (3) to rotate, and a camera (4) and an interactive panel (5) are provided on the main platform (3), characterized in that: A plurality of connecting plates (6) are provided on the outside of the main station (3), a telescopic mechanism (8) is connected between the connecting plates (6) and the main station (3), an airbag bag (7) is slidably connected between two adjacent connecting plates (6), and the plurality of connecting plates (6) and the plurality of airbag bags (7) form a ring structure in a normal state, the horizontal length of the connecting plates (6) is smaller than the horizontal length of the airbag bag (7), two sealing strips are provided in the airbag bag (7), a sealing cavity is provided between the two sealing strips in the airbag bag (7), and air cavities (701) are provided on both sides of the sealing cavity of the airbag bag (7), and the air cavity (701) is provided away from the end opening of the sealing cavity. Both ends of the airbag bag (7) are fixed with a sealing frame (9), and the sealing frame (9) is in sliding contact with the outer wall of the connecting plate (6). The outer wall of the connecting plate (6) is located in the air cavity (701) and is fixed with an inner plate (10). The outer side of the inner plate (10) is in sliding contact with the inner side of the air cavity (701). The outer wall of the connecting plate (6) is located outside the airbag bag (7) and is fixed with an outer plate (11). The telescopic mechanism (8) is provided with a sleeve (14) and a sleeve rod (15) that are slidably connected. A spring (1) is connected between the end of the sleeve rod (15) and the sleeve (14). The end of the sleeve rod (15) is fixed to the connecting plate (6). The end of the sleeve (14) is fixed to the main The main machine (3) is connected, the outer wall of the main machine (3) is provided with a connecting groove (301) of an annular structure, the inner wall of the connecting groove (301) is provided with a fixing frame (16) at a position corresponding to the telescopic mechanism (8), the side wall of the fixing frame (16) is provided with a limiting groove (161) that is in sliding contact with the outer wall of the sleeve (14), one end of the sleeve (14) is fixed with a limiting block (17) that is in sliding contact with the inner wall of the connecting groove (301), a spring (18) is connected between the two ends of the limiting block (17) and the two ends of the fixing frame (16), the telescopic mechanism (20) is connected between the airbag bag (7) and the rotary drive seat (2), the telescopic mechanism The second (20) can slide relative to the outer wall of the rotation drive seat (2), and the outer wall of the rotation drive seat (2) is installed with a guide rail frame (19) with an annular structure, and a guide rail groove (191) with an annular structure is provided in the guide rail frame (19). A slider (21) corresponding to the position of the airbag bag (7) is limitedly slidably connected in the guide rail groove (191), and an extension rod (25) is fixed to the position of the slider (21) facing the airbag bag (7), and a mounting block (26) is fixed to the outer wall of the extension rod (25). The telescopic mechanism (20) is provided with two groups of spring telescopic rods, and the two ends of the spring telescopic rods are respectively rotatably connected to the mounting block (26) and the sealing frame (9).

2. The anti-collision device for patrol robots according to claim 1, characterized in that: The inner side of the airbag bag (7) is provided with a plurality of horizontally extending ribs 1 (12), and the outer side of the airbag bag (7) is provided with a plurality of vertically extending ribs 2 (13).

3. The walking anti-collision device for an inspection robot according to any one of claims 1 to 2, characterized in that: The spring telescopic rod is provided with a slidingly connected sleeve pipe 2 (22) and a sleeve rod 2 (23), a spring 3 is connected between the end of the sleeve rod 2 (23) and the inner wall of the sleeve pipe 2 (22), a mounting frame (27) is fixed at positions corresponding to the sleeve pipe 2 (22) on both sides of the mounting block (26), and a connecting frame (24) is fixed at a position corresponding to the sleeve rod 2 (23) on the outer wall of the sealing frame (9).

4. The anti-collision device for patrol robots according to claim 3, characterized in that: The ends of the second sleeve (22) and the second sleeve rod (23) that are away from each other are both fixed with vertical shafts, and the vertical shafts are rotatably connected to the mounting frame (27) and the connecting frame (24).

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