Four-foot four-wheel obstacle crossing inspection robot

Abstract

The invention discloses a four-foot four-wheel obstacle crossing inspection robot, and relates to the technical field of inspection robots, the four-foot four-wheel obstacle crossing inspection robot comprises an inspection moving seat and moving wheels arranged at the bottom of the inspection moving seat, the two sides of the inspection moving seat are respectively provided with two first supporting arms, and the first supporting arms are respectively provided with a second supporting arm; when the first supporting arm and the second supporting arm are stored to the side face of the inspection moving seat, the moving wheels make contact with the ground. And when the first supporting arm and the second supporting arm extend to the lower part of the inspection moving seat, the moving wheels are separated from the ground. According to the invention, the inspection moving seat can carry out walking operation in different modes according to different terrain environments, and the environmental adaptability of the inspection moving seat is improved. When the inspection moving seat is located in an inclined ground environment and is switched from a four-wheel state to a four-foot state, the two positioning connectors abutting against the ground and the two pressing rods exert pressing acting force on a plurality of point positions on the ground, and the balance of the inspection moving seat is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection robots, and particularly relates to a four-legged four-wheel obstacle-inspecting robot. BACKGROUND

[0002] The existing robots that can switch from four-wheel sliding state to four-legged walking state usually have convertible mechanical structures to realize the two forms of four wheels and four legs. For example, the leg structure can adopt a folding or telescopic design. In the four-wheel mode, the legs can be stored or folded up without affecting the rolling of the wheels. When switched to the four-legged mode, the legs are stretched and support the robot, so that the wheels are away from the ground.

[0003] However, when the existing inspection robots are switched from the four-wheel mode to the four-legged mode, the four-legged mechanical arm of the robot needs to complete a series of actions, such as unfolding, supporting and positioning. The above actions depend on the accurate cooperation of sensors and algorithms, and the switching process usually takes several to tens of seconds. When switching on a slope or uneven muddy ground, the robot may directly fall down due to unstable center of gravity. In an emergency, the delay may cause the robot to fall down and fail, losing the ability to act. Therefore, the present application provides a four-legged four-wheel obstacle-inspecting robot to meet the needs. SUMMARY

[0004] In view of the above problems, the present application provides a four-legged four-wheel obstacle-inspecting robot.

[0005] To achieve the above purpose, the present application provides the following technical scheme: a four-legged four-wheel obstacle-inspecting robot, comprising a mobile seat and a mobile wheel arranged at the bottom of the mobile seat, two first support arms are arranged on the two sides of the mobile seat, respectively, and a second support arm is arranged on each first support arm, when the first support arm and the second support arm are stored to the side of the mobile seat, the mobile wheel is in contact with the ground. When the first support arm and the second support arm are stretched to the lower side of the mobile seat, the mobile wheel is separated from the ground.

[0006] The two sides of the mobile seat are provided with support arms that can be raised and lowered, the bottom end of the support arm is fixed with a positioning joint, a receiving space is formed at the bottom of the mobile seat, a pair of arc-shaped arms that can rotate in opposite directions are arranged in the receiving space, and a pressing rod is arranged at the end of each arc-shaped arm. When the first support arm and the second support arm are switched from the storage state to the stretched state, the support arm is lowered, the two arc-shaped arms are synchronously rotated, and the positioning joint and the pressing rod are abutted to the ground.

[0007] Further, a sensor for analyzing environmental characteristics is arranged on the mobile seat, and the sensor is in signal connection with the mobile seat.

[0008] Further, the two supporting arms are fixed with linkage racks, and the top ends of the two supporting arms are fixed through a connecting rod, the linkage racks are provided with guide gears meshing with the linkage racks, the two guide gears are located in a receiving space at the bottom of the inspection mobile base, and the two guide gears are connected through a same drive shaft, and the drive shaft is installed in the receiving space.

[0009] The two sides of the inspection mobile base are fixed with guide rails matched with the supporting arms, when the two guide gears and the drive shaft rotate synchronously, the two supporting arms, the linkage racks, the connecting rod and the positioning joint move synchronously along the distribution direction of the guide rails.

[0010] Further, the two supporting arms are fixed with supporting legs, the supporting legs are in C-shaped structure, and the bottom ends of the supporting legs are fixed with supporting plates distributed horizontally.

[0011] Further, the drive shaft is installed with two first synchronous gears capable of rotating synchronously, the two first synchronous gears are meshed with second synchronous gears on one side, the two second synchronous gears are connected through a synchronous shaft, the synchronous shaft is installed in the receiving space, and a drive motor capable of controlling the rotation of the synchronous shaft is installed in the receiving space, when the two guide gears and the drive shaft rotate synchronously, the first synchronous gears mesh with the second synchronous gears and rotate in opposite directions.

[0012] Further, the first synchronous gears and the second synchronous gears are meshed with linkage tooth plates, two groups of linkage tooth plates are located on the two sides of the first synchronous gears and the second synchronous gears, the number of linkage tooth plates in each group is two, linkage tooth plates on the same side are connected through linkage shafts, the two linkage shafts are installed in the receiving space, when the first synchronous gears and the second synchronous gears rotate in opposite directions, the two groups of linkage tooth plates rotate in opposite directions, and the linkage shafts rotate synchronously.

[0013] Further, the linkage shafts are fixed with positioning sleeves, the two arc-shaped arms are fixed with the two positioning sleeves, with the rotation of the linkage shafts, the two arc-shaped arms and the pressing rod can rotate out of or into the receiving space.

[0014] Further, the pressing rod is outwardly extended to form a plurality of anti-skid protrusions, with the rotation of the two arc-shaped arms and the pressing rod, the two groups of anti-skid protrusions can approach or move away from the ground.

[0015] In summary, the technical effects and advantages of the present application are as follows:

[0016] The application can make the inspection mobile seat implement different walking operations according to different terrain environments, improve the environmental adaptability of the inspection mobile seat, reduce the time required for replacing the inspection robot, and ensure the smooth implementation of the inspection operation. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0018] Figure 1 It is a schematic view of the three-dimensional structure of the present application.

[0019] Figure 2 It is a schematic view of the second perspective of the present application.

[0020] Figure 3 It is a schematic view of the structure of the first supporting arm and the second supporting arm in the storage state.

[0021] Figure 4 It is a schematic view of the connection between the inspection mobile seat and the guide rail.

[0022] Figure 5 It is a schematic view of the position structure of the supporting arm, the arc-shaped arm and the pressing rod.

[0023] Figure 6 It is a schematic view of the structure when the positioning joint and the pressing rod move to the position below the inspection mobile seat.

[0024] Figure 7 It is a schematic view of the relative position of the guide gear, the synchronous gear and the linkage gear disc.

[0025] Figure 8 It is a schematic view of the relative position of the guide gear, the synchronous gear and the linkage gear disc from the second perspective.

[0026] As shown in the figure: 1, the inspection mobile seat; 11, the mobile wheel; 12, the first support arm; 13, the second support arm; 14, the sensor; 15, the guide rail; 2, the support arm; 21, the positioning joint; 22, the supporting leg; 23, the support plate; 24, the linkage rack; 25, the connecting rod; 3, the guide gear; 4, the driving shaft; 5, the first synchronous gear; 51, the second synchronous gear; 52, the synchronous shaft; 53, the driving motor; 6, the linkage gear; 7, the linkage shaft; 8, the positioning sleeve; 9, the arc-shaped arm; 10, the pressing rod; 101, the anti-skid protrusion. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0028] Embodiment 1: Referring to Figures 1-3 As shown in the figure, the four-legged four-wheel obstacle-crossing inspection robot comprises an inspection mobile seat 1 and a mobile wheel 11 arranged at the bottom of the inspection mobile seat 1. Two first support arms 12 are arranged on the two sides of the inspection mobile seat 1 respectively, and a second support arm 13 is arranged on each first support arm 12. In the actual use of the present application, if the inspection environment is a flat road surface, the first support arms 12 and the second support arms 13 are stored to the side of the inspection mobile seat 1, and the mobile wheel 11 is in contact with the ground. The inspection mobile seat 1 is driven to move, thereby improving the moving speed of the entire inspection robot. Referring to Figure 1 , Figure 2 When there is an obstacle on the road, the first support arms 12 and the second support arms 13 are extended to the lower side of the inspection mobile seat 1, forming a four-legged structure, so that the mobile wheel 11 is separated from the ground, which is beneficial to the inspection work in a complex environment. Referring to Figure 3 .

[0029] According to the above technical solution, the inspection mobile seat 1 can be operated in different ways according to different terrain environments, thereby improving the environmental adaptability of the inspection mobile seat 1, reducing the time required for replacing the inspection robot, and ensuring the smooth implementation of the inspection operation.

[0030] Further, as Figure 6As shown, the two sides of the inspection mobile seat 1 are provided with support arms 2 that can be raised and lowered, and the bottom end of the support arm 2 is fixed with a positioning connector 21. The bottom of the inspection mobile seat 1 is provided with a receiving space, and a pair of arc-shaped arms 9 that can rotate in opposite directions are arranged in the receiving space. The end of the arc-shaped arm 9 is provided with a pressing rod 10. When the first support arm 12 and the second support arm 13 are switched from the storage state to the extended state, the support arm 2 is lowered, and the two arc-shaped arms 9 are synchronously rotated until the positioning connector 21 and the pressing rod 10 abut against the ground.

[0031] Therefore, when the inspection mobile seat 1 is switched from the four-wheel state to the four-foot state in the inclined ground environment, the two positioning connectors 21 and the two pressing rods 10 abutting against the ground apply a pressing force to the ground, which can avoid the phenomenon that the inspection mobile seat 1 directly falls due to unstable center of gravity in the inclined environment, ensures the balance of the inspection mobile seat 1, reduces the difficulty of balance control, and enables the inspection mobile seat 1 to be stably switched from the four-wheel state to the four-foot state in the complex terrain.

[0032] Specifically, as shown in Figure 1 , Figure 3 , a sensor 14 for analyzing environmental characteristics is installed on the inspection mobile seat 1, and the sensor 14 is signal-connected with the inspection mobile seat 1. In the actual use process of the present application, the control system inside the inspection mobile seat 1 coordinates and controls various actions of the first support arm 12 and the second support arm 13, and the sensor 14 is a data acquisition and analysis sensor that can sense the environmental information around the inspection mobile seat 1. According to the environment, the four-foot movement mode or the four-wheel movement mode of the inspection mobile seat 1 is adjusted, which is more conducive to the inspection in the complex environment and improves the environmental adaptability of the inspection mobile seat 1.

[0033] As shown in Figure 5 , the two support arms 2 are fixed with a linkage rack 24, and the top ends of the two support arms 2 are fixed through a connecting rod 25. The side surface of the linkage rack 24 is provided with a guide gear 3 that is engaged with the linkage rack 24. The two guide gears 3 are located in the receiving space at the bottom end of the inspection mobile seat 1, and the two guide gears 3 are connected through the same drive shaft 4, and the drive shaft 4 is installed inside the receiving space.

[0034] The two sides of the inspection mobile seat 1 are fixed with guide rails 15 that are matched with the support arms 2. When the inspection mobile seat 1 is switched from the four-wheel state to the four-foot state in the inclined ground environment, with the synchronous rotation of the two guide gears 3 and the drive shaft 4, the two support arms 2, the linkage rack 24, the connecting rod 25 and the positioning connector 21 move synchronously along the distribution direction of the guide rail 15 until the positioning connector 21 abuts against the ground, which applies a force to the inspection mobile seat 1 in the inclined state and the ground, thereby improving the stability of the inspection mobile seat 1.

[0035] When the inspection mobile base 1 is switched to the four-legged state, with the synchronous rotation of the two guide gears 3 and the drive shaft 4, the two supporting arms 2, the linkage rack 24, the connecting rod 25 and the positioning joint 21 are moved back to the original position, without affecting the walking operation of the inspection mobile base 1 in the four-legged state.

[0036] As shown in Figure 6 , Figure 7 , the two supporting arms 2 are fixed with supporting legs 22, which are C-shaped structures, and the bottom ends of the supporting legs 22 are fixed with horizontally distributed support plates 23. When the inspection mobile base 1 is switched from the four-wheel state to the four-legged state on the uneven muddy ground, the positioning joint 21 and the pressing rod 10 are embedded in the muddy ground, which improves the grip force of the inspection mobile base 1. At this time, the support plates 23 are above the muddy ground, and the supporting legs 22 provide support force to keep the stability of the inspection mobile base 1, effectively avoiding the phenomenon of tipping when the inspection mobile base 1 is switched on the uneven muddy ground, further ensuring the stability of the inspection mobile base 1, so that the inspection robot in the present application can adapt to the switching operation in different terrain environments.

[0037] It is worth mentioning that the supporting leg 22 is C-shaped, which can improve its impact resistance and further improve the structural strength of the supporting arm 2. When the positioning joint 21 is embedded in the muddy ground, it can ensure the connection strength between the positioning joint 21 and the muddy ground, and further ensure the stability of the supporting arm 2.

[0038] As shown in Figure 6 , Figure 7 , the drive shaft 4 is provided with two first synchronous gears 5 which can rotate synchronously with the drive shaft 4. The two first synchronous gears 5 are connected with second synchronous gears 51 on one side, and the two second synchronous gears 51 are connected through a synchronous shaft 52. The synchronous shaft 52 is installed in the receiving space, and a drive motor 53 is installed in the receiving space to control the rotation of the synchronous shaft 52. The drive motor 53 provides driving force for the rotation of the synchronous shaft 52 and the second synchronous gear 51, so as to drive the first synchronous gear 5 to rotate in the opposite direction of the second synchronous gear 51. Under the connection of the drive shaft 4, the drive shaft 4 and the two guide gears 3 can rotate synchronously, and further achieve the purpose of driving the synchronous movement of the supporting arm 2, the positioning joint 21, the supporting leg 22 and the support plate 23.

[0039] As shown in Figure 8As shown, the first synchronization gear 5 and the second synchronization gear 51 are both meshingly connected with linkage tooth plates 6, two groups of linkage tooth plates 6 are located on the two sides of the first synchronization gear 5 and the second synchronization gear 51 respectively, the number of each group of linkage tooth plates 6 is two, and the linkage tooth plates 6 on the same side are connected through linkage shafts 7, and the two linkage shafts 7 are installed inside the storage space, when the first synchronization gear 5 and the second synchronization gear 51 rotate towards opposite directions, the two groups of linkage tooth plates 6 can rotate towards opposite directions, and then the two linkage shafts 7 can synchronously rotate towards opposite directions.

[0040] The linkage shaft 7 is fixed with a positioning sleeve 8, and two arc-shaped arms 9 are fixed with the two positioning sleeves 8, with the rotation of the linkage shaft 7, the two arc-shaped arms 9 and the pressing rod 10 can rotate out of or into the storage space, when the arc-shaped arm 9 and the pressing rod 10 move out of the storage space, they can abut against the ground. The setting of the arc-shaped arm 9 can improve the impact resistance of itself, and then improve the structural strength of the pressing rod 10 when it abuts against the ground, and ensure the stability of the force applied by the pressing rod 10 to the ground.

[0041] The combination of the two groups of positioning joints 21, the supporting feet 22, the supporting plates 23, the arc-shaped arms 9 and the pressing rods 10 can comprehensively apply forces to multiple points below the inspection mobile seat 1, improve the strength of the pressing force, and also improve the balance and stability of the applied force, and more comprehensively improve the stability of the inspection mobile seat 1 when switching from the four-wheel state to the four-foot state.

[0042] Referring to Figure 8 As shown, in order to further improve the anti-skid performance of the pressing rod 10 when it contacts with the ground, in the present application, the surface of the pressing rod 10 extends outward to form a plurality of anti-skid protrusions 101, with the rotation of the two arc-shaped arms 9 and the pressing rod 10, the two groups of anti-skid protrusions 101 can approach or move away from the ground, when the pressing rod 10 abuts against the ground, the anti-skid protrusions 101 contact with the ground to improve the anti-skid performance.

[0043] Finally, it should be noted that: the above only describes the preferred embodiments of the present application, and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application, should be included in the protection scope of the present application.

Claims

1. A four-legged, four-wheeled obstacle-crossing inspection robot, comprising an inspection mobile base (1) and mobile wheels (11) disposed at the bottom of the inspection mobile base (1), characterized in that: The inspection mobile seat (1) is provided with two first support arms (12) on each side. Each first support arm (12) is equipped with a second support arm (13). When the first support arm (12) and the second support arm (13) are retracted to the side of the inspection mobile seat (1), the moving wheel (11) is in contact with the ground. When the first support arm (12) and the second support arm (13) are extended to the bottom of the inspection mobile seat (1), the moving wheel (11) is lifted off the ground. The inspection mobile seat (1) is provided with support arms (2) on both sides that can be raised and lowered. The bottom end of the support arm (2) is fixed with a positioning joint (21). The bottom of the inspection mobile seat (1) is provided with a storage space. A pair of arc arms (9) that can rotate in opposite directions are provided in the storage space. The ends of the arc arms (9) are provided with pressure rods (10). When the first support arm (12) and the second support arm (13) switch from the storage state to the extension state, the support arm (2) descends and the two arc arms (9) rotate synchronously until the positioning joint (21) and the pressure rod (10) abut against the ground.

2. The quadrupedal, four-wheeled obstacle-crossing inspection robot according to claim 1, characterized in that: The inspection mobile base (1) is equipped with a sensor (14) for analyzing environmental characteristics, and the sensor (14) is signal connected to the inspection mobile base (1).

3. The quadrupedal, four-wheeled obstacle-crossing inspection robot according to claim 1, characterized in that: Both of the two support arms (2) are fixed with a linkage rack (24), and the top of the two support arms (2) are fixed together by a connecting rod (25). The sides of the linkage rack (24) are provided with guide gears (3) that mesh with it. The two guide gears (3) are located in the storage space at the bottom of the inspection moving seat (1), and the two guide gears (3) are connected by the same drive shaft (4). The drive shaft (4) is installed inside the storage space. Both sides of the inspection moving seat (1) are fixed with guide rails (15) that are compatible with the support arm (2). When the two guide gears (3) and the drive shaft (4) rotate synchronously, the two support arms (2), the linkage rack (24), the connecting rod (25) and the positioning joint (21) move synchronously along the distribution direction of the guide rail (15).

4. The quadrupedal, four-wheeled obstacle-crossing inspection robot according to claim 1, characterized in that: Both of the support arms (2) are fixed with support legs (22), which are C-shaped and have support plates (23) that are distributed horizontally at the bottom.

5. The quadrupedal, four-wheeled obstacle-crossing inspection robot according to claim 1, characterized in that: The drive shaft (4) is equipped with two first synchronous gears (5) that can rotate synchronously with it. Each of the two first synchronous gears (5) is meshed with a second synchronous gear (51) on one side. The two second synchronous gears (51) are connected by a synchronous shaft (52). The synchronous shaft (52) is installed inside the storage space, and a drive motor (53) that can control the rotation of the synchronous shaft (52) is installed inside the storage space. When the two guide gears (3) and the drive shaft (4) rotate synchronously, the first synchronous gear (5) meshes with the second synchronous gear (51) and rotates in the opposite direction.

6. The quadrupedal, four-wheeled obstacle-crossing inspection robot according to claim 1, characterized in that: Both the first synchronous gear (5) and the second synchronous gear (51) are meshed with linkage gear discs (6). The two sets of linkage gear discs (6) are located on both sides of the first synchronous gear (5) and the second synchronous gear (51), respectively. There are two linkage gear discs (6) in each set. The linkage gear discs (6) on the same side are connected by linkage shafts (7). The two linkage shafts (7) are installed inside the storage space. When the first synchronous gear (5) and the second synchronous gear (51) rotate in opposite directions, the two sets of linkage gear discs (6) rotate in opposite directions, and the linkage shafts (7) rotate synchronously.

7. The quadrupedal, four-wheeled obstacle-crossing inspection robot according to claim 1, characterized in that: Positioning sleeves (8) are fixed on the linkage shaft (7). Two arc-shaped arms (9) are fixed to the two positioning sleeves (8) respectively. As the linkage shaft (7) rotates, the two arc-shaped arms (9) and the pressure rod (10) can rotate out or move into the storage space.

8. The quadrupedal, four-wheeled obstacle-crossing inspection robot according to claim 1, characterized in that: The surface of the pressure bar (10) extends outward to form multiple anti-slip protrusions (101). As the two arc-shaped arms (9) and the pressure bar (10) rotate, the two sets of anti-slip protrusions (101) can move closer to or further away from the ground.

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