Chassis assembly of inspection robot

Abstract

The utility model relates to the technical field of inspection robots, and discloses an inspection robot chassis assembly which comprises a chassis body, a detection head is installed at one end of the chassis body, walking legs are installed at the four corners of the chassis body, the bottom face of the chassis body is connected with an air suction mechanism, and the output end of the air suction mechanism is connected with a plurality of air bags. The multiple air bags are all located outside the chassis body and wrap the chassis body in the middle, and a horizontal sensor is fixedly connected to the outer wall of the chassis body. According to the chassis assembly of the inspection robot, when the inspection robot dog is used for daily inspection, if the robot dog is impacted by other animals and the impact force is beyond a set value, a horizon sensor in the robot dog can be immediately triggered, and then the interiors of a plurality of air bags are rapidly inflated through an air suction mechanism; therefore, the robot dog can be prevented from falling on the ground to cause secondary damage, so that the damage probability of internal components is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a chassis assembly of an inspection robot. Background Art

[0002] Inspection robots are robots that can perform inspection tasks autonomously or semi-autonomously. Currently, there is a kind of quadruped inspection robot, also known as inspection robot dog, which is mainly used for automatic inspection tasks in various complex environments. This kind of robot usually adopts advanced mechanical structure, sensor technology and artificial intelligence algorithm, which enables it to have the ability of highly autonomous walking, climbing, and overcoming obstacles, and can perform efficient inspections in various terrains and spaces.

[0003] The inspection robot dog includes but is not limited to four legs, chassis, mobile mechanism, sensing mechanism and communication mechanism. The chassis refers to the main structure of the robot dog, which is equivalent to the torso of the animal, carrying the robot dog's internal electronic equipment, battery, computing unit and other core components. At the same time, the chassis is also the basic platform for connecting and supporting the limbs (mechanical legs).

[0004] The patent with the announcement number CN218564891U disclosed a four-legged robot dog inspection system, including a bracket, a connection block fixedly connected to the middle side of the upper part of the bracket, a movable block rotatably connected to the middle part of the connection block, a stepper motor fixedly connected to the right side of the right connection block, the right side of the movable block fixedly connected to the left output end of the stepper motor, a servo motor fixedly connected to the middle side of the movable block, a frame fixedly connected to the upper output end of the servo motor, a camera arranged at the front of the frame, a mounting plate fixedly connected to the rear of the camera, a fixed block fixedly connected to the right side of the frame, and a button slidably connected to the upper inner side of the fixed block. In this device, through the cooperation of the button, the movable rod, the clamping rod, the spring, the limit block, the limit slot and the mounting plate, the four-legged robot dog inspection system can be conveniently removed from the robot dog and conveniently installed on the robot dog.

[0005] However, the above-mentioned four-legged robot dog still has the following problems:

[0006] When current four-legged robot dogs are performing inspection tasks, there may be some birds, dogs and other animals moving around in the task area. These animals may be frightened by external factors or the robot dog itself, and may collide with the robot dog.

[0007] Although current patrol robot dogs are usually equipped with advanced sensors and obstacle avoidance systems, these systems are mainly used to detect static and dynamic man-made obstacles, but they do not respond in time or are not sensitive enough to fast-flying or suddenly appearing small creatures (such as birds). As a result, they lose balance after being hit and fall to the ground, causing secondary injuries. Because the chassis of robot dogs often has a large number of sensitive components, it is very likely that secondary impacts will accelerate the damage of internal sensitive components. The current robot dog chassis assembly does not have components that can prevent secondary injuries, which is inconvenient. Utility Model Content

[0008] In view of the deficiencies in the prior art, the utility model provides a chassis assembly of a patrol robot. When the patrol robot dog is used for daily patrols, if the robot dog is hit by other animals and the impact force exceeds the set value, the horizontal sensor inside the robot dog will be triggered immediately, and then the air suction mechanism will quickly inflate the inside of several airbags, thereby preventing the robot dog from falling to the ground and causing secondary injuries, thereby reducing the probability of damage to internal components.

[0009] The utility model provides the following technical solutions: a chassis assembly of a patrol robot, including a chassis body, a detection head is installed at one end of the chassis body, walking legs are installed at the four corners of the chassis body, the bottom surface of the chassis body is connected to an air suction mechanism, the output end of the air suction mechanism is connected to a plurality of air bags, the plurality of air bags are all located outside the chassis body, and the plurality of air bags wrap the chassis body in the middle, and the outer wall of the chassis body is fixedly connected to a horizontal sensor.

[0010] Furthermore, the air suction mechanism includes an air pump and a multi-way tube, the outer wall of the air pump is fixedly connected to the bottom surface of the outer wall of the chassis body, the output end of the air pump is fixedly connected to one end of the multi-way tube, and the other ends of the multi-way tube are respectively connected to a number of air bags.

[0011] Furthermore, the outer walls of the plurality of airbags are fixedly connected with connecting tubes, the outer walls of the other ends of the plurality of connecting tubes are respectively threadedly connected with the inner walls of the multi-way tube, and the airbags are connected with the multi-way tube through the connecting tubes.

[0012] Furthermore, support plates are fixedly connected between the airbags, and the support plates are connected to the outer wall of the chassis body.

[0013] Furthermore, the outer wall of the chassis body is provided with a plurality of installation openings, and slide grooves are provided on both sides of the plurality of installation openings. Two symmetrically arranged slide plates are fixedly connected to one side of the plurality of support plates close to the chassis body, and the outer walls of the two slide plates are respectively slidably connected to the inner walls of the two slide grooves at both ends of the same installation opening.

[0014] Furthermore, a plurality of clamping holes are provided on both sides of the inner wall of the slide groove, a plurality of clamping heads are fixedly connected to both sides of the outer wall of the slide plate, and the outer walls of the plurality of clamping heads are slidably connected to the inner walls of the plurality of clamping holes respectively.

[0015] Furthermore, a storage cavity is opened on the bottom surface of the chassis body, and the level sensor, the air pump and the multi-way pipe are all located in the storage cavity, and the level sensor and the air pump are fixedly connected to the inner wall of the storage cavity.

[0016] Furthermore, a plurality of connection ports are formed through the inner wall of the storage cavity, and the outer walls of the plurality of connection pipes are slidably connected to the inner walls of the plurality of connection ports respectively.

[0017] Compared with the prior art, the utility model has the following beneficial effects:

[0018] This inspection robot chassis assembly is provided with a suction mechanism on the bottom surface of the chassis body, and a plurality of air bags are connected through the suction mechanism, and the chassis body is wrapped in the middle by the air bags. When the inspection robot dog is used for daily inspections, if the robot dog is hit by other animals and the impact force exceeds the set value, the horizontal sensor inside the robot dog will be triggered immediately, and then the suction mechanism will quickly inflate the interior of the plurality of air bags, thereby preventing the robot dog from falling to the ground and causing secondary injuries, thereby reducing the probability of damage to internal components. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall appearance of the utility model;

[0020] Figure 2 This is a schematic diagram of the overall appearance of the utility model from another perspective;

[0021] Figure 3 It is an exploded schematic diagram of the chassis body, the air suction mechanism and several air bags in the utility model;

[0022] Figure 4 For this utility model Figure 3 Another perspective diagram of each component;

[0023] Figure 5 It is a partial cross-sectional schematic diagram of the chassis body in the utility model;

[0024] Figure 6 For this utility model Figure 5 The enlarged schematic diagram of point A in the middle;

[0025] Figure 7 It is a schematic diagram of explosion of several air bags and several support plates in the utility model;

[0026] Figure 8 For this utility model Figure 7A magnified schematic diagram of point B in the middle.

[0027] In the figure: 1. chassis body; 2. detection head; 3. walking leg; 4. airbag; 5. air pump; 6. multi-way pipe; 7. connecting pipe; 8. support plate; 9. slide plate; 10. clamping head; 11. level sensor; 101. storage cavity; 102. connecting port; 103. installation port; 104. slide groove; 105. clamping hole. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely 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 of the embodiments.

[0029] See also Figure 1-Figure 8 A chassis assembly of an inspection robot includes a chassis body 1, a detection head 2 is installed at one end of the chassis body 1, walking legs 3 are installed at the four corners of the chassis body 1, the bottom surface of the chassis body 1 is connected to a suction mechanism, the output end of the suction mechanism is connected to a plurality of air bags 4, the plurality of air bags 4 are all located outside the chassis body 1, and the plurality of air bags 4 wrap the chassis body 1 in the middle, and the outer wall of the chassis body 1 is fixedly connected to a level sensor 11.

[0030] The chassis assembly of the inspection robot in the present invention is similar to the existing inspection robot chassis assembly structure, such as a four-legged robot dog inspection system disclosed in the patent with publication number CN218564891U. Figures 1 to 8 As shown, when the inspection robot chassis assembly in the utility model is loaded onto the robot dog and performs the inspection task normally, if the robot dog is hit by other animals and the impact force pushes the robot dog to one side and tilts it to a certain angle, the horizontal sensor 11 inside the robot dog will be triggered immediately, and the horizontal sensor 11 will immediately transmit the electrical signal to the internal processor of the chassis body 1, and start the suction mechanism through the internal controller. At the moment the suction mechanism is started, it will blow air outward, and at the moment of blowing, the air bags 4 will be filled to expand. Because the air bags 4 are wrapped on the outside of the chassis body 1, even if the chassis body 1 falls to the ground at this time, the blocking and buffering of the air bags 4 can also reduce the impact force inside the chassis body 1, thereby preventing the robot dog from falling to the ground and causing secondary injuries, thereby reducing the probability of damage to internal components.

[0031] It should be noted here that the inspection robot dog is a very mature technology at present, which includes but is not limited to the chassis body 1, the detection head 2, the four walking legs 3, the internal controller and the internal processor, etc., which are not explained in detail; the horizontal sensor 11 in this solution can set the tilt angle in advance, and then can immediately send an electrical signal after exceeding the set range, and the above-mentioned horizontal sensor 11 in this solution only detects the left and right tilt of the robot dog, so when the robot dog encounters situations such as climbing stairs during inspection, the horizontal sensor 11 will not be triggered.

[0032] Please refer to Figure 3 and Figure 4 The air suction mechanism includes an air pump 5 and a multi-way tube 6. The outer wall of the air pump 5 is fixedly connected to the bottom surface of the outer wall of the chassis body 1, the output end of the air pump 5 is fixedly connected to one end of the multi-way tube 6, and the other ends of the multi-way tube 6 are respectively connected to a number of air bags 4.

[0033] More specifically, when the level sensor 11 detects an impact, the controller inside the chassis body 1 will immediately start the air pump 5. After the air pump 5 is started, the internal gas (such as nitrogen, carbon dioxide, not specifically limited) will be transported to the inside of several airbags 4 through the multi-way tube 6, so that the inside of the airbag 4 can be quickly filled with gas, thereby reducing the secondary impact force.

[0034] It should be noted here that: if the robot dog is protected by the airbag 4, the internal components are not damaged, and it stands up again, in order to reduce wind resistance or avoid affecting the normal walking of the robot dog, the air inside the airbag 4 can be pumped back through the air pump 5 in the reverse direction so that the airbag 4 can be attached to the outside of the chassis body 1 again.

[0035] Please refer to Figure 4 and Figure 7 The outer walls of the several airbags 4 are fixedly connected with the connecting tubes 7, and the outer walls of the other ends of the several connecting tubes 7 are respectively threadedly connected with the inner walls of the multi-way tube 6, and the airbags 4 are connected with the multi-way tube 6 through the connecting tubes 7.

[0036] More specifically, by providing a connecting tube 7 and threadably connecting the connecting tube 7 to the multi-way tube 6, it is possible to ensure that the multi-way tube 6 can transport the internal gas of the air pump 5 to the airbag 4, while also being able to separate the airbag 4 from the air pump 5 when the surface of the airbag 4 is dirty or damaged.

[0037] Please refer to Figure 4 , Figure 7 and Figure 8 A support plate 8 is fixedly connected between the airbags 4 , and the support plates 8 are connected to the outer wall of the chassis body 1 .

[0038] More specifically, by providing a plurality of support plates 8, the connectivity between adjacent airbags 4 can be increased, so that the plurality of airbags 4 can present a whole. It should be particularly noted here that the support plates 8 are made of a bendable material, such as silicone, rubber, etc., which is not specifically limited.

[0039] Please refer to Figure 3-Figure 6 The outer wall of the chassis body 1 is provided with a plurality of mounting openings 103, and slide grooves 104 are provided on both sides of the plurality of mounting openings 103. The side of the plurality of support plates 8 close to the chassis body 1 is fixedly connected with two symmetrically arranged slide plates 9, and the outer walls of the two slide plates 9 are respectively slidably connected with the inner walls of the two slide grooves 104 at both ends of the same mounting opening 103.

[0040] More specifically, by providing the slide plate 9, the mounting opening 103 and the slide groove 104, it is possible to facilitate the operation when the airbag 4 needs to be disassembled and assembled.

[0041] The specific disassembly and assembly steps are as follows: first, insert the slide plate 9 at one end below the support plate 8 from the installation port 103 and insert it into one of the slide grooves 104; then, bend the support plate 8 and the airbag 4; insert the slide plate 9 at the other end from the installation port 103 and slide it into another slide groove 104; and then the installation can be completed; when disassembling, just operate in the reverse manner as described above.

[0042] Please refer to Figure 5 and Figure 6 A plurality of clamping holes 105 are provided on both sides of the inner wall of the slide groove 104 , and a plurality of clamping heads 10 are fixedly connected to both sides of the outer wall of the slide plate 9 , and the outer walls of the plurality of clamping heads 10 are slidably connected to the inner walls of the plurality of clamping holes 105 .

[0043] More specifically, by providing the clamping hole 105 and the clamping head 10 , the friction force of the slide plate 9 in the slide groove 104 can be increased, so that the slide plate 9 is not easy to shake in the slide groove 104 .

[0044] Please refer to Figure 3 and Figure 5 A storage cavity 101 is provided on the bottom surface of the chassis body 1 , and the level sensor 11 , the air pump 5 and the multi-way pipe 6 are all located in the storage cavity 101 , and the level sensor 11 and the air pump 5 are fixedly connected to the inner wall of the storage cavity 101 .

[0045] More specifically, by providing the storage cavity 101 , the external space occupied by the level sensor 11 and the air pump 5 can be reduced, making the entire chassis body 1 look more integrated.

[0046] Please refer to Figure 3 and Figure 4The inner wall of the storage cavity 101 is penetrated with a plurality of connection ports 102 , and the outer walls of the plurality of connection pipes 7 are slidably connected to the inner walls of the plurality of connection ports 102 .

[0047] More specifically, by providing the connection port 102, firstly, the connection pipe 7 can be supported to avoid tilting; secondly, the connection pipe 7 can be prevented from being exposed to the outside of the chassis body 1 to affect the overall appearance.

[0048] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or 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 shall be included in the protection scope of the present invention.

Claims

1. A chassis assembly of an inspection robot, comprising a chassis body (1), a detection head (2) being mounted at one end of the chassis body (1), and walking legs (3) being mounted at four corners of the chassis body (1), characterized in that: The bottom surface of the chassis body (1) is connected to an air suction mechanism, the output end of the air suction mechanism is connected to a plurality of air bags (4), the plurality of air bags (4) are all located outside the chassis body (1), and the plurality of air bags (4) wrap the chassis body (1) in the middle, and the outer wall of the chassis body (1) is fixedly connected to a level sensor (11).

2. The inspection robot chassis assembly according to claim 1, characterized in that: The air suction mechanism comprises an air pump (5) and a multi-way pipe (6); the outer wall of the air pump (5) is fixedly connected to the bottom surface of the outer wall of the chassis body (1); the output end of the air pump (5) is fixedly connected to one end of the multi-way pipe (6); and the other ends of the multi-way pipe (6) are respectively connected to a plurality of air bags (4).

3. The inspection robot chassis assembly according to claim 2, characterized in that: The outer walls of the plurality of air bags (4) are all fixedly connected to a connecting tube (7), the outer walls of the other ends of the plurality of connecting tubes (7) are respectively threadedly connected to the inner wall of the multi-way tube (6), and the air bags (4) are connected to the multi-way tube (6) via the connecting tube (7).

4. The inspection robot chassis assembly according to claim 1, 2 or 3, characterized in that: A support plate (8) is fixedly connected between the plurality of air bags (4), and the plurality of support plates (8) are connected to the outer wall of the chassis body (1).

5. The inspection robot chassis assembly according to claim 4, characterized in that: The outer wall of the chassis body (1) is provided with a plurality of mounting openings (103), both sides of the plurality of mounting openings (103) are provided with sliding grooves (104), and the side of the plurality of support plates (8) close to the chassis body (1) is fixedly connected with two symmetrically arranged slide plates (9), and the outer walls of the two slide plates (9) are respectively slidably connected with the inner walls of the two sliding grooves (104) at the two ends of the same mounting opening (103).

6. The inspection robot chassis assembly according to claim 5, characterized in that: A plurality of clamping holes (105) are provided on both sides of the inner wall of the slide groove (104), a plurality of clamping heads (10) are fixedly connected to both sides of the outer wall of the slide plate (9), and the outer walls of the plurality of clamping heads (10) are respectively slidably connected to the inner walls of the plurality of clamping holes (105).

7. The inspection robot chassis assembly according to claim 2 or 3, characterized in that: A storage cavity (101) is provided on the bottom surface of the chassis body (1), and the level sensor (11), the air pump (5) and the multi-way pipe (6) are all located in the storage cavity (101), and the level sensor (11) and the air pump (5) are both fixedly connected to the inner wall of the storage cavity (101).

8. The inspection robot chassis assembly according to claim 7, characterized in that: The inner wall of the storage cavity (101) is penetrated by a plurality of connection ports (102), and the outer walls of the plurality of connection pipes (7) are respectively slidably connected to the inner walls of the plurality of connection ports (102).

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