All-terrain ground profiling geological exploration robot
By setting up mud scrapers on the all-terrain ground contour survey robot and using power components to drive mud scrapers to contact the wheel, the problem of wheel adhesion affecting driving is solved, and the driving effect of the robot is improved.
Patent Information
- Application Number
- CN202420720620.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-09
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2034-04-09
AI Technical Summary
During field surveying, the wheels of the surveying robot are prone to stick to soil and other attachments, which affects the driving effect, and the prior art has not effectively solved this problem.
A all-terrain ground contour survey robot was designed, which uses mud scrapers to set up on both sides of the wheels, and uses the power components to drive the mud scrapers to contact the wheels to achieve soil removal and ensure smooth rotation of the wheels.
Effectively removes soil attachments on the wheels, improving the driving effect and market application value of the ground survey robot.
Smart Images
Figure CN222270313U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of geological exploration equipment, in particular to an all-terrain ground profiling geological exploration robot. Background Art
[0002] The all-terrain ground-profiling geological exploration robot is a robot that can move autonomously, collect data and measure in various complex terrain environments. It has the advantages of flexible operation, fast speed and high precision, and can enter various complex terrain conditions for geological exploration.
[0003] In the prior art, when a geological exploration robot conducts field exploration, due to the complex field environment, its wheels may be stuck with dirt and other attachments during driving. If these attachments are not cleaned up in time, the driving effect of the geological exploration robot may be affected. Therefore, it is urgent to study an all-terrain ground profiling geological exploration robot to solve the above problem. Utility Model Content
[0004] The utility model provides an all-terrain ground profiling robot, the purpose of which is to solve the technical problems raised in the above-mentioned background technology.
[0005] In order to solve the above technical problems, the utility model is realized by the following technical solutions:
[0006] The utility model is an all-terrain ground profiling geological survey robot, comprising a first support plate and a second support plate horizontally arranged from top to bottom, a battery and a controller fixed side by side on the upper surface of the first support plate, a camera vertically installed above the controller and two pairs of drive modules arranged side by side; the controller is electrically connected to the battery, the camera and the drive module respectively; a plurality of bearing columns are vertically fixed on the upper surface of the second support plate; the upper ends of the plurality of bearing columns are fixedly inserted on the first support plate; two pairs of drive modules are respectively fixed at opposite sides of the second support plate, and the drive modules are arranged on the lower surface of the second support plate; wheels are vertically fixed to the output ends of the two pairs of drive modules; the two pairs of wheels are respectively arranged on opposite sides of the second support plate; mud scrapers are arranged on the front and rear sides of the two pairs of wheels; the four pairs of mud scrapers are connected by a power assembly; the power assembly is installed on the second support plate; the power assembly is electrically connected to the controller.
[0007] As a preferred technical solution of the utility model, the four pairs of scraper blades are all inclined, and the inclination angle of the scraper blades is 40°-50°; the horizontal position of the scraper blade close to an edge of the second support plate is higher than the horizontal position of the scraper blade away from an edge of the second support plate.
[0008] As a preferred technical solution of the utility model, the power assembly includes a pair of driving strips that are both horizontally arranged between the first support plate and the second support plate; the length directions of the two driving strips are arranged parallel to the length directions of the side edges of the second support plate; the two driving strips are slidably connected with guide seats; the guide seats are horizontally fixed to the upper surface of the second support plate; four transmission strips corresponding to the scraper blades are fixed side by side on one side of the two driving strips close to the wheel; a connecting shaft is vertically fixed to a surface of the transmission strip close to the wheel; one end of the connecting shaft is fixed to the scraper blade; the relative inner surfaces of the two driving strips are fixed parallel to each other. A rack is fixed therein; a servo motor is vertically arranged between the two racks; the servo motor is fixed on the upper surface of the first support plate; the output shaft of the servo motor is connected to a reducer; the reducer is fixedly inserted on the second support plate; the reducer has a pair of coaxially arranged transmission shafts; a worm is coaxially fixed at one end of the two transmission shafts that are separated; a worm wheel is meshed on the two worms; the two worm wheels are respectively fixedly sleeved on the lower ends of a pair of vertically arranged mounting shafts; the two mounting shafts are rotatably inserted on the second support plate; the upper ends of the two mounting shafts are fixedly sleeved with gears; the two gears are respectively meshed with the two racks.
[0009] The utility model has the following beneficial effects:
[0010] The utility model supplies power to the controller, camera, drive module, power assembly and other parts through a battery. The controller controls the start and stop of the drive module, the camera collects environmental data, and utilizes the drive module to drive the wheel to rotate, so as to realize the forward or backward movement of the geological survey robot. At the same time, according to the steering of the wheel, a scraper blade near the wheel is driven by the power assembly to approach the wheel, so that an edge of the scraper blade is in conflict with the wheel surface, so that the mud and other attachments on the wheel surface are removed by the scraper blade during the rotation of the wheel, thereby effectively ensuring the rotation effect of the wheel, thereby improving the driving effect of the geological survey robot, and having a high market application value.
[0011] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0013] Figure 1 The utility model is a structural schematic diagram of an all-terrain ground profiling geological survey robot.
[0014] Figure 2 for Figure 1 The main view of the structure.
[0015] Figure 3 for Figure 1 Bottom view of the structure.
[0016] Figure 4 It is a schematic structural diagram of the connection between the first support plate and the second support plate of the utility model.
[0017] Figure 5 It is a structural schematic diagram of the power assembly of the utility model installed on the second support plate.
[0018] Figure 6 It is a schematic structural diagram of the power assembly of the utility model.
[0019] In the accompanying drawings, the components represented by the reference numerals are listed as follows:
[0020] 1-first support plate, 2-second support plate, 3-battery, 4-controller, 5-camera, 6-drive module, 7-wheel, 8-scraper blade, 9-power assembly, 10-laser radar, 11-column, 201-bearing column, 901-drive bar, 902-guide seat, 903-transmission bar, 904-connecting shaft, 905-rack, 906-servo motor, 907-reducer, 908-drive shaft, 909-worm, 910-worm wheel, 911-mounting shaft, 912-gear. DETAILED DESCRIPTION
[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0022] Embodiment 1:
[0023] See also Figure 1-4As shown, the utility model is an all-terrain ground profiling survey robot, comprising a first support plate 1 and a second support plate 2 horizontally arranged from top to bottom, a battery 3 and a controller 4 bolted side by side to the upper surface of the first support plate 1, a camera 5 vertically installed above the controller 4, and two pairs of drive modules 6 arranged side by side; the battery 3, the controller 4, the camera 5 and the drive module 6 are all conventional components in the field; a conventional laser radar 10 in the field is fixedly inserted into the front side wall of the housing of the controller 4; the laser radar 10 is used to monitor obstacles in front; a column 11 is vertically bolted to the top wall of the housing of the controller 4; the camera 5 is bolted to the top of the column 11; the controller 4 is respectively connected to the battery 3, the camera 5, the drive module 6 and The laser radar 10 is electrically connected; the driving module 6 is composed of a stepping motor and a speed regulator; a plurality of supporting columns 201 are vertically fixed on the upper surface of the second support plate 2; the upper ends of the plurality of supporting columns 201 are fixedly inserted on the first support plate 1; two pairs of driving modules 6 are respectively bolted to the opposite sides of the second support plate 2, and the driving modules 6 are arranged on the lower surface of the second support plate 2; conventional wheels 7 in this field are vertically fixed to the output ends of the two pairs of driving modules 6; the two pairs of wheels 7 are respectively arranged on the opposite sides of the second support plate 2; scraper blades 8 are arranged on the front and rear sides of the two pairs of wheels 7; the four pairs of scraper blades 8 are connected by a power assembly 9; the power assembly 9 is installed on the second support plate 2; the power assembly 9 is electrically connected to the controller 4. When in use, the controller 4, camera 5, drive module 6, power assembly 9 and other parts are powered by the battery 3. The controller 4 controls the start and stop of the drive module 6, the camera 5 collects environmental data, and the drive module 6 is used to drive the wheel 7 to rotate, so as to realize the forward or backward movement of the geological exploration robot. At the same time, according to the steering of the wheel 7, a scraper blade 8 near the wheel 7 is driven by the power assembly 9 to approach the wheel 7, so that an edge of the scraper blade 8 is in conflict with the wheel surface of the wheel 7, so that the scraper blade 8 can remove the mud and other attachments on the wheel surface of the wheel 7 during the rotation of the wheel 7, effectively ensuring the rotation effect of the wheel 7, thereby improving the driving effect of the geological exploration robot.
[0024] It needs to be explained that: when the wheel moves forward, a scraper blade 8 on the front side of the wheel 7 is driven close to the wheel 7 by the power assembly 9, and when the wheel moves backward, another scraper blade 8 on the rear side of the wheel 7 is driven close to the wheel 7 by the power assembly 9, thereby ensuring the scraping effect on the wheel 7.
[0025] Among them Figure 5As shown, the four pairs of scraper blades 8 are all tilted, and the tilt angle of the scraper blades 8 is 40°-50° (the tilt angle of the scraper blades 8 in this embodiment is preferably 45°); the horizontal position of the scraper blades 8 close to an edge of the second support plate 2 is higher than the horizontal position of the scraper blades 8 away from an edge of the second support plate 2. By tilting the scraper blades 8 and designing the horizontal position of the scraper blades 8 close to an edge of the second support plate 2 to be higher than the horizontal position of the scraper blades 8 away from an edge of the second support plate 2, the mud and other attachments on the wheel 7 can be scraped off to the side of the wheel 7 away from the second support plate 2, which can effectively prevent the mud and other attachments from contaminating the body of the geological survey robot.
[0026] Embodiment 2:
[0027] Based on Example 1, Figure 2-6 As shown, the power assembly 9 includes a pair of drive bars 901 that are horizontally arranged between the first support plate 1 and the second support plate 2; the length directions of the two drive bars 901 are arranged parallel to the length directions of the side edges of the second support plate 2; the two drive bars 901 are slidably connected with guide seats 902; the guide seats 902 are horizontally bolted to the upper surface of the second support plate 2; four transmission bars 903 corresponding to the scraper blades 8 are welded side by side on one side edge of the two drive bars 901 close to the wheel 7; a connecting shaft 904 is vertically welded to a surface of the transmission bar 903 close to the wheel 7; one end of the connecting shaft 904 is welded to the scraper blade 8; racks 905 are welded in parallel to the relative inner surfaces of the two drive bars 901; a servo motor 906 is vertically arranged between the two racks 905; the servo motor 906 is bolted to the upper surface of the first support plate 1; the output shaft of the servo motor 906 is connected to a conventional reducer 907 in the field; the reducer 907 is a bevel gear reducer; the reducer 907 is fixedly inserted on the second support plate 2; the reducer 907 has a pair of coaxially arranged transmission shafts 908; the separated ends of the two transmission shafts 908 are coaxially welded with worms 909; the two worm gears 909 are meshed with worm wheels 910; the two worm wheels 910 are respectively keyed to the lower ends of a pair of vertically arranged mounting shafts 911; the two mounting shafts 911 are both inserted and arranged on the second support plate 2, and the mounting shafts 911 are rotatably connected to the second support plate 2; the upper ends of the two mounting shafts 911 are keyed to gears 912; the two gears 912 are respectively meshed with the two racks 905. When in use, the servo motor 906 drives the two transmission shafts 908 to rotate synchronously in the same direction via the reducer 907, causing the two transmission shafts 908 to drive the two gears 912 to rotate synchronously in opposite directions via the worm 909, the worm wheel 910 and the mounting shaft 911, thereby realizing the synchronous and same-direction linear motion of the two racks 905, thereby realizing that one scraper blade 8 near any wheel 7 is close to the wheel 7 and the other scraper blade 8 is away from the wheel 7, effectively ensuring the scraping effect on the wheel 7.
[0028] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.
Claims
1. An all-terrain ground profiling survey robot, comprising a first support plate (1) and a second support plate (2) arranged horizontally from top to bottom, a battery (3) and a controller (4) fixed side by side on the upper surface of the first support plate (1), a camera (5) vertically installed above the controller (4), and two pairs of drive modules (6) arranged side by side; the controller (4) is electrically connected to the battery (3), the camera (5) and the drive module (6) respectively; and characterized in that: A plurality of bearing columns (201) are vertically fixed on the upper surface of the second support plate (2); the upper ends of the plurality of bearing columns (201) are fixedly inserted on the first support plate (1); two pairs of drive modules (6) are respectively fixed on opposite sides of the second support plate (2), and the drive modules (6) are arranged on the lower surface of the second support plate (2); wheels (7) are vertically fixed on the output ends of the two pairs of drive modules (6); the two pairs of wheels (7) are respectively arranged on opposite sides of the second support plate (2); mud scraping blades (8) are arranged on the front and rear sides of the two pairs of wheels (7); the four pairs of mud scraping blades (8) are connected to each other through a power assembly (9); the power assembly (9) is installed on the second support plate (2); the power assembly (9) is electrically connected to the controller (4).
2. The all-terrain ground profiling robot according to claim 1, characterized in that: The four pairs of scraper blades (8) are all arranged at an angle, and the angle of inclination of the scraper blades (8) is 40°-50°.
3. The all-terrain ground profiling robot according to claim 2, characterized in that: The horizontal position of the scraper blade (8) close to an edge of the second support plate (2) is higher than the horizontal position of the scraper blade (8) away from an edge of the second support plate (2).
4. The all-terrain ground profiling robot according to claim 2 or 3, characterized in that: The power assembly (9) comprises a pair of drive bars (901) both horizontally arranged between the first support plate (1) and the second support plate (2); the length direction of the two drive bars (901) is both arranged parallel to the length direction of the side edge of the second support plate (2); the two drive bars (901) are both slidably connected with a guide seat (902); the guide seat (902) is horizontally fixed on the upper surface of the second support plate (2); four transmission bars (903) corresponding to the scraper blade (8) are fixed side by side on one side of the two drive bars (901) close to the wheel (7); a connecting shaft (904) is vertically fixed on a surface of the transmission bar (903) close to the wheel (7); one end of the connecting shaft (904) is fixed on the scraper blade (8).
5. The all-terrain ground profiling robot according to claim 4, characterized in that: Racks (905) are fixed in parallel to the relative inner surfaces of the two driving bars (901); a servo motor (906) is vertically arranged between the two racks (905); the servo motor (906) is fixed on the upper surface of the first support plate (1); the output shaft of the servo motor (906) is connected to a reducer (907); the reducer (907) is fixedly inserted on the second support plate (2); the reducer (907) has a pair of coaxially arranged transmission shafts (908); the two A worm (909) is coaxially fixed to the separated ends of the transmission shaft (908); a worm wheel (910) is meshed on the two worms (909); the two worm wheels (910) are respectively fixedly sleeved on the lower ends of a pair of vertically arranged installation shafts (911); the two installation shafts (911) are rotatably inserted on the second support plate (2); the upper ends of the two installation shafts (911) are fixedly sleeved with a gear (912); the two gears (912) are respectively meshed with the two racks (905).