Obstacle avoiding device in water collecting well environment

Abstract

The utility model relates to the technical field of water-collecting well operation robots, in particular to an obstacle avoidance device in a water-collecting well environment, which comprises a dredging component. Comprising a protective shell, a base connected with the bottom of the protective shell, crawler wheels connected with the base, a crawler sleeving the outer walls of the crawler wheels, and a baffle connected with one side of the base; the connecting assembly comprises a connecting shell connected with one side of the baffle, a motor connected with the inner wall of the connecting shell and a limiting wheel rotationally connected with the inner wall of the connecting shell, the robot is prevented from directly impacting the wall by arranging a rotating wheel, and therefore the robot can conduct steering work when making contact with the wall in a steering mode; meanwhile, when the soil needs to be collected, the rotating wheel can be driven by the motor to rotate, and at the moment, the soil can be collected through the collecting groove in the rotating wheel.

Description

Technical Field

[0001] The utility model relates to the technical field of sump operation robots, in particular to an obstacle avoidance device in the sump environment. Background Art

[0002] A sump is a well with a relatively large diameter used to collect and store groundwater or seepage water. It has multiple water collection channels, and a path planning robot is required to perform a series of operations such as detecting, dredging, and path planning inside these channels.

[0003] When the robot walks underground, the operator needs to use a camera to avoid large stones in the water collection channels to protect the safety of the robot and equipment.

[0004] However, there will be a blind spot when the camera rotates on the robot. At this time, it is difficult for the camera to completely capture the wall surface, and the robot is likely to hit the wall. Then the wall will block the progress of the robot, and the operator can only repeatedly debug the position of the robot to make the robot complete the turn, which is not conducive to the operator quickly detecting the water collection channel. Summary of the Utility Model

[0005] In view of the problems existing in the prior art, the present utility model is proposed.

[0006] To solve the above technical problems, the present utility model provides the following technical solutions: An obstacle avoidance device in the sump environment, including,

[0007] A dredging component, including a protective shell, a base connected to the bottom of the protective shell, a crawler wheel connected to the base, a crawler sleeved on the outer wall of the crawler wheel, and a baffle connected to one side of the base; and;

[0008] A connection component, including a connection shell connected to one side of the baffle, a motor connected to the inner wall of the connection shell, and a limiting wheel rotatably connected to the inner wall of the connection shell.

[0009] As a preferred scheme of the obstacle avoidance device in the sump environment of the present utility model, wherein: The limiting wheel is connected with a support component, and the support component includes a support rod, a fixing frame connected to one side of the support rod, a fixing ring connected to one side of the fixing frame, and a connecting plate connected to one side of the fixing ring.

[0010] As a preferred scheme of the obstacle avoidance device in the sump environment of the present utility model, wherein: The inner wall of the limiting wheel is connected to the outer wall of the support rod, and the outer wall of the support rod is rotatably connected to the inner wall of one side of the connection shell.

[0011] As a preferred solution of the obstacle avoidance device in the sump environment of the present utility model, wherein: a pulley is connected to the output end of the motor, a transmission belt is sleeved on the outer wall of the pulley, and the other side of the transmission belt is sleeved on the outer wall of the support rod.

[0012] As a preferred solution of the obstacle avoidance device in the sump environment of the present utility model, wherein: a collection assembly is arranged outside the fixed ring, and the collection assembly includes a rotating wheel, a circular groove opened at the top of the rotating wheel, and a collection groove opened at one side of the rotating wheel.

[0013] As a preferred solution of the obstacle avoidance device in the sump environment of the present utility model, wherein: a guide rail is installed on one side of the fixed ring, and the outer wall of the guide rail is slidably connected to the inner wall of the circular groove.

[0014] As a preferred solution of the obstacle avoidance device in the sump environment of the present utility model, wherein: the connecting plate is connected to a storage assembly, and the storage assembly includes a storage box and a collection port opened at the top of the storage box.

[0015] As a preferred solution of the obstacle avoidance device in the sump environment of the present utility model, wherein: a connecting column is arranged on one side of the storage box, and the outer wall of the connecting column is in contact with the inner wall of the connecting plate.

[0016] As a preferred solution of the obstacle avoidance device in the sump environment of the present utility model, wherein: a rotating plate is rotatably connected to one side of the collection port, and the area of the rotating plate is larger than the area of the collection port.

[0017] As a preferred solution of the obstacle avoidance device in the sump environment of the present utility model, wherein: the cross-sectional shape of the collection port is trapezoidal.

[0018] The beneficial effects of the present utility model: By setting the rotating wheel, the robot can be prevented from directly hitting the wall, so that the robot can also perform turning work when turning and contacting the wall. At the same time, when soil collection work needs to be carried out, the motor can drive the rotating wheel to rotate, and at this time, the soil can be collected through the collection groove on the rotating wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0020] Figure 1 It is a schematic diagram of the overall structure of the robot in the present utility model.

[0021] Figure 2 This is a schematic structural diagram of the dredging component in the present utility model.

[0022] Figure 3 This is a schematic structural diagram of the robot after removing the dredging component in the present utility model.

[0023] Figure 4 This is a schematic structural diagram of the connection component in the present utility model.

[0024] Figure 5 This is a schematic structural diagram of the support component in the present utility model.

[0025] Figure 6 This is a schematic structural diagram of the collection component in the present utility model.

[0026] Figure 7 This is a schematic structural diagram of the storage component in the present utility model. Detailed implementation manners

[0027] In order to make the above objects, features, and advantages of the present utility model more obvious and understandable, the following will make a detailed description of the specific implementation manners of the present utility model in conjunction with the accompanying drawings of the specification.

[0028] In the following description, many specific details are set forth in order to fully understand the present utility model. However, the present utility model can also be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0029] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that can be included in at least one implementation manner of the present utility model. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that mutually excludes other embodiments.

[0030] Embodiment 1

[0031] Referring to Figures 1 to 2 , which is the first embodiment of the present utility model. This embodiment provides an obstacle avoidance device in the sump environment.

[0032] The dredging component 100 includes a protective shell 101, a base 102 connected to the bottom of the protective shell 101, a crawler wheel 103 connected to the base 102, a crawler 104 sleeved on the outer wall of the crawler wheel 103, and a baffle 105 connected to one side of the base 102. A control circuit board and other corresponding components are arranged in the protective shell 101. The control circuit board and other corresponding components are all general standard parts or components known to those skilled in the art. Their structures and principles can be known by technicians through technical manuals or obtained through conventional experimental methods. At the same time, the control circuit board is equipped with a corresponding remote control. At the same time, a motor is arranged in the base 102, and the motor is connected to a rotating shaft arranged on the crawler wheel 103.

[0033] In summary, when performing operations such as detecting, dredging, and path planning on the water collection channel of the sump well, the motor is controlled by a remote control to drive the three crawler wheels 103 to rotate, so that the robot moves. At this time, the detection component and cleaning component additionally arranged on the robot can be remotely controlled by the remote control to perform cleaning and detection work on the water collection pipeline.

[0034] Embodiment 2

[0035] Refer to Figures 1 to 5 , which is the second embodiment of the present invention. This embodiment is based on the previous embodiment. The difference is that the connection component 200 includes a connection shell 201 connected to one side of the baffle 105, a motor 202 connected to the inner wall of the connection shell 201, and a limit wheel 205 rotatably connected to the inner wall of the connection shell 201. A clamp is arranged outside the motor 202, and the bottom of the clamp is fixedly connected to the connection shell 201 through bolts.

[0036] The limit wheel 205 is connected to a support component 300. The support component 300 includes a support rod 301, a fixing frame 302 connected to one side of the support rod 301, a fixing ring 303 connected to one side of the fixing frame 302, and a connecting plate 305 connected to one side of the fixing ring 303. The output end of the motor 202 is connected to a pulley 203, a transmission belt 204 is sleeved on the outer wall of the pulley 203, and the other side of the transmission belt 204 is sleeved on the outer wall of the support rod 301. The fixing ring 303 is a double ring, and it is arranged on both sides of the support rod 301 with the fixing frame 302, and the components installed on the fixing rings 303 on both sides of the support rod 301 are the same.

[0037] The inner wall of the limit wheel 205 is connected to the outer wall of the support rod 301, and the outer wall of the support rod 301 is rotatably connected to the inner wall of one side of the connection shell 201. The limit wheel 205 is used to limit the movement of the support rod 301 and also provides a supporting force for the support rod 301.

[0038] In summary, the motor 202 can be driven to drive the pulley 203 to rotate, thereby driving the support rod 301 to rotate, so that the fixing ring 303 changes the rotation direction.

[0039] Embodiment 3

[0040] Reference Figures 1 to 7 , which is the third embodiment of the present utility model. This embodiment is based on the previous embodiment. The difference is that a collection assembly 400 is provided on the outer side of the fixed ring 303. The collection assembly 400 includes a rotating wheel 401, a circular groove 402 opened at the top of the rotating wheel 401, and a collection groove 403 opened on one side of the rotating wheel 401. A guide rail 304 is installed on one side of the fixed ring 303. The outer wall of the guide rail 304 is slidably connected to the inner wall of the circular groove 402. When the fixed ring 303 is in the state as shown in Figure 3 , the rotating wheel 401 is horizontally placed at this time. When the robot turns and is about to touch the wall, the rotating wheel 401 will touch the wall or the stone in advance because it is arranged on both sides of the robot. In this way, the rotating wheel 401 is like the guide wheel of a four-wheel drive vehicle, changing the direction of the robot and preventing the robot from touching the wall or the stone;

[0041] The difference is that when the motor 202 drives the support rod 301 to rotate, the fixed ring 303 will be driven to rotate. At this time, the rotating wheel 401 will be perpendicular to the ground. At this time, the rotating wheel 401 will touch the ground, and when the robot moves forward, it will drive the rotating wheel 401 to roll. At this time, the collection groove 403 can collect the silt on the ground, so as to sample the soil in the water collection channel.

[0042] The connecting plate 305 is connected with a storage assembly 500. The storage assembly 500 includes a storage box 501 and a collection port 502 opened at the top of the storage box 501. A connecting column 504 is provided on one side of the storage box 501. The outer wall of the connecting column 504 is in contact with the inner wall of the connecting plate 305. A rotating plate 503 is rotatably connected to one side of the collection port 502. The area of the rotating plate 503 is larger than the area of the collection port 502. The cross-sectional shape of the collection port 502 is trapezoidal. When the rotating wheel 401 is perpendicular to the ground, the collection port 502 is located at the top of the storage box 501. At this time, the rotating plate 503 will be perpendicular to the ground due to gravity. When the collection groove 403 moves above the collection port 502, the soil inside will fall into the storage box 501 under the influence of gravity. When the rotating wheel 401 is horizontally placed, the rotating plate 503 is still perpendicular to the ground due to gravity. At this time, the rotating plate 503 can block the collection port 502 to prevent the soil from falling out of the storage box 501.

[0043] In summary, when the sampling work is not carried out, the rotating wheel 401 is placed horizontally. In this way, when the robot turns and is about to touch the wall, the rotating wheel 401 will act like the guide wheel of a four-wheel drive vehicle to change the direction of the robot and prevent the robot from touching the wall or stones. At the same time, when the sampling work needs to be carried out, when the support rod 301 is rotated by the motor 202, the rotating wheel 401 will be perpendicular to the ground. At this time, the rotating wheel 401 can touch the ground, so that when the robot moves forward, it can drive the rotating wheel 401 to roll, enabling the collection groove 403 to collect the soil on the ground, thereby sampling the soil in the water collection channel. When the collection groove 403 moves above the collection port 502, the soil inside will fall down into the storage box 501 due to gravity. When the rotating wheel 401 is placed horizontally, the rotating plate 503 is still perpendicular downward due to gravity. At this time, the rotating plate 503 can block the collection port 502, thus preventing the soil from falling out of the storage box 501.

[0044] Importantly, it should be noted that the construction and arrangement of the present application shown in multiple different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who refer to this disclosure should easily understand that many modifications are possible on the premise of substantially not deviating from the novel teachings and advantages of the subject matter described in this application (for example, the dimensions, scales, structures, shapes and proportions of various components, and parameter values (such as temperature, pressure, etc.), installation arrangements, use of materials, color, orientation changes, etc.). For example, an element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature, number or position of discrete elements can be changed or altered. Therefore, all such modifications are intended to be included within the scope of the present utility model. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "means-plus-function" clause is intended to cover the structure that performs the recited function herein, and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present utility model. Therefore, the present utility model is not limited to a specific embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0045] In addition, in order to provide a concise description of the exemplary embodiments, not all features of the actual embodiments may be described (i.e., those features that are not relevant to the currently considered best mode of implementing the present utility model or those that are not relevant to the implementation of the present utility model).

[0046] It should be understood that, in the development of any actual implementation, such as in any engineering or design project, a large number of specific implementation decisions can be made. Such development efforts may be complex and time-consuming, but for those of ordinary skill in the art who benefit from this disclosure, without undue experimentation, such development efforts will be routine work in design, manufacturing, and production.

[0047] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. The obstacle avoidance device in a water collection well environment is characterized by: include, A dredging assembly (100) comprises a protective shell (101), a base (102) connected to the bottom of the protective shell (101), a track wheel (103) connected to the base (102), a track (104) sleeved on the outer wall of the track wheel (103), and a baffle (105) connected to one side of the base (102); and; The connection assembly (200) comprises a connection shell (201) connected to one side of the baffle (105), a motor (202) connected to the inner wall of the connection shell (201), and a limiting wheel (205) rotatably connected to the inner wall of the connection shell (201).

2. The obstacle avoidance device in a water collection well environment as claimed in claim 1, characterized in that: The limiting wheel (205) is connected to a support assembly (300), and the support assembly (300) comprises a support rod (301), a fixing frame (302) connected to one side of the support rod (301), a fixing ring (303) connected to one side of the fixing frame (302), and a connecting plate (305) connected to one side of the fixing ring (303).

3. The obstacle avoidance device in a water collection well environment as claimed in claim 2, characterized in that: The inner wall of the limiting wheel (205) is connected to the outer wall of the support rod (301), and the outer wall of the support rod (301) is rotatably connected to the inner wall of one side of the connecting shell (201).

4. The obstacle avoidance device in a water collection well environment as claimed in claim 2, characterized in that: The output end of the motor (202) is connected to a pulley (203), the outer wall of the pulley (203) is sleeved with a transmission belt (204), and the other side of the transmission belt (204) is sleeved with the outer wall of the support rod (301).

5. The obstacle avoidance device in a water collection well environment as claimed in claim 2, characterized in that: A collecting assembly (400) is arranged outside the fixing ring (303), and the collecting assembly (400) comprises a rotating wheel (401), a circular groove (402) opened on the top of the rotating wheel (401), and a collecting groove (403) opened on one side of the rotating wheel (401).

6. The obstacle avoidance device in a water collection well environment as claimed in claim 5, characterized in that: A guide rail (304) is installed on one side of the fixing ring (303), and the outer wall of the guide rail (304) is slidably connected to the inner wall of the circular groove (402).

7. The obstacle avoidance device in a water collection well environment as claimed in claim 5, characterized in that: The connection plate (305) is connected to a storage assembly (500), and the storage assembly (500) comprises a storage box (501) and a collection port (502) opened at the top of the storage box (501).

8. The obstacle avoidance device in a water collection well environment as claimed in claim 7, characterized in that: A connecting column (504) is provided on one side of the storage box (501), and the outer wall of the connecting column (504) is in contact with the inner wall of the connecting plate (305).

9. The obstacle avoidance device in a water collection well environment as claimed in claim 8, characterized in that: A rotating plate (503) is rotatably connected to one side of the collecting port (502), and the area of ​​the rotating plate (503) is larger than the area of ​​the collecting port (502).

10. The obstacle avoidance device in a water collection well environment as claimed in claim 8, characterized in that: The cross-sectional shape of the collecting port (502) is a trapezoid.

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