Anti-collision mechanism and path planning device under water collecting well environment
By designing an anti-collision mechanism in the water collection well environment, using support plates and shrapnel to protect the corners of the bucket, and preferentially contact the walls or stones through the guide wheel, the problem of easy damage to the bucket during the robot's steering is solved, and the dredging efficiency and safety are improved.
Patent Information
- Application Number
- CN202421464097.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-25
- Publication Date
- 2025-05-27
- Estimated Expiration
- 2034-06-25
AI Technical Summary
When the path planning robot is turning in the water collection well environment, the corners of the bucket are prone to collision with the well wall or stone, resulting in damage and affecting the dredging work.
A collision avoidance mechanism is designed, including a bucket, a guide rail, a first electric telescopic rod, a slider, a linkage rod, a first connecting member and a guide wheel. Through the cooperation of the support plate and shrapnel, the corners of the bucket are protected during impact, and the guide wheels preferentially contact the walls or stones to avoid direct collision.
It effectively protects the corners of the bucket, avoids direct collision between the support plate and the wall or stone, extends the service life of the bucket, and improves the safety and dredging efficiency of the robot in the water collection well environment.
Smart Images
Figure CN222908914U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of water collection well operation robots, in particular to an anti-collision mechanism and a path planning device in a water collection well environment. Background Art
[0002] A water collection well is a well with a larger diameter, which is used to collect and store groundwater or seepage water. It has multiple water collection channels, and these channels are interconnected. A path planning robot is needed to perform a series of operations such as inspection, dredging, and path planning inside these channels.
[0003] Because the path planning robot needs to perform dredging work, a bucket is usually set on one side to carry out the cleaning work. When performing the above work, the path planning robot needs to shuttle in a narrow and complex environment. Therefore, when the path planning robot turns, the corners of the bucket on it are prone to collide with the walls or stones of the sump when the robot rotates, which can easily cause damage to the corners of the bucket and affect the dredging work of the bucket. Utility Model Content
[0004] In view of the problems existing in the prior art, the present utility model is proposed.
[0005] In order to solve the above technical problems, the utility model provides the following technical solutions: an anti-collision mechanism, comprising:
[0006] A cleaning assembly includes a bucket, guide rails disposed on both sides of the bucket, a first electric telescopic rod disposed on the inner wall of the guide rails, and;
[0007] The support anti-collision component includes a sliding member, a linkage rod connected to one side of the sliding member, a first connecting member connected to the other side of the sliding member, and a sliding groove opened on one side of the sliding member, wherein the sliding groove is slidably connected to the outer wall of the guide rail.
[0008] As a preferred solution of the anti-collision mechanism of the utility model, one side of the sliding member contacts one side of the guide rail.
[0009] As a preferred solution of the anti-collision mechanism of the utility model, one side of the sliding member is connected to the output end of the first electric telescopic rod.
[0010] As a preferred solution of the anti-collision mechanism of the utility model, wherein: a clamping assembly is provided on the outer wall of the first connecting member, and the clamping assembly includes a second connecting member, a fixed warehouse connected to one side of the second connecting member, a support plate connected to one side of the fixed warehouse, a clamping member connected to one side of the support plate, and a second electric telescopic rod connected to the inner wall of the fixed warehouse.
[0011] As a preferred solution of the anti-collision mechanism of the utility model, wherein: a connecting column is provided on one side of the second connecting member, the outer wall of the connecting column is rotatably connected to the inner wall of the first connecting member, and a guide wheel is rotatably connected to one side of the connecting column, and one side of the guide wheel is in contact with the outer wall of the first connecting member.
[0012] As a preferred solution of the anti-collision mechanism of the utility model, one side of the sliding member is connected with a spring sheet, and one side of the spring sheet is connected to one side of the fixed compartment.
[0013] As a preferred solution of the anti-collision mechanism of the utility model, one side of the clamping member is rotatably connected to a push rod, one side of the push rod is rotatably connected to a first linkage member, and one side of the first linkage member is connected to the output end of the second electric telescopic rod.
[0014] As a preferred solution of the anti-collision mechanism of the utility model, wherein: the corner of the clamping member is rotatably connected to a limiting rod, and one side of the limiting rod is rotatably connected to a second linkage member.
[0015] As a preferred solution of the anti-collision mechanism of the utility model, one side of the second linkage member is rotatably connected to the top of the support plate, and the clamping member is triangular in shape.
[0016] The beneficial effects of the utility model are as follows: by setting the support plate, when the bucket rotates, if there is a wall or a large stone within its rotation radius, it will first contact the support plate, and then the support plate will squeeze the spring sheet to bend and wrap the corners of the bucket, so that the bucket can be quickly protected from damage, and at the same time, the support plate can be prevented from directly colliding with the wall or the large stone;
[0017] At the same time, a guide wheel is also provided. When the support plate is bent, and there are still walls or stones behind it, the guide wheel, as the most protruding component, will contact the wall or stone first. In this way, the guide wheel will contact the wall or stone first, and then the guide wheel can avoid direct contact with the wall or stone by rotating.
[0018] In view of the problem in the prior art that the robot is unable to avoid large rocks on the road surface in time, the present utility model is proposed.
[0019] The utility model provides a path planning device in a water collection well environment, comprising:
[0020] The mobile component includes a shell, a camera arranged on one side of the shell, a base connected to the bottom of the shell, a track wheel arranged on one side of the base, a track sleeved on the outer wall of the track wheel, and a baffle connected to one side of the base.
[0021] The beneficial effects of the utility model are as follows: by setting a camera to provide a viewing angle for the operator, and cooperating with the control circuit set in the shell, the operator can timely plan the robot's forward route, so that the robot can avoid most obstacles according to the route, thereby protecting the robot's safety. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments will be 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.
[0023] Figure 1 It is a structural schematic diagram of the overall device in the utility model.
[0024] Figure 2 It is a structural schematic diagram of the mobile component in the utility model.
[0025] Figure 3 It is a structural schematic diagram of the cleaning component in the utility model.
[0026] Figure 4 It is a schematic diagram of the parts structure of the cleaning component in the utility model.
[0027] Figure 5 It is a structural schematic diagram of the support anti-collision component in the utility model.
[0028] Figure 6 It is a structural schematic diagram of the clamping assembly in the utility model. DETAILED DESCRIPTION
[0029] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.
[0030] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.
[0031] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.
[0032] Example 1
[0033] Reference Figure 1 to Figure 5 , is the first embodiment of the utility model, which provides an anti-collision mechanism, including:
[0034] The cleaning assembly 200 includes a bucket 201, guide rails 202 arranged on both sides of the bucket 201, and a first electric telescopic rod 203 arranged on the inner wall of the guide rail 202, wherein a support frame connected to the bucket 201 is arranged on the robot body, and a motor is also arranged in the robot to connect the support frame.
[0035] In summary, when performing silt removal work, the motor can be used to drive the bucket 201 to move up and down to shovel away the silt on the ground.
[0036] The outer wall of the guide rail 202 is connected to a support anti-collision component 300, which includes a sliding member 301, a linkage rod 302 connected to one side of the sliding member 301, and a first connecting member 304 connected to the other side of the sliding member 301, wherein the sliding member 301 is arranged at the bottom of the side of the bucket 201, so that when the bucket 201 is hit, the sliding member 301 acts as a reinforcing rib.
[0037] A slide groove 303 is provided on one side of the sliding member 301, and one side of the slide groove 303 is slidably connected to the outer wall of the guide rail 202. One side of the sliding member 301 contacts one side of the guide rail 202, and one side of the sliding member 301 is connected to the output end of the first electric telescopic rod 203. When the bucket 201 cleans silt, the first electric telescopic rod 203 can be used to drive the linkage rod 302 to move, so that the sliding member 301 moves to the rear side of the bucket 201. In this way, when there is a lot of silt, the sliding member 301 can be prevented from interfering with the normal operation of the bucket 201.
[0038] In summary, when there is a lot of silt, the first electric telescopic rod 203 can be used to drive the sliding member 301 to move backward to avoid the silt, so that the bucket 201 can smoothly perform the shoveling and silting work.
[0039] Example 2
[0040] Reference Figure 1 to Figure 6, which is the second embodiment of the utility model. This embodiment is based on the previous embodiment, but differs in that a clamping assembly 400 is provided on the outer wall of the first connecting member 304, and the clamping assembly 400 includes a second connecting member 401, a fixed bin 403 connected to one side of the second connecting member 401, a support plate 404 connected to one side of the fixed bin 403, a clamping member 405 connected to one side of the support plate 404, and a second electric telescopic rod 408 connected to the inner wall of the fixed bin 403, wherein the side shape of the second connecting member 401 is a convex shape, and the side shape of the first connecting member 304 is a concave shape, the second connecting member 401 is located at the groove of the first connecting member 304, the number of the clamping members 405 is two, both of which are triangular, and the shape formed when the two clamping members 405 are closed to each other is also triangular, and the number of shapes of the parts connected to the two clamping members 405 are the same.
[0041] A connecting column 402 is provided on one side of the second connecting member 401, and the outer wall of the connecting column 402 is rotatably connected to the inner wall of the first connecting member 304, and a guide wheel 305 is rotatably connected to one side of the connecting column 402, and one side of the guide wheel 305 contacts the outer wall of the first connecting member 304, and a spring piece 306 is connected to one side of the sliding member 301, and one side of the spring piece 306 is connected to one side of the fixed bin 403, wherein the diameter of the guide wheel 305 is greater than the width of the sliding member 301 and the fixed bin 403, when there is a wall or a large stone within the rotation radius of the bucket 201, because the support plate 4 04 is longer than the bucket 201, the support plate 404 will first contact the wall or the large rock, and when the support plate 404 is subjected to force, the second connecting member 401 will rotate and squeeze the spring piece 306, so that the support plate 404 will rotate in the direction of the bucket 201, thereby avoiding the support plate 404 from colliding with the wall. At the same time, the movement of the support plate 404 toward the bucket 201 can also protect the bucket 201, and when the wall or the large rock first contacts the position of the guide wheel 305, the guide wheel 305 can also prevent the collision with the wall or the large rock by rotating.
[0042] One side of the clamping member 405 is rotatably connected to a push rod 406, and one side of the push rod 406 is rotatably connected to a first linkage member 407. One side of the first linkage member 407 is connected to an output end of a second electric telescopic rod 408. When the second electric telescopic rod 408 is started to push the first linkage member 407 forward, the two push rods 406 can be driven to open, and the two push rods 406 will push the two clamping members 405 to open.
[0043] The clamping member 405 is rotatably connected to a limit rod 409 at a corner, and one side of the limit rod 409 is rotatably connected to a second linkage member 410, and one side of the second linkage member 410 is rotatably connected to the top of the support plate 404. The clamping member 405 has a triangular shape. When the two clamping members 405 are opened, the limit rod 409 will be driven to move, and the second linkage member 410 will limit the displacement of the limit rod 409, thereby limiting the opening range of the clamping member 405 and providing a certain supporting force for the clamping member 405.
[0044] In summary, when there is a wall or a large rock in the steering range of the bucket 201 when the robot turns, the support plate 404 will first contact the wall or the large rock, and the support plate 404 will rotate in the direction of the bucket 201, so that the support plate 404 will not collide with the wall or the large rock, and at the same time it can also hold the corners of the bucket 201, thereby protecting the bucket 201. At the same time, a guide wheel 305 is also provided. When the support plate 404 is bent, if there is still a wall or a rock afterwards, the guide wheel 305 is the most protruding component at this time, and it will contact the wall or the rock first, so that the contact with the wall or the rock can be buffered by the guide wheel 305, so that the operator has enough time to adjust the position of the robot and re-perform steering work.
[0045] At the same time, when it is necessary to clamp and move a stone, the second electric telescopic rod 408 can be started to drive the push rod 406 and the clamping member 405 to open. At this time, the stone can be clamped by the clamping member 405, and then the robot can be started to move the stone.
[0046] Example 3
[0047] Reference Figure 1 to Figure 6 , which is the third embodiment of the utility model, and which provides a path planning device in a water collection well environment, comprising:
[0048] The mobile component 100 includes a shell 101, a camera 102 arranged on one side of the shell 101, a base 103 connected to the bottom of the shell 101, a track wheel 104 arranged on one side of the base 103, a track 105 sleeved on the outer wall of the track wheel 104, and a baffle 106 connected to one side of the base 103, wherein three track wheels 104 are arranged on one side of the base 103, and a motor is arranged in the base 103 to drive a rotating shaft connected to the track wheel 104, and a control circuit board and other corresponding components are arranged in the shell 101. The control circuit board and other corresponding components are all universal standard parts or parts known to technical personnel in this field, and their structures and principles can be known to technical personnel through technical manuals or through conventional experimental methods. At the same time, the control circuit board is equipped with a corresponding remote control.
[0049] In summary, when the water collection channel of the water collection well is inspected, silted, and path planned, the remote control is used to control the motor to drive the three track wheels 104 to rotate, so that the entire robot moves, so that the water collection well can be inspected and the path planned through the detection components additionally equipped on the robot, and at the same time, the motor connected to the support frame can be driven to drive the support frame and the bucket 201 to perform corresponding operations to clean the silt in the water collection channel;
[0050] At the same time, when the robot performs the above operations, the operator observes the terrain and obstacles through the camera 102, so as to plan a correct route for the robot, so that the robot can reach the designated location according to the correct route.
[0051] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and ratio of various elements, and parameter values (e.g., temperature, pressure, etc.), installation arrangements, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the 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 or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in 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 "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the present invention is not limited to a specific embodiment, but extends to various modifications that still fall within the scope of the appended claims.
[0052] Additionally, in order to provide a concise description of example embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.
[0053] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.
[0054] It should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.
Claims
1. An anti-collision mechanism, characterized in that: include, A cleaning assembly (200) comprises a bucket (201), guide rails (202) arranged on both sides of the bucket (201), a first electric telescopic rod (203) arranged on the inner wall of the guide rail (202); and; A support and anti-collision assembly (300) is arranged on the outer wall of the bucket (201), and the support and anti-collision assembly (300) comprises a sliding member (301), a linkage rod (302) connected to one side of the sliding member (301), a first connecting member (304) connected to the other side of the sliding member (301), and a sliding groove (303) opened on one side of the sliding member (301), wherein the sliding groove (303) is slidably connected to the outer wall of the guide rail (202).
2. The anti-collision mechanism according to claim 1, characterized in that: One side of the sliding member (301) contacts one side of the guide rail (202).
3. The anti-collision mechanism according to claim 2, characterized in that: One side of the sliding member (301) is connected to the output end of the first electric telescopic rod (203).
4. The anti-collision mechanism according to claim 3, characterized in that: The outer wall of the first connecting member (304) is provided with a clamping assembly (400), and the clamping assembly (400) comprises a second connecting member (401), a fixed bin (403) connected to one side of the second connecting member (401), a support plate (404) connected to one side of the fixed bin (403), a clamping member (405) connected to one side of the support plate (404), and a second electric telescopic rod (408) connected to the inner wall of the fixed bin (403).
5. The anti-collision mechanism according to claim 4, characterized in that: A connecting column (402) is provided on one side of the second connecting member (401), and the outer wall of the connecting column (402) is rotatably connected to the inner wall of the first connecting member (304). A guide wheel (305) is rotatably connected to one side of the connecting column (402), and one side of the guide wheel (305) is in contact with the outer wall of the first connecting member (304).
6. The anti-collision mechanism according to claim 5, characterized in that: One side of the sliding member (301) is connected to a spring sheet (306), and one side of the spring sheet (306) is connected to one side of the fixed compartment (403).
7. The anti-collision mechanism according to claim 6, characterized in that: One side of the clamping member (405) is rotatably connected to a push rod (406), one side of the push rod (406) is rotatably connected to a first linkage member (407), and one side of the first linkage member (407) is connected to the output end of the second electric telescopic rod (408).
8. The anti-collision mechanism according to claim 7, characterized in that: The clamping member (405) is rotatably connected to a limiting rod (409) at a corner, and one side of the limiting rod (409) is rotatably connected to a second linkage member (410).
9. The anti-collision mechanism according to claim 8, characterized in that: One side of the second linkage member (410) is rotatably connected to the top of the support plate (404), and the clamping member (405) is triangular in shape.
10. A path planning device in a water collection well environment, characterized in that: The invention comprises the anti-collision mechanism according to any one of claims 1 to 9, and A mobile assembly (100) comprises a housing (101), a camera (102) arranged on one side of the housing (101), a base (103) connected to the bottom of the housing (101), a track wheel (104) arranged on one side of the base (103), a track (105) sleeved on the outer wall of the track wheel (104), and a baffle (106) connected to one side of the base (103).