Emergency management robot with anti-toppling function
By setting up oblique strut groups and oblique strut wheels on both sides of the emergency management robot, and using power components to drive them to extend or retract, the problem of the emergency management robot falling when walking in the tunnel is solved, and its stability and detection capabilities in complex ground environments are improved.
Patent Information
- Application Number
- CN202422010818.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-19
- Publication Date
- 2025-06-06
- Estimated Expiration
- 2034-08-19
AI Technical Summary
When an emergency management robot walks in a tunnel, it is easy to dump due to the complex ground, making it difficult to complete the inspection task stably.
An emergency management robot with anti-tilt function was designed. By setting up oblique strut groups and oblique strut wheels on both sides of it, and using power components to drive the oblique strut groups to extend or retract, oblique strut support is achieved.
Effectively prevent emergency management robots from falling, improve their stability on slopes or roads with large bumps, and ensure that the internal inspection tasks of the tunnel can be better completed.
Smart Images
Figure CN222946884U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of emergency robots, in particular to an emergency management robot with an anti-dumping function. Background Art
[0002] In tunnel construction, in order to improve construction safety, using emergency management robots to replace manual inspections of various power facilities or tunnel buildings in the tunnel is one of the main research directions for tunnel safety construction. In order to improve the ability of emergency management robots to stably and effectively complete inspection tasks in the tunnel, considering the intricate internal environment of the tunnel and the complex ground conditions, the walking stability of the emergency management robot is particularly important. Therefore, in order for the emergency management robot to better replace manual inspections of the internal conditions of the tunnel, this application provides an emergency management robot with an anti-dumping function. Utility Model Content
[0003] In order to solve the above technical problems, the utility model proposes an emergency management robot with an anti-dumping function.
[0004] The technical solution of the utility model is achieved in this way:
[0005] Disclosed is an emergency management robot with an anti-dumping function, wherein diagonal support rod groups are arranged on both sides of the emergency management robot, diagonal support wheels are installed at the bottom ends of the diagonal support rod groups, and power components for driving the diagonal support rod groups to extend or retract are connected to the top ends of the diagonal support rod groups, wherein the diagonal support wheels have a first state which is the same as the walking direction of the crawler tracks and a second state which is perpendicular to the walking direction of the crawler tracks, and when the diagonal support rod group is extending, the diagonal support wheels are in the second state, and when the diagonal support rod group is in the initial state and when the extension is completed, the diagonal support wheels are in the first state.
[0006] Furthermore, the power component is an electric push rod, and the top end of the power component is rotatably connected to the lateral track shell of the emergency management robot, and the bottom end of the power component is rotatably connected to the diagonal support rod group.
[0007] Furthermore, the inclined support wheel includes a wheel frame, a wheel body and a wheel axle, the wheel body is rotatably installed in the wheel frame, the wheel axle is fixedly installed on the top of the wheel frame, the wheel axle and the center of the wheel body are eccentrically distributed, the wheel axle is inserted into the bottom end of the inclined support rod group, and the wheel axle can rotate at the bottom end of the inclined support rod group, and a direction adjustment component for controlling the switching of the inclined support wheel between the first state and the second state is provided between the wheel axle and the inclined support rod group.
[0008] Further, the orientation adjustment member includes a bushing, a spiral groove, and a guide rod. The bushing is fixedly arranged at the bottom end of the diagonal strut group, and the bushing is sleeved outside the wheel axle. The spiral groove is formed on the surface of the bushing, the guide rod is slidably arranged in the spiral groove, and one end of the guide rod is fixed to the wheel axle.
[0009] Further, a lower buffer spring is arranged between the top end of the wheel axle and the diagonal strut group. A straight groove extending axially is formed on the surface of the bushing, and the top end of the straight groove communicates with the bottom end of the spiral groove.
[0010] Further, the diagonal strut group includes a lower rod body, a connecting rod, and a force-bearing plate. The lower rod body has a "C" - shaped structure with an open bottom. Diagonal support wheels are arranged at both ends of the lower rod body. The bottom end of the connecting rod is connected to the top of the lower rod body, the top end of the connecting rod is connected to the force-bearing plate. The outer sides of the front and rear end faces of the force-bearing plate are slidably mounted on the crawler housing in the height direction, and the inner side of the top of the force-bearing plate is connected to the power component.
[0011] Further, the connecting rod is a telescopic rod. An upper buffer spring is sleeved outside the connecting rod, and the upper and lower ends of the upper buffer spring are respectively connected to the force-bearing plate and the lower rod body.
[0012] Further, guide wheels are installed on the outer sides of the front and rear end faces of the force-bearing plate. A longitudinally distributed guide rail is sleeved outside the guide wheels, and the guide rail is fixedly installed on the crawler housing.
[0013] Further, a guide plate in contact with the outer side of the force-bearing plate is fixedly installed on the side surface of the crawler housing. When the guide wheel moves to the bottom end of the guide rail, the guide plate is separated from the force-bearing plate.
[0014] The utility model has the following beneficial effects:
[0015] 1. In this application, by setting the diagonal strut group and the diagonal support wheels to extend and deflect outward under the action of the power component, the two sides of the emergency management robot can be diagonally supported to prevent the emergency management robot from tipping over, facilitating the emergency management robot to better adapt to walking on slopes or bumpy roads. Especially during the process of one - side crawler of the emergency management robot crossing an obstacle, the emergency management robot can be prevented from tipping over.
[0016] 2. The diagonal support wheels of this application have a first state and a second state. When the diagonal support wheels are in the first state, the orientation of the diagonal support wheels is parallel to the crawler, which is more conducive to the diagonal support wheels and the diagonal strut group adapting to the movement of the emergency management robot during the support process. When the diagonal support wheels are in the second state, the orientation of the diagonal support wheels is parallel to the deflection direction of the diagonal strut group, which is more convenient for the deflection movement of the diagonal strut group. Description of the Drawings
[0017] Figure 1 This is a schematic diagram of the utility model when the diagonal brace rod assembly is stored;
[0018] Figure 2 This utility model Figure 1 A partial schematic diagram of the
[0019] Figure 3 It is a schematic diagram of the diagonal support wheel of the utility model;
[0020] Figure 4 This utility model Figure 4 Enlarged view of point A in the middle;
[0021] Figure 5 It is a schematic diagram of the utility model when the diagonal support rod group is unfolded to the diagonal support wheel just touching the ground;
[0022] Figure 6 It is a schematic diagram of the utility model when the diagonal brace is displaced outwards.
[0023] In the figure: 1. diagonal support rod group; 1.1. lower rod body; 1.2. connecting rod; 1.3. force plate; 2. diagonal support wheel; 2.1. wheel frame; 2.2. wheel body; 2.3. wheel axle; 3. power component; 4. bushing; 5. spiral groove; 6. guide rod; 7. lower buffer spring; 8. straight groove; 9. upper buffer spring; 10. guide wheel; 11. guide rail; 12. guide plate. DETAILED DESCRIPTION
[0024] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0025] like Figures 1 to 6 As shown, an emergency management robot with an anti-dumping function is provided with diagonal support rod groups 1 on both sides of the emergency management robot, and diagonal support rod groups 1 are installed with diagonal support wheels 2 at the bottom ends of the diagonal support rod groups 1, and the top ends of the diagonal support rod groups 1 are connected with power components 3 for driving the diagonal support rod groups 1 to extend or retract, wherein the diagonal support wheels 2 have a first state that is the same as the walking direction of the crawler tracks and a second state that is perpendicular to the walking direction of the crawler tracks, and when the diagonal support rod groups 1 are extending, the diagonal support wheels 2 are in the second state, and when the diagonal support rod groups 1 are in the initial state and when the extension is completed, the diagonal support wheels 2 are in the first state.
[0026] When walking on a bumpy road or a slope, the power component 3 is started, which drives the diagonal support rod group 1 to extend. During the extension of the diagonal support rod group 1, the diagonal support wheel 2 contacts the ground. When the bottom end of the diagonal support rod group 1 tilts outward, the diagonal support wheel 2 switches from the first state to the second state, so that the diagonal support rod group 1 and the diagonal support wheel 2 tilt outward as a whole to achieve oblique support for the emergency management robot. When the diagonal support rod group 1 and the diagonal support wheel 2 deflect outward to the maximum angle, the diagonal support wheel 2 recovers from the second state to the first state, so as to follow the emergency management robot.
[0027] The power component 3 is an electric push rod, and the top end of the power component 3 is rotatably connected to the track housing on the side of the emergency management robot, and the bottom end of the power component 3 is rotatably connected to the diagonal support rod group 1. The power component 3 drives the diagonal support rod group 1 to extend or retract by extending and retracting. The power component 3 can be directly electrically connected to the power source of the emergency management robot.
[0028] The diagonal support wheel 2 includes a wheel frame 2.1, a wheel body 2.2 and a wheel axle 2.3. The wheel body 2.2 is rotatably installed in the wheel frame 2.1, and the wheel axle 2.3 is fixedly installed on the top of the wheel frame 2.1. The wheel axle 2.3 and the center of the wheel body 2.2 are eccentrically distributed. The wheel axle 2.3 is inserted into the bottom end of the diagonal support rod group 1, and the wheel axle 2.3 can rotate at the bottom end of the diagonal support rod group 1. A direction adjustment component for controlling the diagonal support wheel 2 to switch between the first state and the second state is arranged between the wheel axle 2.3 and the diagonal support rod group 1.
[0029] By setting the axle 2.3 to be eccentric to the center of the wheel body 2.2, specifically, when the diagonal support wheel 2 is in the first state, the axle 2.3 is located at the front side or the rear side of the center of the wheel body 2.2, so that the friction between the wheel body 2.2 and the ground when the emergency management robot is moving can be used to more effectively ensure the orientation of the diagonal support wheel 2, so that the diagonal support wheel 2 is more stably in the first state. When the diagonal support wheel 2 is in the second state, the axle 2.3 is located at the outside or inside of the center of the wheel body 2.2, so that the friction between the wheel body 2.2 and the ground when the diagonal support rod group is deflected outward can be used to more effectively ensure the orientation of the diagonal support wheel 2, so that the diagonal support wheel 2 is more stably in the second state.
[0030] Among them, the direction adjustment component includes a sleeve 4, a spiral groove 5 and a guide rod 6. The sleeve 4 is fixedly arranged at the bottom end of the diagonal support rod group 1, and the sleeve 4 is sleeved on the outside of the wheel axle 2.3. The spiral groove 5 is opened on the surface of the sleeve 4. The guide rod 6 is slidably arranged in the spiral groove 5, and one end of the guide rod 6 is fixed to the wheel axle 2.3.
[0031] After the diagonal support wheel 2 supports on the ground, with the continuous extension of the power component 3, the diagonal support rod group 1 will cause the bushing 4 to displace downward outside the wheel axle 2.3. Furthermore, the spiral groove 5 will displace downward outside the guide rod 6, and drive the wheel axle 2.3 to rotate through the guide rod 6. The wheel axle 2.3 drives the wheel body 2.2 to rotate through the wheel frame 2.1, thereby switching the diagonal support wheel 2 from the first state to the second state. After the diagonal support rod group 1 deflects outward to the maximum angle, the wheel axle 2.3 extends out of the bushing 4, causing the guide rod 6 to displace downward in the spiral groove 5. At this time, the wheel axle 2.3 drives the wheel body 2.2 to rotate and reset through the wheel frame 2.1. Thus, when the diagonal support rod group 1 deflects to the maximum angle, the diagonal support wheel 2 returns from the second state to the first state.
[0032] A lower buffer spring 7 is arranged between the top end of the wheel axle 2.3 and the diagonal support rod group 1. A straight groove 8 extending axially is arranged on the surface of the bushing 4, and the top end of the straight groove 8 communicates with the bottom end of the spiral groove 5. When the guide rod 6 is located in the straight groove 8, the bushing 4 locks the wheel axle 2.3 to prevent the wheel body 2.2 from deflecting, fixing the orientation of the wheel body 2.2 parallel to the crawler. At the same time, the lower buffer spring 7 exerts a downward elastic force on the wheel axle 2.3, which not only helps the straight groove 8 cooperate with the guide rod 6 to lock the wheel body 2.2, but also when the wheel body 2.2 rolls on the ground, the lower buffer spring 7 can provide a certain buffering performance for the diagonal support wheel 2.
[0033] The diagonal support rod group 1 includes a lower rod body 1.1, a connecting rod 1.2 and a force-bearing plate 1.3. The lower rod body 1.1 is in a "C" - shaped structure with an open bottom. Diagonal support wheels 2 are arranged at both ends of the lower rod body 1.1. The bottom end of the connecting rod 1.2 is connected to the top of the lower rod body 1.1, and the top end of the connecting rod 1.2 is connected to the force-bearing plate 1.3. The outer sides of the front and rear end faces of the force-bearing plate 1.3 are slidably installed on the crawler housing in the height direction, and the inner side of the top of the force-bearing plate 1.3 is connected to the power component 3.
[0034] During the extension process of the power component 3, the force-bearing plate 1.3 displaces downward, and the inner end of the force-bearing plate 1.3 deflects outward with the outer end as the fulcrum, and then drives the lower rod body 1.1 to deflect outward through the connecting rod 1.2. During this process, the diagonal support wheel 2 descends and deflects outward at the same time. When the diagonal support wheel 2 touches the ground and under the pressure causes the bushing 4 to displace downward outside the wheel axle 2.3, the diagonal support wheel 2 switches from the first state to the second state to facilitate the deflection of the diagonal support rod group and the diagonal support wheel 2.
[0035] The connecting rod 1.2 is a telescopic rod, and an upper buffer spring 9 is sleeved outside the connecting rod 1.2, and the upper and lower ends of the upper buffer spring 9 are respectively connected to the force-bearing plate 1.3 and the lower rod body 1.1. The upper buffer spring 9 provides buffering performance during the process of the diagonal support rod group 1 and the diagonal support wheel 2 supporting the emergency management robot, reduces the bump when the emergency management robot travels in an inclined state, and improves stability.
[0036] Guide wheels 10 are installed on the outer sides of both front and rear end surfaces of the force-bearing plate 1.3, and longitudinally distributed guide rails 11 are sleeved on the outer sides of the guide wheels 10, and the guide rails 11 are fixedly installed on the track housing. Through the guiding effect of the guide rails 11 on the guide wheels 10, the outer side of the force-bearing plate 1.3 will descend and ascend in the vertical direction during the extension and retraction of the power component 3.
[0037] A guide plate 12 in contact with the outer side of the force-bearing plate 1.3 is fixedly mounted on the side of the track housing, and when the guide wheel 10 moves to the bottom end of the guide rail 11, the guide plate 12 separates from the force-bearing plate 1.3. When the force-bearing plate 1.3 descends, before the guide wheel 10 moves to the bottom end of the guide rail 11, the guide plate 12 contacts with the outer side of the force-bearing plate 1.3, thereby preventing the inner end of the force-bearing plate 1.3 from rotating around the guide wheel 10, thereby causing the force-bearing plate 1.3, the diagonal support rod group 1 and the diagonal support wheel 2 to descend vertically downward. When the guide wheel 10 moves to the bottom of the guide rail 11, the force-bearing plate 1.3 separates from the guide plate, and at this time, the inner end of the force-bearing plate 1.3 rotates around the guide wheel 10, causing the diagonal support rod group 1 and the diagonal support wheel 2 to deflect outward.
[0038] In particular, in the above process, before the guide wheel 10 descends to the bottom end of the guide rail 11, the sleeve 4 has been displaced downward outside the wheel axle 2.3, so that the orientation adjustment adjusts the orientation of the diagonal support wheel 2, and switches the diagonal support wheel 2 from the first state to the second state. After the diagonal support rod group 1 deflects to the maximum angle, the guide rod 6 enters the straight groove 8 from the spiral groove 5, not only switching the diagonal support wheel 2 from the second state to the first state, but also locking the diagonal support wheel 2 in the first state.
[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. An emergency management robot with anti-dumping function, characterized in that: On both sides of the emergency management robot, a set of diagonal strut bars (1) is provided. A diagonal strut wheel (2) is installed at the bottom end of the diagonal strut bar set (1). The top end of the diagonal strut bar set (1) is connected to a power component (3) for driving the diagonal strut bar set (1) to extend or retract. Among them, the diagonal strut wheel (2) has a first state in the same direction as the crawler walking direction and a second state perpendicular to the crawler walking direction. And during the extension process of the diagonal strut bar set (1), the diagonal strut wheel (2) is in the second state. When the diagonal strut bar set (1) is in the initial state and after the extension is completed, the diagonal strut wheel (2) is in the first state.
2. The emergency management robot with anti-dumping function as claimed in claim 1, characterized in that: The power component (3) is an electric push rod, and the top end of the power component (3) is rotatably connected to the crawler housing on the side of the emergency management robot. The bottom end of the power component (3) is rotatably connected to the diagonal strut bar set (1).
3. The emergency management robot with anti-dumping function as claimed in claim 1, characterized in that: The diagonal strut wheel (2) includes a wheel frame (2.1), a wheel body (2.2) and a wheel shaft (2.3). The wheel body (2.2) is rotatably installed in the wheel frame (2.1). The wheel shaft (2.3) is fixedly installed at the top of the wheel frame (2.1). The wheel shaft (2.3) is in an eccentric distribution state with the center of the wheel body (2.2). The wheel shaft (2.3) is inserted into the bottom end of the diagonal strut bar set (1), and the wheel shaft (2.3) can rotate at the bottom end of the diagonal strut bar set (1). A direction adjustment component for controlling the diagonal strut wheel (2) to switch between the first state and the second state is provided between the wheel shaft (2.3) and the diagonal strut bar set (1).
4. The emergency management robot with anti-dumping function as claimed in claim 3, characterized in that: The direction adjustment component includes a bushing (4), a spiral groove (5) and a guide rod (6). The bushing (4) is fixedly arranged at the bottom end of the diagonal strut bar set (1), and the bushing (4) is sleeved outside the wheel shaft (2.3). The spiral groove (5) is opened on the surface of the bushing (4). The guide rod (6) is slidably arranged in the spiral groove (5), and one end of the guide rod (6) is fixed to the wheel shaft (2.3).
5. The emergency management robot with anti-dumping function as claimed in claim 4, characterized in that: A lower buffer spring (7) is provided between the top end of the wheel shaft (2.3) and the diagonal strut bar set (1). A straight groove (8) extending along the axial direction is provided on the surface of the bushing (4), and the top end of the straight groove (8) is communicated with the bottom end of the spiral groove (5).
6. The emergency management robot with anti-dumping function according to claim 1, characterized in that: The diagonal strut bar set (1) includes a lower rod body (1.1), a connecting rod (1.2) and a force-bearing plate (1.3). The lower rod body (1.1) has an open-downward "C" - shaped structure. Diagonal strut wheels (2) are provided at both ends of the lower rod body (1.1). The bottom end of the connecting rod (1.2) is connected to the top of the lower rod body (1.1). The top end of the connecting rod (1.2) is connected to the force-bearing plate (1.3). The outer sides of the front and rear end faces of the force-bearing plate (1.3) are slidably installed on the crawler housing in the height direction. The inner side of the top of the force-bearing plate (1.3) is connected to the power component (3).
7. The emergency management robot with anti-dumping function as claimed in claim 6, characterized in that: The connecting rod (1.2) is a telescopic rod. An upper buffer spring (9) is sleeved outside the connecting rod (1.2), and the upper and lower ends of the upper buffer spring (9) are respectively connected to the force-bearing plate (1.3) and the lower rod body (1.1).
8. The emergency management robot with anti-dumping function as claimed in claim 6, characterized in that: Guide wheels (10) are installed on the outer sides of both front and rear end surfaces of the force-bearing plate (1.3), and the outer sides of the guide wheels (10) are sleeved with longitudinally distributed guide rails (11), and the guide rails (11) are fixedly installed on the crawler housing.
9. The emergency management robot with anti-dumping function as claimed in claim 8, characterized in that: A guide plate (12) in contact with the outer side of the force-bearing plate (1.3) is fixedly mounted on the side of the crawler shell, and when the guide wheel (10) moves to the bottom end of the guide rail (11), the guide plate (12) is separated from the force-bearing plate (1.3).