Obstacle crossing robot

Abstract

The utility model belongs to the field of robots, and particularly relates to an obstacle crossing robot which comprises a frame, at least two sets of lifting walking mechanisms and a plurality of auxiliary wheels. The lifting walking mechanism comprises a lifting mechanism and a driving wheel mechanism arranged at the output end of the lifting mechanism, the lifting mechanism is fixedly arranged on the frame, and the output end of the lifting mechanism faces the lower portion of the frame; the at least two sets of lifting walking mechanisms are sequentially arranged on the frame in the front-back direction of the frame. Auxiliary wheels are arranged at the position, located in front of the forefront lifting walking mechanism, between the forefront lifting walking mechanism and the rearmost lifting walking mechanism and behind the rearmost lifting walking mechanism, of the bottom of the vehicle frame. The step obstacle crossing ability provided by the lifting of the chassis can adapt to various terrains in the pipeline, and the whole structure is simple and reliable, the cost is low, the obstacle crossing ability is strong, and the production is easy. The method is especially suitable for pipeline inspection.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and particularly relates to an obstacle-crossing robot. Background Art

[0002] With the progress of technology and the acceleration of industrialization and urbanization, the scale and complexity of various pipeline systems (such as oil and gas pipelines, urban water supply and drainage pipelines, industrial conveying pipelines, nuclear power plant cooling pipelines, etc.) are constantly increasing. Traditional inspection methods are difficult to meet the growing maintenance needs. The traditional manual inspection method is time-consuming and laborious, and it is difficult to cover all areas, especially inside complex, narrow or inaccessible pipelines. Pipeline inspection robots can enter the pipeline interior autonomously or remotely to quickly complete inspection tasks, significantly improving inspection efficiency; the internal environment of many pipelines is harsh, with dangerous factors such as toxic and harmful gases, high pressure, and high temperature. Manual inspection poses extremely high safety risks. Using robots for inspection can effectively prevent personnel from being directly exposed to dangerous environments and ensure personnel safety; the built pipeline projects often do not consider the adaptation of intelligent devices in the initial design. In pipeline systems, there are often various obstacles, and even height differences and steps. Traditional manual inspection or ordinary inspection robots may need to detour or stop detection when facing these obstacles, thus reducing inspection efficiency. Therefore, there is an urgent need for an inspection robot with the function of stepping over obstacles, which can easily cross these obstacles and continue to operate continuously, reduce inspection interruptions caused by obstacles, and continue to detect deeply inside the pipeline, significantly improving the continuity and efficiency of inspection. Summary of the Utility Model

[0003] The technical problem to be solved by the utility model is to provide an obstacle-crossing robot with the function of stepping over obstacles.

[0004] The utility model provides an obstacle-crossing robot, which includes a vehicle frame, at least two groups of lifting and walking mechanisms, and several auxiliary wheels;

[0005] The lifting and walking mechanism includes a lifting mechanism and a driving wheel mechanism arranged at the output end of the lifting mechanism. The lifting mechanism is fixedly arranged on the vehicle frame, and the output end of the lifting mechanism faces downward of the vehicle frame;

[0006] At least two groups of the lifting and walking mechanisms are sequentially arranged on the vehicle frame along the front-rear direction of the vehicle frame;

[0007] The auxiliary wheels are arranged at positions on the bottom of the vehicle frame in front of the frontmost lifting and walking mechanism, between the frontmost lifting and walking mechanism and the rearmost lifting and walking mechanism, and behind the rearmost lifting and walking mechanism.

[0008] Furthermore, the driving wheel mechanism includes an axle, a driving wheel, and a multi-stage telescopic slide rail;

[0009] The axle is connected to the output end of the lifting mechanism;

[0010] The driving wheels are arranged at both ends of the axle;

[0011] The fixed rail of the multi-stage telescopic slide rail is fixedly arranged on the vehicle frame, and the last-stage movable rail is connected to the axle.

[0012] Furthermore, the axle includes a spring, and a sliding lifting block and a wheel arm that are hinged to each other;

[0013] The sliding lifting block is connected to the output end of the lifting mechanism, and the side of the sliding lifting block is fixedly connected to the last-stage movable rail;

[0014] The driving wheels are arranged at both ends of the wheel arm;

[0015] Springs are arranged on both sides of the hinge of the axle. One end of the spring abuts against the sliding lifting block, and the other end abuts against the wheel arm.

[0016] Furthermore, two sets of the multi-stage telescopic slide rails are provided, and both sides of the sliding lifting block are respectively fixedly connected to the last-stage movable rails of one set of the multi-stage telescopic slide rails.

[0017] Furthermore, a limiting gasket is arranged at one end of the wheel arm close to the driving wheel. When the wheel arm rotates to the maximum angle along the hinge, the limiting gasket abuts against the end of the last-stage movable rail for limiting.

[0018] Furthermore, a motor driver is fixedly arranged on the last-stage movable rails of the two sets of the multi-stage telescopic slide rails.

[0019] Furthermore, the driving wheels are hub motors, and the hub motors are electrically connected to the motor driver.

[0020] Furthermore, several auxiliary wheels are arranged in a straight line along the front-back direction of the vehicle frame.

[0021] Furthermore, when the lifting and traveling mechanism is in the ascending state, the driving wheel mechanism is lower than the auxiliary wheels.

[0022] Furthermore, the lifting mechanism is an electric cylinder.

[0023] The beneficial effects of the present utility model are as follows. The obstacle-crossing robot provided by the present utility model can move over obstacles when encountering them, and is particularly suitable for crossing steps. The lifting walking mechanism is used to lift the vehicle frame so that the vehicle frame can cross obstacles. A driving wheel mechanism is arranged on the lifting walking mechanism, which can ensure that the obstacle-crossing robot has walking power in any state, ensuring that the obstacle-crossing robot can keep moving forward. The auxiliary wheels are arranged to contact the ground with the vehicle frame after the lifting walking mechanism is lifted and crosses the obstacle during obstacle crossing, ensuring the smoothness of obstacle crossing, and can be used to assist the driving wheel mechanism during normal walking.

[0024] That is, the step-crossing ability provided by the chassis lifting of the present utility model can adapt to various terrains in the pipeline, and the overall structure is simple and reliable, with low cost, strong obstacle-crossing ability, and easy to produce. It is particularly suitable for pipeline inspection. Brief Description of the Drawings

[0025] Appendix Figure 1 is a schematic structural diagram of the obstacle-crossing robot of the present utility model from the first angle;

[0026] Appendix Figure 2 is a schematic structural diagram of the obstacle-crossing robot of the present utility model from the second angle;

[0027] Appendix Figure 3 is for Appendix Figure 2 is a partial enlarged view of part A in Appendix;

[0028] Appendix Figure 4 is the front view of the obstacle-crossing robot of the present utility model;

[0029] Appendix Figure 5 is a schematic diagram of the process of the obstacle-crossing robot of the present utility model going up the steps;

[0030] Appendix Figure 6 is a schematic diagram of the process of the obstacle-crossing robot of the present utility model going down the steps.

[0031] In the figure, 1 - vehicle frame; 2 - lifting walking mechanism; 21 - lifting mechanism; 22 - driving wheel mechanism; 221 - axle; 2211 - sliding lifting block; 2212 - wheel arm; 2213 - spring; 2214 - limit gasket; 222 - driving wheel; 223 - multi-stage telescopic slide rail; 224 - motor driver; 3 - auxiliary wheel. Detailed Embodiment

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0033] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0034] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0035] In the present invention, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, a physical connection or a wireless communication connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0036] In addition, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0037] As shown in the Figure 1 - Figure 6 accompanying drawings, the present invention provides an obstacle-crossing robot, including a frame 1, at least two groups of lifting and walking mechanisms 2, and several auxiliary wheels 3;

[0038] The lifting and traveling mechanism 2 includes a lifting mechanism 21 and a driving wheel mechanism 22 disposed at the output end of the lifting mechanism 21. The lifting mechanism 21 is fixedly arranged on the vehicle frame 1, and the output end of the lifting mechanism 21 faces downward of the vehicle frame 1. The lifting mechanism 21 can drive the driving wheel mechanism 22 to lift along the height direction of the vehicle frame 1, wherein the driving wheel mechanism 22 has a driving wheel 222 with power.

[0039] At least two sets of the lifting and traveling mechanisms 2 are sequentially arranged on the vehicle frame 1 in the front-rear direction of the vehicle frame 1, and each set of the lifting and traveling mechanisms 2 can be independently controlled.

[0040] Auxiliary wheels 3 are arranged at positions on the bottom of the vehicle frame 1 in front of the foremost lifting and traveling mechanism 2, between the foremost lifting and traveling mechanism 2 and the rearmost lifting and traveling mechanism 2, and behind the rearmost lifting and traveling mechanism 2. The auxiliary wheels 3 can be non-powered auxiliary wheels or powered auxiliary wheels.

[0041] For the obstacle-crossing robot provided by the present utility model, when encountering a step, it can move after crossing the step. The lifting and traveling mechanism 2 is used to lift the vehicle frame 1 so that the vehicle frame 1 can achieve step obstacle crossing. The driving wheel mechanism 22 is arranged on the lifting and traveling mechanism 2, which can ensure that the obstacle-crossing robot has traveling power in any state and ensure that the obstacle-crossing robot can continue to move forward. The arrangement of the auxiliary wheels 3 can make the vehicle frame 1 contact the ground after the lifting and traveling mechanism 2 lifts and crosses the obstacle during obstacle crossing, ensuring the smoothness of obstacle crossing, and can be used to assist the driving wheel mechanism 22 during normal walking.

[0042] That is, the step obstacle-crossing ability provided by the chassis lifting of the present utility model can adapt to various terrains in the pipeline, and the overall structure is simple and reliable, with low cost, strong obstacle-crossing ability and easy production. It is particularly suitable for pipeline inspection. During pipeline inspection, a camera or various detection sensors can be arranged on the vehicle frame 1 for inspection work. When passing through a water accumulation area, the robot can raise the vehicle frame 1 to prevent internal water ingress, and at the same time, the water accumulation height can be obtained by comparing the lifting height of the vehicle frame 1 and the ground clearance detected by the vehicle frame 1. Moreover, the obstacle-crossing robot can lift the vehicle frame 1 during the inspection process to achieve inspection of different height areas.

[0043] In one embodiment, preferably two sets of the lifting and traveling mechanisms 2 are provided. Two sets of the lifting and traveling mechanisms 2 can meet the obstacle-crossing function, thereby ensuring the cost.

[0044] In one embodiment, the driving wheel mechanism 22 includes an axle 221, a driving wheel 222, and a multi-stage telescopic slide rail 223.

[0045] The axle 221 is connected to the output end of the lifting mechanism 21.

[0046] At both ends of the axle 221, the driving wheels 222 are provided, that is, the axle 221 realizes a lifting mechanism 21 connecting two driving wheels 222, so that at least two groups of driving wheel mechanisms 22 can make the frame 1 move stably, avoid the frame 1 from tilting, and keep the frame 1 horizontal during the obstacle-crossing process;

[0047] The fixed rail of the multi-stage telescopic slide rail 223 is fixedly arranged on the frame 1, and the last-stage movable rail is connected to the axle 221. By setting the multi-stage telescopic slide rail 223, when the lifting mechanism 21 drives the axle 221 to lift and lower, the lifting stability and reliability of the axle 221 can be improved, the guiding burden of the lifting mechanism 21 can be reduced, and the slide rail mechanism can be telescoped along with the lifting and lowering of the lifting mechanism 21, which can ensure that the guiding support effect can still be provided when the lifting mechanism 21 drives the axle 221 to lower.

[0048] In one embodiment, the axle 221 includes a spring 2213 and a sliding lifting block 2211 and a wheel arm 2212 that are hinged to each other;

[0049] The sliding lifting block 2211 is connected to the output end of the lifting mechanism 21, and the side of the sliding lifting block 2211 is fixedly connected to the last-stage movable rail;

[0050] The driving wheels 222 are arranged at both ends of the wheel arm 2212;

[0051] The springs 2213 are arranged on both sides of the hinge of the axle 221. One end of the spring 2213 abuts against the sliding lifting block 2211, and the other end abuts against the wheel arm 2212. In this embodiment, the axle 221 enables the two driving wheels 222 to have the ability to swing left and right, ensuring the grip of the driving wheels 222 on various terrains.

[0052] In one embodiment, two groups of the multi-stage telescopic slide rails 223 are provided, and both sides of the sliding lifting block 2211 are fixedly connected to the last-stage movable rails of one group of the multi-stage telescopic slide rails 223 respectively. By setting two groups of the multi-stage telescopic slide rails 223, the lifting stability and reliability of the axle 221 are further improved.

[0053] In one embodiment, a limit shim 2214 is provided at one end of the wheel arm 2212 close to the driving wheel 222. When the wheel arm 2212 rotates to the maximum angle along the hinge, the limit shim 2214 abuts against and limits the end of the last-stage movable rail. In this embodiment, the end of the last-stage movable rail serves as the limit structure for the swing of the wheel arm 2212, which can limit the maximum swing angle of the wheel arm 2212 and prevent the over-obstacle robot from tipping over due to excessive left and right swing of the two driving wheels 222. The characteristic that the last-stage movable rail and the axle 221 are lifted together is reasonably utilized. The setting of the limit shim 2214 can adjust the limit range of the angle by adjusting the height of the limit shim 2214. At the same time, it can also protect the wheel arm 2212, avoid extrusion damage to the wheel arm 2212, and improve the service life of the axle 221.

[0054] In one embodiment, a motor driver 224 is also fixedly provided on the last-stage movable rail of the two groups of multi-stage telescopic slide rails 223. The motor driver 224 is used to connect the power motor of the driving wheel 222. The motor driver 224 is fixed on the last-stage movable rail of the multi-stage telescopic slide rail 223 and can be lifted and lowered along with the last-stage movable rail of the multi-stage telescopic slide rail 223, thereby ensuring that the motor driver 224 and the power motor of the driving wheel 222 always maintain a certain distance, facilitating the electrical connection between the two. At the same time, it can also keep the motor driver 224 at a certain distance from the bottom of the vehicle frame 1, ensuring the ground clearance of the motor driver 224 and improving its safety.

[0055] In one embodiment, the driving wheel 222 is a hub motor, and the hub motor is electrically connected to the motor driver 224. The use of the hub motor for the driving wheel 222 can simplify the structure of the axle 221 and also ensure the structural compactness of the over-obstacle robot.

[0056] In one embodiment, several auxiliary wheels 3 are arranged in a straight line along the front-back direction of the vehicle frame 1. At this time, the auxiliary wheels 3 adopt a single-wheel structure, reducing the number as much as possible on the basis of meeting the use requirements, thereby reducing costs. Preferably, the connection line of several auxiliary wheels 3 is located between the two driving wheels 222.

[0057] In one embodiment, when the lifting and traveling mechanism 2 is in the rising state, the driving wheel mechanism 22 is lower than the auxiliary wheel 3. At this time, the auxiliary wheel 3 is in a suspended state, and only the driving wheel 222 is in contact with the ground, which can reduce the driving resistance.

[0058] In one embodiment, the lifting mechanism 21 is an electric cylinder. Preferably, both the electric cylinder and the driving wheel 222 are powered by a storage battery to simplify the driving structure. In other embodiments, the lifting mechanism 21 can also adopt a cylinder or a hydraulic cylinder.

[0059] Reference appendix Figure 5 , the steps for the obstacle - climbing robot to climb the steps are as follows:

[0060] S11, referring to Figure ① in the reference appendix Figure 5 , before the obstacle - climbing robot climbs the steps, all the lifting and walking mechanisms 2 are in the ascending state, all the driving wheels 222 are in rolling contact with the ground below the steps and move, and all the auxiliary wheels 3 are in the suspended state;

[0061] S12, referring to Figure ② in the reference appendix Figure 5 , when moving to the front of the steps, the lifting mechanisms 21 in all the lifting and walking mechanisms 2 descend, jack up the vehicle frame 1 and make the auxiliary wheels 3 level with the steps;

[0062] S13, referring to Figure ③ in the reference appendix Figure 5 , the driving wheels 222 drive the obstacle - climbing robot forward until the auxiliary wheel 3 in front of the front - most lifting and walking mechanism 2 contacts the steps;

[0063] S14, referring to Figure ④ in the reference appendix Figure 5 , the lifting mechanism 21 of the front - most lifting and walking mechanism 2 ascends. After ascending to the highest point, the driving wheels 222 of the front - most lifting and walking mechanism 2 are level with the steps;

[0064] S15, referring to Figure ⑤ in the reference appendix Figure 5 , the driving wheels 222 drive the obstacle - climbing robot forward until the auxiliary wheel 3 between the front - most lifting and walking mechanism 2 and the rear - most lifting and walking mechanism 2 is above the steps;

[0065] S16, referring to Figure ⑥ in the reference appendix Figure 5 , the lifting mechanism 21 of the rear - most lifting and walking mechanism 2 ascends to the highest point. At this time, the auxiliary wheel 3 between the front - most lifting and walking mechanism 2 and the rear - most lifting and walking mechanism 2 contacts above the steps;

[0066] S17, referring to Figure ⑦ in the reference appendix Figure 5 , the driving wheels 222 drive the obstacle - climbing robot forward so that all the driving wheels 222 are in rolling contact with the ground above the steps, and all the auxiliary wheels 3 are in the suspended state, completing the operation of the obstacle - climbing robot climbing the steps.

[0067] Reference appendix Figure 6 , the steps for the obstacle - climbing robot to descend the steps are as follows:

[0068] S21, referring to Figure ① in the reference appendix Figure 6 , before the obstacle - climbing robot descends the steps, all the lifting and walking mechanisms 2 are in the ascending state, all the driving wheels 222 are in rolling contact with the ground above the steps and move, and all the auxiliary wheels 3 are in the suspended state;

[0069] S22, referring to Figure 6 Figure ② in the appendix, the obstacle - climbing robot continues to move until the auxiliary wheel 3 in front of the foremost lifting and walking mechanism 2 and the foremost lifting and walking mechanism 2 leave above the step and are suspended.

[0070] S23, referring to Figure 6 Figure ③ in the appendix, the lifting mechanism 21 of the foremost lifting and walking mechanism 2 descends until its driving wheel 222 contacts the lower part of the step.

[0071] S24, referring to Figure 6 Figure ④ in the appendix, the obstacle - climbing robot continues to move until the auxiliary wheel 3 between the foremost lifting and walking mechanism 2 and the rearmost lifting and walking mechanism 2 and the driving wheel 222 of the rearmost lifting and walking mechanism 2 leave above the step and are suspended.

[0072] S25, referring to Figure 6 Figure ⑤ in the appendix, the lifting mechanism 21 of the rearmost lifting and walking mechanism 2 descends until its driving wheel 222 contacts the lower part of the step.

[0073] S26, referring to Figure 6 Figure ⑥ in the appendix, the obstacle - climbing robot continues to move until the auxiliary wheel 3 behind the rearmost lifting and walking mechanism 2 leaves above the step and is suspended.

[0074] S27, referring to Figure 6 Figure ⑦ in the appendix, the lifting mechanisms 21 of all the lifting and walking mechanisms 2 rise, lower the vehicle frame 1 to the ground below the step, all the driving wheels 222 roll - contact the ground below the step and move, and all the auxiliary wheels 3 are in a suspended state, completing the operation of the obstacle - climbing robot going down the step.

[0075] As described above, this is only an embodiment and does not impose any limitation on the present utility model. Any person skilled in the art can, without departing from the scope of the technical solution of the present utility model, make many possible changes, modifications or equivalents to equivalent embodiments by using the technical content disclosed above. Therefore, any simple modification, equivalent change and modification made to the above - mentioned embodiments based on the technical essence of the present utility model without departing from the content of the technical solution of the present utility model shall fall within the scope of protection of the technical solution of the present utility model.

Claims

1. An obstacle-crossing robot, characterized in that, It includes a frame (1), at least two sets of lifting and traveling mechanisms (2), and several auxiliary wheels (3); The lifting and traveling mechanism (2) includes a lifting mechanism (21) and a driving wheel mechanism (22) provided at the output end of the lifting mechanism (21). The lifting mechanism (21) is fixedly provided on the frame (1), and the output end of the lifting mechanism (21) faces downward of the frame (1); At least two sets of the lifting and traveling mechanisms (2) are sequentially arranged on the frame (1) in the front-rear direction of the frame (1); The auxiliary wheels (3) are provided at positions on the bottom of the frame (1) in front of the foremost lifting and traveling mechanism (2), between the foremost lifting and traveling mechanism (2) and the rearmost lifting and traveling mechanism (2), and behind the rearmost lifting and traveling mechanism (2).

2. The obstacle-crossing robot according to claim 1, wherein, The driving wheel mechanism (22) includes an axle (221), a driving wheel (222), and a multi-stage telescopic slide rail (223); The axle (221) is connected to the output end of the lifting mechanism (21); The driving wheels (222) are provided at both ends of the axle (221); The fixed rail of the multi-stage telescopic slide rail (223) is fixedly provided on the frame (1), and the last-stage movable rail is connected to the axle (221).

3. The obstacle-crossing robot according to claim 2, wherein, The axle (221) includes a spring (2213), and a sliding and lifting block (2211) and a wheel arm (2212) that are hinged to each other; The sliding and lifting block (2211) is connected to the output end of the lifting mechanism (21), and the side of the sliding and lifting block (2211) is fixedly connected to the last-stage movable rail; The driving wheels (222) are provided at both ends of the wheel arm (2212); Springs (2213) are provided on both sides of the axle (221) at the hinge position. One end of the spring (2213) abuts against the sliding and lifting block (2211), and the other end abuts against the wheel arm (2212).

4. The obstacle-crossing robot according to claim 3, characterized in that, Two sets of the multi-stage telescopic slide rails (223) are provided, and both sides of the sliding and lifting block (2211) are respectively fixedly connected to the last-stage movable rails of one set of the multi-stage telescopic slide rails (223).

5. The obstacle-crossing robot according to claim 4, wherein, A limit gasket (2214) is provided at one end of the wheel arm (2212) close to the driving wheel (222). When the wheel arm (2212) rotates to the maximum angle along the hinge position, the limit gasket (2214) abuts against the end of the last-stage movable rail for limiting.

6. The obstacle-crossing robot according to claim 4, characterized in that, Motor drivers (224) are also fixedly provided on the last-stage movable rails of the two sets of the multi-stage telescopic slide rails (223).

7. The obstacle-crossing robot according to claim 6, characterized in that, The driving wheel (222) is a hub motor, and the hub motor is electrically connected to the motor driver (224).

8. The obstacle-crossing robot according to any one of claims 1 to 7, characterized in that, Several of the auxiliary wheels (3) are arranged in a straight line in the front-rear direction of the frame (1).

9. The obstacle-crossing robot according to any one of claims 1-7, characterized in that, in When the lifting and traveling mechanism (2) is in the rising state, the driving wheel mechanism (22) is lower than the auxiliary wheels (3).

10. The obstacle-crossing robot according to any one of claims 1-7, characterized in that, The lifting mechanism (21) is an electric cylinder.

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