Wheel type inspection robot with anti-collision function

Abstract

The utility model discloses a wheel type inspection robot with an anti-collision function, which belongs to the technical field of robots and comprises a robot body, U-shaped frames are fixedly connected to two sides of the front end of the robot body, gears are meshed above two toothed bars, wheel shafts are fixedly connected to two sides of the robot body, and the U-shaped frames are fixedly connected to two sides of the robot body. And the other ends of the two wheel shafts penetrate through the two gears correspondingly and are fixedly connected with the inner walls of the two U-shaped frames correspondingly, the ends, away from the robot body, of the two toothed bars are fixedly connected with protection plates, and the upper portions of the two gears are connected with anti-springback assemblies correspondingly. According to the wheel type inspection robot with the anti-collision function, a gear can be blocked during rotation through an anti-collision coil spring, so that when a protection plate collides with an external object, the rotation speed of the gear is reduced, and the advancing speed of the robot is gradually reduced; and the gear is prevented from being driven to rotate reversely by springback of the anti-collision coil spring, and the stability of the robot after anti-collision is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a wheeled inspection robot with an anti-collision function. Background Art

[0002] With the rapid development of artificial intelligence (AI), intelligent inspection technology is gradually being applied to modern buildings. Building inspections can effectively ensure the safety of people and property within buildings. This is especially true in offices and residential areas where people, property, and finances gather and frequently move around. Numerous safety issues are becoming increasingly prominent, and inspection robots are being used to replace manual inspections. To prevent collision damage to inspection robots during inspections, anti-collision structures are often installed on the outside of the robots to mitigate the impact and reduce the probability of damage.

[0003] For example, the patent with announcement number CN219056434U discloses an intelligent ground wheeled inspection robot, which includes a support box, a pillar fixedly connected to the center of the top of the support box, a camera group fixedly connected to the top of the pillar, a vertical rod fixedly connected to the left side of the top of the support box, a thermal sensing probe movably connected to the top of the vertical rod, and a motor fixedly connected to the right side of the top of the support box. Through the coordinated use of the support box, pillar, camera group, vertical rod, thermal sensing probe, motor, first gear, second gear, support pipe, nozzle, water inlet pipe, water pump, partition, buffer box, slide plate, slide bar, protective plate, spring, hazardous gas detector, damper and drive motor, the functions of disinfection and collision prevention are achieved, solving the problem that the existing inspection robot does not have a disinfection structure, and while inspecting, the robot will be exposed to different environments and easily become a tool for the spread of pathogens, and does not have an anti-collision function.

[0004] However, the wheeled inspection robots in the above technologies still have the following problems:

[0005] Although the robot has a certain anti-collision effect through the action of the buffer box, skateboard and spring, when the robot collides, after the spring is compressed to form a buffering effect, the spring will generate a certain reverse rebound force after being compressed. This rebound force will push the robot in the opposite direction of the collision object, which may cause the robot to move in the opposite direction or even overturn. Utility Model Content

[0006] In response to the deficiencies of the prior art, the present invention provides a wheeled inspection robot with an anti-collision function, such as preventing the anti-collision structure from applying the buffering force in reverse to the robot after completing the collision buffering, thereby improving the stability of the robot after the collision.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a wheeled inspection robot with anti-collision function, comprising a robot body, wherein both sides of the front end of the robot body are fixedly connected to a U-shaped frame, the bottoms of the two U-shaped frames are slidably connected to gear rods, the tops of the two gear rods are meshed with gears, and both sides of the robot body are fixedly connected to wheel axles, the other ends of the two wheel axles respectively pass through the two gears and are respectively fixedly connected to the inner walls of the two U-shaped frames, the ends of the two gear rods away from the robot body are fixedly connected to protective plates, the tops of the two gears are connected to anti-rebound components, the two anti-rebound components are respectively located in the two U-shaped frames, and the two gears are provided with spring grooves on the side close to the robot body, and anti-collision springs are provided in the two spring grooves, one end of the anti-collision spring is fixedly connected to the adjacent wheel axle, and the other end is fixedly connected to the spring groove.

[0008] Furthermore, the anti-rebound assembly includes a U-shaped frame and a baffle, the two sides of the U-shaped frame are fixedly connected to the robot body and the U-shaped frame respectively, the opening of the U-shaped frame is horizontally facing the gear, and the two sides of one end of the baffle are rotatably connected to the inner walls of both sides of the U-shaped frame through a rotating shaft, and the baffle is tilted downward away from the end of the U-shaped frame and is against the tooth groove of the gear.

[0009] Furthermore, a spring hole is opened on one side of the U-shaped frame, a torsion spring is fixedly connected to the inner wall of the spring hole, and the other end of the torsion spring is fixedly connected to the rotating shaft on one side of the baffle.

[0010] Furthermore, a motor slot is provided on one side of the robot body close to the U-shaped frame, a release motor is fixedly connected in the motor slot, and an output shaft of the release motor passes through the U-shaped frame and is fixedly connected to the rotating shaft of the baffle.

[0011] Furthermore, a T-shaped sliding groove is provided on the inner wall of the bottom of the U-shaped frame, and a T-shaped sliding rod is fixedly connected to the bottom of the gear rod, and the T-shaped sliding rod is slidably connected to the T-shaped sliding groove.

[0012] Furthermore, a blocking rod is fixedly connected to one end of the gear rod away from the protective plate, the blocking rod is vertically upward, and the side of the blocking rod close to the protective plate is against the side of the gear away from the protective plate.

[0013] Furthermore, two fixed plates are provided on the side of the gear away from the protective plate, the baffle rod is located between the two fixed plates, and a number of limit rods are fixedly connected between the two fixed plates. The number of limit rods all pass through the baffle rod and are slidably connected to the baffle rod. Buffer springs are sleeved on the outer sides of the number of limit rods, and the number of buffer springs are all located on the side of the baffle rod away from the gear, and the two ends of the number of buffer springs are respectively fixedly connected to the baffle rod and a fixed plate away from the gear.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] This wheeled inspection robot with anti-collision function can block the rotation of the gear through the anti-collision spring, thereby slowing down the rotation speed of the gear when the protective plate collides with an external object, thereby gradually reducing the forward speed of the robot. When the gear rotates, the anti-rebound component prevents the gear from rotating in the opposite direction due to the rebound of the anti-collision spring after rotation, thereby avoiding being pushed backward by the reverse force of the anti-collision spring after anti-collision, and improving the stability of the robot after anti-collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall appearance and connection structure of the utility model;

[0017] Figure 2 Based on Figure 1 A cross-sectional diagram of a U-shaped frame connection structure;

[0018] Figure 3 Based on Figure 2 A schematic diagram of another connection structure;

[0019] Figure 4 Based on Figure 3 Exploded schematic diagram of the connection structure;

[0020] Figure 5 Based on Figure 4 Schematic diagram of some connection structures;

[0021] Figure 6 This is a schematic diagram of the connection structure between the gear and the anti-rebound component of the utility model;

[0022] Figure 7 This is a schematic diagram of the connection structure of the anti-rebound component of the utility model;

[0023] Figure 8 This is a schematic diagram of the connection structure on the other side of the gear of the present invention.

[0024] In the figure: 1. Robot body; 2. U-shaped frame; 3. Gear rod; 4. Gear; 5. Axle; 6. Protective plate; 7. Anti-collision coil spring; 8. U-shaped frame; 9. Baffle; 10. Torsion spring; 11. Release motor; 12. T-shaped slide bar; 13. Baffle bar; 14. Fixed plate; 15. Limit rod; 16. Buffer spring; 101. Motor slot; 201. T-shaped slide slot; 401. Coil spring slot; 801. Spring hole. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0026] See also Figures 1-8 , a wheeled inspection robot with anti-collision function, including a robot body 1, U-shaped frames 2 are fixedly connected to both sides of the front end of the robot body 1, and gear rods 3 are slidably connected to the bottom of the two U-shaped frames 2. Gears 4 are meshed on the top of the two gear rods 3, and wheel axles 5 are fixedly connected to both sides of the robot body 1. The other ends of the two wheel axles 5 respectively pass through the two gears 4 and are respectively fixedly connected to the inner walls of the two U-shaped frames 2. The two gear rods 3 are fixedly connected to the ends away from the robot body 1 with protective plates 6. Anti-rebound components are connected to the tops of the two gears 4, and the two anti-rebound components are respectively located in the two U-shaped frames 2. A coil spring groove 401 is opened on the side of the two gears 4 close to the robot body 1, and anti-collision coil springs 7 are provided in the two coil spring grooves 401. One end of the anti-collision coil spring 7 is fixedly connected to the adjacent wheel axle 5, and the other end is fixedly connected to the coil spring groove 401.

[0027] like Figures 1-8 As shown, the wheeled inspection robot with anti-collision function in the present invention is similar in structure to the existing wheeled inspection robot with anti-collision function, such as the intelligent ground wheeled inspection robot disclosed in the patent with announcement number CN219056434U. The main improvement of the present invention is that after the robot body 1 buffers the anti-collision, the anti-collision device can avoid the rebound force on the robot, thereby improving the stability after the anti-collision. Figures 1 to 8 As shown, when the wheeled inspection robot with anti-collision function in the utility model is in use, during the forward movement of the robot body 1, when the protective plate 6 contacts and collides with an external object, the gear rods 3 on both sides move toward the inside of the U-shaped frame 2, and drive the gear 4 to rotate on the wheel axle 5 through engagement. At the same time, the anti-collision coil spring 7 on the inside of the gear 4 provides resistance to the gear 4, slowing down the rotation speed of the gear 4, and then slowing down the movement speed of the gear rod 3, achieving the deceleration and anti-collision effect of the robot body 1, and after the robot body 1 collides, the anti-rebound component can prevent the gear 4 from rebounding and rotating in the opposite direction, thereby avoiding the rebound of the anti-collision coil spring 7, causing the robot body 1 to move in the opposite direction, so that the robot body 1 stops moving after the collision, making the robot body 1 more stable after anti-collision.

[0028] like Figure 1 - Figure 8As shown, the anti-rebound assembly includes a U-shaped frame 8 and a baffle 9. The two sides of the U-shaped frame 8 are fixedly connected to the robot body 1 and the U-shaped frame 2 respectively. The opening of the U-shaped frame 8 is horizontally facing the gear 4. The two sides of one end of the baffle 9 are rotatably connected to the inner walls of the U-shaped frame 8 via a rotating shaft. The end of the baffle 9 away from the U-shaped frame 8 is tilted downward and abuts against the tooth groove of the gear 4. When a collision occurs, the gear 4 rotates upward from the bottom of the baffle 9. At this time, the end of the baffle 9 will not form a blocking effect with the tooth groove of the gear 4. When the collision is completed, when the anti-collision coil spring 7 drives the gear 4 to rotate in the opposite direction, the tooth groove of the gear 4 abuts the end of the baffle 9, thereby preventing the gear 4 from rotating in the opposite direction, thereby preventing the robot body 1 from being subjected to reverse thrust and making the gear 4 only able to rotate in one direction.

[0029] like Figure 6 and Figure 7 As shown, a spring hole 801 is formed on one side of the U-shaped frame 8. A torsion spring 10 is fixedly connected to the inner wall of the spring hole 801. The other end of the torsion spring 10 is fixedly connected to the rotating shaft on one side of the baffle 9. When the gear 4 rotates due to collision, it pushes the baffle 9 upward. At this time, the torsion spring 10 will continuously push the end of the baffle 9 into the tooth groove of the gear 4. When the gear 4 is about to rotate in the reverse direction, the end of the baffle 9 can be pushed into the tooth groove of the gear 4 as soon as possible, thereby preventing the gear 4 from rotating in the reverse direction.

[0030] like Figure 4 - Figure 8 As shown, a motor slot 101 is provided on the side of the robot body 1 near the U-shaped frame 8. A release motor 11 is fixedly connected to the motor slot 101. The output shaft of the release motor 11 passes through the U-shaped frame 8 and is fixedly connected to the rotating shaft of the baffle 9. When the robot body 1 completes the collision and moves away from the collision object, the release motor 11 can be activated to drive the baffle 9 to flip upward, thereby releasing the baffle 9 from blocking the reverse rotation of the gear 4. At this time, the anti-collision coil spring 7 can drive the gear 4 to reverse, thereby driving the gear rod 3 to extend outward from the inside of the U-shaped frame 2, and then re-forming the anti-collision structure. The baffle 9 is then restored to its original position by the release motor 11, wherein the release motor 11 is a non-locking motor, allowing the baffle 9 to perform a certain degree of flipping movement on the gear 4.

[0031] like Figure 1 - Figure 5 As shown, a T-shaped slot 201 is formed on the inner wall of the bottom of the U-shaped frame 2, and a T-shaped slide bar 12 is fixedly connected to the bottom of the gear rod 3. The T-shaped slide bar 12 is slidably connected to the T-shaped slot 201. The connection between the T-shaped slide bar 12 and the T-shaped slot 201 at the bottom of the U-shaped frame 2 prevents the gear rod 3 from shaking when it is telescopically moved within the U-shaped frame 2, and the telescopic movement is more stable.

[0032] like Figure 2 - Figure 5As shown, a stopper 13 is fixedly connected to the end of the rack rod 3 away from the guard plate 6. The stopper 13 is vertically upward, and the side of the stopper 13 close to the guard plate 6 abuts against the side of the gear 4 away from the guard plate 6. By fixing the stopper 13 to the end of the rack rod 3, the connection between the rack rod 3 and the gear 4 is prevented from being disconnected when the rack rod 3 is extended outward, and the meshing transmission between the rack rod 3 and the gear 4 is always maintained.

[0033] like Figure 1 - Figure 8 As shown, two fixed plates 14 are provided on the side of the gear 4 away from the protective plate 6, and a blocking rod 13 is located between the two fixed plates 14. A number of limiting rods 15 are fixedly connected between the two fixed plates 14. The limiting rods 15 all pass through the blocking rod 13 and are slidably connected to the blocking rod 13. The outer sides of the limiting rods 15 are all sleeved with buffer springs 16. The buffer springs 16 are all located on the side of the blocking rod 13 away from the gear 4, and the two ends of the buffer springs 16 are respectively fixedly connected to the blocking rod 13 and a fixed plate 14 away from the gear 4. In the event of a collision, the gear rod 3 moves into the U-shaped frame 2 and the blocking rod 13 at the end compresses the buffer spring 16, thereby providing more buffering effect for the robot body 1 through the multiple buffer springs 16. The limiting rods 15 can prevent the buffer spring 16 from twisting and deforming when it is extended or compressed.

[0034] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention.

Claims

1. A wheeled inspection robot with an anti-collision function, comprising a robot body (1), characterized in that: Both sides of the front end of the robot body (1) are fixedly connected to U-shaped frames (2), the bottoms of the two U-shaped frames (2) are slidably connected to gear rods (3), and gears (4) are meshed above the two gear rods (3). Both sides of the robot body (1) are fixedly connected to wheel axles (5), and the other ends of the two wheel axles (5) respectively pass through the two gears (4) and are fixedly connected to the inner walls of the two U-shaped frames (2). The ends of the two gear rods (3) away from the robot body (1) are fixedly connected to protective plates (6). The tops of the two gears (4) are connected to anti-rebound components, and the two anti-rebound components are respectively located in the two U-shaped frames (2). A coil spring groove (401) is provided on the side of the two gears (4) close to the robot body (1), and an anti-collision coil spring (7) is provided in the two coil spring grooves (401). One end of the anti-collision coil spring (7) is fixedly connected to the adjacent wheel axle (5), and the other end is fixedly connected to the coil spring groove (401).

2. The wheeled inspection robot with anti-collision function according to claim 1, characterized in that: The anti-rebound component comprises a U-shaped frame (8) and a baffle (9), the two sides of the U-shaped frame (8) are fixedly connected to the robot body (1) and the U-shaped frame (2) respectively, the opening of the U-shaped frame (8) is transversely oriented toward the gear (4), both sides of one end of the baffle (9) are rotatably connected to the inner walls of the U-shaped frame (8) via a rotating shaft, and the end of the baffle (9) away from the U-shaped frame (8) is tilted downward and abuts against the tooth groove of the gear (4).

3. The wheeled inspection robot with anti-collision function according to claim 2, characterized in that: A spring hole (801) is provided on one side of the U-shaped frame (8), a torsion spring (10) is fixedly connected to the inner wall of the spring hole (801), and the other end of the torsion spring (10) is fixedly connected to the rotating shaft on one side of the baffle (9).

4. A wheeled inspection robot with anti-collision function according to claim 2 or 3, characterized in that: A motor slot (101) is provided on one side of the robot body (1) close to the U-shaped frame (8), a release motor (11) is fixedly connected in the motor slot (101), and an output shaft of the release motor (11) passes through the U-shaped frame (8) and is fixedly connected to the rotating shaft of the baffle (9).

5. A wheeled inspection robot with anti-collision function according to claim 1, 2 or 3, characterized in that: The bottom inner wall of the U-shaped frame (2) is provided with a T-shaped sliding groove (201), the bottom of the gear rod (3) is fixedly connected with a T-shaped sliding rod (12), and the T-shaped sliding rod (12) is slidably connected to the T-shaped sliding groove (201).

6. A wheeled inspection robot with anti-collision function according to claim 1, 2 or 3, characterized in that: One end of the gear rod (3) away from the protective plate (6) is fixedly connected to a blocking rod (13), the blocking rod (13) is vertically upward, and the side of the blocking rod (13) close to the protective plate (6) abuts against the side of the gear (4) away from the protective plate (6).

7. The wheeled inspection robot with anti-collision function according to claim 6, characterized in that: Two fixing plates (14) are provided on the side of the gear (4) away from the protective plate (6), the blocking rod (13) is located between the two fixing plates (14), and a plurality of limiting rods (15) are fixedly connected between the two fixing plates (14). The plurality of limiting rods (15) all pass through the blocking rod (13) and are slidably connected to the blocking rod (13). Buffer springs (16) are sleeved on the outer sides of the plurality of limiting rods (15). The plurality of buffer springs (16) are all located on the side of the blocking rod (13) away from the gear (4), and the two ends of the plurality of buffer springs (16) are respectively fixedly connected to the blocking rod (13) and a fixing plate (14) away from the gear (4).

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