Wheel type inspection robot capable of changing chassis height

Abstract

The utility model relates to the technical field of wheel type inspection robots, and discloses a wheel type inspection robot capable of changing the height of a chassis, which comprises a robot main body, motors are fixedly connected to the two sides of the robot main body, and the output ends of the motors are fixedly connected with driving gears. The side, close to the front end of the robot body, of the driving gear is engaged with a front gear rotationally connected with the robot body, and the side, away from the front gear, of the driving gear is engaged with a transmission gear rotationally connected with the robot body. According to the wheel type inspection robot capable of changing the chassis height, the motor drives the driving gear to rotate, the driving gear can drive the front side gear and the transmission gear to rotate, and the transmission gear can drive the rear side gear to rotate, so that the front side gear and the rear side gear are opposite in direction during rotation; therefore, the tires at the front end and the rear end of the robot body can get close to each other, the height of a chassis of the robot body is increased, and the robot body can conveniently advance in various complex terrains.

Description

Technical Field

[0001] The utility model relates to the technical field of wheeled inspection robots, in particular to a wheeled inspection robot with a variable chassis height. Background Art

[0002] The wheeled inspection robot is an automated inspection device that integrates multiple sensors and intelligent technologies. It is based on a wheeled mobile mechanism and can autonomously navigate, avoid obstacles and move to perform automated inspection tasks. As an important carrier of intelligent inspection technology, the wheeled inspection robot has broad application prospects in various fields.

[0003] The patent with patent authorization announcement number CN219687221U discloses a wheeled inspection robot, including a transport vehicle body, a pan-tilt head is fixedly installed on one side of the top of the transport vehicle body, and a symmetrically arranged camera is fixedly installed on the top of the pan-tilt head, and an auxiliary mechanism for use with the camera is provided on the pan-tilt head; the auxiliary mechanism includes an L-shaped plate, the L-shaped plate is slidably connected to the pan-tilt head, and a U-shaped transparent plate for use with the camera is fixedly installed on one side of the L-shaped plate; through the setting and use of the auxiliary mechanism, the lens of the camera can be shielded and protected, thereby preventing external objects from hitting the camera lens and damaging it, and in rainy and snowy weather, the cleaning plate can be driven to perform a cyclic reciprocating motion, thereby effectively scraping off the rain and snow attached to the U-shaped transparent plate near the camera lens, thereby avoiding the phenomenon of rain and snow blocking the camera's field of view, and further ensuring the normal implementation of the inspection operation.

[0004] Although the wheeled inspection robot in the above patent can avoid the phenomenon of rain and snow blocking the camera's field of view and further ensure the normal implementation of the inspection work, it still has certain defects:

[0005] In some special situations (such as search and rescue operations, disaster response, etc., where the robot needs to reach the designated location as quickly as possible, so directly crossing the obstacle is a more efficient way), wheeled robots encounter obstacles of a certain height. However, since wheeled robots are mainly used on flat roads, in order to improve driving efficiency and reduce friction and resistance with the ground, they are generally designed with a lower chassis, which makes it difficult for wheeled robots to cross obstacles of a certain height. Utility Model Content

[0006] In view of the deficiencies of the existing technology, the utility model provides a wheeled inspection robot with a variable chassis height, so that the robot body can be raised and lowered automatically, making it convenient for the robot body to adjust the height of the chassis.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a wheeled inspection robot with a changeable chassis height, comprising a robot main body, motors fixedly connected to both sides of the robot main body, a driving gear fixedly connected to the output end of the motor, a front gear rotatably connected to the robot main body on the side of the driving gear close to the front end of the robot main body, a transmission gear rotatably connected to the robot main body on the side of the driving gear away from the front gear, a rear gear rotatably connected to the robot main body on the side of the transmission gear away from the driving gear, a support connection assembly fixedly connected to the front gear and the rear gear on the sides away from the robot main body, a tire installed at the lower end of the support connection assembly, and anti-scratch assemblies connected to both ends of the robot main body.

[0008] Furthermore, the anti-scratch assembly includes a rotating gear, a side plate, an anti-scratch plate and an extension plate. Both sides of the front end and the rear end of the robot body are rotatably connected with rotating gears. The rotating gears located at the front end and the rear end of the robot body are respectively engaged with the front side gear and the rear side gear. The side plate is fixedly connected to the side of the rotating gear close to the robot body, the anti-scratch plate is fixedly connected to the end of the side plate away from the robot body, and the extension plate is slidably connected to the lower ends of the anti-scratch plate.

[0009] Furthermore, the front and rear ends of the robot body are fixed with extrusion blocks, the upper end of the anti-scratch plate is slidably connected to a rack plate that matches the extrusion block, the middle position of the anti-scratch plate is fixed with a connecting plate, the middle position of the connecting plate is rotatably connected to a winding drum, both ends of the winding drum are engaged with the rack plate, the middle position of the winding drum is fixed with a traction rope, and the other end of the traction rope is fixed to the extension plate.

[0010] Furthermore, the rack plate is L-shaped.

[0011] Furthermore, a sliding block is fixedly connected to the side of the rack plate away from the winding drum, and a sliding groove matching the sliding block is provided on the anti-scratch plate.

[0012] Furthermore, the end of the slider is arranged in a trapezoidal shape.

[0013] Furthermore, an elastic member is fixed to the upper end of the extension plate, and the other end of the elastic member is fixed to the top of the storage cavity.

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

[0015] This wheeled inspection robot with adjustable chassis height can start the motor when the robot body needs to cross an obstacle of a certain height under specific circumstances. The motor drives the driving gear to rotate, and the driving gear drives the front gear and the transmission gear to rotate. The transmission gear drives the rear gear to rotate, so that the front gear and the rear gear rotate in opposite directions. In this way, the tires at the front and rear ends of the robot body can be brought closer to each other, thereby increasing the height of the robot body chassis and facilitating the robot body to move in various complex terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of the utility model after the overall chassis is raised;

[0018] Figure 3 For this utility model Figure 2 Schematic diagram of the local enlarged structure at A in the middle;

[0019] Figure 4 This is a schematic diagram of the three-dimensional structure of the utility model as a whole when viewed from above;

[0020] Figure 5 This is a schematic diagram of the three-dimensional structure of the utility model when viewed from above in another state;

[0021] Figure 6 For this utility model Figure 5 Schematic diagram of the local enlarged structure at B in the middle;

[0022] Figure 7 This is a schematic diagram of the connection structure of the anti-scratch plate and the extension plate of the utility model when viewed from the left;

[0023] Figure 8 For this utility model Figure 7 Schematic diagram of the local enlarged structure at C in the middle;

[0024] Figure 9 This is a schematic diagram of the connection structure of the anti-scratch plate and the extension plate of the utility model.

[0025] In the figure: 1. Robot body; 2. Motor; 3. Driving gear; 4. Transmission gear; 5. Front gear; 6. Rear gear; 7. Support connection assembly; 8. Tire; 9. Rotating gear; 10. Side plate; 11. Anti-scratch plate; 12. Storage chamber; 13. Extension plate; 14. Elastic member; 15. Traction rope; 16. Winding drum; 17. Slide; 18. Slider; 19. Rack plate; 20. Extrusion block; 21. Connecting plate. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely 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.

[0027] See also Figure 1-9 A wheeled inspection robot with a changeable chassis height includes a robot body 1, motors 2 are fixedly connected to both sides of the robot body 1, a driving gear 3 is fixedly connected to the output end of the motor 2, a side of the driving gear 3 close to the front end of the robot body 1 is meshed with a front gear 5 rotatably connected to the robot body 1, a side of the driving gear 3 away from the front gear 5 is meshed with a transmission gear 4 rotatably connected to the robot body 1, a side of the transmission gear 4 away from the driving gear 3 is meshed with a rear gear 6 rotatably connected to the robot body 1, the sides of the front gear 5 and the rear gear 6 away from the robot body 1 are fixedly connected to a support connection assembly 7, a tire 8 is installed at the lower end of the support connection assembly 7, and both ends of the robot body 1 are connected to an anti-scratch assembly.

[0028] The wheeled inspection robot with adjustable chassis height in the present invention, when the robot body 1 needs to cross complex terrain or encounter obstacles of a certain height under specific circumstances (such as search and rescue operations, disaster response, etc., the robot needs to reach the designated location as soon as possible, so directly crossing the obstacle is a more efficient way), the motor 2 can be started, and the motor 2 will drive the driving gear 3 to rotate clockwise, and the driving gear 3 will drive the front gear 5 and the transmission gear 4 to rotate counterclockwise, and the transmission gear 4 will drive the rear gear 6 to rotate clockwise, so that the rotation directions of the front gear 5 and the rear gear 6 are opposite, so that the tires 8 at the front and rear ends of the robot body 1 are close to each other, thereby increasing the height of the chassis of the robot body 1, making it easier for the robot body 1 to move in various complex terrains. When the robot body 1 moves to a flat ground, the motor 2 can be started, And let the motor 2 rotate in the opposite direction (that is, the motor 2 drives the driving gear 3 to rotate counterclockwise), so that the tires 8 at the front and rear ends of the robot body 1 can be moved away from each other, thereby reducing the height of the chassis of the robot body 1 and improving the stability of the robot body 1 when it is moving. At the same time, an anti-scratch component is provided, which can prevent foreign objects (such as gravel) from contacting the chassis of the robot body 1 when the chassis of the robot body 1 is at the lowest point, causing damage to the chassis of the robot body 1. At the same time, the electric motor for starting the rotation of the tire 8 is also fixed on the supporting connection component 7, and the supporting connection component 7 belongs to an existing product, so it will not be elaborated on here. In addition, the structure of the robot body 1 in the utility model is similar to the structure of a wheeled inspection robot disclosed in the patent with patent authorization announcement number CN219687221U in the prior art, so it will not be elaborated on here.

[0029] like Figures 4 to 9 As shown, the anti-scratch assembly includes a rotating gear 9, a side plate 10, an anti-scratch plate 11, and an extension plate 13. The rotating gear 9 is rotatably connected to both sides of the front and rear ends of the robot body 1. The rotating gears 9 located at the front and rear ends of the robot body 1 respectively mesh with the front gear 5 and the rear gear 6. The side plate 10 is fixedly connected to the side of the rotating gear 9 close to the robot body 1. The anti-scratch plate 11 is fixedly connected to the end of the side plate 10 away from the robot body 1. The extension plate 13 is slidably connected to the lower end of the anti-scratch plate 11. Due to the curved design of the bottom of the robot, it does not interfere with the rotation of the anti-scratch plate 11.

[0030] like Figure 7 and Figure 9 As shown, the front and rear ends of the robot body 1 are fixed with extrusion blocks 20, the upper end of the anti-scratch plate 11 is slidably connected with a rack plate 19 that matches the extrusion block 20, the middle position of the anti-scratch plate 11 is fixed with a connecting plate 21, the middle position of the connecting plate 21 is rotatably connected with a winding drum 16, both ends of the winding drum 16 are engaged with the rack plate 19, the middle position of the winding drum 16 is fixed with a traction rope 15, and the other end of the traction rope 15 is fixed with the extension plate 13.

[0031] Specifically, when the chassis of the robot body 1 rises, the front gear 5 and the rear gear 6 will respectively drive the rotating gear 9 located at the front end and the rear end of the robot body 1 to rotate. When the rotating gear 9 located at the front end and the rear end of the robot body 1 rotates, the two anti-scratch plates 11 located at the bottom of the chassis of the robot body 1 will be rotated to the front end and the rear end of the robot body 1 respectively. When the two anti-scratch plates 11 are about to fit with the front end and the rear end of the robot body 1 respectively, the extrusion block 20 will squeeze the rack plate 19, and the rack plate 19 will push the winding drum 16 to rotate, so that the traction rope 15 is wound around the winding drum 16. When the traction rope 15 is wound, the extension plate 13 will be pulled back into the receiving chamber 12 to avoid extension The horizontal height of the bottom of the plate 13 is lower than the horizontal height of the chassis of the robot body 1, causing the extension plate 13 to collide with the obstacle. When the rotating gear 9 rotates in the opposite direction (the reverse rotation is driven by the lowering of the chassis of the robot body 1), the traction rope 15 is released, and the extension plate 13 will slide out again under the action of gravity, thereby continuing to protect the bottom of the chassis of the robot body 1. In addition, after the chassis of the robot body 1 is raised, the two scratch plates 11 will rotate to the front and rear ends of the robot body 1 respectively. At this time, the two scratch plates 11 facing the ground will be exposed, and the two scratch plates 11 will have a certain height, which is convenient for the staff to inspect or replace the scratch plates 11.

[0032] like Figure 7 As shown, the rack plates 19 are arranged in an L-shaped manner. The rack plates 19 arranged in an L-shaped manner are more easily squeezed by the squeezing blocks 20.

[0033] like Figure 7 and Figure 9 As shown, a slider 18 is fixedly connected to the side of the rack plate 19 away from the winding drum 16 , and a sliding groove 17 matching the slider 18 is formed on the anti-scratch plate 11 .

[0034] Specifically, the rack plate 19 is restricted by the slider 18 and the slide groove 17 to prevent the rack plate 19 from tilting, which would cause the rack plate 19 to lose its function.

[0035] like Figure 7 As shown, the end of the slider 18 is arranged in a trapezoidal shape. The slider 18 arranged in a trapezoidal shape has a better limiting effect.

[0036] like Figure 7 and Figure 9 As shown, an elastic member 14 is fixed to the upper end of the extension plate 13 , and the other end of the elastic member 14 is fixed to the top of the receiving cavity 12 .

[0037] Specifically, when the chassis height of the robot body 1 is lowered, the rotating gear 9 will drive the anti-scratch plate 11 to rotate toward the bottom of the robot body 1, and the traction rope 15 will also be released. At the same time, under the action of the elastic member 14, the extension plate 13 will pop out from the storage cavity 12. The elastic member 14 can prevent the extension plate 13 from getting stuck in the storage cavity 12.

[0038] It is worth noting that: even if the height of the chassis of the robot body 1 is at the lowest point, there is still a certain distance between it and the ground, and the anti-scratch plate 11 will not scratch the ground when it rotates with the rotating gear 9 as the axis.

[0039] 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 a variable chassis height, comprising a robot body (1), characterized in that: Both sides of the robot body (1) are fixedly connected to motors (2), the output end of the motor (2) is fixedly connected to a driving gear (3), the side of the driving gear (3) close to the front end of the robot body (1) is meshed with a front gear (5) rotatably connected to the robot body (1), the side of the driving gear (3) away from the front gear (5) is meshed with a transmission gear (4) rotatably connected to the robot body (1), the side of the transmission gear (4) away from the driving gear (3) is meshed with a rear gear (6) rotatably connected to the robot body (1), the sides of the front gear (5) and the rear gear (6) away from the robot body (1) are both fixedly connected to a support connection assembly (7), the lower end of the support connection assembly (7) is installed with a tire (8), and both ends of the robot body (1) are connected to anti-scratch assemblies.

2. A wheeled inspection robot with a variable chassis height according to claim 1, characterized in that: The anti-scratch assembly comprises a rotating gear (9), a side plate (10), an anti-scratch plate (11) and an extension plate (13); both sides of the front end and the rear end of the robot body (1) are rotatably connected to the rotating gear (9); the rotating gears (9) located at the front end and the rear end of the robot body (1) are respectively engaged with the front side gear (5) and the rear side gear (6); the side plate (10) is fixedly connected to the side of the rotating gear (9) close to the robot body (1); the anti-scratch plate (11) is fixedly connected to the end of the side plate (10) away from the robot body (1); and the extension plate (13) is slidably connected to the lower end of the anti-scratch plate (11).

3. The wheeled inspection robot with adjustable chassis height according to claim 2, characterized in that: The front and rear ends of the robot body (1) are fixedly connected to an extrusion block (20); the upper end of the anti-scratch plate (11) is slidably connected to a rack plate (19) that matches the extrusion block (20); the middle position of the anti-scratch plate (11) is fixedly connected to a connecting plate (21); the middle position of the connecting plate (21) is rotatably connected to a winding drum (16); both ends of the winding drum (16) are meshed with the rack plate (19); the middle position of the winding drum (16) is fixedly connected to a traction rope (15); the other end of the traction rope (15) is fixedly connected to the extension plate (13).

4. The wheeled inspection robot with adjustable chassis height according to claim 3, characterized in that: The rack plate (19) is arranged in an L-shape.

5. A wheeled inspection robot with adjustable chassis height according to claim 3 or 4, characterized in that: A sliding block (18) is fixedly connected to the side of the rack plate (19) away from the winding drum (16), and a sliding groove (17) matching the sliding block (18) is provided on the anti-scratch plate (11).

6. The wheeled inspection robot with adjustable chassis height according to claim 5, characterized in that: The end of the slider (18) is arranged in a trapezoidal shape.

7. A wheeled inspection robot with adjustable chassis height according to claim 3, 4 or 6, characterized in that: The upper end of the extension plate (13) is fixedly connected to an elastic member (14), and the other end of the elastic member (14) is fixedly connected to the top of the storage cavity (12).

8. The wheeled inspection robot with adjustable chassis height according to claim 5, characterized in that: The upper end of the extension plate (13) is fixedly connected to an elastic member (14), and the other end of the elastic member (14) is fixedly connected to the top of the storage cavity (12).

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