Walking device for detection robot

Abstract

The utility model relates to the technical field of detection robots, in particular to a walking device for a detection robot, which comprises a vehicle body and cleaning devices, one side of the vehicle body is rotatably connected with a round wheel, the surface of the round wheel is sleeved with a crawler belt, the cleaning devices are arranged on two sides of the vehicle body, and each cleaning device comprises an assembly plate which is fixedly connected with the vehicle body. A water tank is fixedly connected to the surface of the assembly plate, a hopper is fixedly connected to the upper surface of the water tank, a circular ring is fixedly connected to one side of the water tank, a water pump is fixedly connected to the surface of the circular ring, and a spray head is fixedly connected to one side of the water tank. Most of sludge is preliminarily washed away through impact force of cleaning liquid, stubborn sludge on the surface of the crawler belt is scraped through cooperation of an air cylinder, a pressure spring, a push rod and a brush, the sludge on the crawler belt can be more comprehensively and efficiently removed in the mode that spraying and scraping are combined, and the effect is better compared with a single cleaning mode.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, and in particular to a walking device for an inspection robot. Background Technology

[0002] The locomotion system of the inspection robot is a key component, with diverse functions and ingenious design. The wheeled locomotion system moves quickly and efficiently on flat ground by rolling wheels, and is suitable for environments such as factory workshops. The tracked locomotion system has a large ground contact area and strong grip, and can adapt to complex terrains such as sand and snow, and has excellent obstacle crossing ability. The legged locomotion system imitates the gait of biological organisms, and can flexibly traverse narrow spaces and climb stairs.

[0003] Existing technologies, such as the utility model with publication number CN212718676U, relate to the field of pipeline inspection, specifically a walking device for a pipeline inspection robot. The device includes a robot body, a base connected to the top of the robot body, an electric cylinder connected to the top of the base, and a top wheel connected to the output end of the electric cylinder. This utility model uses the electric cylinder to drive the top wheel upwards, causing it to contact the top wall of the pipeline, thereby applying pressure to the robot body's walking wheels and preventing slippage that could prevent the robot from moving. The top wheel also includes a sleeve connected to the output end of the electric cylinder, with a push rod embedded inside the sleeve. A spring connects the push rod and the sleeve, changing the rigid contact between the roller and the top wall of the pipeline to an elastic contact, thus increasing the robot's maneuverability.

[0004] However, during use, the accumulation of mud on the track surface increases the weight of the track, leading to a significant increase in energy consumption when the robot is walking, shortening its battery life, and affecting the continuous operation of inspection work. Secondly, the presence of mud reduces the friction between the track and the ground, reducing the track's grip and causing the robot to slip, deviate, or even fail to move normally, seriously affecting its passability and maneuverability in different terrains. Utility Model Content

[0005] The purpose of this invention is to address the problems in existing technologies where the accumulation of mud on the track surface during use increases the track weight, leading to a significant increase in energy consumption and a shortened battery life, thus affecting the continuous operation of inspection work. Furthermore, the presence of mud reduces the friction between the track and the ground, decreasing the track's grip and causing the robot to slip, deviate, or even become unable to move normally, severely impacting its passability and maneuverability in different terrains. Therefore, this invention proposes a walking device for inspection robots.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: a walking device for a detection robot, comprising a vehicle body and a cleaning device. A wheel is rotatably connected to one side of the vehicle body, and a track is fitted onto the surface of the wheel. The cleaning device is disposed on both sides of the vehicle body. The cleaning device includes an assembly plate, which is fixedly connected to the vehicle body. A water tank is fixedly connected to the surface of the assembly plate, and a hopper is fixedly connected to the upper surface of the water tank. A ring is fixedly connected to one side of the water tank, and a water pump is fixedly connected to the surface of the ring. A nozzle is fixedly connected to one side of the water tank. The drive end of the water pump is connected to the nozzle. The mounting plate has a through hole on the side near the track. A push rod is slidably connected to the inner wall of the through hole. A brush is fixedly connected to the end of the push rod near the track. By setting up a cleaning device, the water pump first sprays the cleaning liquid from the nozzle to spray the track surface. The impact force of the cleaning liquid initially washes away most of the silt. Then, the cylinder, pressure spring, push rod and brush work together to scrape off the stubborn silt on the track surface. The combination of spraying and scraping can more comprehensively and efficiently remove the silt on the track, which is more effective than a single cleaning method.

[0007] Preferably, the brush contacts the track, and a cylinder is fixedly connected to the side of the mounting plate near the push rod. By setting the brush, when the water pump drives the cleaning fluid to spray onto the track surface through the nozzle to wash away the silt, the brush works in conjunction with the spray to scrape off the stubborn silt on the track surface, so as to help the cleaning fluid to more effectively clean the dirt on the track surface.

[0008] Preferably, the drive end of the cylinder is fixedly connected to a telescopic rod, and a rocker arm is rotatably connected to the surface of the telescopic rod. By setting the telescopic rod, the cylinder drives the telescopic rod to pull back, causing the pressure spring to lose its restraint. The pressure spring generates elastic force to squeeze the push rod, thereby driving the brush to abut against the track, allowing the brush to work with the cleaning liquid spray to scrape away the stubborn silt on the track surface.

[0009] Preferably, the end of the rocker arm away from the telescopic rod is rotatably connected to the push rod. The brush has soft bristles on the side near the track. By setting the push rod, when the cylinder drives the telescopic rod to pull back, the pressure spring loses its restraint and generates elastic force. The elastic force squeezes the push rod, and the push rod moves the brush towards the track under pressure, so that the brush comes into contact with the track. This allows the brush to work with the spraying of cleaning liquid to scrape away stubborn sludge on the track surface, thus cleaning the track.

[0010] Preferably, a pressure spring is fitted on the surface of the push rod, and the two ends of the pressure spring are fixedly connected to the push rod and the mounting plate, respectively. By setting the pressure spring, when the cylinder drives the telescopic rod to pull back, the pressure spring loses the restraint of the telescopic rod. At this time, the pressure spring generates elastic force, which squeezes the push rod, and the push rod drives the brush to move, so that the brush abuts against the surface of the track.

[0011] Preferably, the water tank has a water inlet on the side near the hopper, and the hopper is connected to the water tank.

[0012] Preferably, the nozzle is inclined, and the inclination angle of the nozzle corresponds to the track. There are two water tanks, which are symmetrically arranged. By setting up water tanks, the cleaning fluid is added to the water tanks through the hopper before use. The water tanks act as storage containers, which can hold a certain amount of cleaning fluid to provide cleaning fluid reserves for subsequent track cleaning work, ensuring that the cleaning work can be carried out continuously without interruption due to insufficient cleaning fluid.

[0013] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0014] In this invention, before use, the cleaning liquid is added to the water tank through the hopper, and then the water pump is started. The water pump drives the cleaning liquid to be sprayed out through the nozzle and sprayed on the surface of the track to wash away the silt. At the same time, the cylinder drives the telescopic rod to pull back, and the pressure spring loses its restraint and generates elastic force to squeeze the push rod and drive the brush to abut against the track. Together with the spray, the stubborn silt on the surface of the track is scraped off. After cleaning is completed, the cylinder drives the telescopic rod to rise, the telescopic rod squeezes the rocker arm, and the rocker arm pulls the push rod to move the brush away from the track.

[0015] By designing this utility model, the cleaning liquid is first sprayed from the nozzle onto the track surface by a water pump. The impact force of the cleaning liquid initially washes away most of the silt. Then, the cylinder, pressure spring, push rod, and brush are used to scrape away the stubborn silt on the track surface. The combination of spraying and scraping can more comprehensively and efficiently remove the silt from the track, and the effect is better than a single cleaning method. Attached Figure Description

[0016] Figure 1 This utility model provides a three-dimensional structural diagram of a walking device for a detection robot;

[0017] Figure 2 This utility model provides a side view structural diagram of a walking device for a detection robot;

[0018] Figure 3 This utility model provides a schematic diagram of the water tank structure for a walking device of a detection robot;

[0019] Figure 4 This utility model provides a schematic diagram of the nozzle structure of a walking device for a detection robot;

[0020] Figure 5 This utility model proposes a walking device for a detection robot. Figure 4 A magnified structural diagram at point A.

[0021] Legend: 1. Vehicle body; 2. Wheel; 3. Track; 4. Cleaning device; 41. Water tank; 42. Assembly plate; 43. Hopper; 44. Water pump; 45. Ring; 46. Nozzle; 47. Cylinder; 48. Rocker arm; 49. Telescopic rod; 410. Push rod; 411. Pressure spring; 412. Brush. Detailed Implementation

[0022] Please see Figures 1-5 This utility model provides a technical solution: a walking device for a detection robot, including a vehicle body 1 and a cleaning device 4. A wheel 2 is rotatably connected to one side of the vehicle body 1, and a track 3 is fitted on the surface of the wheel 2. The cleaning device 4 is arranged on both sides of the vehicle body 1.

[0023] In this embodiment: the cleaning device 4 includes an assembly plate 42, which is fixedly connected to the vehicle body 1. A water tank 41 is fixedly connected to the surface of the assembly plate 42, and a hopper 43 is fixedly connected to the upper surface of the water tank 41. A ring 45 is fixedly connected to one side of the water tank 41, and a water pump 44 is fixedly connected to the surface of the ring 45. A nozzle 46 is fixedly connected to one side of the water tank 41, and the drive end of the water pump 44 is connected to the nozzle 46. A through hole is opened on the side of the assembly plate 42 near the track 3, and a sliding connection is made to the inner wall of the through hole of the assembly plate 42. Push rod 410, with brush 412 fixedly connected to one end near track 3. By setting up cleaning device 4, firstly, water pump 44 sprays cleaning liquid from nozzle 46 onto the surface of track 3, using the impact force of the cleaning liquid to initially wash away most of the silt. Then, in conjunction with cylinder 47, pressure spring 411, push rod 410 and brush 412, the stubborn silt on the surface of track 3 is scraped off. The combination of spraying and scraping can more comprehensively and efficiently remove the silt on track 3, and the effect is better than a single cleaning method.

[0024] Specifically, the brush 412 contacts the track 3, and the mounting plate 42 is fixedly connected to the cylinder 47 on the side near the push rod 410. By setting the brush 412, when the water pump 44 drives the cleaning fluid to spray on the surface of the track 3 through the nozzle 46 to wash away the silt, the brush 412 works in conjunction with the spray to scrape off the stubborn silt on the surface of the track 3, so as to help the cleaning fluid to more effectively clean the dirt on the surface of the track 3.

[0025] Specifically, a telescopic rod 49 is fixedly connected to the drive end of the cylinder 47, and a rocker arm 48 is rotatably connected to the surface of the telescopic rod 49. By setting the telescopic rod 49, the cylinder 47 drives the telescopic rod 49 to pull back, causing the pressure spring 411 to lose its restraint. The pressure spring 411 generates elastic force to squeeze the push rod 410, thereby driving the brush 412 to abut against the track 3, allowing the brush 412 to work with the cleaning fluid spray to scrape away the stubborn silt on the surface of the track 3.

[0026] Specifically, the end of the rocker arm 48 away from the telescopic rod 49 is rotatably connected to the push rod 410. The brush 412 has soft bristles on the side near the track 3. By setting the push rod 410, when the cylinder 47 drives the telescopic rod 49 to pull back, the pressure spring 411 loses its restraint and generates elastic force. The elastic force squeezes the push rod 410. Under the pressure, the push rod 410 drives the brush 412 to move towards the track 3, so that the brush 412 abuts against the track 3. This allows the brush 412 to work with the spraying of cleaning fluid to scrape away the stubborn mud on the surface of the track 3, thus cleaning the track 3.

[0027] Specifically, a pressure spring 411 is fitted onto the surface of the push rod 410, and the two ends of the pressure spring 411 are fixedly connected to the push rod 410 and the mounting plate 42, respectively.

[0028] In this embodiment: by setting a pressure spring 411, when the cylinder 47 drives the telescopic rod 49 to pull back, the pressure spring 411 loses the restraint of the telescopic rod 49. At this time, the pressure spring 411 generates elastic force, which squeezes the push rod 410. The push rod 410 drives the brush 412 to move, so that the brush 412 abuts against the surface of the track 3.

[0029] Specifically, the water tank 41 has a water inlet on the side near the hopper 43, and the hopper 43 is connected to the water tank 41.

[0030] Specifically, the nozzle 46 is set at an angle, and the angle of the nozzle 46 corresponds to the track 3. There are two water tanks 41, which are set symmetrically.

[0031] In this embodiment: by setting up a water tank 41, the cleaning liquid is added to the water tank 41 through the hopper 43 before use. The water tank 41 acts as a storage container that can hold a certain amount of cleaning liquid, providing cleaning liquid reserves for subsequent track 3 cleaning work, ensuring that the cleaning work can continue and will not be interrupted due to insufficient cleaning liquid.

[0032] Working principle: Before use, cleaning fluid is added to water tank 41 through hopper 43. Then, water pump 44 is started, and water pump 44 drives the cleaning fluid to be sprayed through nozzle 46 onto the surface of track 3 to wash away the silt. At the same time, cylinder 47 drives telescopic rod 49 to pull back, and pressure spring 411 loses its restraint and generates elastic force to squeeze push rod 410, which drives brush 412 to abut against track 3. Together with the spray, it scrapes away stubborn silt from the surface of track 3. After cleaning is completed, cylinder 47 drives telescopic rod 49 to rise, and telescopic rod 49 squeezes... The rocker arm 48 pulls the push rod 410, which in turn moves the brush 412 away from the track 3. By setting up this utility model, the cleaning liquid is first sprayed from the nozzle 46 by the water pump 44 to spray the surface of the track 3. The impact force of the cleaning liquid is used to initially wash away most of the silt. Then, the cylinder 47, pressure spring 411, push rod 410 and brush 412 are used to scrape away the stubborn silt on the surface of the track 3. The combination of spraying and scraping can more comprehensively and efficiently remove the silt on the track 3, and the effect is better than a single cleaning method.

Claims

1. A walking device for an inspection robot, comprising a vehicle body (1) and a cleaning device (4), characterized in that: A wheel (2) is rotatably connected to one side of the vehicle body (1), and a track (3) is fitted onto the surface of the wheel (2). The cleaning device (4) is located on both sides of the vehicle body (1). The cleaning device (4) includes an assembly plate (42), which is fixedly connected to the vehicle body (1). A water tank (41) is fixedly connected to the surface of the assembly plate (42), and a hopper (43) is fixedly connected to the upper surface of the water tank (41). One side of the water tank (41) is fixedly connected to... A ring (45) is attached, and a water pump (44) is fixedly connected to the surface of the ring (45). A nozzle (46) is fixedly connected to one side of the water tank (41). The driving end of the water pump (44) is connected to the nozzle (46). A through hole is opened on the side of the assembly plate (42) near the track (3). A push rod (410) is slidably connected to the inner wall of the through hole of the assembly plate (42). A brush (412) is fixedly connected to one end of the push rod (410) near the track (3).

2. The walking device for a detection robot according to claim 1, characterized in that: The brush (412) contacts the track (3), and the mounting plate (42) is fixedly connected to a cylinder (47) on the side near the push rod (410).

3. The walking device for a detection robot according to claim 2, characterized in that: The cylinder (47) is fixedly connected to a telescopic rod (49) at its drive end, and a rocker arm (48) is rotatably connected to the surface of the telescopic rod (49).

4. The walking device for a detection robot according to claim 3, characterized in that: The end of the rocker arm (48) away from the telescopic rod (49) is rotatably connected to the push rod (410), and the brush (412) has soft bristles on the side near the track (3).

5. The walking device for a detection robot according to claim 4, characterized in that: A pressure spring (411) is fitted on the surface of the push rod (410), and the two ends of the pressure spring (411) are fixedly connected to the push rod (410) and the mounting plate (42) respectively.

6. The walking device for a detection robot according to claim 1, characterized in that: The water tank (41) has a water inlet on the side near the hopper (43), and the hopper (43) is connected to the water tank (41).

7. The walking device for a detection robot according to claim 1, characterized in that: The nozzle (46) is inclined, and the inclination angle of the nozzle (46) corresponds to the track (3). There are two water tanks (41), and the two water tanks (41) are arranged symmetrically.

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