Anti-tilting device for quadruped inspection robot in hydraulic corridor ladder environment

Abstract

The utility model relates to the technical field of hydraulic galleries, and particularly discloses an anti-tilting device for a four-footed inspection robot in a hydraulic gallery ladder environment, which comprises an inclined plate mounted on the top surface of a body of the four-footed inspection robot, and a supporting mechanism in transmission connection with the inclined plate and used for supporting the four-footed inspection robot when the four-footed inspection robot tilts backwards; the supporting mechanism comprises a sliding device installed on the inclined plate in a sliding mode, a supporting piece hinged to the sliding device, and an anti-collision supporting assembly installed on the side, close to the supporting piece, of the inclined plate and hinged to the supporting piece. And the sliding direction of the sliding device is set along the advancing direction of the four-footed inspection robot. The four-foot inspection robot can solve the problem that the four-foot inspection robot is prone to toppling and falling in the inspection process due to the fact that the stability is poor when the four-foot inspection robot climbs steps.

Description

TECHNICAL FIELD

[0001] The utility model relates to water conservancy corridor inspection technical field more specifically, relate to a kind of four-legged inspection robot's anti-inclination device for water conservancy corridor ladder environment. BACKGROUND

[0002] Water conservancy corridor is a kind of tunnel structure for hydraulic engineering, usually used for water diversion, drainage, water supply or dredging water flow, they are often found in hydropower station, large irrigation system, urban water supply and drainage engineering, the design and construction of water conservancy corridor consider the speed of water flow, flow, unobstructed and the stability of structure and other factors.

[0003] At present, with the development of science and technology, four-legged inspection robot is used for inspection when water conservancy corridor is inspected, because there is ladder stage in water conservancy corridor, however, the stability of four-legged inspection robot is poor when the four-legged inspection robot climbs steps at present stage, four-legged inspection robot is prone to fall over and fall in the process of inspection, causing four-legged inspection robot damage. UTILITY MODEL CONTENT

[0004] The utility model provides a kind of four-legged inspection robot's anti-inclination device for water conservancy corridor ladder environment to solve the stability of four-legged inspection robot is poor when the four-legged inspection robot climbs steps in prior art, four-legged robot is prone to fall over and fall in the process of inspection.

[0005] The utility model solves the technical problem by the following solution:

[0006] A kind of four-legged inspection robot's anti-inclination device for water conservancy corridor ladder environment, it includes inclined plate on the top surface of the installation four-legged inspection robot body, support mechanism for supporting when four-legged inspection robot is inclined backwards and is in transmission connection with inclined plate;

[0007] The support mechanism includes sliding device slidably installed on the inclined plate, support piece hingedly connected with the sliding device, and anti-collision support assembly installed on the side of the inclined plate close to the support piece and hingedly connected with the support piece;The sliding direction of the sliding device is arranged along the direction of travel of four-legged inspection robot.

[0008] In some possible embodiments, the sliding device includes sliding plate slidably installed on the inclined plate, guide plate arranged on the sliding plate and located between the sliding plate and the support piece, guide rod with one end connected with the sliding plate and the other end passing through the guide plate and connected with the support piece, and elastic reset assembly sleeved on the outside of the guide rod and connected with the guide plate;Sliding groove is provided on the inclined plate and slidably matched with the sliding plate.

[0009] In some possible implementation manners, the elastic reset assembly comprises a mounting seat fixedly sleeved outside the guide rod and matched with the gap of the inclined plate, and a spring having one end mounted on the mounting seat and the other end connected with the guide plate; the spring is sleeved outside the guide rod, and the mounting seat is arranged between the slide plate and the guide plate.

[0010] In some possible implementation manners, the support member comprises an adjusting rod hinged to the end of the guide rod away from the slide plate, an arc-shaped plate hinged to the end of the adjusting rod away from the guide rod, and a base hinged to the end of the arc-shaped plate away from the adjusting rod; the opening side of the arc-shaped plate is arranged on the side away from the anti-collision support assembly; the anti-collision support assembly is hinged to the arc-shaped plate.

[0011] In some possible implementation manners, the guide rod is in two groups, the mounting seat is in one group and is sleeved outside the two groups of guide rods, and the spring is in two groups and is arranged in one-to-one correspondence with the two groups of guide rods.

[0012] The arc-shaped plate is in two groups; the two groups of arc-shaped plates form a mounting cavity, the anti-collision support assembly extends into the mounting cavity and is hinged to the two groups of arc-shaped plates, respectively.

[0013] In some possible implementation manners, the anti-collision support assembly comprises an L-shaped plate connected to the end of the inclined plate close to the support member, and a support base hinged to the L-shaped plate and the arc-shaped plate, respectively; the hinge point of the support base and the arc-shaped plate is arranged between the hinge point of the adjusting rod and the arc-shaped plate and the hinge point of the base and the arc-shaped plate.

[0014] In some possible implementation manners, an anti-collision pad one is arranged on the side of the L-shaped plate close to the inclined plate; an anti-collision pad two is arranged on the side of the L-shaped plate close to the support member; and a baffle matched with the anti-collision pad two is arranged on the side of the arc-shaped plate close to the L-shaped plate.

[0015] In some possible implementation manners, the L-shaped plate comprises a horizontal plate connected to the end of the inclined plate close to the support member, and a vertical plate connected to the end of the horizontal plate away from the inclined plate; the anti-collision pad one is arranged on the side of the vertical plate close to the inclined plate, and the anti-collision pad two is arranged on the side of the vertical plate close to the support member.

[0016] In some possible implementation manners, the cross section of the sliding groove is T-shaped, and the small end of the T-shaped sliding groove has an opening; a sliding block matched with the sliding groove and in a T-shaped structure is arranged on the bottom of the slide plate.

[0017] In some possible implementation manners, the top surface of the inclined plate is arranged in an inclined manner, and the included angle formed between the top surface of the inclined plate and the plane where the top surface of the body of the four-legged inspection robot is located is 15-30°; and the vertex of the included angle is arranged on the side away from the support member.

[0018] Compared with the prior art, the utility model has the advantages of:

[0019] By being provided with the guide rod and the guide hole, the sliding plate can move along the direction of the guide rod when the robot climbs the ladder, and the gravity of the sliding plate and the counterweight can push the guide rod to move, thereby enabling the guide rod to pull the adjusting rod and the arc-shaped plate to rotate, enabling the arc-shaped plate to rotate with the supporting rod, enabling the base to contact the step, thereby supporting the robot, and enabling the robot to remain stable when climbing the ladder and preventing falling. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 It is a schematic diagram of the overall structure of the utility model from the perspective of the top view;

[0022] Figure 3 It is a schematic diagram of the overall structure of the utility model from the perspective of the side view;

[0023] Figure 4 It is a schematic diagram of the overall structure of the utility model from the perspective of the front view;

[0024] Among them: 1, the inclined plate; 2, the supporting mechanism; 201, the sliding plate; 202, the guide plate; 203, the sliding hole; 204, the guide rod; 205, the connecting plate; 206, the adjusting rod; 207, the L-shaped plate; 208, the supporting seat; 209, the vertical plate; 210, the base; 211, the non-slip pad; 212, the fixed seat; 213, the arc-shaped plate; 214, the first pin shaft; 215, the supporting rod; 216, the second pin shaft; 3, the sliding groove; 301, the sliding block; 4, the first magnetic block; 401, the second magnetic block; 5, the mounting lug; 501, the mounting hole; 6, the mounting seat; 601, the spring; 7, the counterweight; 8, the baffle; 801, the second anti-collision pad; 802, the first anti-collision pad. DETAILED DESCRIPTION

[0025] In the utility model, unless another definite provision and limitation, the term "installation", "link", "connection", "fix" and so on term should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or be integrated;Can be direct connection, also can pass through intermediate medium indirectly link, can be two groups of element inside's intercommunication or two groups of element's mutual action relation.The "first", "second" and similar words mentioned in the application do not represent any order, quantity or importance, but only distinguish different components.Similarly, "a group" or "one" and similar words do not represent quantity limit, but represent that there is at least a group.In the implementation of the application, the association relationship of the associated objects is described as "and / or", which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone.In the description of the embodiments of the application, unless otherwise stated, "a plurality of groups" means two groups or more than two groups.For example, a plurality of positioning columns means two or more than two positioning columns.A person of ordinary skill in the art can understand the specific meaning of the above terms in the utility model according to the specific situation.

[0026] The utility model will be described in detail below.

[0027] Please refer to Figures 1 to 4The utility model provides a kind of four-legged inspection robot's anti-inclination device for water engineering corridor ladder stand environment, for effectively supporting when four-legged inspection robot is tilted backwards;Including inclined plate 1 and support mechanism 2, support mechanism 2 is set to the top of inclined plate 1, support mechanism 2 includes the slide plate 201 being set to the top of inclined plate 1, the upper surface of inclined plate 1 is fixedly installed with guide plate 202, the right side surface of guide plate 202 is opened with two groups of slide holes 203, the inner wall of each group of slide holes 203 is slidably connected with guide rod 204, the one end of each group of guide rod 204 is passed through guide plate 202 and is fixedly connected with slide plate 201 to form a group of whole, the other end of two groups of guide rod 204 is fixedly installed with connecting plate 205 in common, connecting plate 205 is rotatably installed with adjusting rod 206 to realize hinged cooperation, the inside of adjusting rod 206 is rotatably installed with first pin shaft 214, the two ends of first pin shaft 214 are fixedly installed with arc plate 213 respectively, the hinged cooperation of arc plate 213 and connecting plate is realized by first pin shaft 214, the side surface of two groups of arc plate 213 mutually close forms mounting cavity, support rod 215 is installed in mounting cavity, support seat 208 is rotatably installed on the outside of support rod 215, L type plate 207 is fixedly installed on the left side surface of support seat 208, the left side surface of L type plate 207 is fixedly installed with the right side surface of inclined plate 1, the side surface of two groups of arc plate 213 mutually close is fixedly installed with second pin shaft 216 in common, vertical plate 209 is rotatably installed on the outer surface of second pin shaft 216, base 210 is fixedly installed on the bottom surface of vertical plate 209;The opening of arc plate 213 is set to the side away from inclined plate 1.

[0028] The top surface of the inclined plate 1 is inclined, and the included angle formed with the plane of the top surface of the four-legged inspection robot body is 15-30°.

[0029] The axes of the first pin shaft 214, the support rod 215, and the second pin shaft 216 are arranged in parallel and perpendicular to the direction of travel of the four-legged inspection robot in the horizontal plane.

[0030] Please refer to Figure 3 The upper surface of the inclined plate 1 is provided with a T-shaped groove 3, and the inner wall of the groove 3 is slidably connected with a T-shaped sliding block 301, and the upper surface of the sliding block 301 is fixedly installed with the bottom surface of the slide plate 201.

[0031] Please refer to Figure 1 A counterweight 7 is further provided on the slide plate 201, which can increase the weight of the slide plate 201, so that the slide plate 201 can quickly slide to the side of the inclined plate 1 close to the L-shaped plate 207 after the inclined plate 1 is inclined.

[0032] Please refer toFigure 1 The installation lug seat 5 is fixedly installed on the inclined plate 1, and the installation hole 501 of the installation lug seat 5 can be connected with the body of the four-legged inspection robot.

[0033] Further, referring to Figure 2 The first magnetic block 4 is fixedly installed on the inclined plate 1 and away from one side of the L-shaped plate 207, and the second magnetic block 401 is fixedly installed on the sliding plate 201 and away from one side of the L-shaped plate 207, and the first magnetic block 4 and the second magnetic block 401 repel each other, so that the sliding plate 201 can slide to the right by applying repulsive force when the sliding plate 201 is close to the first magnetic block 4.

[0034] Referring to Figure 1 The two groups of arc-shaped plates 213 are fixedly installed with the baffle 8 on the side close to the L-shaped plate 207, and the anti-collision pad two 801 is fixedly installed on the side of the L-shaped plate 207 close to the arc-shaped plate 213, so as to protect the arc-shaped plate 213 from colliding with the L-shaped plate 207; the anti-collision pad one 802 is arranged on the side of the L-shaped plate 207 away from the support, so as to effectively avoid hard contact between the L-shaped plate 207 and the four-legged inspection robot during use.

[0035] Specifically, the L-shaped plate 207 includes a horizontal plate connected to one end of the inclined plate 1 close to the support mechanism, and a vertical plate connected to one end of the horizontal plate away from the inclined plate 1; the anti-collision pad one 802 is arranged on the side of the vertical plate close to the inclined plate 1, and the anti-collision pad two 801 is arranged on the side of the vertical plate close to the support mechanism and cooperates with the baffle 8.

[0036] Referring to Figure 1 Further, the bottom of the base 210 is provided with the anti-skid pad 211, which can increase the friction of the base 210 and prevent the base 210 from sliding.

[0037] Referring to Figure 3 The left and right sides of the vertical plate 209 are fixedly installed with the fixed seat 212, and the bottom surface of the fixed seat 212 is fixedly installed with the upper surface of the base 210, so as to reinforce the base 210 and prevent the base 210 from falling off.

[0038] Referring to Figure 3 The outer surfaces of the two groups of guide rods 204 are slidably connected with the installation seat 6, and the right side of the installation seat 6 is fixedly installed with the two groups of springs 601, and the right ends of each group of springs 601 are fixedly installed with the left side of the guide plate 202, so as to apply a pushing force to the sliding plate 201 through the springs 601 and the installation seat 6, so as to reset the sliding plate 201 when the four-legged inspection robot moves.

[0039] Referring toFigure 1 and Figure 2 Each group of springs 601 is sleeved outside the guide rod 204, and the spring 601 is limited by being sleeved outside the guide rod 204, so that the spring 601 is prevented from being bent during use.

[0040] The implementation principle of the anti-falling device for the four-legged inspection robot in the water conservancy gallery ladder environment is as follows: in use, the device is installed on the top of the body of the four-legged inspection robot through the mounting lug 5 and the mounting hole 501, and the L-shaped plate 207 is located behind the rear leg of the four-legged inspection robot; when the four-legged inspection robot climbs the steps, the front body of the four-legged inspection robot (the end away from the L-shaped plate 207) rises in height, the slope of the inclined plate 1 changes, the sliding plate 201 slides along the sliding hole 203 through the guide rod 204, the guide rod 204 pushes the connecting plate 205 to move, the connecting plate 205 pulls the arc-shaped plate 213 to rotate through the first pin shaft 214 as the connecting plate 205 moves, the arc-shaped plate 213 rotates around the supporting rod 215 as the center, the vertical plate 209 approaches the steps, the base 210 contacts the steps, the four-legged inspection robot is supported, and the four-legged inspection robot is prevented from falling over and falling.

[0041] When the rear leg of the four-legged inspection robot climbs the steps, the inclined plate 1 is reset, the top surface of the inclined plate 1 is inclined, the sliding plate 201 is reset, the guide rod 204 drives the connecting plate 205 to reset, the arc-shaped plate 213 is driven to rotate, the arc-shaped plate 213 drives the vertical plate 209 and the base 210 to move upward and separate from the steps.

[0042] The present application is not limited to the foregoing specific embodiments. The present application extends to any novel one, or any new combination, of the characteristics disclosed in this specification, as well as to any novel method or process disclosed in any of the steps or any new combination.

Claims

1. A device for preventing the tilting of a quadruped inspection robot in a water conservancy gallery ladder environment, characterized in that, The support mechanism includes a sliding device slidingly installed on the inclined plate, a support member hingedly connected with the sliding device, and an anti-collision support assembly installed on the side of the inclined plate close to the support member and hingedly connected with the support member; the sliding direction of the sliding device is arranged along the traveling direction of the four-legged inspection robot. The sliding device includes a sliding plate slidingly installed on the inclined plate, a guide plate arranged on the sliding plate and located between the sliding plate and the support member, a guide rod having one end connected with the sliding plate and the other end penetrating through the guide plate and connected with the support member, and an elastic reset assembly sleeved on the outside of the guide rod and connected with the guide plate; a sliding groove slidingly matched with the sliding plate is arranged on the inclined plate.

2. The anti-tilt device for the quadruped inspection robot in the water conservancy gallery ladder environment according to claim 1, characterized in that, The elastic reset assembly includes a mounting seat fixedly sleeved on the outside of the guide rod and matched with the inclined plate in a clearance, and a spring having one end mounted on the mounting seat and the other end connected with the guide plate; the spring is sleeved on the outside of the guide rod, and the mounting seat is arranged between the sliding plate and the guide plate.

3. The anti-tilt device for the quadruped inspection robot in the water conservancy gallery ladder environment according to claim 2, characterized in that, The support member includes an adjusting rod hingedly connected with the end of the guide rod away from the sliding plate, an arc-shaped plate hingedly connected with the end of the adjusting rod away from the guide rod, and a base hingedly connected with the end of the arc-shaped plate away from the adjusting rod; the opening side of the arc-shaped plate is arranged on the side away from the anti-collision support assembly; the anti-collision support assembly is hingedly connected with the arc-shaped plate.

4. The anti-tilt device for the quadruped inspection robot in the water conservancy gallery ladder environment according to claim 3, characterized in that, The guide rod is in two groups, the mounting seat is in one group and is sleeved on the outside of the two groups of guide rods, and the spring is in two groups and is arranged in one-to-one correspondence with the two groups of guide rods.

5. The anti-tilt device for the quadruped inspection robot in the water conservancy gallery ladder environment according to claim 4, characterized in that, The arc-shaped plate is in two groups; an installation cavity is formed between the two groups of arc-shaped plates, the anti-collision support assembly extends into the installation cavity and is hingedly connected with the two groups of arc-shaped plates respectively. The anti-collision support assembly includes an L-shaped plate connected with the end of the inclined plate close to the support member, and a support base hingedly connected with the L-shaped plate and the arc-shaped plate respectively; the hinge point of the support base and the arc-shaped plate is arranged between the hinge points of the adjusting rod and the arc-shaped plate and the base and the arc-shaped plate.

6. The anti-tilt device for the quadruped inspection robot in the water conservancy gallery ladder environment according to claim 4, characterized in that, An anti-collision pad one is arranged on the side of the L-shaped plate close to the inclined plate, an anti-collision pad two is arranged on the side of the L-shaped plate close to the support member, and a baffle matched with the anti-collision pad two is arranged on the side of the arc-shaped plate close to the L-shaped plate.

7. The anti-tilt device for the quadruped inspection robot in the water conservancy gallery ladder environment according to claim 6, characterized in that, The L-shaped plate includes a horizontal plate connected with the end of the inclined plate close to the support member, and a vertical plate connected with the end of the horizontal plate away from the inclined plate; the anti-collision pad one is arranged on the side of the vertical plate close to the inclined plate, and the anti-collision pad two is arranged on the side of the vertical plate close to the support member.

8. The anti-tilt device for the quadruped inspection robot in the water conservancy gallery ladder environment according to claim 7, characterized in that, The cross section of the sliding groove is T-shaped, and the small end has an opening; a sliding block matched with the sliding groove and having a T-shaped structure is arranged on the bottom of the sliding plate.

9. The anti-tilt device for the quadruped inspection robot in the water conservancy gallery ladder environment according to claim 2, characterized in that, The top surface of the inclined plate is arranged in an inclined manner, and the included angle formed between the top surface and the plane where the top surface of the body of the four-legged inspection robot is located is 15-30°; the vertex of the formed included angle is arranged on the side away from the support member.

10. The anti-tilt device for the quadruped inspection robot in the water conservancy gallery ladder environment according to any one of claims 1-9, characterized in that, ​

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