Multi-stage positioning anti-falling self-adaptive lifting rod device of unmanned inspection robot
By using a multi-level positioning anti-fall adaptive lifting pole device, the stability problem of drones in complex environments is solved, multi-level buffer protection is achieved, equipment damage and data errors are avoided, and inspection efficiency and accuracy are improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- NAN JING INTELLIGENT TRANSPORTATION INFORMATION CO LTD
- Filing Date
- 2025-05-26
- Publication Date
- 2026-05-19
AI Technical Summary
Drones face complex environments such as strong winds and electromagnetic interference during inspection operations, which reduces their stability. The single-stage fall protection design has limited strain capacity and cannot effectively buffer and protect the inspection robot, which can easily lead to equipment damage and data loss or errors.
Design a multi-stage positioning anti-fall adaptive lifting pole device, including a multi-stage anti-fall mechanism and a multi-stage telescopic component. Through the combination of rotating components, rubber brackets, fins and telescopic tubes, multi-stage buffering and protection are achieved to adapt to the dissipation of impact energy at different speeds.
Effectively construct a full-scenario protection system to mitigate impact energy at different speeds, protect inspection equipment, reduce wear, and ensure data integrity and equipment stability.
Smart Images
Figure CN224256986U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of inspection robot technology, specifically a multi-level positioning anti-fall adaptive lifting rod device for an unmanned inspection robot. Background Technology
[0002] Inspection robots are robots that use various sensors, such as cameras, infrared sensors, sound sensors, and gas sensors, to perceive their surroundings and autonomously inspect according to pre-set content and routes. During the inspection process, they can use computer vision, image processing and other technologies to process and analyze the collected data and upload the collected video and audio data to the local monitoring backend. They also have the function of alarming equipment detection data.
[0003] When inspection robots are paired with drones, they can achieve integrated air-ground inspections. Operators can control and manage both robots through a remote control center. They can quickly reach inspection points, cover large areas, eliminate blind spots in ground inspections, and improve inspection efficiency, accuracy, safety, and data integration capabilities.
[0004] However, during inspection operations, drones often face complex environments such as strong winds and electromagnetic interference. These factors can interfere with their normal flight and reduce stability. If a drone crashes suddenly, the single-stage fall protection design, due to its limited adaptability, cannot effectively buffer and protect the inspection robot, which can easily lead to its damage. This not only causes wear and tear on the inspection equipment but also results in missing or incorrect data. Therefore, a multi-stage positioning fall protection adaptive lifting pole device for unmanned inspection robots is proposed to address the above problems. Utility Model Content
[0005] The purpose of this invention is to provide a multi-level positioning anti-fall adaptive lifting pole device for unmanned inspection robots, in order to solve the problem that in inspection operations, drones often face complex environments such as strong winds and electromagnetic interference. These factors can interfere with their normal flight and reduce stability. Once the drone crashes, the single-level anti-fall design has limited strain capacity and cannot effectively buffer and protect the inspection robot, which can easily lead to its damage. This not only causes wear and tear on the inspection equipment, but also causes the collected data to be missing or incorrect.
[0006] To achieve the above objectives, this utility model provides the following technical solution:
[0007] A multi-stage positioning and fall-prevention adaptive lifting rod device for an unmanned inspection robot includes an inspection aircraft, an inspection camera, and an aircraft landing gear. The inspection camera is fixedly connected to the lower end of the inspection aircraft, and the aircraft landing gear is also fixedly connected to the lower end. A multi-stage fall-prevention mechanism is fixedly connected to the outer side of the aircraft landing gear. The multi-stage fall-prevention mechanism includes a rotating component, a fixed ring rotatably connected to the inner side of the rotating component, a rubber bracket fixedly connected to the outer side of the fixed ring, and a multi-stage telescopic component fixedly connected to the outer side of the rotating component. The rotating component includes a rotating tube, fins fixedly connected to the outer side of the rotating tube, and a spring fixedly connected to the inner side of the rotating tube. The multi-stage telescopic component includes a limiting tube, a primary sliding tube slidably connected to the inner side of the limiting tube, an inner sliding tube slidably connected to the inner side of the primary sliding tube, a wedge fixedly connected to the inner side of the inner sliding tube, a ball bearing disposed within the inner sliding tube, a spring fixedly connected to the outer side of the inner sliding tube, and a rubber block fixedly connected to one end of the inner sliding tube.
[0008] As a further optimization of this utility model, the multi-stage fall protection mechanism is provided in two forms, which are symmetrically distributed. The aircraft landing gear is fixedly connected to the inner side of the fixed ring, a portion of the fixed ring is exposed outside the rotating assembly, and the rubber bracket is located below the rotating assembly.
[0009] As a further optimization of this utility model, the multi-level telescopic component is located on the side of the rotating component close to the inspection camera, and there are four multi-level telescopic components arranged in a rectangular array.
[0010] As a further optimization of this utility model, the projection of the rotating tube in the vertical direction is rectangular, both ends of the rotating tube are attached to the inner side of the rubber bracket, the fins are arc-shaped, and the two sides of the spring are respectively attached to two fixing rings.
[0011] As a further optimization of this utility model, the limiting tube, the primary sliding tube, and the inner sliding tube are located on the same axis, the included angle between the limiting tube and the rotating tube is 90°, and the diameter of the rubber block is 1.2 times the diameter of the limiting tube.
[0012] As a further optimization of this utility model, the diameter of the primary sliding tube near the rubber block is four-fifths of the diameter of the limiting tube near the rubber block, and the diameter of the inner sliding tube near the rubber block is four-fifths of the diameter of the primary sliding tube near the rubber block.
[0013] As a further optimization of this utility model, the inclined plane of the inclined block forms an angle of 60° with the ground, a number of balls are provided, the balls are located inside the spring, the spring is located in the gap between the primary sliding tube and the inner sliding tube, and one end of the spring is fixedly connected to the primary sliding tube.
[0014] Compared with the prior art, the beneficial effects of this utility model are:
[0015] In this invention, a multi-stage anti-fall mechanism is designed to create a comprehensive protection system covering all scenarios from normal descent to rapid fall, effectively mitigating the impact energy generated by descents at different speeds. During routine operation, when the drone lands normally, the rubber support makes initial contact with the ground, using its elasticity to gently absorb the impact force. This protects sensitive components such as precision cameras and prevents fatigue damage to structural parts caused by frequent micro-vibrations. The multi-stage telescopic components maintain a compact shape in non-emergency situations, reducing wear on the mechanism. In the event of a moderate fall, the system automatically activates a secondary buffer mechanism. Airflow drives the fins to rotate the rotating tube, and the multi-stage telescopic components form an inclined support. Through mechanical angle conversion, the vertical impact is decomposed into multi-directional forces, maintaining the stability of the equipment's attitude when in contact with the ground. In the face of a sudden, rapid fall, multiple multi-stage telescopic components fully deploy to form a three-dimensional buffer network, with the rubber blocks maximizing their contact surface with the ground to minimize damage to the aircraft from the fall. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;
[0017] Figure 2 This is a schematic diagram of the multi-stage fall protection mechanism of this utility model;
[0018] Figure 3 This is an exploded structural diagram of the multi-stage fall arrest mechanism of this utility model;
[0019] Figure 4 This is a cross-sectional structural diagram of the rotating component of this utility model;
[0020] Figure 5 This is a schematic diagram of the multi-stage telescopic component structure of this utility model;
[0021] Figure 6 This is a cross-sectional structural diagram of the multi-stage telescopic component of this utility model.
[0022] In the picture: 1. Inspection aircraft; 2. Inspection camera; 3. Aircraft landing gear;
[0023] 4. Multi-level fall protection mechanism;
[0024] 41. Rotating assembly; 411. Rotating tube; 412. Fin; 413. Clockwork spring;
[0025] 42. Fixing ring; 43. Rubber bracket;
[0026] 44. Multi-stage telescopic assembly; 441. Limiting tube; 442. Primary sliding tube; 443. Inner sliding tube; 444. Inclined block; 445. Ball bearing; 446. Spring; 447. Rubber block. Detailed Implementation
[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.
[0029] Please see Figures 1-6 This utility model provides a technical solution:
[0030] A multi-stage positioning and fall-prevention adaptive lifting rod device for an unmanned inspection robot includes an inspection aircraft 1, an inspection camera 2, and an aircraft landing gear 3. The inspection camera 2 is fixedly connected to the lower end of the inspection aircraft 1, and the aircraft landing gear 3 is also fixedly connected to the lower end of the inspection aircraft 1. A multi-stage fall-prevention mechanism 4 is fixedly connected to the outer side of the aircraft landing gear 3. The multi-stage fall-prevention mechanism 4 includes a rotating component 41, a fixed ring 42 rotatably connected to the inner side of the rotating component 41, a rubber bracket 43 fixedly connected to the outer side of the fixed ring 42, and a multi-stage telescopic component 44 fixedly connected to the outer side of the rotating component 41. Component 41 includes a rotating tube 411, with fins 412 fixedly connected to the outside of the rotating tube 411 and a spring 413 fixedly connected to the inside of the rotating tube 411. The multi-stage telescopic assembly 44 includes a limiting tube 441, with a primary sliding tube 442 slidably connected to the inside of the limiting tube 441. An inner sliding tube 443 is slidably connected to the inside of the primary sliding tube 442. An inclined block 444 is fixedly connected to the inside of the inner sliding tube 443. A ball bearing 445 is provided inside the inner sliding tube 443. A spring 446 is fixedly connected to the outside of the inner sliding tube 443. A rubber block 447 is fixedly connected to one end of the inner sliding tube 443.
[0031] As a further implementation of this solution, two multi-stage fall arrest mechanisms 4 are provided, which are symmetrically distributed. The landing gear 3 of the aircraft is fixedly connected to the inner side of the fixed ring 42. A part of the fixed ring 42 is exposed outside the rotating component 41. The rubber bracket 43 is set below the rotating component 41. During the fall of the inspection aircraft 1, the two symmetrically distributed multi-stage fall arrest mechanisms 4 can simultaneously and evenly bear the impact force, avoiding the inspection aircraft 1 from tilting or overturning due to uneven force at a single point. The rubber bracket 43 is set below the rotating component 41 so that the rotating component 41 contacts the ground first, which plays a buffering role.
[0032] As a further implementation of this solution, the multi-level telescopic component 44 is set on the side of the rotating component 41 close to the inspection camera 2. There are four multi-level telescopic components 44, which are arranged in a rectangular array. The position of the multi-level telescopic components 44 allows them to better distribute the weight of the device and the external force to a wider area, thereby reducing the risk of damage to a single multi-level telescopic component 44 due to excessive force.
[0033] As a further implementation of this scheme, the vertical projection of the rotating tube 411 is rectangular. Both ends of the rotating tube 411 are attached to the inner side of the rubber support 43. The fins 412 have an arc-shaped structure. The two sides of the spring-loaded spring 413 are respectively attached to two fixing rings 42. The limiting tube 441, the primary sliding tube 442, and the inner sliding tube 443 are on the same axis. The angle between the limiting tube 441 and the rotating tube 411 is 90°. The diameter of the rubber block 447 is 1.2 times the diameter of the limiting tube 441. The arc-shaped structure of the fins 412 is beneficial for optimizing airflow. When the fins 412 move upwards, they can guide the airflow more smoothly and reduce airflow. Resistance: When the fin 412 moves downward, it can use air resistance to realize the mechanical movement of the device components. The design of the spring 413 being attached to the two fixed rings 42 on both sides makes the winding and contraction of the spring 413 more stable. The coaxial design of the limiting tube 441, the primary sliding tube 442 and the inner sliding tube 443 ensures that the components of the multi-stage telescopic assembly 44 can maintain good concentricity during the telescopic process, making the movement more stable and smooth, avoiding problems such as jamming and wear caused by axial deviation. The diameter of the rubber block 447 is 1.2 times the diameter of the limiting tube 441, so that the rubber block 447 can protect the limiting tube 441 from contacting the ground.
[0034] As a further implementation of this scheme, the diameter of the end of the primary sliding tube 442 near the rubber block 447 is four-fifths of the diameter of the end of the limiting tube 441 near the rubber block 447; the diameter of the end of the inner sliding tube 443 near the rubber block 447 is four-fifths of the diameter of the end of the primary sliding tube 442 near the rubber block 447; the angle between the inclined surface of the inclined block 444 and the ground is 60°; several balls 445 are provided, and the balls 445 are located inside the spring 446; the spring 446 is located in the gap between the primary sliding tube 442 and the inner sliding tube 443; one end of the spring 446 is fixed. The design of the inclined block 444, which is connected to the primary sliding tube 442, with the inclined surface of the block 444 forming an angle of 60° with the ground, allows the inclined block 444 to efficiently guide the movement direction of the ball 445. Only when the inclined block 444 is tilted to a certain angle can the ball 445 roll onto the inclined surface of the block 444. The spring 446 is set in the gap between the inner side of the primary sliding tube 442 and the outer side of the inner sliding tube 443, which can provide a certain resistance between the primary sliding tube 442 and the inner sliding tube 443. Only when the spring 446 is deformed can the inner sliding tube 443 slide in the primary sliding tube 442.
[0035] Work process: When the device is in use, the inspection aircraft 1 is controlled to take off. At this time, the airflow blows the fins 412 downward. The spring 413 can limit the downward rotation of the primary sliding tube 442, preventing the primary sliding tube 442 from driving the limit tube 441 to rotate and causing damage to the inner sliding tube 443 fixedly connected to the inner side of the limit tube 441. At the same time, it makes the primary sliding tube 442 tilted at a certain angle to the ground so as not to generate too much resistance to the ascent of the inspection aircraft 1. During the flight of the inspection aircraft 1, the aircraft landing gear 3 will collect images of the inspection target.
[0036] When the inspection aircraft 1 lands normally, the wind resistance generated during the descent slightly lifts the fins 412, preventing them from being damaged by direct contact with the ground. When the rubber bracket 43 contacts the ground, it will deform and contact the ground at the same time as the rotating tube 411. The fixed connection between the rubber bracket 43 and the fixed ring 42, and the fixed connection between the fixed ring 42 and the aircraft landing gear 3, make the rubber bracket 43, the fixed ring 42 and the aircraft landing gear 3 form a whole, which better supports the inspection aircraft 1.
[0037] When the inspection aircraft 1 descends rapidly, the fins 412 experience significant wind resistance during descent, causing them to rotate the fixedly connected rotating tube 411. As the rotating tube 411 rotates, the spring 413 fixedly connected inside it contracts, limiting and buffering the rotation. Simultaneously, the multi-stage telescopic assembly 44 rotates a certain angle. At this time, the primary sliding tube 442 and the inner sliding tube 443 inside the limiting tube 441 slide together, causing a portion of the rubber block 447 to move below the rotating tube 411. When the rubber block 447 first contacts the ground, it will buffer the device. Then, the rubber block 447 is driven by the reaction force of the ground to slide the inner sliding tube 443 and the primary sliding tube 442 towards the inner side of the limiting tube 441. At the same time, the multi-stage telescopic component 44 drives the rotating tube 411 to rotate. The spring force generated by the spring spring 413 restoring its deformation on the rotating tube 411 and the force of the multi-stage telescopic component 44 on the rotating tube 411 are combined to make the rotating component 41 reset. The multi-stage telescopic component 44 fixedly connected to the outside of the rotating component 41 completes the buffering of the inspection aircraft 1 when it rapidly descends to the ground.
[0038] When the inspection aircraft 1 falls rapidly, the fins 412 cause the fixedly connected rotating tube 411 to rotate at a larger angle, resulting in a larger angle between the multi-stage telescopic assembly 44 and the ground after rotation. After the primary sliding tube 442 and the inner sliding tube 443 slide out of the limiting tube 441 together, the ball bearings 445 inside the inner sliding tube 443 will roll onto the inclined surface of the inclined block 444 and accumulate on the inner side of the inner sliding tube 443 near the rubber block 447. Due to the movement of the ball bearings 445, the primary sliding tube... The center of gravity of tube 442 changes significantly, and ball 445 is no longer inside spring 446 in space. This allows inner sliding tube 443 to overcome the elastic force of spring 446 and slide out from inside primary sliding tube 442, causing rubber block 447 to move completely below rotating tube 411. When rubber block 447 contacts the ground, it will suffer greater impact force due to its larger contact area and angle. The deformation of rubber block 447 absorbs some of the impact energy, further reducing the impact on the internal structure of the device.
[0039] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A multi-level positioning and anti-fall adaptive lifting pole device for an unmanned inspection robot, comprising an inspection aircraft (1), an inspection camera (2), and an aircraft landing gear (3), characterized in that: The inspection aircraft (1) is fixedly connected to an inspection camera (2) at its lower end, and the inspection aircraft (1) is fixedly connected to an aircraft landing gear (3) at its lower end. The aircraft landing gear (3) is fixedly connected to a multi-stage anti-fall mechanism (4) on its outer side. The multi-stage fall arrest mechanism (4) includes a rotating component (41), a fixed ring (42) is rotatably connected to the inner side of the rotating component (41), a rubber bracket (43) is fixedly connected to the outer side of the fixed ring (42), and a multi-stage telescopic component (44) is fixedly connected to the outer side of the rotating component (41). The rotating assembly (41) includes a rotating tube (411), with fins (412) fixedly connected to the outside of the rotating tube (411) and a spring (413) fixedly connected to the inside of the rotating tube (411). The multi-stage telescopic assembly (44) includes a limiting tube (441), a primary sliding tube (442) slidably connected to the inner side of the limiting tube (441), an inner sliding tube (443) slidably connected to the inner side of the primary sliding tube (442), an inclined block (444) fixedly connected to the inner side of the inner sliding tube (443), a ball bearing (445) provided on the inner side of the inner sliding tube (443), a spring (446) fixedly connected to the outer side of the inner sliding tube (443), and a rubber block (447) fixedly connected to one end of the inner sliding tube (443).
2. The multi-level positioning anti-fall adaptive lifting pole device for an unmanned inspection robot according to claim 1, characterized in that: There are two multi-stage fall arrest mechanisms (4), and the two multi-stage fall arrest mechanisms (4) are symmetrically distributed. The aircraft landing gear (3) is fixedly connected to the inner side of the fixed ring (42). A part of the fixed ring (42) is exposed outside the rotating component (41). The rubber bracket (43) is located below the rotating component (41).
3. The multi-level positioning anti-fall adaptive lifting pole device for an unmanned inspection robot according to claim 1, characterized in that: The multi-level telescopic component (44) is located on the side of the rotating component (41) close to the inspection camera (2). There are four multi-level telescopic components (44), which are arranged in a rectangular array.
4. The multi-level positioning anti-fall adaptive lifting pole device for an unmanned inspection robot according to claim 1, characterized in that: The projection of the rotating tube (411) in the vertical direction is rectangular. Both ends of the rotating tube (411) are attached to the inner side of the rubber bracket (43). The fin (412) has an arc-shaped structure. The two sides of the spring (413) are attached to two fixing rings (42) respectively.
5. The multi-level positioning anti-fall adaptive lifting pole device for an unmanned inspection robot according to claim 1, characterized in that: The limiting tube (441), the primary sliding tube (442) and the inner sliding tube (443) are on the same axis. The angle between the limiting tube (441) and the rotating tube (411) is 90°. The diameter of the rubber block (447) is 1.2 times the diameter of the limiting tube (441).
6. The multi-level positioning anti-fall adaptive lifting pole device for an unmanned inspection robot according to claim 1, characterized in that: The diameter of the primary sliding tube (442) near the rubber block (447) is four-fifths of the diameter of the limiting tube (441) near the rubber block (447), and the diameter of the inner sliding tube (443) near the rubber block (447) is four-fifths of the diameter of the primary sliding tube (442) near the rubber block (447).
7. The multi-level positioning anti-fall adaptive lifting pole device for an unmanned inspection robot according to claim 1, characterized in that: The inclined plane of the inclined block (444) forms an angle of 60° with the ground. Several balls (445) are provided. The balls (445) are located inside the spring (446). The spring (446) is located in the gap between the primary sliding tube (442) and the inner sliding tube (443). One end of the spring (446) is fixedly connected to the primary sliding tube (442).