An anti-tipping device for inspection robots

Abstract

This application relates to the field of robotics technology and discloses an anti-tipping device for an inspection robot. It addresses the technical problems of widening the chassis to prevent tipping, which sacrifices maneuverability and is unfavorable for inspections in confined spaces, as well as the inability of the outriggers to extend and retract properly in case of electronic failure. The device includes a chassis with several outrigger assemblies on its side. Each outrigger assembly includes an outer sleeve, an inner extension rod, a compression spring, and a locking pin, all fixed to the chassis. A detection element is also provided between the outer sleeve and the inner extension rod. The outer sleeve is hinged to a mounting base fixed to the chassis via a pivot. A foot plate is provided at the bottom of the inner extension rod. Each outrigger assembly cooperates with a locking assembly, which consists of an eccentric cam fixed to a camshaft and a push rod meshing with the eccentric cam. Several locking assemblies are symmetrically arranged. An attitude sensor and a control unit are mounted on the chassis and electrically connected. A mechanical triggering mechanism is also provided on one side of the chassis, cooperating with the locking pin.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to an anti-tipping device for an inspection robot. Background Technology

[0002] Inspection robots typically use wheeled or tracked chassis to ensure mobility and portability, but they are prone to tipping over or overturning when operating on uneven ground, steps, slopes, or interacting with external loads. To ensure operational safety, stability control or mechanical support measures must be implemented.

[0003] Existing anti-tipping methods can be mainly categorized into two types: 1. Passive structural methods: lowering the center of gravity, increasing the wheelbase, widening the chassis, or adding counterweights. These solutions sacrifice maneuverability and increase weight, making them unsuitable for inspection in confined spaces. 2. Deploying retractable outriggers: the outriggers are extended or retracted based on the attitude sensors and controller. This active solution offers fast response and good adaptability, but it typically requires additional drive and control, increasing system complexity and power consumption. Furthermore, it lacks reliable mechanical triggering measures when electronic control fails.

[0004] For small mobile robots used for inspection, anti-tipping devices that are small in size, lightweight, fast in response, can be quickly reset, and have mechanical redundancy are required. Utility Model Content

[0005] This application provides an anti-tipping device for inspection robots to solve the technical problems mentioned above, such as the sacrifice of maneuverability when widening the chassis for anti-tipping of robots, the disadvantage of inspection in confined spaces, and the inability of the outriggers to extend and retract normally when the electronics fail.

[0006] The technical solution adopted in this application is as follows:

[0007] An anti-tipping device for an inspection robot includes a chassis. Several leg assemblies are arranged on the side of the chassis. Each leg assembly includes an outer sleeve fixed to the chassis, an inner extension rod slidable along the axial direction of the outer sleeve, a compression spring disposed between the outer sleeve and the inner extension rod, and a locking pin that can be inserted radially into a side hole of the inner extension rod. A detection element is also disposed between the outer sleeve and the inner extension rod. The outer sleeve is hinged to a mounting base on the chassis via a pivot. A foot plate is provided at the bottom of the inner extension rod. Each leg assembly cooperates with a locking assembly. The locking assembly consists of an eccentric cam fixed on a camshaft and a push rod meshing with the eccentric cam. Several locking assemblies are symmetrically arranged about the center of the chassis. An attitude sensor and a control unit are disposed on the chassis and are electrically connected. A mechanical triggering mechanism is also disposed on one side of the chassis and cooperates with the leg assembly.

[0008] The above technical solution involves a chassis with a rectangular or box-shaped frame structure, and side beams serving as the mounting reference for the outriggers. Mounting seats are arranged on the side beams of the chassis, each with a journal to support the rotating shaft of the outer sleeve, and are fixed to the side beams with high-strength bolts.

[0009] The outer sleeve is a cylindrical shell with radial perforations on its side walls serving as locking pin holes and guide sleeve mounting positions. An inner baffle at the top of the outer sleeve supports and limits one end of the compression spring. The outer sleeve is hinged to the mounting base via a pivot, allowing for slight swaying during storage to conform to the chassis profile.

[0010] The inner extension rod is a cylindrical component that mates with the outer sleeve. Its outer diameter has an appropriate clearance compared to the inner diameter of the outer sleeve, and a foot plate is provided at the lower end of the inner extension rod. The inner extension rod has a radial through hole at a corresponding position on the side wall. When the inner extension rod extends to its full position, it can engage with the radial locking pin to form an axial load-bearing path.

[0011] The foot plate is the grounding component, which can be an arc-shaped or flat plate, and is hinged to the inner extension rod by a pin. The hinge allows the foot plate to slightly adapt to the ground angle.

[0012] One end of the push rod abuts against the eccentric cam, and the other end engages with the locking pin. The eccentric cam is fixed on the camshaft, and its eccentricity and cam profile are designed according to the required push rod stroke. When the cam rotates to the corresponding angle, the eccentric cam pushes the push rod, and the push rod pushes the locking pin to retract radially.

[0013] Optionally, a motor is provided between every two camshafts. The motor is mounted on the chassis and mechanically connected to the two camshafts through a transmission component to achieve linkage between the two.

[0014] Optionally, the transmission component is at least one of synchronous belt-synchronous pulley drive or chain-sprocket drive.

[0015] Optionally, the locking pin is a cylindrical pin that passes through the outer sleeve and can be radially inserted into the side hole of the inner extension rod. The cylindrical pin has a stop ring on its outer side and slides through the guide sleeve.

[0016] Through the above technical solution, the locking pin is a cylindrical pin that is radially inserted into the guide sleeve of the outer sleeve and can be inserted into the side hole of the inner extension rod. The guide sleeve is fixed to the wall of the outer sleeve to ensure the stability and positioning of the radial movement of the locking pin.

[0017] Optionally, one end of the compression spring abuts against the inner top wall of the outer sleeve, and the other end abuts against a receiving groove opened downward on the top surface of the inner extension rod.

[0018] Through the above technical solution, the spring preload and stiffness are determined according to the required ejection speed and resistance, and the preload can be adjusted during assembly.

[0019] Optionally, the detection element is a micro limit switch, which is fixed to the outer sleeve and positioned opposite to the inner extension rod to generate a position feedback signal when the inner extension rod extends into or retracts into position.

[0020] With the above technical solution, the control unit is placed inside the electrical control compartment and connected to the motor, limit switches, position detectors, etc. The control unit has built-in decision logic for issuing drive commands or receiving position / status feedback.

[0021] Optionally, the mechanical triggering mechanism includes a pendulum weight arranged along the groove, a release link connected to the pendulum weight, and a release cable connected to the release link, wherein the release cable cooperates with a locking pin.

[0022] With the above technical solution, when the robot tilts significantly or is impacted, the pendulum component moves relative to the slot, the release link and release cable are pulled, thereby causing the locking pin to retract radially. Subsequently, the compressed spring pushes the inner extension rod to pop out, completing the mechanical trigger support.

[0023] Optionally, the attitude sensor is fixedly mounted on the central mounting plate of the chassis and electrically connected to the control unit via a signal line. The control unit is located in the electronic control compartment inside the chassis.

[0024] Due to the adoption of the above technical solution, the beneficial effects achieved by this application are as follows:

[0025] 1. When the outriggers are retracted, they do not extend beyond the chassis outline. Electronic triggering, combined with cam-push rod and spring, allows them to extend in a short time.

[0026] 2. Even in the event of an electronic or power failure, the mechanical triggering mechanism (ballast-release cable) can still automatically trigger the outriggers to extend under tilt conditions, improving on-site reliability and safety;

[0027] 3. The outrigger assembly, locking pin assembly, cam drive and mechanical trigger are all modularly designed, which facilitates maintenance, replacement and adjustment;

[0028] 4. A motor is arranged between the camshafts and the power is distributed through a synchronous belt or chain, which not only ensures synchronous operation on both sides, but also reduces the number of motors and reduces the complexity and weight of the system. Attached Figure Description

[0029] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0030] Figure 1 This is a three-dimensional schematic diagram of an anti-tipping device for an inspection robot according to this application;

[0031] Figure 2This is a three-dimensional schematic diagram showing the assembly of the motor, outrigger assembly, and locking assembly in this application.

[0032] Figure 3 This is a cross-sectional view of the outrigger assembly and locking assembly mating in this application;

[0033] Figure 4 This is a three-dimensional schematic diagram of the cooperation between the outrigger assembly and the locking assembly in this application;

[0034] Figure 5 This is a three-dimensional schematic diagram of the mechanical triggering mechanism in this application.

[0035] 1. Chassis; 2. Outrigger assembly; 21. Outer sleeve; 22. Inner extension rod; 23. Compression spring; 24. Locking pin; 3. Detection element; 4. Foot plate; 5. Locking assembly; 51. Eccentric cam; 52. Push rod; 6. Mechanical triggering mechanism; 61. Swinging weight; 62. Release linkage; 63. Release cable; 7. Attitude sensor; 8. Control unit; 9. Motor; 10. Guide sleeve; 11. Mounting base; 12. Return spring. Detailed Implementation

[0036] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.

[0037] Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below. It should be noted that, unless otherwise specified, the embodiments of this application and the features thereof can be combined with each other.

[0038] An anti-tipping device for an inspection robot includes a chassis 1. Several leg assemblies 2 are arranged on the side of the chassis 1. Each leg assembly 2 includes an outer sleeve 21 fixed to the chassis 1, an inner extension rod 22 slidable along the axial direction of the outer sleeve 21, a compression spring 23 disposed between the outer sleeve 21 and the inner extension rod 22, and a locking pin 24 that can be inserted radially into the side hole of the inner extension rod 22. A detection element 3 is also disposed between the outer sleeve 21 and the inner extension rod 22. The outer sleeve 21 is hinged to the mounting base 11 of the chassis 1 via a pivot. The bottom of the inner extension rod 22 is provided with a foot plate 4. Each leg assembly 2 cooperates with a locking assembly 5. The locking assembly 5 is an eccentric cam 51 fixed on a camshaft and a push rod 52 meshing with the eccentric cam 51. Several locking assemblies 5 are arranged symmetrically about the center of the chassis 1. An attitude sensor 7 and a control unit 8 are disposed on the chassis 1. The attitude sensor 7 and the control unit 8 are electrically connected. A mechanical triggering mechanism 6 is also disposed on one side of the chassis 1. The mechanical triggering mechanism 6 cooperates with the leg assembly 2.

[0039] like Figure 1As shown, preferably, in this embodiment, four outrigger assemblies 2 are arranged along the four corners of the chassis 1. Four locking assemblies 5 are also provided.

[0040] Furthermore, such as Figure 1 As shown, a motor 9 is provided between each pair of camshafts. The motor 9 is mounted on the chassis 1 and mechanically connected to the two camshafts through a transmission component to achieve linkage between the two.

[0041] Furthermore, such as Figure 1 as well as Figure 2 As shown, the transmission component is at least one of synchronous belt-synchronous pulley transmission or chain-sprocket transmission.

[0042] Furthermore, such as Figure 3 as well as Figure 4 As shown, the locking pin 24 is a cylindrical pin that passes through the outer sleeve 21 and can be radially inserted into the side hole of the inner extension rod 22. The cylindrical pin has a stop ring on its outer side and slides through the guide sleeve 10.

[0043] Furthermore, such as Figure 3 As shown, one end of the compression spring 23 abuts against the inner top wall of the outer sleeve 21, and the other end abuts against the receiving groove opened downward on the top surface of the inner extension rod 22.

[0044] Furthermore, such as Figure 3 As shown, the detection element 3 is a micro-limit switch. The micro-limit switch is fixed to the outer sleeve 21 and is set opposite to the inner extension rod 22 so as to generate a position feedback signal when the inner extension rod 22 is extended or retracted.

[0045] Furthermore, such as Figure 2 as well as Figure 5 As shown, the mechanical triggering mechanism 6 includes a pendulum 61 arranged along the groove, a release link 62 connected to the pendulum 61, and a release cable 63 connected to the release link 62. The release cable 63 cooperates with the locking pin 24.

[0046] Furthermore, such as Figure 1 As shown, the attitude sensor 7 is fixedly mounted on the central mounting plate of the chassis 1 and electrically connected to the control unit 8 via a signal line. The control unit 8 is located in the electrical control compartment inside the chassis 1.

[0047] like Figures 1 to 5 As shown, during normal inspection and driving, the inner extension rod 22 is stored inside the outer sleeve 21, and the locking pin 24 is inserted into the side hole of the inner extension rod 22 to form a lock; the push rod 52 is in the return position, and the eccentric cam 51 is in the position that allows the locking pin 24 to be inserted; the attitude sensor 7 continuously samples, and the control unit 8 monitors the roll / pitch angle but does not trigger any action.

[0048] When the attitude sensor 7 detects that the roll or pitch angle exceeds the preset threshold and meets the anti-shake logic, the control unit 8 sends an extension command to the motor 9.

[0049] When motor 9 rotates, it drives the transmission components to rotate the camshafts on both sides synchronously. During the rotation, eccentric cam 51 pushes push rod 52, and push rod 52 pushes locking pin 24 to retract radially. After locking pin 24 is retracted, compression spring 23 uses the energy at the tail end of inner extension rod 22 to push inner extension rod 22 to the predetermined extension position axially. The extension position signal is detected and fed back to control unit 8. Control unit 8 enters protection mode, such as restricting movement, alarming, or maintaining support state.

[0050] If the electronic control or motor 9 fails, but the robot tilts or is impacted violently, the pendulum 61 will shift relative to the inside of the groove. The release link 62 will pull the release cable 63 to tighten, and the release cable 63 will cause the locking pin 24 to be removed from the locked position. After the locking pin 24 is removed from the locked position, the inner extension rod 22 will pop out and be in place under the action of the compression spring 23. When the locking pin 24 is in place, it will be reinserted by the return spring 12 to form a bearing path.

[0051] After confirming that the posture has been restored or that safety has been manually verified, the control unit 8 sends a retraction command to the motor 9. The motor 9 rotates in the opposite direction, causing the eccentric cam 51 to return to its original position. The push rod 52 returns to its original position, allowing the locking pin 24 to be retracted or released in a specific sequence. Subsequently, the inner extension rod 22 is retracted into the outer sleeve 21 by active mechanical thrust, and the limit switch confirms that it is properly retracted. If the electronic system fails and the support is completed by mechanical triggering, the rod can be manually returned to its original position or reset through an on-site inspection and repositioning mechanism.

[0052] For any parts not mentioned in this application, existing technologies may be used or referenced.

[0053] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0054] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A patrol robot anti-toppling device comprising a chassis (1), characterized in that: A plurality of outrigger assemblies (2) are provided on the side of the chassis (1). Each outrigger assembly (2) includes an outer sleeve (21) fixed to the chassis (1), an inner extension rod (22) slidable along the axial direction of the outer sleeve (21), a compression spring (23) disposed between the outer sleeve (21) and the inner extension rod (22), and a locking pin (24) that can be inserted radially into the side hole of the inner extension rod (22). A detection element (3) is also provided between the outer sleeve (21) and the inner extension rod (22). The outer sleeve (21) is hinged to the mounting base (11) of the chassis (1) via a pivot. The bottom of the extension rod (22) is provided with a foot plate (4). Each leg assembly (2) cooperates with a locking assembly (5). The locking assembly (5) is an eccentric cam (51) fixed on the camshaft and a push rod (52) meshing with the eccentric cam (51). The locking assemblies (5) are arranged symmetrically about the center of the chassis (1). An attitude sensor (7) and a control unit (8) are provided on the chassis (1). The attitude sensor (7) and the control unit (8) are electrically connected. A mechanical triggering mechanism (6) is also provided on one side of the chassis (1). The mechanical triggering mechanism (6) cooperates with the leg assembly (2).

2. The anti-topple device of claim 1, wherein: A motor (9) is provided between the two opposing camshafts. The motor (9) is mounted on the chassis (1) and is mechanically connected to the two camshafts respectively through a transmission component to achieve linkage between the two.

3. The anti-tipping device according to claim 2, characterized in that: The transmission component is at least one of synchronous belt-synchronous pulley transmission or chain-sprocket transmission.

4. The anti-tipping device according to claim 1, characterized in that: The locking pin (24) is a cylindrical pin that passes through the outer sleeve (21) and can be radially inserted into the side hole of the inner extension rod (22). The cylindrical pin has a stop ring on its outer side and slides through the guide sleeve (10).

5. The anti-tipping device according to claim 1, characterized in that: One end of the compression spring (23) abuts against the inner top wall of the outer sleeve (21), and the other end abuts against the receiving groove opened downward on the top surface of the inner extension rod (22).

6. The anti-tipping device according to claim 1, characterized in that: The detection element (3) is a micro-motion limit switch. The micro-motion limit switch is fixed to the outer sleeve (21) and is arranged opposite to the inner extension rod (22) to generate a position feedback signal when the inner extension rod (22) is extended or retracted.

7. The anti-tipping device according to claim 1, characterized in that: The mechanical triggering mechanism (6) includes a pendulum (61) arranged along the groove, a release link (62) connected to the pendulum (61), and a release cable (63) connected to the release link (62). The release cable (63) cooperates with the locking pin (24).

8. The anti-tipping device according to claim 1, characterized in that: The attitude sensor (7) is fixedly mounted on the central mounting plate of the chassis (1) and electrically connected to the control unit (8) via a signal line. The control unit (8) is located in the electrical control compartment inside the chassis (1).

Images