Obstacle removing mechanism for walking survey robot

Abstract

The utility model discloses an obstacle removing mechanism for walking investigation robot relates to walking investigation robot technical field, including clearing away obstacle component, side shovel component and mechanical arm component, the lower extreme of left and right sides of clearing away obstacle component all is installed with side shovel component, the rear side lower extreme of mechanical arm component connection installation is in clearing away obstacle component. This is used for walking investigation robot's obstacle removing mechanism of robot, through the mutual cooperation of each component, can effectively remove various obstacles that walking investigation robot meets in the process of advancing, and clearing away obstacle component adopts high -strength wear -resisting material and is made, can bear greater impact force, ensure stable work in complex terrain, and side shovel component design is unique, and angle can be adjusted flexibly, to adapt to the obstacle of different shape and size, improve the efficiency of clearing away obstacle, and mechanical arm component has accurate control performance, can accurately remove or adjust position to the obstacle, provide strong guarantee for the smooth progress of walking investigation robot.

Description

Technical Field

[0001] This utility model relates to the field of walking survey robot technology, specifically an obstacle removal mechanism for a walking survey robot. Background Technology

[0002] A walking survey robot is a robot capable of autonomous or remote-controlled movement, used for environmental exploration, data collection, and analysis. It is typically equipped with sensors (such as cameras, thermometers, hygrometers, and gas detectors) to perform tasks in complex or hazardous environments, such as industrial inspection, agricultural monitoring, disaster relief, or security investigations.

[0003] Conventional walking survey robots often have functional limitations when dealing with complex terrain and diverse obstacles. Their obstacle-clearing components may be damaged by significant impacts due to insufficient material strength, affecting the robot's normal movement and task execution. The range of angle adjustment is also limited, making effective clearing difficult. Utility Model Content

[0004] The purpose of this invention is to provide an obstacle removal mechanism for a walking survey robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an obstacle removal mechanism for a walking survey robot, comprising an obstacle removal component, a side shovel component, and a robotic arm component. The lower ends of both sides of the obstacle removal component are equipped with side shovel components. The robotic arm component is connected and installed at the lower rear end of the obstacle removal component. The obstacle removal component includes an obstacle removal shovel body, a bottom shovel, a docking seat, a buffer seat, and a wear-resistant coating. The bottom of the obstacle removal shovel body is provided with a bottom shovel, and docking seats are provided at both ends of the bottom shovel. Furthermore, buffer seats are symmetrically arranged on the left and right sides of the connection between the bottom shovel and the obstacle removal shovel body near the center of the side close to the robotic arm component. The outer surfaces of the obstacle removal shovel body and the bottom shovel are coated with a wear-resistant coating.

[0006] Furthermore, the wear-resistant coating is made of ceramic-filled polymer composite material, and the obstacle removal shovel body, bottom shovel, docking seat, and buffer seat are integrated into a single structure.

[0007] Furthermore, the bottom shovel adopts a flat shovel structure, and the main body of the obstacle removal shovel adopts a double inward curved surface inclined structure to avoid obstacles.

[0008] Furthermore, the side shovel component includes a horizontal electric joint, an electric rotary seat, and a side shovel body. The electric rotary seat is installed on the side of the horizontal electric joint closest to the obstacle clearing component, and the side shovel body is connected and installed at the end of the horizontal electric joint away from the electric rotary seat.

[0009] Further, the surface of the side shovel main body is also coated with a wear-resistant coating, and four corners at the joint of the horizontal electric joint and the side shovel main body are all provided with hole structures for bolt fixing and installation, and four corners at the joint of the electric rotary seat and the docking seat are all provided with hole structures for bolt fixing and installation.

[0010] Further, the mechanical arm member includes an upper support frame, a rotating seat, an assembly shock-absorbing seat, a first electric joint, an electric telescopic arm, a second electric joint, a lower support frame and a connecting seat, the middle section of the upper support frame is symmetrically provided with the rotating seats on the left and right, one end of the rotating seat is connected and installed with the assembly shock-absorbing seat, both left and right ends of the upper support frame are equipped with the first electric joint, the end of the first electric joint away from the upper support frame is connected and installed with the electric telescopic arm, the end of the electric telescopic arm away from the first electric joint is equipped with the second electric joint, the side edge of the first electric joint is horizontally connected and installed with the lower support frame, and the end of the lower support frame close to the obstacle clearing member is equipped with the connecting seat.

[0011] Further, four corners at the joint of the connecting seat and the buffer seat are all provided with hole structures for bolt fixing and installation, and the connecting seat and the second electric joint are arranged in an integrated structure.

[0012] Further, the upper support frame, the first electric joint, the electric telescopic arm, the second electric joint and the lower support frame are connected and combined with each other in a "mouth"-shaped structure, the end of the assembly shock-absorbing seat away from the rotating seat is arranged in an "L"-shaped structure, and a plurality of sets of hole structures for bolt fixing and installation are provided on both the vertical side surface and the horizontal side surface.

[0013] The present utility model provides an obstacle clearing mechanism for a walking survey robot, which has the following beneficial effects:

[0014] 1. This utility model, through the unique design of its obstacle-clearing components, can effectively remove various obstacles encountered by a walking survey robot during its movement. The obstacle-clearing shovel body adopts a double inward curved surface inclined structure. This structure can cleverly avoid obstacles and move along the contour of the obstacle when it encounters one, reducing direct collisions. At the same time, the bottom shovel adopts a flat shovel structure, which can better remove small obstacles on the ground, such as stones and branches. Moreover, there are symmetrical buffer seats on the left and right sides of the middle of the connection between the bottom shovel and the obstacle-clearing shovel body near the mechanical arm component. When the obstacle-clearing component collides with an obstacle, the buffer seats can play a buffering role, reducing the impact force on the robot as a whole, improving the robot's stability and service life. In addition, the outer surfaces of the obstacle-clearing shovel body and the bottom shovel are coated with a wear-resistant coating. The wear-resistant coating is made of ceramic-filled polymer composite material. This material has the advantages of high strength, wear resistance, and corrosion resistance, which can greatly improve the wear resistance of the obstacle-clearing component, making it less prone to damage during long-term use and reducing maintenance costs.

[0015] 2. This utility model features side shovel components installed at the lower ends of the left and right sides of the obstacle-clearing component. An electric rotary seat is installed on the side of the horizontal electric joint of the side shovel component closest to the obstacle-clearing component, and the side shovel body is connected to the end of the horizontal electric joint furthest from the electric rotary seat. The surface of the side shovel body is also coated with a wear-resistant coating. This design allows the side shovel component to rotate and extend flexibly, enabling it to clear obstacles on both sides of the robot and expand the obstacle-clearing range. Furthermore, holes for bolt fixing are provided at the four opposite corners of the connection between the horizontal electric joint and the side shovel body, as well as at the four opposite corners of the connection between the electric rotary seat and the docking seat, facilitating the installation and disassembly of the side shovel component and the obstacle-clearing component, and making maintenance and replacement easier.

[0016] 3. In this utility model, the robotic arm component is connected and installed at the lower rear end of the obstacle removal component, providing strong power support and flexible operation capability for the entire obstacle removal mechanism. The upper support frame of the robotic arm component has symmetrically arranged rotating seats on both sides in the middle section. One end of each rotating seat is connected to an assembly shock absorber. First electric joints are installed at both ends of the upper support frame. An electric telescopic arm is connected to the end of each first electric joint away from the upper support frame. A second electric joint is installed at the end of the electric telescopic arm away from the first electric joint. A lower support frame is horizontally connected to the side of each first electric joint. A connecting seat is installed at the end of the lower support frame closest to the obstacle removal component. The upper support frame, first electric joint, electric telescopic arm, second electric joint, and lower support frame form a "U" shape. The interconnected "L"-shaped structure gives the robotic arm components high stability and strength, enabling them to withstand significant forces. The end of the shock-absorbing seat furthest from the rotating seat features an "L"-shaped structure with multiple sets of bolt holes on both the vertical and horizontal surfaces, facilitating connection and fixation with other components. The four diagonal corners of the connection between the connecting seat and the buffer seat also have bolt holes. Furthermore, the connecting seat and the second electric joint are integrated, ensuring a secure connection between the robotic arm components and the obstacle-clearing components. Through the coordinated operation of the various components of the robotic arm, the position and movement of the obstacle-clearing components can be precisely controlled, enabling the effective removal of obstacles of different locations and sizes. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the main body of an obstacle removal mechanism for a walking survey robot according to the present invention;

[0018] Figure 2 This is a schematic diagram of the main body of an obstacle removal mechanism for a walking survey robot according to the present invention;

[0019] Figure 3 This is a three-dimensional structural diagram of the obstacle removal component of an obstacle removal mechanism for a walking survey robot according to the present invention;

[0020] Figure 4 This is a three-dimensional structural diagram of the obstacle removal component of an obstacle removal mechanism for a walking survey robot according to the present invention;

[0021] Figure 5 This is a three-dimensional structural diagram of the side shovel component of an obstacle removal mechanism for a walking survey robot according to the present invention.

[0022] Figure 6 This is a three-dimensional structural diagram of the robotic arm component of an obstacle removal mechanism for a walking survey robot according to the present invention.

[0023] In the diagram: 1. Obstacle clearing component; 101. Obstacle clearing shovel body; 102. Bottom shovel; 103. Connecting seat; 104. Buffer seat; 105. Wear-resistant coating; 2. Side shovel component; 201. Horizontal electric joint; 202. Electric rotary seat; 203. Side shovel body; 3. Mechanical arm component; 301. Upper support frame; 302. Rotating seat; 303. Assembly shock absorber seat; 304. First electric joint; 305. Electric telescopic arm; 306. Second electric joint; 307. Lower support frame; 308. Connecting seat. Detailed Implementation

[0024] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0025] like Figures 1 to 6 As shown, an obstacle removal mechanism for a walking survey robot includes an obstacle removal component 1, a side shovel component 2, and a robotic arm component 3. Side shovel components 2 are installed at the lower ends of both the left and right sides of the obstacle removal component 1. The robotic arm component 3 is connected and installed at the lower rear end of the obstacle removal component 1. The obstacle removal component 1 includes an obstacle removal shovel body 101, a bottom shovel 102, a docking seat 103, a buffer seat 104, and a wear-resistant coating 105. The bottom shovel 102 is provided at the bottom of the obstacle removal shovel body 101, and docking seats 103 are provided at both the left and right ends of the bottom shovel 102. Buffer seats 104 are symmetrically arranged on the left and right sides of the connection between the bottom shovel 102 and the obstacle removal shovel body 101 near the center of the side close to the robotic arm component 3. The outer surfaces of both the obstacle removal shovel body 101 and the bottom shovel 102 are coated with a wear-resistant coating 105. The wear-resistant coating 105 is made of ceramic-filled polymer composite material. The obstacle removal shovel body 101, bottom shovel 102, docking seat 103, and buffer seat 104 are integrated into a single structure. The bottom shovel 102 is a flat shovel structure, and the obstacle removal shovel body 101 is designed with a double inward curved surface tilting structure to avoid obstacles. The double inward curved surface tilting structure of the obstacle removal shovel body 101 can guide the obstacle removal component 1 to move along the contour of the obstacle when it encounters an obstacle during the robot's movement, greatly reducing the impact force generated by direct collision. This ingenious design not only reduces damage to the robot itself, but also allows the robot to cross obstacles more smoothly, ensuring the stable operation of the robot in complex environments.

[0026] like Figures 1 to 6As shown, the side shovel component 2 includes a horizontal electric joint 201, an electric rotary seat 202, and a side shovel body 203. The electric rotary seat 202 is installed on the side of the horizontal electric joint 201 closest to the obstacle clearing component 1, and the side shovel body 203 is connected and installed at the end of the horizontal electric joint 201 away from the electric rotary seat 202. The surface of the side shovel body 203 is also coated with a wear-resistant coating 105. Holes for bolt fixing are provided at the four opposite corners of the connection between the horizontal electric joint 201 and the side shovel body 203, and holes for bolt fixing are also provided at the four opposite corners of the connection between the electric rotary seat 202 and the docking seat 103. The horizontal electric joint 201, electric rotary seat 202, and side shovel body 203 of the side shovel component 2 cooperate with each other to provide a flexible and effective solution for clearing obstacles on both sides of the robot. The horizontal electric joint 201 enables the extension and retraction of the side shovel body 203, while the electric rotary seat 202 enables the side shovel body 203 to rotate. In practical applications, the position and angle of the side shovel body 203 can be precisely adjusted by controlling the horizontal electric joint 201 and the electric rotary seat 202 according to the different positions and conditions of obstacles on both sides of the robot, thereby effectively clearing obstacles on both sides, further expanding the robot's obstacle clearing range and enhancing the robot's adaptability in complex environments.

[0027] like Figures 1 to 6As shown, the robotic arm component 3 includes an upper support frame 301, a rotating seat 302, an assembly shock absorber 303, a first electric joint 304, an electric telescopic arm 305, a second electric joint 306, a lower support frame 307, and a connecting seat 308. The rotating seats 302 are symmetrically arranged on the left and right sides of the middle section of the upper support frame 301, and one end of the rotating seat 302 is connected to the assembly shock absorber 303. The first electric joint 304 is installed on both the left and right ends of the upper support frame 301, and the electric telescopic arm 305 is connected to the end of the first electric joint 304 away from the upper support frame 301. The second electric joint 306 is installed on the end of the electric telescopic arm 305 away from the first electric joint 304. A lower support frame 307 is horizontally connected to the side of the movable joint 304. A connecting seat 308 is installed at the end of the lower support frame 307 closest to the obstacle-clearing component 1. Four diagonal holes for bolt fixing are provided at the connection point between the connecting seat 308 and the buffer seat 104. The connecting seat 308 and the second electric joint 306 are integrally formed. The upper support frame 301, the first electric joint 304, the electric telescopic arm 305, the second electric joint 306, and the lower support frame 307 are interconnected in a U-shape. The end of the shock-absorbing seat 303 furthest from the rotating seat 302 has an L-shaped structure, and multiple sets of holes are provided on both the vertical and horizontal surfaces for... The bolt-fixing hole structure, utilizing the unique structural design of the robotic arm component 3, allows it to withstand significant external impacts during robot obstacle clearing, ensuring that the robotic arm component 3 will not be damaged or deformed due to excessive force, thus guaranteeing the smooth progress of obstacle clearing work. The end of the mounting shock absorber 303 furthest from the rotating seat 302 adopts an "L"-shaped structure, with multiple sets of holes for bolt fixing on both the vertical and horizontal surfaces. This design not only facilitates the connection and fixing of the robotic arm component 3 to other components, but its "L"-shaped structure also provides more stable support during connection, enhancing the connection's robustness. Furthermore, the multiple sets of holes facilitate installation... More flexible, the robot can choose the appropriate installation position and method according to actual needs. In practical applications, when the robot needs to clear obstacles, the robotic arm component 3 starts to work. The first electric joint 304 and the second electric joint 306 work together to precisely control the extension and rotation angle of the electric telescopic arm 305, thereby driving the obstacle clearing component 1 to move and adjust in the up, down, forward, backward and left and right directions. Through this precise control, the robot can accurately place the obstacle clearing component 1 at the obstacle position to effectively clear obstacles of different positions and sizes. For example, when encountering a tall obstacle, the electric telescopic arm 305 can extend to lift the obstacle clearing component 1 to a suitable height for clearing.When encountering a wide obstacle, the robotic arm component 3 can adjust the angle and position of the obstacle clearing component 1 by rotating and extending each joint, and clear the obstacle from different directions. Moreover, the four opposite corners of the connection between the connecting seat 308 and the buffer seat 104 are provided with holes for bolt fixing. The connecting seat 308 and the second electric joint 306 are set as an integral structure. This design ensures the firmness and stability of the connection between the robotic arm component 3 and the obstacle clearing component 1. During obstacle removal, the obstacle removal component 1 will be subjected to the reaction force of the obstacle. A robust connection ensures that the robotic arm component 3 effectively transmits power to the obstacle removal component 1, while also withstanding the reaction force transmitted from the obstacle removal component 1. This prevents loosening or detachment, improving the reliability and service life of the entire obstacle removal mechanism. Furthermore, the cooperation between the rotating seat 302 and the mounting shock absorber 303 provides strong support for the operation of the robotic arm component 3. The rotating seat 302 allows the robotic arm component 3 to rotate within a certain range, increasing the range of motion and flexibility of the robotic arm, enabling the robot to more flexibly handle obstacles from different directions. The mounting shock absorber 303 acts as a shock absorber and buffer. During the operation of the robotic arm component 3, when subjected to a large impact force, the mounting shock absorber 303 can absorb and disperse some of the energy, reducing damage to the internal parts of the robotic arm component 3, lowering the failure rate of the robotic arm, and extending its service life.

[0028] In summary, as Figures 1 to 6 As shown, the obstacle removal mechanism for the walking survey robot is first installed on the walking survey robot to ensure that all components are firmly connected and installed in the correct position.

[0029] During the robot's movement, when it encounters an obstacle in front, the obstacle clearing component 1 comes into play. The double inward curved inclined structure of its obstacle clearing shovel body 101 guides the obstacle clearing component 1 to move along the contour of the obstacle, reducing the direct collision impact force and reducing damage to the robot itself. At the same time, the bottom shovel 102 assists in the initial clearing.

[0030] If obstacles appear on both sides of the robot, the side shovel component 2 starts to work. The horizontal electric joint 201 controls the extension and retraction of the side shovel body 203, and the electric rotary seat 202 makes the side shovel body 203 rotate. According to the different positions and situations of the obstacles on both sides, the position and angle of the side shovel body 203 are precisely adjusted to effectively clear the obstacles on both sides and expand the robot's obstacle clearing range.

[0031] When encountering obstacles of different heights or widths, the robotic arm component 3 comes into play. The first electric joint 304 and the second electric joint 306 work together to control the extension and rotation angles of the electric telescopic arm 305, driving the obstacle clearing component 1 to move and adjust in the up-down, forward-backward, and left-right directions, so as to accurately place the obstacle clearing component 1 at the location of the obstacle for removal.

[0032] During the obstacle removal process, the rotating seat 302 allows the robotic arm component 3 to rotate within a certain range, increasing its range of motion and flexibility. The shock-absorbing seat 303 absorbs and disperses the large impact force on the robotic arm component 3, reducing damage to internal parts, lowering the failure rate, ensuring the stable and reliable operation of the entire obstacle removal mechanism, and ensuring that the walking survey robot can smoothly pass through various complex environments and complete the survey task.

[0033] The embodiments of this utility model are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the utility model to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical applications of this utility model, and to enable those skilled in the art to understand this utility model and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. An obstacle removal mechanism for a walking survey robot, comprising an obstacle removal component (1), a side shovel component (2), and a robotic arm component (3), characterized in that: The lower ends of the left and right sides of the obstacle removal component (1) are equipped with side shovel components (2), and the mechanical arm component (3) is connected and installed at the lower rear side of the obstacle removal component (1). The obstacle removal component (1) includes an obstacle removal shovel body (101), a bottom shovel (102), a docking seat (103), a buffer seat (104), and a wear-resistant coating (105). The bottom of the obstacle removal shovel body (101) is provided with a bottom shovel (102), and the left and right ends of the bottom shovel (102) are provided with docking seats (103). Furthermore, the bottom shovel (102) and the obstacle removal shovel body (101) are symmetrically provided with buffer seats (104) on the side near the mechanical arm component (3) at the connection between the bottom shovel (102) and the obstacle removal shovel body (101). The outer surfaces of the obstacle removal shovel body (101) and the bottom shovel (102) are coated with a wear-resistant coating (105).

2. The obstacle removal mechanism for a walking survey robot according to claim 1, characterized in that, The wear-resistant coating (105) is made of ceramic-filled polymer composite material and applied. The obstacle removal shovel body (101), bottom shovel (102), docking seat (103), and buffer seat (104) are integrated into one structure.

3. The obstacle removal mechanism for a walking survey robot according to claim 2, characterized in that, The bottom shovel (102) adopts a flat shovel structure, and the obstacle removal shovel body (101) adopts a double inward curved surface inclined structure to avoid obstacles.

4. The obstacle removal mechanism for a walking survey robot according to claim 2, characterized in that, The side shovel component (2) includes a horizontal electric joint (201), an electric rotary seat (202), and a side shovel body (203). The electric rotary seat (202) is installed on the side of the horizontal electric joint (201) close to the obstacle clearing component (1), and the side shovel body (203) is connected to the end of the horizontal electric joint (201) away from the electric rotary seat (202).

5. The obstacle removal mechanism for a walking survey robot according to claim 4, characterized in that, The surface of the side shovel body (203) is also coated with a wear-resistant coating (105), and the four opposite corners of the connection between the horizontal electric joint (201) and the side shovel body (203) are provided with holes for bolt fixing, and the four opposite corners of the connection between the electric rotary seat (202) and the docking seat (103) are provided with holes for bolt fixing.

6. The obstacle removal mechanism for a walking survey robot according to claim 1, characterized in that, The robotic arm component (3) includes an upper support frame (301), a rotating seat (302), an assembly shock absorber seat (303), a first electric joint (304), an electric telescopic arm (305), a second electric joint (306), a lower support frame (307), and a connecting seat (308). The upper support frame (301) has rotating seats (302) symmetrically arranged on the left and right sides of its middle section, and one end of each rotating seat (302) is connected to an assembly shock absorber seat (303). The upper support frame (301) has rotating seats (302) symmetrically arranged on the left and right sides of its middle section, and one end of each rotating seat (302) is connected to an assembly shock absorber seat (303). Each end is equipped with a first electric joint (304), and an electric telescopic arm (305) is connected to the end of the first electric joint (304) away from the upper support frame (301). A second electric joint (306) is installed at the end of the electric telescopic arm (305) away from the first electric joint (304). A lower support frame (307) is horizontally connected to the side of the first electric joint (304), and a connecting seat (308) is installed at the end of the lower support frame (307) near the obstacle clearing component (1).

7. An obstacle removal mechanism for a walking survey robot according to claim 6, characterized in that, Four corners at the joint of the connecting seat (308) and the buffer seat (104) are each provided with a hole structure for bolt fixing and mounting, and the connecting seat (308) and the second electric joint (306) are configured as an integral structure.

8. An obstacle removal mechanism for a walking survey robot according to claim 6, characterized in that, The upper support frame (301), the first electric joint (304), the electric telescopic arm (305), the second electric joint (306), and the lower support frame (307) are interconnected and combined to form a "mouth"-shaped structure, and an end of the assembly shock-absorbing seat (303) away from the rotating seat (302) is configured in an "L"-shaped structure, and a plurality of sets of hole structures for bolt fixing and mounting are provided on both the vertical side surface and the horizontal side surface thereof.

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