CN114083550B - A multi-legged rescue robot - Google Patents

Abstract

A multi-legged rescue robot, including a shock absorbing device, legs, short rods, long rods, vertical boards, inner support frames, worm gears, worms, motors, motor brackets, shells, fuselages, main frames, columns, upper frames, extensions rod; the legs include triangles, feet, gaps, and rope holes; the damping device includes a lower strut, an upper strut, a lower buffer, and an upper buffer; four columns are arranged on the main frame, and the The upper frame is supported above the column, the fuselage is arranged inside the four columns, the main frame includes a rectangular frame, the fuselage is fixed inside the frame, and four shells are connected to the outside of the frame. The shell is internally connected to the inner support frame, and the rear side of the inner support frame is connected to the bracket.

Description

A multi-legged rescue robot

technical field

The invention relates to the field of post-disaster rescue robots, in particular to a multi-legged rescue robot.

Background technique

The problem of post-disaster rescue has always been a difficult problem in the world. Our country spends a lot of money in this area every year. Every time, we try our best to rescue the trapped people in the disaster area and reduce the loss of people's lives and property. The auxiliary robots used for rescue are indispensable; however , in the specific actual rescue work, there are the following problems:

1. Rescue robots in the prior art often lack carrying capacity and cannot better integrate multi-functional modules.

2. The motor of the rescue robot in the prior art is arranged on the main support, occupying the space of the main support which is not abundant.

3. The buffering device of rescue robots in the prior art provides buffering through springs. However, in actual robot work, collisions in various directions may be encountered, so springs in a single direction cannot provide all-round buffering.

4. The outrigger transmission mechanism of the rescue robot in the prior art is arranged under the robot, but this arrangement limits the movable stroke of the outrigger.

5. In the rescue robot of the prior art, the movement of the outriggers is controlled by a pole, but the control range of a single pole is relatively limited.

6. Rescue robots in the prior art require ropes to be pulled during work. The usual way is to tie the ropes to the body or outriggers of the robot. However, this way of binding is not universal. It is not stable on the legs, and it is easy to get entangled when tied to the fuselage.

7. The rescue robot of the prior art needs to move obstacles during the working process. The prior art only relies on the fuselage to push, which is unstable and easy to slide, and lacks a force point.

8. In the rescue robot of the prior art, the carrying capacity of the outriggers is insufficient.

Contents of the invention

In order to overcome the above-mentioned problems, the present invention proposes a solution to simultaneously solve the above-mentioned multiple problems.

The technical solution adopted by the present invention to solve its technical problems is: a multi-legged rescue robot, including a shock absorbing device, legs, short rods, long rods, vertical plates, inner support frames, worm gears, worms, motors, motor brackets, The shell, the fuselage, the main frame, the column, the upper frame, and the extension rod; the legs include triangles, feet, gaps, and rope holes; the shock absorbing device includes a lower strut, an upper strut, a lower buffer device, buffer device;

Wherein the main frame is provided with four uprights, the top of the uprights is supported by the upper frame, the inside of the four uprights is provided with the fuselage, the main frame includes a rectangular frame, and the inside of the frame is fixed to the machine. body, the frame body is externally connected with four shells, the shell is internally connected with the inner support frame, the rear side of the inner support frame is connected with a bracket, the upper part of the bracket is connected with the motor bracket, and the motor bracket is Connect the motor, the output shaft of the motor is connected to the worm, the worm drives the worm wheel to rotate, the worm wheel is located inside the inner support frame, the worm wheel shaft of the worm wheel is connected to the short rod, and the short rod is connected to the One corner of the triangular part is rotated and connected;

The front side of the inner support frame is connected with an extension rod, and the front end of the extension rod is connected with the long rod, and the long rod is connected with the other corner of the triangular part; the triangular part is integrally connected with the foot, so that The notch is provided on the front side of the legs, and the rope hole is provided inside the triangular part; each outer shell includes two inner support frames, and the two inner support frames in each outer shell are connected to form a whole frame , the short rod is located on the outside of the inner support frame and in the middle of the inner support frame;

Each shell is also provided with the shock absorbing device, the outside of the main frame is connected to four vertical plates, the outside of the vertical plates is respectively connected to the upper strut and the lower strut, and the upper strut and the lower strut are respectively connected to each other. The struts are all connected to the integral frame, the bottom of the upper strut is connected to one end of the upper buffer device, the upper part of the lower strut is connected to one end of the lower buffer device, and the upper buffer device is connected to the lower buffer device. The other end of the device is connected to the main frame; the upper buffer device and the lower buffer device are arranged obliquely; the plane where the upper buffer device and the lower buffer device are located is perpendicular to the plane where the legs are located.

Preferably, the extension rod is a hydraulic telescopic rod.

Preferably, the extension rod is rotatable relative to the inner support frame.

Preferably, the number of the legs is eight.

Preferably, each inner support frame is correspondingly connected to one leg.

Preferably, the foot includes a first slope and a second slope.

Preferably, the first slope is arranged on the rear side of the foot.

Preferably, the second slope is arranged on the bottom side of the foot.

Preferably, the included angle between the first inclined plane and the horizontal plane is larger than the included angle between the second inclined plane and the horizontal plane.

Preferably, both the upper buffer device and the lower buffer device are spring devices sleeved on the connecting column.

The beneficial effects of the present invention are:

1. Aiming at the first point raised in the background technology, a top shelf is set above the main support, a robot body is set between the main support and the top shelf, and functional modules are set on the top shelf, thereby greatly expanding the scope and quantity of functions.

2. For the second point proposed by the background technology, the outer shell and the inner support frame are set up, and the scope of the support is expanded through the connection mode of the main support, the outer shell, and the inner support frame, so that the motor can be set on the inner support frame, so as not to be crowded The settings are on the main bracket.

3. In view of the third point proposed in the background technology, multi-dimensional buffer support is realized through double oblique spring modules. In actual working conditions, the front side of the robot is not afraid of impact, but the side is afraid of impact, so the plane where the spring is located is perpendicular to the plane where the legs are located.

4. For the fourth point proposed by the background technology, the long pole is set on the front side of the inner support frame, and the short pole is set in the middle of the inner support frame to adapt to the distance of the long pole. The long pole on the front side drives the lower legs to better move toward front stretch.

5. In view of the fifth point proposed in the background technology, an extension rod is provided at the connection between the long rod and the inner support frame. The extension rod can be selected as a hydraulic rod, a rotating rod or a telescopic rod, thereby further increasing the flexibility and range of motion.

6. Aiming at point 6 of the background technology, a rope hole is set on the leg, and after the rope is passed through, it can be better held by the hole, which increases the stability.

7. Aiming at point 7 of the background technology, a notch is set on the front side of the leg, and the notch can be better pressed against the obstacle, and the obstacle can be easily pressed against by means of snap-fitting, providing a fulcrum that is not easy to slide; The design of the bar on the front side of the inner support frame can make the notch better aligned to the front.

8. For the 8th point proposed in the background technology, triangular parts are set in the legs, and the stability is increased through triangular supports.

Note: the above-mentioned designs are in no particular order, and each of them makes the present invention have difference and remarkable progress compared with the prior art.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a structural schematic diagram of the damping device in the present invention.

Fig. 3 is a schematic diagram of the leg mechanism in the present invention.

Fig. 4 is a schematic diagram of the installation of the power unit in the present invention.

Fig. 5 is a schematic diagram of installation of the worm gear coupling rod in the present invention.

In the figure, the reference signs are as follows:

1 leg, 11 short pole, 12 foot, 13 long pole, 14 vertical board, 15 inner support frame, 16 bearing, 131 hinged column, 2 shock absorber, 21 lower strut, 22 upper strut, 23 lower buffer device, 24 upper buffer device, 3 power unit, 31 worm gear, 32 worm screw, 33 geared motor, 34 motor bracket, 4 shell, 5 fuselage, 6 main frame, 7 column, 8 upper frame, 9 extension rod, 10 triangular part, 61 gaps, 62 front surfaces, 63 rope holes.

Detailed ways

As shown in the figure: a multi-legged rescue robot, including shock absorbing device, legs, short rod, long rod, vertical plate, inner support frame, worm gear, worm, motor, motor bracket, shell, body, main frame, Upright column, upper frame, and extension rod; the legs include triangular parts, feet, gaps, and rope holes; the shock absorbing device includes a lower strut, an upper strut, a lower buffer device, and an upper buffer device;

Wherein the main frame is provided with four uprights, the top of the uprights is supported by the upper frame, the inside of the four uprights is provided with the fuselage, the main frame includes a rectangular frame, and the inside of the frame is fixed to the machine. body, the frame body is externally connected with four shells, the shell is internally connected with the inner support frame, the rear side of the inner support frame is connected with a bracket, the upper part of the bracket is connected with the motor bracket, and the motor bracket is Connect the motor, the output shaft of the motor is connected to the worm, the worm drives the worm wheel to rotate, the worm wheel is located inside the inner support frame, the worm wheel shaft of the worm wheel is connected to the short rod, and the short rod is connected to the One corner of the triangular part is rotated and connected;

The front side of the inner support frame is connected with an extension rod, and the front end of the extension rod is connected with the long rod, and the long rod is connected with the other corner of the triangular part; the triangular part is integrally connected with the foot, so that The notch is provided on the front side of the legs, and the rope hole is provided inside the triangular part; each outer shell includes two inner support frames, and the two inner support frames in each outer shell are connected to form a whole frame , the short rod is located on the outside of the inner support frame and in the middle of the inner support frame;

Each shell is also provided with the shock absorbing device, the outside of the main frame is connected to four vertical plates, the outside of the vertical plates is respectively connected to the upper strut and the lower strut, and the upper strut and the lower strut are respectively connected to each other. The struts are all connected to the integral frame, the bottom of the upper strut is connected to one end of the upper buffer device, the upper part of the lower strut is connected to one end of the lower buffer device, and the upper buffer device is connected to the lower buffer device. The other end of the device is connected to the main frame; the upper buffer device and the lower buffer device are arranged obliquely; the plane where the upper buffer device and the lower buffer device are located is perpendicular to the plane where the legs are located.

As shown in the figure: the extension rod is a hydraulic telescopic rod. The extension rod can rotate relative to the inner support frame. The number of said legs is eight. Each inner support frame is correspondingly connected to a leg. The foot includes a first slope and a second slope. The first slope is arranged on the rear side of the foot. The second slope is provided on the bottom side of the foot. The included angle between the first inclined plane and the horizontal plane is larger than the included angle between the second inclined plane and the horizontal plane. Both the upper buffer device and the lower buffer device are spring devices sleeved on the connecting column.

The above detailed description is a specific description of the feasible embodiment of the present invention. This embodiment is not used to limit the patent scope of the present invention. Any equivalent implementation or change that does not deviate from the present invention should be included in the patent scope of this case. middle.

Claims (10)

1. A multi-foot rescue robot is characterized in that: comprises a damping device, legs, short rods, a long rod, a vertical plate, an inner support frame, a worm wheel, a worm, a motor support, a shell, a machine body, a main frame, an upright post, an upper frame and an extension rod; the leg part comprises a triangular part, a foot part, a notch and a rope hole; the damping device comprises a lower support rod, an upper support rod, a lower buffer device and an upper buffer device;

the main frame comprises a rectangular frame body, the machine body is fixed in the frame body, four shells are connected to the outside of the frame body, the shells are connected to the inner support frame, a bracket is connected to the rear side of the inner support frame, the motor bracket is connected to the upper side of the bracket, the motor bracket is connected to the motor, a motor output shaft is connected with a worm, the worm drives the worm wheel to rotate, the worm wheel is located in the inner support frame, a worm wheel shaft of the worm wheel is connected with the short rod, and the short rod is connected with one corner of the triangular part in a rotating manner;

the front side of the inner support frame is connected with an extension rod, the front end of the extension rod is connected with the long rod, and the long rod is connected with the other corner of the triangular part; the triangular part is integrally connected with the foot part, the notch is arranged on the front side of the leg part, and the rope hole is arranged in the triangular part; each outer shell comprises two inner supporting frames, the two inner supporting frames in each outer shell are connected into an integral frame, and the short rods are positioned on the outer sides of the inner supporting frames and in the middle of the inner supporting frames;

the damping device is further arranged in each shell, four vertical plates are connected to the outer side of the main frame, the outer sides of the vertical plates are respectively connected with the upper support rod and the lower support rod, the upper support rod and the lower support rod are both connected with the integral frame, one end of the upper damping device is connected to the lower portion of the upper support rod, one end of the lower damping device is connected to the upper portion of the lower support rod, and the other ends of the upper damping device and the lower damping device are both connected with the main frame; the upper buffer device and the lower buffer device are obliquely arranged; the plane of the upper buffer device and the lower buffer device is perpendicular to the plane of the leg.

2. The multi-legged rescue robot according to claim 1, characterized in that: the extension rod is a hydraulic telescopic rod.

3. The multi-legged rescue robot according to claim 1, characterized in that: the extension rod is rotatable relative to the inner support frame.

4. The multi-legged rescue robot according to claim 1, characterized in that: the number of the legs is eight.

5. The multi-legged rescue robot according to claim 1, characterized in that: each inner supporting frame is correspondingly connected with one leg part.

6. The multi-legged rescue robot according to claim 1, characterized in that: the foot portion includes a first bevel and a second bevel.

7. The multi-foot rescue robot as claimed in claim 6, wherein: the first incline is disposed on a rear side of the foot.

8. The multi-legged rescue robot of claim 7, characterized in that: the second incline is disposed on a bottom side of the foot.

9. The multi-legged rescue robot of claim 8, wherein: the included angle between the first inclined plane and the horizontal plane is larger than that between the second inclined plane and the horizontal plane.

10. The multi-legged rescue robot according to claim 1, characterized in that: the upper buffer device and the lower buffer device are spring devices sleeved on the connecting column.

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