CN114603579A - Four-foot bionic fire-fighting robot - Google Patents
Four-foot bionic fire-fighting robot Download PDFInfo
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- CN114603579A CN114603579A CN202210407990.5A CN202210407990A CN114603579A CN 114603579 A CN114603579 A CN 114603579A CN 202210407990 A CN202210407990 A CN 202210407990A CN 114603579 A CN114603579 A CN 114603579A
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 17
- 210000001503 joint Anatomy 0.000 claims abstract description 44
- 210000000689 upper leg Anatomy 0.000 claims abstract description 29
- 210000004394 hip joint Anatomy 0.000 claims abstract description 27
- 210000002414 leg Anatomy 0.000 claims abstract description 18
- 210000000078 claw Anatomy 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 71
- 230000005540 biological transmission Effects 0.000 claims description 54
- 230000009471 action Effects 0.000 claims description 4
- 210000001364 upper extremity Anatomy 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 239000000843 powder Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003578 releasing effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention provides a four-legged bionic fire-fighting robot, which comprises a robot body and a clamping structure rotationally connected to the robot body, wherein four leg joints are connected to the robot body, each leg joint comprises a hip joint, a thigh joint and a shank joint which are sequentially hinged, each leg joint is hinged to the robot body through the hip joint, the clamping structure comprises a base and a clamping arm hinged to the base, each clamping arm comprises a rear supporting arm, a middle supporting arm, a first front supporting arm and a second front supporting arm which are sequentially hinged, each clamping arm is hinged to the base through the rear supporting arm, each second front supporting arm is further provided with a clamping claw, each clamping claw can be opened and closed, in the invention, the front leg joints and the rear leg joints can independently move respectively, the robot can realize a walking function, and the clamping structure can realize grabbing of objects at multiple angles and multiple heights, so that the robot provided by the invention provides technical support for fire patrol and fire rescue, is suitable for the fields of fire patrol and fire rescue.
Description
Technical Field
The invention relates to the field of robots, in particular to a four-footed bionic fire-fighting robot.
Background
Under the condition that the automatic control technology and the intelligent technology are mature continuously, a fire-fighting robot, an unmanned reconnaissance plane and other equipment replace a fireman to complete a fire-fighting rescue task, and therefore a robot main body capable of moving flexibly is a necessary condition for the fire-fighting robot to participate in fire patrol and fire rescue, and therefore how to solve the problems is the direction needed to be researched by people in the technical field.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a four-footed bionic fire-fighting robot to solve the problems in the technical background.
The purpose of the invention is realized by the following technical scheme:
a four-foot bionic fire-fighting robot comprises a robot body and a clamping structure which is rotatably connected to the robot body, wherein four leg joints are connected to the robot body, each leg joint comprises a hip joint, a thigh joint and a shank joint which are sequentially hinged, the leg joints are hinged to the robot body through the hip joints, a first transmission mechanism which can enable the hip joints to rotate along the hinged positions of the hip joints and the robot body is arranged on the robot body, a second transmission mechanism which can enable the thigh joints to rotate along the hinged positions of the thigh joints and the hip joints is arranged on the thigh joints, and a third transmission structure which can enable the shank joints to rotate along the hinged positions of the shank joints and the thigh joints is arranged on the shank joints;
the clamping structure comprises a base which is rotationally connected to the machine body through a first rotating mechanism and a clamping arm which is hinged on the base, the clamping arm comprises a rear supporting arm, a middle supporting arm, a first front supporting arm and a second front supporting arm which are sequentially hinged, the second front supporting arm is rotationally connected to the first front supporting arm through a second rotating mechanism, the clamping arm is hinged to the base through the rear supporting arm, the second front supporting arm is also provided with a clamping claw, the base is provided with a fourth transmission mechanism which can enable the rear supporting arm to rotate along the hinged part of the rear supporting arm and the base, the rear supporting arm is provided with a fifth transmission mechanism which can enable the middle supporting arm to rotate along the hinged part of the middle supporting arm and the rear supporting arm, the first front supporting arm is provided with a sixth transmission mechanism which can enable the first front supporting arm to rotate along the hinged part of the first supporting arm and the middle supporting arm, and the clamping claws realize opening and closing actions through a seventh transmission mechanism arranged on the second front support arm.
Furthermore, the first transmission mechanism comprises a first steering gear fixed on the machine body, a lead screw is connected onto the first steering gear, a first connecting platform in threaded connection with the lead screw is arranged on the hip joint, an installation block is fixedly arranged on the machine body, the first steering gear is hinged onto the installation block, and the first steering gear is hinged onto the machine body through the installation block.
Furthermore, the second transmission structure comprises a second steering engine hinged to a thigh joint, a screw rod is connected to the second steering engine, and a second connecting platform in threaded connection with the screw rod is further arranged on the hip joint.
Furthermore, the third transmission mechanism comprises a third steering engine hinged to the shank joint, a screw rod is connected to the third steering engine, and a third connecting platform in threaded connection with the screw rod is arranged on the shank joint.
Furthermore, the fourth transmission mechanism comprises a fourth steering engine hinged to the base, a lead screw is connected to the fourth steering engine, and a fourth connecting platform in threaded connection with the lead screw is arranged on the rear supporting arm.
Furthermore, the fifth transmission mechanism comprises a fifth steering engine hinged to the rear supporting arm, a screw rod is connected to the second steering engine, and a fifth connecting platform in threaded connection with the screw rod is arranged on the middle supporting arm.
Furthermore, the sixth transmission mechanism comprises a sixth steering engine hinged to the first front support arm, a lead screw is connected to the sixth steering engine, and a sixth connecting platform in threaded connection with the lead screw is arranged on the middle support arm.
Furthermore, seventh drive mechanism is including fixing the seventh steering wheel on the support arm before the second, be connected with the lead screw on the seventh steering wheel, support arm still be equipped with before the second with lead screw threaded connection's seventh connection platform, the gripper jaw includes pull rod, lower pull rod, goes up clamping part and lower clamping part, the upper end of seventh connection platform articulates there is last pull rod, and the lower extreme of seventh connection platform articulates there is lower pull rod, it has last clamping part to go up the pull rod and keep away from that the tip of seventh connection platform one end articulates, the tip that seventh connection platform one end was kept away from to the lower pull rod articulates there is lower clamping part.
Furthermore, first steering wheel, the carousel of fixing in the base below and fix the backup pad on the fuselage are drawn together to first rotation mechanism, carousel below is equipped with first pivot, first pivot is established through the bearing housing in the backup pad, first pivot lower extreme still is equipped with first worm wheel, be connected with first worm on the eighth steering wheel, first worm wheel and first worm intermeshing, eighth steering wheel drives base and carousel through first worm and first worm wheel and is the circular rotation along the backup pad together.
Furthermore, the second rotating mechanism comprises a ninth steering engine fixed on the first front supporting arm and a second rotating shaft rotatably connected between the first front supporting arm and the second front supporting arm, a second worm wheel is arranged on the second rotating shaft, a second worm is connected to the ninth steering engine, the second worm wheel and the second worm are meshed with each other, and the ninth steering engine drives the second front supporting arm to rotate circumferentially along the second rotating shaft through the second worm and the second worm wheel.
Furthermore, the front end of the machine body is further connected with an image recognition device through a third rotating mechanism, the third rotating mechanism comprises a tenth steering engine fixed at the front end of the machine body and a first clamping block rotatably connected to the tenth steering engine, the first clamping block is further hinged to an eleventh steering engine, the eleventh steering engine is rigidly connected with a twelfth steering engine, the twelfth steering engine is hinged to a second clamping block, and the second clamping block is fixedly connected with the image recognition device.
Furthermore, the first steering engine, the second steering engine, the third steering engine, the fourth steering engine, the fifth steering engine, the sixth steering engine, the seventh steering engine, the eighth steering engine and the ninth steering engine can continuously rotate for 360 degrees, and the tenth steering engine, the eleventh steering engine and the twelfth steering engine can rotate for 270 degrees.
Furthermore, a dry powder fire extinguishing tank is fixedly arranged on the machine body.
Furthermore, the clamping structure comprises two clamping structures, and the two clamping structures are symmetrically arranged on the upper surface of the machine body.
The invention has the beneficial effects that: in the invention, the front leg joint and the rear leg joint can respectively and independently move to realize the walking function of the robot, and the clamping structure can realize the grabbing of objects at multiple angles and multiple heights, so that the robot provided by the invention provides technical support for fire patrol and fire rescue, and is suitable for the fields of fire patrol and fire rescue.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is another perspective view of the present invention;
FIG. 4 is an enlarged view of a portion A of FIG. 1;
FIG. 5 is a partial enlarged view of portion B of FIG. 1;
FIG. 6 is an enlarged view of a portion C of FIG. 1;
FIG. 7 is an enlarged view of a portion D of FIG. 3;
FIG. 8 is a schematic mechanical view of the clamping structure of the present invention;
fig. 9 is a partially enlarged view of a portion E in fig. 8.
In the figure, 1-machine body, 2-clamping structure, 3-leg joint, 3.1-hip joint, 3.2-thigh joint, 3.3-shank joint, 4-first transmission mechanism, 4.1-first steering gear, 4.2-first connecting platform, 5-second transmission mechanism, 5.1-second steering gear, 5.2-second connecting platform, 6-third transmission mechanism, 6.1-third steering gear, 6.2-third connecting platform, 7-fourth transmission mechanism, 7.1-fourth steering gear, 7.2-fourth connecting platform, 8-fifth transmission mechanism, 8.1-fifth steering gear, 8.2-fifth connecting platform, 9-sixth transmission mechanism, 9.1-sixth steering gear, 9.2-sixth connecting platform, 10-seventh transmission mechanism, 10.1-seventh steering gear, 10.2-seventh connecting platform, 11-a first rotating mechanism, 11.1-an eighth steering engine, 11.2-a rotating disc, 11.3-a support plate, 11.4-a first rotating shaft, 11.5-a first worm wheel, 11.6-a first worm, 12-a base, 13-a clamping arm, 13.1-a rear support arm, 13.2-a middle support arm, 13.3-a first front support arm, 13.4-a second front support arm, 14-a second rotating mechanism, 14.1-a ninth steering engine, 14.2-a second rotating shaft, 14.3-a second worm wheel, 14.4-a second worm, 15-a clamping claw, 15.1-an upper pull rod, 15.2-a lower pull rod, 15.3-an upper clamping part, 15.4-a lower clamping part, 16-a third rotating mechanism, 16.1-a tenth steering engine, 16.2-a first clamping block, 16.3-an eleventh steering engine, 16.4-a twelfth steering engine, 16.5-second clamping block, 17-image recognition device, 18-dry powder fire extinguishing pot.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Example 1:
a four-foot bionic fire-fighting robot is shown in attached drawings 1, 2, 3 and 7 and comprises a robot body 1, wherein four leg joints 3 are connected to the robot body 1, each leg joint 3 comprises a hip joint 3.1, a thigh joint 3.2 and a shank joint 3.3 which are sequentially hinged, each leg joint 3 is hinged to the robot body 1 through the hip joint 3.1, a first transmission mechanism 4 capable of enabling the hip joint 3.1 to rotate along the hinged part of the hip joint 3.1 and the robot body 1 is arranged on the robot body 1, a second transmission mechanism 5 capable of enabling the thigh joint 3.2 to rotate along the hinged part of the thigh joint 3.2 and the hip joint 3.1 is arranged on the thigh joint 3.2, and a third transmission mechanism 6 capable of enabling the shank joint 3.3 to rotate along the hinged part of the shank joint 3.3 and the thigh joint 3.2 is arranged on the shank joint 3.3.
Specifically, please refer to fig. 7, a first transmission mechanism 4 includes a first steering gear 4.1 fixed on the body 1, the first steering gear 4.1 is connected with a screw rod, a first connecting platform 4.2 in threaded connection with the screw rod is arranged on the hip joint 3.1, a mounting block 16 is fixedly arranged on the body 1, the first steering gear 4.1 is hinged on the mounting block 16, the first steering gear 4.1 is hinged on the body 1 through the mounting block 16, the first steering gear 4.1 can control inward or outward expansion and contraction movement of the whole leg joint 3 through a screw rod transmission mode, namely: when the first connecting table 4.2 moves inwards relative to the screw rod, the leg joints 3 expand outwards along a vertical plane, and conversely, when the first connecting table 4.2 moves outwards relative to the screw rod, the leg joints 3 are folded along a vertical plane.
Further, the second transmission structure 5 comprises a second steering engine 5.1 hinged to the thigh joint 3.2, a screw rod is connected to the second steering engine 5.1, a second connection table 5.2 in threaded connection with the screw rod is further arranged on the hip joint 3.1, the second steering engine 5.1 controls the lifting and releasing actions of the thigh joint 3.2 in a screw rod transmission mode, specifically, when the second connection table 5.2 moves inwards along the screw rod, the thigh joint 3.2 can rotate upwards along the hinged position with the hip joint 3.1, so that the purpose of lifting the thigh joint 3.2 is achieved, otherwise, when the second connection table 5.2 moves outwards along the screw rod, the thigh joint 3.2 can rotate downwards along the hinged position with the hip joint 3.1, so that the purpose of releasing the thigh joint 3.2 is achieved.
Still further, third drive mechanism 6 is including articulating the third steering wheel 6.1 on shank joint 3.3, be connected with the lead screw on the third steering wheel 6.1, be equipped with on thigh joint 3.2 with the third connection platform 6.2 of lead screw threaded connection, the principle that third steering wheel 6.1 control shank joint 3.3 lifted and put the action is the same with thigh joint 3.2, promptly: when the screw rod rotates and the third connecting platform 6.2 moves inwards relative to the screw rod, the lower leg joint 3.3 rotates downwards along the hinged part with the thigh joint 3.2 to achieve the purpose of putting down the lower leg joint 3.3, and conversely, when the third connecting platform 6.2 moves outwards relative to the screw rod, the lower leg joint 3.3 rotates upwards along the hinged part with the thigh joint 3.2 to achieve the purpose of lifting up the lower leg joint 3.3.
In this embodiment, leg joints 3 composed of hip joints 3.1, thigh joints 3.2, and shank joints 3.3 are arranged on a robot body 1, and the hip joints 3.1, the thigh joints 3.2, and the shank joints 3.3 are respectively controlled by a steering engine, so that the robot can walk.
Example 2:
in this embodiment, the difference from embodiment 1 is that, please continue to refer to fig. 1 and 8, the embodiment further includes a clamping structure 2 rotatably connected to the machine body 1, the clamping structure 2 includes a base 12 rotatably connected to the machine body 1 through a first rotating mechanism 11 and a clamping arm 13 hinged to the base 12, the clamping arm 13 includes a rear supporting arm 13.1, a middle supporting arm 13.2, a first front supporting arm 13.3, and a second front supporting arm 13.4 rotatably connected to the first front supporting arm 13.3 through a second rotating mechanism 14, the clamping arm 13 is hinged to the base 12 through the rear supporting arm 13.1, the second front supporting arm 13.4 is further provided with a clamping claw 15, the base 12 is provided with a fourth transmission mechanism 7 capable of rotating the rear supporting arm 13.1 along a hinge of the rear supporting arm 13.1 and the base 12, the rear supporting arm 13.1 is provided with a fifth transmission mechanism capable of rotating the middle supporting arm 13.2 along a hinge of the middle supporting arm 13.2 and the rear supporting arm 13.1 And 8, a sixth transmission mechanism 9 which can enable the first front support arm 13.3 to rotate along the hinged position of the first front support arm 13.3 and the middle support arm 13.2 is arranged on the first front support arm 13.3, and the clamping claw 15 realizes the opening and closing actions through a seventh transmission mechanism 10 arranged on the second front support arm 13.4.
Specifically, as shown in fig. 8, the fourth transmission mechanism 7 includes a fourth steering gear 7.1 hinged to the base 12, the fourth steering gear 7.1 is connected to a lead screw, a fourth connection platform 7.2 in threaded connection with the lead screw is arranged on the rear support arm 13.1, the fifth transmission mechanism 8 includes a fifth steering gear 8.1 hinged to the rear support arm 13.1, the second steering gear 8.1 is connected to the lead screw, a fifth connection platform 8.2 in threaded connection with the lead screw is arranged on the middle support arm 13.2, the sixth transmission mechanism 9 includes a sixth steering gear 9.1 hinged to the first front support arm 13.3, the sixth steering gear 9.1 is connected to the lead screw, and a sixth connection platform 9.2 in threaded connection with the lead screw is arranged on the middle support arm 13.2, in this embodiment, the rear support arm 13.1, the middle support arm 13.2, and the sixth transmission mechanism 9 are respectively controlled by the fourth transmission mechanism 7, the fifth transmission mechanism 8 and the sixth transmission mechanism 9, The first front support arm 13.3 moves about its hinge, enabling the gripping structure 2 to be telescoped in different lengths and at different heights.
More specifically, as shown in fig. 9, the seventh transmission mechanism 10 includes a seventh steering engine 10.1 fixed on a second front support arm 13.4, the seventh steering engine 10.1 is connected with a screw rod, the second front support arm 13.4 is further provided with a seventh connecting platform 10.2 in threaded connection with the screw rod, the clamping claw 15 includes an upper pull rod 15.1, a lower pull rod 15.2, an upper clamping portion 15.3 and a lower clamping portion 15.4, the upper end of the seventh connecting platform 10.2 is hinged with the upper pull rod 15.1, the lower end of the seventh connecting platform 10.2 is hinged with the lower pull rod 15.2, the end of the upper pull rod 15.1 far away from one end of the seventh connecting platform 10.2 is hinged with the upper clamping portion 15.3, the end of the lower pull rod 15.2 far away from one end of the seventh connecting platform 10.2 is hinged with the lower clamping portion 15.4, in this embodiment, the seventh transmission mechanism 10 is provided to open or close the clamping claw 15, and the process is as follows: when the seventh connecting platform 10.2 moves inwards relative to the screw rod, the upper pull rod 15.1 and the lower pull rod 15.2 move upwards along with the seventh connecting platform 10.2, the upper pull rod 15.1 and the lower pull rod 15.2 respectively pull the upper clamping part 15.3 and the lower clamping part 15.4 to open upwards, so that the clamping claws 15 open, and conversely, when the seventh connecting platform 10.2 moves outwards relative to the screw rod, the upper pull rod 15.1 and the lower pull rod 15.2 respectively push the upper clamping part 15.3 and the lower clamping part 15.4 to close downwards.
More specifically, referring to fig. 1 and fig. 4, the first rotating mechanism 11 includes an eighth steering gear 11.1 fixed on the machine body 1, a turntable 11.2 fixed below the base 12, and a support plate 11.3 fixed on the machine body 1, a first rotating shaft 11.4 is arranged below the turntable 11.2, the first rotating shaft 11.4 is sleeved on the support plate 11.3 through a bearing, a first worm gear 11.5 is further arranged at the lower end of the first rotating shaft 11.4, a first worm 11.6 is connected to the eighth steering gear 11.1, the first worm gear 11.5 and the first worm 11.6 are engaged with each other, the eighth steering gear 11.4 drives the base 12 and the turntable 11.2 to rotate circumferentially along the support plate 11.3 through the first worm 11.6 and the first worm gear 11.5, and the specific process is as follows: the eighth steering engine 11.4 drives the first worm 11.6 to rotate, the first worm 11.6 drives the first worm wheel 11.5 engaged with the first worm to rotate, the first worm wheel 11.5 drives the first rotating shaft 11.4 to rotate, the first rotating shaft 11.4 drives the rotating disc 11.2, and then the clamping arm 13 fixed on the rotating disc 11.2 is driven to rotate.
More specifically, referring to fig. 1 and 5, the second rotating mechanism 14 includes a ninth steering engine 14.1 fixed on the first front support arm 13.3 and a second rotating shaft 14.2 rotatably connected between the first front support arm 13.3 and the second front support arm 13.4, the second rotating shaft 14.2 is provided with a second worm wheel 14.3, the ninth steering engine 14.1 is connected with a second worm 14.4, the second worm wheel 14.3 and the second worm 14.4 are engaged with each other, the ninth steering engine 14.1 drives the second front support arm 13.4 to rotate circumferentially along the second rotating shaft 14.2 through the second worm 14.4 and the second worm wheel 14.3, specifically, the ninth steering engine 14.1 drives the second worm 14.4 to rotate, the second worm 14.4 drives the second worm wheel 14.3 engaged with the second worm wheel to rotate, and further drives the second front support arm 13.4 to rotate, so as to achieve the purpose that the second front support arm 13.4 can capture objects from different angles.
Example 3:
in this embodiment, as shown in fig. 1 and fig. 6, the front end of the body 1 is further connected to an image recognition device 17 through a third rotating mechanism 16, the third rotating mechanism 13 includes a tenth steering engine 16.1 fixed to the front end of the body 1 and a first clamping block 16.2 rotatably connected to the tenth steering engine 16.1, the first clamping block 16.2 is hinged to an eleventh steering engine 16.3, the eleventh steering engine 16.3 is rigidly connected to a twelfth steering engine 16.4, the twelfth steering engine 16.4 is hinged to a second clamping block 16.5, the second clamping block 16.5 is fixedly connected to the image recognition device 17, in this embodiment, the image recognition device 17 is arranged to recognize an object in front of the robot, the tenth steering engine 16.1 in the third rotating mechanism 13 can realize that the image recognition device 17 rotates around the tenth steering engine 16.1, and the eleventh steering engine 16.3 and the twelfth steering engine 16.4 can respectively rotate around the hinged position thereof, the effect of extending or retracting the image recognition device 17 is achieved.
In the above embodiment, preferably, the first steering engine 4.1, the second steering engine 5.1, the third steering engine 6.1, the fourth steering engine 7.1, the fifth steering engine 8.1, the sixth steering engine 9.1, the seventh steering engine 10.1, the eighth steering engine 11.1 and the ninth steering engine 14.1 are continuously rotatable in 360 °, and the tenth steering engine 16.1, the eleventh steering engine 16.3 and the twelfth steering engine 16.4 are rotatable in 270 °.
In the above embodiment, preferably, the machine body 1 is further provided with a dry powder fire extinguishing tank 18 by fixing.
In the above embodiment, the clamping structure 2 preferably includes two clamping structures, and the two clamping structures 2 are symmetrically disposed on the upper surface of the machine body 1.
The above-mentioned embodiments only express the specific embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention.
Claims (10)
1. A four-foot bionic fire-fighting robot is characterized by comprising a robot body and a clamping structure which is rotatably connected to the robot body, wherein four leg joints are connected to the robot body, each leg joint comprises a hip joint, a thigh joint and a shank joint which are sequentially hinged, the leg joints are hinged to the robot body through the hip joints, a first transmission mechanism which can enable the hip joints to rotate along the hinged positions of the hip joints and the robot body is arranged on the robot body, a second transmission mechanism which can enable the thigh joints to rotate along the hinged positions of the thigh joints and the hip joints is arranged on the shank joints, and a third transmission structure which can enable the shank joints to rotate along the hinged positions of the shank joints and the thigh joints is arranged on the shank joints;
the clamping structure comprises a base which is rotationally connected to the machine body through a first rotating mechanism and a clamping arm which is hinged on the base, the clamping arm comprises a rear supporting arm, a middle supporting arm, a first front supporting arm and a second front supporting arm which are sequentially hinged, the second front supporting arm is rotationally connected to the first front supporting arm through a second rotating mechanism, the clamping arm is hinged to the base through the rear supporting arm, the second front supporting arm is also provided with a clamping claw, the base is provided with a fourth transmission mechanism which can enable the rear supporting arm to rotate along the hinged part of the rear supporting arm and the base, the rear supporting arm is provided with a fifth transmission mechanism which can enable the middle supporting arm to rotate along the hinged part of the middle supporting arm and the rear supporting arm, the first front supporting arm is provided with a sixth transmission mechanism which can enable the first front supporting arm to rotate along the hinged part of the first front supporting arm and the middle supporting arm, and the clamping claws realize opening and closing actions through a seventh transmission mechanism arranged on the second front support arm.
2. The bionic four-foot fire-fighting robot according to claim 1, wherein the first transmission mechanism comprises a first steering engine fixed on the robot body, a lead screw is connected to the first steering engine, a first connecting platform in threaded connection with the lead screw is arranged on a hip joint, a mounting block is fixedly arranged on the robot body, the first steering engine is hinged to the mounting block, and the first steering engine is hinged to the robot body through the mounting block.
3. The four-footed bionic fire-fighting robot as claimed in claim 2, wherein the second transmission structure comprises a second steering engine hinged to a thigh joint, a screw rod is connected to the second steering engine, and a second connecting platform in threaded connection with the screw rod is further arranged on the hip joint.
4. The quadruped bionic fire-fighting robot as claimed in claim 3, characterized in that the third transmission mechanism comprises a third steering engine hinged to a shank joint, a lead screw is connected to the third steering engine, and a third connecting platform in threaded connection with the lead screw is arranged on the shank joint.
5. The four-footed bionic fire-fighting robot as claimed in claim 4, wherein the fourth transmission mechanism comprises a fourth steering engine hinged to the base, a screw rod is connected to the fourth steering engine, and a fourth connecting platform in threaded connection with the screw rod is arranged on the rear support arm.
6. The four-footed bionic fire-fighting robot as claimed in claim 5, wherein the fifth transmission mechanism comprises a fifth steering engine hinged to the rear support arm, the second steering engine is connected with a screw rod, and the middle support arm is provided with a fifth connecting platform in threaded connection with the screw rod.
7. The four-footed bionic fire-fighting robot as claimed in claim 6, wherein the sixth transmission mechanism comprises a sixth steering engine hinged to the first front support arm, a lead screw is connected to the sixth steering engine, and a sixth connecting platform in threaded connection with the lead screw is arranged on the middle support arm.
8. The four-footed bionic fire-fighting robot according to claim 7, wherein the seventh transmission mechanism comprises a seventh steering engine fixed on a second front support arm, a lead screw is connected to the seventh steering engine, a seventh connecting table in threaded connection with the lead screw is further arranged on the second front support arm, the clamping claw comprises an upper pull rod, a lower pull rod, an upper clamping part and a lower clamping part, the upper end of the seventh connecting table is hinged to the upper pull rod, the lower end of the seventh connecting table is hinged to the lower pull rod, the end part of the upper pull rod, which is far away from one end of the seventh connecting table, is hinged to the upper clamping part, and the end part of the lower pull rod, which is far away from one end of the seventh connecting table, is hinged to the lower clamping part.
9. The four-footed bionic fire-fighting robot as claimed in claim 1, wherein the first rotation mechanism comprises an eighth steering gear fixed on the robot body, a turntable fixed below the base and a support plate fixed on the robot body, a first rotation shaft is arranged below the turntable and sleeved on the support plate through a bearing, a first worm gear is further arranged at the lower end of the first rotation shaft, a first worm is connected to the eighth steering gear, the first worm gear and the first worm are meshed with each other, the eighth steering gear drives the base and the turntable to rotate circumferentially along the support plate through the first worm and the first worm gear, the second rotation mechanism comprises a ninth steering gear fixed on the first front support arm and a second rotation shaft rotatably connected between the first front support arm and the second front support arm, a second worm gear is arranged on the second rotation shaft, and a second worm is connected to the ninth steering gear, the second worm wheel and the second worm are meshed with each other, and the ninth steering engine drives the second front support arm to rotate circumferentially along the second rotating shaft through the second worm and the second worm wheel.
10. The quadruped bionic fire-fighting robot as claimed in claim 1, wherein the front end of the robot body is further connected with an image recognition device through a third rotating mechanism, the third rotating mechanism comprises a tenth steering engine fixed at the front end of the robot body and a first clamping block rotatably connected to the tenth steering engine, the first clamping block is further hinged to an eleventh steering engine, the eleventh steering engine is rigidly connected to a twelfth steering engine, the twelfth steering engine is hinged to a second clamping block, and the second clamping block is fixedly connected to the image recognition device.
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