CN116424454A - Four-foot robot for putting supervision robot - Google Patents
Four-foot robot for putting supervision robot Download PDFInfo
- Publication number
- CN116424454A CN116424454A CN202310489734.XA CN202310489734A CN116424454A CN 116424454 A CN116424454 A CN 116424454A CN 202310489734 A CN202310489734 A CN 202310489734A CN 116424454 A CN116424454 A CN 116424454A
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- China
- Prior art keywords
- robot
- battery
- rack
- sliding table
- supervision
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 210000000078 claw Anatomy 0.000 claims description 8
- 230000007723 transport mechanism Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 230000005611 electricity Effects 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 11
- 210000000689 upper leg Anatomy 0.000 description 8
- 210000004394 hip joint Anatomy 0.000 description 3
- 238000007689 inspection Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Classifications
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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
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a quadruped robot for putting in a supervision robot, which can realize the electricity change and displacement of the supervision robot, wherein the quadruped robot is provided with a carrying mechanism and a battery storage cabinet for storing rechargeable batteries, the supervision robot is connected with the quadruped robot through the carrying mechanism, and the supervision robot is provided with a battery taking and placing mechanism for taking and placing the rechargeable batteries from the battery storage cabinet.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a quadruped robot for putting in a supervision robot.
Background
With the continuous progress of society, city construction and economy are rapidly developed, construction sites are more and more, management standardization of construction sites is also gradually standardized, and particularly, potential safety hazards caused by non-construction workers entering the construction sites are considered, a plurality of construction sites are often required to be monitored by one construction unit, so that a large number of construction sites use supervision robots to remotely monitor the construction sites, but replacement and displacement of the supervision robots still need to be completed manually, safety problems caused by the non-construction workers entering the construction sites are considered, and meanwhile, replacement and displacement of the supervision robots by using four-foot robots for saving manpower are particularly important.
Disclosure of Invention
In order to solve the technical problems, the invention provides a quadruped robot for throwing a supervision robot.
The invention adopts the following technical proposal
A four-legged robot for putting in and managing robot, be equipped with transport mechanism and be used for storing the battery storage cabinet of chargeable battery on the four-legged robot, manage the robot and be connected with the four-legged robot through transport mechanism, manage the robot and be equipped with and be used for following the battery storage cabinet gets the battery of putting chargeable battery and gets the mechanism of putting.
Preferably, the handling mechanism comprises a rotating base which is arranged on the quadruped robot and can rotate axially, a large arm which can turn up and down relatively is arranged on the rotating base, a front gear and a front belt wheel are arranged at the front end of the large arm, a rear gear and a rear belt wheel are arranged at the rear end of the large arm, the front belt wheel and the rear belt wheel are synchronously connected through a driving belt, a sliding rail is arranged on the large arm, a first sliding table capable of sliding relatively is arranged on the sliding rail, a rack is arranged on the first sliding table, the front gear and the rear gear are meshed with the rack, a sliding rail motor and a lifting motor are fixed on the rotating base, the output end of the sliding rail motor is connected with the front gear and the front belt wheel, and the output end of the lifting motor is fixedly connected with the large arm.
Preferably, the first sliding table is provided with a second sliding table capable of sliding relatively, and the second sliding table is provided with a hinge seat capable of rotating relatively to the second sliding table and a hinge motor connected with the hinge seat and used for controlling the hinge seat to do rotary motion; the hinge seat is provided with a clamping claw for fixing the supervision robot, and the supervision robot is provided with a clamping disc matched with the clamping claw.
Preferably, the battery taking and placing mechanism comprises a battery conveying sliding block and a battery conveying sliding rail which are arranged on the supervision robot and matched with each other, and the rechargeable battery in the supervision robot can be conveyed outwards for a certain distance through the battery conveying sliding block and the battery conveying sliding rail.
Preferably, the battery storage cabinet comprises a mobile platform for moving the chargeable and dischargeable battery output by the battery taking and placing mechanism from the supervision robot and a storage rack for storing the chargeable and dischargeable battery.
Preferably, the mobile platform comprises a longitudinal sliding table, a longitudinal sliding rail, a transverse sliding table, a transverse sliding rail, a forward pushing base, a first push rod, a fourth sliding table, a third sliding table and a second push rod, wherein the longitudinal sliding table is in sliding connection with the longitudinal sliding rail, the transverse sliding table is in sliding connection with the transverse sliding rail, and the forward pushing base is connected with the fourth sliding table through the first push rod and is connected with the third sliding table through the second push rod.
Preferably, the battery storage cabinet is fixedly connected with the body of the quadruped robot through a battery storage cabinet fixing seat.
Preferably, the storage rack comprises an upper storage rack and a lower storage rack.
Preferably, the upper storage rack and the lower storage rack comprise a rear side fixing rack, a front baffle, a front side fixing rack, side locking devices, a front middle end fixing rack, a middle end locking device, a lower baffle, a rear baffle and a rear middle end fixing rack, wherein the front side fixing rack is totally two and symmetrically fixed on the inner wall of the battery storage cabinet, the front baffle is connected with the middle part of the front side fixing rack, the lower end of the front side fixing rack is connected with the side locking devices, the side locking devices are fixedly connected with the front side fixing rack on the upper layer and the lower layer, the front middle end fixing rack is provided with two and symmetrically fixed on the inner wall of the battery storage cabinet, the middle part of the front middle end fixing rack is connected with the front baffle, the lower end of the front middle end fixing rack is connected with the middle end locking device, the rear middle end fixing rack is totally two and symmetrically fixed on the inner wall of the battery storage cabinet, and the middle part of the rear middle end fixing rack is fixedly connected with the lower baffle.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
by adopting the technical scheme, the battery storage cabinet is provided with the carrying mechanism and used for storing the rechargeable battery on the quadruped robot, the supervision robot is connected with the quadruped robot through the carrying mechanism, the battery taking and placing mechanism is arranged on the supervision robot and used for taking and placing the rechargeable battery from the battery storage cabinet, and the whole transportation and electricity replacement of the supervision robot through the quadruped robot can be realized.
Drawings
Fig. 1 is an overall assembly view of the present invention.
Fig. 2 is a block diagram of four robot groups according to the present invention.
Fig. 3 is a partial schematic view of the transport mechanism of the present invention.
Fig. 4 is a partial schematic view of a conveying mechanism according to the present invention.
Fig. 5 is a schematic view of the supervision robot of the present invention.
Fig. 6 is a partial schematic view of the battery storage cabinet of the present invention.
Fig. 7 is a partial schematic view of a battery storage cabinet of the present invention.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to FIGS. 1-7 and examples.
Referring to fig. 1 to 7, a quadruped robot 1 for throwing in a supervision robot 3 according to the present embodiment includes a carrying mechanism 2 and a battery storage cabinet 4 disposed on the quadruped robot 1, and when the supervision robot 3 needs to shift or change power, the quadruped robot 1 will travel to the lower side of the supervision robot 3, and the supervision robot 3 is fixedly connected to the quadruped robot 1 through the carrying mechanism 2.
As shown in fig. 2, the four-legged robot 1 includes a body 5, a hip joint 6, a thigh joint 7, a thigh 8, and a shank 9. The front end of the thigh joint 7 is fixedly connected with the hip joint 6, and the rear end forms a hinge connection with the hinge seat 51, so that the thigh joint 7 rotates around the axis of the hip joint 6, the thigh joint connection surface 71 is fixedly connected with the thigh connection surface 81, and the thigh hinge hole 82 is hinged with the shank hinge hole 91, so that the shank 9 rotates around the thigh 8.
As shown in fig. 3 and 4, the carrying mechanism is composed of a slide rail 10, a rotating base 11, a slide rail motor 12, a first slide table 13, a hinge seat 14, a hinge motor 15, a rack 16, a second slide table 17, a base 18, a rear gear 19, a rear belt pulley 20, a driving belt 21, a front belt pulley 22, a front gear 23, a lifting motor 50 and a large arm 51, wherein the base 18 is fixedly connected with the machine body 5 of the four groups of robots, the base 18 is connected with the rotating base 11 through a rotating pair, and the rotating base 11 can rotate around the central axis of the rotating base 11; the rotary base 11 is fixedly connected with a slide rail motor 12 and a lifting motor 50, the slide rail motor 12 and the lifting motor 50 are respectively fixedly connected with the rotary base 11 through bolts, the tail end of the slide rail motor 12 is fixedly connected with a front gear 23 and a front belt pulley 22 through splines, and the slide rail motor 12 controls the movement of the front gear 23 and the front belt pulley 22; the tail end of the lifting motor 50 is fixedly connected with one side of the large arm 51, the other side of the large arm 51 is connected with the rotary base 11 through a rotary pair, namely the large arm 51 can rotate around the central axis of the lifting motor 50, and the swing angle of the large arm is controlled by the lifting motor 50; the upper end of the big arm 51 is fixedly connected with the slide rail 10, the rear end of the big arm 51 is provided with a rear gear 19 and a rear belt wheel 20 which are connected with a big arm 51 rotary pair through a shaft, and the rear gear 19 and the rear belt wheel 20 are fixedly connected through a spline; the front pulley 22 and the rear pulley 19 are synchronously connected by a drive belt 21. The front gear 23 and the rear gear 19 are meshed with the rack 16, and the rack 16 is fixedly connected with the first sliding table 13 through bolts, so that the sliding rail motor 12 can control the front gear 23 and the meshing of the rear gear 19 with the rack 16 to control the front-back movement of the first sliding table.
The first sliding table 13 is connected with the second sliding table 17 through a moving pair, namely the first sliding table 13 can move back and forth on the second sliding table 17; the two-stage sliding table first sliding table 13 and the second sliding table 17 can be matched to greatly improve the moving range of the first sliding table 13;
the second sliding table 17 controls the rotation movement of the hinge seat 14 through the hinge motor 15; the hinge seat 14 can rotate around the axis of the hinge motor 15; the hinge seat 14 is fixed with a clamping claw 29 and a clamping claw fixing disc 30 through bolts; the handling mechanism fixes the inspection robot by the positioning claws 29.
As shown in fig. 5, the inspection robot 3 includes a camera 24, a chargeable/dischargeable cell 25, a battery transport slider 26, a battery transport slide rail 27, and a chuck 28. When the quadruped robot 1 runs below the supervision robot 3, the clamping claw 29 of the conveying mechanism 2 is fixedly connected with the clamping disc 28 of the supervision robot 3, and the battery conveying sliding block 26 of the supervision robot 3 conveys the chargeable and dischargeable battery 25 to the front of the battery storage cabinet 4 through the battery conveying sliding rail 27.
As shown in fig. 6, the battery storage cabinet 4 is constituted by a moving platform and a storage rack. The mobile platform is composed of a longitudinal sliding table 31, a longitudinal sliding rail 32, a transverse sliding table 33, a transverse sliding rail 34, a forward pushing base 35, a first push rod 36, a fourth sliding table 37, a third sliding table 38, a second push rod 39 and a battery storage cabinet fixing seat 40. The longitudinal sliding table 31 is connected with a sliding pair of the longitudinal sliding rail 32, the transverse sliding table 33 is connected with a sliding pair of the transverse sliding rail 34, and the forward pushing base 35 can respectively move forward the two stages of sliding tables (a fourth sliding table 37 and a third sliding table 38 respectively) through a first push rod 36 and a second push rod 39; the battery storage cabinet fixing seat 40 is fixedly connected with the machine body 5; the battery clamping position of the rear side fixing frame 41 can store two empty batteries.
Further, the third sliding table 38 and the fourth sliding table 37 in the battery storage cabinet 4 are used for carrying out two-stage forward battery transferring operation, then the two-stage sliding tables return, after the moving platform moves downwards to place the taken-down battery in the empty battery bin 41, the moving platform moves out of the side of the empty battery bin 41 after the battery is placed, then the battery with full power at the upper part is taken down and sent out of the battery storage cabinet 4, and finally the battery conveying sliding block 26 of the supervision robot 3 is connected with the chargeable and dischargeable battery 25 and returns to the position, and the battery replacing process is completed.
As shown in fig. 7, the storage rack is constituted by a rear side fixing frame 41, a front baffle 42, a front side fixing frame 43, a side lock 44, a front middle end fixing frame 45, a middle end lock 46, a lower baffle 47, a rear baffle 48, and a rear middle end fixing frame 49. The front side fixing frames 43 are symmetrically fixed on the inner wall of the battery storage cabinet 4, the middle part of the front side fixing frames is connected with the front baffle plate 42, the lower end of the front side fixing frames is connected with the side locking device 44, the side locking device 44 of the upper storage frame fixedly connects the upper layer of front side fixing frames 43 and the lower layer of front side fixing frames 43, the front middle end fixing frames 45 are symmetrically fixed on the inner wall of the battery storage cabinet 4, the middle part of the front side fixing frames is connected with the front baffle plate 42, the lower end of the front middle end fixing frames is connected with the middle end locking device 46, the rear middle end fixing frames 49 are symmetrically fixed on the inner wall of the battery storage cabinet 4, the middle part of the front side fixing frames is connected with the rear baffle plate 48, the lower end of the rear side fixing frames 41, the front side fixing frames 43, the front middle end fixing frames 45 and the rear middle end fixing frames 49 are fixedly connected with the battery storage cabinet 4 through bolts; side locks 44, middle locks 46 secure the upper and lower layers.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Claims (9)
1. Four-legged robot (1) for putting in a supervision robot (3), characterized in that: be equipped with transport mechanism (2) on quadruped robot (1) and be used for storing battery storage cabinet (4) of chargeable and dischargeable cell (25), supervision robot (3) are connected with quadruped robot (1) through transport mechanism (2), supervision robot (3) are equipped with and are used for following battery storage cabinet (4) get the battery of chargeable and dischargeable cell (25) and get put the mechanism.
2. A quadruped robot for a launch proctoring robot as claimed in claim 1, wherein: the utility model provides a transport mechanism (2) including establishing but axial rotation's on the quadruped robot (3 rotating base (11), be equipped with big arm (51) that can overturn from top to bottom relatively on rotating base (11), big arm (51) front end is equipped with front gear (23) and front pulley (22), rear end are equipped with rear gear (19) and back band pulley (20), front pulley (22) and back band pulley (19) pass through drive belt (21) synchro-linked, be equipped with slide rail (10) on big arm (51), slide rail (10) are equipped with first slip table (13) that can slide relatively, first slip table (13) are equipped with rack (16), front gear (23), rear gear (19) with rack (16) meshing, be fixed with slide rail motor (12) and elevator motor (50) on rotating base (11), the output of slide rail motor (12) with front gear (23), front pulley (22) are connected, elevator motor (50) output with big arm (51) fixed connection.
3. A quadruped robot for a launch proctoring robot as claimed in claim 2, wherein: the first sliding table (13) is provided with a second sliding table (17) capable of sliding relatively, and the second sliding table (17) is provided with a hinge seat (14) capable of rotating relatively to the second sliding table (17) and a hinge motor (15) connected with the hinge seat (14) and used for controlling the hinge seat (14) to do rotary motion; the hinge seat (14) is provided with a clamping claw (29) for fixing the supervision robot, and the supervision robot is provided with a clamping disc (28) matched with the clamping claw (29).
4. A quadruped robot for a launch proctoring robot as claimed in claim 1, wherein: the battery taking and placing mechanism comprises a battery conveying sliding block (26) and a battery conveying sliding rail (27) which are arranged on the supervision robot and are matched with each other, and the chargeable and dischargeable battery (25) in the supervision robot can be conveyed outwards for a certain distance through the battery conveying sliding block (26) and the battery conveying sliding rail (27).
5. A quadruped robot for a launch proctoring robot as claimed in claim 1, wherein: the battery storage cabinet (4) comprises a moving platform for moving the chargeable and dischargeable battery (25) output by the battery taking and placing mechanism from the supervision robot and a storage rack for storing the chargeable and dischargeable battery (25).
6. A quadruped robot for a launch proctoring robot as claimed in claim 5, wherein: the mobile platform comprises a longitudinal sliding table (31), a longitudinal sliding rail (32), a transverse sliding table (33), a transverse sliding rail (34), a forward pushing base (35), a first push rod (36), a fourth sliding table (37), a third sliding table (38) and a second push rod (39), wherein the longitudinal sliding table (31) is in sliding connection with the longitudinal sliding rail (32), the transverse sliding table (33) is in sliding connection with the transverse sliding rail (34), and the forward pushing base (35) is connected with the fourth sliding table (37) through the first push rod (36) and is connected with the third sliding table (38) through the second push rod (39).
7. A quadruped robot for a launch proctoring robot as claimed in claim 6, wherein: the battery storage cabinet is fixedly connected with the machine body (5) of the quadruped robot through a battery storage cabinet fixing seat (40).
8. A quadruped robot for a launch proctoring robot as claimed in claim 7, wherein: the storage rack comprises an upper storage rack and a lower storage rack.
9. A quadruped robot for a launch proctoring robot as claimed in claim 8, wherein: the upper storage rack and the lower storage rack comprise a rear side fixing rack (41), a front baffle (42), a front side fixing rack (43), side locking devices (44), a front middle end fixing rack (45), a middle end locking device (46), a lower baffle (47), a rear baffle (48) and a rear middle end fixing rack (49), the front side fixing rack (43) is totally two and symmetrically fixed on the inner wall of the battery storage cabinet (4), the front baffle (42) is connected with the middle part of the front side fixing rack (43), the lower end of the front side fixing rack is connected with the side locking devices (44), the side locking devices (44) fixedly connect the upper front side fixing rack and the lower front side fixing rack (43), the front middle end fixing rack (45) is provided with two and symmetrically fixed on the inner wall of the battery storage cabinet (4), the front middle end fixing rack (45) is connected with the front baffle (42) and the lower end of the front middle end fixing rack (46), the rear middle end fixing rack (49) is totally two and symmetrically fixed on the inner wall of the battery storage cabinet (4), and the rear middle end fixing rack (49) is connected with the lower baffle (47).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310489734.XA CN116424454A (en) | 2023-05-04 | 2023-05-04 | Four-foot robot for putting supervision robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310489734.XA CN116424454A (en) | 2023-05-04 | 2023-05-04 | Four-foot robot for putting supervision robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116424454A true CN116424454A (en) | 2023-07-14 |
Family
ID=87092701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310489734.XA Pending CN116424454A (en) | 2023-05-04 | 2023-05-04 | Four-foot robot for putting supervision robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116424454A (en) |
-
2023
- 2023-05-04 CN CN202310489734.XA patent/CN116424454A/en active Pending
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