CN205706947U - A kind of fire-fighting robot step device - Google Patents
A kind of fire-fighting robot step device Download PDFInfo
- Publication number
- CN205706947U CN205706947U CN201620392544.1U CN201620392544U CN205706947U CN 205706947 U CN205706947 U CN 205706947U CN 201620392544 U CN201620392544 U CN 201620392544U CN 205706947 U CN205706947 U CN 205706947U
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- motor
- toe
- foot
- connecting rod
- connector
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 17
- 238000009434 installation Methods 0.000 claims abstract description 8
- 239000000203 mixture Substances 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 239000011664 nicotinic acid Substances 0.000 abstract description 2
- CBVWMGCJNPPAAR-HJWRWDBZSA-N (nz)-n-(5-methylheptan-3-ylidene)hydroxylamine Chemical compound CCC(C)C\C(CC)=N/O CBVWMGCJNPPAAR-HJWRWDBZSA-N 0.000 abstract 1
- 101100394497 Caenorhabditis elegans toe-1 gene Proteins 0.000 description 10
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004899 motility Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000383 hazardous chemical Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
- 239000000941 radioactive substance Substances 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Abstract
This utility model relates to a kind of fire-fighting robot step device, belongs to fire-fighting detecting devices technical field.This utility model includes toe, hydraulic stem, motor I, and thigh, composition motor support seat, motor II, motor III, spring, foot's connector, sensor, toe connecting rod I, toe connecting rod II, spring fixed column, shank, fixing post I, fixing post II, fixing post III；Thigh one end is arranged on motor II, motor I is arranged on the motor installation position of shank, and shank is connected with foot connector, and the thigh other end is arranged on motor I, hydraulic stem one end is arranged on toe, and the other end is connected with foot connector.This utility model step Bionic Design, walking flexibly, can utilize the sole sensor of its uniqueness to make motor feedback to toe；The vibrations that complex road surface motor process produces can be absorbed, can effectively avoid the situation of complex road surface；Easily manufacture, practical, easy to spread.
Description
Technical field
This utility model relates to a kind of fire-fighting robot step device, belongs to fire-fighting detecting devices technical field.
Background technology
The particularity produced along with socioeconomic fast development, building and enterprise, causes Hazardous Chemical Substances and radioactive substance leakage and the accident potential's increase burnt, explode, cave in, and the probability that accident occurs improves the most accordingly.Disaster accident once occurs, and fireman, when the harm environment such as high temperature, dark, poisonous and dense smoke, if not having corresponding equipment rashly to rush in scene, not only can not complete task, also can increase casualties on foot.Fire-fighting robot, as the one of specialized robot, plays very important effect in fire extinguishing and rescue further.Fire-fighting robot is generally of car body, and car body has the motor that power supply connects, and has the wheel of motor linkage below car body, and car body has the flusher spraying fire-fighting liquid.In prior art, the wheel motility below car body is poor, and can not realize dodging for complex road surface, has a strong impact on fire-fighting efficiency.
Summary of the invention
The purpose of utility model is to provide a kind of fire-fighting robot step device, to solve existing fire-fighting robot car body wheel very flexible, can not realize problems such as dodging complex road surface when walking.
This utility model is realized by techniques below scheme: a kind of fire-fighting robot step device, including toe 1, hydraulic stem 2, motor I 3, thigh 4, composition motor support seat 5, motor II 6, motor III 7, spring 8, foot's connector 9, sensor 10, toe connecting rod I 11, toe connecting rod II 12, spring fixed column 13, shank 14, fixing post I 19, fixing post II 20, fixing post III 21；nullComposition motor supports and is installed on motor support column I 17 on seat 5、Motor support column II 18，Motor III 7 is arranged on motor support column I 17，Motor II 6 is arranged on motor support column II 18，Thigh 4 one end is arranged on motor II 6，Motor installation position 15 is offered on shank 14，Motor I 3 is arranged on the motor installation position 15 of shank 14，Spring fixed column 13 it is installed on shank 14，Shank 14 is fixed post 16 by the foot's connector being installed on it and is connected with foot connector 9，Spring 8 is arranged on spring fixed column 13、Foot's connector is fixed on post 16，Thigh 4 other end is arranged on motor I 3，Sensor 10 is arranged on bottom foot's connector 9，Toe connecting rod II 12 one end is connected with toe connecting rod I 11 one end by the fixing post III 21 being installed on it，Toe connecting rod I 11、Toe connecting rod II 12 is connected with foot's connector 9 bottom by fixing post III 21，Toe 1 is connected with the fixing post II 20 being installed on toe connecting rod II 12 other end，Hydraulic stem 2 one end is arranged on toe 1，The other end is connected with foot connector 9，Toe connecting rod I 11 other end is connected with toe 1 by the fixing post I 19 being installed on it.
Described thigh 4 is V-type.
Described toe 1 is horseshoe type.
The operation principle of a kind of fire-fighting robot step device is: during work, for ensureing the step motility of robot under adverse circumstances and overall adaptability, robot can regulate the corner of motor I 3, on the basis of ensureing robot stride motility, make the Level Change of robot step, and then change robot stride height.Change robot height of C.G. by regulating the corner of motor II 6, change the walking step-length of robot by regulating the corner of motor III 7.During robot ambulation, foot lands moment and can produce greater impact power, easily body is caused damage, the passive suspension mechanism spring 8 of foot of robot and hydraulic stem 2 form shockproof mechanism, can effectively reduce foot's complexity, strengthen machine work stability, produced vibrations in Passive intake motor process.
This utility model has the advantages that
1, step Bionic Design, walking flexibly, can utilize the sole sensor of its uniqueness to make motor feedback to toe；
2, the vibrations that complex road surface motor process produces can be absorbed, can effectively avoid the situation of complex road surface；
3, easily manufacture, practical, easy to spread.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is composition motor clamping support schematic diagram of the present utility model；
Fig. 3 is thigh structural representation of the present utility model；
Fig. 4 is shank structural representation of the present utility model；
Fig. 5 is foot of the present utility model connecting-piece structure schematic diagram；
Fig. 6 is toe connecting rod I of the present utility model, toe connecting rod II structural representation；
Fig. 7 is toe structure schematic diagram of the present utility model.
Figure is respectively numbered: 1: foot toe, 2: hydraulic stem, 3: motor I, 4: thigh, 5: composition motor supports seat, 6: motor II, 7: motor III: 8: spring, 9: foot's connector, 10: sensor, 11: toe connecting rod I, 12: toe connecting rod II, 13: spring fixed column, 14: shank, 15: motor installation position, 16: foot's connector fixes post, 17: motor support column I, 18: motor support column II, 19: fixing post I, 20: fixing post II, 21: fixing post III.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, the utility model is described in further detail, but content of the present utility model is not limited to described scope.
Embodiment 1: as shown in figs. 1-7, a kind of fire-fighting robot step device, including toe 1, hydraulic stem 2, motor I 3, thigh 4, composition motor support seat 5, motor II 6, motor III 7, spring 8, foot's connector 9, sensor 10, toe connecting rod I 11, toe connecting rod II 12, spring fixed column 13, shank 14, fixing post I 19, fixing post II 20, fixing post III 21；nullComposition motor supports and is installed on motor support column I 17 on seat 5、Motor support column II 18，Motor III 7 is arranged on motor support column I 17，Motor II 6 is arranged on motor support column II 18，Thigh 4 one end is arranged on motor II 6，Motor installation position 15 is offered on shank 14，Motor I 3 is arranged on the motor installation position 15 of shank 14，Spring fixed column 13 it is installed on shank 14，Shank 14 is fixed post 16 by the foot's connector being installed on it and is connected with foot connector 9，Spring 8 is arranged on spring fixed column 13、Foot's connector is fixed on post 16，Thigh 4 other end is arranged on motor I 3，Sensor 10 is arranged on bottom foot's connector 9，Toe connecting rod II 12 one end is connected with toe connecting rod I 11 one end by the fixing post III 21 being installed on it，Toe connecting rod I 11、Toe connecting rod II 12 is connected with foot's connector 9 bottom by fixing post III 21，Toe 1 is connected with the fixing post II 20 being installed on toe connecting rod II 12 other end，Hydraulic stem 2 one end is arranged on toe 1，The other end is connected with foot connector 9，Toe connecting rod I 11 other end is connected with toe 1 by the fixing post I 19 being installed on it.
Thigh 4 is V-type.Toe 1 is horseshoe type.
Claims (3)
1. a fire-fighting robot step device, it is characterized in that: include toe (1), hydraulic stem (2), motor I (3), thigh (4), composition motor support seat (5), motor II (6), motor III (7), spring (8), foot's connector (9), sensor (10), toe connecting rod I (11), toe connecting rod II (12), spring fixed column (13), shank (14), fixing post I (19), fixing post II (20), fixing post III (21)；nullComposition motor supports and is installed on motor support column I (17) on seat (5)、Motor support column II (18)，Motor III (7) is arranged on motor support column I (17)，Motor II (6) is arranged on motor support column II (18)，Thigh (4) one end is arranged on motor II (6)，Motor installation position (15) is offered on shank (14)，Motor I (3) is arranged on the motor installation position (15) of shank (14)，Spring fixed column (13) it is installed on shank (14)，Shank (14) is fixed post (16) by the foot's connector being installed on it and is connected with foot's connector (9)，Spring (8) is arranged on spring fixed column (13)、Foot's connector is fixed on post (16)，Thigh (4) other end is arranged on motor I (3)，Sensor (10) is arranged on foot's connector (9) bottom，Toe connecting rod II (12) one end is connected with toe connecting rod I (11) one end by the fixing post III (21) being installed on it，Toe connecting rod I (11)、Toe connecting rod II (12) is connected with foot connector (9) bottom by fixing post III (21)，Toe (1) is connected with the fixing post II (20) being installed on toe connecting rod II (12) other end，Hydraulic stem (2) one end is arranged on toe (1)，The other end is connected with foot's connector (9)，Toe connecting rod I (11) other end is connected with toe (1) by the fixing post I (19) being installed on it.
Fire-fighting robot step device the most according to claim 1, it is characterised in that: described thigh (4) is V-type.
Fire-fighting robot step device the most according to claim 1, it is characterised in that: described toe (1) is horseshoe type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620392544.1U CN205706947U (en) | 2016-05-04 | 2016-05-04 | A kind of fire-fighting robot step device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620392544.1U CN205706947U (en) | 2016-05-04 | 2016-05-04 | A kind of fire-fighting robot step device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205706947U true CN205706947U (en) | 2016-11-23 |
Family
ID=57332877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620392544.1U Expired - Fee Related CN205706947U (en) | 2016-05-04 | 2016-05-04 | A kind of fire-fighting robot step device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205706947U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938675A (en) * | 2017-05-04 | 2017-07-11 | 河海大学常州校区 | A kind of telescopic Foot sole structure of robot of toe |
| CN107310656A (en) * | 2017-08-27 | 2017-11-03 | 刘哲 | A kind of walking robot |
| CN107554638A (en) * | 2017-08-27 | 2018-01-09 | 刘哲 | A kind of strong walking robot foot device of earth-grasping force |
| CN107554641A (en) * | 2017-09-22 | 2018-01-09 | 山东大学 | A kind of imitative ostrich robot running gear |
| CN107963144A (en) * | 2017-11-23 | 2018-04-27 | 黄怡灵 | A kind of machinery foot |
| WO2019041074A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Walking robot foot device with strong road holding ability |
-
2016
- 2016-05-04 CN CN201620392544.1U patent/CN205706947U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938675A (en) * | 2017-05-04 | 2017-07-11 | 河海大学常州校区 | A kind of telescopic Foot sole structure of robot of toe |
| CN106938675B (en) * | 2017-05-04 | 2019-03-19 | 河海大学常州校区 | A kind of telescopic Foot sole structure of robot of toe |
| CN107310656A (en) * | 2017-08-27 | 2017-11-03 | 刘哲 | A kind of walking robot |
| CN107554638A (en) * | 2017-08-27 | 2018-01-09 | 刘哲 | A kind of strong walking robot foot device of earth-grasping force |
| WO2019041074A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Walking robot foot device with strong road holding ability |
| CN107554641A (en) * | 2017-09-22 | 2018-01-09 | 山东大学 | A kind of imitative ostrich robot running gear |
| CN107554641B (en) * | 2017-09-22 | 2023-08-04 | 山东大学 | Ostrich-like robot walking mechanism |
| CN107963144A (en) * | 2017-11-23 | 2018-04-27 | 黄怡灵 | A kind of machinery foot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161123 Termination date: 20180504 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |