CN209505906U - A kind of legged type robot list leg device for earthquake rescue - Google Patents
A kind of legged type robot list leg device for earthquake rescue Download PDFInfo
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- CN209505906U CN209505906U CN201921289204.6U CN201921289204U CN209505906U CN 209505906 U CN209505906 U CN 209505906U CN 201921289204 U CN201921289204 U CN 201921289204U CN 209505906 U CN209505906 U CN 209505906U
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- Prior art keywords
- foot
- lengthened plate
- fixed
- thigh
- motor
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Abstract
The utility model relates to robot list leg device technical fields, and disclose a kind of legged type robot list leg device for earthquake rescue, including fuselage, thigh, shank and foot, the thigh is located at the left side of fuselage, the top left side of the fuselage is fixed with first motor, the output end and thigh of the first motor are rotatablely connected, the shank is located at the left side of thigh, the second motor is fixed on the side wall of the thigh, the output end and shank of second motor are rotatablely connected, the shank is fixedly connected far from one end of thigh with foot, the foot is sleeve-shaped, the inside of the foot is equipped with lengthened plate, the lengthened plate is hollow structure, the inside of the lengthened plate is equipped with for the clamping mechanism that lengthened plate and foot is fixed.The utility model can adjust the contact area of foot and ground according to different working environments, to increase the job stability of foot robot.
Description
Technical field
The utility model relates to robot list leg device technical field more particularly to a kind of sufficient formula machines for earthquake rescue
Device people's list leg device.
Background technique
There is earthquake in China every year, wherein destructive strong earthquake, which often will cause a large amount of personnel, is buried in building
Under ruins, therefore the searching rescue of trapped person is the vital task of earthquake emergency, the search efficiency of earthquake field
It is directly related to the success rate of earthquake rescue work, is an important factor for improving trapped person's life survival rate, still, macroseism is sent out
After life, often aftershock takes place frequently earthquake field, and environmental hazard and complicated in ruins, these all bring greatly to rescue personnel
Difficulty also threatens the life security of rescue personnel.
And in existing technology, the foot size of robot is relatively fixed, can not be adjusted according to different annulars, to drop
The job stability of Di Liao robot.
Utility model content
It, can not root purpose of the utility model is to solve the foot size of robot in the prior art is relatively fixed
It adjusts according to different annulars, thus the problem of reducing the job stability of robot, and proposes a kind of for earthquake rescue
Legged type robot list leg device.
To achieve the goals above, the utility model adopts the technical scheme that
A kind of legged type robot list leg device for earthquake rescue, including fuselage, thigh, shank and foot are described big
Leg is located at the left side of fuselage, and the top left side of the fuselage is fixed with first motor, the output end of the first motor and big
Leg rotation connection, the shank are located at the left side of thigh, and the second motor, second electricity are fixed on the side wall of the thigh
The output end and shank of machine are rotatablely connected, and the shank is fixedly connected far from one end of thigh with foot, and the foot is sleeve
Shape, the inside of the foot are equipped with lengthened plate, and the lengthened plate is hollow structure, and the inside of the lengthened plate is equipped with for that will add
The clamping mechanism that long slab and foot are fixed；
The clamping mechanism includes two fixed plates, two screw rods, two inner thread sleeves, two first bevel gears, turns
Axis and second bevel gear, two fixed plates are fixed at the inside of lengthened plate and in arranged symmetrically up and down, two institutes
It states screw rod and passes through the first rolling bearing and be rotatably arranged in two fixed plates respectively, two opposite one end of the screw rod are solid
Surely it is equipped with first bevel gear, the two sides up and down of the lengthened plate offer perforation, and two inner thread sleeves are located at
The inside of two perforation, the opposite one end of two inner thread sleeves are connect with two wire rod threads respectively, institute
It states the two sides up and down of foot and offers multiple equally distributed card holes with the position of inner thread sleeve, the shaft is located at two
Between the screw rod and one end is rotatablely connected by the rear inner sidewall of the second rolling bearing and lengthened plate, the other end of the shaft
It is through to the outside of lengthened plate, the second bevel gear is fixed on the axial wall of shaft and bores teeth with two described first
Wheel is engaged.
Preferably, the barrel two sides of the inner thread sleeve are fixed with position limiting slide block, and up and down the two of the lengthened plate
Side and be located at inner thread sleeve the left and right sides be fixed with limit slide bar, the downside of two position limiting slide blocks passes through cunning
Bar wall of the hole respectively with two limit slide bars is slidably connected.
Preferably, the limit slide bar is fixed with limited block far from one end of lengthened plate inner sidewall.
Preferably, the first motor and the second motor are drag cup decelerating motor.
Preferably, the foot and lengthened plate are all made of stainless steel material and are made.
Compared with prior art, the utility model provides a kind of legged type robot list leg device for earthquake rescue,
Have it is following the utility model has the advantages that
1, legged type robot list leg device for being used for earthquake rescue, by the way that the lengthened plate inside foot is arranged in, when need
When increasing the length of foot, lengthened plate is extracted out from the inside of foot, the area between foot and ground is increased, by setting
Set fixed plate, screw rod, first bevel gear, inner thread sleeve, shaft and the second bevel gear inside lengthened plate, user's hand
Rotating shaft, so that two first bevel gears rotations of second bevel gear rotation and simultaneously drive, so that two screw rods
Simultaneously rotate simultaneously respectively push two inner thread sleeves be moved to the inside of the card hole on foot, and then complete by lengthened plate with
Fixation between foot.
It is not directed to part in the device to be the same as those in the prior art or can be realized by using the prior art, the utility model
The contact area that foot and ground can be adjusted according to different working environments, to increase the operation is stable of foot robot
Property.
Detailed description of the invention
Fig. 1 be the utility model proposes a kind of legged type robot list leg device for earthquake rescue structural representation
Figure；
Fig. 2 is the schematic enlarged-scale view of local part A in Fig. 1；
Fig. 3 is the structural schematic diagram of foot and lengthened plate side.
In figure: 1 fuselage, 2 thighs, 3 shanks, 4 foots, 5 lengthened plates, 6 fixed plates, 7 screw rods, 8 first bevel gears, spiral shell in 9
Line sleeve, 10 shafts, 11 second bevel gears, 12 position limiting slide blocks, 13 limit slide bars, 14 limited blocks, 15 card holes, 16 first electricity
Machine, 17 second motors.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.
Referring to Fig.1-3, a kind of legged type robot list leg device for earthquake rescue, including fuselage 1, thigh 2, shank 3
With foot 4, thigh 2 is located at the left side of fuselage 1, and the top left side of fuselage 1 is fixed with first motor 16, first motor 16 it is defeated
Outlet and thigh 2 are rotatablely connected, and shank 3 is located at the left side of thigh 2, are fixed with the second motor 17 on the side wall of thigh 2, and second
The output end and shank 3 of motor 17 are rotatablely connected, and are opened first motor 16 and the work of the second motor 17, can be driven thigh respectively
2 and shank 3 rotate, so as to lift foot 4, the one end of shank 3 far from thigh 2 is fixedly connected with foot 4, and foot 4 is
Sleeve-shaped, the inside of foot 4 are equipped with lengthened plate 5, and lengthened plate 5 is hollow structure, and the inside of lengthened plate 5 is equipped with for by lengthened plate
5 clamping mechanisms fixed with foot 4；
Clamping mechanism includes two inner thread sleeves of screw rod 7, two of fixed plate 6, two, 9, two first bevel gears 8, turns
Axis 10 and second bevel gear 11, two fixed plates 6 are fixed at the inside of lengthened plate 5 and are symmetrical arranged in upper and lower, two
Screw rod 7 is rotatably arranged in two fixed plates 6 by the first rolling bearing respectively, and the opposite one end of two screw rods 7 is fixed
Equipped with first bevel gear 8, the two sides up and down of lengthened plate 5 offer perforation, and two inner thread sleeves 9 are located at two perforation
Inside, the opposite one end of two inner thread sleeves 9 is threadedly coupled with two screw rods 7 respectively, the two sides up and down of foot 4 and with it is interior
The position of screw shell 9 offers multiple equally distributed card holes 15, and shaft 10 is located between two screw rods 7 and one end is by the
The rear inner sidewall of two rolling bearings and lengthened plate 5 is rotatablely connected, and the other end of shaft 10 is through to the outside of lengthened plate 5, and second
Bevel gear 11 is fixed on the axial wall of shaft 10 and is engaged with two first bevel gears 8.
The barrel two sides of inner thread sleeve 9 are fixed with position limiting slide block 12, the two sides up and down of lengthened plate 5 and are located at interior spiral shell
The left and right sides of line sleeve 9 is fixed with limit slide bar 13, and the downside of two position limiting slide blocks 12 passes through slide opening respectively with two
The bar wall of a limit slide bar 13 is slidably connected, and limits slide bar 13 far from one end of 5 inner sidewall of lengthened plate and is fixed with limited block
14, it being capable of internal threads sleeve 9 the phenomenon that being limited, inner thread sleeve 9 is avoided to rotate together with screw rod 7.
First motor 16 and the second motor 17 are drag cup decelerating motor.
Foot 4 and lengthened plate 5 are all made of stainless steel material and are made.
In the utility model, in use, lengthened plate 5 is taken out from the inside of foot 4 when needing to increase the length of foot 4
Out, the area between foot 4 and ground is increased, then user's hand rotating shaft 10, so that second bevel gear 11 rotates
And drive two first bevel gears 8 to rotate simultaneously, so that two screw rods 7 rotate simultaneously and push two interior spiral shells respectively
Line sleeve 9 is moved to the inside of the card hole 15 on foot 4, and then completes the fixation between lengthened plate 5 and foot 4；It opens
First motor 16 and the work of the second motor 17, can drive thigh 2 and shank 3 to rotate, respectively so as to lift foot 4.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (5)
1. a kind of legged type robot list leg device for earthquake rescue, including fuselage (1), thigh (2), shank (3) and foot
(4), which is characterized in that the thigh (2) is located at the left side of fuselage (1), and the top left side of the fuselage (1) is fixed with first
Motor (16), the output end of the first motor (16) and thigh (2) are rotatablely connected, and the shank (3) is located at a left side for thigh (2)
Side is fixed with the second motor (17) on the side wall of the thigh (2), the output end of second motor (17) and shank (3)
Rotation connection, the shank (3) are fixedly connected far from the one end of thigh (2) with foot (4), and the foot (4) is sleeve-shaped, institute
The inside for stating foot (4) is equipped with lengthened plate (5), and the lengthened plate (5) is hollow structure, and the inside of the lengthened plate (5) is equipped with
For the clamping mechanism that lengthened plate (5) and foot (4) are fixed；
The clamping mechanism includes two fixed plates (6), two screw rods (7), two inner thread sleeves (9), two the first cone teeth
Take turns (8), shaft (10) and second bevel gear (11), two fixed plates (6) be fixed at the inside of lengthened plate (5) and
In being symmetrical arranged up and down, two screw rods (7) are rotatably arranged on two fixed plates (6) by the first rolling bearing respectively
On, two opposite one end of the screw rod (7) are fixed with first bevel gear (8), and the two sides up and down of the lengthened plate (5) are equal
Perforation is offered, two inner thread sleeves (9) are located at the inside of two perforation, two inner thread sleeves
(9) opposite one end is threadedly coupled with two screw rods (7) respectively, the two sides up and down of the foot (4) and and inner screw sheath
The position of cylinder (9) offers multiple equally distributed card holes (15), the shaft (10) be located between two screw rods (7) and
One end is rotatablely connected by the second rolling bearing and the rear inner sidewall of lengthened plate (5), and the other end of the shaft (10) is through to
The outside of lengthened plate (5), the second bevel gear (11) be fixed on the axial wall of shaft (10) and with two described
One bevel gear (8) is engaged.
2. a kind of legged type robot list leg device for earthquake rescue according to claim 1, which is characterized in that described
The barrel two sides of inner thread sleeve (9) are fixed with position limiting slide block (12), the two sides up and down of the lengthened plate (5) and are located at interior
The left and right sides of screw shell (9) is fixed with limit slide bar (13), and the downside of two position limiting slide blocks (12) passes through
Bar wall of the slide opening respectively with two limits slide bar (13) is slidably connected.
3. a kind of legged type robot list leg device for earthquake rescue according to claim 2, which is characterized in that described
Limit slide bar (13) is fixed with limited block (14) far from one end of lengthened plate (5) inner sidewall.
4. a kind of legged type robot list leg device for earthquake rescue according to claim 1, which is characterized in that described
First motor (16) and the second motor (17) are drag cup decelerating motor.
5. a kind of legged type robot list leg device for earthquake rescue according to claim 1, which is characterized in that described
Foot (4) and lengthened plate (5) are all made of stainless steel material and are made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921289204.6U CN209505906U (en) | 2019-08-09 | 2019-08-09 | A kind of legged type robot list leg device for earthquake rescue |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921289204.6U CN209505906U (en) | 2019-08-09 | 2019-08-09 | A kind of legged type robot list leg device for earthquake rescue |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209505906U true CN209505906U (en) | 2019-10-18 |
Family
ID=68189335
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921289204.6U Expired - Fee Related CN209505906U (en) | 2019-08-09 | 2019-08-09 | A kind of legged type robot list leg device for earthquake rescue |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209505906U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114475844A (en) * | 2022-03-08 | 2022-05-13 | 重庆电子工程职业学院 | Multifunctional rescue equipment |
-
2019
- 2019-08-09 CN CN201921289204.6U patent/CN209505906U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114475844A (en) * | 2022-03-08 | 2022-05-13 | 重庆电子工程职业学院 | Multifunctional rescue equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191018 Termination date: 20210809 |
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| CF01 | Termination of patent right due to non-payment of annual fee |