CN214383392U - Automatic jacking disaster relief platform based on four-footed robot - Google Patents
Automatic jacking disaster relief platform based on four-footed robot Download PDFInfo
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- CN214383392U CN214383392U CN202120347997.3U CN202120347997U CN214383392U CN 214383392 U CN214383392 U CN 214383392U CN 202120347997 U CN202120347997 U CN 202120347997U CN 214383392 U CN214383392 U CN 214383392U
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Abstract
The utility model discloses an automatic jacking relief of disaster platform based on four-footed robot, including four-footed robot (1) and jack (2), four-footed robot (1) include frame (12) and connect stand (12) on stand (11), stand (11) are including thigh portion (111), shank portion (112) and pull rod (113), thigh portion (111) upper end has thigh steering wheel (114), thigh steering wheel (114) are fixed in frame (12), be provided with base frame board (123) on frame (12), jack (2) are fixed on base frame board (123). The utility model discloses an automatic jacking relief of disaster platform based on four-footed robot has a great deal of advantages such as structural strength is high, the atress is stable even, bearing capacity is strong, adaptable multiple topography, does benefit to quick rescue and relief of disaster.
Description
Technical Field
The utility model relates to a disaster relief platform, especially an automatic jacking disaster relief platform based on four-footed robot belongs to the robot field.
Background
In disaster relief work after earthquake, robots are more and more applied, for example, a crawler-type rescue robot invented by a Japan shoreside police visual hall can directly swallow a person into the robot and then take the person out of a dangerous zone, and a camera, a mechanical arm and a sensor capable of detecting the injury of the injured person are added on the basis, so that the rescue effect is remarkable.
However, most of earthquake relief robots are mostly used for transporting materials and detecting injured people at present, and lack of robots directly applied to disaster relief, and the traditional earthquake relief robots only have the functions of assistance and detection, cannot directly perform obstacle clearing support on a disaster relief road, still need disaster relief personnel to get through the road from outside to inside gradually, and cause slow rescue speed.
And moreover, due to the fact that the space of a part of post-disaster areas is narrow, rescue workers cannot directly enter the post-disaster areas, and the positions, the number, the injury conditions, the trapped degree, the surrounding environment and the like of trapped people are more difficult to observe.
For the above reasons, there is a need to develop a jacking disaster relief platform which can walk in obstacles after a disaster, support heavy objects to clear roads or support construction wastes of rolled trapped people, and make the trapped people easier to escape and rescue.
SUMMERY OF THE UTILITY MODEL
In order to overcome the above problems, the present inventors have conducted intensive studies to provide an automatic jacking disaster relief platform based on a quadruped robot, which comprises a quadruped robot 1 and a jack 2,
the quadruped robot 1 comprises a frame 12 and legs 11 connected to the frame 12,
the leg 11 comprises a thigh part 111, a shank part 112 and a pull rod 113, the upper end of the thigh part 111 is provided with a thigh steering gear 114, the thigh steering gear 114 is fixed on the frame 12,
a base plate 123 is provided on the frame 12, and the jack 2 is fixed to the base plate 123.
According to the utility model, the lower end of thigh 111 is hinged with shank 112, one end of pull rod 113 is hinged with the upper end of shank 112, shank 112 is pulled by pull rod 113, so that thigh 111 and shank 112 can rotate relatively,
a pull rod steering engine 115 hinged with the pull rod 113 is arranged on the stand leg 11.
In a preferred embodiment, the pull rod steering gear 115 is mounted on a side wall of the thigh section 111.
According to a preferred embodiment of the present invention, thigh portion 111 and/or lower leg portion 112 comprises two base plates 1111 having the same structure, and a reinforcing rib 1112 is disposed between the two base plates 1111.
Preferably, the substrate 1111 has an opening.
In a preferred embodiment, the thigh 111 is provided with a thigh link 116, one end of the thigh link 116 is fixed to the frame 12, and the other end is hinged to the upper end of the outer base 1111.
Preferably, the thigh part 111 is hinged with the lower leg part 112 through a bearing,
the thigh part 111 is hinged with a thigh steering engine 114 through a bearing.
According to the utility model discloses, frame 12 includes frame pipe 121 and end plate 122, and many frame pipes 121 set up to upper and lower two-layer, base plate board 123 sets up on lower floor frame pipe 121, and it is fixed that end plate 122 is passed through at the both ends of many frame pipes 121.
Preferably, a leg outward swinging steering engine 124 is further arranged on the machine frame 12, and the leg outward swinging steering engine 124 is connected with the machine leg 11.
According to the utility model discloses, be provided with jack steering wheel 22 in frame 12, jack steering wheel 22 is connected with hydraulic piston rod 24 through two rocker structure subassemblies 23.
The utility model discloses the beneficial effect who has includes:
(1) according to the utility model provides an automatic jacking relief of disaster platform based on four-footed robot carries on the jack on four-footed robot platform, makes its adaptable multiple topography, can get into the unable environment that gets into or have certain danger of complicated narrow wait to realize jack remote control, service distance and the limited problem of use scene when thoroughly having solved manual operation jack.
(2) According to the utility model provides an automatic jacking relief of disaster platform based on four-footed robot has increased substantially four-footed robot's structural strength, has reduced the platform because destructive loss that the friction brought, the unstable condition of operation in the mechanical structure of atress inhomogeneous in the operation process have been reduced.
(3) According to the utility model provides an automatic jacking relief of disaster platform based on four-footed robot has improved four-footed robot's whole bearing capacity.
(4) According to the utility model provides an automatic jacking relief of disaster platform based on four-footed robot realizes the artifical of jack and the conversion between the automatic control, changes mechanical structure's manual control into the computer and realizes the mechatronic control to hydraulic jack to the signal of telecommunication control of controlled steering wheel.
Drawings
Fig. 1 is a schematic view illustrating an overall structure of a four-legged robot-based automatic jacking disaster relief platform according to a preferred embodiment of the present invention;
fig. 2 shows a schematic structural view of a leg of a four-legged robot-based automatic jacking disaster relief platform according to a preferred embodiment of the present invention;
fig. 3 shows a schematic structural diagram of a quadruped robot based automatic jacking disaster relief platform according to a preferred embodiment of the present invention;
fig. 4 shows a schematic structural view of a jack and a frame of a four-legged robot-based automatic jacking disaster relief platform according to a preferred embodiment of the present invention;
fig. 5 shows a schematic structural view of a jack of an automatic jacking disaster relief platform based on a quadruped robot according to a preferred embodiment of the present invention;
fig. 6 shows a schematic structural view of an automatic jacking disaster relief platform jack based on a quadruped robot according to a preferred embodiment of the present invention.
Reference numerals
1-a quadruped robot;
2-a jack;
11-a stand;
12-a frame;
21-thin plate;
22-jack steering engine;
23-a double rocker structure assembly;
24-a hydraulic piston rod;
25-an oil valve;
26-landing steering engines;
111-thigh section;
112-lower leg portion;
113-a pull rod;
114-thigh steering engine;
115-pull rod steering engine;
116-fuselage thigh link;
117-sole of the foot;
121-a frame tube;
122-end plate;
123-a pedestal plate;
124-leg outward swing steering engines;
125-bolt;
231-a rocker;
232-connecting rod;
233-power press rod;
234-strengthen rocker;
1111-a substrate;
1112-reinforcing ribs;
1151-rudder bar.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The utility model provides an automatic jacking relief of disaster platform based on four-footed robot, including four-footed robot 1 and jack 2, as shown in figure 1.
Compared with the traditional crawler-type moving assembly, the four-foot robot has the advantages that the moving assembly is used as the moving assembly of the disaster relief platform, the walking terrain obstacle crossing mechanism has a larger advantage in the aspect of crossing terrain obstacles, the requirements of the foot-type moving robot on walking pavements are low, the walking terrain obstacle crossing mechanism can cross obstacles and move on various rugged and uneven complex pavements, the applicability to post-disaster chaotic terrains is stronger, and the four-foot bionic robot has high maneuverability and load capacity and is beneficial to rapid rescue and relief.
Further, the quadruped robot 1 includes a frame 12 and legs 11 connected to the frame 12.
Further, the leg 11 includes a thigh portion 111, a shank portion 112 and a pull rod 113, the upper end of the thigh portion 111 is provided with a thigh steering gear 114, as shown in fig. 2, the thigh steering gear 114 is fixed on the frame 12.
Furthermore, the lower end of the thigh part 111 is hinged with the lower leg part 112, one end of the pull rod 113 is hinged with the upper end of the lower leg part 112, the lower leg part 112 is pulled through the pull rod 113, so that the thigh part 111 and the lower leg part 112 can rotate relatively, the extension and retraction of the stand 11 are realized, and the walking process is further realized.
Preferably, the pull rod 113 is pulled through a pull rod steering engine 115, the pull rod steering engine 115 is hinged to the pull rod 113 through a steering engine rod, and when the pull rod steering engine 115 rotates, the pull rod 113 pulls the upper end of the lower leg part 112, so that the leg 11 stretches.
More preferably, the pull rod steering engine 115 is mounted on the side wall of the thigh part 111, and the steering engine rod 1151 is hinged to the pull rod 113.
The utility model discloses in, the connection of pull rod 113, thigh portion 111, shank 112 has formed two rocker mechanism to pull rod 113 is driven through the pull rod steering wheel 115 that has big moment of torsion, can greatly improve the bearing capacity of horn 11.
The utility model discloses in, relief of disaster platform primary action is for supporting the heavy object, needs with the heavy object jacking to let relief of disaster personnel get into or guarantee stranded personnel's safety, so there is great requirement to the load bearing capacity of four-footed robot 1, however 1 structural strength of traditional four-footed robot is not enough, and the load capacity can not reach the requirement.
In view of the above, the inventor has conducted intensive research on the structure of the leg 11, and preferably, as shown in fig. 3, the thigh portion 111 and/or the lower leg portion 112 include two base plates 1111 having the same structure, and the structure of the two base plates 1111 is adopted, so that the weight of the leg 11 is greatly reduced, the power consumption of the thigh steering engine 114 and the pull rod steering engine 115 is reduced, and the working time of the platform is further prolonged.
Further, a reinforcing rib 1112 is provided between the two base plates 1111, and the two base plates 1111 are connected by the reinforcing rib 1112 to improve the overall structural strength.
In a preferred embodiment, the base plate 1111 is hollowed out to reduce the weight of the leg 11.
Preferably, the substrate 1111 and the reinforcing ribs 1112 are made of aluminum alloy, so that the structural strength of the quadruped robot is greatly improved on the premise that the whole weight meets the practical engineering application requirements.
In a more preferred embodiment, in two base plates 1111, the outer base plate 1111 upper end still is provided with fuselage thigh link 116, fuselage thigh link 116 one end is fixed in frame 12, and the other end is articulated with outer base plate 1111 the utility model discloses in, connect the horn 11 and frame 12 through fuselage thigh link 116 and thigh steering wheel 114 jointly, improved hookup location's mechanical strength, and then increased the load capacity of disaster relief platform.
According to a preferred embodiment of the present invention, the thigh portion 111 is hinged to the lower leg portion 112 through a bearing 118, and the thigh portion 111 is hinged to the thigh steering engine 114 through a bearing 118.
In a more preferred embodiment, the thigh link 116 is hinged to the outer base 1111 via a bearing 118.
As the stress of the thigh root, the shank root and the joint of the shank and the machine body is large, the mechanical friction can be greatly reduced through the hinged form of the bearing, the application safety is improved, and the service life is prolonged.
In a preferred embodiment, a sole 117 is disposed at the bottom end of the lower leg portion 112, and preferably, the sole 117 is made of a non-metal organic material, so as to increase the friction force with the ground, and simultaneously, play a role in shock absorption and increase the safety performance of the leg structure.
More preferably, the cross section of the sole 117 is circular arc, so as to further improve the vibration damping effect.
The frame 12 includes frame tubes 121, end plates 122, and a base plate 123, as shown in fig. 4, and further, both ends of the plurality of frame tubes 121 are fixed by the end plates 122.
In a preferred embodiment, the frame tube 121 and the end plate 122 are connected by an interference fit.
Preferably, the plurality of frame pipes 121 are arranged in two upper and lower layers, and the base plate 123 is arranged on the lower layer frame pipe 121 for receiving the jack 2.
The utility model discloses in, the frame 12 skeleton texture that adopts frame pipe 121 and end plate 122 to constitute has not only guaranteed the load capacity of frame 12, has still reduced the whole weight of frame 12, has reduced the load pressure to leg 11.
In a preferred embodiment, the frame tube 121 is a carbon fiber tube, which has the advantages of high strength, corrosion resistance, light weight, etc., and reduces the load on the leg of the robot dog while ensuring the structural strength of the frame, and facilitates the installation of the circuit board and the related control components.
In a preferred embodiment, the pedestal plate 123 is secured to the frame tube 121 by bolts 125.
In a preferred embodiment, a leg swing steering engine 124 is further provided on the frame 12, and the leg swing steering engine 124 is connected with the leg 11, so that the leg 11 can swing left and right.
More preferably, the leg outward swing steering engine 124 is disposed on the bolt 125 to reduce the number of threaded holes on the pedestal plate 123, so that the pedestal plate structure is more reasonable and the mechanical performance is stronger.
Preferably, the leg outer swing steering engine 124 is further connected with the frame tube 121, and more preferably, the leg outer swing steering engine 124 is in interference fit with the frame tube 121 and the bolt 125, so that the structural strength of the connection part of the leg and the frame is further enhanced.
The jack 2 is arranged on a base plate 123, preferably bolted to the base plate 123.
In a preferred embodiment, the jack 2 further has a thin plate 21 at the upper end, and as shown in fig. 1, the thin plate 21 is fixedly connected to the upper frame tube 121, so as to further improve the connection strength between the jack 2 and the quadruped robot 1.
The jack is preferably a hydraulic jack.
Further, a jack steering engine 22 is arranged on the frame 12, and the jack steering engine 22 drives the hydraulic piston rod to perform lifting and pressing actions, so that the jack is lifted.
In a preferred embodiment, the jack actuator 22 is connected with a hydraulic piston rod 24 through a double-rocker structure assembly 23, as shown in fig. 5 and 6.
Specifically, the double-rocker structure component 23 includes a rocker 231, a connecting rod 232 and a power pressure rod 233, one end of the rocker 231 is connected with the jack steering engine 22, the other end of the rocker is hinged to the power pressure rod 233 through the connecting rod 232, and the power pressure rod 233 is hinged to the hydraulic piston rod, so that when the jack steering engine 22 swings at a fixed angle, the power pressure rod 233 is driven to swing, and the hydraulic piston rod is driven to do linear reciprocating motion.
In a preferred embodiment, between the rocking bar 231 and the connecting rod 232, a reinforced rocking bar 234 is further provided, and the inventor finds that, because the geometric length and the structural strength of the rocking bar 231 per se do not meet the practical application requirements, in the utility model, the rocking bar 234 is provided between the rocking bar 231 and the connecting rod 232, so that the application requirements of the geometric size and the structural strength are met, and the jack lifting function is realized.
In a preferred embodiment, the section of the power compression bar 233 is in a V-like shape, the middle of the V-shape is hinged to the hydraulic piston rod, and two sides of the V-shape are perpendicular to each other, so that on one hand, the occupied space of the double-rocker structure assembly is reduced, on the other hand, the output force is increased, and the lifting function of the jack is ensured.
According to the utility model discloses, jack 2's oil valve 25 links to each other with descending steering wheel 26, drives oil valve 25 through descending steering wheel 26 and rotates, realizes opening and shutting of oil valve 25.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", and the like indicate the position or positional relationship based on the operation state of the present invention, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present invention has been described above in connection with preferred embodiments, which are merely exemplary and illustrative. On this basis, can be right the utility model discloses carry out multiple replacement and improvement, these all fall into the utility model discloses a protection scope.
Claims (10)
1. An automatic jacking disaster relief platform based on a quadruped robot is characterized by comprising the quadruped robot (1) and a jack (2),
the quadruped robot (1) comprises a frame (12) and a stand leg (11) connected to the frame (12),
the machine leg (11) comprises a thigh part (111), a shank part (112) and a pull rod (113), a thigh steering gear (114) is arranged at the upper end of the thigh part (111), the thigh steering gear (114) is fixed on the machine frame (12),
a base plate (123) is arranged on the frame (12), and the jack (2) is fixed on the base plate (123).
2. The automatic jacking disaster relief platform based on a quadruped robot of claim 1,
the lower end of the thigh part (111) is hinged with the small leg part (112), one end of the pull rod (113) is hinged with the upper end of the small leg part (112), the small leg part (112) is pulled through the pull rod (113) to ensure that the thigh part (111) and the small leg part (112) can rotate relatively,
a pull rod steering engine (115) hinged with the pull rod (113) is arranged on the machine leg (11).
3. The automatic jacking disaster relief platform based on the quadruped robot as claimed in claim 2,
the pull rod steering engine (115) is installed on the side wall of the thigh part (111).
4. The automatic jacking disaster relief platform based on a quadruped robot of claim 1,
the thigh part (111) and/or the small leg part (112) comprise two base plates (1111) with the same structure, and a reinforcing rib (1112) is arranged between the two base plates (1111).
5. The automatic jacking disaster relief platform based on the quadruped robot as claimed in claim 4,
the substrate (1111) is provided with a hollow hole.
6. The automatic jacking disaster relief platform based on the quadruped robot as claimed in claim 4,
the thigh part (111) is provided with a machine body thigh connecting key (116), one end of the machine body thigh connecting key (116) is fixed on the rack (12), and the other end of the machine body thigh connecting key is hinged with the upper end of the outer side base plate (1111).
7. The automatic jacking disaster relief platform based on a quadruped robot of claim 1,
the thigh part (111) is hinged with the shank part (112) through a bearing,
the thigh part (111) is hinged with the thigh steering engine (114) through a bearing.
8. The automatic jacking disaster relief platform based on a quadruped robot of claim 1,
the frame (12) comprises frame pipes (121) and end plates (122), wherein the frame pipes (121) are arranged into an upper layer and a lower layer, the base plate (123) is arranged on the frame pipes (121) on the lower layer, and the two ends of the frame pipes (121) are fixed through the end plates (122).
9. The automatic jacking disaster relief platform based on a quadruped robot of claim 1,
a leg outer swing steering gear (124) is also arranged on the frame (12), and the leg outer swing steering gear (124) is connected with the machine leg (11).
10. The automatic jacking disaster relief platform based on a quadruped robot of claim 1,
a jack steering engine (22) is arranged on the rack (12), and the jack steering engine (22) is connected with a hydraulic piston rod (24) through a double-rocker structure component (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120347997.3U CN214383392U (en) | 2021-02-07 | 2021-02-07 | Automatic jacking disaster relief platform based on four-footed robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120347997.3U CN214383392U (en) | 2021-02-07 | 2021-02-07 | Automatic jacking disaster relief platform based on four-footed robot |
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| CN214383392U true CN214383392U (en) | 2021-10-12 |
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| CN202120347997.3U Active CN214383392U (en) | 2021-02-07 | 2021-02-07 | Automatic jacking disaster relief platform based on four-footed robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114179111A (en) * | 2022-01-10 | 2022-03-15 | 于文婷 | Self-propelled dangerous operation machine dog |
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2021
- 2021-02-07 CN CN202120347997.3U patent/CN214383392U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114179111A (en) * | 2022-01-10 | 2022-03-15 | 于文婷 | Self-propelled dangerous operation machine dog |
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