CN219838638U - Wheel foot double-form rescue robot - Google Patents
Wheel foot double-form rescue robot Download PDFInfo
- Publication number
- CN219838638U CN219838638U CN202321304877.0U CN202321304877U CN219838638U CN 219838638 U CN219838638 U CN 219838638U CN 202321304877 U CN202321304877 U CN 202321304877U CN 219838638 U CN219838638 U CN 219838638U
- Authority
- CN
- China
- Prior art keywords
- wheel
- foot
- plate
- supporting plate
- main body
- Prior art date
- 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.)
- Active
Links
- 238000013016 damping Methods 0.000 claims abstract description 25
- 210000002414 leg Anatomy 0.000 claims description 51
- 210000000689 upper leg Anatomy 0.000 claims description 12
- 230000035939 shock Effects 0.000 claims description 8
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 description 18
- 239000000463 material Substances 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000002902 bimodal effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 235000001968 nicotinic acid Nutrition 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- QXAITBQSYVNQDR-UHFFFAOYSA-N amitraz Chemical compound C=1C=C(C)C=C(C)C=1N=CN(C)C=NC1=CC=C(C)C=C1C QXAITBQSYVNQDR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a wheel-foot double-form rescue robot which comprises a main body, foot wheel legs and a damping box, wherein the main body is provided with a wheel-foot wheel leg; the damping boxes are arranged at two ends of the main body, the foot wheel legs are arranged at two ends of the damping boxes, and the foot wheel legs can drive the main body to move; the main body comprises a first supporting plate, a second supporting plate and a supporting column; the first supporting plate is arranged above the second supporting plate and is connected with the second supporting plate through a supporting column; the second supporting plate is provided with a mounting groove for connecting the foot wheel legs; a rescue bag storage place is arranged between the first support plate and the second support plate; the foot wheel leg includes telescopic link, first mounting bracket, second mounting bracket, wheel shape subassembly and foot wheel leg. According to the utility model, the telescopic rod and the second mounting frame are matched, so that the device can be smoothly switched between the foot shape and the wheel shape, and has strong adaptability to various different working environments.
Description
Technical Field
The utility model belongs to the field of robots, and particularly relates to a wheel-foot double-form rescue robot.
Background
With the expansion of production demands and the development of scientific technology, the improvement of current technical equipment or the creation of new technical equipment is a trend of current technological development. The bionics provides a lot of inspiration for people, and promotes the creation and improvement of technical equipment. Meanwhile, people start to explore nature further, but face complex and changeable terrains in nature, people often need to mobilize a plurality of different devices to explore simultaneously, a large amount of manpower, material resources and financial resources are consumed, and when natural disasters are resisted, the difficulty of rescue of people is greatly increased by the complex terrains, and rescue efficiency is reduced.
Most bionic robots in the current market are robots which can only realize walking on level ground, or walking on water, or crawling, and have single functions; at present, equipment for post-disaster rescue is mainly a fire truck and an ambulance, and is matched with a large number of people for rescue activities, when the equipment is used for resisting natural disasters, people often need to mobilize a plurality of different devices for searching and rescuing at the same time, a large amount of manpower, material resources and financial resources are consumed, and the efficiency of real-time protection and rescue of people is greatly limited by the complicated topography. This causes great trouble and great loss to people. Rescue robots in the current market cannot meet the demands of society and people.
Disclosure of Invention
Aiming at the defects of the prior art, the utility model provides the wheel-foot double-form rescue robot, the wheel-shaped assembly and the foot wheel legs can be effectively switched through the matching of the telescopic rod and the second mounting frame, and meanwhile, the telescopic degree of the telescopic rod can enable the foot wheel legs to be effectively subjected to azimuth conversion in the moving process. In addition, be provided with the rescue package storage place between first backup pad and the second backup pad, can place the rescue supplies in the rescue, facilitate the use.
In order to achieve the above purpose, the utility model discloses the following technical scheme:
a wheel-foot double-form rescue robot comprises a main body, foot wheel legs and a damping box; the damping boxes are arranged at two ends of the main body, the foot wheel legs are arranged at two ends of the damping boxes, and the foot wheel legs can drive the main body to move; the main body comprises a first supporting plate, a second supporting plate and a supporting column; the first supporting plate is arranged above the second supporting plate and is connected with the second supporting plate through the supporting column; the second supporting plate is provided with a mounting groove for connecting the foot wheel legs; a rescue bag storage place is arranged between the first support plate and the second support plate; the foot wheel leg comprises a telescopic rod, a first installation frame, a second installation frame, a wheel-shaped assembly and a foot wheel leg: the damping box is arranged below the mounting groove, two ends of the damping box are respectively connected with the first ends of the two telescopic rods in a rotating mode, and the second ends of the telescopic rods are movably connected with the first side wall of the second mounting frame; the first end of the second mounting frame is movably connected with the edge of the second supporting plate; the second end of the second mounting frame is connected with the first mounting frame; the wheel-shaped components are arranged on two sides of the shock absorption box and are movably connected with the shock absorption box; the foot wheel leg with the second lateral wall and the first mounting bracket swing joint of second mounting bracket.
Preferably, the damping box comprises a first plate, a second plate and a connecting plate, the first plate is arranged above the second plate, a first side of the connecting plate is connected with a second surface of the first plate, a second side of the connecting plate is connected with one side of the second plate, and the first surface of the first plate is connected with the second supporting plate and is positioned near the mounting groove; the side of the connecting plate is provided with a connecting hole which is used for being movably connected with the telescopic rod.
Preferably, the first side wall of the second mounting frame is provided with a protruding arm, and the protruding arm is obliquely arranged on the first side wall of the second mounting frame; the second end of the telescopic rod is movably connected with the extending arm.
Preferably, a first steering engine is arranged in the first mounting frame, and a driving rod is arranged at the output end of the first steering engine; the second steering engine is arranged in the second mounting frame.
Preferably, the foot wheel leg comprises a thigh, a shank and a shank connecting rod; the first end of thigh with the output of second steering wheel is connected, the second end of thigh with the lateral wall swing joint of shank, the first end of shank connecting rod with actuating lever swing joint, the second end of shank connecting rod with the one end swing joint of shank.
Preferably, when the telescopic rod is in an extended state, the angle between the foot wheel leg and the main body is 90 degrees and/or 270 degrees; when the telescopic rod is in a contracted state, the angle between the foot wheel legs and the main body is 0 degree and/or 180 degrees.
Compared with the prior art, the utility model has the following beneficial effects:
(1) According to the utility model, by arranging the wheel-shaped component and the foot wheel legs, different movement forms can be switched under different environments, so that the movement speed of the robot can be effectively improved, and the movement efficiency of the robot is greatly improved; the cooperation of telescopic link and second mounting bracket in this device makes the switching between foot wheel leg and the wheel shape subassembly become swift, and the contained angle of telescopic link and second mounting bracket changes simultaneously and makes can let this device carry out diversified conversion under foot wheel leg motion mode, makes this robot all have very strong adaptability to various different operational environment.
(2) The utility model provides a wheel-foot double-form rescue robot with switchable movement modes, which is provided with a set of mechanism capable of changing the angle of a power output shaft, so that the robot can be flexibly switched between two movement forms of a foot type and a wheel type, can realize rapid movement on a flat road surface through a wheel type structure, can pass through a complex terrain environment through the foot type structure, and can enter a plurality of narrow spaces to work through adjusting the height of the robot. Compared with the existing rescue robot, the product has stronger terrain adaptability and has wide application prospect in the fields of exploration and rescue, national defense and military industry, field survival and the like.
(3) Be provided with the rescue package storage department between this device's the first backup pad and the second backup pad, can place rescue supplies when the rescue, facilitate the use.
Drawings
FIG. 1 is a diagram showing a wheel movement morphology of a wheel-foot bimodal rescue robot of the present utility model;
FIG. 2 is a diagram showing a four-foot movement pattern of the wheel-foot bipin rescue robot according to the present utility model;
FIG. 3 is a schematic view of a wheel-shaped assembly and foot-wheel leg combination of the wheel-foot dual-form rescue robot;
FIG. 4 is an enlarged view of a connecting node of a telescopic link and a second mounting frame of the wheel-foot dual-form rescue robot;
fig. 5 is a schematic structural view of a foot wheel leg structure foot wheel leg of the wheel foot dual-form rescue robot of the utility model;
FIG. 6 is an enlarged schematic view of a shock absorbing box of the wheel-foot bimodal rescue robot of the present utility model;
fig. 7 is an enlarged schematic view of a second mounting frame of the wheel-foot dual-modality rescue robot of the present utility model.
Some of the figures are described below:
1. a second mounting frame; 2. a second support plate; 3. a shock absorbing box; 4. a telescopic rod; 5. a first mounting frame; 6. steering engine; 7. a wheel-shaped assembly; 8. a first support plate; 9. a shank connecting rod; 10. thigh; 11. a lower leg; 12. a support plate connection hole; 13. a telescopic rod connecting hole; 14. a projecting arm; 15. and a motor.
Detailed Description
Exemplary embodiments, features and aspects of the present utility model will be described in detail below with reference to the attached drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The utility model provides a wheel-foot double-form rescue robot, which is shown in figures 1-7 and comprises a main body, a damping box 3 and foot wheel legs; the damping boxes 3 are arranged at two ends of the main body, and the foot wheel legs are arranged at two ends of the damping boxes 3; four groups of foot wheel legs are uniformly arranged at the front end and the rear end of the main body to form a bionic leg structure, and the four groups of foot wheel legs drive the main body to move.
The main body comprises a first supporting plate 8, a second supporting plate 2 and a supporting column; the first supporting plate 8 is arranged above the second supporting plate 2, and the first supporting plate 8 is connected with the second supporting plate 2 through a supporting column; the second support plate 2 is provided with a mounting groove for connecting the foot wheel legs.
Be provided with the rescue package and deposit the department between first backup pad 8 and the second backup pad 2, can deposit the rescue material here when need transport the rescue material, thereby rely on the extrusion of first backup pad 8 and second backup pad 2 to make the rescue material be difficult for breaking away from its inside, first backup pad 8 and second backup pad 2 can also play the guard action to the rescue package simultaneously.
The foot wheel leg comprises a telescopic rod 4, a first mounting frame 5, a second mounting frame 1, a wheel-shaped assembly 7 and a foot wheel leg: the damping box 3 is arranged below the mounting groove, two ends of the damping box 3 are respectively connected with the first ends of the two telescopic rods 4, the first ends of the telescopic rods 4 can rotate on the damping box 3, and the second ends of the telescopic rods 4 are movably connected with the first side wall of the second mounting frame 1; the first end of the second mounting frame 1 is movably connected with the edge of the second supporting plate 2; the second end of the second mounting frame 1 is connected with the first mounting frame 5; the wheel-shaped components 7 are arranged on two sides of the shock absorption box 3 and are movably connected with the shock absorption box 3; the foot wheel leg is movably connected with the second side wall of the second mounting frame 1 and the first mounting frame 5.
The damping box 3 comprises a first plate, a second plate and a connecting plate, wherein the first plate is arranged above the second plate, a first side of the connecting plate is connected with a second surface of the first plate, a second side of the connecting plate is connected with one side of the second plate, the first surface of the first plate is connected with the second supporting plate 2 and is positioned near the mounting groove, and a supporting plate connecting hole 12 for connecting with the second supporting plate 2 is formed in the first plate; the side of the connecting plate is provided with a telescopic rod connecting hole 13 which is used for being movably connected with the telescopic rod 4.
The first side wall of the second mounting frame 1 is provided with a protruding arm 14, and the protruding arm 14 is obliquely arranged on the first side wall of the second mounting frame 1; the second end of the telescopic rod 4 is movably connected with the extension arm 14.
A first steering engine 6 is arranged in the first mounting frame 5, and a driving rod is arranged at the output end of the first steering engine 6; the second steering engine 6 is arranged in the second mounting frame 1.
The foot wheel leg comprises a thigh 10, a shank 11 and a shank connecting rod 9; the first end of thigh 10 is connected with the output of second steering wheel 6, and the second end of thigh 10 and the lateral wall swing joint of shank 11, the first end and the actuating lever swing joint of shank connecting rod 9, the second end and the one end swing joint of shank 11 of shank connecting rod 9.
When the telescopic rod 4 is in an extending state, the angle between the foot wheel legs and the main body is 90 degrees and/or 270 degrees; when the telescopic rod 4 is in a contracted state, the angle between the foot wheel legs and the main body is 0 degrees and/or 180 degrees.
Damping box 3, telescopic link 4 and second mounting bracket 1 constitute deformation structure, and damping box 3 is fixed in on the second backup pad 2 through four bolt and nut, and second mounting bracket 1 is through bolt and nut and 2 swing joint of second backup pad for the axle, telescopic link 4 respectively with damping box 3 and 1 swing joint of second mounting bracket through bolt and nut. The second mounting frame 1 is controlled to rotate around the shaft by bolts through the expansion of the expansion rod 4, so that the quick and stable form conversion is achieved.
The wheel-shaped components 7 are fixed on the second supporting plate 2, and are driven to rotate through the wheel-type direct-connected steering engine 6, and when the wheel-type direct-connected steering engine is converted from foot-type to wheel-type, the four wheel-shaped components 7 contact the ground to rotate. The first steering engine 6 and the second steering engine 6 provide motive power and torque for the four-foot mechanism.
The steering engine 6 is utilized to provide power and output torque to the transmission shafts of the thigh 10 and the shank connecting rod 9, and the legs form a quadrilateral structure
The leg modules controlled by the two steering engines 6 realize the movement of the legs of the robot; the included angle between the leg module of the robot and the ground is quickly changed by matching the linear motor connecting rod mechanism with the second mounting frame 1, so that the shape of the robot is changed.
The device also comprises a remote control device and a power supply, wherein the power supply is arranged at the storage place of the rescue bag and provides electric power support for the motor 15, the first steering engine 6, the second steering engine 6 and the telescopic rod 4; the remote control device is respectively connected with the motor 15, the first steering engine 6, the second steering engine 6 and the telescopic rod 4 in a wireless mode.
When in wheeled movement: the telescopic rod 4 is in a contracted state, drives the foot wheel legs to be 0 degrees and/or 180 degrees with the main body, the remote control device controls the motor 15 to start working, and the wheel-shaped assembly 7 starts to drive the main body to move.
When the feet move: the telescopic rod 4 is in an extending state, the angle between the foot wheel leg and the main body is driven to be 90 degrees and/or 270 degrees, at the moment, the remote control device can control the telescopic rod 4 to extend and retract, so that the angle between the foot wheel leg and the main body is controlled, and finally, the integral direction change is realized.
The utility model has the following characteristics:
(1) Speed aspect: the mechanical legs in the wheel-foot composite mode are adopted, different movement modes are switched under different environments, the flat ground adopts wheel type walking, the rugged road adopts foot type walking, the movement speed of the robot is effectively improved, and the movement efficiency of the robot is improved.
(2) Bionics aspect: the robot adopts full elbow type leg layout, connects legs in parallel, outputs torque through steering engine 6, and the motion form is similar to that of a real quadruped.
(3) Deformation aspect: the telescopic rod 4 is adopted to deform, the thigh 10 and the shank connecting rod 9 are controlled to be connected with the steering engine 6 to provide power for four-foot movement, the wheel-shaped assembly 7 is connected with the motor 15 to provide power for wheel movement, the robot contacts with the ground when deformed, the included angle between the robot leg and the ground is changed by controlling the included angle between the input end and the output end through the telescopic rod 4, and the deformation speed is high and no limitation exists.
(5) Complex terrain adaptability aspects: in terms of control programs, the latest RMA algorithm is used in combination with the motor 15, so that the capability of the robot for adapting to different environments is improved; in terms of structure, through the cooperation between steering wheel 6 and telescopic link 4 for four-legged robot form and gait are more diversified.
The utility model also solves the problems of weak road adaptability and insufficient obstacle surmounting capability of the traditional rescue robot in complex terrain environments; and the coordination control of the speed, stability and complex terrain adaptation of the robot is realized.
The utility model adopts a modularized design thought, and flexible connection among the modules ensures the convenience of robot maintenance and part replacement, ensures the flexibility of robot movement, solves the problems of fixed structure and single function of the traditional rescue robot, and ensures that the robot has strong adaptability to various different working environments.
The above examples are only illustrative of the preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model, and various modifications and improvements made by those skilled in the art to the technical solution of the present utility model should fall within the scope of protection defined by the claims of the present utility model without departing from the spirit of the present utility model.
Claims (6)
1. The utility model provides a wheel foot bimorph rescue robot which characterized in that: the device comprises a main body, foot wheel legs and a damping box;
the damping boxes are arranged at two ends of the main body, the foot wheel legs are arranged at two ends of the damping boxes, and the foot wheel legs can drive the main body to move;
the main body comprises a first supporting plate, a second supporting plate and a supporting column; the first supporting plate is arranged above the second supporting plate and is connected with the second supporting plate through the supporting column; the second supporting plate is provided with a mounting groove for connecting the foot wheel legs; a rescue bag storage place is arranged between the first support plate and the second support plate;
the foot wheel leg comprises a telescopic rod, a first installation frame, a second installation frame, a wheel-shaped assembly and a foot wheel leg: the damping box is arranged below the mounting groove, two ends of the damping box are respectively connected with the first ends of the two telescopic rods in a rotating mode, and the second ends of the telescopic rods are movably connected with the first side wall of the second mounting frame; the first end of the second mounting frame is movably connected with the edge of the second supporting plate; the second end of the second mounting frame is connected with the first mounting frame; the wheel-shaped components are arranged on two sides of the shock absorption box and are movably connected with the shock absorption box; the foot wheel leg with the second lateral wall and the first mounting bracket swing joint of second mounting bracket.
2. The biped wheel-foot rescue robot of claim 1, wherein: the damping box comprises a first plate, a second plate and a connecting plate, wherein the first plate is arranged above the second plate, a first side of the connecting plate is connected with a second surface of the first plate, a second side of the connecting plate is connected with one side of the second plate, and the first surface of the first plate is connected with the second supporting plate and is positioned near the mounting groove; the side of the connecting plate is provided with a connecting hole which is used for being movably connected with the telescopic rod.
3. The biped wheel-foot rescue robot of claim 1, wherein: the first side wall of the second mounting frame is provided with an extending arm which is obliquely arranged on the first side wall of the second mounting frame; the second end of the telescopic rod is movably connected with the extending arm.
4. The biped wheel-foot rescue robot of claim 1, wherein: a first steering engine is arranged in the first mounting frame, and a driving rod is arranged at the output end of the first steering engine; the second steering engine is arranged in the second mounting frame.
5. The biped wheel-foot rescue robot of claim 4, wherein: the foot wheel leg comprises a thigh, a shank and a shank connecting rod; the first end of thigh with the output of second steering wheel is connected, the second end of thigh with the lateral wall swing joint of shank, the first end of shank connecting rod with actuating lever swing joint, the second end of shank connecting rod with the one end swing joint of shank.
6. The biped wheel-foot rescue robot of claim 1, wherein: when the telescopic rod is in an extending state, the angle between the foot wheel leg and the main body is 90 degrees and/or 270 degrees; when the telescopic rod is in a contracted state, the angle between the foot wheel legs and the main body is 0 degree and/or 180 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321304877.0U CN219838638U (en) | 2023-05-26 | 2023-05-26 | Wheel foot double-form rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321304877.0U CN219838638U (en) | 2023-05-26 | 2023-05-26 | Wheel foot double-form rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219838638U true CN219838638U (en) | 2023-10-17 |
Family
ID=88300351
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321304877.0U Active CN219838638U (en) | 2023-05-26 | 2023-05-26 | Wheel foot double-form rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219838638U (en) |
-
2023
- 2023-05-26 CN CN202321304877.0U patent/CN219838638U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107140052B (en) | A kind of wheel leg type hexapod robot with suspension | |
| US20210379946A1 (en) | Wheel-legged amphibious mobile robot with variable attack angle | |
| CN103625572B (en) | With the quadruped robot leg of elastic four-rod mechanism | |
| CN110562346A (en) | Novel structure four-footed hydraulic robot | |
| CN111516774B (en) | But biped four-footed integration real-time switch foot formula robot | |
| CN209454890U (en) | A kind of wheeled creeping-type free switching hexapod robot | |
| CN110077486B (en) | Bionic eight-foot special robot | |
| CN208165135U (en) | A kind of wheel leg type parallel connection mobile robot | |
| CN105923067A (en) | Small wheel-foot combined type hexapod robot | |
| CN110406613A (en) | A kind of light-duty single leg mechanism of multiple degrees of freedom | |
| CN112722107A (en) | Wheel leg mobile robot with telescopic chassis | |
| CN109927808B (en) | Collaborative crawler-type quadruped robot dog | |
| CN207595086U (en) | A kind of deformable caterpillar robot chassis suspension | |
| CN210634666U (en) | Multi-degree-of-freedom light single-leg mechanism | |
| CN219838638U (en) | Wheel foot double-form rescue robot | |
| CN103010325A (en) | Convertible walking mechanism of robot | |
| CN104058014A (en) | Semi-wheel type robot | |
| CN211519698U (en) | But climbing big angle slope height hinders bionic robot more | |
| CN218986800U (en) | Self-stabilizing omnidirectional mobile robot and mobile device | |
| CN203888923U (en) | Novel obstacle-surmounting robot | |
| CN107310648A (en) | A kind of achievable wheel, the fighter toy for carrying out replacement | |
| CN110588829A (en) | But climbing big angle slope height hinders bionic robot more | |
| CN113428257B (en) | Six-foot platform of reconfigurable space closed-chain leg mechanism | |
| CN210680978U (en) | Four-footed robot dog of crawler-type in coordination | |
| CN113492935B (en) | Search and rescue robot suitable for complicated topography |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |