Four-footed rescue robot carrying hoisting mechanical arm

Abstract

The utility model relates to the technical field of rescue quadruped robots, in particular to a quadruped rescue robot carrying a hoisting mechanical arm, which comprises a shell, a depth camera arranged on the inner side of the middle of the surface of one end of the shell, a mechanical arm holder arranged on the surface of the top end of the shell, and a rotating cylinder arranged in the middle of the surface of one end of an optical axis assembly. A bearing seat is arranged on the surface of the bottom end of the rotating air cylinder, a claw clamp is arranged on the surface of one end of the connecting rod, and the problems that a traditional rescue machine is not suitable for complex terrains and is low in efficiency in actual operation are solved by combining mechanical leg movement and force performance analysis, calculating limit loads and selecting a high-flexibility three-degree-of-freedom leg structure. The high-precision mechanical arm is designed through exquisite assembly process design and lightweight design and reasonable topology optimization, the work of rescue workers can be assisted or optimized, the blank of related industries is filled up, and the efficiency and safety of rescue work are greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of rescue quadruped robots, in particular to a quadruped rescue robot equipped with a lifting mechanical arm. Background Art

[0002] After searching the Chinese patent document with the existing announcement number CN218877436U, a rescue quadruped robot is disclosed, including a quadruped robot, two groups of first servo motors are installed on the side wall of the quadruped robot, an upper arm is installed on the rotating shaft of the first servo motor, one end of the upper arm is connected to the lower arm, a second servo motor is installed on one side of the lower arm, and a roller is connected to the surface of the second servo motor. The rescue quadruped robot, through the mutual cooperation between the mechanical arm, the first servo motor, the upper arm, the lower arm, the second servo motor, and the roller, the quadruped robot can also move by crawling during the sliding movement, so that the quadruped robot can adapt to walking on various terrains to adapt to different terrain environments during the rescue activities.

[0003] The use of quadruped robots is very wide. They can be used in military, industrial, medical, entertainment and other fields. For example, quadruped robots can be used to perform dangerous tasks, such as rescue operations, explosives removal, etc. The quadruped robots are designed to look like dogs, mainly because dogs have some unique biological and kinematic characteristics, which are of great inspiration and help for the design and function of robots. Existing quadruped robots cannot adapt to different rescue tasks during rescue work, and their stability performance is insufficient, resulting in poor practicality. Utility Model Content

[0004] The technical problem to be solved by the utility model is to overcome the defects of the prior art and provide a four-legged rescue robot equipped with a lifting mechanical arm, aiming to solve the technical problems that the existing four-legged robots cannot adapt to different rescue tasks during rescue work and have insufficient stability performance.

[0005] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0006] The utility model discloses a four-legged rescue robot equipped with a lifting mechanical arm, comprising a shell, a main engine is arranged on the bottom surface of the shell, a lithium battery and an air switch are arranged on the top surface of the main engine in sequence, a depth camera is arranged on the inner side of the middle of one end surface of the shell, a mechanical arm platform is arranged on the top surface of the shell, a vertical plate is arranged on the top surface of the mechanical arm platform, a large arm rod is arranged on the top surface of the vertical plate, a small arm rod is arranged on one end surface of the large arm rod, a first motor and a second motor are arranged at the connection between the vertical plate, the large arm rod and the small arm rod, respectively, An axis fixing part is arranged in the middle of the first motor and the second motor, an optical axis assembly, a synchronous belt assembly, a 28BM06 motor and a gripper base plate are arranged on one end surface of the small arm rod respectively, a rotating cylinder is arranged in the middle of one end surface of the optical axis assembly, a bearing seat is arranged on the bottom end surface of the rotating cylinder, a connecting rod is arranged in the middle of the bottom end surface of the bearing seat, a claw clamp is arranged on one end surface of the connecting rod, the other end surface and both side surface ends of the outer shell are arranged with a leg mechanism, a connecting assembly is arranged on the inner side of the joint connection of the leg mechanism, and an A1 motor is arranged on one end surface of the leg mechanism.

[0007] As a further description of the above technical solution:

[0008] The shell is in the form of a rectangular box, and includes a bottom plate of a robotic arm and a vertical support plate. The shell is connected and fixed to the host, lithium battery, air switch and depth camera through DuPont wires, and is used in conjunction with the lithium battery. The depth camera includes a protective shell.

[0009] As a further description of the above technical solution:

[0010] The shell and the robot arm gimbal are movably connected, and the robot arm gimbal includes a gimbal protective shell. The vertical plate and the upper arm rod and the lower arm rod are respectively connected and fixed by the first motor, the second motor and the shaft fixing member, and can rotate and move.

[0011] As a further description of the above technical solution:

[0012] The small arm rod and the optical axis assembly are fixedly connected, the optical axis assembly includes an optical axis fixing bracket and an optical axis, and the synchronous belt assembly includes a synchronous belt large wheel and a synchronous belt small wheel.

[0013] As a further description of the above technical solution:

[0014] The connecting rod is movably connected to the bearing seat and the claw clamp, and the connecting rod and the claw clamp are arranged in multiple groups. The shell and the leg mechanism are connected and fixed by the A1 motor, the transmission aluminum parts and the joint aluminum parts. The leg mechanism includes a thigh rod, a calf rod and a foot end.

[0015] As a further description of the above technical solution:

[0016] The leg mechanism and the connecting assembly are both fixedly connected, and the connecting assembly includes an A1 motor, a transmission aluminum part, a joint aluminum part, a connecting rod, a nut and a bearing.

[0017] The utility model has the following beneficial effects:

[0018] In the utility model, by combining the mechanical leg motion and force performance analysis, calculating the limit load, and selecting a highly flexible 3-DOF leg configuration, the problem that traditional rescue machinery is not adapted to complex terrain and has low efficiency in actual operations is solved; through sophisticated assembly process design and lightweight design, as well as reasonable topological optimization, a high-precision mechanical arm is designed, which is sufficient to assist or optimize the work of rescue personnel, fills the gap in related industries, and greatly increases the efficiency and safety of rescue work. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 It is a side view schematic diagram of the overall structure of the utility model;

[0021] Figure 2 It is a side view schematic diagram of the overall structure of the utility model;

[0022] Figure 3 It is a schematic top view of the overall structure of the utility model;

[0023] Figure 4 It is a left side schematic diagram of the overall structure of the utility model;

[0024] In the figure: 1. Shell; 2. Main unit; 3. Lithium battery; 4. Air switch; 5. Depth camera; 6. Robot arm gimbal; 7. Vertical plate; 8. Big arm rod; 9. Small arm rod; 10. First motor; 11. Second motor; 12. Shaft fixing part; 13. Optical axis assembly; 14. Synchronous belt assembly; 15. 28BM06 motor; 16. Gripper base plate; 17. Rotating cylinder; 18. Bearing seat; 19. Connecting rod; 20. Claw clamp; 21. Leg mechanism; 22. Connecting assembly; 23. A1 motor. DETAILED DESCRIPTION

[0025] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0026] In the drawings, the same reference numerals all refer to the same components.

[0027] Example 1

[0028] Reference Figure 1-4 The utility model provides an embodiment: a four-legged rescue robot equipped with a lifting mechanical arm, comprising a shell 1, a main unit 2 is arranged on the bottom surface of the shell 1, a lithium battery 3 and an air switch 4 are arranged on the top surface of the main unit 2 in sequence, a depth camera 5 is arranged on the inner side of the middle of one end surface of the shell 1, a mechanical arm platform 6 is arranged on the top surface of the shell 1, a vertical plate 7 is arranged on the top surface of the mechanical arm platform 6, a large arm rod 8 is arranged on the top surface of the vertical plate 7, a small arm rod 9 is arranged on one end surface of the large arm rod 8, a first motor 10 and a second motor 11 are respectively arranged at the connection between the vertical plate 7 and the large arm rod 8 and the small arm rod 9, and the first motor 10 and the second motor 11 are arranged at the connection between the first motor 1 0 and the second motor 11 are provided with a shaft fixing part 12 in the middle, and an optical axis assembly 13, a synchronous belt assembly 14, a 28BM06 motor 15 and a gripper base plate 16 are respectively provided on one end surface of the small arm rod member 9, a rotating cylinder 17 is provided in the middle of one end surface of the optical axis assembly 13, a bearing seat 18 is provided on the bottom end surface of the rotating cylinder 17, a connecting rod 19 is provided in the middle of the bottom end surface of the bearing seat 18, and a claw clamp 20 is provided on one end surface of the connecting rod 19, and a leg mechanism 21 is provided on the other end surface and the ends of the two side surfaces of the outer shell 1, a connecting assembly 22 is provided on the inner side of the joint connection of the leg mechanism 21, and an A1 motor 23 is provided on one end surface of the leg mechanism 21.

[0029] The outer shell 1 is set in a rectangular box body, and the outer shell 1 includes a bottom plate of the robotic arm and a vertical support plate. The outer shell 1 is connected and fixed to the host 2, lithium battery 3, air switch 4 and depth camera 5 through DuPont wires, and is powered by the lithium battery 3 for use. The depth camera 5 includes a protective shell.

[0030] The housing 1 and the robot arm platform 6 are movably connected, and the robot arm platform 6 includes a platform protective shell, a vertical plate 7, a large arm rod 8 and a small arm rod 9 which are respectively connected and fixed by a first motor 10, a second motor 11 and an axis fixing member 12, and can rotate and move.

[0031] The small arm rod 9 and the optical axis assembly 13 are fixedly connected, wherein the optical axis assembly 13 includes an optical axis fixing bracket and an optical axis, and the synchronous belt assembly 14 includes a synchronous belt large wheel and a synchronous belt small wheel.

[0032] The connecting rod 19 is movably connected to the bearing seat 18 and the claw clamp 20. The connecting rod 19 and the claw clamp 20 are arranged in multiple groups. The shell 1 and the leg mechanism 21 are connected and fixed through the A1 motor 23, the transmission aluminum parts and the joint aluminum parts. The leg mechanism 21 includes a thigh rod, a calf rod and a foot end.

[0033] The leg mechanism 21 and the connecting assembly 22 are both fixedly connected, and the connecting assembly 22 includes an A1 motor 23, a transmission aluminum part, a joint aluminum part, a connecting rod, a nut and a bearing.

[0034] Specifically, the structure is composed of a shell 1, a host 2, a lithium battery 3, an air switch 4, a depth camera 5, a mechanical arm gimbal 6, a vertical plate 7, a large arm rod 8, a small arm rod 9, a first motor 10, a second motor 11, an axis fixing part 12, an optical axis assembly 13, a synchronous belt assembly 14, a 28BM06 motor 15, a gripper base plate 16, a rotating cylinder 17, a bearing seat 18, a connecting rod 19, a claw clamp 20, a leg mechanism 21, a connecting assembly 22 and an A1 motor 23 to form a quadruped rescue robot equipped with a lifting mechanical arm. The quadruped rescue robot equipped with a lifting mechanical arm reduces the risk of accidents by combining the MPC model and method. The robot's stable movement is achieved under the condition of low algorithm complexity. A multifunctional robotic arm is designed to adapt to the requirements of different rescue missions. The structural strength is guaranteed under relatively low mass. The force during the movement is analyzed based on the common gait of the quadruped robot. The topological optimization design of the robot's leg mechanism is completed according to the actual situation. The overall fuselage and leg components are made of aviation super-hard aluminum 7075-T6 material layer. All components are processed by CNC in one piece and have excellent mechanical properties. The special-shaped PLA3D printed part is used as the core of the foot end, and the periphery is wrapped with TPU special-shaped parts, and the outermost side is covered with wear-resistant rubber material.The foot end constructed in this way has both rigidity and toughness, and has good ground contact performance under complex and changeable site environments and conditions. The lithium battery 3, air switch 4 and host 2 are placed through the outer shell 1, and four leg mechanisms 21 are connected to support the robotic arm. The control core algorithm is carried by the host 2, and visual control is performed. The host 2, motor and other components are powered by the lithium battery 3. The robot power is controlled by the air switch 4. The image information in front of the robot is obtained through the depth camera 5. At the same time, the camera protective shell connects the depth camera 5 and the body for protection. The protective shell of the robotic arm pan-tilt 6 connects the pan-tilt bearing and the bottom plate of the robotic arm. The plate 7 fixes the first motor 10, transmits the torque of the first motor 10 through the big arm rod 8, fixes the second motor 11, transmits the torque of the second motor 11 through the small arm rod 9, fixes the 28BM06 motor 15, provides torque to drive the big arm rod 8 and the small arm rod 9 through the first motor 10 and the second motor 11 respectively, raises the big arm rod 8 and the small arm rod 9 through the shaft fixing part 12, fixes the expansion sleeve, fixes the optical axis through the optical axis assembly 13, connects the plate to transmit the torque, transmits the torque of the 28BM06 motor 15 through the synchronous belt assembly 14, completes the pitch movement of the gripper through the 28BM06 motor 15, and fixes the rotating cylinder 17 through the gripper base plate 16 and the bearing seat 18, the opening and closing movement of the robot arm is completed by rotating the cylinder 17, the bearing is installed through the bearing seat 18, the claw clamp 20 is connected to the slider and the slider is connected to the rotating cylinder 17 through the connecting rod 19, the grasping is completed through the claw clamp 20, the torque of the motor is transmitted through the thigh rod of the leg mechanism 21, the motor and the bearing are connected and fixed, the calf rod transmits the torque, and the movement of the robot is completed. The foot end is the part of the robot that contacts the ground, which increases the friction between the robot and the ground and makes the robot walk stably. The bearing is isolated and lubricated by the connecting component 22, the connecting rod and the calf rod and the thigh rod, which reduces the friction and makes the transmission stable. The connecting rod transmits the torque of the calf rod movement. , the nut fixes the bearing to prevent the axial movement of the bearing, the transmission aluminum parts connect the movement of the upper and lower legs, the joint aluminum parts transmit the torque of the overall rotational movement of the legs, and the torque of the thigh rod and the calf rod is provided by the A1 motor 23. The upper manipulator of the four-legged rescue robot equipped with a lifting mechanical arm can be replaced and used. The manipulator is installed to split and clean up the rubble, provide life-saving supplies for trapped people in a small environment, and assist in supporting the body in extreme environments. It is used to adjust the center of gravity of the robot, facilitate climbing, and prevent the robot from rolling over, etc. The depth camera 5 is installed in conjunction with detection devices such as infrared detectors to realize mapping, positioning, detection and other functions, thereby improving the efficiency and safety of rescue work.

[0035] Control strategy of a quadruped rescue robot equipped with a lifting arm based on MPC and VMC models:

[0036] VMC method: Set corresponding virtual components (springs and dampers) on the body's degrees of freedom that need to be controlled to construct virtual forces and torques. Then map the virtual forces to the desired torques of the active joints to drive the robot to walk dynamically. Combined with traditional position control strategies, VMC control and position control are implemented in parallel, and position control is compensated by VMC, giving full play to the powerful adaptability of force control to terrain.

[0037] MPC model: Simplify the entire robot into a single rigid body model and analyze its dynamics, establish state equations and prediction equations, and then transform the control problem into an optimization problem to ultimately find the plantar reaction force. The swing term uses vmc control to achieve environmental adaptability and reduce computing power requirements. Use visual methods for state estimation to improve estimation accuracy and model robustness.

[0038] Working principle: First, through the visual part, the laser radar-inertial odometer and other devices are used to conduct preliminary detection of the terrain, and the gait is planned and decided. In relatively flat terrain, the four-legged rescue robot equipped with a lifting mechanical arm will adopt a trot gait, with the two legs of the feet operating synchronously to complete rapid movement; when encountering lower obstacles, the four-legged rescue robot equipped with a lifting mechanical arm will adopt a jump gait, with the two legs operating synchronously side by side to complete the take-off and crossing actions. During the movement, the operator can issue start, stop and switch gait instructions through the remote control. When the four-leg leg mechanism 21 of the four-legged rescue robot equipped with a lifting mechanical arm stops, the operator can operate the mechanical arm to complete the lifting and moving operations of the mechanical arm on large objects to assist in the rescue operation.

[0039] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A quadruped rescue robot equipped with a lifting mechanical arm, comprising a housing (1), characterized in that: A host (2) is arranged on the bottom surface of the inner part of the shell (1), a lithium battery (3) and an air switch (4) are arranged on the top surface of the host (2) in sequence, a depth camera (5) is arranged on the inner side of the middle of one end surface of the shell (1), a mechanical arm gimbal (6) is arranged on the top surface of the shell (1), a vertical plate (7) is arranged on the top surface of the mechanical arm gimbal (6), a large arm rod (8) is arranged on the top surface of the vertical plate (7), a small arm rod (9) is arranged on one end surface of the large arm rod (8), a first motor (10) and a second motor (11) are arranged at the connection between the vertical plate (7), the large arm rod (8) and the small arm rod (9), respectively, and an axis fixing member is arranged in the middle of the first motor (10) and the second motor (11). (12), the surface of one end of the small arm rod (9) is respectively provided with an optical axis assembly (13), a synchronous belt assembly (14), a 28BM06 motor (15) and a gripper base plate (16); a rotating cylinder (17) is provided in the middle of the surface of one end of the optical axis assembly (13); a bearing seat (18) is provided on the bottom surface of the rotating cylinder (17); a connecting rod (19) is provided in the middle of the bottom surface of the bearing seat (18); a claw clamp (20) is provided on one end surface of the connecting rod (19); the other end surface and the ends of the two side surfaces of the housing (1) are provided with a leg mechanism (21); the inner side of the joint connection of the leg mechanism (21) is provided with a connecting assembly (22); and the one end surface of the leg mechanism (21) is provided with an A1 motor (23).

2. A quadruped rescue robot equipped with a lifting mechanical arm according to claim 1, characterized in that: The housing (1) is in the form of a rectangular box, and comprises a bottom plate of a mechanical arm and a vertical support plate. The housing (1) is connected and fixed to a host (2), a lithium battery (3), an air switch (4) and a depth camera (5) via DuPont wires, and is used in conjunction with the lithium battery (3) to be powered. The depth camera (5) comprises a protective shell.

3. A quadruped rescue robot equipped with a lifting mechanical arm according to claim 1, characterized in that: The housing (1) and the mechanical arm platform (6) are movably connected, and the mechanical arm platform (6) comprises a platform protection shell, and the vertical plate (7) and the upper arm rod (8) and the lower arm rod (9) are respectively connected and fixed by a first motor (10) and a second motor (11) and an axis fixing member (12), and are capable of rotating and moving.

4. A quadruped rescue robot equipped with a lifting mechanical arm according to claim 1, characterized in that: The small arm rod (9) and the optical axis assembly (13) are fixedly connected, the optical axis assembly (13) comprises an optical axis fixing bracket and an optical axis, and the synchronous belt assembly (14) comprises a synchronous belt large wheel and a synchronous belt small wheel.

5. The quadruped rescue robot equipped with a lifting mechanical arm according to claim 1, characterized in that: The connecting rod (19) is movably connected to the bearing seat (18) and the claw clamp (20), and the connecting rod (19) and the claw clamp (20) are both arranged in multiple groups. The housing (1) and the leg mechanism (21) are connected and fixed by an A1 motor (23) in conjunction with a transmission aluminum part and a joint aluminum part. The leg mechanism (21) includes a thigh rod, a calf rod and a foot end.

6. The quadruped rescue robot equipped with a lifting mechanical arm according to claim 1, characterized in that: The leg mechanism (21) and the connection assembly (22) are both fixedly connected, and the connection assembly (22) comprises an A1 motor (23), a transmission aluminum part, a joint aluminum part, a connection rod, a nut and a bearing.

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