A quadruped robot for deploying supervision robots

Abstract

The present invention provides a quadruped robot for delivering a supervision robot, which can realize the battery replacement and displacement of the supervision robot by the quadruped robot. A handling mechanism and a battery storage cabinet for storing rechargeable batteries are provided on the quadruped robot. The supervision robot is connected to the quadruped robot through the handling mechanism, and the supervision robot is provided with a battery picking and placing mechanism for picking and placing rechargeable batteries from the battery storage cabinet.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a quadruped robot for deploying a supervision robot. Background Art

[0002] With the continuous progress of society, the construction of cities and the rapid development of the economy, there are more and more construction sites. The management of construction sites is becoming more and more standardized. Especially considering the safety hazards brought by non-construction personnel entering the construction site, a construction unit often needs to supervise multiple construction sites. Therefore, a large number of construction sites use supervision robots for remote monitoring of construction sites. However, the battery replacement and relocation of the supervision robot still need to be completed manually. Considering the safety of non-construction personnel entering the construction site, it becomes particularly important to use a quadruped robot to replace the battery and relocate the supervision robot in order to save manpower. Summary of the Invention

[0003] To solve the above technical problems, the present invention provides a quadruped robot for deploying a supervision robot.

[0004] The present invention adopts the following technical solutions

[0005] A quadruped robot for deploying a supervision robot, wherein a handling mechanism and a battery storage cabinet for storing rechargeable batteries are provided on the quadruped robot. The supervision robot is connected to the quadruped robot through the handling mechanism, and the supervision robot is provided with a battery picking and placing mechanism for picking and placing rechargeable batteries from the battery storage cabinet.

[0006] Preferably, the handling mechanism includes a rotatable base that can rotate axially provided on the quadruped robot. A large arm that can be turned up and down relatively is provided on the rotatable base. A front gear and a front pulley are provided at the front end of the large arm, and a rear gear and a rear pulley are provided at the rear end. The front pulley and the rear pulley are synchronously connected by a drive belt. A slide rail is provided on the large arm, and a first slide table that can slide relatively is provided on the slide rail. A rack is provided on the first slide table. The front gear, the rear gear and the rack are engaged. A slide rail motor and a lifting motor are fixed on the rotatable base. The output end of the slide rail motor is connected to the front gear and the front pulley, and the output end of the lifting motor is fixedly connected to the large arm.

[0007] Preferably, a second slide table that can slide relatively is provided on the first slide table. A hinge seat that can rotate relative to the second slide table and a hinge motor connected to the hinge seat for controlling the hinge seat to perform a rotational movement are provided on the second slide table. A clamping claw for fixing the supervision robot is provided on the hinge seat, and a clamping disk cooperating with the clamping claw is provided on the supervision robot.

[0008] Preferably, the battery picking and placing mechanism includes a battery conveying slider and a battery conveying slide rail which are cooperatively arranged on the supervision robot, and the rechargeable battery in the supervision robot can be conveyed outward for a certain distance through the battery conveying slider and the battery conveying slide rail.

[0009] Preferably, the battery storage cabinet includes a moving platform for moving the rechargeable battery output from the supervision robot by the battery picking and placing mechanism and a storage rack for storing the rechargeable battery.

[0010] Preferably, the moving platform includes a longitudinal slide, a longitudinal slide rail, a transverse slide, a transverse slide rail, a front push base, a first push rod, a fourth slide, a third slide, and a second push rod. The longitudinal slide is slidably connected to the longitudinal slide rail, the transverse slide is slidably connected to the transverse slide rail, and the front push base is connected to the fourth slide through the first push rod and connected to the third slide through the second push rod.

[0011] Preferably, the battery storage cabinet is fixedly connected to the fuselage of the quadruped robot through a battery storage cabinet fixing seat.

[0012] Preferably, the storage rack includes an upper storage rack and a lower storage rack.

[0013] Preferably, the upper storage rack and the lower storage rack include a rear side fixing frame, a front baffle, a front side fixing frame, a side lock, a front middle fixing frame, a middle lock, a lower baffle, a rear baffle, and a rear middle fixing frame. There are two front side fixing frames which are symmetrically fixed on the inner wall of the battery storage cabinet. A front baffle is connected to the middle of the front side fixing frame, and a side lock is connected to the lower end of the front side fixing frame. The side lock fixedly connects the upper and lower layers of the front side fixing frames. There are two front middle fixing frames which are symmetrically fixed on the inner wall of the battery storage cabinet. A front baffle is connected to the middle of the front middle fixing frame, and a middle lock is connected to the lower end of the front middle fixing frame. There are two rear middle fixing frames which are symmetrically fixed on the inner wall of the battery storage cabinet. A rear baffle is connected to the middle of the rear middle fixing frame, and a lower baffle is connected to the lower end of the rear middle fixing frame.

[0014] Adopting the technical solution provided by the present invention, compared with the prior art, it has the following beneficial effects:

[0015] Adopting the above technical solution, a handling mechanism and a battery storage cabinet for storing rechargeable batteries are arranged on the quadruped robot. The supervision robot is connected to the quadruped robot through the handling mechanism. A battery picking and placing mechanism for picking and placing rechargeable batteries from the battery storage cabinet is arranged on the supervision robot. Overall, it can realize the transportation and battery replacement of the supervision robot by the quadruped robot. Description of the Drawings

[0016] Figure 1 is the overall assembly drawing of the present invention.

[0017] Figure 2It is the structural diagram of four groups of robots of the present invention.

[0018] Figure 3 It is a partial schematic diagram of the handling mechanism of the present invention Figure 1 。

[0019] Figure 4 It is a partial schematic diagram of the handling mechanism of the present invention Figure 2 。

[0020] Figure 5 It is a schematic diagram of the supervision robot of the present invention.

[0021] Figure 6 It is a partial schematic diagram of the battery storage cabinet of the present invention Figure 1 。

[0022] Figure 7 It is a partial schematic diagram of the battery storage cabinet of the present invention Figure 2 。 Specific embodiments

[0023] To further understand the content of the present invention, the present invention will be described in detail in conjunction with the appended Figure 1-7 and embodiments.

[0024] Combined with Figures 1 to 7 , a quadruped robot 1 of a placement supervision robot 3 in this embodiment includes a handling mechanism 2 and a battery storage cabinet 4 provided on the quadruped robot 1. When the supervision robot 3 needs to be displaced or replaced with electricity, the quadruped robot 1 will drive under the supervision robot 3, and the supervision robot 3 will be fixedly connected to the quadruped robot 1 through the handling mechanism 2.

[0025] As Figure 2 shown, the quadruped robot 1 includes a fuselage 5, a hip joint 6, a thigh joint 7, a thigh 8, and a calf 9. The front end of the thigh joint 7 is fixedly connected to the hip joint 6, and the rear end is hinged to a hinge seat 51, so that the thigh joint 7 rotates around the axis of the hip joint 6. The thigh joint connection surface 71 is fixedly connected to the thigh connection surface 81, and the thigh hinge hole 82 and the calf hinge hole 91 are hinged, so that the calf 9 rotates around the thigh 8.

[0026] As Figure 3 and Figure 4As shown in the figure, the handling mechanism consists of a slide rail 10, a rotating base 11, a slide rail motor 12, a first slide table 13, a hinge seat 14, a hinge motor 15, a rack 16, a second slide table 17, a base 18, a rear gear 19, a rear pulley 20, a drive belt 21, a front pulley 22, a front gear 23, a lifting motor 50, and a boom 51. The base 18 is fixedly connected to the fuselage 5 of the four groups of robots. The base 18 and the rotating base 11 are connected by a rotating pair, and the rotating base 11 can rotate around the central axis of the rotating base 11. The slide rail motor 12 and the lifting motor 50 are fixedly connected to the rotating base 11. The slide rail motor 12 and the lifting motor 50 are respectively fixedly connected to the rotating base 11 by bolts. At the end of the slide rail motor 12, the front gear 23 and the front pulley 22 are fixedly connected by a spline. The slide rail motor 12 controls the movement of the front gear 23 and the front pulley 22. The end of the lifting motor 50 is fixedly connected to one side of the boom 51, and the other side of the boom 51 is connected to the rotating base 11 by a rotating pair, that is, the boom 51 can rotate around the central axis of the lifting motor 50, and its swing angle is controlled by the lifting motor 50. The upper end of the boom 51 is fixedly connected to the slide rail 10. At the rear end of the boom 51, the rear gear 19 and the rear pulley 20 are connected to the boom 51 by a rotating pair through a shaft, and the rear gear 19 and the rear pulley 20 are fixedly connected by a spline. The front pulley 22 and the rear pulley 19 are synchronously connected by a drive belt 21. The front gear 23 and the rear gear 19 are engaged with the rack 16, and the rack 16 is fixedly connected to the first slide table 13 by bolts. Therefore, the slide rail motor 12 can control the engagement of the front gear 23 and the rear gear 19 with the rack 16 to control the forward and backward movement of the first slide table.

[0027] The first slide table 13 and the second slide table 17 are connected by a moving pair, that is, the first slide table 13 can move forward and backward on the second slide table 17. The cooperation of the two-stage slide tables, the first slide table 13 and the second slide table 17, can greatly improve the movement range of the first slide table 13.

[0028] The second slide table 17 controls the rotational movement of the hinge seat 14 through the hinge motor 15. The hinge seat 14 can rotate around the axis of the hinge motor 15. The hinge seat 14 is fixed with a clamping claw 29 and a clamping claw fixing plate 30 by bolts. The handling mechanism fixes the supervision robot through the clamping claw 29.

[0029] As Figure 5 shown, the supervision robot 3 includes a camera 24, a rechargeable battery 25, a battery conveying slider 26, a battery conveying slide rail 27, and a clamping disc 28. When the quadruped robot 1 travels below the supervision robot 3, the clamping claw 29 of the handling mechanism 2 is fixedly connected to the clamping disc 28 of the supervision robot 3, and the battery conveying slider 26 of the supervision robot 3 conveys the rechargeable battery 25 to the front of the battery storage cabinet 4 through the battery conveying slide rail 27.

[0030] As Figure 6As shown in the figure, the battery storage cabinet 4 consists of a mobile platform and a storage rack. The mobile platform is composed of a longitudinal slide 31, a longitudinal slide rail 32, a transverse slide 33, a transverse slide rail 34, a front push base 35, a first push rod 36, a fourth slide 37, a third slide 38, a second push rod 39, and a battery storage cabinet fixing seat 40. Among them, the longitudinal slide 31 is movably connected to the longitudinal slide rail 32, the transverse slide 33 is movably connected to the transverse slide rail 34, and the front push base 35 can move the two-stage slides (the fourth slide 37 and the third slide 38 respectively) forward through the first push rod 36 and the second push rod 39; the battery storage cabinet fixing seat 40 is fixedly connected to the fuselage 5; the battery slots of the rear side fixing frame 41 can store two empty batteries.

[0031] Furthermore, the third slide 38 and the fourth slide 37 in the battery storage cabinet 4 transfer the battery forward in two stages, and then the two-stage slides return to their original positions. After the mobile platform moves down and places the removed battery in the empty battery bin 41, the mobile platform moves out from the side of the empty battery bin 41 with the battery, then moves up to remove the fully charged battery above, and sends it out of the battery storage cabinet 4. Finally, the battery conveying slider 26 of the supervision robot 3 receives the rechargeable battery 25 and returns to its original position, and the battery replacement process is completed.

[0032] As Figure 7 As shown in the figure, the storage rack is composed of a rear side fixing frame 41, a front baffle 42, a front side fixing frame 43, a side lock 44, a front middle fixing frame 45, a middle lock 46, a lower baffle 47, a rear baffle 48, and a rear middle fixing frame 49. There are two front side fixing frames 43 in total, which are symmetrically fixed on the inner wall of the battery storage cabinet 4. The front baffle 42 is connected to the middle part, and the side lock 44 is connected to the lower end. The side lock 44 of the upper storage rack fixedly connects the upper and lower layers of the front side fixing frames 43. There are two front middle fixing frames 45, which are symmetrically fixed on the inner wall of the battery storage cabinet 4. The front baffle 42 is connected to the middle part, and the middle lock 46 is connected to the lower end. There are two rear middle fixing frames 49 in total, which are symmetrically fixed on the inner wall of the battery storage cabinet 4. The rear baffle 48 is connected to the middle part, and the lower baffle 47 is connected to the lower end. The rear side fixing frame 41, the front side fixing frame 43, the front middle fixing frame 45, and the rear middle fixing frame 49 are all fixedly connected to the battery storage cabinet 4 through bolts; the side lock 44 and the middle lock 46 fix the upper and lower layers together.

[0033] The above schematically describes the present invention and its implementation manners. This description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. Therefore, if those of ordinary skill in the art are inspired by it and design similar structural manners and embodiments without creative efforts without departing from the purpose of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A quadruped robot (1) for deploying a supervision robot (3), characterized in that: a handling mechanism (2) and a battery storage cabinet (4) for storing rechargeable batteries (25) are provided on the quadruped robot (1), the supervision robot (3) is connected to the quadruped robot (1) through the handling mechanism (2), the supervision robot (3) is provided with a battery picking and placing mechanism for picking and placing the rechargeable battery (25) from the battery storage cabinet (4), when the supervision robot (3) needs to be displaced or battery-swapped, the quadruped robot (1) will drive below the supervision robot (3), and the supervision robot (3) is fixedly connected to the quadruped robot (1) through the handling mechanism (2), the handling mechanism (2) includes a rotatable base (11) axially provided on the quadruped robot, a large arm (51) that can be flipped up and down relatively is provided on the rotatable base (11), a front gear (23) and a front pulley (22) are provided at the front end of the large arm (51), a rear gear (19) and a rear pulley (20) are provided at the rear end, the front pulley (22) and the rear pulley are synchronously connected through a drive belt (21), a slide rail (10) is provided on the large arm (51), a first slide table (13) that can slide relatively is provided on the slide rail (10), a rack (16) is provided on the first slide table (13), the front gear (23), the rear gear (19) are meshed with the rack (16), a slide rail motor (12) and a lifting motor (50) are fixed on the rotatable base (11), the output end of the slide rail motor (12) is connected to the front gear (23) and the front pulley (22), the output end of the lifting motor (50) is fixedly connected to the large arm (51), a second slide table (17) that can slide relatively is provided on the first slide table (13), a hinge seat (14) that can rotate relatively to the second slide table (17) and a hinge motor (15) connected to the hinge seat (14) for controlling the hinge seat (14) to perform a rotational motion are provided on the second slide table (17); a clamping claw (29) for fixing the supervision robot is provided on the hinge seat (14), and a clamping disk (28) cooperating with the clamping claw (29) is provided on the supervision robot.

2. The quadruped robot for deploying a supervision robot according to claim 1, characterized in that: the battery picking and placing mechanism includes a battery conveying slider (26) and a battery conveying slide rail (27) that cooperate with each other and are provided on the supervision robot, and the rechargeable battery (25) inside the supervision robot can be conveyed outward for a certain distance through the battery conveying slider (26) and the battery conveying slide rail (27).

3. The quadruped robot for deploying a supervision robot according to claim 1, characterized in that: the battery storage cabinet (4) includes a moving platform for moving the rechargeable battery (25) output from the supervision robot by the battery picking and placing mechanism and a storage rack for storing the rechargeable battery (25).

4. The quadruped robot for deploying a supervision robot according to claim 3, characterized in that: The mobile platform includes a longitudinal slide table (31), a longitudinal slide rail (32), a transverse slide table (33), a transverse slide rail (34), a front push base (35), a first push rod (36), a fourth slide table (37), a third slide table (38), and a second push rod (39). The longitudinal slide table (31) is slidably connected to the longitudinal slide rail (32), the transverse slide table (33) is slidably connected to the transverse slide rail (34), the front push base (35) is connected to the fourth slide table (37) through the first push rod (36) and is connected to the third slide table (38) through the second push rod (39).

5. A quadruped robot for deploying a supervision robot according to claim 4, wherein: The battery storage cabinet is fixedly connected to the fuselage (5) of the quadruped robot through a battery storage cabinet fixing seat (40).

6. A quadruped robot for deploying a supervision robot according to claim 5, wherein: The storage rack includes an upper storage rack and a lower storage rack.

7. A quadruped robot for deploying a supervision robot according to claim 6, wherein: The upper storage rack and the lower storage rack include a rear side fixing frame (41), a front baffle (42), a front side fixing frame (43), a side lock (44), a front middle fixing frame (45), a middle lock (46), a lower baffle (47), a rear baffle (48), and a rear middle fixing frame (49).

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