Detachable foot structure and four-legged inspection robot

Abstract

The present application relates to the technical field of inspection robot, and disclose a detachable foot structure and four-legged inspection robot, including mechanical thigh, mechanical calf and walking wheel, the walking wheel is provided with a groove in one end, and one end of the mechanical calf is inserted into the groove, the inside of the mechanical calf is provided with a cavity, and the inner wall of the cavity is fixedly connected with an electromagnet, the two side walls of the electromagnet are fixedly connected with the first spring piece. The present application can connect the mechanical calf and the walking wheel by setting the stop block, the fixing pin and the first spring piece. When the robot body walks on the flat road, the walking wheel can drive the robot body to move quickly and stably. When the robot body walks on the uneven road, the robot body can detach the walking wheel, which is convenient and saves time. Then the end of the mechanical calf walks, so that the walking wheel is not damaged during walking.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection robots, in particular to a detachable foot structure and a four-legged inspection robot. BACKGROUND

[0002] The four-legged robot is a kind of mobile robot with high adaptability to complex terrain and practical application value, which can replace human beings to guard or transport supplies in extreme environment, and is widely applied to military, education and daily life.

[0003] At present, a four-legged robot disclosed in CN112874651B includes a body, a power supply structure, a hip, a thigh, a calf and a walking part. The body includes a first skeleton and a second skeleton. The power supply structure is installed in the first skeleton. The hip is connected with the second skeleton. A second driving member is used to drive the thigh body to rotate. A third driving member is used to drive the calf body to rotate relative to the thigh body. A fourth driving member is used to drive the walking wheel to rotate. The auxiliary wheel can rotate following the rotation of the walking wheel. In the above-mentioned application, the robot can walk through four legs. At the same time, the above-mentioned application can also walk through the walking wheel. The leg structure of the above-mentioned application can move forward in a kneeling position or a crawling state. By changing the walking posture, the overall height of the leg structure can be changed, so that the above-mentioned application can adapt to the walking requirements of different scenes.

[0004] However, when the above-mentioned robot walks through four legs, the walking wheel will be regarded as the foot of the robot. In order to provide friction when walking, the walking wheel cannot rotate. In this way, one side of the walking wheel will always be in contact with the ground and be easy to damage the dynamic balance of the walking wheel and damage the walking wheel. SUMMARY

[0005] The present application relates to the technical field of inspection robots, in particular to a detachable foot structure and a four-legged inspection robot.

[0006] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0007] The detachable foot structure includes a mechanical thigh, a mechanical calf and a walking wheel, one end of the walking wheel is provided with a groove, and one end of the mechanical calf is inserted into the groove, the inside of the mechanical calf is provided with a cavity, and the inner wall of the cavity is fixedly connected with an electromagnet, the two side walls of the electromagnet are fixedly connected with first spring sheets, one end of the first spring sheet is fixedly connected with a stop block, the stop block is made of magnetic material, the side wall of the stop block is fixedly connected with a fixed pin, the inner wall of the groove is provided with a pin slot, one end of the fixed pin penetrates through the mechanical calf and extends into the pin slot, one end of the walking wheel is provided with an electric socket, one end of the electric plug is inserted into the electric socket, the inside of the mechanical thigh is provided with a cavity, and the inside of the cavity is provided with a lower wheel mechanism.

[0008] Preferably, the lower wheel mechanism includes a sliding block arranged in the cavity, and the inner wall of the sliding block is fixedly connected with an electric push rod, the lower surface of the mechanical thigh is provided with a strip-shaped slot, and the lower surface of the strip-shaped slot is provided with a fixed block, one end of the electric push rod penetrates through the sliding block and is fixedly connected with the fixed block, the lower surface of the fixed block is fixedly connected with two clamping plates, the side wall of the clamping plate is provided with a limiting slot, and the limiting slot is provided with a roller shaft, the side walls of the walking wheel are provided with clamping grooves, and the cavity is provided with a driving mechanism.

[0009] Preferably, the driving mechanism includes two rotating discs rotatably connected with the inner wall of the cavity, the outer wall of the rotating disc is sleeved with a driving transmission belt, the two ends of the driving transmission belt are fixedly connected with the sliding block, and the outer wall of the mechanical thigh is fixedly connected with a motor, one of the rotating discs penetrates through the mechanical thigh and is fixedly connected with the driving end of the motor.

[0010] Preferably, the inner wall of the cavity is provided with a track slot, the inner wall of the track slot is slidably connected with a blocking plate, the side wall of the blocking plate is fixedly connected with a first blocking strip, the side wall of the stop block is fixedly connected with a second blocking strip, the side wall of the first blocking strip is fixedly connected with a second spring sheet, the side wall of the second spring sheet is fixedly connected with the electromagnet, a protrusion is arranged on the side of the first blocking strip, and the protrusion is fixedly connected with the inner wall of the cavity.

[0011] Preferably, the side of the sliding block is provided with a vertical shaft, one end of the vertical shaft penetrates through the sliding block and is arranged with the fixed block, the vertical shaft is fixedly connected with the fixed block, the lower end of the vertical shaft is fixedly connected with a positioning pin, and the upper surface of the walking wheel is provided with a positioning slot matched with the positioning pin.

[0012] Preferably, the positioning pin and the positioning slot are both provided with a chamfer at one end.

[0013] Preferably, the end of the mechanical calf is provided with a rubber pad, and the outer wall of the rubber pad is provided with anti-skid lines.

[0014] A four-legged inspection robot includes a robot body, the robot body includes the detachable foot structure.

[0015] Compared with the prior art, the present application has the following beneficial effects:

[0016] 1、The present application can connect the mechanical calf and the walking wheel through the cooperation of the stop block, the fixing pin and the first spring sheet, so that the robot body can be driven by the walking wheel to move quickly and stably when walking on a flat road, and the robot body can automatically detach the walking wheel when walking on an uneven road, and then the foot of the mechanical calf is moved, so that the walking wheel is not damaged during movement;

[0017] 2、The present application is used in cooperation with the sliding block, the electric push rod, the two clamping plates and the driving mechanism, and when the walking wheel is detached, the robot body is first switched to a kneeling position, and then the electric push rod is started to drive the fixed block to move downward, the downward moving fixed block drives the two clamping plates to move downward, the downward moving clamping plates drive the roller shaft to move downward, the roller shaft abuts against the outer wall of the walking wheel when the roller shaft moves downward, so that the clamping plates are deformed to open, and after the roller shaft moves into the clamping groove, the clamping plates recover to deform, so that the roller shaft is clamped in the clamping groove to fix the walking wheel, and then the driving mechanism can drive the sliding block and the walking wheel to move away from the mechanical calf, so that the walking wheel is conveniently and quickly detached;

[0018] 3、The present application can drive the sliding block and the walking wheel to move away from the mechanical calf through the cooperation of the two rotating discs and the driving transmission belt, and the driving transmission belt can seal the strip-shaped groove when the driving transmission belt is running, so as to block the dust and impurities from entering the mechanical thigh through the strip-shaped groove to a certain extent;

[0019] 4、The present application is used in cooperation with the first stop bar, the second stop bar and the protrusion, and when the electromagnet attracts the stop block to move, the moving stop block can drive the second stop bar to move downward, the second stop bar contacts the first stop bar after moving to a certain position, the second stop bar drives the first stop bar to move downward, the first stop bar contacts the protrusion after moving to a moving position, so that the protrusion can block the second stop bar, the first stop bar and the stop block from continuing to move, thereby avoiding the problem that the stop block and the first stop bar excessively compress the first spring sheet and the second spring sheet, protecting the first spring sheet and the second spring sheet, and preventing the first spring sheet and the second spring sheet from being damaged, and when the structure such as the walking wheel moves to complete the detachment of the walking wheel, the electric plug pin is separated from the electric plug hole, so that the walking wheel is separated from the electrical connection with the mechanical calf, and then the circuit of the electromagnet is disconnected, at this time the second spring sheet can drive the blocking plate to move, so that the blocking plate seals the electric plug hole to prevent dust and the like from entering the inside of the electric plug hole. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1This is a three-dimensional structural diagram of a quadruped inspection robot proposed in this invention;

[0021] Figure 2 This is a three-dimensional structural diagram of a detachable foot structure proposed in this invention.

[0022] Figure 3 This is a first cross-sectional view of a detachable foot structure proposed in this invention.

[0023] Figure 4 for Figure 3 Enlarged structural diagram at point A;

[0024] Figure 5 for Figure 3 Enlarged structural diagram at point B;

[0025] Figure 6 for Figure 5 Enlarged structural diagram at point C;

[0026] Figure 7 This is a partial structural diagram of a detachable foot structure proposed in this invention;

[0027] Figure 8 This is a second cross-sectional view of a detachable foot structure proposed in this invention.

[0028] Figure 9 for Figure 8 Enlarged structural diagram at point D.

[0029] In the diagram: 1. Mechanical thigh; 2. Mechanical calf; 3. Walking wheel; 4. Groove; 5. Cavity; 6. Electromagnet; 7. First spring plate; 8. Stop block; 9. Fixing pin; 10. Pin groove; 11. Electrical socket; 12. Electrical pin; 13. Cavity; 14. Slider; 15. Electric push rod; 16. Strip groove; 17. Fixing block; 18. Clamping plate; 19. Roller shaft; 20. Slot; 21. Turntable; 22. Drive belt; 23. Motor; 24. Track groove; 25. Grid plate; 26. First stop bar; 27. Second stop bar; 28. Second spring plate; 29. ​​Vertical shaft; 30. Positioning pin; 31. Positioning groove; 32. Rubber pad foot; 33. Robot body; 34. Protrusion. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0031] Please see Figures 1-9The utility model provides a detachable foot structure, including mechanical thigh 1, mechanical calf 2 and walking wheel 3, the recess 4 is set up to one end of walking wheel 3, and one end of mechanical calf 2 is inserted into recess 4, the inside of mechanical calf 2 is set up with the cavity 5, and the inner wall of cavity 5 is fixedly connected with electromagnet 6, both sides wall of electromagnet 6 are fixedly connected with first spring piece 7, and one end of first spring piece 7 is fixedly connected with the fender 8, the fender 8 is magnetic material, and the side wall of fender 8 is fixedly connected with fixed pin 9, the inner wall of recess 4 is set up with pin groove 10, and one end of fixed pin 9 is set up in the inside of pin groove 10 and extends to mechanical calf 2, and one end of mechanical calf 2 is set up with electric socket 11, and one end of walking wheel 3 is set up with electric plug pin 12, and one end of electric plug pin 12 is inserted into electric socket 11, and the circuit of electric socket 11 is buried and is connected with mechanical calf 2, and the circuit of walking wheel 3 is communicated with electric plug pin 12, when electric plug pin 12 is inserted into electric socket 11, the circuit of walking wheel 3 can be communicated with the circuit of mechanical calf 2 through electric plug pin 12 and electric socket 11, the inside of mechanical thigh 1 is set up with cavity 13, and the lower wheel mechanism is set up in cavity 13.

[0032] From the above structure can know: by setting fender 8, fixed pin 9 and first spring piece 7 cooperation, can connect mechanical calf 2 with walking wheel 3, when using, when robot main part 33 walks on the flat road, can be driven through walking wheel 3, makes robot main part 33 fast and stable movement, when robot main part 33 walks on the uneven road, robot main part 33 can automatically remove walking wheel 3, is convenient and easy, then walks through one end of mechanical calf 2, so as to walk, will not damage walking wheel 3 when walking.

[0033] Further, the lower wheel mechanism comprises a sliding block 14 arranged in the cavity 13, and the inner wall of the sliding block 14 is fixedly connected with an electric push rod 15, the lower surface of the mechanical thigh 1 is provided with a strip-shaped slot 16, and the lower surface of the strip-shaped slot 16 is provided with a fixed block 17, one end of the electric push rod 15 penetrates through the sliding block 14 and is fixedly connected with the fixed block 17, the lower surface of the fixed block 17 is fixedly connected with two clamping plates 18, and the side wall of one side of the clamping plate 18 is provided with a limiting slot, and the limiting slot is provided with a roller shaft 19, the side wall of the walking wheel 3 is provided with a clamping groove 20, and the cavity 13 is provided with a driving mechanism; through the cooperation of the sliding block 14, the electric push rod 15, the two clamping plates 18 and the driving mechanism, when the walking wheel 3 is disassembled, the robot body 33 is first switched to a kneeling posture, and then the electric push rod 15 is started, so that the electric push rod 15 drives the fixed block 17 to move downward, the fixed block 17 moves downward and drives the two clamping plates 18 to move downward, the clamping plate 18 moves downward and drives the roller shaft 19 to move downward, when the roller shaft 19 moves downward, the roller shaft 19 abuts against the outer wall of the walking wheel 3, so that the clamping plate 18 deforms and opens, after the roller shaft 19 moves into the clamping groove 20, the clamping plate 18 restores the deformation, and then the roller shaft 19 is clamped in the clamping groove 20, so as to fix the walking wheel 3, and then the driving mechanism can drive the sliding block 14 and the walking wheel 3 to move, so that the walking wheel 3 is separated from the mechanical calf 2.

[0034] Further, the driving mechanism comprises two rotating discs 21 rotatably connected with the inner wall of the cavity 13, and the outer wall of the rotating disc 21 is sleeved with a driving transmission belt 22, the two ends of the driving transmission belt 22 are fixedly connected with the sliding block 14, and the outer wall of the mechanical thigh 1 is fixedly connected with a motor 23, and one of the rotating discs 21 penetrates through the mechanical thigh 1 and is fixedly connected with the driving end of the motor 23; through the cooperation of the two rotating discs 21 and the driving transmission belt 22, the sliding block 14 and the walking wheel 3 can be driven to be separated from the mechanical calf 2, and at the same time, when the driving transmission belt 22 rotates, the driving transmission belt 22 can seal the strip-shaped slot 16, and to a certain extent, block the dust and impurities from entering the mechanical thigh 1 through the strip-shaped slot 16.

[0035] Further, the inner wall of the cavity 5 is provided with a track groove 24, and the inner wall of the track groove 24 is slidably connected with a blocking plate 25, one side wall of the blocking plate 25 is fixedly connected with a first blocking strip 26, one side wall of the blocking block 8 is fixedly connected with a second blocking strip 27, the side wall of the first blocking strip 26 is fixedly connected with a second spring piece 28, and one side wall of the second spring piece 28 is fixedly connected with the electromagnet 6. A protrusion 34 is arranged on one side of the first blocking strip 26, and the protrusion 34 is fixedly connected with the inner wall of the cavity 5. By cooperating the first blocking strip 26, the second blocking strip 27 and the protrusion 34, when the electromagnet 6 attracts the blocking block 8 to move, the moving blocking block 8 can drive the second blocking strip 27 to move downward. After the second blocking strip 27 moves downward to a certain position, it contacts with the first blocking strip 26. The second blocking strip 27 drives the first blocking strip 26 to move downward. After the first blocking strip 26 moves to a moving position, the first blocking strip 26 contacts with the protrusion 34, so that the protrusion 34 can block the second blocking strip 27, the first blocking strip 26 and the blocking block 8 from continuing to move, thereby avoiding the problem of excessive compression of the first spring piece 7 and the second spring piece 28 by the blocking block 8 and the first blocking strip 26, and protecting the first spring piece 7 and the second spring piece 28, so that the first spring piece 7 and the second spring piece 28 are not easily damaged.

[0036] When the walking wheel 3 and other structures are moved to complete the disassembly of the walking wheel 3, the electric plug 12 is separated from the electric plug hole 11, so that the walking wheel 3 is separated from the electrical connection with the mechanical lower leg 2, and then the circuit of the electromagnet 6 is disconnected. At this time, the second spring piece 28 can push the blocking plate 25 to move, so that the blocking plate 25 seals the electric plug hole 11, avoiding dust and other external factors from entering the inside of the electric plug hole 11.

[0037] Further, one side of the sliding block 14 is provided with a vertical shaft 29, one end of the vertical shaft 29 penetrates through the sliding block 14 and is arranged with the fixed block 17, the vertical shaft 29 is fixedly connected with the fixed block 17, and the lower end of the vertical shaft 29 is fixedly connected with a positioning pin 30. The upper surface of the walking wheel 3 is provided with a positioning groove 31 matched with the positioning pin 30. By arranging the vertical shaft 29, the stability of the fixed block 17 during downward movement can be improved. By arranging the positioning pin 30 and the positioning groove 31, the positioning pin 30 can move downward when the fixed block 17 moves downward. After the positioning pin 30 moves downward to a certain position, the positioning pin 30 can be inserted into the positioning groove 31. The cooperation of the positioning pin 30 and the positioning groove 31 can position the walking wheel 3, so as to ensure the position of the walking wheel 3 after disassembly, so that the one end of the mechanical lower leg 2 can be easily inserted into the groove 4 during later installation.

[0038] Further, the positioning pin 30 and one end of the positioning groove 31 are both provided with a chamfer; by arranging the chamfer, the positioning pin 30 can be easily inserted into the positioning groove 31.

[0039] Further, the mechanical small leg 2 is provided with a rubber pad foot 32 at one end, and the outer wall of the rubber pad foot 32 is provided with anti-skid lines; the rubber pad foot 32 can serve as a foot to protect the one end of the mechanical small leg 2 by being arranged.

[0040] The four-legged inspection robot comprises a robot body 33, and the robot body 33 comprises the detachable foot structure.

[0041] In use, when the robot body 33 walks on a flat road, the robot body 33 can be driven by the walking wheel 3 to move quickly and stably; when the robot body 33 walks on a road with uneven ground, the robot body 33 can be detached from the walking wheel 3 automatically, which is convenient and time-saving, and then the rubber pad foot 32 is used as a foot to walk, so that the rubber pad foot 32 does not damage the walking wheel 3 when walking;

[0042] When the walking wheel 3 is detached, the robot body 33 is first switched to a kneeling posture, and then the electric push rod 15 is started to drive the fixed block 17 to move downward, the downward moving fixed block 17 drives the two clamping plates 18 to move downward, the downward moving clamping plates 18 drive the roller shaft 19 to move downward, when the roller shaft 19 moves downward, the roller shaft 19 abuts against the outer wall of the walking wheel 3, so that the clamping plates 18 are deformed to be opened, after the roller shaft 19 moves into the clamping groove 20, the clamping plates 18 restore the deformation, and then the roller shaft 19 is clamped in the clamping groove 20 to fix the walking wheel 3;

[0043] After the walking wheel 3 is fixed, the electromagnet 6 is started to attract the stop block 8, and then the stop block 8 moves to the position close to the electromagnet 6, the moving stop block 8 drives the fixed pin 9 to move, so that the fixed pin 9 is pulled out of the pin groove 10, after the fixed pin 9 is pulled out of the pin groove 10, the motor 23 is started to drive the rotating disc 21 to rotate, the rotating rotating disc 21 can drive the driving transmission belt 22 to rotate, the rotating driving transmission belt 22 can drive the sliding block 14 to move, the moving sliding block 14 can drive the fixed block 17 and the walking wheel 3 to move, and the detachment of the walking wheel 3 is completed, the detached walking wheel 3 is hung on one side of the mechanical large leg 1, and the robot body 33 can stand up and walk;

[0044] When the electromagnet 6 attracts the block 8 to move, the moving block 8 can drive the second stop bar 27 to move downward, and after the second stop bar 27 moves to a certain position and contacts with the first stop bar 26, the second stop bar 27 drives the first stop bar 26 to move downward, and after the first stop bar 26 moves to a moving position, the first stop bar 26 contacts with the convex block 34, so that the convex block 34 can block the second stop bar 27, the first stop bar 26 and the block 8 from continuing to move, thereby avoiding the problem that the block 8 and the first stop bar 26 excessively compress the first spring sheet 7 and the second spring sheet 28, protecting the first spring sheet 7 and the second spring sheet 28, and making the first spring sheet 7 and the second spring sheet 28 not easy to be damaged;

[0045] When the walking wheel 3 and other structures move to complete the disassembly of the walking wheel 3, the electric plug 12 is separated from the electric plug hole 11, so that the walking wheel 3 is separated from the electrical connection with the mechanical lower leg 2, and then the circuit of the electromagnet 6 is disconnected, at this time the second spring sheet 28 can push the blocking plate 25 to move, so that the blocking plate 25 seals the electric plug hole 11, avoiding the dust and the like outside from entering the inside of the electric plug hole 11.

Claims

1. A detachable foot structure comprising a mechanical thigh (1), a mechanical calf (2) and a walking wheel (3), characterized in that, One end of the walking wheel (3) is provided with a groove (4), and one end of the mechanical calf (2) is inserted into the groove (4), the inside of the mechanical calf (2) is provided with a cavity (5), and the inner wall of the cavity (5) is fixedly connected with an electromagnet (6), the two side walls of the electromagnet (6) are fixedly connected with a first spring sheet (7), one end of the first spring sheet (7) is fixedly connected with a stop block (8), the stop block (8) is made of magnetic material, one side wall of the stop block (8) is fixedly connected with a fixed pin (9), the inner wall of the groove (4) is provided with a pin slot (10), one end of the fixed pin (9) penetrates through the mechanical calf (2) and extends into the pin slot (10), one end of the walking wheel (3) is provided with an electric socket (11), one end of the electric socket (12) is inserted into the electric socket (11), the inside of the mechanical thigh (1) is provided with a cavity (13), and the inside of the cavity (13) is provided with a lower wheel mechanism. The lower wheel mechanism comprises a sliding block (14) arranged in the cavity (13), and the inner wall of the sliding block (14) is fixedly connected with an electric push rod (15), the lower surface of the mechanical thigh (1) is provided with a strip-shaped slot (16), and the lower surface of the strip-shaped slot (16) is provided with a fixed block (17), one end of the electric push rod (15) penetrates through the sliding block (14) and is fixedly connected with the fixed block (17), the lower surface of the fixed block (17) is fixedly connected with two clamping plates (18), and one side wall of the clamping plate (18) is provided with a limiting slot, and the limiting slot is provided with a roller shaft (19), the two side walls of the walking wheel (3) are provided with clamping grooves (20), and the cavity (13) is provided with a driving mechanism. The driving mechanism comprises two rotating discs (21) rotatably connected with the inner wall of the cavity (13), and the outer wall of the rotating disc (21) is sleeved with a driving transmission belt (22), the two ends of the driving transmission belt (22) are fixedly connected with the sliding block (14), and the outer wall of the mechanical thigh (1) is fixedly connected with a motor (23), one of the rotating discs (21) penetrates through the mechanical thigh (1) and is fixedly connected with the driving end of the motor (23).

2. A detachable foot structure according to claim 1, wherein The inner wall of the cavity (5) is provided with a track slot (24), and the inner wall of the track slot (24) is slidably connected with a blocking plate (25), one side wall of the blocking plate (25) is fixedly connected with a first blocking strip (26), one side wall of the stop block (8) is fixedly connected with a second blocking strip (27), a side wall of the first blocking strip (26) is fixedly connected with a second spring sheet (28), one side wall of the second spring sheet (28) is fixedly connected with the electromagnet (6), a protrusion (34) is arranged on one side of the first blocking strip (26), and the protrusion (34) is fixedly connected with the inner wall of the cavity (5).

3. A detachable foot structure according to claim 1 or 2, wherein One side of the sliding block (14) is provided with a vertical shaft (29), one end of the vertical shaft (29) penetrates through the sliding block (14) and is arranged with the fixed block (17), the vertical shaft (29) is fixedly connected with the fixed block (17), and the lower end of the vertical shaft (29) is fixedly connected with a positioning pin (30), the upper surface of the walking wheel (3) is provided with a positioning slot (31) matched with the positioning pin (30).

4. A detachable foot structure according to claim 3, wherein The positioning pin (30) and the positioning groove (31) are both provided with a chamfer at one end.

5. A detachable foot structure according to claim 1, 2 or 4, wherein The mechanical lower leg (2) is provided with a rubber pad foot (32) at one end, and the outer wall of the rubber pad foot (32) is provided with anti-skid lines.

6. A detachable foot structure according to claim 3, wherein The mechanical lower leg (2) is provided with a rubber pad foot (32) at one end, and the outer wall of the rubber pad foot (32) is provided with anti-skid lines.

7. A quadruped inspection robot comprising a robot body (33), characterized in that The robot body (33) comprises the detachable foot structure according to any one of the preceding claims.

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