Rescue protection quadruped robot stabilizing structure

Abstract

The utility model discloses a rescue protection quadruped robot stabilizing structure, which belongs to the technical field of quadruped robots, and comprises a mounting seat clamped at the top of a robot main body, the inner bottom wall of the robot main body is fixedly connected with a driving motor, and the output end of the driving motor is fixedly connected with a transmission shaft; an adjusting seat is fixedly connected to the top of the mounting seat, a sliding groove is formed in the outer side wall of the adjusting seat, a rotating plate is fixedly connected to the outer side wall of the transmission shaft, a connecting rod is rotatably connected to the top of the rotating plate, and a shielding plate is slidably connected to the top of the sliding groove. According to the rescue protection quadruped robot stabilizing structure, through cooperative use of a driving motor, a transmission shaft, a rotating plate, an adjusting seat, a sliding groove, a clamping block, a shielding plate and a connecting rod, the robot body is supported by extending the shielding plate and abutting against objects on the two sides of the robot body during rescue; and meanwhile, fallen rocks above the robot body are blocked through the baffle plate, and the trapped person is prevented from being secondarily hurt by the fallen rocks.

Description

Technical Field

[0001] This utility model belongs to the field of quadruped robot technology, specifically, it relates to a stabilizing structure for a rescue and protection quadruped robot. Background Technology

[0002] As a type of robot with a special structure, the spinal quadruped robot has shown great potential in complex terrain and special environments due to its unique design and good mobility.

[0003] Spinal quadruped robots are typically designed to mimic the locomotion patterns of quadruped animals, with their leg structure playing a crucial role in overall performance. Their legs are generally composed of jointed components such as the upper arm and forearm, enabling flexible flexion, extension, and turning movements, allowing them to move through rescue scenarios such as earthquake rubble and fire scenes.

[0004] However, the injured will face many dangers while waiting for rescue. First, when aftershocks occur, there may be falling rocks. These rocks may directly hit the trapped injured, causing injury and threatening their lives. At that time, there were no effective protective measures to stop the falling rocks from harming the injured. At the same time, when the rescue robot is hit by falling rocks or objects, it may tip over. This will not only prevent the rescue work from being carried out normally, but may even further endanger the safety of the trapped people and the robot itself.

[0005] To address the aforementioned issues, this application proposes a stabilizing structure for a rescue and protective quadruped robot. Utility Model Content

[0006] In response to the problems in related technologies, this utility model proposes a stabilizing structure for a rescue and protective quadruped robot to overcome the aforementioned technical problems existing in the prior art.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A stabilizing structure for a rescue and protective quadruped robot includes a robot body, an adjustment structure on the top of the robot body, and a protective structure on the top of the adjustment structure.

[0009] The adjustment structure includes a mounting base snapped onto the top of the robot body, a drive motor fixedly connected to the inner bottom wall of the robot body, a transmission shaft fixedly connected to the output end of the drive motor, an adjustment seat fixedly connected to the top of the mounting base, a sliding groove formed on the outer side wall of the adjustment seat, a rotating plate fixedly connected to the outer side wall of the transmission shaft, a connecting rod rotatably connected to the top of the rotating plate, a baffle plate slidably connected to the top of the sliding groove, and the top of the baffle plate rotatably connected to the end of the connecting rod away from the rotating plate.

[0010] Preferably, the protection structure comprises an extension shaft fixedly connected to the top of the transmission shaft, the outer side wall of the extension shaft is provided with a folding sector plate, the top of the folding sector plate is fixedly connected with the outer side wall of the extension shaft, the top of the adjusting seat is fixedly connected with a fixed column, and the top of the fixed column is fixedly connected with the bottom of the folding sector plate.

[0011] Preferably, the adjusting seat is clamped with a clamping block through a sliding groove, and the top of the clamping block is fixedly connected with the bottom of the shielding plate.

[0012] Preferably, the outer side wall of the folding sector plate is provided with a limiting groove, and the inner side wall of the folding sector plate is fixedly connected with a limiting column, the limiting column is located in the limiting groove, and the limiting groove and the limiting column are matched, and the folding sector plate is extended through the limiting groove and the limiting column.

[0013] Preferably, the folding sector plate is internally provided with a clamping groove, the inner side wall of the folding sector plate is fixedly connected with a sliding rod, and the outer side wall of the sliding rod is slidingly connected with a sliding plate, the clamping groove, the sliding rod and the sliding plate are arranged to expand the coverage range of the folding sector plate and improve the protection of the equipment.

[0014] Preferably, the inner side wall of the folding sector plate is fixedly connected with a spring, and the end, away from the folding sector plate, of the spring is fixedly connected with the outer side wall of the sliding plate, and the spring is arranged to facilitate the quick extension of the sliding plate.

[0015] Preferably, the outer side wall of the sliding plate is provided with a mounting groove, and the outer side wall of the sliding plate is rotatably connected with a roller, and the roller is located in the mounting groove, and the mounting groove and the roller are arranged to reduce the friction between the sliding plate and the wall or object contacted thereby, thereby reducing the loss of the equipment.

[0016] In summary, the technical effects and advantages of the rescue protection four-legged robot stable structure are as follows: the cooperation of the driving motor, the transmission shaft, the rotating plate, the adjusting seat, the sliding groove, the clamping block, the shielding plate and the connecting rod facilitates the extension of the shielding plate and the contact of the shielding plate with the objects on both sides of the robot main body during rescue, supports the robot main body, and blocks the falling rocks above the robot main body by the shielding plate, thereby avoiding the secondary injury of the trapped personnel caused by the falling rocks.

[0017] The cooperation of the folding sector plate, the clamping groove, the sliding rod, the sliding plate, the spring, the mounting groove and the roller facilitates the reduction of the friction between the sliding plate and the external object by the roller when the sliding plate is extended, thereby reducing the loss of the sliding plate during the rotating extension. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the structural shielding plate and related parts of this utility model;

[0020] Figure 3 This is a schematic diagram of the structural adjustment seat and related parts of this utility model;

[0021] Figure 4 This is a schematic diagram of the limiting groove and related parts of this utility model;

[0022] Figure 5 This is a schematic diagram of the structural spring and related parts of this utility model.

[0023] In the picture:

[0024] 1. Robot body;

[0025] 2. Adjustment structure; 201. Mounting base; 202. Drive motor; 203. Transmission shaft; 204. Rotating plate; 205. Adjusting seat; 206. Slide groove; 207. Locking block; 208. Baffle plate; 209. Connecting rod;

[0026] 3. Protective structure; 301. Extension shaft; 302. Fixing post; 303. Folding fan-shaped plate; 304. Limiting groove; 305. Limiting post; 306. Slot; 307. Sliding rod; 308. Sliding plate; 309. Spring; 310. Mounting groove; 311. Roller. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0028] Reference Figures 1-3 A stabilizing structure for a rescue and protective quadruped robot includes a robot body 1, an adjustment structure 2 on the top of the robot body 1, and a protective structure 3 on the top of the adjustment structure 2.

[0029] The adjusting structure 2 comprises a mounting seat 201 clamped on the top of the robot body 1, the inner bottom wall of the robot body 1 is fixedly connected with a driving motor 202, the driving motor 202 is a stepping motor, the output end of the driving motor 202 is fixedly connected with a transmission shaft 203, the top of the mounting seat 201 is fixedly connected with an adjusting seat 205, the transmission shaft 203 penetrates through the adjusting seat 205 and is rotationally connected with the adjusting seat 205, the outer side wall of the adjusting seat 205 is provided with a sliding groove 206, the outer side wall of the transmission shaft 203 is fixedly connected with a rotating plate 204, the cross section of the rotating plate 204 is rhombic, the rotating plate 204 is located above the adjusting seat 205, the top of the rotating plate 204 is rotationally connected with a connecting rod 209, the connecting rod 209 is provided with two, the two connecting rods 209 are centrally and symmetrically distributed with the center point of the rotating plate 204 as the center, the top of the sliding groove 206 is slidably connected with a shielding plate 208, one end of the shielding plate 208 away from the rotating plate 204 is provided with a rubber pad with an arc, so as to reduce the abrasion of the shielding plate 208, the top of the shielding plate 208 is rotationally connected with the end of the connecting rod 209 away from the rotating plate 204, and the connecting point of the connecting rod 209 and the shielding plate 208 is located on the center line of the shielding plate 208.

[0030] When rescuing, when the robot body 1 searches for the trapped personnel and waits for assistance, the driving motor 202 can be started, the transmission shaft 203 is driven by the driving motor 202 to drive the rotating plate 204 to rotate, at this time, the two ends of the rotating plate 204 rotate in opposite directions respectively and drive the two connecting rods 209 to move in opposite directions, because the two ends of the two connecting rods 209 away from the rotating plate 204 are respectively rotationally connected with the two shielding plates 208, and the two shielding plates 208 are respectively slidably connected with the adjusting seat 205, the movement direction of the two shielding plates 208 is limited by the adjusting seat 205, so when the two connecting rods 209 rotate with the rotating plate 204 and push the two shielding plates 208, the two shielding plates 208 move in opposite directions, thereby expanding the shielding range of the two shielding plates 208, with the movement of the two shielding plates 208, the arc-shaped rubber pad provided on the side of the two shielding plates 208 away from the rotating plate 204 abuts against the external debris wall, thereby stably supporting the robot body 1 and shielding the personnel waiting for rescue to a certain extent, avoiding secondary injury of rockfall to the personnel.

[0031] With reference to Figure 3 and Figure 4 , the protection structure 3 comprises an extension shaft 301 fixedly connected to the top of the transmission shaft 203, the outer side wall of the extension shaft 301 is provided with a folding fan-shaped plate 303, the folding fan-shaped plate 303 is a rotatable and expandable fan-shaped plate and is divided into four parts. Among them, one part of the top layer of the folding fan-shaped plate 303 is fixedly connected with the outer side wall of the extension shaft 301, the top of the adjusting seat 205 is fixedly connected with a fixed column 302, and the top of the fixed column 302 is fixedly connected with one part of the bottom layer of the folding fan-shaped plate 303.

[0032] With reference to Figure 3 The adjusting seat 205 is clamped with the clamping blocks 207 through the sliding grooves 206. The clamping blocks 207 are provided in two, and the two clamping blocks 207 are clamped with the two sliding grooves 206 respectively. The top portions of the two clamping blocks 207 are fixedly connected with the bottoms of the two shielding plates 208 respectively. The horizontal positions between the shielding plates 208 and the adjusting seat 205 are limited by the two clamping blocks 207 during the movement of the two shielding plates 208, so as to avoid disengagement between the shielding plates 208 and the adjusting seat 205 during use.

[0033] With reference to Figure 3 And Figure 4 The outer side walls of the folding fan-shaped plates 303 are provided with the limiting grooves 304. The limiting grooves 304 are arc-shaped. The four outer side walls of the folding fan-shaped plates 303 are provided with the limiting grooves 304. The inner side walls of the folding fan-shaped plates 303 are fixedly connected with the limiting columns 305. The limiting columns 305 are located inside the limiting grooves 304. One part of the limiting columns 305 is located inside the folding fan-shaped plates 303. Another part of the limiting columns 305 protrudes outside the folding fan-shaped plates 303. The limiting grooves 304 are matched with the limiting columns 305. The four outer side walls of the folding fan-shaped plates 303 are provided with the limiting grooves 304 and the limiting columns 305. The linkage is realized through the clamping between the limiting grooves 304 and the limiting columns 305. When the topmost part of the rotating folding fan-shaped plates 303 is rotated following the extension shaft 301, the lower part is gradually driven to follow the unfolding through the clamping between the limiting grooves 304 and the limiting columns 305. Conversely, when the folding fan-shaped plates 303 need to be folded back, the folding fan-shaped plates 303 can also be folded back through the rotation of the topmost part.

[0034] With reference to Figure 5 The inside of the folding fan-shaped plates 303 is provided with the clamping grooves 306. The inner side walls of the folding fan-shaped plates 303 are fixedly connected with the sliding rods 307. The outer side walls of the sliding rods 307 are slidingly connected with the sliding plates 308. The sliding plates 308 are located inside the clamping grooves 306. The inner side walls of the folding fan-shaped plates 303 are fixedly connected with the springs 309. One end of the springs 309 away from the folding fan-shaped plates 303 is fixedly connected with the outer side walls of the sliding plates 308. When the sliding plates 308 extend outside the folding fan-shaped plates 303, the tips of the sliding plates 308 are in contact with the ruins wall. At this time, the springs 309 are compressed under force. Under the action of the elastic force of the springs 309, the sliding plates 308 continuously contact with the external wall to expand the coverage area of the shielding plates 208 and improve the protection range.

[0035] With reference to Figure 5The outer side wall of the sliding plate 308 is provided with a mounting groove 310, and the outer side wall of the sliding plate 308 is rotationally connected with a plurality of rollers 311.

[0036] Working principle: when rescuing, when the robot body 1 searches for the trapped personnel and waits for assistance, the driving motor 202 can be started, the driving motor 202 drives the transmission shaft 203 to drive the rotating plate 204 to rotate, at this time, the two ends of the rotating plate 204 rotate in opposite directions and drive the two connecting rods 209 to move in opposite directions, because the two ends of the two connecting rods 209 away from the rotating plate 204 are rotationally connected with the two shielding plates 208 respectively, and the two shielding plates 208 are slidingly connected with the adjusting seat 205 respectively, the movement direction of the two shielding plates 208 is limited by the adjusting seat 205, so when the two connecting rods 209 rotate with the rotating plate 204 and push the two shielding plates 208, the two shielding plates 208 move in opposite directions, thereby expanding the shielding range of the two shielding plates 208, with the movement of the two shielding plates 208, the arc-shaped rubber pads arranged on the side of the two shielding plates 208 away from the rotating plate 204 abut against the external debris wall, thereby stably supporting the robot body 1 and shielding the personnel waiting for rescue to a certain extent, avoiding secondary injury to the personnel caused by falling stones, when the transmission shaft 203 rotates, the extension shaft 301 rotates, further, when the topmost part of the folding fan-shaped plate 303 rotates with the extension shaft 301, the lower part is gradually unfolded through the clamping between the limiting groove 304 and the limiting column 305, on the contrary, when folding is needed, the folding fan-shaped plate 303 can also be folded by rotating the topmost part, thereby expanding the protection range of the robot body 1.

[0037] The above only describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A rescue protection quadruped robot stabilizing structure comprising a robot main body (1), characterized in that, The top of the robot body (1) is provided with an adjusting structure (2), and the top of the adjusting structure (2) is provided with a protection structure (3); The adjusting structure (2) comprises a mounting seat (201) clamped on the top of the robot body (1), a driving motor (202) fixedly connected to the inner bottom wall of the robot body (1), an output end of the driving motor (202) fixedly connected with a transmission shaft (203), a top of the mounting seat (201) fixedly connected with an adjusting seat (205), an outer side wall of the adjusting seat (205) provided with a sliding groove (206), an outer side wall of the transmission shaft (203) fixedly connected with a rotating plate (204), a top of the rotating plate (204) rotatably connected with a connecting rod (209), a top of the sliding groove (206) slidably connected with a shielding plate (208), and a top of the shielding plate (208) rotatably connected with an end of the connecting rod (209) away from the rotating plate (204).

2. The rescue guard quadruped robot stabilizing structure according to claim 1, characterized in that, The protection structure (3) comprises an extension shaft (301) fixedly connected to the top of the transmission shaft (203), and the outer side wall of the extension shaft (301) is provided with a folding sector plate (303), the top of the folding sector plate (303) is fixedly connected with the outer side wall of the extension shaft (301), the top of the adjusting seat (205) is fixedly connected with a fixed column (302), and the top of the fixed column (302) is fixedly connected with the bottom of the folding sector plate (303).

3. The rescue guard quadruped robot stabilizing structure according to claim 1, characterized in that, The adjusting seat (205) is clamped with a clamping block (207) through the sliding groove (206), and the top of the clamping block (207) is fixedly connected with the bottom of the shielding plate (208).

4. The rescue guard quadruped robot stabilizing structure according to claim 2, characterized in that, The outer side wall of the folding sector plate (303) is provided with a limiting groove (304), and the inner side wall of the folding sector plate (303) is fixedly connected with a limiting column (305), the limiting column (305) is located in the inside of the limiting groove (304), and the limiting groove (304) is matched with the limiting column (305).

5. The rescue guard quadruped robot stabilizing structure according to claim 4, characterized in that, The inside of the folding sector plate (303) is provided with a clamping groove (306), and the inner side wall of the folding sector plate (303) is fixedly connected with a sliding rod (307), and the outer side wall of the sliding rod (307) is slidably connected with a sliding plate (308).

6. The rescue guard quadruped robot stabilizing structure according to claim 5, characterized in that, The inner side wall of the folding sector plate (303) is fixedly connected with a spring (309), and an end of the spring (309) away from the folding sector plate (303) is fixedly connected with the outer side wall of the sliding plate (308).

7. The rescue guard quadruped robot stabilizing structure according to claim 6, characterized in that, The outer side wall of the sliding plate (308) is provided with a mounting groove (310), and the outer side wall of the sliding plate (308) is rotatably connected with a roller (311), and the roller (311) is located in the inside of the mounting groove (310).

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