Post-disaster reconstruction robot

Abstract

The utility model aims to provide a post-disaster reconstruction robot. The post-disaster reconstruction robot comprises a base, a walking mechanism, a rotating table, a mounting seat, a bucket assembly, a five-degree-of-freedom mechanical arm and a manipulator, the base is installed on the walking mechanism, and the installation base is installed on the base through the rotating table and can rotate by 360 degrees along with the rotating table. The left side face and the right side face of the front portion of the installation base are each provided with a five-degree-of-freedom mechanical arm, the mechanical arms are installed at the front ends of the five-degree-of-freedom mechanical arms, and the excavator bucket assembly is installed on the rear portion of the installation base. The mechanical arm is scientific and reasonable in structural design, can be applied to the fields of military affairs and post-disaster reconstruction, has the functions of cleaning road obstacles, reconstructing earth cutting construction, grabbing objects by the mechanical arm and the like, is high in flexibility, and can effectively improve the operation efficiency.

Description

Technical Field

[0001] This utility model relates to the technical field of automatic paper bag packaging equipment, specifically to a post-disaster reconstruction robot. Background Technology

[0002] Existing technologies for post-disaster reconstruction robots:

[0003] 1. Robotic Arm Design: Post-disaster reconstruction robots often need to perform delicate operations, such as moving heavy objects, cutting obstacles, and precise installation. Therefore, the design of the robotic arm is crucial. Modern post-disaster reconstruction robots generally adopt multi-degree-of-freedom robotic arms, which can flexibly adapt to different operational needs. However, due to insufficient strength of joint components under high-intensity work and the susceptibility of sand and dust to jamming at the joints in harsh working environments, the robotic arm cannot function properly, increasing the complexity and cost of maintenance.

[0004] 2. Deformable Structure Design: To enhance the robot's adaptability in different environments, some post-disaster reconstruction robots employ deformable structure designs, enabling them to traverse complex environments such as ruins and rivers. However, in post-disaster environments, obstacles may hinder structural movement, and the center of gravity may shift or become unstable when clearing heavy obstacles, potentially causing the robot to tip over during operation. Summary of the Invention

[0005] This utility model aims to provide a post-disaster reconstruction robot. The device has a scientific and reasonable structural design and can be applied in the fields of military and post-disaster reconstruction. It also has functions such as clearing road obstacles, rebuilding and excavating, and grasping objects with a robotic arm. It is highly flexible and can effectively improve work efficiency.

[0006] The working process of this utility model is as follows:

[0007] The disaster reconstruction robot includes a base, a walking mechanism, a rotary table, a mounting base, a bucket assembly, a five-degree-of-freedom robotic arm, and a robotic hand;

[0008] The base is mounted on the walking mechanism, and the mounting seat is mounted on the base via a rotary table, which can rotate 360° with the rotary table; a set of five-degree-of-freedom robotic arms is respectively provided on the left and right sides of the front part of the mounting seat, the front end of the five-degree-of-freedom robotic arms is equipped with a robotic hand, and the rear part of the mounting seat is equipped with a bucket assembly.

[0009] The aforementioned walking mechanism is a tracked walking mechanism.

[0010] The bucket assembly includes a bearing seat, a lower arm, supporting hydraulic rods, a lower arm hydraulic rod, an upper arm, an upper arm hydraulic rod, and a bucket. The mounting base has a mounting groove at its rear. A bearing seat is installed on the bottom surface of the mounting groove. The lower arm is mounted on the bearing seat via a horizontal left-right rotating shaft I. Two sets of supporting hydraulic rods are located on the bottom surface of the mounting groove behind the bearing seat. The piston rods of the supporting hydraulic rods are hinged to the middle of the two side walls of the lower arm. The upper arm is mounted on the upper end of the lower arm via a rotating shaft II. The lower arm hydraulic rod is mounted on the middle of the top surface of the lower arm via a hydraulic rod seat I. The piston rod of the lower arm hydraulic rod is hinged to the lower part of the upper arm. The bucket is mounted on the front end of the upper arm. The upper arm hydraulic rod is mounted on the rear of the top surface of the upper arm via a hydraulic rod seat II. The piston rod of the upper arm hydraulic rod is hinged to a linkage mechanism at the rear of the bucket.

[0011] The five-degree-of-freedom robotic arm includes an electric turntable, a large arm base, a large arm, a small arm, a front seat, and a rotary motor. The electric turntable is axially and horizontally mounted on the left and right sides of the front of the mounting base. The large arm base is mounted on the electric turntable and can rotate with it. The rear end of the large arm is mounted on the large arm base via a large arm pin and is driven to rotate by the large arm motor. The rear end of the small arm is mounted on the front end of the large arm via a small arm pin and is driven to rotate by the small arm motor. The rear of the front seat is mounted on the front end of the small arm via a claw pin and is driven to rotate by the claw motor. The rotary motor is fixedly mounted on the left or right side of the front seat, and the robotic arm is mounted on the output shaft of the rotary motor.

[0012] The front and rear sections of the boom are both constructed from two parallel mounting plates I, with the boom base and the rear end of the forearm mounted between the two mounting plates I.

[0013] The front structure of the forearm consists of two parallel mounting plates II, with the rear of the front seat mounted between the two mounting plates II.

[0014] The robotic arm includes a gripper base, a dual-axis motor, gripper I, and gripper II. The dual-axis motor is installed inside the gripper base, and the output shaft of the dual-axis motor is vertically arranged, passing through shaft holes on the top and bottom surfaces of the gripper base. The rear end of gripper I is mounted on the output shaft of the dual-axis motor, and the rear end of gripper II is mounted on the top and bottom surfaces of the gripper base via a driven shaft. Gear I and gear II, which mesh with each other, are respectively provided on the rear ends of gripper I and gripper II.

[0015] A camera is installed on the front part of the top surface of the mounting base.

[0016] The design principle of this utility model is as follows:

[0017] This invention features a robotic arm design with one arm mounted on each side. Because the original structure had the robotic arms and bucket working in opposite directions, excessive force could cause the vehicle's center of gravity to shift. Therefore, this design combines two working structures, using the weight of each structure to balance the center of gravity on the other side during operation. This prevents the vehicle's center of gravity from shifting and avoids rollover.

[0018] This invention features a base mounted on a rotating platform that can rotate 360°, allowing for on-the-spot switching between the working modes of the robotic arm, robotic hand, and bucket assembly. The tracked structure enables the disaster reconstruction robot to achieve advantages such as strong adaptability, good grip, high load-bearing capacity, and high stability during movement and travel. A camera fixed to the front of the base provides the robot with a good field of vision, facilitating operator control of the robot's movement and the use of the robotic arm and bucket.

[0019] This invention addresses the need for a simplified design of a disaster relief robot operating in harsh environments to reduce weight and workload. Therefore, a modular design with mounting plates I and II was implemented in the robotic arm structure. The robotic arm's claws I and II are driven by gear meshing, with a dual-axis motor providing engagement power to claw I. This allows claws I and II to retract simultaneously, achieving simultaneous force application and more precise and stable obstacle grasping. Driven by a rotating motor, the robotic arm can rotate 360°.

[0020] The beneficial effects of this utility model are as follows:

[0021] This utility model features a dual-claw robotic arm for clearing road obstacles. Its tracked drive system allows for a large contact area during movement, enabling easy movement through muddy terrain. Integrating machine vision into industrial robot grasping is a prerequisite for many operations; the design of the bucket and robotic arm has been improved, balancing the overall structure's center of gravity.

[0022] This invention improves upon robots designed for post-disaster environments. It utilizes a robotic arm and bucket to switch between working modes, and with the aid of tracks, it can turn in place, enhancing the robot's flexibility in such conditions. The five-degree-of-freedom robotic arm addresses the limitations of the robot's range of motion and flexibility in post-disaster environments. Based on this, a post-disaster reconstruction robot was designed to assist in reconstruction efforts. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of the disaster reconstruction robot in Example 1;

[0024] Figure 2 This is a front view of the disaster reconstruction robot in Example 1;

[0025] Figure 3 This is a schematic diagram of the forearm and robotic arm in Example 1;

[0026] The numbers and names in the diagram are as follows:

[0027] 1-Base, 2-Rotating table, 3-Mounting seat, 4-Camera, 5-Crawler walking mechanism, 6-Five-degree-of-freedom robotic arm, 7-Manipulator, 8-Mounting slot, 9-Shaft seat, 10-Lower arm, 11-Support hydraulic rod, 12-Lower arm hydraulic rod, 13-Upper arm, 14-Upper arm hydraulic rod, 15-Bucket, 16-Hydraulic rod seat I, 17-Hydraulic rod seat II, 18-Linkage mechanism, 19-Electric turntable, 20-Boom seat, 21-Boom, 22-Lean arm, 23-Front seat, 24-Rotating motor, 25-Mounting plate I, 26-Mounting plate II, 27-Claw seat, 28-Dual-axis motor, 29-Claw I, 30-Claw II, 31-Gear I, 32-Gear II. Detailed Implementation

[0028] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. Example 1

[0029] like Figure 1-3 As shown, the post-disaster reconstruction robot includes a base 1, a walking mechanism, a rotary table 2, a mounting base 3, a bucket assembly, a five-degree-of-freedom robotic arm 6, and a robotic hand 7; the walking mechanism is a tracked walking mechanism 5.

[0030] The base 1 is mounted on the walking mechanism, and the mounting seat 3 is mounted on the base 1 via a rotary table 2, allowing it to rotate 360° with the rotary table 2. A set of five-degree-of-freedom robotic arms 6 is respectively installed on the left and right sides of the front of the mounting seat 3. A robotic hand 7 is mounted at the front end of each of the five-degree-of-freedom robotic arms 6, and a bucket assembly is mounted at the rear of the mounting seat 3. A camera 4 is installed on the front of the top surface of the mounting seat 3.

[0031] The bucket assembly includes a bearing seat 9, a lower arm 10, supporting hydraulic rods 11, lower arm hydraulic rods 12, an upper arm 13, an upper arm hydraulic rod 14, and a bucket 15. The mounting base 3 has a mounting groove 8 at its rear. A bearing seat 9 is mounted on the bottom surface of the mounting groove 8. The lower arm 10 is mounted on the bearing seat 9 via a horizontal left-right rotating shaft I. Two sets of supporting hydraulic rods 11 are located on the bottom surface of the mounting groove 8 behind the bearing seat 9. The piston rods of the supporting hydraulic rods 11 are respectively connected to the lower arm 10. The lower arm 10 is hinged at the middle of both side walls; the upper arm 13 is mounted on the upper end of the lower arm 10 via a pivot II, and the lower arm hydraulic rod 12 is mounted on the middle of the top surface of the lower arm 10 via a hydraulic rod seat I 16, with the piston rod of the lower arm hydraulic rod 12 hinged to the lower part of the upper arm 13; the bucket 15 is mounted on the front end of the upper arm 13, and the upper arm hydraulic rod 14 is mounted on the rear of the top surface of the upper arm 13 via a hydraulic rod seat II 17, with the piston rod of the upper arm hydraulic rod 14 hinged to the linkage mechanism 18 at the rear of the bucket 15.

[0032] The five-degree-of-freedom robotic arm 6 includes an electric turntable 19, a large arm base 20, a large arm 21, a small arm 22, a front seat 23, and a rotary motor 24. The electric turntable 19 is axially and horizontally mounted on the left and right sides of the front of the mounting base 3. The large arm base 20 is mounted on the electric turntable 19 and can rotate with the electric turntable 19. The rear end of the large arm 21 is mounted on the large arm base 20 via a large arm pin and is driven to rotate by the large arm motor. The rear end of the small arm 22 is mounted on the front end of the large arm 21 via a small arm pin and is driven to rotate by the small arm motor. The rear part of the front seat 23 is mounted on the front end of the small arm 22 via a claw pin and is driven to rotate by the claw motor. The rotary motor 24 is fixedly mounted on the left or right side of the front seat 23, and a robotic arm 7 is mounted on the output shaft of the rotary motor 24.

[0033] The front and rear structures of the boom 21 are both two parallel mounting plates I 25, and the rear ends of the boom base 20 and the forearm 22 are both mounted between the two mounting plates I 25.

[0034] The front structure of the forearm 22 consists of two parallel mounting plates II 26, and the rear of the front seat 23 is mounted between the two mounting plates II 26.

[0035] The robotic arm 7 includes a claw base 27, a dual-axis motor 28, claw I 29, and claw II 30. The dual-axis motor 28 is installed inside the claw base 27. The output shaft of the dual-axis motor 28 is vertically arranged and passes through the shaft holes on the top and bottom surfaces of the claw base 27. The rear end of claw I 29 is mounted on the output shaft of the dual-axis motor 28. The rear end of claw II 30 is mounted on the top and bottom surfaces of the claw base 27 via a driven shaft. Gear I 31 and gear II 32 that mesh with each other are respectively provided on the rear ends of claw I 29 and claw II 30.

Claims

1. A post-disaster reconstruction robot, comprising a base (1), a walking mechanism, a rotating table (2), a mounting seat (3), a bucket assembly, a five-degree-of-freedom mechanical arm (6), and a mechanical hand (7), characterized in that: the base (1) is mounted on the walking mechanism, the mounting seat (3) is mounted on the base (1) through the rotating table (2) and can rotate 360° with the rotating table (2); a group of five-degree-of-freedom mechanical arms (6) are respectively arranged on the left and right sides of the front part of the mounting seat (3), the front end of the five-degree-of-freedom mechanical arm (6) is provided with the mechanical hand (7), and the rear part of the mounting seat (3) is provided with the bucket assembly. The walking mechanism is a caterpillar walking mechanism (5).

2. The post-disaster reconstruction robot of claim 1, wherein: The bucket assembly comprises an axle seat (9), a lower arm (10), a support hydraulic rod (11), a lower arm hydraulic rod (12), an upper arm (13), an upper arm hydraulic rod (14), and a bucket (15); the rear part of the mounting seat (3) is provided with a mounting groove (8), the inner bottom surface of the mounting groove (8) is provided with the axle seat (9), the lower arm (10) is mounted on the axle seat (9) through a horizontal left-right direction rotating shaft I, the rear side of the axle seat (9) on the inner bottom surface of the mounting groove (8) is provided with two groups of support hydraulic rods (11), the piston rods of the support hydraulic rods (11) are respectively hinged to the middle parts of the left and right sides of the lower arm (10); the upper end of the lower arm (10) is mounted on the upper arm (13) through a rotating shaft II, the top surface of the lower arm (10) is mounted on the lower arm hydraulic rod (12) through a hydraulic rod seat I (16), the piston rod of the lower arm hydraulic rod (12) is hinged to the lower part of the upper arm (13); the front end of the upper arm (13) is provided with the bucket (15), the top surface of the rear part of the upper arm (13) is mounted on the upper arm hydraulic rod (14) through a hydraulic rod seat II (17), and the piston rod of the upper arm hydraulic rod (14) is hinged to a connecting rod mechanism (18) at the rear part of the bucket (15).

3. The post-disaster reconstruction robot of claim 1, wherein: The five-degree-of-freedom mechanical arm (6) comprises an electric rotating disc (19), a large arm seat (20), a large arm (21), a small arm (22), a front seat (23), and a rotating motor (24); the electric rotating disc (19) is mounted on the left and right sides of the front part of the mounting seat (3) in an axial and horizontal manner; the large arm seat (20) is mounted on the electric rotating disc (19) and can rotate with the electric rotating disc (19); the rear end of the large arm (21) is mounted on the large arm seat (20) through a large arm pin shaft and can rotate through a large arm motor; the rear end of the small arm (22) is mounted on the front end of the large arm (21) through a small arm pin shaft and can rotate through a small arm motor; the rear part of the front seat (23) is mounted on the front end of the small arm (22) through a claw seat pin shaft and can rotate through a claw seat motor; the rotating motor (24) is fixedly mounted on the left side or the right side of the front seat (23), and the output shaft of the rotating motor (24) is provided with the mechanical hand (7).

4. The post-disaster reconstruction robot of claim 1, wherein: The front part and the rear part of the large arm (21) are both provided with two mutually parallel mounting plates I (25), and the rear end of the large arm seat (20) and the small arm (22) are both mounted between the two mounting plates I (25).

5. The post-disaster reconstruction robot of claim 4, wherein: ​ 6. The post-disaster reconstruction robot of claim 4, wherein: The front structure of the small arm (22) is two mutually parallel mounting plates II (26), and the rear of the front seat (23) is mounted between the two mounting plates II (26).

7. The post-disaster reconstruction robot of claim 4, wherein: The mechanical arm (7) comprises a claw base (27), a double-shaft motor (28), a claw I (29) and a claw II (30). The double-shaft motor (28) is arranged in the claw base (27), the output shaft of the double-shaft motor (28) is arranged vertically, and the output shaft is arranged to pass through the shaft holes in the top surface and the bottom surface of the claw base (27). The rear end of the claw I (29) is mounted on the output shaft of the double-shaft motor (28). The rear end of the claw II (30) is mounted on the top surface and the bottom surface of the claw base (27) through a driven shaft. The rear end of the claw I (29) and the rear end of the claw II (30) are respectively provided with a gear I (31) and a gear II (32) which are engaged with each other.

8. The post-disaster reconstruction robot of claim 1, wherein: The top surface of the mounting seat (3) is provided with a camera (4).

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