Fixing mechanism for upside-down mounting of back-loaded emitter of fixed robot dog
By fixing the launcher to the back of the robot dog through an inverted fixing mechanism, the problems of space occupation and increased cost of the gimbal bracket are solved, and higher fixing strength and strike accuracy are achieved. It is compatible with a variety of launcher types and reduces the impact of recoil on the robot dog.
Patent Information
- Application Number
- CN202520527958.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-25
- Publication Date
- 2026-02-24
- Estimated Expiration
- 2035-03-25
AI Technical Summary
The launcher equipment on existing robot dogs uses a fixed multi-axis gimbal bracket for installation, which takes up space and increases manufacturing costs, while also affecting the stability and strike accuracy of the robot dog.
The inverted mounting mechanism secures the transmitter to the back of the robot dog using a mounting bracket and a movable clamping assembly. It utilizes screw holes and threaded connections for fastening, eliminating the need for a gimbal mounting component, reducing the transmitter's height, and providing more space for installing other payloads.
It improves the stability and service life of the launcher, reduces the impact of recoil on the stability of the robot dog, improves the strike accuracy, and facilitates the replacement and adaptation of the launcher to various types of launchers.
Smart Images
Figure CN223940102U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robot dog technology, specifically a fixed robot dog back-mounted transmitter inverted fixing mechanism. Background Technology
[0002] A robotic dog-mounted launcher is a high-tech device that combines robotics technology with a launching mechanism, typically used in security, rescue, or scientific research fields. It generally includes a chassis platform, launcher module, control system, and power supply. During use, it is highly mobile and can adapt to complex terrain (such as stairs, ruins, and mountains), making it suitable for performing tasks in areas difficult for humans to access. Simultaneously, through its onboard cameras and sensors, it transmits real-time images and data, facilitating remote command.
[0003] Currently, the transmitter equipment on robot dogs is mostly fixed in one way, that is, fixed by a multi-axis gimbal bracket. Although this method can effectively install the transmitter equipment, the multi-axis gimbal bracket will occupy a certain space on the back of the robot dog and will increase the manufacturing cost to some extent.
[0004] Therefore, in view of the above-mentioned problems, this technical solution proposes a fixed machine dog back-mounted transmitter inverted fixing mechanism. Utility Model Content
[0005] The purpose of this invention is to provide a fixed mechanism for the inverted mounting of a robot dog's back-mounted transmitter, in order to solve the problems mentioned in the background art.
[0006] To achieve the above objectives, this utility model provides the following technical solution:
[0007] A fixed robot dog back-mounted transmitter inverted fixing mechanism includes a robot dog and a mounting bracket; the mounting bracket is installed on the back of the robot dog, and a rail mounting interface is opened on the top of the mounting bracket. Different types of transmitters can be installed through the rail mounting interface. A movable clamping component is provided on the side of the rail mounting interface. The transmitter is inverted and installed on the rail mounting interface and cooperates with the movable clamping component, that is, the movable clamping component is controlled to move and clamp and fix it.
[0008] The mounting bracket is designed as a U-shaped structure, with screw holes extending outward from both ends of its sidewalls. The screw holes have longitudinal through mounting interfaces, which, in conjunction with the threads, fix the screw holes to the back of the robot dog, thereby securing the mounting bracket.
[0009] The movable clamping assembly includes a clamping block and a quick-release screw. The clamping plate is mounted on the mounting bracket and moves in a direction perpendicular to the launch direction of the launcher to fix the launcher placed on the mounting bracket. At the same time, the quick-release screw is provided in two sets and is threadedly connected to both sides of the movable clamping block. The inner end of the quick-release screw has a threaded hole on the mounting bracket to position the clamping block.
[0010] Compared with the prior art, the beneficial effects of this utility model are:
[0011] The method of attaching the dog upside down directly to its back has several advantages:
[0012] ① The direct screw fixing method has high fixing strength and long service life. The vibration and impact caused by the recoil after firing for a long time will not affect the fixing bracket.
[0013] ② Eliminating fixed components such as gimbal mounting parts can reduce the height of the launcher, reduce the impact of recoil on the stability of the robot dog, and improve the accuracy of the strike;
[0014] ③ The inverted design lowers the firing height and improves accuracy while also facilitating magazine replacement;
[0015] ④ The launcher is mounted in the center on the back of the robot dog, with ample space on both sides for mounting other loads. The launcher will not generate left-right twisting torque when it strikes, thus improving the accuracy of the strike.
[0016] ⑤ The Picatinny rail mounting interface is compatible with a wide range of launchers and equipment used in police and firefighting fields, including beanbag rounds, paintball guns, anti-drone guns, Tasers, capture nets, and stun grenades. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of a partial connection between a fixed robot dog's back-mounted transmitter inverted fixing mechanism and the robot dog.
[0018] Figure 2 This is a schematic diagram of the partial connection between a fixed robot dog's back-mounted transmitter inverted fixing mechanism and the robot dog.
[0019] Figure 3 This is a top view schematic diagram of the partial connection between a fixed robot dog's back-mounted transmitter inverted fixing mechanism and the robot dog.
[0020] Figure 4 This is a three-dimensional structural diagram of the connection between the mounting bracket and the transmitter in a fixed robotic dog back-mounted transmitter inverted mounting mechanism.
[0021] The components include: robot dog 1, transmitter 2, screw hole block 3, mounting interface 10, mounting bracket 11, quick-release screw one 12, clamping block 13, mounting positioning structure 14, pedestal mounting interface 15, quick-release screw two 16, safety arm 17, servo mounting plate 18, servo waterproof box 19, and trigger arm 20. Detailed Implementation
[0022] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.
[0023] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.
[0024] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0025] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0026] Please see Figures 1-3 A fixed robot dog back-mounted transmitter inverted fixing mechanism includes a robot dog 1 and a mounting bracket 11. The mounting bracket 11 is installed on the back of the robot dog 1. The top of the mounting bracket 11 is provided with a rail mounting interface 15. Different types of transmitters 2 can be installed through the rail mounting interface 15. A movable clamping component is provided on the side of the rail mounting interface 15. The transmitter 2 is inverted and installed on the rail mounting interface 15 and cooperates with the movable clamping component. That is, the movable clamping component is controlled to move and clamp and fix it.
[0027] The mounting bracket 11 is designed as a U-shaped structure, with screw hole blocks 3 extending outward from both ends of its sidewalls. The screw hole blocks 3 have a longitudinal through mounting interface 10. The mounting interface 10, in conjunction with the thread, fixes the screw hole blocks 3 to the back of the robot dog, thereby fixing the mounting bracket 11.
[0028] The movable clamping assembly includes a clamping block 13 and quick-release screws 12. The clamping plate is fitted onto the mounting bracket 11 and moves along the direction perpendicular to the launch direction of the launcher 2 to fix the launcher 2 placed on the mounting bracket 11. At the same time, two sets of quick-release screws 12 are provided and are threadedly connected to both sides of the movable clamping block 13. The inner end of the quick-release screw 12 has a threaded hole on the mounting bracket 11 corresponding to it, which is used to position the clamping block 13.
[0029] In this embodiment of the invention, two mounting positioning structures 14 are symmetrically installed on both sides of the bottom of the mounting bracket 11. The mounting positioning structure 14 is set as a positioning block. The back of the robot dog 1 corresponding to the positioning block is provided with a positioning groove. That is, when the mounting bracket 11 is installed with the back of the robot dog 1, the positioning block is pre-positioned by engaging with the positioning groove.
[0030] By using the mounting bracket 11 to directly mount it in the middle of the back of the robot dog 1, the space occupied on the back of the robot dog 1 can be reduced, providing sufficient space for the deployment and installation of other payloads, and the launcher 2 will not generate left and right twisting torque when it strikes, thus improving the strike accuracy. At the same time, the mounting bracket 11 is lower in height than the gimbal, which can reduce the launcher height of the launcher 2, reduce the impact of recoil on the stability of the robot dog, and improve the strike accuracy.
[0031] In one embodiment of the present invention, a servo motor is installed on one side of the mounting bracket 11. The servo motor is rigidly connected to the transmitter 2. The servo motor serves as the actuator of the transmitter 2 and is responsible for driving the operation of the transmitter 2.
[0032] The main actions include: Attitude adjustment: controlling the pitch or yaw angle of the transmitter 2 to achieve target lock.
[0033] Launch trigger: The munition is released by pulling the firing mechanism (such as a trigger or solenoid valve) by the torque of the servo motor.
[0034] Loading control: Some automatic launchers require servo motors to drive the feeding mechanism (such as magazine rotation or pushing the cartridge into the chamber).
[0035] As a preferred embodiment of the present invention, the servo motor includes a second quick-release screw 16, a safety arm 17, a servo motor mounting plate 18, a servo motor waterproof box 19, and a trigger arm 20; the servo motor mounting plate 18 serves as the core fixing base for the servo motor and the transmitter 2, and is directly fixed to the mounting bracket 11 by the second quick-release screw 16 (a shock-absorbing gap needs to be reserved).
[0036] The base of transmitter 2 is connected to the servo mounting plate 18 via quick-release screw 16, enabling quick assembly and disassembly (suitable for mission switching or maintenance).
[0037] The servo mounting plate 18 is usually located at the junction of the servo and the transmitter, and structural rigidity must be ensured.
[0038] The servo motor waterproof housing 19 protects the internal circuitry and gear assembly of the servo motor from moisture and dust. The waterproof housing 19 is fixed to the servo motor mounting plate 18 with sealing rings and bolts, forming a sealed cavity. The waterproof housing 19 encloses the servo motor body, leaving only the linkage interface between the output shaft and the trigger arm 20 exposed.
[0039] Trigger arm 20 transmits the servo torque to the firing mechanism of launcher 2. One end of trigger arm 20 is rigidly connected to the servo output shaft via a coupling, and the other end is coupled to the trigger linkage of launcher 2 via a hinge or slider mechanism (the fine-tuning screw needs to be reserved for calibration stroke);
[0040] Key parameter: Arm length determines the leverage ratio (for example, a leverage ratio of 1:3 can amplify the torque of the servo motor).
[0041] The material needs to be lightweight and fatigue-resistant (such as 7075 aluminum alloy).
[0042] The safety arm 17 is a mechanical safety lock to prevent accidental triggering. The safety arm 17 is hinged to the servo mounting plate 18 and is held locked by spring force. To unlock, the servo drives (or manually pulls) to release the physical limit on the trigger arm 20.
[0043] Work logic:
[0044] Locked state: The safety arm 17 is engaged in the groove of the trigger arm 20, preventing its movement.
[0045] Unlocked state: The servo rotates and pulls the safety arm 17 out of the groove, allowing firing.
[0046] The operation process of the servo motor:
[0047] 1. System Initialization
[0048] Safety arm 17 is locked: The default position is locked to prevent accidental triggering during transport or standby.
[0049] Servo zeroing: The servo is reset to the initial angle (trigger arm 20 is in the released position).
[0050] 2. Firing preparation phase
[0051] Unlock the safety: The master controller sends a command to rotate the servo (e.g., 30°) → pull the safety arm 17 to disengage from the trigger arm 20.
[0052] The sensor detects the position of the safety arm and sends the feedback to the control system.
[0053] Attitude adjustment: Another set of servos drives the launcher pitch / yaw (not the current servo set; only trigger-controlled servos are described here).
[0054] 11. Execution Phase
[0055] Trigger drive: The main controller sends a PWM signal (e.g., 1500μs pulse width → servo rotates 90°).
[0056] The servo output shaft rotates, which in turn pulls the trigger linkage of the launcher 2 via trigger arm 20. The trigger travel must be matched to the launcher's mechanical design (e.g., a 5mm travel triggers the electromagnetic firing pin).
[0057] Reset action: After firing, the servo reverses to zero → trigger arm 20 returns to its original position, releasing trigger pressure.
[0058] The safety arm 17 can be automatically or manually relocked.
[0059] 4. Emergency Stop Forced Interruption: If the sensor detects an abnormality (such as a stuck cartridge), the main controller immediately cuts off the power supply to the servo motor, and the safety arm 17 spring resets and locks the trigger arm.
[0060] The above is a brief explanation of the operational relationship between the servo motor and the transmitter. The specific design depends on the actual requirements and will not be elaborated here.
[0061] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.
Claims
1. A fixed mechanism for mounting a transmitter on the back of a robotic dog, characterized in that, Includes a mounting bracket (11) installed on the back of the robot dog (1); the top of the mounting bracket (11) is provided with a rail mounting interface (15), and a movable clamping component is provided on the side of the rail mounting interface (15). The transmitter (2) is mounted upside down on the rail mounting interface (15) and cooperates with the movable clamping component.
2. The fixed robot dog back-mounted transmitter inverted fixing mechanism according to claim 1, characterized in that, The movable clamping assembly includes a clamping block (13) and a quick-release screw (12). The clamping plate is mounted on the mounting bracket (11) and moves in a direction perpendicular to the launcher (2).
3. The fixed robot dog back-mounted transmitter inverted fixing mechanism according to claim 2, characterized in that, The quick-release screw (12) is provided in two sets and is threadedly connected to both sides of the clamping block (13). The mounting bracket (11) corresponding to the inner end of the quick-release screw (12) has a threaded hole.
4. The fixed robot dog back-mounted transmitter inverted fixing mechanism according to claim 1, characterized in that, The mounting bracket (11) is configured as a U-shaped structure, with screw hole blocks (3) extending outward from both ends of its sidewalls. The screw hole blocks (3) have a longitudinal through mounting interface (10), which, in conjunction with the thread, fixes the screw hole blocks (3) to the back of the robot dog.
5. The fixed robot dog back-mounted transmitter inverted fixing mechanism according to claim 1, characterized in that, The mounting bracket (11) has two mounting positioning structures (14) symmetrically installed on both sides of its bottom. The mounting positioning structure (14) is set as a positioning block, and the robot dog (1) corresponding to the positioning block has a positioning groove on its back.
6. A fixed inverted fixing mechanism for a robot dog's back-mounted transmitter according to claim 5, characterized in that, A servo motor is installed on one side of the mounting bracket (11), and the servo motor is rigidly connected to the transmitter (2).
7. A fixed inverted fixing mechanism for a robot dog's back-mounted transmitter according to claim 6, characterized in that, The servo includes two quick-release screws (16), a safety arm (17), a servo mounting plate (18), a servo waterproof box (19), and a trigger arm (20).
8. A fixed inverted fixing mechanism for a robot dog's back-mounted transmitter according to claim 7, characterized in that, The servo mounting plate (18) is directly fixed to the mounting bracket (11) by quick-release screw two (16); the base of the transmitter (2) is connected to the servo mounting plate (18) by quick-release screw two (16); the servo waterproof box (19) is fixed to the servo mounting plate (18) by sealing ring and bolts to form a sealed cavity.
9. A fixed-type inverted fixing mechanism for a robot dog's back-mounted transmitter according to claim 7, characterized in that, One end of the trigger arm (20) is rigidly connected to the servo motor output shaft via a coupling, and the other end is coupled to the trigger linkage of the launcher (2) via a hinge or slider mechanism.
10. A fixed inverted fixing mechanism for a robot dog's back-mounted transmitter according to claim 7, characterized in that, The safety arm (17) is hinged to the servo mounting plate (18) and is kept locked by spring force.