Fire-fighting emergency rescue hexapod robot

Abstract

The utility model discloses a fire-fighting emergency rescue hexapod robot, which comprises a robot main body, a plurality of groups of foot components are arranged on the robot main body, each foot component comprises a second connecting arm, one end of each second connecting arm is provided with a mounting block, the mounting block is arranged on the second connecting arm, the mounting block is provided with a plurality of mounting surfaces, and the mounting surfaces are arranged on the mounting surfaces. A first threaded hole matched with the mounting surface is formed in the mounting block, a second screw rod matched with the first threaded hole is in threaded connection with the mounting block, a foot sole is arranged at one end, far away from the mounting block, of the second screw rod, a separation blade is arranged on the second screw rod, and a rubber ring matched with the separation blade is fixedly connected to the mounting surface. Compared with the prior art, the fire-fighting emergency rescue hexapod robot has the advantages that different feet can be quickly switched to adapt to different ground conditions and can be replaced according to the abrasion degree of the feet, and the efficiency and reliability of the fire-fighting emergency rescue hexapod robot during task execution are improved.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a six-legged robot for fire emergency rescue. Background Technology

[0002] Currently, hexapod robots are frequently used in fire and emergency rescue operations to cope with complex and dangerous environments. These robots are favored for their quadrupedal walking flexibility and strong environmental adaptability. However, under prolonged operation and high-intensity work, the feet of existing hexapod robots are prone to wear and tear due to frequent friction and weight-bearing, which greatly affects the efficiency and reliability of the robot in performing tasks. In practical applications, ground conditions vary, and the contact mode of the feet and ground friction directly affect the stability and movement performance of the robot. Therefore, hexapod robots that can quickly switch between different feet to adapt to different ground conditions are particularly important.

[0003] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this utility model and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0004] The purpose of this invention is to provide a six-legged robot for fire emergency rescue, which can solve the technical problems mentioned in the background art.

[0005] To achieve the above objectives, the technical solution provided by a specific embodiment of this utility model is as follows:

[0006] A six-legged robot for fire emergency rescue includes a robot body with multiple sets of leg components installed on the robot body. Each leg component includes a second connecting arm with a mounting block installed at one end. The mounting block is mounted on the second connecting arm and has multiple mounting surfaces. The mounting block has a first threaded hole that matches the mounting surface. A second screw that matches the first threaded hole is threadedly connected to the mounting block. The end of the second screw away from the mounting block has a foot base.

[0007] In one or more embodiments of this utility model, a baffle is provided on the second screw, and a rubber ring matching the baffle is fixedly connected to the mounting surface.

[0008] In one or more embodiments of this utility model, the mounting block is provided with a second threaded hole that matches the first threaded hole, and the mounting block is threaded with a first screw that matches the second threaded hole.

[0009] In one or more embodiments of this utility model, a rubber pad matching the second screw is fixedly connected to one end of the first screw, and a connecting groove is provided at the end of the first screw away from the rubber pad.

[0010] In one or more embodiments of this utility model, a second through hole is provided on the second connecting arm, a first irregular hole is provided on one of the opposite surfaces of the second connecting arm, a third bolt matching the second through hole is installed on the second connecting arm, an irregular block matching the first irregular hole is fixedly connected to the third bolt, and a second nut is threaded to one end of the third bolt.

[0011] In one or more embodiments of this utility model, the mounting block is provided with a second irregular hole that matches the irregular block, and the irregular block is located between the second connecting arms.

[0012] In one or more embodiments of the present invention, the foot assembly includes a first connecting arm, and a second connecting arm is slidably connected to the first connecting arm.

[0013] In one or more embodiments of this utility model, the first connecting arm is provided with a pair of waist holes, the second connecting arm is provided with a first through hole that matches the waist holes, and the second connecting arm is provided with a locking structure for locking the first connecting arm and the second connecting arm.

[0014] In one or more embodiments of this utility model, the locking structure includes a first bolt and a first nut, wherein the first bolt passes through a first through hole and a waist hole and is threadedly connected to the first nut.

[0015] In one or more embodiments of this utility model, a plurality of T-shaped limiting blocks are fixedly connected to the outer wall of the second connecting arm, and a T-shaped groove matching the T-shaped limiting blocks is provided on the first connecting arm.

[0016] Compared with the prior art, the fire emergency rescue six-legged robot of this utility model can quickly switch different legs to adapt to different ground conditions and replace them according to the wear and tear of the legs, which helps to improve the efficiency and reliability of the fire emergency rescue six-legged robot when performing tasks. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a six-legged robot for fire emergency rescue in one embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the foot component in one embodiment of the present invention;

[0020] Figure 3 This is an exploded view of the foot component in one embodiment of the present invention;

[0021] Figure 4 for Figure 3 Schematic diagram of the structure at point A in the middle;

[0022] Figure 5 This is a schematic diagram of the structure of the first screw in one embodiment of the present invention.

[0023] Explanation of key figure labels:

[0024] 1. Robot body; 2. Foot assembly; 3. First connecting arm; 301. Waist hole; 302. T-slot; 4. First bolt; 5. First nut; 6. Second connecting arm; 601. First through hole; 602. T-shaped limiting block; 603. Second through hole; 604. First irregular hole; 7. Mounting block; 701. Second irregular hole; 702. First threaded hole; 703. Second threaded hole; 8. First screw; 801. Connecting groove; 802. Rubber pad; 9. Rubber ring; 10. Second screw; 11. Baffle; 12. Foot sole; 13. Third bolt; 14. Irregular block; 15. Second nut. Detailed Implementation

[0025] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0026] like Figure 1 As shown in the figure, a fire emergency rescue six-legged robot in one embodiment of the present invention is an intelligent rescue equipment that integrates bionics, artificial intelligence and robotics technology, and is designed to deal with high-risk disaster scenarios such as fire, earthquake and hazardous chemical leak.

[0027] The core feature of the six-legged fire emergency rescue robot is its six-legged biomimetic structure, mimicking the multi-jointed movement pattern of insects. This gives it exceptional terrain adaptability, allowing it to climb rubble, traverse narrow gaps, or move stably on rugged terrain, overcoming the limitations of traditional rescue equipment that are restricted by terrain, space, or environmental hazards. Compared to traditional rescue methods, the advantages of using a six-legged fire emergency rescue robot lie in its all-weather operation capability, reduced risk of personnel casualties, and high-precision data feedback.

[0028] like Figures 1-3 As shown, the fire emergency rescue hexapod robot includes a robot body 1, on which six sets of leg components 2 are installed. The robot body 1 controls the six leg components 2 to work together.

[0029] like Figures 1-3 As shown, the foot assembly 2 includes several joints, each of which is rotatably connected. The rotation between the joints provides support for the robot body 1. One of the joints includes a second connecting arm 6, meaning the foot assembly 2 includes a second connecting arm 6. The second connecting arm 6 is H-shaped, and a mounting block 7 is mounted on the lower end of the second connecting arm 6. The mounting block 7 is rotatably connected to the second connecting arm 6.

[0030] Specifically, such as Figures 1-3 As shown, the mounting block 7 has multiple mounting surfaces, and a first threaded hole 702 is provided on the mounting surface. A second screw 10 that matches the first threaded hole 702 is threaded onto the mounting block 7. A foot 12 is provided at the end of the second screw 10 away from the mounting block 7. The foot 12 contacts the ground. As the part of the foot assembly 2 that contacts the ground, it will wear down during daily use. By switching the mounting surface, a new foot 12 can be replaced for continued use. Different types of foot 12 can also be provided on different mounting surfaces so that the foot assembly 2 can be used in different environments.

[0031] like Figures 1-3 As shown, a second through hole 603 is provided on the second connecting arm 6, and a first irregular hole 604 is provided on one of the opposite surfaces of the second connecting arm 6. A third bolt 13 matching the second through hole 603 is installed on the second connecting arm 6. An irregular block 14 matching the first irregular hole 604 is fixedly connected to the third bolt 13. A second nut 15 is threaded to one end of the third bolt 13. A second irregular hole 701 matching the irregular block 14 is provided on the mounting block 7. The irregular block 14 is located between the second connecting arms 6.

[0032] Specifically, such as Figures 1-3As shown, the irregular block 14 is located between the second through holes 603, and the length of the irregular block 14 is less than the depth of the second irregular hole 701. When the third bolt 13 is tightened with the second nut 15, a part of the irregular block 14 is located in the first irregular hole 604. At this time, the mounting block 7 cannot rotate. After loosening the second nut 15, the third bolt 13 is pulled away from the end of the second nut 15, so that the first irregular hole 604 is disengaged from the irregular block 14, and the mounting block 7 can rotate.

[0033] When the irregularly shaped block 14 can be inserted into the first irregularly shaped hole 604, one mounting surface of the mounting block 7 matches the second connecting arm 6, that is, the foot 12 on one mounting surface of the mounting block 7 is used to contact the ground. The mounting block 7 can be used to determine whether the irregularly shaped block 14 is aligned with the first irregularly shaped hole 604. Then, the third bolt 13 is pushed to make the irregularly shaped block 14 located in the first irregularly shaped hole 604, and the second nut 15 is tightened to fix the mounting block 7.

[0034] like Figures 1-3 As shown, a baffle 11 is provided on the second screw 10, and a rubber ring 9 that matches the baffle 11 is fixedly connected to the mounting surface. When the second screw 10 is tightened, the baffle 11 contacts the rubber ring 9. The rubber ring 9 has a certain elasticity, which can increase the friction between the second screw 10 and the thread of the first threaded hole 702, increase the stability of the second screw 10 installed in the first threaded hole 702, and the baffle 11 can also facilitate the rotation of the second screw 10.

[0035] To further increase the stability of the second screw 10 threaded connection in the first threaded hole 702, such as Figures 1-5 As shown, the mounting block 7 has a second threaded hole 703 that matches the first threaded hole 702, and a first screw 8 that matches the second threaded hole 703 is threadedly connected to the mounting block 7. The first screw 8 and the second threaded hole 703 are threadedly connected. When the first screw 8 is tightened, one end of the first screw 8 is in contact with the second screw 10, and the first screw 8 can push against the second screw 10, further increasing the friction between the second screw 10 and the first threaded hole 702.

[0036] like Figure 5 As shown, a rubber pad 802 matching the second screw 10 is fixedly connected to one end of the first screw 8. A connecting groove 801 is provided at the end of the first screw 8 away from the rubber pad 802. An inside wrench needs to be inserted into the connecting groove 801 to rotate the first screw 8. The rubber pad 802 contacts the second screw 10, which also protects the threads of the second screw 10, minimizing wear on the threads of the second screw 10 due to hard friction between the first screw 8 and the second screw 10.

[0037] In order to enable the second connecting arm 6 to adapt to different specifications of the second screw 10, such as Figures 1-4 As shown, the foot assembly 2 includes a first connecting arm 3, and a second connecting arm 6 slidably connected to the first connecting arm 3. By sliding the second connecting arm 6 and the first connecting arm 3, the distance between the mounting block 7 and the adjacent joint can be changed, minimizing the possibility that the second screw 10 is too long and will contact the adjacent joint when the mounting block 7 rotates, affecting the normal use of the foot assembly 2. In other words, the slidable connection of the second connecting arm 6 to the first connecting arm 3 allows the foot assembly 2 to adapt to more sizes of foot soles 12.

[0038] Specifically, such as Figures 1-4 As shown, the first connecting arm 3 has a pair of waist holes 301, and the second connecting arm 6 has a first through hole 601 that matches the waist holes 301. The second connecting arm 6 is provided with a locking structure for locking the first connecting arm 3 and the second connecting arm 6. After the first connecting arm 3 and the second connecting arm 6 have slidably adjusted to the length of the assembly 2, the locking assembly can be used to fix the first connecting arm 3 and the second connecting arm 6.

[0039] like Figures 1-4 As shown, the locking structure includes a first bolt 4 and a first nut 5. The first bolt 4 passes through the first through hole 601 and the waist hole 301 and is threadedly connected to the first nut 5.

[0040] To minimize the possibility that the first connecting arm 3 and the second connecting arm 6 will not be aligned due to the mating of the first bolt 4 and the first nut 5, such as... Figure 4 As shown, several T-shaped limiting blocks 602 are fixedly connected to the outer wall of the second connecting arm 6, and a T-shaped groove 302 matching the T-shaped limiting blocks 602 is provided on the first connecting arm 3. That is, the first connecting arm 3 and the second connecting arm 6 are limited by several T-shaped limiting blocks 602, which can reduce the tilting of the second connecting arm 6 when sliding on the first connecting arm 3.

[0041] Preferably, the waist hole 301 can also be composed of several through holes, so that the length of the first connecting arm 3 and the second connecting arm 6 can be adjusted when the first bolt 4 and the first nut 5 are installed in different through holes.

[0042] In use, different or identical foot soles 12 need to be installed on the mounting surface according to the usage requirements. After a period of use, if the foot sole 12 is found to be worn or the type of foot sole 12 needs to be replaced, the second nut 15 can be loosened, the third bolt 13 can be pulled outward to disengage the first irregular hole 604 from the irregular block 14, and then the mounting block 7 can be rotated to the required foot sole 12. The third bolt 13 can then be pushed back, and the second nut 15 can be tightened to complete the replacement of the foot sole 12. The mounting block 7 can serve as a carrier for the foot sole 12 and can also be used to quickly replace the foot sole 12, minimizing the impact of foot sole 12 wear on the normal use of the foot assembly 2.

[0043] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0044] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A fire-fighting emergency rescue hexapod robot, characterized in that, The robot body is provided with a plurality of foot assemblies; The second connecting arm is provided with an installation block at one end thereof; The installation block is provided with a plurality of installation surfaces, and a first threaded hole matched with the installation surfaces is formed in the installation block.

2. The fire-fighting emergency rescue hexapod robot according to claim 1, characterized in that, A second screw matched with the first threaded hole is threadedly connected to the installation block.

3. The fire-fighting emergency rescue hexapod robot according to claim 1, characterized in that, The second screw is provided with a baffle, and a rubber ring matched with the baffle is fixedly connected to the installation surface.

4. The fire-fighting emergency rescue hexapod robot according to claim 3, characterized in that, The installation block is provided with a second threaded hole matched with the first threaded hole.

5. The fire-fighting emergency rescue hexapod robot according to claim 1, characterized in that, The first screw is provided with a rubber pad matched with the second screw at one end thereof.

6. The fire-fighting emergency rescue hexapod robot according to claim 5, characterized in that, The second connecting arm is provided with a second through hole, and a first special-shaped hole is formed in one of the opposite surfaces of the second connecting arm.

7. The fire-fighting emergency rescue hexapod robot according to claim 1, characterized in that, The second connecting arm is provided with a third bolt matched with the second through hole.

8. The fire-fighting emergency rescue hexapod robot according to claim 7, characterized in that, The third bolt is provided with a special-shaped block matched with the first special-shaped hole.

9. The fire-fighting emergency rescue hexapod robot according to claim 8, characterized in that, The installation block is provided with a second special-shaped hole matched with the special-shaped block.

10. The fire-fighting emergency rescue hexapod robot according to claim 8 or 9, characterized in that, The special-shaped block is located between the second connecting arms. The foot assembly is provided with a first connecting arm. The second connecting arm is slidably connected to the first connecting arm. The first connecting arm is provided with a pair of waist holes. The second connecting arm is provided with a first through hole matched with the waist hole. The second connecting arm is provided with a locking structure for locking the first connecting arm and the second connecting arm. The locking structure is provided with a first bolt and a first nut. The first bolt is threadedly connected to the first nut after passing through the first through hole and the waist hole. The second connecting arm is provided with a plurality of T-shaped limiting blocks. The first connecting arm is provided with a T-shaped slot matched with the T-shaped limiting blocks.

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