Self-mud-cleaning type supporting leg
By designing anti-slip components and a scraping mechanism at the support end of the bionic robot, the problem of slippage caused by the anti-slip fins compacting the soil was solved, enabling stable walking and automatic cleaning on wet mud slopes, thus improving the safety and reliability of the bionic robot.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- JIANGXI DONGFULUI TECH CO LTD
- Filing Date
- 2025-08-08
- Publication Date
- 2026-04-17
AI Technical Summary
The support end of existing bionic robots is prone to losing its anti-slip effect on wet muddy slopes due to the anti-slip fins compacting the soil, leading to slippage and making cleaning difficult.
Design a self-cleaning mud-removing outrigger that includes an anti-slip component and a scraping mechanism. The anti-slip component is inserted into the mud to provide anti-slip, and the scraping mechanism scrapes away the mud when the robot is lifted, ensuring that the anti-slip component does not trap mud.
It effectively prevents the bionic robot from slipping on the muddy slope, maintains its anti-slip performance, and automatically cleans the mud through a scraping mechanism, thereby improving safety and reliability.
Smart Images
Figure CN224131182U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of engineering machinery technology, and in particular to a self-cleaning mud-removing outrigger. Background Technology
[0002] In engineering machinery, such as biomimetic equipment, it is generally used in mountainous or muddy sections. It is basically composed of a body, a support end, and an execution end. The body is used to connect the various ends, while the execution end is generally used to perform specific operations, such as a robotic arm, and the support end is generally used for support or movement, such as support legs or outriggers.
[0003] Existing anti-slip designs for the support end typically involve installing anti-slip fins at the bottom. When the bionic robot walks on muddy ground, the anti-slip fins embed themselves into the soil, preventing the robot from slipping on the muddy slope. This design effectively avoids short-distance slippage for the bionic robot. However, if the wet muddy slope is long, due to the robot's weight, the anti-slip fins at the bottom of the legs will continuously trap mud between them. As the robot walks, it essentially compacts the mud between the anti-slip fins, making it difficult to clean. Furthermore, the mud-filled anti-slip fins cannot embed themselves further into the mud, thus losing their anti-slip function. In severe cases, this can lead to the bionic robot slipping. Utility Model Content
[0004] The purpose of this utility model is to provide a self-cleaning mud support leg to address the above problems.
[0005] This utility model includes a leg body, the bottom of which is provided with an anti-slip component. The anti-slip component includes a protruding part for inserting into the soil, thereby achieving anti-slip leg protection. The bottom of the leg body is also provided with a scraping mechanism, which is sleeved on the anti-slip component and can move along the axial direction of the anti-slip component. During this process, the scraping mechanism can move axially relative to the anti-slip component, thereby scraping away the soil stuck in the protruding part of the anti-slip component, thus ensuring that the protruding part is never stuck with soil. By sleeved on the anti-slip component, when the leg falls during walking, the scraping mechanism passively retracts, the insertion part inserts into the soil and picks up some soil, and when the leg is lifted, the scraping mechanism resets, thus pushing away the soil stuck in the insertion part during the reset process, thereby ensuring that the robot does not pick up soil with each step, thereby ensuring anti-slip performance.
[0006] Specifically, the anti-slip component includes a fixed plate and an extension. One side of the fixed plate is fixed to the bottom of the leg body, and the other side is fixed to the extension. The extension includes a support column and a support plate. The support plate is arranged in a radiating pattern outward along the circumference of the support column. By radiating the support plate outward from a single point, the support plate can provide a force opposite to gravity in all directions after being inserted into the mud when walking on muddy ground, thereby preventing the machine from slipping and improving overall safety.
[0007] Specifically, the support plate is plate-shaped, and its side in contact with the ground is serrated. By setting the support plate with serrations, it can be quickly driven into the soil, thereby improving the reliability of this design.
[0008] Specifically, the end of the protrusion is also provided with a limiting part. When the scraping mechanism moves along the axial direction of the protrusion, the limiting part can limit the maximum stroke of the scraping mechanism. The minimum stroke of the scraping mechanism is limited by the bottom of the leg body, and the maximum formation of the scraping mechanism is limited by the limiting part at the end of the protrusion. In this way, the overall formation of the scraping mechanism is limited, which can effectively prevent the scraping mechanism from falling off or not scraping cleanly due to exceeding the stroke.
[0009] Specifically, the scraping mechanism includes a scraping part and a reset part. The scraping part is sleeved on the anti-slip component and has an extension groove that matches the extension part. The reset part is located between the anti-slip component and the scraping part. Pressing the scraping part can squeeze the reset part, thereby causing the extension part to extend to the outside of the scraping part. After the squeezing force is removed, the reset part can return to its original state and push the scraping part outward, scraping away the soil on the extension part.
[0010] Specifically, the scraping part includes a scraping basin, the bottom surface of which is provided with an extension groove, which is matched with the extension part.
[0011] Specifically, the reset part includes a reset spring, which is circularly distributed between the scraping part and the protruding part. Beneficial effects
[0012] By installing a scraping mechanism on the anti-slip component, the scraping mechanism passively retracts when the leg falls during walking, and the insertion part inserts into the soil, carrying some soil with it. When the leg is lifted, the scraping mechanism resets, and in the process of resetting, the soil trapped in the insertion part is pushed off, thus ensuring that the robot does not carry soil with it with each step, thereby ensuring anti-slip performance. Attached Figure Description
[0013] Figure 1 : This is a schematic diagram of the overall structure of this utility model;
[0014] Figure 2 This is a schematic diagram of the overall cross-sectional structure of this utility model;
[0015] Figure 3 : This is a schematic diagram of the explosion mechanism of this utility model;
[0016] Figure 4 This is a schematic diagram of the compressed state of the return spring of this utility model.
[0017] Among them: 10, leg body; 20, anti-slip component; 201, support plate; 202, support column; 203, limiting part; 204, fixing plate; 301, scraping basin; 302, extension groove; 303, return spring. Detailed Implementation
[0018] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions 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, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0019] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.
[0020] In the description of the embodiments of this utility model, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of 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. Therefore, they should not be construed as limitations on the embodiments of this utility model.
[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.
[0022] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.
[0023] The following disclosure provides numerous different embodiments or examples for implementing various structures of the present invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.
[0024] Example 1: The purpose of this utility model is to provide a self-cleaning mud-type support leg:
[0025] The system includes a leg body 10, with an anti-slip component 20 at its bottom. The anti-slip component 20 includes a protruding part for inserting into the soil, thus preventing the leg from slipping. A scraping mechanism is also provided at the bottom of the leg body 10. This scraping mechanism is fitted onto the anti-slip component 20 and can move axially along the anti-slip component 20. During this process, the scraping mechanism can move relative to the anti-slip component 20 axially, thereby scraping away the soil stuck in the protruding part of the anti-slip component 20, ensuring that the protruding part never carries soil. By fitting the scraping mechanism onto the anti-slip component 20, during walking, when the leg falls, the scraping mechanism passively retracts, the insertion part inserts into the soil, and carries some soil. When the leg is lifted, the scraping mechanism resets, pushing away the soil stuck in the insertion part during the reset process. This ensures that the robot does not carry soil with each step, thus guaranteeing anti-slip performance.
[0026] Specifically, the anti-slip component 20 includes a fixed plate 204 and an extension. One side of the fixed plate 204 is fixed to the bottom of the leg body 10, and the other side is fixed to the extension. The extension includes a support column 202 and a support plate 201. The support plate 201 is arranged in a radiating pattern outward along the circumference of the support column 202. By radiating the support plate 201 outward from a single point, when walking on muddy ground, the support plate 201 can provide a force opposite to gravity in all directions after being inserted into the mud, thereby preventing the machine from slipping and improving overall safety.
[0027] Specifically, the support plate 201 is plate-shaped, and its side in contact with the ground is serrated. By setting the serrated support plate 201, it can quickly penetrate into the soil, thereby improving the reliability of this design.
[0028] Specifically, the end of the protrusion is also provided with a limiting part 203. When the scraping mechanism moves along the axial direction of the protrusion, the limiting part 203 can limit the maximum stroke of the scraping mechanism. The minimum stroke of the scraping mechanism is limited by the bottom of the leg body 10, and the maximum formation of the scraping mechanism is limited by the limiting part 203 at the end of the protrusion. In this way, the overall formation of the scraping mechanism is limited, which can effectively prevent the scraping mechanism from falling off or not scraping cleanly due to exceeding the stroke.
[0029] It is understood that the limiting part 203 is provided on the support column 202. In this embodiment, the limiting part 203 can be square, circular or other shapes, and the projected area of the limiting part 203 is greater than the area of the cross section of the support column 202, that is, the limiting part 203 protrudes outside the support column 202.
[0030] Specifically, the scraping mechanism includes a scraping part and a reset part. The scraping part is sleeved on the anti-slip component 20, and the scraping part is provided with an extension groove 302. The extension groove 302 is matched with the extension part. The reset part is disposed between the anti-slip component 20 and the scraping part. Pressing the scraping part can squeeze the reset part, thereby causing the extension part to extend to the outside of the scraping part. After the squeezing force is removed, the reset part can return to its original state and push the scraping part outward, scraping away the soil on the extension part.
[0031] Specifically, the scraping part includes a scraping basin 301, and the bottom surface of the scraping basin 301 is provided with an extension groove 302, which is matched with the extension part.
[0032] It is understood that the reset part is disposed between the fixing plate 204 and the scraping basin 301. Furthermore, the fixing plate 204 and the scraping basin 301 form a compressible receiving space, in which the reset part is disposed, with one end connected to the fixing plate 204 and the other end fixed to the scraping basin 301.
[0033] Specifically, the reset part includes a reset spring 303, which is circularly distributed between the scraping part and the protruding part.
[0034] It is understandable that the reset parts are arranged in a circle with the support column 202 as the center, and six are used in this embodiment.
[0035] Working principle: The scraping mechanism of this device will not be triggered when walking on normal roads. This section mainly introduces the situation on muddy roads:
[0036] When the leg 10 of the bionic robot lands, the support plate 201 and support column 202 are embedded in the soil. At this time, because the soil has risen relative to the anti-slip component 20, it will lift the scraping basin 301, causing the extension to fully extend outside the scraping mechanism and compress the internal return spring 303. At this time, the return spring 303 is in a compressed state until it is completely on the solid ground. When the leg 10 is lifted, the compressed return spring 303 will move the scraping basin 301 in the scraping mechanism away from the leg 10 through its elastic force. During this process, the soil stuck between the support plates 201 is scraped off by the bottom surface of the scraping basin 301 and falls off. However, due to the presence of the limiting part 203, the scraping basin 301 can only move axially on the support plate 201 and support column 202. Therefore, the return spring 303 will push the scraping basin 301 back to the initial position.
[0037] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.
Claims
1. A self-cleaning mud leg, comprising a leg body (10), the bottom of the leg body (10) is provided with an anti-skid assembly (20), characterized in that: The anti-slip component (20) includes a protrusion for inserting into the soil to achieve anti-slip for the anti-slip support leg. The bottom of the leg body (10) is also provided with a scraping mechanism, which is sleeved on the anti-slip component (20) and can move along the axial direction of the anti-slip component (20). During this process, the scraping mechanism can move axially relative to the anti-slip component (20) to scrape away the soil stuck in the protrusion of the anti-slip component (20), thereby ensuring that the protrusion is never stuck with soil.
2. The self-mud-cleaning outrigger according to claim 1, wherein: The anti-slip component (20) includes a fixing plate (204) and an extension. One side of the fixing plate (204) is fixed to the bottom of the leg body (10), and the other side is fixed to the extension. The extension includes a support column (202) and a support plate (201). The support plate (201) is arranged in a radiating pattern along the circumference of the support column (202).
3. The self-dredging outrigger of claim 2, wherein: The support plate (201) is plate-shaped, and its side in contact with the ground is serrated.
4. The self-dredging outrigger of claim 3, wherein: The end of the protrusion is also provided with a limiting part (203), and when the scraping mechanism moves along the axial direction of the protrusion, the limiting part (203) can limit the maximum stroke of the scraping mechanism.
5. The self-dredging outrigger of claim 1, wherein: The scraping mechanism includes a scraping part and a reset part. The scraping part is sleeved on the anti-slip component (20), and the scraping part is provided with an extension groove (302). The extension groove (302) matches the extension part. The reset part is disposed between the anti-slip component (20) and the scraping part. Pressing the scraping part can squeeze the reset part, thereby causing the extension part to extend to the outside of the scraping part. After the squeezing force disappears, the reset part can return to its original state and push the scraping part outward, scraping away the soil on the extension part.
6. The self-dredging outrigger of claim 5, wherein: The scraping part includes a scraping basin (301), and the bottom surface of the scraping basin (301) is provided with an extension groove (302), which is matched with the extension part.
7. The self-dredging outrigger of claim 5, wherein: The reset part includes a reset spring (303), which is circularly distributed between the scraping part and the protruding part.