A forced entry robot support foot

Abstract

The utility model belongs to mechanical engineering technical field, specifically discloses a kind of forced entry robot supporting leg, including rack, support leg, sliding sleeve, drive assembly and angle adjusting assembly, the first connecting seat is fixed in rack side edge, second connecting seat is fixed in rack top, support leg is located in rack side edge, support leg end portion is fixed with hinged plate, hinged plate is hinged on the first connecting seat, sliding sleeve is sleeved in support leg outside, sliding sleeve terminal end is fixed with supporting plate, drive assembly is arranged between sliding sleeve and support leg, angle adjusting assembly is arranged between support leg and rack;Through the hydraulic cylinder of angle adjusting assembly, the angle of support leg and supporting plate can be conveniently and quickly adjusted, can adapt to different slope, uneven ground environment;Drive assembly can effectively adjust supporting height, so that forced entry robot can maintain suitable working height under different operation scene, improve the adaptability of equipment to complex working environment.

Description

Technical Field

[0001] This utility model relates to the field of mechanical engineering technology, specifically to a support leg for a demolition robot. Background Technology

[0002] The demolition robot is a fire rescue and firefighting robot. It is a remotely controlled demolition tool that is widely praised for its portability and safety. The demolition robot needs to be supported by outriggers when it is working.

[0003] To address the impact of terrain, existing demolition robots typically feature adjustable legs. By adjusting the support length, the demolition work can be ensured. For example, Chinese utility model patent CN213731739U discloses a support for a demolition robot.

[0004] However, in actual use, it is found that the length of the support leg of the aforementioned demolition robot is achieved by changing the relative position of the sliding sleeve and the support leg. Adjusting the position of the sliding sleeve requires manual adjustment, which is very cumbersome and requires bolts for locking and fixing, making it impractical. Utility Model Content

[0005] The purpose of this invention is to provide a support foot for a demolition robot, which solves the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a support leg for a demolition robot, comprising a frame, a leg, a sliding sleeve, a drive assembly, and an angle adjustment assembly. A first connecting seat is fixed to the side of the frame, and a second connecting seat is fixed to the top of the frame. The leg is located on the side of the frame, and a hinge plate is fixed to the end of the leg, hinged to the first connecting seat. The sliding sleeve is fitted onto the outside of the leg, and a support plate is fixed to the end of the sliding sleeve. The drive assembly is disposed between the sliding sleeve and the leg, and the angle adjustment assembly is disposed between the leg and the frame. The support plate contacts the ground to provide support. The drive assembly drives the sliding sleeve to slide on the leg, thereby adjusting the relative position of the leg and the sliding sleeve. The angle adjustment assembly is used to adjust the angle of the leg, thereby changing the angle between the sliding sleeve and the support plate.

[0007] In a preferred embodiment of this invention, a limiting groove is provided on the side of the support leg, and a slide bar is fixed on the inner wall of the slide sleeve, the slide bar being slidably connected within the limiting groove. The slide bar being slidably connected within the limiting groove serves to restrict the movement of the slide sleeve, thereby improving its stability during movement.

[0008] As a preferred embodiment of this invention, the support plate is provided with a plurality of mounting holes, which can be used to fix the support plate to the ground using bolts or other fixing equipment, thereby further improving stability.

[0009] In a preferred embodiment of this invention, the driving assembly includes a driving groove, a driving motor, an adjusting screw, and a screw-slider. The driving groove is mounted on a sliding sleeve, the adjusting screw is rotatably connected to the adjusting screw, and the screw-slider is threadedly connected to the adjusting screw and fixed to the support leg. The driving motor is fixed to the end of the driving groove, and its drive shaft is connected to the adjusting screw. The driving motor drives the adjusting screw to rotate, which in turn drives the screw-slider to move, causing the sliding sleeve to move, thereby changing the relative position of the sliding sleeve and the support leg, and thus changing the support height.

[0010] In a preferred embodiment of this invention, the lead screw slider is provided with ball bearings, which contact the inner wall of the drive groove. The ball bearings are used to improve the stability of the lead screw slider during sliding.

[0011] In a preferred embodiment of this invention, the angle adjustment assembly includes a hydraulic cylinder, a first rotating shaft, and a second rotating shaft. The hydraulic cylinder is located inside the outrigger, the first rotating shaft is hinged to a second connecting seat, and the second rotating shaft is hinged to the outrigger near its bottom. The hydraulic cylinder is fixed between the first and second rotating shafts. By outputting power through the hydraulic cylinder, the outrigger is pushed, thus changing the support angle. During the output process, the first rotating shaft rotates on the second connecting seat, the second rotating shaft rotates on the outrigger, and the hinge plate rotates on the first connecting seat.

[0012] Compared with the prior art, the beneficial effects of this utility model are: This invention utilizes a hydraulic cylinder in its angle adjustment component to conveniently and quickly adjust the angles of the outriggers and support plate, adapting to varying slopes and uneven ground conditions. The drive component effectively adjusts the support height, ensuring the demolition robot maintains a suitable working height in different operational scenarios, thus enhancing the equipment's adaptability to complex working environments. The outriggers and sliding sleeves are connected via limiting grooves and sliding bars, restricting the movement of the sliding sleeves and significantly improving their stability during movement, ensuring the structural stability of the support feet during height adjustment. Simultaneously, several mounting holes on the support plate allow for securing it to the ground using bolts or other fixing devices, further enhancing the stability and reliability of the support and ensuring the safety of the demolition robot during operation. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the disassembly and removal of the sliding sleeve structure of this utility model; Figure 4This is a schematic diagram of the sliding sleeve structure of this utility model.

[0014] In the diagram: 1. Frame; 101. First connecting seat; 102. Second connecting seat; 2. Support leg; 201. Hinge plate; 202. Limiting groove; 3. Sliding sleeve; 301. Support plate; 3011. Mounting hole; 302. Sliding bar; 4. Length drive assembly; 401. Drive groove; 402. Drive motor; 403. Adjusting screw; 404. Screw slider; 4041. Ball bearing; 5. Angle adjustment assembly; 501. Hydraulic cylinder; 502. First rotating shaft; 503. Second rotating shaft. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] In the description of this utility model, it should be noted that the terms "vertical", "up", "down", "horizontal", etc., 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 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 this utility model.

[0017] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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 according to the specific circumstances.

[0018] Please see Figure 1-4This utility model provides a technical solution: a support leg for a demolition robot, including a frame 1, a leg 2, a sliding sleeve 3, a drive assembly 4, and an angle adjustment assembly 5. A first connecting seat 101 is fixed to the side of the frame 1, and a second connecting seat 102 is fixed above the frame 1. The leg 2 is located on the side of the frame 1, and a hinge plate 201 is fixed to the end of the leg 2, hinged to the first connecting seat 101. The sliding sleeve 3 is sleeved on the outside of the leg 2, and a support plate 301 is fixed to the end of the sliding sleeve 3. The drive assembly 4 is located between the sliding sleeve 3 and the leg 2, and the angle adjustment assembly 5 is located between the leg 2 and the frame 1. The support plate 301 contacts the ground to provide support. The drive assembly 4 drives the sliding sleeve 3 to slide on the leg 2, thereby adjusting the relative position of the leg 2 and the sliding sleeve 3. The angle adjustment assembly 5 is used to adjust the angle of the leg 2, thereby changing the angle between the sliding sleeve 3 and the support plate 301.

[0019] Furthermore, a limiting groove 202 is provided on the side of the support leg 2, and a slide bar 302 is fixed on the inner wall of the slide sleeve 3. The slide bar 302 is slidably connected in the limiting groove 202. The slide bar 302 is slidably connected in the limiting groove 202 to restrict the slide sleeve 3 and improve the stability of the slide sleeve 3 during movement.

[0020] Furthermore, the support plate 301 is provided with a plurality of mounting holes 3011, which can be used to fix the support plate 301 to the ground using bolts or other fixing equipment, thereby further improving stability.

[0021] Furthermore, the drive assembly 4 includes a drive groove 401, a drive motor 402, an adjusting screw 403, and a screw-slider 404. The drive groove 401 is mounted on the sliding sleeve 3. The adjusting screw 403 is rotatably connected to the adjusting screw 403. The screw-slider 404 is threadedly connected to the adjusting screw 403 and fixed to the support leg 2. The drive motor 402 is fixed to the end of the drive groove 401, and its drive shaft is connected to the adjusting screw 403. By driving the adjusting screw 403 to rotate through the drive motor 402, the adjusting screw 403 drives the screw-slider 404 to move, which in turn moves the sliding sleeve 3, thereby changing the relative position of the sliding sleeve 3 and the support leg 2, and thus changing the support height.

[0022] Furthermore, the lead screw slider 404 is provided with ball bearings 4041, which contact the inner wall of the drive groove 401. The ball bearings 4041 are provided to improve the sliding stability of the lead screw slider 404.

[0023] Furthermore, the angle adjustment assembly 5 includes a hydraulic cylinder 501, a first rotating shaft 502, and a second rotating shaft 503. The hydraulic cylinder 501 is located inside the outrigger 2. The first rotating shaft 502 is hinged to the second connecting seat 102, and the second rotating shaft 503 is hinged to the outrigger 2 near its bottom. The hydraulic cylinder 501 is fixed between the first rotating shaft 502 and the second rotating shaft 503. By outputting the hydraulic cylinder 501, the outrigger 2 is pushed, thus changing the support angle. During the output process of the hydraulic cylinder 501, the first rotating shaft 502 rotates on the second connecting seat 102, the second rotating shaft 503 rotates on the outrigger 2, and the hinge plate 201 rotates on the first connecting seat 101.

[0024] In summary, the components of the demolition robot's support leg work together to achieve stable support and flexible adjustment. The frame 1 serves as the foundation, with its first connecting seat 101 on the side connected to the hinge plate 201 at the end of the support leg 2, providing a pivot point for the support leg 2. When the support angle needs adjustment, the angle adjustment component 5 comes into play. The hydraulic cylinder 501 in this component is hinged to the second connecting seat 102 of the frame 1 via a first rotating shaft 502, and to the support leg 2 near its bottom via a second rotating shaft 503. When the hydraulic cylinder 501 extends or retracts, it pushes the support leg 2 to rotate about the hinge point between the hinge plate 201 and the first connecting seat 101. Simultaneously, the first rotating shaft 502 rotates on the second connecting seat 102, and the second rotating shaft 503 rotates on the support leg 2, thereby changing the angles of the support leg 2, the sliding sleeve 3, and the support plate 301. The drive assembly 4 plays a crucial role in adjusting the support height. The drive groove 401 of the drive assembly 4 is mounted on the sliding sleeve 3. The adjusting screw 403 is rotatably connected within the drive groove 401. The screw slider 404 is threadedly connected to the adjusting screw 403 and fixed to the support leg 2. The drive motor 402 is fixed to the end of the drive groove 401 and connected to the adjusting screw 403. When the drive motor 402 operates, it drives the adjusting screw 403 to rotate. Since the screw slider 404 is fixed to the support leg 2, the rotation of the adjusting screw 403 causes the screw slider 404 to move relative to the adjusting screw 403, thereby causing the sliding sleeve 3 to slide on the support leg 2. The limiting groove 202 on the side of the support leg 2 is slidably connected to the slide bar 302 on the inner wall of the sliding sleeve 3, which restricts the direction of movement of the sliding sleeve 3, ensuring stable sliding and ultimately changing the relative position of the support leg 2 and the sliding sleeve 3, thus achieving the adjustment of the support height. The support plate 301 contacts the ground, and by adjusting the angle and height mentioned above, it provides stable support for the demolition robot.

[0025] It is worth noting that the entire device is controlled by a master control button. Since the device matched with the control button is a common device and belongs to existing mature technology, its electrical connection relationship and specific circuit structure will not be described in detail here.

[0026] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A support leg for a demolition robot, characterized in that: The device includes a frame (1), a leg (2), a sliding sleeve (3), a drive assembly (4), and an angle adjustment assembly (5). A first connecting seat (101) is fixed on the side of the frame (1), and a second connecting seat (102) is fixed on the top of the frame (1). The leg (2) is located on the side of the frame (1), and a hinge plate (201) is fixed at the end of the leg (2). The hinge plate (201) is hinged to the first connecting seat (101). The sliding sleeve (3) is sleeved on the outside of the leg (2), and a support plate (301) is fixed at the end of the sliding sleeve (3). The drive assembly (4) is located between the sliding sleeve (3) and the leg (2), and the angle adjustment assembly (5) is located between the leg (2) and the frame (1).

2. The support leg for a demolition robot according to claim 1, characterized in that: The support leg (2) has a limiting groove (202) on its side, and a slide bar (302) is fixed on the inner wall of the slide sleeve (3). The slide bar (302) is slidably connected in the limiting groove (202).

3. The support leg for a demolition robot according to claim 1, characterized in that: The support plate (301) has several mounting holes (3011).

4. The support leg for a demolition robot according to claim 1, characterized in that: The drive assembly (4) includes a drive slide (401), a drive motor (402), an adjusting screw (403), and a screw slider (404). The drive slide (401) is mounted on the sliding sleeve (3). The adjusting screw (403) is rotatably connected to the adjusting screw (403). The screw slider (404) is threadedly connected to the adjusting screw (403) and fixed on the support leg (2). The drive motor (402) is fixed at the end of the drive slide (401), and the drive shaft of the drive motor (402) is connected to the adjusting screw (403).

5. The support leg for a demolition robot according to claim 4, characterized in that: The lead screw slider (404) is provided with ball bearings (4041), which are in contact with the inner wall of the drive groove (401).

6. The support leg for a demolition robot according to claim 1, characterized in that: The angle adjustment assembly (5) includes a hydraulic cylinder (501), a first rotating shaft (502) and a second rotating shaft (503). The hydraulic cylinder (501) is located inside the outrigger (2). The first rotating shaft (502) is hinged to the second connecting seat (102). The second rotating shaft (503) is hinged to the outrigger (2) near the bottom. The hydraulic cylinder (501) is fixed between the first rotating shaft (502) and the second rotating shaft (503).

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