A forced entry robot positioning foot

Abstract

This utility model discloses a positioning foot for a demolition robot, including a demolition robot body and a drive structure and a main controller installed inside it. A base is mounted on the output end of the drive structure, and a folding motor is mounted on the outer side of the base away from the drive structure. This foot structure is highly intelligent and adaptive. Through a dual-mode adjustable foot structure, it automatically adapts to different ground environments, ensuring the stability of the demolition robot body in various conditions. Multi-sensor collaborative control monitors the ground status in real time, and combined with intelligent adjustment by the main controller, it achieves precise mode switching and pressure adjustment. The modular drive design enables the foot to have extension, rotation, and locking functions, enhancing flexibility and reliability. Furthermore, the compact storage structure reduces space occupation, and the overall system responds quickly, making it suitable for high-precision demolition operations and significantly improving the robot's environmental adaptability and operational efficiency.

Description

Technical Field

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

[0002] During demolition robot operations, outriggers are typically installed at the four corners of the robot to provide stable support and positioning. Since working space is often limited, the outriggers need to be foldable and retractable, shrinking into the robot's main body when not in use to reduce volume, and quickly unfolding when needed. The foot structure at the end of the outrigger directly contacts the working surface, and its core function is to ensure the robot's stability during operation through sufficient friction or adhesion, preventing slippage or tipping.

[0003] However, traditional outriggers with fixed foot designs are ill-suited to the complex and ever-changing working environment inside furnaces. The working surface within a furnace may simultaneously contain areas of different materials, such as smooth metal walls and rough refractory bricks, which fixed feet cannot adapt to in real time: on smooth surfaces, the claw structure is prone to slipping due to its small contact area; on rough surfaces, the vacuum suction cups struggle to form an effective seal due to uneven surfaces. These limitations result in unstable positioning and low efficiency when the robot moves or operates inside the furnace, severely impacting the safety and accuracy of demolition operations. Utility Model Content

[0004] To address the problems existing in the prior art, the purpose of this utility model is to provide a positioning support for a demolition robot that is suitable for high-precision demolition operations, has a high degree of intelligence and self-adaptability, and automatically adapts to different ground environments through a dual-mode adjustable foot structure, significantly improving work efficiency.

[0005] To achieve the above objectives, the present invention adopts the following technical solution;

[0006] A positioning foot for a demolition robot includes a demolition robot body and a drive structure and a main controller installed inside it. A base is installed at the output end of the drive structure. A folding motor is installed on the outer side of the base away from the drive structure. A telescopic shaft is installed on the output shaft of the folding motor. The telescopic shaft is hinged inside the base. A miniature telescopic cylinder is installed inside the telescopic shaft. A mounting seat is installed at the output end of the miniature telescopic cylinder. An adjustable foot structure is provided inside the mounting seat. The drive structure, the adjustable foot structure, the miniature telescopic cylinder, and the folding motor are all connected to the main controller.

[0007] The adjustable foot structure includes an adjustment motor, which is fixedly mounted on the outside of the mounting base. The output shaft of the adjustment motor passes through the mounting base and is connected to a reversing shaft. Foot seats are mounted on the top and bottom of the reversing shaft. A vacuum pump and a vacuum suction cup are installed inside the top foot seat. The vacuum pump is connected to the vacuum suction cup through a pipeline. Evenly distributed claw spikes are installed on the bottom foot seat. A Hall sensor is installed inside the reversing shaft. A contact force sensor is installed at the connection point between the reversing shaft and the foot seat. An infrared reflection sensor and an ultrasonic sensor are respectively installed on the sides of the top and bottom foot seats.

[0008] As a further description of the above technical solution: the drive structure includes a drive motor and a reducer, both of which are installed inside the main body of the demolition robot, and the drive motor is connected to the main controller.

[0009] As a further description of the above technical solution: the surfaces of the Hall sensor, contact force sensor, infrared reflection sensor and ultrasonic sensor are all treated with high temperature resistance.

[0010] As a further description of the above technical solution: a miniature push rod is installed on the inner wall of the demolition robot body, a limit shaft is installed at the output end of the miniature push rod, and a limit hole is evenly distributed on the base corresponding to the limit shaft.

[0011] As a further description of the above technical solution: both the base and the mounting base are detachably connected to ceramic protective covers on their outer sides, and the folding motor and the adjusting motor are respectively located inside the two ceramic protective covers.

[0012] As a further description of the above technical solution: the base is provided with a storage groove, and the inner wall of the storage groove is smooth.

[0013] Compared with existing technologies, the advantages of this utility model are:

[0014] In this invention, the support structure is highly intelligent and adaptive. Through a dual-mode adjustable foot structure, it automatically adapts to different ground environments, ensuring the stability of the demolition robot body in various environments. Multi-sensor collaborative control monitors the ground status in real time, and combined with the main controller's intelligent adjustment, it achieves precise mode switching and pressure adjustment. The modular drive design enables the support to have telescopic, rotating, and locking functions, enhancing flexibility and reliability. In addition, the compact storage structure reduces space occupation, and the overall system responds quickly, making it suitable for high-precision demolition operations and significantly improving the robot's environmental adaptability and operational efficiency. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the base of this utility model;

[0016] Figure 2 This is a front view cross-sectional structural diagram of the present invention;

[0017] Figure 3 This is a schematic cross-sectional view of the adjustable foot structure of this utility model.

[0018] Figure 4 This is a schematic diagram illustrating the principle of this utility model.

[0019] Explanation of the labels in the diagram:

[0020] 1. Main body of the demolition robot; 2. Drive structure; 201. Drive motor; 202. Reducer; 3. Main controller; 4. Base; 5. Folding motor; 6. Telescopic shaft; 7. Miniature telescopic cylinder; 8. Mounting base; 9. Adjustable foot structure; 901. Adjustment motor; 902. Reversing shaft; 903. Foot base; 904. Vacuum pump; 905. Vacuum suction cup; 906. Claw; 907. Hall sensor; 908. Contact force sensor; 909. Infrared reflection sensor; 910. Ultrasonic sensor; 10. Miniature push rod; 11. Limiting shaft; 12. Limiting hole; 13. Ceramic protective cover; 14. Storage slot. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model;

[0022] Please see Figures 1-4 In this utility model, a positioning support for a demolition robot includes a demolition robot body 1 and a drive structure 2 and a main controller 3 installed inside it. A base 4 is installed at the output end of the drive structure 2. A folding motor 5 is installed on the outer side of the end of the base 4 away from the drive structure 2. A telescopic shaft 6 is installed on the output shaft of the folding motor 5. The telescopic shaft 6 is hinged inside the base 4. A miniature telescopic cylinder 7 is installed inside the telescopic shaft 6. A mounting seat 8 is installed at the output end of the miniature telescopic cylinder 7. An adjustable foot structure 9 is provided inside the mounting seat 8. The drive structure 2, the adjustable foot structure 9, the miniature telescopic cylinder 7 and the folding motor 5 are all connected to the main controller 3.

[0023] The adjustable foot structure 9 includes an adjustment motor 901, which is fixedly installed on the outside of the mounting base 8. The output shaft of the adjustment motor 901 passes through the mounting base 8 and is connected to a reverse shaft 902. Foot seats 903 are installed at the top and bottom of the reverse shaft 902. A vacuum pump 904 and a vacuum suction cup 905 are installed inside the top foot seat 903. The vacuum pump 904 is connected to the vacuum suction cup 905 through a pipeline. Evenly distributed claw spikes 906 are installed on the bottom foot seat 903. A Hall sensor 907 is installed inside the reverse shaft 902. A contact force sensor 908 is installed at the connection between the reverse shaft 902 and the foot seat 903. An infrared reflection sensor 909 and an ultrasonic sensor 910 are respectively installed on the sides of the top and bottom foot seats 903.

[0024] The drive structure 2 includes a drive motor 201 and a reducer 202. Both the drive motor 201 and the reducer 202 are installed inside the main body 1 of the demolition robot. The drive motor 201 is connected to the main controller 3.

[0025] The inner wall of the demolition robot body 1 is equipped with a miniature push rod 10, and the output end of the miniature push rod 10 is equipped with a limiting shaft 11. The base 4 is provided with limiting holes 12 that are evenly distributed and correspond to the limiting shaft 11.

[0026] In the initial state, the legs of the demolition robot are in a retracted state, the base 4 is stored on the side of the demolition robot body 1, the folding motor 5 remains stationary, the telescopic shaft 6 is at its shortest length, the micro telescopic cylinder 7 is not activated, and the foot seat 903 of the adjustable foot structure 9 is attached to the mounting base 8 to reduce space occupation.

[0027] When the robot needs to be positioned, the main controller 3 first controls the drive structure 2 to start. The drive motor 201 drives the base 4 to extend outward through the reducer 202, so that the legs are initially unfolded. At the same time, the micro push rod 10 moves to push the limit shaft 11 into the limit hole 12 of the base 4 to ensure that the legs remain stable after unfolding. Then the folding motor 5 starts, drives the telescopic shaft 6 to rotate and extend outward, so that the mounting base 8 and the adjustable foot structure 9 are away from the robot body to adapt to the height requirements of different working surfaces.

[0028] When the outrigger contacts the working surface, the contact force sensor 908 monitors the pressure data in real time and feeds it back to the main controller 3. The main controller 3 determines the current ground type according to the preset. If the infrared reflection sensor 909 detects high reflectivity, it determines that the vacuum adsorption mode is suitable. The main controller 3 controls the adjustment motor 901 to drive the reverse shaft 902 to rotate, so that the vacuum suction cup 905 faces the ground. At the same time, the vacuum pump 904 starts to form a negative pressure in the suction cup, so that the robot is firmly adsorbed to the working surface. If the ultrasonic sensor 910 detects that the surface is rough or loose, it determines that the claw 906 mode is suitable. The adjustment motor 901 keeps the reverse shaft 902 in the original position, so that the claw 906 faces downward. The miniature telescopic cylinder 7 pushes the mounting base 8 to press down further, so that the claw 906 penetrates the ground to enhance the grip.

[0029] During operation, if the robot needs to adjust its posture or move, the main controller 3 can control the drive structure 2, folding motor 5 and micro telescopic cylinder 7 to work together in real time, so that the legs can adapt to the support requirements of different angles. When the operation is completed and the legs need to be retracted, the vacuum pump 904 stops working or the claw 906 retracts. Then the folding motor 5 reverses to retract the telescopic shaft 6, and the drive structure 2 drives the base 4 to retract into the body 1 of the demolition robot, finally returning to the initial storage state. The entire workflow is automated through sensor feedback and intelligent adjustment of the main controller 3, ensuring stable positioning and efficient operation of the robot in complex environments.

[0030] In this invention, the support structure possesses high intelligence and self-adaptability. Through a dual-mode adjustable foot structure 9, it automatically adapts to different ground environments, ensuring the stability of the demolition robot body 1 in various conditions. Multi-sensor collaborative control monitors the ground status in real time, and combined with intelligent adjustment by the main controller 3, precise mode switching and pressure adjustment are achieved. The modular drive design enables the support legs to extend, rotate, and lock, enhancing flexibility and reliability. Furthermore, the compact storage structure reduces space occupation, and the overall system responds quickly, making it suitable for high-precision demolition operations and significantly improving the robot's environmental adaptability and operational efficiency.

[0031] Please see Figures 1-3 The base 4 and the mounting base 8 are detachably connected to ceramic protective covers 13 on their outer sides, and the folding motor 5 and the adjusting motor 901 are respectively located inside the two ceramic protective covers 13.

[0032] In this invention, the ceramic material has high strength, which can effectively resist mechanical damage such as impact from gravel and scratches from metal during operation. The high temperature resistance of ceramic can block the thermal damage to the motor from welding sparks and high temperature debris, thus providing a good protection for the folding motor 5 and the adjusting motor 901.

[0033] Please see Figure 1 and 2The base 4 has a storage groove 14 with a smooth inner wall.

[0034] In this invention, the storage groove 14 allows the telescopic shaft 6 to fit better with the base 4, thereby achieving better storage and reducing the overall space occupied by the legs.

[0035] The above description is merely a preferred embodiment of this utility model; however, the protection scope of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the technical scope disclosed in this utility model, based on the technical solution and its improved concept, should be included within the protection scope of this utility model.

Claims

1. A forcible entry robot positioning foot, comprising a forcible entry robot main body (1) and a driving structure (2) and a master controller (3) installed inside, characterized in that: The output end of the drive structure (2) is equipped with a base (4). A folding motor (5) is installed on the outer side of the end of the base (4) away from the drive structure (2). A telescopic shaft (6) is installed on the output shaft of the folding motor (5). The telescopic shaft (6) is hinged inside the base (4). A miniature telescopic cylinder (7) is installed inside the telescopic shaft (6). An installation seat (8) is installed at the output end of the miniature telescopic cylinder (7). An adjustable foot structure (9) is provided inside the installation seat (8). The drive structure (2), the adjustable foot structure (9), the miniature telescopic cylinder (7) and the folding motor (5) are all connected to the main controller (3). The adjustable foot structure (9) includes an adjustment motor (901), which is fixedly installed on the outside of the mounting base (8). The output shaft of the adjustment motor (901) passes through the mounting base (8) and is connected to a reverse shaft (902). Foot seats (903) are installed at the top and bottom of the reverse shaft (902). A vacuum pump (904) and a vacuum suction cup (905) are installed inside the top foot seat (903). The vacuum pump (904) is connected to the vacuum suction cup (905) through a pipeline. Evenly distributed claw spikes (906) are installed on the bottom foot seat (903). A Hall sensor (907) is installed inside the reverse shaft (902). A contact force sensor (908) is installed at the connection position between the reverse shaft (902) and the foot seat (903). An infrared reflection sensor (909) and an ultrasonic sensor (910) are installed on the sides of the top and bottom foot seats (903), respectively.

2. A breaching robot positioning foot according to claim 1, characterized in that: The drive structure (2) includes a drive motor (201) and a reducer (202). The drive motor (201) and the reducer (202) are both installed inside the demolition robot body (1). The drive motor (201) is connected to the main controller (3).

3. A breaching robot positioning foot according to claim 1, wherein: The surfaces of the Hall sensor (907), contact force sensor (908), infrared reflection sensor (909), and ultrasonic sensor (910) are all treated with high temperature resistance.

4. A breaching robot positioning foot according to claim 1, wherein: The inner wall of the demolition robot body (1) is equipped with a micro push rod (10), the output end of the micro push rod (10) is equipped with a limit shaft (11), and the base (4) is provided with limit holes (12) that are evenly distributed and correspond to the limit shaft (11).

5. The positioning support leg for a demolition robot according to claim 1, characterized in that: Both the base (4) and the mounting base (8) are detachably connected to ceramic protective covers (13), and the folding motor (5) and the adjusting motor (901) are respectively located inside the two ceramic protective covers (13).

6. The positioning support leg for a demolition robot according to claim 1, characterized in that: The base (4) has a storage groove (14) with a smooth inner wall.

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