A back-carrying catching and disposing device for a quadruped robot

Abstract

The application provides a back-carrying capture and disposal device for a quadruped robot, comprising a mounting base, a mounting frame, a capture equipment quick replacement mechanism, a trigger mechanism, an endless adjustment mechanism and a safety bolt mechanism. The capture equipment quick replacement mechanism supports quick replacement of a capture net and a capture rope; the trigger mechanism realizes automatic cocking through a linear motor or a rudder; the endless adjustment mechanism can adjust the launch angle steplessly; and the safety bolt mechanism prevents misoperation. The utility model has the advantages of modularity, strong compatibility, safe operation, rapid response and the like, is suitable for sudden disposal scenes in public security patrol, and significantly improves the actual combat capability of the quadruped robot.

Description

Technical Field

[0001] This utility model relates to the field of quadruped robot back-mounted superstructure technology, and more specifically, to a back-mounted capture and disposal device for quadruped robots. Background Technology

[0002] With the development of quadruped robot technology, quadruped robots have been gradually applied in various fields. In the public security field, patrol is a broad scenario. During patrols, various emergencies are inevitable, such as encountering illegal gatherings of people or criminal suspects. These are emergency response scenarios, a sub-category of patrol applications within the public security field. In these situations, quadruped robots need to possess the ability to apprehend and handle such situations to assist police officers. However, current patrol robots primarily function for public awareness campaigns and data collection, mainly performing facial recognition, license plate recognition, hazardous gas detection, and public address systems; they lack the capability for proactive apprehension and response.

[0003] In the existing technology, there is no capability to perform capture operations based on four sets of robots during the use of the back-mounted device for quadruped robots, nor is there a quick-assembly and disassembly device with capture function mounted on the top of the quadruped robot; therefore, we make improvements and propose a back-mounted capture and disposal device for quadruped robots. Summary of the Invention

[0004] The purpose of this utility model is to address the problem that the current design of the quadruped robot's back-mounted upper body does not enable the quadruped robot to quickly capture objects in the specific duty environment of the public security organs.

[0005] To achieve the above-mentioned objectives, this utility model provides the following technical solution: A back-mounted grasping and handling device for quadruped robots to improve the above-mentioned problems.

[0006] The application is as follows: A back-mounted capture and disposal device for a quadruped robot includes a mounting base installed on the back of the quadruped robot, a mounting frame on the mounting base, a quick-change mechanism for capture equipment on the mounting frame, and a capture and disposal device fixed to the quick-change mechanism; a triggering mechanism for triggering the capture and disposal device is also fixed on the mounting frame.

[0007] Preferably, the quick-change mechanism for the capture equipment includes a capture net clamping block, a capture rope clamping block, a flip hinge, a buckle structure, a quick-release buckle plate, and a quick-release pivot. The capture net or capture rope can be quickly changed by opening the quick-release buckle plate. One end of the quick-release buckle plate is equipped with a spring component to keep the buckle structure secure and prevent it from loosening.

[0008] Preferably, the triggering mechanism includes a linear motor body or a servo motor body, which works in conjunction with a firing lever or a servo motor firing arm to press the capture net firing button or the capture rope firing button to trigger the capture net body or the capture rope body. A linear motor mounting plate is provided between the linear motor body and the mounting bracket.

[0009] Preferably, the quick-assembly mechanism includes a hand-tight screw for modularly integrating the capture and disposal device onto the back of the quadruped robot; The quick-release structure also includes a spring plunger and a configuration adjustment block. The pin of the spring plunger is inserted into the upper or lower pin hole of the configuration adjustment block for compatible installation of the capture net or capture rope.

[0010] Preferably, a stepless adjustment mechanism is also installed at the lower end of the mounting frame. The stepless adjustment mechanism includes a dovetail guide rail structure, an adjustment slider, and an adjustment rocker arm located at the lower end of the mounting frame, forming a swing guide rod mechanism. The adjustment slider is driven to slide along the dovetail guide rail structure by the adjustment rocker arm to steplessly adjust the launch angle α. The adjusting slider has a dovetail groove structure and is clamped and fixed by fixing screws to maintain the stability of the launch angle.

[0011] Preferably, the upper end of the triggering mechanism is provided with a safety pin mechanism to prevent accidental activation. The safety pin mechanism includes a safety pin, which can prevent accidental activation when inserted into the firing button. The safety pin is provided with a safety pin pull ring structure and is connected to the integral plate pull ring structure on the mounting frame by a steel wire rope to prevent loss.

[0012] Preferably, the triggering mechanism can also be implemented by other actuators for pressing the firing button and releasing the capture object.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: In the scheme of this application: 1. Through modular structural design, it supports quick assembly and disassembly, facilitates maintenance and replacement, improves equipment utilization efficiency, and is compatible with both capture nets and capture ropes, which can adapt to different law enforcement scenarios; 2. Remote automatic firing is achieved through motors or servo motors, reducing manual intervention and improving response speed and safety; 3. The launch angle is infinitely adjustable to adapt to targets at different distances, improving the success rate of capture; 4. It features an anti-accidental activation design, employing a safety pin mechanism to effectively prevent accidental firing and ensure operational safety; 5. When changing the capture net or capture rope, no tools are required to change the capture object, which facilitates the improvement of mission continuity and operational convenience. Attached Figure Description

[0014] Figure 1A schematic diagram of the overall structure of a back-mounted grasping and handling device for a quadruped robot provided in this application; Figure 2 A bottom-view schematic diagram of the overall structure of a back-mounted grasping and handling device for a quadruped robot provided in this application; Figure 3 A schematic diagram of the overall structure of a back-mounted grasping and handling device for a quadruped robot provided in this application (left rear view). Figure 4 A front side sectional view of the capture net body of a back-mounted capture and disposal device for a quadruped robot provided in this application; Figure 5 A side sectional front view of the configuration adjustment block and the capture net of a back-mounted capture and disposal device for a quadruped robot provided in this application; Figure 6 A side sectional front view of the configuration adjustment block and the capture rope of a back-mounted capture and disposal device for a quadruped robot provided in this application; Figure 7 A schematic diagram of the stepless adjustment mechanism of a back-mounted grasping and handling device for a quadruped robot provided in this application (right view). Figure 8 A schematic diagram of the adjustable angle of the stepless adjustment mechanism of a back-mounted grasping and handling device for a quadruped robot provided in this application; Figure 9 An enlarged schematic diagram of the dovetail guide rail structure of a back-mounted grasping and handling device for a quadruped robot provided in this application; Figure 10 An enlarged schematic diagram of the safety pin mechanism of a back-mounted grasping and handling device for a quadruped robot provided in this application; Figure 11 An enlarged structural schematic diagram of the capture net body and capture net firing button of a back-mounted capture and disposal device for a quadruped robot provided in this application; Figure 12 An enlarged structural schematic diagram of the capture rope and capture rope firing button of a back-mounted capture and disposal device for a quadruped robot provided in this application; Figure 13 An enlarged structural schematic diagram of a quick-change mechanism for a back-mounted grasping and handling device for a quadruped robot provided in this application; Figure 14 An enlarged schematic diagram of the dovetail groove structure of a back-mounted grasping and handling device for a quadruped robot provided in this application; Figure 15 This application provides an enlarged structural schematic diagram of the servo motor body and servo motor firing arm of a back-mounted grasping and handling device for a quadruped robot.

[0015] The image shows: 1. Mounting base; 2. Mounting bracket; 3. Capture net body; 4. Capture net clamping block; 5. Capture rope clamping block; 6. Configuration adjustment block; 7. Capture rope body; 8. Linear motor mounting plate; 9. Linear motor body; 10. Activation lever; 11. Adjustment rocker; 12. Adjustment slider; 13. Safety pin; 14. Spring plunger; 15. Hand-tight screw; 16. Clip structure; 17. Quick-release buckle plate; 18. Quick-release pivot; 19. Elastic assembly; 20. Dovetail guide rail structure; 21. Integrated plate pull ring structure; 22. Safety pin pull ring structure; 23. Fixing screw; 24. Capture net activation button; 25. Capture rope activation button; 26. Upper pin hole; 27. Lower pin hole; 28. Flip hinge; 29. ​​Servo body; 30. Servo activation arm; 31. Dovetail groove structure. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, 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, not all, of the embodiments of this utility model.

[0017] Therefore, the following detailed description of the embodiments of this utility model is not intended to limit the scope of the claimed utility model, but merely illustrates some embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model. It should be noted that, unless otherwise specified, the embodiments, features, and technical solutions in the embodiments of this utility model can be combined with each other.

[0018] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0019] like Figures 1-15 As shown, this embodiment proposes a back-mounted capture and disposal device for a quadruped robot, including a mounting base 1 installed on the back of the quadruped robot, a mounting frame 2 provided on the mounting base 1, a quick-change mechanism for capture equipment provided on the mounting frame 2, and a capture and disposal device fixed on the quick-change mechanism for capture equipment; a triggering mechanism for triggering the capture and disposal device is also fixed on the mounting frame 2.

[0020] like Figures 1-6As shown, in a preferred embodiment, based on the above method, the quick-change mechanism of the capture equipment further includes a capture net clamping block 4, a capture rope clamping block 5, a flip hinge 28, a fastening structure 16, a quick-release buckle plate 17, and a quick-release pivot 18. The capture net body 3 or the capture rope body 7 can be quickly changed by opening the quick-release buckle plate 17. One end of the quick-release buckle plate 17 is provided with an elastic component 19 to maintain the fastening structure 16 in a secure state and prevent loosening. Figure 13 Furthermore, the quick-release mechanism includes a hand-tight non-removable screw 15 for modularly integrating the capture and disposal device onto the back of the quadruped robot; the quick-release structure also includes a spring plunger 14 and a configuration adjustment block 6, through which the pin of the spring plunger 14 is inserted into the upper pin hole 26 or the lower pin hole 27 of the configuration adjustment block 6 for compatible installation of the capture net body 3 or the capture rope body 7.

[0021] Specifically, the capture and disposal device is modular in design and has the ability to be quickly disassembled and assembled. It is fixed with 15 screws that cannot be unscrewed by hand, and no additional tools are required for disassembly and assembly.

[0022] The capture and disposal device is compatible with both capture nets and capture ropes: it works in conjunction with the spring plungers 14 on both sides and the adjustment block 6. When the pin of the spring plunger 14 is in the upper pin hole 26 of the adjustment block 6, the capture net module is installed; when the pin of the spring plunger 14 is in the lower pin hole 27 of the adjustment block 6, the capture rope module is installed.

[0023] The difference between capture nets and capture ropes lies in their diameter and size, but they are similar in that they are fired in the same way.

[0024] The quick-change mechanism of the capture equipment allows for rapid replacement of the capture net or capture rope. After the capture net has been fired once, a new capture net must be replaced before it can be fired again. The capture net clamping block 4 is opened and closed via a flip hinge 28. The capture net clamping block 4 is designed with a buckle structure 16, which cooperates with the quick-release buckle plate 17. When buckled, the capture net is properly installed. When the quick-release buckle plate 17 is opened, the capture net clamping block 4 can be opened, allowing the capture net or capture rope to be removed and replaced.

[0025] The quick-release buckle plate 17 is fixed by the quick-release pivot 18 and can rotate around the quick-release pivot 18; the upper end of the quick-release buckle plate 17 is a fastening position for engaging with the clamping block of the capture net, and the lower end of the quick-release buckle plate 17 has a spring component 19 structure. Through the force of the spring component 19, the fastening position of the quick-release buckle plate 17 is guaranteed not to loosen.

[0026] like Figure 2 and Figure 15As shown, in a preferred embodiment, based on the above method, the triggering mechanism further includes a linear motor body 9 or a servo motor body 29, which works in conjunction with a firing lever 10 or a servo motor firing arm 30 to press the capture net firing button 24 or the capture rope firing button 25 to trigger the capture net body 3 or the capture rope body 7; a linear motor mounting plate 8 is provided between the linear motor body 9 and the mounting bracket 2; the triggering mechanism can also be implemented by other actuators to press the firing button and release the capture body.

[0027] Specifically, the capture net and capture rope module has a firing button that can be pressed to activate the mechanism. The firing button on the capture net or capture rope is installed facing downwards and must be pressed upwards to activate.

[0028] One specific embodiment: the firing device can be a linear motor, which amplifies the firing force of the linear motor through the firing lever 10, and at the same time changes the firing direction from upward firing to downward firing.

[0029] Another specific embodiment: the firing device can be a servo motor, which drives the firing arm to rotate by rotating the servo motor shaft, thereby pressing the firing button to fire the capture net or capture rope. The firing device can also be other actuators.

[0030] like Figure 2 , Figure 7 , Figure 8 and Figure 14 As shown, in a preferred embodiment, based on the above method, a stepless adjustment mechanism is further installed at the lower end of the mounting frame 2. The stepless adjustment mechanism includes a dovetail guide rail structure 20, an adjustment slider 12, and an adjustment rocker 11 located at the lower end of the mounting frame 2, forming a swing guide rod mechanism. The adjustment slider 12 is driven to slide along the dovetail guide rail structure 20 by the adjustment rocker 11 to steplessly adjust the emission angle α. The adjustment slider 12 is provided with a dovetail groove structure 31, which is clamped and fixed by a fixing screw 23 to maintain the stability of the emission angle.

[0031] Specifically, the launch angle α of the capture and disposal device can be adjusted. The dovetail guide rail structure 20, the adjusting slider 12, the adjusting rocker arm 11 on the overall mounting plate and the mounting base 1 form a swing guide rod mechanism with one sliding pair and three rotating pairs. When the angle of the adjusting rocker arm 11 is adjusted, it drives the slider to slide, thereby adjusting the launch angle of the capture and disposal device. The adjusting slider 12 has a dovetail groove structure 31, which is fixed by screw clamping.

[0032] like Figures 1-2 and Figure 10As shown, in a preferred embodiment, based on the above method, the upper end of the triggering mechanism is further provided with a safety pin 13 mechanism to prevent accidental activation. The safety pin 13 mechanism includes a safety pin, which can prevent accidental activation when inserted into the firing button. The safety pin is provided with a safety pin pull ring structure 22.

[0033] Specifically, a safety pin 13 is designed at the trigger button 25 of the capture net body 3 or capture rope. When the safety pin 13 is inserted, the button cannot be pressed, thus preventing accidental activation. To prevent the safety pin 13 from being lost, a safety pin pull ring structure 22 is designed on the safety pin 13, and an integral plate pull ring structure 21 is also designed on the overall mounting plate. The two pull rings are connected by a steel wire rope, effectively preventing loss.

[0034] In practical use, the stepless adjustment mechanism is confirmed before the quadruped robot performs patrol operations, so that the maximum capture angle and the farthest capture distance can be well controlled in the same patrol route. During the capture process, the capture positioning is controlled by the quadruped robot's control handle to locate the target. Secondly, the launch of the capture net or capture rope is calculated and implemented by the background control algorithm of the four robots. This algorithm is existing. As long as the target can be locked, the capture in this application can be carried out, so as to improve the capture accuracy and prevent the occurrence of miscapture. Secondly, after the arrest process, the safety pin 13 mechanism is released to facilitate the arrest process. After the arrest is completed or during patrol, the safety pin 13 mechanism is kept in place to prevent accidental activation of the trigger button or tourists touching it out of curiosity during patrol. This device can be used to capture targets according to actual needs, such as using a capture net to capture targets in open patrol areas, or using a capture rope to capture targets in patrol areas such as gardens, so as to achieve certainty in target capture. The use of capture nets and ropes is a one-time operation. This ensures that the capture nets and ropes are strong and reliable for each capture, and meets the standby standards for public security operations. It also ensures that the capture process will not fail due to damage to the capture tools.

[0035] The above embodiments are only used to illustrate the present utility model and are not intended to limit the technical solutions described in the present utility model. Although the present utility model has been described in detail with reference to the above embodiments, the present utility model is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present utility model, and all technical solutions and improvements that do not depart from the spirit and scope of the utility model, are covered within the scope of the claims of the present utility model.

Claims

1. A back-mounted grasping and handling device for a quadruped robot, characterized in that, The system includes a mounting base (1) installed on the back of a quadruped robot, a mounting frame (2) on the mounting base (1), a quick-change mechanism for the capture device on the mounting frame (2), and a capture and disposal device fixed on the quick-change mechanism for the capture device; a triggering mechanism for triggering the capture and disposal device is also fixed on the mounting frame (2).

2. The back-mounted grasping and handling device for a quadruped robot according to claim 1, characterized in that, The capture and disposal equipment is a capture net (3) or a capture rope (7).

3. The back-mounted grasping and handling device for a quadruped robot according to claim 2, characterized in that, The quick-change mechanism of the capture equipment includes a capture net clamping block (4), a capture rope clamping block (5), a flip hinge (28), a buckle structure (16), a quick-release buckle plate (17) and a quick-release pivot (18). The capture net body (3) or the capture rope body (7) can be quickly changed by opening the quick-release buckle plate (17). The quick-change mechanism of the capture equipment includes a capture net clamping block (4) and a capture rope clamping block (5), which are used to clamp and fix the capture net body (3) and the capture rope body (7), respectively. The capture net clamping block (4) and / or the capture rope clamping block (5) are hinged to the mounting frame (2) through a flip hinge (28) for opening and closing the capture net clamping block (4) and / or the capture rope clamping block (5). The capture net clamping block (4) and / or the capture rope clamping block (5) are provided with a fastening structure (16) that cooperates with a quick-release buckle plate (17). The quick-release buckle plate (17) is rotatably mounted on the mounting frame (2) through a quick-release pivot (18) and is fastened to the fastening structure (16) at one end to lock the clamping block. One end of the quick-release buckle plate (17) is provided with an elastic component (19) to keep the buckle structure (16) in a tight state and prevent it from loosening.

4. The back-mounted grasping and handling device for a quadruped robot according to claim 1, characterized in that, The triggering mechanism includes a linear motor body (9) or a servo motor body (29), which, together with a firing lever (10) or a servo motor firing arm (30), is used to press the capture net firing button (24) or the capture rope firing button (25) to trigger the capture net body (3) or the capture rope body (7).

5. A back-mounted grasping and handling device for a quadruped robot according to claim 4, characterized in that, A linear motor mounting plate (8) is provided between the linear motor body (9) and the mounting bracket (2).

6. The back-mounted grasping and handling device for a quadruped robot according to claim 1, characterized in that, The quick-assembly mechanism includes a hand-tight screw (15) for modularly integrating the capture and disposal device onto the back of the quadruped robot.

7. A back-mounted grasping and handling device for a quadruped robot according to claim 6, characterized in that, The quick-release structure also includes a spring plunger (14) and a configuration adjustment block (6), through which the pin of the spring plunger (14) is inserted into the upper pin hole (26) or the lower pin hole (27) of the configuration adjustment block (6) for compatible installation of the capture net body (3) or the capture rope body (7).

8. A back-mounted grasping and handling device for a quadruped robot according to claim 1, characterized in that, The lower end of the mounting frame (2) is also equipped with a stepless adjustment mechanism. The stepless adjustment mechanism includes a dovetail guide rail structure (20), an adjustment slider (12) and an adjustment rocker (11) located at the lower end of the mounting frame (2), forming a swing guide rod mechanism. The adjustment slider (12) is driven to slide along the dovetail guide rail structure (20) by the adjustment rocker (11) to steplessly adjust the launch angle α. The adjusting slider (12) is provided with a dovetail groove structure (31), which is clamped and fixed by a fixing screw (23) to maintain the stability of the launch angle.

9. A back-mounted grasping and handling device for a quadruped robot according to claim 1, characterized in that, The upper end of the triggering mechanism is provided with a safety pin mechanism to prevent accidental activation. The safety pin mechanism includes a safety pin (13), which can prevent accidental activation when inserted into the firing button. The safety pin (13) is provided with a safety pin pull ring structure (22), and is connected to the integral plate pull ring structure (21) on the mounting frame (2) by a steel wire rope.

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