CN103751924A - Multi-jointed easy-to-disassemble easy-to-reconstruct search and rescue pole - Google Patents
Multi-jointed easy-to-disassemble easy-to-reconstruct search and rescue pole Download PDFInfo
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- CN103751924A CN103751924A CN201410010902.3A CN201410010902A CN103751924A CN 103751924 A CN103751924 A CN 103751924A CN 201410010902 A CN201410010902 A CN 201410010902A CN 103751924 A CN103751924 A CN 103751924A
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Abstract
The invention belongs to a search and rescue device, and relates to a multi-jointed easy-to-disassemble easy-to-reconstruct search and rescue pole which mainly solves the problem that an existing search and rescue pole is unadjustable in length and size, incapable of being reconstructed in shape, complex in structure, not easy to disassemble, poor in applicability and the like. The multi-jointed easy-to-disassemble easy-to-reconstruct search and rescue pole is characterized by comprising a head (1), joint parts (2), a connecting pipe (3), a transition connecting pipe (4) and a tail (5), degree of freedom of axial movement among all the parts is limited by matching of flanges and grooves, and degree of freedom of circumferential rotation is limited through pins (39). The multi-jointed easy-to-disassemble easy-to-reconstruct search and rescue pole is mainly used for the search and rescue field.
Description
Technical field
The present invention relates to a kind of search and rescue device, particularly a kind of multi-joint easily splits easy reconstruct formula and searches and rescues bar.
Background technology
At present, in actual applications, the general coupling part of this search and rescue probing device both domestic and external is cannot rotate or cannot expand easily with reconstruct to meet different search and rescue environment, this means the search efficiency that can affect rescue group, and the time of staying extending also brings potential safety hazard may to rescue worker.
The present invention is intended to help rescue group's discovery trapped personnel more early, in time trapped personnel is succoured.Natural and various disasters are frequent, after occurring because of the disaster such as earthquake, typhoon, often having many people can be trapped among ruins, and practical experience shows, if the stranded ruins of survivor exceed 48 hours, it is more and more lower that their survival probability just becomes.Due to disaster scene ordinary circumstance complexity, if rescue team member stops for a long time in disaster scene, not only can not help in time trapped personnel, more may make self also to get into a difficult position, just can further strengthen like this personal damage.This will ask rescue personnel will search as soon as possible survivor.
The more existing similar example of profiles of relevant invention, but be all very different with the present invention, in existing invention, " the quick-detachable combination search and rescue robot " that for example Wuhan University's patent No. is 201010547854.3, its so-called quick release and combination, in fact refer to the performance of quick-detachment and assembling between child robot and Female Robot, and the present invention refers between each concrete basic building block, as head and joint component and joint component and tube connector body can split easily and combine between dividing, and, member of the present invention also can easily split into part very fast, more crucial is, the present invention's kind of drive used is very special and stable, be very different with its wheeled motion mode, the patent of invention " Portable single-channel sound wave vibrations life searching instrument " that the patent No. that and for example comes from Chengdu University of Technology is 200920081087.4, this searching instrument is by popping one's head in, connecting rod, holding rod, control panel composition, probe is equipped with Gravity accelerometer, holding rod is provided with sensitivity and volume adjuster, in the time of can searching and rescuing on foot at the earthquake initial stage preferably, single detection is used, comparatively speaking, joint component of the present invention, connecting body portion and transitional connection pipe body divides and can expand according to different search and rescue environment, can better be applicable to search and rescue environment, and, frame for movement characteristic of the present invention and detection mode have very large difference, at robot field's also some appearance similar example, " the scalable wheel type snake-like robot " that for example Beijing Information Science & Technology University's patent No. is 201210564904.8, this snake-shaped robot is comprised of head-tail, modularization trunk, modularized joint portion, in the kind of drive, the kind of drive that the worm and gear that joint component of the present invention adopts combines with gear drive and this patent adopt electromagnetic type eight to have this qualitative difference to independent scalable wheel construction, and joint component of the present invention, connection body and transitional connection pipe body have length series and size series, and length and size can be expanded, in addition, the fit form between flange of the present invention and groove and pin makes to split and reconstruct becomes simple, " Modularized structure-changeable snake-shape robot " that and for example Shenyang Inst of Automation, Chinese Academy of Sciences's patent No. is 02280911.2, it is comprised of the joint module of the single-degree-of-freedom of multiple same structures, and the present invention, joint component is seriation and can rotates by double freedom, in structure, there is essential difference, in addition, this patent varistructure is to be that 0 degree or 90 degree embody by changing the direction of adjacent block poor, and this is diverse with the present invention by choosing the serial reconstruct structure of different sizes and length, the present invention rely on its compact frame for movement, easily expansion with and controllability, can well realize the detection to trapped personnel, so that allow rescue group more early survivor is imposed to relief, so not only can reduce a lot of unnecessary economy and human losses, more may retrieve the warm of many human world, be beneficial to and safeguard social harmony.
Summary of the invention
The object of this invention is to provide a kind of length and big or small capable of regulating, can rescue a kind of multi-joint that environment reconstruct form, simple in structure, easy fractionation, applicability are strong according to difference and easily split easy reconstruct formula and search and rescue bar.
The technical solution adopted for the present invention to solve the technical problems is: it comprises head 1, joint component 2, connects body 3, transitional connection pipe body 4, afterbody 5, between various piece, by the engagement limits between flange and groove, move axially the free degree, by pin 39, limit the free degree that rotates in a circumferential direction.
Head 1 of the present invention is body, and front end is provided with telltale hole 6, and rear end is provided with the flange A8 that has pin-and-hole A7, and the groove A21 engagement limits of flange A8 and joint component 2 moves axially the free degree, and pin-and-hole A7 is the same with the residing position of pin-and-hole E20.
Joint component 2 of the present invention is comprised of left semiarthrosis 9, orthogonal formula partial gear 10 and right semiarthrosis 11, and left semiarthrosis 9 and right semiarthrosis 11 couple together by orthogonal formula partial gear 10.
Connection body of the present invention 3 ends are with the flange B12 that has pin-and-hole B13.
Transitional connection pipe body 4 small ends of the present invention and large end have respectively flange C15 with pin-and-hole C14 and the flange D17 with pin-and-hole D16, the size of flange C15 and flange D17 and pin-and-hole C14 and pin-and-hole D16 is associated with the size of place body portion, and the small end of transitional connection pipe body 4 is the same and seamlessly transits by two arc transition sections 18 with the length of large end.
The main body of afterbody 5 of the present invention is body, and front end is provided with the groove B31 with pin-and-hole F30, and rear end is provided with pommel 32 and is threaded 34 seal closure 33.
Left semiarthrosis 9 of the present invention and right semiarthrosis 11 are comprised of upper half shell body 19, lower half shell body 22, worm screw 25,24 and 4 ~ 8 bolt groups 23 of gear shaft with worm gear.
90 ° and flank profil A36 and flank profil B38 with standard module are staggered on orthogonal formula partial gear of the present invention 10 left and right sides have living space respectively, in addition, on orthogonal formula partial gear 10, also have boss A35 to be connected left semiarthrosis 9 and right semiarthrosis 11 with boss B37.
On upper half shell body 19 of the present invention and lower half shell body 22, have the corresponding bolt hole 26 of onesize same number, bolt hole 26 numbers are 4 ~ 8, two gapped square boss 41 with screw hole in lower half shell body 22, have been reserved, interface 40 lines are inserted in gap then by pad 42 and the firm interface 40 of screw 43, lower half shell body 22 has also been reserved the installation site of interface 40, in lower half shell body 22, worm screw 25 is arranged on annular flange flange C29, gear shaft 24 with worm gear in upper half shell body 19 and lower half shell body 22 is arranged on annular flange flange B28, the incomplete cross gear of monoblock type is arranged on annular flange flange A27.
The invention has the beneficial effects as follows: 1, patent of the present invention has unique structural design, and compare tradition and search and rescue mechanism, joint component 2 of the present invention, connection body portion 3, transitional connection pipe body divide 4 to have the series that can Gong choose, this makes to search and rescue mechanism can carry out reconstruct to adapt to different search and rescue environment by choosing different series, has further improved the applicability of searching and rescuing mechanism; 2, transmission of the present invention is to realize by orthogonal formula partial gear 10, worm screw 25 and the gear shaft with worm gear 24, the transmission that this gear drive and Worm Wheel System combine, the more steady point of transmission, accurately, reliability is high, and can realize flexibly the rotation of double freedom; 3, the flange in various piece of the present invention, groove design structure are simplified ingenious, can well restrictive axial one-movement-freedom-degree between flange groove, pin can well limit the free degree that rotates in a circumferential direction, between upper lower tube body, also can limit relative position by bolt group and add between various piece and select HSSI High-Speed Serial Interface, IEEE1394 and USB interface to carry out signal transmission, this whole mechanism is had install simple, easily split, the easy feature such as reconstruct.
Accompanying drawing explanation
Fig. 1 is general assembly schematic diagram of the present invention.
Fig. 2 is the vanning schematic diagram of each parts of the present invention
Fig. 3 is the structural representation of head of the present invention.
Fig. 4 is the structural representation of joint component of the present invention.
Fig. 5 is the structural representation that the present invention connects body.
Fig. 6 is the side view of transitional connection pipe body of the present invention.
Fig. 7 is the front view of transitional connection pipe body of the present invention.
Fig. 8 be joint component of the present invention partly cut open schematic diagram.
Fig. 9 is the side view of afterbody of the present invention.
Figure 10 is the front view of orthogonal formula partial gear in the present invention.
Figure 11 is the top view of orthogonal formula partial gear in the present invention.
Figure 12 is the schematic diagram of the present invention's pin used.
Figure 13 is interface schematic diagram of the present invention.
Figure 14 is that interface of the present invention is installed detailed view.
In figure: 1-head, 2-joint component, 3-connects body, 4-transitional connection pipe body, 5-afterbody, 6-telltale hole, 7-pin-and-hole A, 8-flange A, the left semiarthrosis of 9-, 10-orthogonal formula partial gear, the right semiarthrosis of 11-, 12-flange B, 13-pin-and-hole B, 14-pin-and-hole C, 15-flange C, 16-pin-and-hole D, 17-flange D, the two arc transition sections of 18-, 19-upper half shell body, 20-pin-and-hole E, 21-groove A, 22-lower half shell body, 23-bolt group, the gear shaft of 24-with worm gear, 25-worm screw, 26-bolt hole, 27-annular flange flange A, 28-annular flange flange B, 29-annular flange flange C, 30-pin-and-hole F, 31-groove B, 32-pommel, 33-seal closure, 34-screw thread, 35-boss A, 36-flank profil A, 37-boss B, 38-flank profil B, 39-pin, 40-interface, 41-square boss, 42-pad, 43-screw.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in further details.
Embodiment 1, the present invention includes head 1, joint component 2, connect body 3, transitional connection pipe body 4, afterbody 5, between various piece, by the engagement limits between flange and groove, move axially the free degree, by pin 39, limit the free degree that rotates in a circumferential direction, between head 1 and joint component 2, provide constraints pin used and joint component 2 be connected body 3 and the pin 39 used that provides constraints is also seriation between transitional connection pipe body 4 and joint component 2, due to pin-and-hole B13, pin-and-hole C14, pin-and-hole D16, pin-and-hole F30 and flange B12, flange C15, the size of flange D17 is to be all linear correlation with the size of place body, so the size of the pin 39 that every place uses and length are also with the big or small linear correlation of be connected body 3.This also makes the present invention have the advantages such as easy installation, quick detachable and reconstruct; Installation process is very simple, and the search and rescue mechanism assembling very easily dismantles and reconstruct, in actual applications, can choose different series joint component 2, connect body 3, transitional connection pipe body 4, this just can meet searches and rescues the needs of mechanism to different rescue environment.Consult Fig. 1 to Figure 14.
Embodiment 2, head 1 of the present invention is body, and inside can install and be responsible for gathering the device of infrared signal, is used as infrared acquisition, and front end is provided with telltale hole 6, and Fei Nier lens can be installed, and facilitates collection signal; Rear end is provided with the flange A8 that has pin-and-hole A7, and the groove A21 engagement limits of flange A8 and joint component 2 moves axially the free degree, and pin-and-hole A7 is the same with the residing position of pin-and-hole E20.Consult Fig. 1 to Figure 14, all the other are with embodiment 1.
Embodiment 3, joint component 2 of the present invention is comprised of left semiarthrosis 9, orthogonal formula partial gear 10 and right semiarthrosis 11, left semiarthrosis 9 and right semiarthrosis 11 couple together by orthogonal formula partial gear 10, making left and right semiarthrosis can be respectively the rotation with in surface of 90 ° at two angles, the double freedom that can complete joint rotatablely moves, joint component 2 is seriations, and its big or small series can be
between, length series can be
between " noting: the size impact of having ignored flange, groove herein; size is hereinafter also " left partly shut down 9 and the structure of right semiarthrosis 11 be just the same, just they are by the orthogonal formula partial gear 10 90 ° of connections of spatially having staggered, each joint can be built-in by monolithic processor controlled motor, and all single-chip microcomputers all accept the control signal of pc machine and realize the transmission control between worm and gear and gear, between various piece, adopt HSSI High-Speed Serial Interface, IEEE1394 and USB interface to carry out signal transmission; The kind of drive that joint component 2 adopts Worm Wheel System to combine with gear drive; More than that the present invention is had is easy for installation in design, and very easily dismounting and reconstruct and transmission are stable, accurately and the advantage such as compact conformation.Consult Fig. 1 to Figure 14, all the other same above-described embodiments.
Embodiment 4, connection body of the present invention 3 ends are with the flange B12 that has pin-and-hole B13, and connecting body 3 is seriations, and its big or small series can be
between, length can be:
~
between, its big or small series is corresponding with joint component 2, under optional big or small series, each connection body 3 can be according to different rescue environment need to select different length series, can effectively expand the length of searching and rescuing mechanism, improve its applicability to rescue environment, the tube connector body structure of design is simple like this, easy for installation, be convenient to dismounting and restructuring.Consult Fig. 1 to Figure 14, all the other same above-described embodiments.
Embodiment 5, transitional connection pipe body 4 of the present invention is seriations, the size series of its small end can be:
between, the size series of large end can be:
between, it is to be associated with the joint component 2 at two ends that the size series at its two ends is chosen, transitional connection pipe body 4 small ends and large end have respectively flange C15 with pin-and-hole C14 and the flange D17 with pin-and-hole D16, the size of flange C15 and flange D17 and pin-and-hole C14 and pin-and-hole D16 is associated with the size of place body portion, the small end of transitional connection pipe body 4 is the same and seamlessly transits by two arc transition sections 18 to have good mechanical property with the length of large end; Because transitional connection pipe body 4 also has length series, transitional connection pipe body 4 can be different according to different rescue environmental selections length, size transition series will be determined according to the series of the selected joint component of large small end, the application of searching and rescuing transition body portion 4 in mechanism can also solve except expanding to search and rescue bar the stressed larger mechanics transition problem in rear end that tradition search and rescue mechanism does not solve, the transitional connection pipe body structure of design is simple like this, easy for installation, be convenient to dismounting and restructuring.Consult Fig. 1 to Figure 14, all the other same above-described embodiments.
Embodiment 9, on upper half shell body 19 of the present invention and lower half shell body 22, have the corresponding bolt hole 26 of onesize same number, bolt hole 26 numbers are 4 ~ 8, upper half shell body 19 and lower half shell body 22 connect to form joint body by 4 ~ 8 identical bolt groups 23, two gapped square boss 41 with screw hole in lower half shell body 22, have been reserved, interface 40 lines are inserted in gap then by pad 42 and the firm interface 40 of screw 43, lower half shell body 22 has also been reserved the installation site of interface 40, interface 40 is to support the hot-swappable HSSI High-Speed Serial Interface of peripheral hardware, interface 40 one end band pin posts, one end band pin hole, can realize easily length expands, install, the function of dismounting and reconstruct, this has just improved it greatly as the applicability of searching and rescuing mechanism, in lower half shell body 22, worm screw 25 is arranged on annular flange flange C29, gear shaft 24 with worm gear in upper half shell body 19 and lower half shell body 22 is arranged on annular flange flange B28, the incomplete cross gear of monoblock type is arranged on annular flange flange A27, upper half shell body 19 and lower half shell body 22 are rotational symmetric in fact on locus, but because worm screw 25 is contained on lower half shell body 22, so, the installation site of many annular flange flange C29 corresponding to worm screw 25 and interface 40 in lower half shell body 22, so that their structure is different.Consult Fig. 1 to Figure 14, all the other same above-described embodiments.
Claims (9)
1. a multi-joint easily splits easy reconstruct formula and searches and rescues bar, it is characterized in that: it comprises head (1), joint component (2), connects body (3), transitional connection pipe body (4), afterbody (5), between various piece, by the engagement limits between flange and groove, move axially the free degree, by pin (39), limit the free degree that rotates in a circumferential direction.
2. a kind of multi-joint according to claim 1 easily splits easy reconstruct formula and searches and rescues bar, it is characterized in that: described head (1) is body, front end is provided with telltale hole (6), rear end is provided with and has pin-and-hole A(7) flange A(8), flange A(8) with the groove A(21 of joint component (2)) engagement limits moves axially the free degree, pin-and-hole A(7) and with pin-and-hole E(20) residing position is the same.
3. a kind of multi-joint according to claim 1 easily splits easy reconstruct formula and searches and rescues bar, it is characterized in that: described joint component (2) is comprised of left semiarthrosis (9), orthogonal formula partial gear (10) and right semiarthrosis (11), left semiarthrosis (9) and right semiarthrosis (11) couple together by orthogonal formula partial gear (10).
4. a kind of multi-joint according to claim 1 easily splits easy reconstruct formula and searches and rescues bar, it is characterized in that: described connection body (3) end is with having pin-and-hole B(13) flange B(12).
5. a kind of multi-joint according to claim 1 easily splits easy reconstruct formula and searches and rescues bar, it is characterized in that: described transitional connection pipe body (4) small end and large end have respectively band pin-and-hole C(14) flange C(15) and be with pin-and-hole D(16) flange D(17), flange C(15) and flange D(17) and pin-and-hole C(14) and pin-and-hole D(16) size be associated with the size of place body portion, the small end of transitional connection pipe body (4) is the same and seamlessly transits by two arc transition sections (18) with the length of large end.
6. a kind of multi-joint according to claim 1 easily splits easy reconstruct formula and searches and rescues bar, it is characterized in that: the main body of described afterbody (5) is body, front end is provided with band pin-and-hole F(30) groove B(31), rear end is provided with pommel (32) and is threaded the seal closure (33) of (34).
7. a kind of multi-joint according to claim 3 easily splits easy reconstruct formula and searches and rescues bar, it is characterized in that: described left semiarthrosis (9) and right semiarthrosis (11) are comprised of upper half shell body (19), lower half shell body (22), worm screw (25), gear shaft (24) and 4 ~ 8 bolt groups (23) with worm gear.
8. a kind of multi-joint according to claim 3 easily splits easy reconstruct formula and searches and rescues bar, it is characterized in that: 90 ° and the flank profil A(36 with standard module are staggered on described orthogonal formula partial gear (10) left and right sides has living space respectively) and flank profil B(38), in addition, orthogonal formula partial gear (10) is upper also has boss A(35) with boss B(37) be connected left semiarthrosis (9) and right semiarthrosis (11).
9. a kind of multi-joint according to claim 7 easily splits easy reconstruct formula and searches and rescues bar, it is characterized in that: the corresponding bolt hole (26) that has onesize same number on described upper half shell body (19) and lower half shell body (22), bolt hole (26) number is 4 ~ 8, two gapped square boss (41) with screw hole in lower half shell body (22), have been reserved, interface (40) line is inserted in gap then by pad (42) and the firm interface (40) of screw (43), lower half shell body (22) has also been reserved the installation site of interface (40), in lower half shell body (22), worm screw (25) is arranged on annular flange flange C(29) on, gear shaft (24) with worm gear in upper half shell body (19) and lower half shell body (22) is arranged on annular flange flange B(28) on, orthogonal formula partial gear is arranged on annular flange flange A(27) on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410010902.3A CN103751924B (en) | 2014-01-10 | 2014-01-10 | A kind of multi-joint easily splits easy reconstruct formula and searches and rescues bar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410010902.3A CN103751924B (en) | 2014-01-10 | 2014-01-10 | A kind of multi-joint easily splits easy reconstruct formula and searches and rescues bar |
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| Publication Number | Publication Date |
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| CN103751924A true CN103751924A (en) | 2014-04-30 |
| CN103751924B CN103751924B (en) | 2016-11-23 |
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Cited By (2)
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|---|---|---|---|---|
| CN109573900A (en) * | 2018-12-24 | 2019-04-05 | 徐森良 | Adjustable four paws depth hole rescuing device and its rescue mode |
| CN110561404A (en) * | 2019-09-12 | 2019-12-13 | 北京交通大学 | Modular reconfigurable robot teaching aid |
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|---|---|
| CN103751924B (en) | 2016-11-23 |
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