CN103751924B - A kind of multi-joint easily splits easy reconstruct formula and searches and rescues bar - Google Patents
A kind of multi-joint easily splits easy reconstruct formula and searches and rescues bar Download PDFInfo
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- CN103751924B CN103751924B CN201410010902.3A CN201410010902A CN103751924B CN 103751924 B CN103751924 B CN 103751924B CN 201410010902 A CN201410010902 A CN 201410010902A CN 103751924 B CN103751924 B CN 103751924B
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Abstract
A kind of multi-joint easily splits easy reconstruct formula and searches and rescues bar, and it belongs to a kind of search and rescue device.It mainly solves length that existing search and rescue bar exists and size can not adjust, can not reconstruct form, structure is complicated, be difficult to technical problems such as splitting, poor for applicability.Its drip irrigation device is: it includes head (1), articular portion (2), connection pipe body (3), transitional connection pipe body (4), afterbody (5), limit freedom of axial movement by coordinating between flange with groove between various piece, limit, by pin (39), the degree of freedom that rotates in a circumferential direction.It is mainly used for 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 be cannot rotate or
Person cannot expand easily and reconstruct and meet different search and rescue environment, it means that can affect the search and rescue effect of rescue group
Rate, and the time of staying extended may also bring potential safety hazard to rescue worker.
It is contemplated that help rescue group's discovery trapped personnel earlier, in order in time trapped personnel is succoured.From
Right and various disaster is frequent, is often having many people can be trapped among ruins after occurring because of the disaster such as earthquake, typhoon, actual
Experience have shown that, if the stranded ruins of survivor were more than 48 hours, their survival probability just becomes more and more lower.Owing to disaster is existing
Field ordinary circumstance is complicated, if rescue team member is at disaster scene substantial dwell time, not only can not help trapped personnel in time, more
May make self also to get into a difficult position, so will strengthen personal damage further.This will ask rescue personnel to search as soon as possible
To survivor.
The example that the more existing profiles of relevant invention are similar, but be all very different with the present invention, in existing invention
In, " the quick-detachable combination search and rescue robot " of such as Wuhan University's Patent No. 201010547854.3, it is so-called
Quick release and combination, refer to fast quick-detach and the performance of assembling between child robot and Female Robot in fact, and the present invention
Refer between each concrete basic building block, as between head and articular portion and articular portion and connection pipe body part all
Can split easily and combine, and, the component of the present invention can also the most quickly split into part, more
It is essential that the kind of drive used by the present invention very especially and is stablized, it is very different with its wheel type movement mode；Again
As come from patent of invention " the Portable single-channel acoustic wave vibrations life of the Patent No. 200920081087.4 of Chengdu University of Technology
Searching instrument ", this searching instrument by popping one's head in, connecting rod, holding rod, panel form, probe is equipped with Gravity accelerometer, on holding rod
Be provided with sensitivity and volume adjuster, can preferably when the earthquake initial stage searches and rescues on foot single detection use, comparatively speaking,
Articular portion of the present invention, connection pipe body part and transitional connection pipe body portion can be expanded according to different search and rescue environment,
Can preferably be applicable to search and rescue environment, and, the mechanostructural property of the present invention and detection mode have the biggest difference；At machine
The device people field example that also some profile is similar, such as Beijing Information Science & Technology University's Patent No. 201210564904.8 " can
Telescopic wheeled snake-shaped robot ", this snake-shaped robot is made up of head-tail, modularity trunk, modularized joint portion, transmission side
For in formula, the kind of drive that the worm and gear that articular portion of the present invention uses combines with gear drive uses electricity with this patent
Magnetic-type eight has this qualitative difference to independent scalable wheel construction；And articular portion of the present invention, connection pipe body and transitional connection pipe
Body has length series and size series, and length and size can be expanded, it addition, between flange of the present invention and groove and pin
Fit form make fractionation and reconstruct become simple；And for example Shenyang Inst of Automation, Chinese Academy of Sciences's Patent No.
" Modularized structure-changeable snake-shape robot " of 02280911.2, it is by the joint module group of multiple mutually isostructural single-degree-of-freedoms
Become, and the present invention, articular portion is seriation and can rotate by double freedom, and structure has the difference of essence, it addition, should
Patent varistructure is to be 0 degree or 90 degree by the direction difference changing adjacent block to embody, and this passes through choosing with the present invention
Take different size and length series reconfigured geometry is diverse；The present invention relies on its compact frame for movement, easy expansion
And its controllability, can well realize the detection to trapped personnel, in order to allow rescue group earlier survivor is imposed relief,
The most not only can reduce the most unnecessary economy and human loss, more likely retrieve the warm of many human world, be beneficial to dimension
Protect the harmony of society.
Summary of the invention
It is an object of the invention to provide a kind of length and size adjustable, form, knot can be reconstructed according to difference rescue environment
Structure is simple, easily split, a kind of multi-joint that the suitability is strong easily splits easy reconstruct formula and searches and rescues bar.
The technical solution adopted for the present invention to solve the technical problems is: it includes head 1, articular portion 2, connection pipe body
3, transitional connection pipe body 4, afterbody 5, limits freedom of axial movement by coordinating between flange with groove between various piece,
The degree of freedom that rotates in a circumferential direction is limited by pin 39.
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 having pin-and-hole A7, flange
A8 and the groove A21 of articular portion 2 coordinates restriction freedom of axial movement, and pin-and-hole A7 is the same with pin-and-hole E20 location
's.
Articular portion 2 of the present invention is made up of left semiarthrosis 9, orthogonal formula partial gear 10 and right semiarthrosis 11, left
Semiarthrosis 9 and right semiarthrosis 11 are coupled together by orthogonal formula partial gear 10.
Connection pipe body 3 end of the present invention is with the flange B12 having pin-and-hole B13.
Transitional connection pipe body 4 small end of the present invention and big end have the flange C15 and band pin-and-hole D16 of band pin-and-hole C14 respectively
Flange D17, the size of flange C15 and flange D17 and pin-and-hole C14 and pin-and-hole D16 is phase with the size of place body portion
Association, the small end of transitional connection pipe body 4 is the same with the length of big end and is smoothed by bicircular arcs changeover portion 18
Cross.
The main body of afterbody 5 of the present invention is body, and front end is provided with the groove B31 of band pin-and-hole F30, and rear end is provided with pommel 32
And it is threaded the seal closure 33 of 34.
Left semiarthrosis 9 of the present invention and right semiarthrosis 11 are by upper half shell body 19, lower half shell body 22, worm screw 25, band
Gear shaft 24 and 4 ~ 8 bolt groups 23 of worm gear form.
Orthogonal formula partial gear 10 left and right sides of the present invention has respectively and is spatially staggered 90 ° and with standard module
Flank profil A36 and flank profil B38, it addition, also have boss A35 and boss B37 to connect left semiarthrosis 9 on orthogonal formula partial gear 10
With right semiarthrosis 11.
The corresponding of onesize same number is had on upper half shell body 19 of the present invention and lower half shell body 22
Bolt hole 26, bolt hole 26 number is 4 ~ 8, has reserved the square convex of two band screw holes having gap in lower half shell body 22
Platform 41, inserts interface 40 line in gap and then consolidates interface 40 by pad 42 and screw 43, and lower half shell body 22 is the most pre-
Having stayed the installation site of interface 40, in lower half shell body 22, worm screw 25 is arranged in annular flange flange C29, upper half shell body 19 and under
In half-shell body 22, the gear shaft 24 of band worm gear is arranged in annular flange flange B28, and the incomplete cross gear of monoblock type is arranged on ring
On shape flange A27.
The invention has the beneficial effects as follows: 1, patent of the present invention has the structure design of uniqueness, and compares tradition search and rescue aircraft
Structure, the articular portion 2 of the present invention, connection pipe body part 3, transitional connection pipe body portion 4 have the series being available for choosing, and this makes
Search and rescue mechanism to reconstruct to adapt to different search and rescue environment by choosing different series, further increase search and rescue mechanism
The suitability；2, transmission of the present invention is to be realized by the gear shaft 24 of orthogonal formula partial gear 10, worm screw 25 and band worm gear
, transmission that this gear drive and Worm Wheel System combine, the most steady point of transmission, accurately, reliability is high, and can
Realize the rotation of double freedom flexibly；3, the flange in various piece of the present invention, groove design structure are simplified ingenious, and flange is recessed
Can well limit freedom of axial movement between groove, pin can well limit the degree of freedom that rotates in a circumferential direction, upper lower tube body it
Between can also limit relative position by bolt group, add between various piece select HSSI High-Speed Serial Interface, IEEE1394 and
USB interface carries out signal transmission, and this makes whole mechanism have the features such as installation simple, easy fractionation, easy reconstruct.
Accompanying drawing explanation
Fig. 1 is the 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 articular portion of the present invention.
Fig. 5 is the structural representation of connection pipe body of the present invention.
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 articular portion 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 pin used by the present invention.
Figure 13 is interface diagram of the present invention.
Figure 14 is that interface of the present invention installs detailed view.
In figure: 1-head, 2-articular portion, 3-connection pipe body, 4-transitional connection pipe body, 5-afterbody, 6-telltale hole, 7-sells
The left semiarthrosis of hole A, 8-flange A, 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, 18-bicircular arcs changeover portion, 19-upper half shell body, 20-pin-and-hole E, 21-is recessed
Groove A, 22-lower half shell body, 23-bolt group, the gear shaft of 24-band 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.
Detailed description of the invention
With embodiment, the present invention is described in further details below in conjunction with the accompanying drawings.
Embodiment 1, the present invention includes head 1, articular portion 2, connection pipe body 3, transitional connection pipe body 4, afterbody 5, each
Limit freedom of axial movement by coordinating between flange with groove between part, limit, by pin 39, the freedom that rotates in a circumferential direction
Degree, provide constraints between head 1 and articular portion 2 used pin and articular portion 2 and connection pipe body 3 and
The pin 39 providing constraints used between transitional connection pipe body 4 and articular portion 2 is also seriation, 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 are all that the size with place body is
Linear correlation, the size of the pin 39 the most often located and length are also and the size linear correlation of institute connection pipe body 3.This
Also the present invention is made to have the advantages such as easily installation, quick detachable and reconstruct；Installation process is very simple, and the search and rescue mechanism pole assembled
Quick detachable and reconstruct, in actual applications, the articular portion 2 of different series, connection pipe body 3, transitional connection pipe body can be chosen
4, this just can meet the needs searching and rescuing mechanism to different rescue environment.Refering to Fig. 1 to Figure 14.
Embodiment 2, head 1 of the present invention is body, and the device being responsible for gathering infrared signal can be installed in inside, makees infrared
Detection is used, and front end is provided with telltale hole 6, can install Fei Nier lens, convenient collection signal；Rear end is provided with and has pin-and-hole A7's
Flange A8, flange A8 coordinate restriction freedom of axial movement with the groove A21 of articular portion 2, residing for pin-and-hole A7 and pin-and-hole E20
Position is the same.Refering to Fig. 1 to Figure 14, remaining is with embodiment 1.
Embodiment 3, articular portion 2 of the present invention is by left semiarthrosis 9, orthogonal formula partial gear 10 and right semiarthrosis 11
Composition, left semiarthrosis 9 and right semiarthrosis 11 are coupled together by orthogonal formula partial gear 10, make left and right semiarthrosis to distinguish
At the rotation with in surface that two angles are 90 °, i.e. can complete the double freedom rotary motion in joint, articular portion 2 is series
Changing, its size series can beBetween, length series can beBetween, " note:
Have ignored the size impact of flange, groove, size hereinafter is also herein "；The structure of left semiarthrosis 9 and right semiarthrosis 11 is
Just the same, simply they have spatially been staggered 90 ° of connections by orthogonal formula partial gear 10, and each joint can
Built-in by monolithic processor controlled motor, and the control signal that all of single-chip microcomputer all accepts pc machine realizes worm and gear and tooth
Transmission between wheel controls, and uses HSSI High-Speed Serial Interface, IEEE1394 and USB interface to carry out signal transmission between various piece；
Articular portion 2 uses the kind of drive that Worm Wheel System combines with gear drive；More than design makes the present invention have installation
Convenient, easily dismantle and reconstruct and stable transmission, accurately and the advantage such as compact conformation.Refering to Fig. 1 to Figure 14, remaining is with above-mentioned
Embodiment.
Embodiment 4, connection pipe body 3 end of the present invention is with having the flange B12 of pin-and-hole B13, and connection pipe body 3 is to be
Rowization, its size series can beBetween, length can be:~Between, its size system
Row are corresponding with articular portion 2, and under optional size series, each connection pipe body 3 can be according to different rescues
The needing of environment selects different length series, it is possible to effective expand the length searching and rescuing mechanism, improves it to rescue environment
The suitability, so the connection pipe body simple in construction of design, easy for installation, it is simple to dismantle and recombinate.Refering to Fig. 1 to Figure 14, remaining
Same above-described embodiment.
Embodiment 5, transitional connection pipe body 4 of the present invention is seriation, and the size series of its small end can be:Between, the size series of big end can be:Between, the size series at its two ends
Choosing is that the articular portion 2 with two ends is associated, and transitional connection pipe body 4 small end and big end have the flange of band pin-and-hole C14 respectively
C15 and the flange D17 of band pin-and-hole D16, the size of flange C15 and flange D17 and pin-and-hole C14 and pin-and-hole D16 and place body
The size of part is associated, and the small end of transitional connection pipe body 4 is the same with the length of big end and is to pass through bicircular arcs
Changeover portion 18 seamlessly transits, and has good mechanical property；Owing to transitional connection pipe body 4 also has length series, transition connects
Body 4 can rescue, according to different, the length that environmental selection is different, and size transition series will be according to joint portion selected by big small end
The series divided determines, searches and rescues the application of transition duct bodies part 4 in mechanism and can also solve tradition in addition to can expanding search and rescue bar
Search and rescue the mechanics transition problem that the rear end stress that do not solves of mechanism is bigger, the transitional connection pipe body simple in construction so designed,
Easy for installation, it is simple to dismantle and recombinate.Refering to Fig. 1 to Figure 14, remaining same above-described embodiment.
Embodiment 6, the main body of afterbody 5 of the present invention is body, and front end is provided with the groove B31 of band pin-and-hole F30, and rear end sets
There is pommel 32 and be threaded the seal closure 33 of 34.Refering to Fig. 1 to Figure 14, remaining same above-described embodiment.
Embodiment 7, left semiarthrosis 9 of the present invention and right semiarthrosis 11 are by upper half shell body 19, lower half shell body 22, snail
Bar 25, the gear shaft 24 of band worm gear and 4 ~ 8 bolt groups 23 form, and left and right semiarthrosis is fitted with an in check electricity
Machine, this makes the articular portion 2 of search and rescue bar can be by controlled motion.Refering to Fig. 1 to Figure 14, remaining same above-described embodiment.
Embodiment 8, orthogonal formula partial gear 10 left and right sides of the present invention have respectively be spatially staggered 90 ° and with
Flank profil A36 of standard module and flank profil B38, their modulus is identical, mutually staggers 90 ° on locus, thus, Zuo Banguan
The angle saving 9 parts and right semiarthrosis 11 plane residing respectively is 90 °；A worm screw 25 has all been installed inside every semiarthrosis
With the gear shaft 24 of a band worm gear, the gear on the gear shaft 24 of this belt transect worm gear can be along orthogonal formula partial gear 10
Flank profil rotate, say, that left semiarthrosis 9 and right semiarthrosis 11 can be separately implemented at the rotation in two vertical planes,
So whole joint can realize double freedom and rotate, it addition, also have boss A35 and boss on orthogonal formula partial gear 10
B37 connects left semiarthrosis 9 and right semiarthrosis 11.Refering to Fig. 1 to Figure 14, remaining same above-described embodiment.
Embodiment 9, upper half shell body 19 of the present invention and lower half shell body 22 have onesize same number
Corresponding bolt hole 26, bolt hole 26 number is 4 ~ 8, and upper half shell body 19 is identical by 4 ~ 8 with lower half shell body 22
Bolt group 23 connect composition joint body, lower half shell body 22 has been reserved the square boss of two band screw holes having gap
41, interface 40 line to be inserted in gap and then consolidate interface 40 by pad 42 and screw 43, lower half shell body 22 is the most reserved
The installation site of interface 40, interface 40 is the HSSI High-Speed Serial Interface supporting peripheral hardware hot-swappable, interface 40 one end band pin post, one end
Band pin hole, can realize the function that length is expanded, installs, dismantles and reconstructed easily, and this just greatly improves it and makees
For searching and rescuing the suitability of mechanism, in lower half shell body 22, worm screw 25 is arranged in annular flange flange C29, upper half shell body 19 and lower half
In package body 22, the gear shaft 24 of band worm gear is arranged in annular flange flange B28, and the incomplete cross gear of monoblock type is arranged on annular
On flange A27, upper half shell body 19 and lower half shell body 22 are rotational symmetric on locus in fact, but are because worm screw
25 are contained on lower half shell body 22, so, in lower half shell body 22 many annular flange flange C29 corresponding to worm screw 25 and
The installation site of interface 40, so that their structure is different.Refering to Fig. 1 to Figure 14, remaining same above-described embodiment.
Embodiment 10, the present invention is directed to currently to search and rescue during reality is searched and rescued mechanism coupling part rotatable or be difficult to
Expand feature and the deficiency of reconstruct, to searching and rescuing the head 1 of bar, articular portion 2, connection pipe body part 3, transitional connection pipe body portion
4, afterbody 5 has carried out structure design, transmission scheme to articular portion 2 has carried out design and selected signaling interface,
Searching and rescuing mechanism from tradition different, articular portion 2 of the present invention, connection pipe body part 3, transitional connection pipe body portion 4 are all seriations
, it is achieved that simple in construction, joint can double freedom rotation, easily fractionation, overall length and joint number all can easily be expanded
And the easily feature such as reconstruct, can be by choosing the articular portion 2 of different series, connection pipe body part 3 and transitional connection pipe
Body portion 4 reconstructs search and rescue bar and meets the demand to different rescue environment；Joint part of the present invention uses special orthogonal
Formula partial gear 10 is attached, and internal drive uses the mode that Worm Wheel System and gear drive combine, and each is single
Connection between unit is the most simple and practical, adds upper articular portion 2, connection pipe body part 3 and transitional connection pipe body portion 4 permissible
Expand type and number as required, add the selection of HSSI High-Speed Serial Interface IEEE1394 so that the present invention have compact conformation,
The advantages such as easy for installation, quick detachable, easy reconstruct, strengthen the present invention further as the practicality searching and rescuing mechanism.Refering to Fig. 1 to figure
14, remaining same above-described embodiment.
Embodiment 11, the present invention when structure designs, the major design profile of head 1, articular portion 2, connection pipe body
3, transitional connection pipe body 4 and the frame for movement of afterbody 5, the worm and gear searching and rescuing bar and gear drive combine transmission scheme and
Infrared acquisition scheme is selected, and selects including interface IEEE1394, and interface 40 pattern and the design of installation form thereof；Overall knot
Structure is searched and rescued mechanism only by 1, connection pipe body of a head, 2, transitional connection pipe body 4 and of 3, two articular portion
Individual afterbody 5 forms, and in actual applications, not representing search and rescue bar may only be made up of so multielement, the most all right
Add some articular portion 2, several connection pipe body 3 and several transitional connection pipe bodies 4 the most easily；For
The detailed form of interface installation site 44, has reserved the side of two band screw holes having gap in the lower half shell body 22 of the present invention
Shape boss 41, inserts interface 40 line in gap and then consolidates interface by pad 42 and screw 43.Refering to Fig. 1 to Figure 14,
Remaining same above-described embodiment.
Claims (4)
1. multi-joint easily splits easy reconstruct formula and searches and rescues a bar, it is characterized in that: it includes head (1), articular portion (2), connects
Body (3), transitional connection pipe body (4), afterbody (5), limited axially by coordinating between flange with groove between various piece
One-movement-freedom-degree, limits, by pin (39), the degree of freedom that rotates in a circumferential direction；Described transitional connection pipe body (4) small end and big end have respectively
Band pin-and-hole C(14) flange C(15) and band pin-and-hole D(16) flange D(17), flange C(15) and flange D(17) and pin-and-hole C
(14) with pin-and-hole D(16) size and the respectively corresponding cooperation of the size of place body portion, the small end of transitional connection pipe body (4)
It is the same with the length of big end and is seamlessly transitted by bicircular arcs changeover portion (18)；Described articular portion (2) is by a left side
Semiarthrosis (9), orthogonal formula partial gear (10) and right semiarthrosis (11) composition, left semiarthrosis (9) and right semiarthrosis (11) lead to
Cross orthogonal formula partial gear (10) to couple together；Described left semiarthrosis (9) and right semiarthrosis (11) by upper half shell body (19),
Lower half shell body (22), worm screw (25), the gear shaft (24) of band worm gear and 4 ~ 8 bolt group (23) compositions；Described upper half shell
The corresponding bolt hole (26) of onesize same number, bolt hole (26) is had on body (19) and lower half shell body (22)
Number is 4 ~ 8, has reserved the square boss (41) of two band screw holes having gap, by interface in lower half shell body (22)
(40) then by the firm interface (40) of pad (42) and screw (43) during gap inserted by line, lower half shell body (22) is the most 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, upper half shell body
(19) gear shaft (24) of band worm gear is arranged on annular flange flange B(28 and in lower half shell body (22)) on, the incomplete tooth of orthogonal formula
Wheel is arranged on annular flange flange A(27) on.
A kind of multi-joint the most according to claim 1 easily splits easy reconstruct formula and searches and rescues bar, it is characterized in that: described connection pipe body
(3) end is with having pin-and-hole B(13) flange B(12).
A kind of multi-joint the most according to claim 1 easily splits easy reconstruct formula and searches and rescues bar, it is characterized in that: described afterbody (5)
Main body be 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 (34)
Seal closure (33).
A kind of multi-joint the most according to claim 1 easily splits easy reconstruct formula and searches and rescues bar, it is characterized in that: described orthogonal formula is not
Completely gear (10) left and right sides has spatially be staggered 90 ° and flank profil A(36 with standard module respectively) and flank profil B(38),
It addition, at the upper boss A(35 arranged of orthogonal formula partial gear (10)) and boss B(37) connect respectively left semiarthrosis (9) and
Right semiarthrosis (11).
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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN103751924A CN103751924A (en) | 2014-04-30 |
| CN103751924B true CN103751924B (en) | 2016-11-23 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109573900B (en) * | 2018-12-24 | 2020-07-24 | 徐森良 | Adjustable four-claw deep hole rescue device and rescue method thereof |
| CN110561404B (en) * | 2019-09-12 | 2021-08-13 | 北京交通大学 | Modular reconfigurable robot teaching aid |
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| ES2249599T3 (en) * | 2001-03-07 | 2006-04-01 | Carnegie Mellon University | ROBOTIZED SYSTEM TO INSPECT GAS DRIVES. |
| CN2576433Y (en) * | 2002-11-06 | 2003-10-01 | 中国科学院沈阳自动化研究所 | Modularized structure-changeable snake-shape robot |
| US20100116080A1 (en) * | 2008-11-11 | 2010-05-13 | Intuitive Surgical, Inc. | Robotic linkage |
| CN101480793B (en) * | 2009-01-21 | 2010-10-20 | 河北理工大学 | Robot for search and rescue |
| CN201413398Y (en) * | 2009-05-22 | 2010-02-24 | 成都理工大学 | Portable single-channel acoustic wave vibration life search instrument |
| CN101637912A (en) * | 2009-07-27 | 2010-02-03 | 西南交通大学 | Joint of hyper-redundant robot |
| CN101653942A (en) * | 2009-09-29 | 2010-02-24 | 国营红林机械厂 | Rapid replacement mechanism of manipulators |
| WO2012059791A1 (en) * | 2010-11-05 | 2012-05-10 | Rīgas Tehniskā Universitāte | Robotic snake-like movement device |
| CN102069490B (en) * | 2010-11-17 | 2012-12-19 | 武汉理工大学 | Quickly-detachable combined search and rescue robot |
| CN102042366B (en) * | 2010-12-07 | 2014-06-04 | 配天(安徽)电子技术有限公司 | Worm reducer, robot joints and robot |
| CN102363065B (en) * | 2011-06-14 | 2013-04-03 | 北京信息科技大学 | Full fabric skin sensing autonomous flexible deformation search and rescue robot and operating method thereof |
| KR20130037056A (en) * | 2011-10-05 | 2013-04-15 | 강릉원주대학교산학협력단 | Snake type reconnaissance exploration robot and operation method thereof |
| CN103009379B (en) * | 2012-12-24 | 2014-04-09 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
| CN203710572U (en) * | 2014-01-10 | 2014-07-16 | 湘潭大学 | Multi-joint easy splitting and easy reconstitution type search and rescue rod |
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2014
- 2014-01-10 CN CN201410010902.3A patent/CN103751924B/en not_active Expired - Fee Related
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