CN101543666A - Bionic detection and rescue system - Google Patents
Bionic detection and rescue system Download PDFInfo
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- CN101543666A CN101543666A CN200910039239A CN200910039239A CN101543666A CN 101543666 A CN101543666 A CN 101543666A CN 200910039239 A CN200910039239 A CN 200910039239A CN 200910039239 A CN200910039239 A CN 200910039239A CN 101543666 A CN101543666 A CN 101543666A
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- 238000001514 detection method Methods 0.000 title claims abstract description 36
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims description 131
- 239000007788 liquid Substances 0.000 claims description 46
- 230000033001 locomotion Effects 0.000 claims description 23
- 210000005056 cell body Anatomy 0.000 claims description 21
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 17
- 210000004027 cell Anatomy 0.000 claims description 17
- 239000001301 oxygen Substances 0.000 claims description 17
- 229910052760 oxygen Inorganic materials 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000008520 organization Effects 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims description 6
- 230000008676 import Effects 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 229910000976 Electrical steel Inorganic materials 0.000 claims description 3
- 230000006870 function Effects 0.000 description 27
- 230000008859 change Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 241000222712 Kinetoplastida Species 0.000 description 3
- 231100000614 poison Toxicity 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 230000007096 poisonous effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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- 231100001261 hazardous Toxicity 0.000 description 1
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- 239000002341 toxic gas Substances 0.000 description 1
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Abstract
The present invention discloses a bionic detection and rescue system, which comprises a detection and rescue head, a turning power unit, a control power unit, an transmitting/receiving power unit, and several segments of moving units connected serially by springs; wherein, the front-end of the turning power unit is connected with the tail end of the detection and rescue head, the tail end of the turning power unit is connected with the front-end of the control power unit, and the tail end of the control power unit is connected with the front-end of the first moving unit, so that a main body is formed; the transmitting/receiving power unit is mounted on the tail end of the main body. The present invention has high accessibility, can move flexibly, and is easy to operate.
Description
Technical field
The present invention relates to a kind of detection and rescue system, more particularly, relate to a kind of bionic detection and rescue system.
Background technology
At present,, be accompanied by the generation of 911 incidents etc. though be the peace epoch, terrorism as one can't get rid of that Dark clouds hang heavily over the people of the world on.Various extreme terroristic organizations, force take blast, poison even means such as chemical and biological weapons, inferior nuclear weapon attack public place, causes a large amount of common people's injures and deaths, upsets the popular feelings, disrupt public order.At present China and surrounding area security situation are very severe, and various force reckless also repeatedly starts the violence attack of terrorism etc. to cause a large amount of casualties and enormous economic loss, upset civil order.5, the destruction of 12 Wenchuan violent earthquake mercilessnesses millions of people's beautiful homeland, seized nearly 100,000 people's valuable life.
In sum, it serves to show the fearful of disaster.When disaster took place, disaster scene often a slice was in disorder, possibility that exists The secondary disaster to take place at any time, and the road of disaster is through not only random, even the danger of extremely narrow and small or poisonous, electric, fire etc., and personnel generally are difficult to approach fast and implement effective the rescue.
Summary of the invention
Technical problem to be solved by this invention provides strong, mobile flexible, the easy to operate bionic detection and rescue system of a kind of accessibility.
In order to solve the problems of the technologies described above, the present invention has adopted following technical scheme:
A kind of bionic detection and rescue system, it comprises the moving cell body that detection and rescue head, steering power cell cube, control device power unit body, emission reception power unit body and some joints are cascaded by spring body; The front end of described steering power cell cube is connected with the end of detection and rescue head, the end of steering power cell cube is connected with the front end of control device power unit body, and the end of control device power unit body is connected with the front end of first moving cell body and forms body, and described emission receives the afterbody that the power unit body is installed in body;
The upper end is equipped with video frequency pick-up head and illuminating lamp before the head of described detection and rescue head, be separately installed with several in rear end, described video frequency pick-up head both sides and intercept sensor, and loudspeaker is installed in the preceding lower end of the head of detection and rescue head, in the upper end of this loudspeaker the rescue manipulator is installed, both sides in the lower end of rescue upper end of manipulator and video frequency pick-up head are separately installed with liquid supply mouth and oxygen supply mouth, and described liquid supply mouth links to each other with a liquia air device for supplying with oxygen supply mouth;
Described steering power cell cube has motor, around this motor, be symmetrically installed with several transfers, transfer comprise turn to solenoid, turn to the extension spring link, turn to extension spring, the power slide block, the described extension spring link that turns to connects steering power slide block, the sheathed solenoid that turns to of steering power slide block outer surface by turning to extension spring;
Described control device power unit body is made up of the power unit body lift-launch control actuating unit of no battery;
Described moving cell body comprises micromachine, the transmission worm screw, middle transmission whirlpool gear, running ring travelling gear, running ring connector, the running ring, first transmission device, second transmission device, the 3rd transmission device, housing, running encircles in the running annular groove that is installed in hull outside and by the micromachine that is installed in enclosure interior passes through first transmission device, second transmission device, the 3rd transmission device and running ring connector drive, running ring connector is by running ring travelling gear, running ring power transmission shaft, the running collar bearing, the running seal driving pin, running ring hanging hole, fairlead is formed with one heart, the running ring travelling gear of running ring connector is connected with middle transmission whirlpool gear, and running ring power transmission shaft, fairlead connects to one by the running seal driving pin with one heart, running ring hanging hole is located at concentric fairlead top and is connected with the running ring hook of running ring, middle transmission wrom tooth wheel is by intermediate drive gear, middle transmission turbine, jackshaft is formed, the intermediate drive gear of middle transmission wrom tooth wheel is connected with the travelling gear of running ring connector, and middle transmission turbine is connected with the transmission worm screw, the running ring comprises running ring hook, the rubber obturator, running ring rotating shaft, the wire spring body, running ring hook hangs the running ring hanging hole of running ring connector, steering mechanism is installed around micromachine, and surface of shell is covered by the corrugated rubber sealing shroud and surface of shell is smooth no clamping stagnation point.
Described body is snakelike.
Described rescue manipulator is made up of rescue manipulator driving rack, rescue robot movement guide rail, rescue intermediate drive gear, rescue transmission worm screw, function translator, motor, and motor makes the side-to-side movement in rescue robot movement guide rail of rescue manipulator driving rack by function translator, rescue transmission worm screw, rescue intermediate drive gear; Function translator is made up of function power transmission shaft, function trundle, electromagnetism slide mass, rescue mechanical arm transmission worm screw, walking running ring transmission worm screw, solenoid, described function power transmission shaft, electromagnetism slide mass, rescue mechanical arm transmission worm screw, walking running ring transmission worm screw, solenoid are respectively with motor coaxle and be installed in the motor front end, and the function trundle is installed on the function power transmission shaft; The electromagnetism slide mass is by solenoid, slide mass, the first transmission shift fork, the second transmission shift fork is formed, on the first transmission shift fork trundle draw-in groove is installed, slide mass drives the first transmission shift fork move left and right by solenoid, trundle snaps on the trundle draw-in groove of the first transmission shift fork and the first transmission shift fork snaps in the transmission fork slot that is located on the rescue mechanical arm transmission worm screw, slide mass also drives the second transmission shift fork move left and right by solenoid, and trundle snaps in the trundle draw-in groove of the second transmission shift fork and the second transmission shift fork snaps in the transmission fork slot that being located on the walking running ring transmission worm screw.
Described liquia air device for supplying is by pressure valve, air conduit, liquid conduits, the liquid conduits plug, the air conduit plug, the liquid conduits socket, the air conduit socket, the liquid pump, air pump, switch, the liquid supplies, the oxygen supplies is formed, described liquid supply mouth passes through pressure valve successively, liquid conduits, the liquid conduits plug, the liquid conduits socket, the liquid pump, switch links to each other with the liquid supplies, and described oxygen supply mouth passes through pressure valve successively, air conduit, the air conduit plug, the air conduit socket, air pump, switch links to each other with the oxygen supplies.
The present invention comprises that also carrying controls case, this carrying is controlled case and is comprised casing, barrow, storage battery, winding drum, ear microphone, the one-way movement controller, display, manipulation keyboard, storage battery is installed in bottom, casing right side, winding drum is installed in casing central authorities, ear microphone, display, manipulation keyboard all is installed in the top of casing and connects with the control actuating unit that carries of control device power unit body, the one-way movement controller is installed in the casing front bottom and in the casing front bottom moving cell body that can horizontally slip is installed also and imports and exports, and described liquid and air supply device are installed in the right side of casing.
Described one-way movement controller is made up of unidirectional operation switch and unidirectional operation controlling organization; The unidirectional operation switch is made up of stationary contact, movable contact, magnet slide mass, binding post, and the unidirectional operation controlling organization is made up of silicon steel sheet, connecting plate, coil.
The present invention also comprises the power supply power unit body that is used to power, and power supply power unit body is installed in the rear end of body, is made up of battery, motor, wired pipe groove, walking ring transmission mechanism, walking ring, shell.
The present invention also comprises remote control, and described remote control is made up of telecontrol antenna, handlebar, display screen, ear microphone, function key.
The present invention is owing to adopted said structure, and it comprises the moving cell body that detection and rescue head, steering power cell cube, control device power unit body, emission reception power unit body and some joints are cascaded by spring body; Running ring being installed on the moving cell body, and the running ring is driven and is rotated in the cannelure of hull outside by the micromachine of the enclosure interior that is installed in the moving cell body, thereby guarantees advancing and falling back of moving cell body; Steering mechanism is installed, thereby the action of control previous stage moving cell body as motion of head upper and lower, left and right and predecessor's straight hardness, thereby guarantees to turn to or the ability of jump certain height, width obstacle around the micromachine of moving cell body; Cover by the corrugated rubber sealing shroud by some spring bodies connections, surface between the moving cell body, thus entire system softness of the present invention, elongated, the body flat design; When the detection and rescue head of head of the present invention passes through, be that whole body can pass through, smooth no clamping stagnation point is designed in the moving cell surface, can be by any irregular road warp that connects the slit be arranged, thereby can smoothly the detection and rescue head that is installed on the body front portion be delivered to the appointed area, so the present invention has extremely strong accessibility, can arrive at the difficult zone that arrives, can not arrive, not arrive of rescue personnel and implement to scout, survey, it moves flexible, easy to operate simultaneously.The present invention is applicable to fire-fighting, rescue group detection, the rescue to earthquake, landslide, deep-well and hazardous area such as explosive, poisonous, in the hope of the trapped person being accomplished early detection, early stage assistance, continuity life, race against time for thoroughly implementing rescue, so system of the present invention is applied widely.The present invention can set up remote control, remote control can use in 500 meters scopes in remote control, can approach the kind of detecting danger shape, type or toxic gas rapidly, for event handling provides exact information, in case of emergency, utilize the rescue manipulator that dangerous goods are handled, also can be adapted to army, public security, special policeman the hidden scouting of approaching of place is hidden in enemy forward position or offender, have application value in army widely.
After the detailed description of reading embodiments of the present invention in conjunction with the accompanying drawings, it is clearer that characteristics of the present invention and advantage will become.
Description of drawings
Fig. 1 is the structural representation of embodiments of the invention one;
Fig. 2 is the structural representation of the detection and rescue head of embodiments of the invention one;
Fig. 3 is the structural representation of the rescue manipulator of embodiments of the invention one;
Fig. 4 is the structural representation of the liquia air device for supplying of embodiments of the invention one;
Fig. 5 is the structural representation of the remote control of embodiments of the invention one;
Fig. 6 is the structural representation of the function translator of embodiments of the invention one;
Fig. 7 is the structural representation of the steering power cell cube of embodiments of the invention one;
Fig. 8 is the structural representation of the transfer of embodiments of the invention one;
Fig. 9 is the structural representation of the unit kinetoplast of embodiments of the invention one;
Figure 10 is structural representation Fig. 1 of the running ring connector of embodiments of the invention one;
Figure 11 is structural representation Fig. 2 of the running ring connector of embodiments of the invention one;
Figure 12 is the structural representation of the middle transmission whirlpool gear of embodiments of the invention one;
Figure 13 is the structural representation of the running ring of embodiments of the invention one;
Figure 14 is structural representation Fig. 1 of the power supply power unit body of embodiments of the invention one;
Figure 15 is structural representation Fig. 2 of the power supply power unit body of embodiments of the invention one;
Figure 16 is the structural representation of the part parts of embodiments of the invention two; And
Figure 17 is the structural representation of the one-way movement controller of embodiments of the invention two.
The specific embodiment
The present invention is further detailed explanation with an embodiment below, but should illustrate that protection scope of the present invention is not limited only to this.
Embodiment one:
Consult Fig. 1, it is the structural representation of present embodiment.A kind of bionic detection and rescue system, it comprises the moving cell body 4 that detection and rescue head 1, steering power cell cube 2, control device power unit body 3, emission reception power unit body 5 and more piece are cascaded by spring body; The front end of described steering power cell cube 2 is connected with the end of detection and rescue head 1, the end of steering power cell cube 2 connects spring 32 by the cell cube of doing exercises and is connected with the front end of control device power unit body 3, and the end of control device power unit body 3 is connected with the front end of moving cell body 4 and forms snakelike body, and described emission receives the afterbody that power unit body 5 is installed in body.
Consult Fig. 2, the upper end is equipped with video frequency pick-up head 11 and illuminating lamp 12 before the head of described detection and rescue head 1, thereby present embodiment can in time show path and the field condition that passes through; Be separately installed with in rear end, described video frequency pick-up head 11 both sides two be used to intercept life signal intercept sensor 13, and be equipped with in the preceding lower end of the head of detection and rescue head 1 and be used to finish and wait to rescue the loudspeaker 14 that individual audio frequency is linked up; Rescue manipulator 15 is installed in the upper end of this loudspeaker 14, and rescue manipulator 15 is used to remove simple roadblock, life is tentatively rescued; Both sides in the lower end of rescue upper end of manipulator 15 and video frequency pick-up head 11 are separately installed with liquid supply mouth 16 and oxygen supply mouth 17, liquid supply mouth 16 and oxygen supply mouth 17 are used for life additive liq, oxygen etc., and described liquid supply mouth 16 links to each other with a liquia air device for supplying 6 with oxygen supply mouth 17.
Consult Fig. 7, Fig. 8, described steering power cell cube 2 has motor 1001, around this motor 1001, be symmetrically installed with four transfers 21, transfer 21 comprise turn to solenoid 22, turn to extension spring link 23, turn to extension spring 24, power slide block 25, the described extension spring link 23 that turns to connects steering power slide block 25, the sheathed solenoid 22 that turns to of steering power slide block 25 outer surfaces by turning to extension spring 24.Wherein, the masterpiece that generates an electromagnetic field after solenoid 22 energisings is used for power slide block 25, make power slide block 25 move right, power slide block 25 stretches and turns to extension spring 24, and then make and turn to extension spring link 23 to bear to the right pulling force, turn to extension spring link 23 to be connected to rigid body with power unit body 2 bolts, connect in cell cube under the support force effect of spring, power unit body 2 bears torsion upwards, thereby realizes the turning function that power unit body 2 upwards comes back.In addition, if power slide block 25 bears electromagnetic force when moving right, power unit body 2 will bear downward nose-down pitching moment, and realize the turning function of bowing downwards.
Described control device power unit body 3 is made up of the power unit body lift-launch control actuating unit 31 of no battery.
Consult Fig. 9 to 13, described moving cell body 4 comprises micromachine 41, transmission worm screw 42, middle transmission whirlpool gear 43, running ring travelling gear 45144, running ring connector 45, running ring 46, first transmission device, second transmission device, the 3rd transmission device, housing 40.Running ring 46 is installed in to drive by first transmission device, second transmission device, the 3rd transmission device and running ring connector 45 in the running annular groove in housing 40 outsides and by the micromachine 41 that is installed in housing 40 inside and rotates, and can realize advancing of snakelike body and moves back thereby can change turning to of micromachine 41.Running ring connector 45 encircles travelling gear 451, running ring power transmission shaft 452, running collar bearing 453, the seal driving pin 454 that turns round, the ring hanging hole 455 that turns round by turning round, fairlead 456 is formed with one heart, the running ring travelling gear 451 of running ring connector 45 is connected with middle transmission whirlpool gear 43, and running encircles power transmission shaft 452, fairlead 456 connects to one by running seal driving pin 454 with one heart, thereby transmission whirlpool gear is to the transmission of power of running ring in the middle of realizing, running ring hanging hole 455 is located at concentric fairlead 456 tops and is connected with the running ring hook 461 of running ring 46.Middle transmission wrom tooth wheel 43 is made up of intermediate drive gear 431, middle transmission turbine 432, jackshaft 433, the intermediate drive gear 431 of middle transmission wrom tooth wheel is connected with the travelling gear of running ring connector 45, and middle transmission turbine 432 is connected with transmission worm screw 42, intermediate drive gear 431 is connected with running ring travelling gear 45144, middle transmission turbine 432 is connected with transmission worm screw 42, acting in conjunction is given the running ring with the transmission of power of motor, realizes the walking function of snakelike body.Running ring 46 comprises running ring hook 461, rubber obturator 462, running ring rotating shaft 463, wire spring body 464, running ring hook 461 hangs the running ring hanging hole 455 of running ring connector 45, the running ring is set up with the power transmission shaft of connector to flexibly connect, when rotating under the drive of power transmission shaft at motor, hook 1 is passed to the running ring with torsion, make the running environmental protection hold synchronous rotation, the running ring contacts with ground, under the effect of frictional force, realize the purpose of unit kinetoplast motion, change turning to of motor and can realize advancing of unit kinetoplast and fall back.Steering mechanism 411 is installed around micromachine 41, and housing 40 surfaces are covered by the corrugated rubber sealing shroud and housing 40 surfaces are smooth no clamping stagnation point.
Consult Fig. 3, Fig. 6, described rescue manipulator 15 is made up of rescue manipulator driving rack 151, rescue robot movement guide rail 152, rescue intermediate drive gear 153, rescue transmission worm screw 154, function translator 155, motor 1001.Motor 1001 makes rescue manipulator driving rack 151 side-to-side movement in rescue robot movement guide rail 152 by function translator 155, rescue transmission worm screw 154, rescue intermediate drive gear 153, realize the folding of rescue manipulator 15, under the cooperation of snakelike body and then the function that realizes removing simple roadblock, implements simple rescue.Function translator 155 is made up of function power transmission shaft 1551, function trundle, electromagnetism slide mass 1553, rescue mechanical arm transmission worm screw 1554, walking running ring transmission worm screw 1555, solenoid, described function power transmission shaft 1551, electromagnetism slide mass 1553, rescue mechanical arm transmission worm screw 1554, walking running ring transmission worm screw 1555, solenoid are respectively with motor coaxle and be installed in the motor front end, and the function trundle is installed on the function power transmission shaft 1551; Electromagnetism slide mass 1553 is made up of solenoid, slide mass 15531, the first transmission shift fork 15532, the second transmission shift fork 15533.
The course of work of function translator 155 is: slide mass 15531 drives the first transmission shift fork 15532 or move right left under the effect of the electromagnetic force that solenoid produces, being installed in the trundle draw-in groove 155321 and the first transmission shift fork 15532 that trundle on the power transmission shaft 1 snaps on the first transmission shift fork 15532 snaps in the rescue mechanical arm transmission fork slot 15541 that is located on the rescue mechanical arm transmission worm screw 1554 simultaneously, thereby realize driven by motor function power transmission shaft 1551, trundle, the first transmission shift fork 15532, the 1554 coaxial together rotations of rescue mechanical arm transmission worm screw, and then promotion rescue intermediate drive gear 153, drive in the guide groove of rescue manipulator driving rack 151 on housing and move, change the folding that can realize rescuing manipulator 15 that turns to of motor by control system, under the cooperation of snakelike body and then realize removing simple roadblock, implement the function of simple rescue.Slide mass 15531 also drives the second transmission shift fork, 15533 move left and right by solenoid, trundle snaps in the trundle draw-in groove of the second transmission shift fork 15533 and the second transmission shift fork 15533 snaps in the walking running ring transmission fork slot 15551 that being located on the walking running ring transmission worm screw 1555, thereby realize driven by motor function power transmission shaft 1551, trundle, the second transmission shift fork 15533, the 1554 coaxial together rotations of rescue mechanical arm transmission worm screw, and then transmission turbine in the middle of promoting, drive the walking ring and rotate, change the function of advancing Yu falling back that can realize snakelike body that turns to of motor by control system.
Consult Fig. 4, described liquia air device for supplying 6 is by pressure valve 61, air conduit 62, liquid conduits 63, liquid conduits plug 64, air conduit plug 65, liquid conduits socket 66, air conduit socket 67, liquid pump 681, air pump 682, switch 69, the liquid supplies, the oxygen supplies is formed, described liquid supply mouth 16 is successively by pressure valve 61, liquid conduits 63, liquid conduits plug 64, liquid conduits socket 66, liquid pump 681, switch 69 links to each other with the liquid supplies, and described oxygen supply mouth 17 is successively by pressure valve 61, air conduit 62, air conduit plug 65, air conduit socket 67, air pump 682, switch 69 links to each other with the oxygen supplies.When the needs supply, liquid pump 681 or air pump 682 utilize the pressure of liquid (air) to back down pressure valve 2, thereby realize the rescue function of liquid (air) supply.
Consult Figure 14 to Figure 15, present embodiment also comprises the power supply power unit body 8 that is used to power, power supply power unit body 8 is installed in the rear end of snakelike body, is made up of battery 81, motor 1001, wired pipe groove 82, walking ring transmission mechanism 83, walking ring 84, shell 85.
Consult Fig. 5, present embodiment also comprises remote control 9, and described remote control 9 is made up of telecontrol antenna 91, handlebar 92, display screen, ear microphone 75, function key 94.
Embodiment two:
The difference of present embodiment and embodiment one is:
Consult Figure 16, in the present embodiment, also comprise carrying and control case 7, this carrying is controlled case 7 and is comprised casing 71, barrow 72, storage battery 73, winding drum 74, ear microphone 75, one-way movement controller 76, display 77, manipulation keyboard 78, storage battery 73 is installed in bottom, casing 71 right sides, winding drum 74 is installed in casing 71 central authorities, it is used to coil the system of the present invention of drawing in, ear microphone 75, display 77, manipulation keyboard 78 all is installed in the top of casing 71 and connects with the control actuating unit that carries of control device power unit body 3, one-way movement controller 76 is installed in casing 71 front bottom and in casing 71 front bottom the moving cell body that can horizontally slip is installed also imports and exports 79, and described liquid and air supply device are installed in the right side of casing 71.
Consult Figure 17, described one-way movement controller 76 is made up of unidirectional operation switch 761 and unidirectional operation controlling organization 762; Unidirectional operation switch 761 is made up of stationary contact 7611, movable contact 7612, magnet slide mass 7613, binding post 7614, and unidirectional operation controlling organization 762 is made up of silicon steel sheet 7621, connecting plate 7622, coil 7623.One-way movement controller 76 is used for the motor of protection power unit body when the snakelike body of (stretching, extension) the of the present invention system of gathering in.When snakelike body imports and exports 79 through the moving cell body; one-way movement controller 76 utilizes the electromagnetism same sex character that there is a natural attraction between the sexes at a stalemate; magnet slide mass 7613 is horizontally slipped; change the contact condition that moving (quiet) gets an electric shock; close the motor circuit of (connection) moving cell body in good time; make motor stop (beginning) running, thereby play the effect of protection motor.
Though described embodiments of the present invention in conjunction with the accompanying drawings; but those skilled in the art can make various distortion or modification within the scope of the appended claims; as long as be no more than the described protection domain of claim of the present invention, all should be within protection scope of the present invention.
Claims (8)
1, a kind of bionic detection and rescue system is characterized in that: it comprises the moving cell body (4) that detection and rescue head (1), steering power cell cube (2), control device power unit body (3), emission reception power unit body (5) and some joints are cascaded by spring body; The front end of described steering power cell cube (2) is connected with the end of detection and rescue head (1), the end of steering power cell cube (2) is connected with the front end of control device power unit body (3), and the end of control device power unit body (3) is connected with the front end of moving cell body (4) and forms body, and described emission receives the afterbody that power unit body (5) is installed in body;
The upper end is equipped with video frequency pick-up head (11) and illuminating lamp (12) before the head of described detection and rescue head (1), be separately installed with several in described video frequency pick-up head (11) rear end, both sides and intercept sensor (13), and loudspeaker (14) is installed in the preceding lower end of head of detection and rescue head (1), rescue manipulator (15) is installed in the upper end of this loudspeaker (14), be separately installed with liquid supply mouth (16) and oxygen supply mouth (17) in the upper end of rescue manipulator (15) and the both sides of the lower end of video frequency pick-up head (11), described liquid supply mouth (16) links to each other with a liquia air device for supplying (6) with oxygen supply mouth (17);
Described steering power cell cube (2) has motor (1001), around this motor (1001), be symmetrically installed with several transfers (21), transfer (21) comprise turn to solenoid (22), turn to extension spring link (23), turn to extension spring (24), power slide block (25), the described extension spring link (23) that turns to connects steering power slide block (25), the sheathed solenoid (22) that turns to of steering power slide block (25) outer surface by turning to extension spring (24);
Described control device power unit body (3) is made up of the power unit body lift-launch control actuating unit of no battery;
Described moving cell body (4) comprises micromachine (41), transmission worm screw 42), middle transmission whirlpool gear 43), running ring travelling gear (45144), running ring connector (45), running ring (46), first transmission device, second transmission device, the 3rd transmission device, housing (40), running ring (46) is installed in the running annular groove in housing (40) outside and by being installed in the inner micromachine (41) of housing (40) by first transmission device, second transmission device, the 3rd transmission device and running ring connector (45) drive, running ring connector (45) is by running ring travelling gear (451), running ring power transmission shaft (452), running collar bearing (453), running seal driving pin (454), running ring hanging hole (455), fairlead (456) is formed with one heart, the running ring travelling gear (451) of running ring connector (45) is connected with middle transmission whirlpool gear (43), and running ring power transmission shaft (452), fairlead (456) connects to one by running seal driving pin (454) with one heart, the ring hanging hole (455) that turns round is located at concentric fairlead (456) top and links up with 461 with the running ring of running ring (46)) be connected, middle transmission wrom tooth wheel (43) is by intermediate drive gear (431), middle transmission turbine (432), jackshaft (433) is formed, intermediate drive gear (431) is connected with the travelling gear of running ring connector (45), and middle transmission turbine (432) is connected with transmission worm screw (42), running ring (46) comprises running ring hook (461), rubber obturator (462), running ring rotating shaft (463), wire spring body (464), running ring hook (461) hangs the running ring hanging hole (455) of running ring connector (45), steering mechanism (411) is installed around micromachine (41), and housing (40) surface is covered by the corrugated rubber sealing shroud and housing (40) surface is smooth no clamping stagnation point.
2, bionic detection and rescue system according to claim 1 is characterized in that: described body is snakelike.
3, bionic detection and rescue system according to claim 1 and 2, it is characterized in that: described rescue manipulator (15) is made up of rescue manipulator driving rack (151), rescue robot movement guide rail (152), rescue intermediate drive gear (153), rescue transmission worm screw (154), function translator (155), motor (1001), and motor makes rescue manipulator driving rack (151) side-to-side movement in rescue robot movement guide rail (152) by function translator (155), rescue transmission worm screw (154), rescue intermediate drive gear (153); Function translator (155) is made up of function power transmission shaft (1551), function trundle, electromagnetism slide mass (1553), rescue mechanical arm transmission worm screw (1554), walking running ring transmission worm screw (1555), solenoid, described function power transmission shaft (1551), electromagnetism slide mass (1553), rescue mechanical arm transmission worm screw (1554), walking running ring transmission worm screw (1555), solenoid are respectively with motor coaxle and be installed in the motor front end, and the function trundle is installed on the function power transmission shaft (1551); Electromagnetism slide mass (1553) is by solenoid, slide mass (15531), the first transmission shift fork (15532), the second transmission shift fork (15533) is formed, on the first transmission shift fork (15532) trundle draw-in groove (155321) is installed, slide mass (15531) drives first transmission shift fork (15532) move left and right by solenoid, the trundle draw-in groove (155321) that trundle snaps in the first transmission shift fork (15532) goes up and the first transmission shift fork (15532) snaps in the rescue mechanical arm transmission fork slot (15541) that is located on the rescue mechanical arm transmission worm screw (1554), slide mass (15531) also drives second transmission shift fork (15533) move left and right by solenoid, and trundle snaps in the trundle draw-in groove of the second transmission shift fork (15533) and the second transmission shift fork (15533) snaps in the walking running ring transmission fork slot (15551) that being located on the walking running ring transmission worm screw (1555).
4, bionic detection and rescue system according to claim 1 and 2, it is characterized in that: described liquia air device for supplying (6) is by pressure valve 61), air conduit (62), liquid conduits (63), liquid conduits plug (64), air conduit plug (65), liquid conduits socket (66), air conduit socket (67), liquid pump (681), air pump (682), switch 69), the liquid supplies, the oxygen supplies is formed, described liquid supply mouth (16) is successively by pressure valve (61), liquid conduits (63), liquid conduits plug (64), liquid conduits socket (66), liquid pump (681), switch (69) links to each other with the liquid supplies, and described oxygen supply mouth (17) is successively by pressure valve (61), air conduit (62), air conduit plug (65), air conduit socket (67), air pump (682), switch (69) links to each other with the oxygen supplies.
5, bionic detection and rescue system according to claim 1 and 2, it is characterized in that: also comprise carrying and control case (7), this carrying is controlled case (7) and is comprised casing (71), barrow (72), storage battery (73), winding drum (74), ear microphone (75), one-way movement controller (76), display (77), manipulation keyboard (78), storage battery (73) is installed in bottom, casing (71) right side, winding drum (74) is installed in casing (71) central authorities, ear microphone (75), display (77), manipulation keyboard (78) all is installed in the top of casing (71) and connects with the control actuating unit that carries of control device power unit body (3), one-way movement controller (76) is installed in casing (71) front bottom and in casing (71) front bottom the moving cell body that can horizontally slip is installed also imports and exports (79), and described liquid and air supply device (6) are installed in the right side of casing (71).
6, bionic detection and rescue system according to claim 1 and 2 is characterized in that: described one-way movement controller (76) is made up of unidirectional operation switch (761) and unidirectional operation controlling organization (762); Unidirectional operation switch (761) is made up of stationary contact (7611), movable contact (7612), magnet slide mass (7613), binding post (7614), and unidirectional operation controlling organization (762) is made up of silicon steel sheet (7621), connecting plate (7622), coil (7623).
7, bionic detection and rescue system according to claim 1 and 2, it is characterized in that: also comprise the power supply power unit body (8) that is used to power, power supply power unit body (8) is installed in the rear end of body, is made up of battery (81), motor (1001), wired pipe groove (82), walking ring transmission mechanism (83), walking ring (84), shell.
8, bionic detection and rescue system according to claim 1 and 2, it is characterized in that: also comprise remote control (9), described remote control (9) is made up of telecontrol antenna (91), handlebar (92), display screen, ear microphone (75), function key (94).
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100392399A CN101543666B (en) | 2009-05-05 | 2009-05-05 | Bionic detection and rescue system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100392399A CN101543666B (en) | 2009-05-05 | 2009-05-05 | Bionic detection and rescue system |
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| CN101543666A true CN101543666A (en) | 2009-09-30 |
| CN101543666B CN101543666B (en) | 2012-10-31 |
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| CN2009100392399A Expired - Fee Related CN101543666B (en) | 2009-05-05 | 2009-05-05 | Bionic detection and rescue system |
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| CN101961870A (en) * | 2010-08-12 | 2011-02-02 | 燕山大学 | Danger rescue and pipe parallel robot |
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| CN106695769A (en) * | 2016-12-29 | 2017-05-24 | 上海理工大学 | Snakelike rescue robot |
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| GB2148799B (en) * | 1983-10-26 | 1987-04-01 | Trevan Hambly | Rescue apparatus |
| DE3741457A1 (en) * | 1987-12-08 | 1989-06-22 | Ehrke Ernst Hermann Dipl Ing | Combined rescue hook/throwing and floating bar |
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| CN101401988A (en) * | 2008-07-20 | 2009-04-08 | 石力元 | Life saving apparatus for persons falling into well |
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| CN102699915A (en) * | 2012-05-29 | 2012-10-03 | 淮海工学院 | Multi-sectional robot |
| CN102699915B (en) * | 2012-05-29 | 2014-10-08 | 淮海工学院 | Multi-sectional robot |
| CN103737579A (en) * | 2014-01-27 | 2014-04-23 | 青岛海艺自动化技术有限公司 | Snake robot with ability to adapt to uneven ground |
| CN103737579B (en) * | 2014-01-27 | 2015-10-14 | 青岛海艺自动化技术有限公司 | There is the snake-shaped robot adapting to out-of-flatness ground ability |
| CN103831840A (en) * | 2014-03-31 | 2014-06-04 | 东南大学 | Lasso-drive-based search mechanism for robot |
| CN104723348A (en) * | 2015-03-26 | 2015-06-24 | 上海大学 | Tubular body feed-in robot applied to gap or tube |
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| CN106695769A (en) * | 2016-12-29 | 2017-05-24 | 上海理工大学 | Snakelike rescue robot |
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| CN109334798B (en) * | 2018-09-13 | 2020-12-01 | 南京航空航天大学 | Multi-purpose robot driven by dry adhesion claw four-wheel foot paddle and movement method thereof |
| CN109573900A (en) * | 2018-12-24 | 2019-04-05 | 徐森良 | Adjustable four paws depth hole rescuing device and its rescue mode |
| CN109573900B (en) * | 2018-12-24 | 2020-07-24 | 徐森良 | Adjustable four-claw deep hole rescue device and rescue method thereof |
| CN110744533A (en) * | 2019-10-25 | 2020-02-04 | 东莞理工学院 | Domestic machine snake that has clamping function in gap |
| CN112415631A (en) * | 2020-11-10 | 2021-02-26 | 北京理工大学 | Inflation power self-growing device for earthquake relief |
| CN112809708A (en) * | 2021-02-26 | 2021-05-18 | 共享智能铸造产业创新中心有限公司 | Handle operating means and robot |
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