CN101845832B - Multifunctional rescuing and barrier-breaking robot - Google Patents
Multifunctional rescuing and barrier-breaking robot Download PDFInfo
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- CN101845832B CN101845832B CN2010101704263A CN201010170426A CN101845832B CN 101845832 B CN101845832 B CN 101845832B CN 2010101704263 A CN2010101704263 A CN 2010101704263A CN 201010170426 A CN201010170426 A CN 201010170426A CN 101845832 B CN101845832 B CN 101845832B
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Abstract
The invention provides a multifunctional rescuing and barrier-breaking robot which is characterized in that a barrier breaking mechanism is arranged in front of a robot body, a shovel mechanism for breaking barriers to walk on as well as carrying and transferring articles is arranged at the rear of the robot body, crawler traveling mechanisms are arranged at two sides below a chassis (32) of the robot body, and an electric control board control unit for controlling the robot to actuate is arranged on the chassis (32); the barrier breaking mechanism is used for breaking barriers by turning the head when the robot meets barriers; the barrier breaking mechanism is provided with two circular saws (19) and two cone drills (22) which are respectively used for achieving the works of breaking barriers respectively under the driving of a motor; and the shovel mechanism is provided with a shovel with lifting and overturning function. The invention can implement functions of breaking barriers, carrying and moving, searching and rescuing, positioning at the real time, loading rescue goods, and the like under the long-distance control in a plurality of sudden disaster accidents and more hostile environments so as to realize fast rescuing and has the advantages of small size, high flexibility, more practical functions, and the like.
Description
Technical field
The present invention relates to the disaster relief robot, specifically be meant multi-functional rescue robots such as under multiple adverse circumstances, can implementing search, rescue, broken barrier.
Background technology
Nearly more than 10 come, and a large amount of work is being done by developed countries such as Japan, the U.S. aspect the research of rescue robots such as earthquake, fire, have worked out the various robots that can be used for the disaster scene rescue.In China; Some experts and scholars have also recognized the importance of dangerous school assignment robot technical research such as disaster relief; At home many colleges and universities and research institute have carried out corresponding research simultaneously at the rescue robot technical elements; As far as disaster relief, only achieving notable results aspect the fire-fighting robot research.
The typical products of disaster relief robot is useful on large-scale " the self-propelled fire monitor " of fire rescue; Being usually used in high temperature, heat-flash radiation risk places such as petrochemical industry, oily irrigated area puts out a fire; Phenomenon generations such as casualties are avoided in the decontamination in cooling and chemical contamination place; " Enryu " that is used for snow disaster rescue produced by Japanese Tmsuk company, weighs 6 tons, 3 meters of heights, and the spread length of mechanical arm is 4 meters, can take a car like a cork in one's arms, each mechanical arm can lift the weight of 410kg.The main working tasks that the designer formulates for " Enryu " is that the car in the snow is got deeply stuck in the heavy snow piece and the rescue that form after cleaning accumulated snow, the mountain region snowslide.
In these disaster scenes, often need the common operation of several robots, make rescue work carry out slowly, and problem such as present rescue robot ubiquity self adaptation power is not enough, and volume is excessive, and accuracy is not enough, and the rescue form is single.And because the operation accuracy problem of big machinery often causes rescue personnel and survivor's life security all to be on the hazard.
Summary of the invention
Technical problem to be solved by this invention is: for overcoming the defective of prior art; Provide a kind of can be in multiple burst disaster accident and comparatively in the rugged environment; Implement that broken barrier under the Remote is moved, the rescue robot of functions such as searching rescue, real-time positioning and load relief goods, to realize quick rescue.
The present invention solves its technical problem and adopts following technical scheme:
Multifunctional rescuing and barrier-breaking robot provided by the invention; Comprise vehicle body and walking mechanism; Wherein: be provided with brokenly barrier mechanism in vehicle body the place ahead; Be equipped with at the vehicle body rear and be used for brokenly barrier and move ahead and carry the shovel mechanism that shifts article, creeper undercarriage is installed in the both sides below the chassis of vehicle body, and the automatically controlled plate control module that is used to control said robot motion is installed on the chassis; When meeting barrier, use brokenly barrier mechanism to break barrier through turning headstock, this breaks, and barrier mechanism is provided with two annular saws and two circular cones bore, and they realize abolishing obstacle work by driven by motor respectively; Shovel mechanism is provided with the scraper bowl of liftable and turn over function.
Above-mentioned multifunctional rescuing and barrier-breaking robot provided by the invention; It is in multiple burst disaster accident and comparatively in the rugged environment; Can substitute the plant equipment of many simple functions, implement that broken barrier under the Remote is moved, the application in searching rescue, real-time positioning or the load relief goods.
The present invention compared with prior art has following major advantage:
One of which. advantages of small volume, own wt has only 25kg, and flexibility is high; Can be complicated in situation, risk factor is high, and the area of operation field limited space (like the explosion caused at any time scene of fire of meeting and exist inflammable, the explosive hypertoxic gas scene of suing and labouring) searched for; Prospecting; Shooting data causes building simultaneously, and the possibility that the snowfield secondary caves in is little.
They are two years old. and vehicle body is a caterpillar belt structure, can adapt to multiple landforms.Advance and retreat are turned freely, across obstacle.
They are three years old. car body the place ahead by the drill bit of two spiral cone shapes with two by the annular saw that turns to shaft joint to be connected; The integral body of drill bit and annular saw can move reciprocatingly through before and after the driven by motor tooth bar; The rear then is made up of the liftable shoveling, and the broken barrier of the multiple landforms of realization that can be freely moves ahead.
They are four years old. the robot function is many, the barrier that can in multiple burst disaster accident and comparatively abominable rescue site, hocket brokenly, move, function such as cutting, can substitute the plant equipment of many simple functions, saved manpower and materials, more efficient.
They are five years old. can carry simple and easy lifesaving appliance on the car, and like face shield, food etc.Can draw rescue outfits such as life line and oxygen hose with car.Are furnished with a series of facilities; Include the camera that 360 degree rotate, DC servo driver, power supply control external member; The image data acquiring transmission equipment; The touch screen computer that succinct terminal operation interface is arranged makes the operator make best judgement, far distance controlled robot at beep box as host computer.
In a word, multifunctional rescuing and barrier-breaking robot provided by the invention can be in multiple burst disaster accident and comparatively in the rugged environment, implements that broken barrier under the Remote is moved, functions such as searching rescue, real-time positioning and load relief goods, to realize quick rescue.It is big to have remedied existing rescue robot volume, and deficiencies such as function singleness relate to the infiltration of multidisciplinary professional knowledge, is a economical and practical multifunctional rescue robot that high-performance drives monitoring system that possesses.
Description of drawings
Fig. 1 is the structural representation of multifunctional rescuing and barrier-breaking robot.
Fig. 2 is the front view of Fig. 1.
Fig. 3 is the left view of Fig. 2.
Fig. 4 is the vertical view of Fig. 2.
Fig. 5 is the broken structural representation that hinders mechanism among Fig. 1.
Fig. 6 is the structural representation of shovel mechanism among Fig. 1.
Among the figure: 1. scraper bowl; 2. the fixing twisted seat of scraper bowl; 3. first electric pushrod; 4. crossbeam; 5. second electric pushrod; 6. curved boom; 7. camera; 8. The Cloud Terrace vertical fixing support; 9. vertical steering wheel; 10. horizontal steering wheel; 11. The Cloud Terrace horizontal fixed support; 12. top cover; 13.LED lamp; 14. interlayer; 15. motor; 16. gyroscope wheel fixed mount; 17. steering gear fixed mount; 18. steering gear; 19. annular saw; 20. push rod end plate; 21. shaft joint; 22. circular cone bores; 23. the 3rd electric pushrod; 24. polished rod; 25. be with synchronously; 26. aluminum driven pulley; 27. interlayer support; 28. nylon directive wheel; 29. big twisted seat; 30 little twisted seats; 31. aluminum synchronizing wheel; 32. chassis; 33. curved boom free bearing.
The specific embodiment
Multifunctional rescuing and barrier-breaking robot provided by the invention comprises mechanical system design and Electronic Control two parts in its General layout Plan.Mechanical part comprises chassis, is installed in the caterpillar belt structure of both sides, chassis, is installed in the broken barrier of centrum drill bit and the annular saw mechanism of the extreme end of chassis, is installed in the shoveling device of chassis front end, is installed in The Cloud Terrace on the vehicle body top etc.
Below in conjunction with embodiment and accompanying drawing the present invention is described further, but does not limit the present invention.
Multifunctional rescuing and barrier-breaking robot provided by the invention, its structure such as Fig. 1 are to shown in Figure 4: by vehicle body, the broken mechanism that hinders, shovel mechanism, creeper undercarriage, and automatically controlled plate control module is formed.Wherein: the broken mechanism that hinders places vehicle body the place ahead, and creeper undercarriage is attached to the both sides of chassis below, and shovel mechanism is installed at the vehicle body rear, and automatically controlled plate control module is installed on the chassis.
Said broken barrier mechanism; Its structure is as shown in Figure 5; Mainly is made up of motor 15, steering gear 18 and broken barrier drill bit annular saw mechanism, wherein: broken barrier drill bit annular saw mechanism bores 22 by two annular saws 19 that are positioned at the body structure assembling with two circular cones and forms, and said annular saw and circular cone brill are independently mutual; Move reciprocatingly by before and after the driven by motor tooth bar respectively, and the polished rod 24 that is fixed on the chassis 32 is installed in the 3rd electric pushrod 23 both sides.Motor 15 has four, and they respectively are fixed on the push rod end plate 20 by gyroscope wheel fixed mount 16, and each links to each other with a gyroscope wheel shaft joint.In four gyroscope wheel shaft joints, wherein two gyroscope wheel shaft joints respectively connect circular cone brill 22 through a shaft joint 21; Two other gyroscope wheel shaft joint respectively connects steering gear 18 through a shaft joint 21; This steering gear links to each other with annular saw 19; This steering gear simultaneously is fixedly connected on the push rod end plate 20 by steering gear fixed mount 17, and push rod end plate 20 punches from the centre and installs the 3rd electric pushrod 23.
Should break barrier mechanism and be used to realize the broken function that hinders of rescue robot, during broken the barrier, push rod end plate 20 seesaws through electric pushrod 23 controls, because the fixation of polished rod 24, the motion of whole reciprocator is linear, rule.And the annular saw 19 that is equipped on the push rod end plate 20 can move reciprocatingly by before and after the driven by motor tooth bar respectively with the circular cone brill 22 this moments, implements effectively to break barrier efficiently, for example abolishes obstacles such as accumulated snow and long-pending soil.
Said shovel mechanism is the liftable shoveling, is similar to the front end structure of bulldozer, and 2 degree of freedom (going up and down upset) are arranged, and by 2 electric expansion bars power is provided, and is used for broken freely barrier equally and moves ahead, and can also realize carrying the function that shifts article.When meeting barrier, can use brokenly barrier mechanism to break barrier through turning headstock.
The concrete structure of this shovel mechanism is as shown in Figure 6: mainly be made up of scraper bowl 1, curved boom 6 and two electric pushrods.Wherein: scraper bowl 1 is connected through the crossbeam 4 of first electric pushrod 3 with 6 of two curved booms; Crossbeam 4 connects two curved booms 6; Second electric pushrod 5 is connected on the curved boom 6 by curved boom free bearing 33; By the spinning movement of first electric pushrod, 3 driving scraper bowls 1, second electric pushrod 5 is used for realizing the knee-action of curved boom 6, topples over function thereby help realization that the dress of article is got.Second electric pushrod 5 links to each other with chassis 32 through rap seat 30, big twisted seat 29 respectively with curved boom 6.The bottom of scraper bowl 1 through scraper bowl fixedly twisted seat 2 link to each other with first electric pushrod 3.
Said creeper undercarriage is synchronous band walking mechanism, and the same prior art of its structure is specifically as shown in Figure 2: by being with 25 synchronously, aluminum driven pulley 26, nylon directive wheel 28, aluminum synchronizing wheel 31, chassis 32, drive motors composition.Chassis 32 adopts the fine aluminum alloys to constitute, and its both sides are with synchronously with aluminum driven pulley 26, nylon directive wheel 28 and the aluminum synchronizing wheel 31 of 25 parcels.When drive motor drives is advanced; Because it is little with 25 strength layer carrying back distortion synchronously; And be with synchronously and process dentation week in 25 it is meshed with aluminum synchronizing wheel 31 profiles of tooth; So be with 25 not have relatively with 31 of aluminum synchronizing wheels and to slide synchronously, constitute Synchronous Transmission, aluminum driven pulley 26 and nylon directive wheel 28 play the effect of guiding support in traveling process.
This robot is because above-mentioned creeper undercarriage has been adopted in its both sides; So can adapt to multiple landforms; For example environment have soft lime earth surface, because muddy road surface that water for fire or leak causes and ups and downs ground, ruins, the multiple ground surface or terrain such as accumulated snow after the snow difficulty, can realize advancing and retreat, turn, cross over small-sized obstruction freely and climb the slope action of 30 degree.The area of overlooking of this robot is 500mm*400mm, and is small and exquisite flexible, but load-carrying reaches 20KG, directly the necessary relief goods of load.Whole locomotive body is made up of the fine aluminum alloy, through the crash tests of technical grade.
The present invention also is provided with the video monitoring acquisition system; Its structure is as shown in Figure 1: mainly by camera 7, steering wheel be used for providing the LED lamp (Fog-proof light) 13 of light source to constitute when the low visibility; Wherein: camera 7 is equipped on the The Cloud Terrace vertical fixing support 8; This support links to each other with vertical steering wheel 9, and simultaneously vertical steering wheel 9 is equipped on the The Cloud Terrace horizontal fixed support 11, and The Cloud Terrace horizontal fixed support 11 is connected with horizontal steering wheel 10.LED lamp 13 is installed on the top cover 12 of robot automobile body, can move up and down through vertical steering wheel and horizontal steering wheel control The Cloud Terrace, reaches the camera purpose of monitoring in real time.
Said automatically controlled plate control module is that this robot controls system efficiently, is contained in the robot automobile body.This automatically controlled plate control module is mainly by battery; Touch screen computer, the DC servo motor that has the CAN bus to connect, relay drives; The power control circuit of feedback information is formed in real time; Batteries etc. are fixing with interlayer 14 and interlayer support 27, and by top cover 12 whole coverings, to protect the circuit of this automatically controlled plate control module.Touch screen computer has succinct terminal operation interface as host computer, can the far distance controlled robot.Operating personnel send relevant control instruction through man machine operation interface to car body according to interface display and oneself state information.The entrained control system of car body transmits control signal to corresponding apparatus according to the instruction that console is sent from the rear on the one hand; Be responsible on the other hand sending the parameters of collection in worksite to the rear console, carry out scientific and reasonable decision-making to help operating personnel.
The same prior art of the circuit of said automatically controlled plate control module, its composition comprise power module, 485 communication modules, relay driving module, single-chip microcomputer MEGA16 module and LCD MODULE.
The multifunctional rescuing and barrier-breaking robot that present embodiment is announced; After being adapted at multiple sudden disaster generation; Under the surrounding environment complicated situation; Realize functions such as broken barrier is moved, searching rescue, real-time positioning, load relief goods simultaneously, carry out big machinery can't implement, and rescue after leaning on the quick calamity under the broken barrier of the manpower search and rescue situation merely.Multiple sudden disaster is meant earthquake, fire, snowslide, building collapse and mine disaster etc.
The course of work of brief description multifunctional rescuing and barrier-breaking robot of the present invention:
Robot controlling platform is realized the transmission of control instruction through the CAN bus transfer.Have robot advance control module, monitoring video module, shoveling mechanism module, cradle head mechanism module, broken barrier mechanism module and combined control module on the controlling platform interface, these modules do not have any special character, and those of ordinary skill all can be provided with.
During work, through the robot control module of advancing robot is carried out the control of speed setting and direction, its straight-line general speed is 0.5m/s, and peak acceleration is 0.5m/s
2But, and subtend all around four direction control.Through the shoveling mechanism module curved boom 6 and scraper bowl 1 are gone up and down to control separately, maximum can scoop up the 75kg weight, and the curved boom 6 the highest angles of lifting are 75 °, and scraper bowl 1 inclination maximum is 45 °.Through broken barrier mechanism module reciprocator 23, annular saw 19 and circular cone being bored 22 controls separately.Cooperate with the monitoring video module through the cradle head mechanism module and to carry out the image real-time collection, the vertical steering wheel 9 of cradle head mechanism module controls is controlled The Cloud Terrace with horizontal steering wheel 10 and is gone up and down and 360 ° of rotations of level.Check the realtime graphic that collects through the monitoring video module, and have recording function.
Comprise the broken barrier combination of cutting, the broken barrier combination of drill bit and entire combination in the combined control module.The broken barrier combination of cutting reaches the purpose of circulation cutting through control annular saw 19 and reciprocator 23.The broken barrier combination of drill bit bores 22 and the reciprocator 23 broken barrier of drill bit that circulates through the control circular cone.Entire combination is advanced mechanism, shoveling mechanism, cradle head mechanism through control machine People's Bank of China and is broken the cover combination action that barrier mechanism carries out robot, the repertoire of displaying robot.
Claims (10)
1. multifunctional rescuing and barrier-breaking robot; Comprise vehicle body and walking mechanism; It is characterized in that being provided with brokenly barrier mechanism in vehicle body the place ahead; Be equipped with at the vehicle body rear and be used for brokenly barrier and move ahead and carry the shovel mechanism that shifts article; Creeper undercarriage is installed in both sides in below, the chassis (32) of vehicle body, and the automatically controlled plate control module that is used to control said robot motion is installed on chassis (32), and being provided with on vehicle body that video monitoring acquisition system, automatically controlled plate control module comprise can the far distance controlled robot and as the touch screen computer of host computer; When meeting barrier, use brokenly barrier mechanism to break barrier through turning headstock, this breaks, and barrier mechanism is provided with two annular saws (19) and two circular cones bore (22), and they realize abolishing obstacle work by driven by motor respectively; Shovel mechanism is provided with the scraper bowl (1) of liftable and turn over function.
2. multifunctional rescuing and barrier-breaking robot according to claim 1; It is characterized in that said broken barrier mechanism is provided with motor (15), steering gear (18); Wherein: motor (15) has four; They respectively are fixed on the push rod end plate (20) by gyroscope wheel fixed mount (16), and each links to each other with a gyroscope wheel shaft joint; In four gyroscope wheel shaft joints, wherein two gyroscope wheel shaft joints respectively connect circular cone brill (22) through a shaft joint (21); Two other gyroscope wheel shaft joint respectively connects steering gear (18) through a shaft joint (21), and this steering gear links to each other with annular saw (19).
3. multifunctional rescuing and barrier-breaking robot according to claim 2 is characterized in that said steering gear is fixedly connected on the push rod end plate (20) by steering gear fixed mount (17), and push rod end plate (20) punches from the centre and installs the 3rd electric pushrod (23).
4. multifunctional rescuing and barrier-breaking robot according to claim 1; It is characterized in that said scraper bowl (1) gets the dress of article and topple over; Drive its rotation and drive curved boom (6) knee-action by first electric pushrod (3) and realize through second electric pushrod (5); Wherein: said scraper bowl is connected with crossbeam (4) between two curved booms (6) through first electric pushrod; This crossbeam connects two curved booms (6), and second electric pushrod is connected on the curved boom (6) by curved boom free bearing (33), and second electric pushrod links to each other with chassis (32) through little twisted seat (30), big twisted seat (29) respectively with curved boom.
5. multifunctional rescuing and barrier-breaking robot according to claim 2, the bottom that it is characterized in that said scraper bowl (1) through scraper bowl fixedly twisted seat (2) link to each other with first electric pushrod (3).
6. multifunctional rescuing and barrier-breaking robot according to claim 1; It is characterized in that on vehicle body, being provided with the video monitoring acquisition system; This system is mainly by camera (7), steering wheel be used for providing when the low visibility Fog-proof light of light source to constitute; Wherein: camera (7) is equipped on the The Cloud Terrace vertical fixing support (8), and this support links to each other with vertical steering wheel (9), and simultaneously vertical steering wheel (9) is equipped on the The Cloud Terrace horizontal fixed support (11); The Cloud Terrace horizontal fixed support (11) is connected with horizontal steering wheel (10), and these supports are installed on the top cover (12) of vehicle body.
7. multifunctional rescuing and barrier-breaking robot according to claim 6 is characterized in that Fog-proof light is the LED lamp, and it is installed on the top cover (12).
8. multifunctional rescuing and barrier-breaking robot according to claim 1; It is characterized in that said automatically controlled plate control module is contained in the vehicle body; This automatically controlled plate control module be provided with battery, touch screen computer, by the CAN bus connects and relay drives DC servo motor and in real time the power control circuit of feedback information form, wherein, battery is fixed with interlayer (14) and interlayer support (27); And by the whole covering of top cover (12), to protect the circuit of this automatically controlled plate control module.
9. the purposes of the said multifunctional rescuing and barrier-breaking robot of arbitrary claim in the claim 1 to 8; It is characterized in that this robot is in multiple burst disaster accident and comparatively in the rugged environment; Substitute the plant equipment of many simple functions, implement that broken barrier under the Remote is moved, the application in searching rescue, real-time positioning or the load relief goods.
10. purposes according to claim 9 is characterized in that said multiple burst disaster accident is meant earthquake, fire, snowslide, building collapse or accident of mine disaster.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2010101704263A CN101845832B (en) | 2010-05-07 | 2010-05-07 | Multifunctional rescuing and barrier-breaking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101704263A CN101845832B (en) | 2010-05-07 | 2010-05-07 | Multifunctional rescuing and barrier-breaking robot |
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| CN101845832A CN101845832A (en) | 2010-09-29 |
| CN101845832B true CN101845832B (en) | 2012-02-08 |
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| CN2010101704263A Expired - Fee Related CN101845832B (en) | 2010-05-07 | 2010-05-07 | Multifunctional rescuing and barrier-breaking robot |
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| CN102536116A (en) * | 2012-01-31 | 2012-07-04 | 曾风雷 | Bifunctional rotary digging machine |
| CN102995672A (en) * | 2012-07-06 | 2013-03-27 | 杨志明 | Multifunctional remote-controlled robot for mini-type engineering |
| CN102814810B (en) * | 2012-08-01 | 2014-11-05 | 宁波大学 | Rescue device |
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| CN103437763B (en) * | 2013-09-10 | 2015-11-18 | 淄博广梓机械有限公司 | A kind of underground remote-controlled scraper device people |
| CN105619375B (en) * | 2014-11-30 | 2017-12-19 | 中国科学院沈阳自动化研究所 | A kind of multifunctional rescue robot and its application method |
| CN105000077A (en) * | 2015-06-18 | 2015-10-28 | 芜湖扬宇机电技术开发有限公司 | Transmission device for rescue |
| CN104943597B (en) * | 2015-06-18 | 2018-10-30 | 芜湖扬宇机电技术开发有限公司 | Miniature relief car |
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| CN105282414A (en) * | 2015-11-04 | 2016-01-27 | 苍南县格瑶电子有限公司 | Mobile camera |
| CN106057056A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Teaching robot dolly based on STM32F4 microcontroller |
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| CN107765602A (en) * | 2017-11-23 | 2018-03-06 | 纳博特南京科技有限公司 | A kind of man-machine collaboration automatically analyzes detection means and its method |
| CN109011276A (en) * | 2018-06-08 | 2018-12-18 | 白社伟 | A kind of building intelligence fire-fighting system and its fire-fighting mode |
| CN109113738A (en) * | 2018-08-20 | 2019-01-01 | 深圳市中科智诚科技有限公司 | One kind having mineral aggregate transport and the clean intelligent mining machinery people that cools down |
| CN109015589B (en) * | 2018-08-22 | 2021-08-17 | 江西唐炬科技有限公司 | Detection rescue robot |
| CN110386074B (en) * | 2019-06-25 | 2023-06-20 | 天津大学 | System and device for vision of unmanned engineering operation equipment |
| CN110947138B (en) * | 2019-12-30 | 2021-05-14 | 山东同其信息科技有限公司 | Portable fire positioning fire-fighting robot |
| CN112889460B (en) * | 2021-01-20 | 2023-07-18 | 桂林电子科技大学 | Robot capable of automatically building fire belts |
| CN114301006B (en) * | 2021-12-29 | 2024-04-12 | 国网瑞嘉(天津)智能机器人有限公司 | Intelligent controller, insulating arm car and live working equipment |
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| CN200987272Y (en) * | 2006-12-16 | 2007-12-12 | 何进军 | Multipurpose tractor |
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