CN101869745A - Rescue robot - Google Patents
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- CN101869745A CN101869745A CN 201010217503 CN201010217503A CN101869745A CN 101869745 A CN101869745 A CN 101869745A CN 201010217503 CN201010217503 CN 201010217503 CN 201010217503 A CN201010217503 A CN 201010217503A CN 101869745 A CN101869745 A CN 101869745A
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Abstract
The invention relates to a rescue robot, which adopts a traction rope as a driving mechanism of each joint and totally has 18 degrees of freedom, flexibly movement, stronger ability to adapt to uneven terrain and better obstacle capability. The rescue machine has small volume, light weight and stable operation, and is used in greatly dangerous disasters, especially in situations that people are anxious to ascertain the inside dangerous situations of disaster site but dare not or can not be close to or enter the disaster site.
Description
Technical field
The present invention relates to a kind of robot rescue field, it is low particularly to relate to a kind of cost, the bionic 6-leg rescue robot that the utilization scope is wide.
Background technology
Human safety in natural calamity such as earthquake, fire, flood serious threat, has caused people's extensive concern.Multi-subject knowledges such as Robotics, rescue attempt technology, disaster are organically blended, and development is used to the disaster relief device searching and succour with exploitation, is challenging frontier in the robotics research.
In recent years, particularly after the September 11 attacks, many in the world countries begin to develop from the angle of National Security Strategy protection and the rescue that dangerous school assignment robots such as various anti-terrorism explosion prevention robots, disaster relief robot are used for disaster.The wide rapids of Tokyo polytechnical university successively developed " ACM " from bionical angle with based on the thought of super mechanical system, " GENBU " and multi-series rescue robot model machines such as " SORYU ".The American South University of Florida develops the rescue robot Bujold that medical sensor is installed, and can obtain survivor's physiologic information and environmental information in the disaster scene, and send it to the external world.The multisensor rescue robot of development such as the HELMICK of California polytechnical university, mechanism structure is simple and easy to control, has the ability of quick stair climbing.The rescue robot CONRO of a kind of modular reconfigurable of development such as the SHEN of University of Southern California.A kind of snake-shaped robot Snakebot with three-dimensional motion of development such as the HAITH of NASA, it has stronger locomitivity in non-structure environment.The disaster scene rescue of September 11 attacks is considered to the practical application first time of disaster relief robot.Suffer that in World Trade Center the attack of terrorism back takes place several hours, " the auxiliary " center " of searching and rescuing of robot has been organized a troop that is made of roboticist and the technical staff of manufacturer immediately; carry operational robot and rush towards scene, World Trade Center ruins, provide technical support to rescue action in the U.S..Wherein three kinds of their volumes of robot of the MicroVGTV of Inuktun company, MicroTraces and MiniTraces are little, light weight, and that uses on the heap of ruins is maximum.Simultaneously, because rescue robot has potential application background and market, some companies have also got involved the research and development of rescue robot.In addition, international RobCup robot competition has also increased the special RobCup Rescue of rescue match, and the test platform of simulation study is provided for the rescue theory and technology.At present, disaster relief Robotics just develops to practical application from theoretical and experimental study.
Because have the collapse scene of building of easy secondary after the earthquake, the rescuer can't deeply scout or sue and labour, people are eager to find out the inside dangerous situation of disaster scene, but can't near or enter the disaster scene.At this moment, the participation of rescue robot can improve the efficient of rescue effectively and reduce rescuer's injures and deaths, they not only can help the staff to carry out rescue work, and can replace the staff to carry out the search and rescue task, the important effect of play more and more in disaster relief.From point of practical application, robot often will possess following ability: locomitivity (comprising shuttling performance, anti-tumble ability, stair climbing ability, deformability, self-adjusting ability), perception (internal state detectability, acquisition environment information capability, perception survivor's physiologic information ability), ability to communicate (feedback information ability, reception order ability) and work capacity.But on this basis, guarantee again simple in structure, light weight, volume is little, easily control.Existing disaster relief robot adopts gear drive, connecting rod transmission, hydraulic drive, band transmission etc. mostly, often causes the mechanical driving part complexity, causes quality bigger, and volume is bigger, the production cost height.
Summary of the invention
At the problems referred to above, main purpose of the present invention be to provide a kind of simple in structure, in light weight, volume is little, stable, practical, make and the low production cost rescue robot.
The present invention solves above-mentioned technical problem by following technical proposals: a kind of rescue robot, it is characterized in that: described rescue robot comprises trunk, article six, leg, pull rope, control module, power supply, supply unit, three legs in described six legs are installed in a side of described trunk, other three legs are installed in the opposite side of described trunk, described control module, camera, power supply, supply unit is installed on the trunk, described six legs constitute by three joints, described three joints are respectively base pitch, meropodium and tibia, described base pitch connects base pitch motion steering wheel by pull rope, meropodium connects meropodium motion steering wheel by pull rope, described tibia connects tibia motion steering wheel by pull rope, and described leg is provided with fixed disc, steering wheel, transition disk and fixing cake dish.
Wherein, described fixed disc, steering wheel, transition disk and fixedly on the cake dish two apertures that are 180 ° of distributions are arranged all, an end of described pull rope is cemented on the hole of steering wheel, and the other end of described pull rope is cemented on the described joint.
Wherein, described base pitch motion steering wheel is installed on the trunk, and meropodium motion steering wheel and tibia motion steering wheel are installed on six legs.
Wherein, described supply unit comprises that the camera, life-detection instrument, longitude and latitude locator, communication apparatus, first aid medicine, the life that are installed in the supply unit are kept liquid, food, the instrument of saving oneself.
Wherein, the fixed disc in described six legs on any leg is fixed on the meropodium of this leg, transition circle coiling base pitch on every leg and the joint motions between meropodium.
Using method of the present invention is: the supply unit at machine loads camera, life-detection instrument, the longitude and latitude locator, communication apparatus, necessary first aid medicine, life is kept liquid, the food and the instrument of simply saving oneself, opening power and control system switch, by the long-distance video transmission technology, remote control technology, longitude and latitude locator and life-detection instrument move to the disaster scene and search trapped personnel, when rescue machine is come trapped personnel at one's side the time, for trapped personnel provides urgently needed medicine, water, food, the communication apparatus and the instrument of simply saving oneself, make trapped personnel can adhere to arriving or saving oneself to the rescue personnel, the longitude and latitude locator is determined trapped personnel position, position for the rescue personnel simultaneously, and camera can feed back the disaster scene situation in real time.
Positive progressive effect of the present invention is: rescue machine provided by the invention has the following advantages: the present invention mainly relates to a kind of rope and draws six sufficient rescue robots, it is simple in structure, in light weight, volume is little, stable, practical, make and low production cost, in some dangerous big disasters, particularly people are eager to find out the inside dangerous situation of disaster scene, but dare not or can't near or the situation that enters the disaster scene its ample scope for abilities is arranged greatly.At this moment, the participation of rope traction six sufficient rescue machine can improve the efficient of rescue effectively and reduce rescuer's injures and deaths, they not only can help the staff to carry out rescue work, and can replace the staff to carry out the search and rescue task, the important effect of play more and more in disaster relief.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention;
Fig. 2 is the rope arrangement schematic diagram of hip joint transmission of the present invention;
Fig. 3 is the rope arrangement schematic diagram of knee joint transmission of the present invention;
Fig. 4 is the rope arrangement schematic diagram with the joint transmission of the present invention.
The specific embodiment
Provide preferred embodiment of the present invention below in conjunction with accompanying drawing, to describe technical scheme of the present invention in detail.
Fig. 1 is a structural representation of the present invention; Fig. 4 is the rope arrangement schematic diagram with the joint transmission of the present invention, referring to Fig. 1 and 4, rescue robot provided by the invention, comprise first leg 1, second leg 2, the 3rd leg 3, the 4th leg 4, the 5th leg 5, the 6th leg 6, pull rope 7, control module 8, camera 9, trunk 10, power supply 11, supply unit 12, first leg 1, second leg 2, the 3rd leg 3, the 4th leg 4, the 5th leg 5 and the 6th leg 6 are just the same, more than six legs constitute by three joints, these three joints are respectively base pitch, meropodium and tibia, first leg of seeing with most convenient on Fig. 11 is an example with the 6th leg 6: base pitch 101 is connected base pitch motion steering wheel 1011 by pull rope 7, meropodium 102 connects meropodium motion steering wheel 1022 by pull rope 7, tibia 103 is by being equipped with fixed disc 6001 on 1033, six legs of pull rope 7 connection tibia motion steering wheels, steering wheel 13, transition disk 6002 and fixing cake dish 6003.
First leg, 1 base pitch 101 can rotate in horizontal plane around axle, and first leg, 1 meropodium 102, first leg, 1 tibia 103 can rotate in vertical guide around axle respectively.Be furnished with 6 steering wheels that drive six leg base pitch motions on the trunk 10, all the other 12 steering wheels are divided into 6 groups, and every group of two steering wheels are arranged on the base pitch of every leg as shown in Figure 1.Each steering wheel, fixed disc, fixedly on cake dish and the transition disk two apertures that become 180 ° of distributions are arranged all, the end of restricting is cemented on the hole of steering wheel, and the other end is cemented on the adjunct of joint.Fixed disc on every leg is fixed on the meropodium of this leg, and the transition disk on every leg can be around the joint motions between base pitch and meropodium.All driving members in each joint constitute the ring of a sealing, steering wheel drives the steering wheel motion, steering wheel drives each joint motions indirectly by pull rope, all driving members in each joint constitute the ring of a sealing, the kind of drive is similar to the band transmission, be with transmission by the frictional force motion of band with wheel but be different from, can there be the problem of skidding of transshipping in this pull rope transmission.The pull rope of this kind of drive is because the two ends of rope equate that from separately pivot distance pull rope is in tension state, makes pull rope have the rigidity of bar always.
Fig. 2 is the rope arrangement schematic diagram of hip joint transmission of the present invention;
The layout of two sections pull ropes: pull rope one end is cemented on the aperture of steering wheel, the other end be fixed on the fixed fixed disc of meropodium on, steering wheel links to each other with steering wheel, the steering wheel motion drives steering wheel and rotatablely moves, steering wheel rotatablely moves and drives the fixed disc motion by pull rope, drives the motion of meropodium indirectly.All apertures on fixed disc and the steering wheel equate that from the distance of pivot separately pull rope is in not relaxed state always like this.
Fig. 3 is the rope arrangement schematic diagram of knee joint transmission of the present invention;
The layout of the two sections pull ropes in the right: pull rope one end is cemented on the aperture of steering wheel, the other end is fixed on the transition disk that can rotate around the axis, the layout of the two sections pull ropes in the left side: pull rope one end is cemented on the aperture of transition disk, on the fixedly cake dish that the other end is fixing and tibia is fixing.Steering wheel links to each other with steering wheel, and the steering wheel motion drives steering wheel and rotatablely moves, and steering wheel rotatablely moves and drives the motion of transition circle dish by the right pull rope, and the transition disk moves through left side pull rope and drives fixedly cake dish motion, drives the motion of tibia indirectly.The transition disk, fixedly all apertures on cake dish and the steering wheel equate that from the distance of pivot separately pull rope is in not relaxed state always like this.
Fig. 4 is a vertical view of the present invention, is the rope arrangement schematic diagram with the joint transmission.
Article six, leg is just the same with the rope layout of joint transmission, and each follows the layout of two sections pull ropes of joint transmission: pull rope one end is cemented on the aperture of steering wheel, and the other end is fixed on the base pitch.Steering wheel links to each other with steering wheel, and the steering wheel motion drives steering wheel and rotatablely moves, and steering wheel rotatablely moves and drives the base pitch motion by pull rope.Two apertures of pull rope on supracoxal anchoring point and steering wheel equate that from the distance of pivot separately pull rope is in not relaxed state always like this.
More than show and described basic principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the specification just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications; these changes and improvements all fall in the claimed scope of the invention, and the claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (5)
1. rescue robot, it is characterized in that: described rescue robot comprises trunk, article six, leg, pull rope, control module, power supply, supply unit, three legs in described six legs are installed in a side of described trunk, other three legs are installed in the opposite side of described trunk, described control module, camera, power supply, supply unit is installed on the trunk, described six legs constitute by three joints, described three joints are respectively base pitch, meropodium and tibia, described base pitch connects base pitch motion steering wheel by pull rope, meropodium connects meropodium motion steering wheel by pull rope, described tibia connects tibia motion steering wheel by pull rope, and described leg is provided with fixed disc, steering wheel, transition disk and fixing cake dish.
2. rescue robot according to claim 1, it is characterized in that: described fixed disc, steering wheel, transition disk and fixedly on the cake dish two apertures that are 180 ° of distributions are arranged all, one end of described pull rope is cemented on the hole of steering wheel, and the other end of described pull rope is cemented on the described joint.
3. rescue robot according to claim 1 is characterized in that: described base pitch motion steering wheel is installed on the trunk, and meropodium motion steering wheel and tibia motion steering wheel are installed on six legs.
4. rescue robot according to claim 1 is characterized in that: described supply unit comprises that the camera, life-detection instrument, longitude and latitude locator, communication apparatus, first aid medicine, the life that are installed in the supply unit are kept liquid, food, the instrument of saving oneself.
5. rescue robot according to claim 1 is characterized in that: the fixed disc in described six legs on any leg is fixed on the meropodium of this leg, transition circle coiling base pitch on every leg and the joint motions between meropodium.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010217503 CN101869745B (en) | 2010-07-02 | 2010-07-02 | Rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010217503 CN101869745B (en) | 2010-07-02 | 2010-07-02 | Rescue robot |
Publications (2)
| Publication Number | Publication Date |
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| CN101869745A true CN101869745A (en) | 2010-10-27 |
| CN101869745B CN101869745B (en) | 2013-01-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010217503 Expired - Fee Related CN101869745B (en) | 2010-07-02 | 2010-07-02 | Rescue robot |
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| CN (1) | CN101869745B (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103552616A (en) * | 2013-10-29 | 2014-02-05 | 赵丹 | Compound staggered self-recognition stacked structure robot |
| CN103760899A (en) * | 2013-05-30 | 2014-04-30 | 上海理工大学 | Infrared life detection robot |
| CN104386159A (en) * | 2014-11-14 | 2015-03-04 | 福建省泉州市第七中学 | Path planning-based bionic spider |
| CN104444418A (en) * | 2014-11-07 | 2015-03-25 | 上海交通大学 | Novel eighteen-degree-of-freedom robot with bucket |
| CN106218747A (en) * | 2016-07-29 | 2016-12-14 | 上海理工大学 | Solar biomimetric robot |
| CN106240670A (en) * | 2016-08-23 | 2016-12-21 | 哈尔滨工业大学 | A kind of five lower limb heavy duty barrier-exceeding vehicle mechanisms |
| CN106914910A (en) * | 2015-12-25 | 2017-07-04 | 苏茂 | Variable frictional force drives device |
| CN107175643A (en) * | 2017-05-22 | 2017-09-19 | 宁德师范学院 | A kind of Post disaster relief robot and its control system and method based on machine vision |
| CN107538503A (en) * | 2017-09-08 | 2018-01-05 | 湖南工业大学 | Earthquake rescue robot |
| CN107756414A (en) * | 2017-10-25 | 2018-03-06 | 重庆工商大学 | Strawberry picking robot |
| CN107813323A (en) * | 2017-11-29 | 2018-03-20 | 成都大学 | A kind of bionic type ant robot |
| CN107825432A (en) * | 2017-10-24 | 2018-03-23 | 西安航空学院 | Imitative spider-type robot for rescue |
| CN107933870A (en) * | 2017-11-20 | 2018-04-20 | 上海海事大学 | Helm gear under a kind of integrated water |
| CN108068907A (en) * | 2017-12-29 | 2018-05-25 | 河南工程学院 | A kind of new rescue robot |
| CN109499024A (en) * | 2018-12-29 | 2019-03-22 | 北京智能猿科技有限公司 | A kind of fire-fighting and rescue special type hexapod robot |
| CN110420424A (en) * | 2019-09-05 | 2019-11-08 | 华东交通大学 | A kind of super high-rise building fire rescue method and apparatus based on guided missile fire fighting truck |
| CN110665139A (en) * | 2019-09-05 | 2020-01-10 | 全球能源互联网研究院有限公司 | Robot and method for installing anti-falling equipment on tower |
| CN115070819A (en) * | 2022-05-31 | 2022-09-20 | 北京电子科技职业学院 | Bionic detector |
| CN115593161A (en) * | 2022-12-13 | 2023-01-13 | 中国民用航空飞行学院（Cn） | Amphibious bionic mechanism |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103760899A (en) * | 2013-05-30 | 2014-04-30 | 上海理工大学 | Infrared life detection robot |
| CN103552616A (en) * | 2013-10-29 | 2014-02-05 | 赵丹 | Compound staggered self-recognition stacked structure robot |
| CN104444418A (en) * | 2014-11-07 | 2015-03-25 | 上海交通大学 | Novel eighteen-degree-of-freedom robot with bucket |
| CN104444418B (en) * | 2014-11-07 | 2017-04-12 | 上海交通大学 | Eighteen-degree-of-freedom robot with bucket |
| CN104386159A (en) * | 2014-11-14 | 2015-03-04 | 福建省泉州市第七中学 | Path planning-based bionic spider |
| CN106914910A (en) * | 2015-12-25 | 2017-07-04 | 苏茂 | Variable frictional force drives device |
| CN106218747A (en) * | 2016-07-29 | 2016-12-14 | 上海理工大学 | Solar biomimetric robot |
| CN106218747B (en) * | 2016-07-29 | 2019-01-25 | 上海理工大学 | Solar biomimetric robot |
| CN106240670A (en) * | 2016-08-23 | 2016-12-21 | 哈尔滨工业大学 | A kind of five lower limb heavy duty barrier-exceeding vehicle mechanisms |
| CN107175643A (en) * | 2017-05-22 | 2017-09-19 | 宁德师范学院 | A kind of Post disaster relief robot and its control system and method based on machine vision |
| CN107538503A (en) * | 2017-09-08 | 2018-01-05 | 湖南工业大学 | Earthquake rescue robot |
| CN107825432A (en) * | 2017-10-24 | 2018-03-23 | 西安航空学院 | Imitative spider-type robot for rescue |
| CN107756414B (en) * | 2017-10-25 | 2020-10-09 | 重庆工商大学 | Strawberry picking robot |
| CN107756414A (en) * | 2017-10-25 | 2018-03-06 | 重庆工商大学 | Strawberry picking robot |
| CN107933870A (en) * | 2017-11-20 | 2018-04-20 | 上海海事大学 | Helm gear under a kind of integrated water |
| CN107933870B (en) * | 2017-11-20 | 2019-06-18 | 上海海事大学 | Helm gear under a kind of integrated water |
| CN107813323A (en) * | 2017-11-29 | 2018-03-20 | 成都大学 | A kind of bionic type ant robot |
| CN107813323B (en) * | 2017-11-29 | 2024-03-19 | 成都大学 | Bionic ant robot |
| CN108068907A (en) * | 2017-12-29 | 2018-05-25 | 河南工程学院 | A kind of new rescue robot |
| CN109499024A (en) * | 2018-12-29 | 2019-03-22 | 北京智能猿科技有限公司 | A kind of fire-fighting and rescue special type hexapod robot |
| CN110420424A (en) * | 2019-09-05 | 2019-11-08 | 华东交通大学 | A kind of super high-rise building fire rescue method and apparatus based on guided missile fire fighting truck |
| CN110665139A (en) * | 2019-09-05 | 2020-01-10 | 全球能源互联网研究院有限公司 | Robot and method for installing anti-falling equipment on tower |
| CN115070819A (en) * | 2022-05-31 | 2022-09-20 | 北京电子科技职业学院 | Bionic detector |
| CN115593161A (en) * | 2022-12-13 | 2023-01-13 | 中国民用航空飞行学院（Cn） | Amphibious bionic mechanism |
| CN115593161B (en) * | 2022-12-13 | 2023-03-24 | 中国民用航空飞行学院 | Amphibious bionic mechanism |
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