CN104626157A - Electric steering device used for ruins rescue guiding - Google Patents
Electric steering device used for ruins rescue guiding Download PDFInfo
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- CN104626157A CN104626157A CN201510022191.6A CN201510022191A CN104626157A CN 104626157 A CN104626157 A CN 104626157A CN 201510022191 A CN201510022191 A CN 201510022191A CN 104626157 A CN104626157 A CN 104626157A
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- leading screw
- flexible joint
- motor support
- head
- steel wire
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Abstract
The invention relates to an electric steering device used for ruins rescue guiding. The device comprises an adaptor, two motor supports, two drive devices, a flexible joint and a head portion. The adapter is fixed to the rear motor support, the front motor support is fixedly connected with the rear motor support, the rear drive device is installed in the rear motor support, and the front drive device is installed in the front motor support; one ends of two steel wire ropes are connected with the rear drive device, penetrate through the flexible joint and are connected with the interiors of two holes in the head portion, one ends of the other two steel wires are connected with the front drive device, penetrate through the flexible joint and are connected with the interiors of the other two holes in the head portion, and the four steel wires are distributed on the circumference at the interval of 90 degrees. The electric steering device can be used for inner wall detection of various pipelines and used in the occasions, such as earthquake ruins gap rescue occasions, where people can not directly enter easily, the size is small, passing capacity is good, and automatic control can be achieved through control of motors.
Description
Technical field
The present invention relates to a kind of electrically powered steering apparatus using same of searching and rescuing guiding for ruins, belong to robotics.
Technical background
In recent years, multiple all over the world earthquake (as 5.12 Wenchuan violent earthquakes, Fukushima, Japan earthquake etc.), the attack of terrorism etc. all cause serious casualties, and trace it to its cause, the wounded can not be given treatment in time often.Traditional search-and-rescue work is rely on manually to carry out always, but artificial search efficiency is low, and destroyed due to the fabric structure after calamity, there is the possibility that secondary collapses, this also brings hidden danger to search-and-rescue work, and the search-and-rescue work therefore after disaster is a great problem of puzzlement rescue worker always.Given this plant situation, along with the development of science and technology, countries in the world all begin one's study advanced search and rescue equipment, the search-and-rescue work after assisting rescue worker to carry out disaster.
Through the effort of many researchers, existing various search and rescue equipment comes out at present, and their form is different, is generally speaking roughly divided into following two classes: crawler type search and rescue robot and snakelike search and rescue robot.The search and rescue robot of this two type respectively has its pluses and minuses, can give full play to its advantage under some specific environment, brings very large help to search-and-rescue work.
But these search and rescue equipment often all at ruins apparent motion, can only can not be deep into inside, ruins, also just can't see the situation of the wounded below ruins.The present invention can address this problem effectively.
Summary of the invention
The object of the invention is to the defect existed for prior art, a kind of electrically powered steering apparatus using same of searching and rescuing guiding for ruins is provided.It is little that it has volume, and frame for movement is simple, low cost of manufacture, is easy to manipulation, steady performance.
For achieving the above object, the technical solution used in the present invention is:
Search and rescue an electrically powered steering apparatus using same for guiding for ruins, comprise an adaptor, two electric machine supports, two groups of drive units, a flexible joint, a head, described adaptor is fixed on rear motor support, and front motor support is fixedly connected with rear motor support; Rear drive equipment is arranged in rear motor support, and front driving device is arranged in front motor support; Two steel wire rope one end connect rear drive equipment, after passing, are connected in two holes of head from flexible joint, another two steel wire rope one end connect front driving device, after passing from flexible joint, be connected in the other two apertures of head, four steel wire ropes are in 90 degree of layouts of being circumferentially separated by.
Described rear drive equipment is identical with front driving device structure, phase 90 degree; Described rear drive equipment comprises rear drive motor, rear fixed pulley, rear shaft coupling, rear leading screw, rear feed screw nut, rear leading screw fixed head, and described front driving device comprises front wheel driving motor, front fixed pulley, front shaft coupling, front leading screw, front feed screw nut, front leading screw fixed head; Described rear drive motor is arranged in electric machine support, described rear leading screw one end connects rear drive motor by rear shaft coupling, the other end is fixed on rear leading screw fixed head, described rear leading screw fixed head is fixed on electric machine support, described rear feed screw nut is arranged on rear leading screw, described rear fixed pulley is arranged on electric machine support, and steel cable is connected directly between on rear feed screw nut, and another steel cable is connected on rear feed screw nut after walking around rear fixed pulley.
Described flexible joint comprises thin circular rings and thin hollow circular-tube, and thin circular rings and thin hollow circular-tube are alternately connected into flexible joint by four steel wire ropes.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and marked improvement:
The present invention can realize electric powered steering, and current industrial endoscope, life search and rescue the employing manual steering such as instrument.Electric machine rotation drives feed screw nut to move vertically, and feed screw nut makes Wire pulling and loosening, by the tension of steel wire with loosen and realize the skew of head to all directions.The present invention can be applied in various inner-walls of duct and detect, the occasion that the various mankind such as seismic ruins gap search and rescue not easily directly enter, and its size is less, and handling capacity is good, can realize automatic control by Electric Machine Control.
Accompanying drawing explanation
Fig. 1 is the electrically powered steering apparatus using same overall structure figure searching and rescuing guiding for ruins.
Fig. 2 is screw nut device stereogram.
Fig. 3 is screw nut device plane.
Fig. 4 is flexible joint schematic diagram.
Fig. 5 is head construction figure.
Detailed description of the invention
Below in conjunction with accompanying drawing and preferred embodiment, the present invention will be further described.
As shown in Figure 1 and Figure 5, a kind of electrically powered steering apparatus using same of searching and rescuing guiding for ruins, comprise an adaptor 1, two electric machine supports 2,13, two groups of drive units 3,4, a flexible joint 5, head 6, described adaptor 1 is fixed on rear motor support 2, and front motor support 13 is fixedly connected with rear motor support 2; Rear drive equipment 3 is arranged in rear motor support 2, and front driving device 4 is arranged in front motor support 13; Two steel wire rope one end connect rear drive equipment 3, after passing from flexible joint 5, be connected in two holes 22 of head 6, another two steel wire rope one end connect front driving device 4, after passing from flexible joint 5, be connected in the other two apertures 22 of head 6, four steel wire ropes are in 90 degree of layouts of being circumferentially separated by.
As shown in Figures 2 and 3, described rear drive equipment 3 is identical with front driving device 4 structure, phase 90 degree; Described rear drive equipment 3 comprises rear drive motor 7, rear fixed pulley 8, rear shaft coupling 9, rear leading screw 10, rear feed screw nut 11, rear leading screw fixed head 12, and described front driving device 4 comprises front wheel driving motor 14, front fixed pulley 15, front shaft coupling 16, front leading screw 17, front feed screw nut 18, front leading screw fixed head 19; Described rear drive motor 7 is arranged in electric machine support 2, described rear leading screw 10 one end connects rear drive motor 7 by rear shaft coupling 9, the other end is fixed on rear leading screw fixed head 12, described rear leading screw fixed head 12 is fixed on electric machine support 2, described rear feed screw nut 11 is arranged on rear leading screw 10, described rear fixed pulley 8 is arranged on electric machine support 2, and steel cable is connected directly between on rear feed screw nut 11, and another steel cable is connected on rear feed screw nut 11 after walking around rear fixed pulley 8.
As shown in Figure 4, described flexible joint 5 comprises thin circular rings 20 and thin circular rings 20 and thin hollow circular-tube 21 are alternately connected into flexible joint 5 by thin hollow circular-tube 21, four steel wire ropes.
The principle of apparatus of the present invention is as follows:
In order to make head 6 lead to all directions deflection smoothly, the present invention devises a kind of flexible joint 5 be combined with thin hollow circular-tube 21 by thin circular rings 20.Thin circular rings 20 has four apertures in a center of symmetry, hole diameter is identical with thin hollow circular-tube 21 internal diameter, four apertures respectively hollow circular-tube 21 thin with four align, by steel wire rope, these thin circular rings 20 and thin hollow circular-tube 21 are alternately together in series, composition flexible joint 5 has multiple free degree, there is very high flexibility, tightening up and loosening and can bend to all directions by steel wire rope.
Steel cable is connected directly between on rear feed screw nut 11, be connected to after rear fixed pulley 8 walked around by second steel wire rope on rear feed screw nut 11, force direction is changed through fixed pulley 8, one group of feed screw nut controls the deflection of both direction, namely when rear feed screw nut 11 advances, only tension steel cable, second steel wire rope loosens, thus head is offseted to one side, in like manner, when rear feed screw nut 11 retreats, strain second steel wire rope, steel cable loosens, and makes head be partial to other side.Second group of feed screw nut connects third and fourth steel wire rope, and the mounting means of two steel wire ropes is identical with the steel wire rope mounting means of first group of feed screw nut.When current feed screw nut 18 advances, the 3rd steel wire rope is tightened up, and the 4th steel wire rope loosens, and head offsets to one side, and when current feed screw nut 18 retreats, the 4th steel wire rope is tightened up, and the 3rd steel wire rope loosens, and head is partial to other side.Four steel wire ropes, in 90 degree of layouts of being circumferentially separated by, realize turning within the scope of 360 °, head during two groups of feed screw nut cooperatings.
Claims (3)
1. search and rescue the electrically powered steering apparatus using same of guiding for ruins for one kind, it is characterized in that: comprise an adaptor (1), two electric machine supports (2,13), two groups of drive units (3,4), a flexible joint (5), a head (6), described adaptor (1) is fixed on rear motor support (2), and front motor support (13) is fixedly connected with rear motor support (2); Rear drive equipment (3) is arranged in rear motor support (2), and front driving device (4) is arranged in front motor support (13); Two steel wire rope one end connect rear drive equipment (3), after passing from flexible joint (5), be connected in two holes (22) of head (6), another two steel wire rope one end connect front driving device (4), after passing from flexible joint (5), be connected in the other two apertures (22) of head (6), four steel wire ropes are in 90 degree of layouts of being circumferentially separated by.
2. electrically powered steering apparatus using same of searching and rescuing guiding for ruins according to claim 1, is characterized in that: described rear drive equipment (3) is identical with front driving device (4) structure, phase 90 degree, described rear drive equipment (3) comprises rear drive motor (7), rear fixed pulley (8), rear shaft coupling (9), rear leading screw (10), rear feed screw nut (11), rear leading screw fixed head (12), and described front driving device (4) comprises front wheel driving motor (14), front fixed pulley (15), front shaft coupling (16), front leading screw (17), front feed screw nut (18), front leading screw fixed head (19), described rear drive motor (7) is arranged in electric machine support (2), described rear leading screw (10) one end connects rear drive motor (7) by rear shaft coupling (9), the other end is fixed on rear leading screw fixed head (12), described rear leading screw fixed head (12) is fixed on electric machine support (2), described rear feed screw nut (11) is arranged on rear leading screw (10), described rear fixed pulley (8) is arranged on electric machine support (2), steel cable is connected directly between on rear feed screw nut (11), another steel cable is connected on rear feed screw nut (11) after walking around rear fixed pulley (8).
3. electrically powered steering apparatus using same of searching and rescuing guiding for ruins according to claim 1, it is characterized in that: described flexible joint (5) comprises thin circular rings (20) and thin hollow circular-tube (21), thin circular rings (20) and thin hollow circular-tube (21) are alternately connected into flexible joint (5) by four steel wire ropes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510022191.6A CN104626157A (en) | 2015-01-16 | 2015-01-16 | Electric steering device used for ruins rescue guiding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510022191.6A CN104626157A (en) | 2015-01-16 | 2015-01-16 | Electric steering device used for ruins rescue guiding |
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| Publication Number | Publication Date |
|---|---|
| CN104626157A true CN104626157A (en) | 2015-05-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510022191.6A Pending CN104626157A (en) | 2015-01-16 | 2015-01-16 | Electric steering device used for ruins rescue guiding |
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| CN (1) | CN104626157A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284314A (en) * | 2022-08-20 | 2022-11-04 | 西南交通大学 | Multifunctional flexible robot applied to ruins search and rescue |
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| US4685349A (en) * | 1985-12-20 | 1987-08-11 | Agency Of Industrial Science And Technology | Flexibly foldable arm |
| CN2774717Y (en) * | 2005-01-17 | 2006-04-26 | 江南大学 | Snaik shape robot of multiple freedom flexible joints |
| CN101480793A (en) * | 2009-01-21 | 2009-07-15 | 河北理工大学 | Robot for search and rescue |
| CN201455991U (en) * | 2009-06-25 | 2010-05-12 | 上海市杨浦区控江二村小学 | Earthquake search and rescue robot |
| CN102363065A (en) * | 2011-06-14 | 2012-02-29 | 北京信息科技大学 | Full fabric skin sensing autonomous flexible deformation search and rescue robot and operating method thereof |
| CN202765090U (en) * | 2012-09-12 | 2013-03-06 | 上海大学 | Automatic steering device of searching and rescuing robot |
| CN203780642U (en) * | 2014-03-19 | 2014-08-20 | 苏州大学 | Joint module for snake-like robot |
-
2015
- 2015-01-16 CN CN201510022191.6A patent/CN104626157A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4685349A (en) * | 1985-12-20 | 1987-08-11 | Agency Of Industrial Science And Technology | Flexibly foldable arm |
| CN2774717Y (en) * | 2005-01-17 | 2006-04-26 | 江南大学 | Snaik shape robot of multiple freedom flexible joints |
| CN101480793A (en) * | 2009-01-21 | 2009-07-15 | 河北理工大学 | Robot for search and rescue |
| CN201455991U (en) * | 2009-06-25 | 2010-05-12 | 上海市杨浦区控江二村小学 | Earthquake search and rescue robot |
| CN102363065A (en) * | 2011-06-14 | 2012-02-29 | 北京信息科技大学 | Full fabric skin sensing autonomous flexible deformation search and rescue robot and operating method thereof |
| CN202765090U (en) * | 2012-09-12 | 2013-03-06 | 上海大学 | Automatic steering device of searching and rescuing robot |
| CN203780642U (en) * | 2014-03-19 | 2014-08-20 | 苏州大学 | Joint module for snake-like robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284314A (en) * | 2022-08-20 | 2022-11-04 | 西南交通大学 | Multifunctional flexible robot applied to ruins search and rescue |
| CN115284314B (en) * | 2022-08-20 | 2024-06-07 | 西南交通大学 | Multifunctional flexible robot applied to ruin search and rescue |
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Application publication date: 20150520 |