CN104943761B - A kind of earthquake rescue robot - Google Patents
A kind of earthquake rescue robot Download PDFInfo
- Publication number
- CN104943761B CN104943761B CN201510343000.6A CN201510343000A CN104943761B CN 104943761 B CN104943761 B CN 104943761B CN 201510343000 A CN201510343000 A CN 201510343000A CN 104943761 B CN104943761 B CN 104943761B
- Authority
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- China
- Prior art keywords
- rotating machine
- electric rotating
- side stand
- leg
- controller
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 23
- 238000004891 communication Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 6
- 230000004083 survival effect Effects 0.000 abstract description 4
- 239000007788 liquid Substances 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 239000003651 drinking water Substances 0.000 description 1
- 235000020188 drinking water Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Emergency Lowering Means (AREA)
Abstract
A kind of earthquake rescue robot, there is middle part controller in the application middle bracket, there is electric rotating machine on the controller of middle part, electric rotating machine has infrared inductor, signal transceiver is arranged at the top of the rotating shaft of electric rotating machine, the front side of middle bracket is connected with side stand by supporting cylinder with rear side, there is side controller in side stand, side stand outboard end has camera, there is distance-sensor on the outside of middle bracket and side stand, there is leg electric rotating machine in the gripper shoe of middle bracket and side stand both sides, prop up foot support one end to be connected with the rotating shaft of corresponding leg electric rotating machine, prop up the foot support other end to be connected with leg support frame, there is water tank below side stand, there is a pair of telescopic cylinder side to water tank outwardly, the telescopic rod end of telescopic cylinder has movable plate washer, there is suction pipe movable plate washer side.Rescue robot delicate structure of the present invention, landform strong adaptability, can be accurately positioned to be convenient for people to rescue, and can be in rescue while providing the liquid such as water, raising survivor's survival rate for rescuer.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of earthquake rescue robot.
Background technology
Earthquake in recent years occurs more and more frequently, once occurring earthquake often to bring huge disaster, now rescues in time
People just seems very crucial, and the hope that rescue time more late aggrieved personnel survive is just all the more remote, after heavy construction is collapsed, meeting
Produce a large amount of building remains, people is crushed on below and is difficult to save oneself, at present conventional rescue mode, be by life-detection instrument pair
People is positioned, then passes through large excavator, excavates building waste thereon, but life-detection instrument detection range has very much
Limit, and often not accurate enough, and the quantity of life-detection instrument will not be very many, therefore easily causing rescue time delays,
Impact rescue effect.
Content of the invention
For problem above, the present invention provides a kind of earthquake rescue robot, and the rescue robot delicate structure, landform are fitted
Ying Xingqiang, can load gap to building the personnel in remains carries out fast accurate detection, so as to be accurately positioned to facilitate people
Rescue, and can be in rescue while provide the liquid such as water for rescuer, raising survivor's survival rate, for reaching this purpose, this
Bright a kind of earthquake rescue robot is provided, including middle bracket, electric rotating machine, infrared inductor, signal transceiver, middle part
Controller, side stand, side controller, distance-sensor, support cylinder, fold connecting plate, leg electric rotating machine, foot support,
End motion motor, leg support frame, camera, water tank, telescopic cylinder, movable plate washer and suction pipe, in having in the middle bracket
Portion's controller, the rotating shaft outer wall for having electric rotating machine, the electric rotating machine on the middle part controller are provided with infrared inductor, institute
State the rotating shaft of electric rotating machine top have signal transceiver, the front side of the middle bracket and rear side by support cylinder with
Side stand is connected, and there is folding connecting plate the support cylinder both sides, have side controller, on the outside of the side stand in the side stand
There is camera end, and on the outside of the middle bracket left and right sides and side stand, there is distance-sensor in the corner on both sides, described in
There are leg electric rotating machine, described foot support one end and corresponding leg electric rotating machine in the gripper shoe of portion's support and side stand both sides
Rotating shaft be connected, the described foot support other end is connected with leg support frame, described foot support and leg support frame connecting place both sides
Respectively there is an end motion motor, below the side stand, have water tank, there is a pair of telescopic cylinder side to the water tank outwardly, described
The telescopic rod end of telescopic cylinder has movable plate washer, and the activity plate washer has suction pipe in side outwardly, has between two telescopic cylinders
Water tank is connected by flexible pipe with corresponding suction pipe.
Further improvement of the present invention, the rotating shaft outer wall of the electric rotating machine are provided with 3 infrared inductors, described infrared
Inductor can design multiple infrared senses angularly around the rotating shaft one week of electric rotating machine to improve search efficiency and improving search effect
Answer device and rotary search is carried out to ensure nothing dead angle by motor.
Further improvement of the present invention, by one or extremely between the front side of the middle bracket and rear side and side stand
Few a pair of support cylinders, the present invention can arrange corresponding support cylinder according to robot size.
Further improvement of the present invention, is installed with communication apparatus on the side controller, can set for the ease of rescue
Communication apparatus is put to facilitate disaster affected people to contact with rescue personnel.
Further improvement of the present invention, the leg support frame bottom have gripper or electromagnet, for the ease of movement, can be
Leg support frame bottom arranges gripper or electromagnet, and gripper is suitable for complex landform, and electromagnetism iron rule is suitable for robot
Move along reinforcing bar.
Further improvement of the present invention, has flash lamp in the main body of the camera, knows machine for the ease of disaster affected people
Device people can aside arrange flash lamp.
Further improvement of the present invention, has temperature inductor and humidity sensor, the present invention on the side stand inner support
Temperature inductor and humidity sensor can be arranged to detect concrete landform, in order to rescue.
A kind of earthquake rescue robot of present invention offer, the artificial six pin climbing robot of the machine, using creeping, pin is carried out
Creep, landform strong adaptability, its are mainly made up of 3 parts, by supporting cylinders between each several part, when its outer distance
Inductor detects gap and cannot creep, and one end is fixed by claw.The other end increases robot length by cylinder, so as to across
There is infrared inductor in more larger gap, intermediate portion, in time the personnel of surviving quickly can be positioned, and mid portion has letter
Number transceiver carries out signal transmitting and receives, and front and rear part can be provided with camera, temperature inductor and humidity sensor can
Facilitate external staff to understand the inside situation, front and rear part bottom is provided with water tank, necessary drinking-water can be provided for disaster affected people, with
Disaster affected people survival ability is improved, front and rear part can also be equipped with flash lamp in addition, can be easy to remind disaster affected people to note, front and rear part
Divide and communication apparatus is additionally provided with, disaster affected people can be easy to get in touch with the external world, saved oneself according to extraneous commander.
Description of the drawings
Fig. 1 is schematic diagram of the present invention：
Illustrate:
1st, middle bracket；2nd, electric rotating machine；3rd, infrared inductor；
4th, signal transceiver；5th, middle part controller；6th, side stand；
7th, side controller；8th, communication apparatus；9th, distance-sensor；
10th, cylinder is supported；11st, connecting plate is folded；12nd, leg electric rotating machine；
13rd, foot support is propped up；14th, end motion motor；15th, leg support frame；
16th, electromagnet；17th, camera；18th, temperature inductor；
19th, humidity sensor；20th, flash lamp；21st, water tank；
22nd, telescopic cylinder；23rd, movable plate washer；24th, suction pipe.
Specific embodiment
Invention is described in detail below in conjunction with drawings and Examples：
A kind of earthquake rescue robot of present invention offer, the rescue robot delicate structure, landform strong adaptability, can load
Gap carries out fast accurate detection to building the personnel in remains, so as to be accurately positioned to be convenient for people to rescue, and can
In rescue while the liquid such as water are provided for rescuer, improve survivor's survival rate.
Used as an embodiment of the present invention, the present invention provides a kind of earthquake rescue robot, including middle bracket 1, rotation
Motor 2, infrared inductor 3, signal transceiver 4, middle part controller 5, side stand 6, side controller 7, distance-sensor 9,
Support cylinder 10, fold connecting plate 11, leg electric rotating machine 12, foot support 13, end motion motor 14, leg support frame 15,
Camera 17, water tank 21, telescopic cylinder 22, movable plate washer 23 and suction pipe 24, have middle part controller 5, institute in the middle bracket 1
The rotating shaft outer wall that stating has electric rotating machine 2, the electric rotating machine 2 on the controller 5 of middle part is provided with infrared inductor 3, the rotation
The top of the rotating shaft of motor 2 have signal transceiver 4, the front side of the middle bracket 1 and rear side by support cylinder 10 with
Side stand 6 is connected, and there is folding connecting plate 11 support 10 both sides of cylinder, have side controller 7, the side in the side stand 6
There is distance in the corner that 6 outboard end of support has camera 17,1 left and right sides of the middle bracket and 6 outside both sides of side stand
Inductor 9, has leg electric rotating machine 12, described foot support 13 1 in the gripper shoe of the middle bracket 1 and 6 both sides of side stand
Hold and be connected with the rotating shaft of corresponding leg electric rotating machine 12, described 13 other end of foot support is connected with leg support frame 15, described
Foot support 13 respectively has an end motion motor 14 with 15 connecting place both sides of leg support frame, and there is water tank 21 6 lower section of the side stand,
The telescopic rod end that there is a pair of telescopic cylinder 22, the telescopic cylinder 22 side outwardly of the water tank 21 has movable plate washer 23, institute
There is suction pipe 24 side outwardly to state movable plate washer 23, has flexible pipe by water tank 21 and 24 phase of corresponding suction pipe between two telescopic cylinders 22
Even.
Used as a kind of optimal specific embodiment of the present invention, the present invention provides schematic diagram a kind of earthquake rescue as shown in Figure 1
Robot, including middle bracket 1, electric rotating machine 2, infrared inductor 3, signal transceiver 4, middle part controller 5, side stand
6th, side controller 7, distance-sensor 9, support cylinder 10, folding connecting plate 11, leg electric rotating machine 12, a foot support 13, end
Portion's motion motor 14, leg support frame 15, camera 17, water tank 21, telescopic cylinder 22, movable plate washer 23 and suction pipe 24, described in
There is middle part controller 5 in portion's support 1, the rotating shaft outer wall for having electric rotating machine 2, the electric rotating machine 2 on the middle part controller 5 sets
Be equipped with 3 infrared inductors 3, the infrared inductor angularly around the rotating shaft one week of electric rotating machine, in order to improve search efficiency
Improve search effect to design multiple infrared inductors and carry out rotary search to ensure nothing dead angle by motor, the electric rotating
Signal transceiver 4 is arranged at the top of the rotating shaft of machine 2, passes through one between the front side of the middle bracket 1 and rear side and side stand 6
Individual or at least one pair of support cylinder 10 is connected, and the present invention can be arranged accordingly according to robot size and support cylinder, described
There is folding connecting plate 11 support 10 both sides of cylinder, have side controller 7, be installed with the side controller 7 in the side stand 6
Communication apparatus 8, can arrange communication apparatus to facilitate disaster affected people to contact with rescue personnel for the ease of rescue, the side stand 6
Outboard end has camera 17, has flash lamp 20, know robot for the ease of disaster affected people in the main body of the camera 17
Flash lamp can be aside set, and there is distance-sensor in the corner on 1 left and right sides of the middle bracket and 6 outside both sides of side stand
9, have leg electric rotating machine 12 in the gripper shoe of the middle bracket 1 and 6 both sides of side stand, described 13 one end of foot support with right
The rotating shaft of leg electric rotating machine 12 is answered to be connected, described 13 other end of foot support is connected with leg support frame 15, the leg support frame
There are gripper or electromagnet 16 in 15 bottoms, for the ease of movement, can arrange gripper or electromagnet, machinery in leg support frame bottom
Pawl is suitable for complex landform, and electromagnetism iron rule is suitable for Robot reinforcing bar and moves, described foot support 13 and leg
Respectively there is an end motion motor 14 15 connecting place both sides of support, and there is water tank 21 6 lower section of the side stand, and the water tank 21 is outwardly
The telescopic rod end that there is a pair of telescopic cylinder 22, the telescopic cylinder 22 side has movable plate washer 23, activity 23 court of plate washer
There is suction pipe 24 outer side, has flexible pipe that water tank 21 is connected with corresponding suction pipe 24, in the side stand 6 between two telescopic cylinders 22
There are temperature inductor 18 and humidity sensor 19 on support, the present invention can arrange temperature inductor and humidity sensor to specifically
Shape is detected, in order to rescue.
The above, is only presently preferred embodiments of the present invention, is not the limit for making any other form to the present invention
System, and any modification made of technical spirit according to the present invention or equivalent variations, still fall within present invention model required for protection
Enclose.
Claims (7)
1. a kind of earthquake rescue robot, including middle bracket（1）, electric rotating machine（2）, infrared inductor（3）, signal transmitting connect
Receive device（4）, middle part controller（5）, side stand（6）, side controller（7）, distance-sensor（9）, support cylinder（10）, fold connect
Fishplate bar（11）, leg electric rotating machine（12）, foot support（13）, end motion motor（14）, leg support frame（15）, camera
（17）, water tank（21）, telescopic cylinder（22）, movable plate washer（23）And suction pipe（24）, it is characterised in that：The middle bracket（1）
Inside there is middle part controller（5）, the middle part controller（5）On have electric rotating machine（2）, the electric rotating machine（2）Rotating shaft outer wall
It is provided with infrared inductor（3）, the electric rotating machine（2）The top of rotating shaft have signal transceiver（4）, the middle part is propped up
Frame（1）Front side and rear side by support cylinder（10）With side stand（6）It is connected, the support cylinder（10）Both sides have folding to connect
Fishplate bar（11）, the side stand（6）Inside there is side controller（7）, the side stand（6）Outboard end has camera（17）, described
Middle bracket（1）The left and right sides and side stand（6）There is distance-sensor in the corner on outside both sides（9）, the middle bracket（1）
And side stand（6）There is leg electric rotating machine in the gripper shoe of both sides（12）, described foot support（13）One end is revolved with corresponding leg
Rotating motor（12）Rotating shaft be connected, described foot support（13）The other end and leg support frame（15）It is connected, described foot support
（13）With leg support frame（15）Respectively there is an end motion motor connecting place both sides（14）, the side stand（6）There is water tank lower section
（21）, the water tank（21）There is a pair of telescopic cylinder side outwardly（22）, the telescopic cylinder（22）Telescopic rod end have work
Dynamic plate washer（23）, the activity plate washer（23）There is suction pipe side outwardly（24）, two telescopic cylinders（22）Between have flexible pipe by water
Case（21）With corresponding suction pipe（24）It is connected.
2. a kind of earthquake rescue robot according to claim 1, it is characterised in that：The electric rotating machine（2）Rotating shaft
Outer wall is provided with 3 infrared inductors（3）, the infrared inductor（3）Angularly around electric rotating machine（2）Rotating shaft one week.
3. a kind of earthquake rescue robot according to claim 1, it is characterised in that：The middle bracket（1）Front side
With rear side and side stand（6）Between by one or at least one pair of support cylinder（10）It is connected.
4. a kind of earthquake rescue robot according to claim 1, it is characterised in that：The side controller（7）Upper fixation
Communication apparatus is installed（8）.
5. a kind of earthquake rescue robot according to claim 1, it is characterised in that：The leg support frame（15）Bottom has
Gripper or electromagnet（16）.
6. a kind of earthquake rescue robot according to claim 1, it is characterised in that：The camera（17）Main body on
There is flash lamp（20）.
7. a kind of earthquake rescue robot according to claim 1, it is characterised in that：The side stand（6）On inner support
There is temperature inductor（18）And humidity sensor（19）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510343000.6A CN104943761B (en) | 2015-06-19 | 2015-06-19 | A kind of earthquake rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510343000.6A CN104943761B (en) | 2015-06-19 | 2015-06-19 | A kind of earthquake rescue robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104943761A CN104943761A (en) | 2015-09-30 |
| CN104943761B true CN104943761B (en) | 2017-03-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510343000.6A Expired - Fee Related CN104943761B (en) | 2015-06-19 | 2015-06-19 | A kind of earthquake rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104943761B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181496B (en) * | 2019-04-26 | 2023-08-01 | 南京航空航天大学 | Modularized bionic four-foot robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101927500A (en) * | 2009-06-25 | 2010-12-29 | 上海市杨浦区控江二村小学 | Robot for searching and rescuing in earthquake |
| JP2011161586A (en) * | 2010-02-12 | 2011-08-25 | Tadano Ltd | Device for work |
| CN203332261U (en) * | 2013-07-01 | 2013-12-11 | 中国科学技术大学 | Multi-foot moving device based on hybrid driving mechanism |
| CN203391888U (en) * | 2013-08-30 | 2014-01-15 | 宁波工程学院 | Variable-pitch material collecting and conveying robot |
| CN104709373A (en) * | 2013-12-13 | 2015-06-17 | 中国科学院沈阳自动化研究所 | Movable type gap opening robot |
| CN204688250U (en) * | 2015-06-19 | 2015-10-07 | 金陵科技学院 | A kind of earthquake rescue robot |
-
2015
- 2015-06-19 CN CN201510343000.6A patent/CN104943761B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101927500A (en) * | 2009-06-25 | 2010-12-29 | 上海市杨浦区控江二村小学 | Robot for searching and rescuing in earthquake |
| JP2011161586A (en) * | 2010-02-12 | 2011-08-25 | Tadano Ltd | Device for work |
| CN203332261U (en) * | 2013-07-01 | 2013-12-11 | 中国科学技术大学 | Multi-foot moving device based on hybrid driving mechanism |
| CN203391888U (en) * | 2013-08-30 | 2014-01-15 | 宁波工程学院 | Variable-pitch material collecting and conveying robot |
| CN104709373A (en) * | 2013-12-13 | 2015-06-17 | 中国科学院沈阳自动化研究所 | Movable type gap opening robot |
| CN204688250U (en) * | 2015-06-19 | 2015-10-07 | 金陵科技学院 | A kind of earthquake rescue robot |
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| Publication number | Publication date |
|---|---|
| CN104943761A (en) | 2015-09-30 |
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Effective date of registration: 20221114 Address after: 226541 No. 56, Group 17, Erjia Village, Jiuhua Town, Rugao City, Huai'an City, Jiangsu Province Patentee after: Nantong Mingxin Electronic Technology Co.,Ltd. Address before: No. 99 Jiangning Road, Nanjing District hirokage 210000 cities in Jiangsu Province Patentee before: JINLING INSTITUTE OF TECHNOLOGY |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170308 |
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