CN105034020A - Active head deflecting mechanism for tubular search and rescue robot facing gaps - Google Patents
Active head deflecting mechanism for tubular search and rescue robot facing gaps Download PDFInfo
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- CN105034020A CN105034020A CN201510273182.4A CN201510273182A CN105034020A CN 105034020 A CN105034020 A CN 105034020A CN 201510273182 A CN201510273182 A CN 201510273182A CN 105034020 A CN105034020 A CN 105034020A
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Abstract
The invention discloses an active head deflecting mechanism for a tubular search and rescue robot facing gaps. The head deflecting mechanism comprises a driving mechanism and a keel, wherein the driving mechanism drives the keel to defect vertically and horizontally, so that the deflection of the head of the tubular search and rescue robot is realized. The head deflecting mechanism disclosed by the invention can be used for a tubular search and rescue robot which is rigid or has certain flexibility, wherein the diameter phi of the tubular search and rescue robot is 10-14mm. The head deflecting mechanism can carry a Hall sensor, and can detect the head deflecting situations of the tubular search and rescue robot, so that the automatic control for the steering of the head of the robot is realized, and a detection distance is effectively lengthened; therefore, the head deflecting mechanism is particularly suitable for the fields of search and rescue, detection and the like in gaps in earthquake ruins.
Description
Technical field
The invention discloses a kind of head initiatively deflection mechanism of the tubulose search and rescue robot towards gap, this head initiatively deflection mechanism be applicable to earthquake, the tubulose search and rescue robot of the onsite application that caves in.
Background technology
The search and rescue equipment development that can go deep into gap, ruins is slow, relevant document and patent few.At present, demand is widely had to the search and rescue equipment in gap, ruins, as detection and the glove of the occasion such as underground or irregular passage, especially some special occasions, as on-the-spot in the ruins after earthquake occurring, caving in, environment in gap, ruins is intricate, and the equipment of detection and rescue gos deep into, in gap, ruins, needing the ability possessing self-steering.Therefore head active deflection mechanism is in expansion search and rescue scope, strives on the search and rescue time, seems very important.The search-and-rescue work in gap, ruins, the particularity of its environment proposes very high requirement to head active deflection mechanism: first initiatively deflection mechanism volume is sufficiently little for head, can independently enter gap pipeline; Secondly in order to adapt to the motion of all directions in the environment of gap, ruins, head initiatively deflection mechanism needs the deflection that can realize four direction up and down; Last head active deflection mechanism needs sensor installation, and testing agency's deflection situation, facilitates controlling organization to get back to zero-bit.The search-and-rescue work in gap, current ruins is all generally rely on tiny pipeline (as " snake eye " life-detection instrument) or snake-shaped robot, life-detection instrument does not all have head initiatively deflection mechanism usually, the flexibility of pipeline itself can only be relied on to push in gap, ruins, send distance to very limited; And existing endoscope type snake-shaped robot head deflection adopts the mode of industrial endoscope head deflection, by the steel wire manual drive of head, yawing moment adjustable extent is little, need manual hand manipulation, therefore have urgent demand for the tubulose search and rescue robot with head active deflection mechanism.
Summary of the invention
Sending in the process of gap, ruins to overcome gap, current ruins search and rescue robot, feeding direction adjustable extent is little, initiatively deflection cannot be realized, send to apart from limited problem, the invention provides a kind of head initiatively deflection mechanism of the tubulose search and rescue robot towards gap, this head initiatively deflection mechanism can be used for the rigidity of diameter of phi 10-14mm or has the tubulose search and rescue robot of certain flexibility, sensor can be carried, detect tubulose search and rescue robot head deflection situation, realize the Automated condtrol that robot head turns to.
For solving the problems of the technologies described above, the present invention by the following technical solutions.
Towards a head initiatively deflection mechanism for the tubulose search and rescue robot in gap, comprise driving mechanism and keel; Described driving mechanism drives keel to deflect up and down, realizes tubulose search and rescue robot head deflection.
Described driving mechanism comprises support, baffle plate, two guide wheels, two DC micromotors, two sensor holders, two Hall elements, two magnet steel, outer jointing jackets; Described baffle plate is fixed on the front end of support, described baffle plate is provided with for being holed by wire, two DC micromotors are fixed on the rear and front end of support respectively by screw, two guide wheels are placed on the output shaft of two DC micromotors respectively, adopt holding screw to fix; Two sensor holders are embedded on support respectively, and two Hall elements are individually fixed on two sensor holders, and two magnet steel are embedded on two guide wheels respectively; Described outer jointing jacket is fixedly placed on bracket outer.
Described keel are made up of several loop configuration, by rivet interlacement between loop configuration, are welded with four Overline rings passed for wires in each loop configuration, and the inner periphery of Overline ring annularly structure is uniform; The wire one end controlling above-below direction deflection is fixed on keel upper end, then successively through the Overline ring above each loop configuration inwall of keel, by the boring of baffle plate, coiling on a guide wheel, through the cable-through hole in this guide wheel, again successively through the Overline ring below each loop configuration inwall of keel, the other end of wire is fixed on keel bottom; The wire one end controlling left and right directions deflection is fixed on keel left part, then successively through the Overline ring of each loop configuration inwall left of keel, by the boring of baffle plate, coiling on another guide wheel, through the cable-through hole of another guide wheel, again successively through the Overline ring of keel each loop configuration inwall right, the other end of wire is fixed on keel right part.
Compared with prior art, the present invention has following outstanding substantive distinguishing features and significant advantage:
Apparatus of the present invention can realize the control realized in small gaps tubulose search and rescue robot yawing moment, and especially the disaster such as earthquake causes and caves in and the gap, ruins that manually cannot arrive; Yawing moment is flexible, and deflection extreme angles is ± 90 °, and upper and lower tilt limit angle is ± 90 °, can realize the omnibearing deflection in front in gap, ruins; Head initiatively deflection mechanism adopts mini-motor control, can realize the Automated condtrol that robot head turns to; Head initiatively deflection mechanism carries Hall element, detects tubulose search and rescue robot deflection situation, realizes robot head reset back to zero.
Accompanying drawing explanation
Fig. 1 is head initiatively deflection mechanism structural representation.
Fig. 2 is head initiatively deflection mechanism front view (removing half of outer jointing jacket).
Fig. 3 is head initiatively deflection mechanism driving mechanism front view (removing half of outer jointing jacket).
Fig. 4 is head initiatively deflection mechanism driving mechanism left view (dismounting outer jointing jacket).
Fig. 5 is head initiatively deflection mechanism operating diagram (dismounting outer jointing jacket).
Detailed description of the invention
Below in conjunction with accompanying drawing, specific embodiments of the invention are described further.
As shown in Figures 1 to 5, a kind of head initiatively deflection mechanism of the tubulose search and rescue robot towards gap, comprises driving mechanism and keel 9; Described driving mechanism drives keel 9 to deflect up and down, realizes tubulose search and rescue robot head deflection.
Described driving mechanism comprises support 1, baffle plate 2, two guide wheels 3, two DC micromotors 4, two sensor holders 5, two Hall elements 6, two magnet steel 7, outer jointing jackets 8; Described baffle plate 2 is fixed on the front end of support 1, described baffle plate 2 is provided with for being holed by wire, two DC micromotors 4 are fixed on the rear and front end of support 1 respectively by screw, two guide wheels 3 are placed on the output shaft of two DC micromotors 4 respectively, adopt holding screw to fix; Two sensor holders 5 are embedded on support 1 respectively, and two Hall elements 6 are individually fixed on two sensor holders 5, and two magnet steel 7 are embedded on two guide wheels 3 respectively; It is outside that described outer jointing jacket 8 is fixedly placed on support 1.
Described keel 9 are made up of several loop configuration, by rivet interlacement between loop configuration, are welded with four Overline rings passed for wires in each loop configuration, and the inner periphery of Overline ring annularly structure is uniform; The wire one end controlling above-below direction deflection is fixed on keel 9 upper end, then successively through the Overline ring above each loop configuration inwall of keel 9, by the boring of baffle plate 2, coiling on a guide wheel 3, through the cable-through hole in this guide wheel 3, again successively through the Overline ring below each loop configuration inwall of keel 9, the other end of wire is fixed on keel 9 bottom; The wire one end controlling left and right directions deflection is fixed on keel 9 left part, then successively through the Overline ring of each loop configuration inwall left of keel 9, by the boring of baffle plate 2, coiling on another guide wheel 3, through the cable-through hole of another guide wheel 3, again successively through the Overline ring of keel 9 each loop configuration inwall right, the other end of wire is fixed on keel 9 right part.
Operation principle of the present invention is as follows:
DC micromotor 4 drives guide wheel 3 to rotate, and drive the tension of wire one end, the other end loosens, and the loop configuration of keel 9 will deflect to one end of Wire pulling.The magnet steel 7 be embedded on guide wheel 3 rotates along with guide wheel 3, causes Hall element 6 to send pulse signal, and guide wheel 3 often rotates a circle, and through Hall element 6 once, Hall element 6 sends a pulse signal to magnet steel 7.The situation of recording pulse signal number and the current deflection of known head active deflection mechanism, then can control DC micromotor 4 pairs of heads active deflection mechanisms and carry out back to zero reset.
Claims (3)
1., towards a head initiatively deflection mechanism for the tubulose search and rescue robot in gap, comprise driving mechanism and keel (9); It is characterized in that: described driving mechanism drives keel (9) to deflect up and down, realizes tubulose search and rescue robot head deflection.
2. the head of the tubulose search and rescue robot towards gap according to claim 1 initiatively deflection mechanism, is characterized in that: described driving mechanism comprises support (1), baffle plate (2), two guide wheels (3), two DC micromotors (4), two sensor holders (5), two Hall elements (6), two magnet steel (7), outer jointing jacket (8); Described baffle plate (2) is fixed on the front end of support (1), described baffle plate (2) is provided with for being holed by wire, two DC micromotors (4) are fixed on the rear and front end of support (1) respectively by screw, two guide wheels (3) are placed on the output shaft of two DC micromotors (4) respectively, adopt holding screw to fix; Two sensor holders (5) are embedded on support (1) respectively, and two Hall elements (6) are individually fixed on two sensor holders (5), and two magnet steel (7) are embedded on two guide wheels (3) respectively; It is outside that described outer jointing jacket (8) is fixedly placed on support (1).
3. the head of the tubulose search and rescue robot towards gap according to claim 1 initiatively deflection mechanism, it is characterized in that: described keel (9) are made up of several loop configuration, rivet interlacement is passed through between loop configuration, be welded with four Overline rings passed for wires in each loop configuration, the inner periphery of Overline ring annularly structure is uniform; The wire one end controlling above-below direction deflection is fixed on keel (9) upper end, then successively through the Overline ring above each loop configuration inwall of keel (9), by the boring of baffle plate (2), in the upper coiling of a guide wheel (3), through the cable-through hole in this guide wheel (3), again successively through the Overline ring below each loop configuration inwall of keel (9), the other end of wire is fixed on keel (9) bottom; The wire one end controlling left and right directions deflection is fixed on keel (9) left part, then successively through the Overline ring of each loop configuration inwall left of keel (9), by the boring of baffle plate (2), in the upper coiling of another guide wheel (3), through the cable-through hole of another guide wheel (3), again successively through the Overline ring of keel (9) each loop configuration inwall right, the other end of wire is fixed on keel (9) right part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510273182.4A CN105034020A (en) | 2015-05-26 | 2015-05-26 | Active head deflecting mechanism for tubular search and rescue robot facing gaps |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510273182.4A CN105034020A (en) | 2015-05-26 | 2015-05-26 | Active head deflecting mechanism for tubular search and rescue robot facing gaps |
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| CN105034020A true CN105034020A (en) | 2015-11-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510273182.4A Pending CN105034020A (en) | 2015-05-26 | 2015-05-26 | Active head deflecting mechanism for tubular search and rescue robot facing gaps |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113189669A (en) * | 2021-05-11 | 2021-07-30 | 天津大学 | Novel snake eye life detection instrument |
| CN115157008A (en) * | 2022-09-02 | 2022-10-11 | 江苏宏达数控科技股份有限公司 | Hole depth detector for numerical control machine tool |
| 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 |
-
2015
- 2015-05-26 CN CN201510273182.4A patent/CN105034020A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113189669A (en) * | 2021-05-11 | 2021-07-30 | 天津大学 | Novel snake eye life detection instrument |
| 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 |
| CN115157008A (en) * | 2022-09-02 | 2022-10-11 | 江苏宏达数控科技股份有限公司 | Hole depth detector for numerical control machine tool |
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