CN105666501B - A kind of rescue robot - Google Patents
A kind of rescue robot Download PDFInfo
- Publication number
- CN105666501B CN105666501B CN201610210475.2A CN201610210475A CN105666501B CN 105666501 B CN105666501 B CN 105666501B CN 201610210475 A CN201610210475 A CN 201610210475A CN 105666501 B CN105666501 B CN 105666501B
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- reel
- electric pushrod
- travelling carriage
- upper cover
- cover plate
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B99/00—Subject matter not provided for in other groups of this subclass
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of rescue robot, including pan carriage, three-pawl type reducing driving wheel, reel, first servomotor etc., described three-pawl type reducing driving wheel includes swivel mount, claw, spherical hinge holder, double ball-head tension rods, sliding sleeve, splined shaft, described swivel mount is by middle disk and is uniformly located at 3 articulated stands of disk periphery and constitutes, described swivel mount is fixed on the end of splined shaft, described claw is bending crescent shape, of the invention its utilizes three-pawl type reducing driving wheel, from cooling system, the new technologies such as totally-enclosed survival capsule, ability is climbed with stronger stair, the high temperature of scene of fire generation can be withstood.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of rescue robot.
Background technology
With the fast development of robot technology, applying for rescue robot is also more and more in the life of the mankind, especially
It is the mankind when by natural calamities such as fire, earthquake disasters, personnel are easily trapped in tall and big building, because fire is existing
Field temperature is higher, and fireman enters dangerous, now then needs the help of robot, most of traditional rescue robot is rubber
Glue track drive, non-refractory, the ability of speeling stairway or barrier, and can not be captive directly from stranded room
In rescue.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of rescue robot, it is cooled down using three-pawl type reducing driving wheel, certainly
The new technologies such as system, totally-enclosed survival capsule, ability is climbed with stronger stair, can withstand the height of scene of fire generation
Temperature, and there are two kinds of schemes of suing and labouring behind room where robot reaches trapped personnel：One kind is that trapped personnel enters robot
Survival capsule after, survival capsule is discharged by robot and trapped personnel is dropped into ground from balcony windows got rid of poverty, another be by
Oppressive member enter survival capsule followed by robot the backtracking out of corridor.
Technical scheme used in the present invention is：A kind of rescue robot, including the driving of pan carriage, three-pawl type reducing
Wheel, reel, the first servomotor, steel wire rope, water pump, water tank, sparge pipe, survival capsule, video capture device, the second servo electricity
Machine, worm gear, Li-ion batteries piles, the first electric pushrod, worm screw, electronic controller, the second electric pushrod, travelling carriage, the 3rd electricity
Dynamic push rod, body, upper cover plate, it is characterised in that：6 three-pawl type reducing drivings are respectively symmetrically set in described body both sides
Wheel, described three-pawl type reducing driving wheel includes swivel mount, claw, spherical hinge holder, double ball-head tension rods, sliding sleeve, spline
Axle, described swivel mount is by middle disk and is uniformly located at 3 articulated stands of disk periphery and constitutes, and described swivel mount is solid
It is scheduled on the end of splined shaft；Described claw is bending crescent shape, and one end of claw, which is rotatably installed on swivel mount, is hinged branch
On frame；Described spherical hinge holder upper end is fixedly connected by rotating shaft with claw, and lower end passes through flexural pivot and double ball-head tension rods
One bulb hinged；Described sliding sleeve is cylindrical shape, internal spline is provided with inside sliding sleeve, in sliding sleeve outboard end
Face is hinged provided with flexural pivot and with the other end of double ball-head tension rods, and boss, slip cap are provided with the inside edge of sliding sleeve
Cylinder is coordinated by the external splines of internal spline and splined shaft to be installed；Described pan carriage includes 2 guide pillars, intermediate transverse girder and 2 cunnings
Moving sleeve thrust plate, described sliding sleeve thrust plate is fixed on the outside of guide pillar, at the two ends of sliding sleeve thrust plate provided with half
Boss on the inside of arc-shaped thrust groove, described thrust groove and sliding sleeve, which coordinates, to be installed, and boss is stuck in thrust groove；Described
First electric pushrod is arranged between the intermediate transverse girder of the fixed plate on body and the pan carriage；Described upper cover plate front end turns
It is dynamic to be arranged on front part of a body, reel mounting bracket, travelling carriage mounting bracket, second are from left to right sequentially provided with upper cover plate top
Electric pushrod mounting bracket；Described spool turns are arranged in the reel mounting bracket at described upper cover plate rear portion, in reel
Side be provided with the first servomotor, the support of the first servomotor is fixed on the side of reel mounting bracket, described first
The output shaft of servomotor is connected with the input shaft of reel, and described steel wire rope, the other end warp of steel wire rope are wound with reel
Cross after pulley and be fixed on survival capsule rear portion；
Described water pump, water tank, sparge pipe are arranged on described upper cover plate top, and the water sucking mouth of water pump is connected with water tank,
The delivery port of water pump is connected with sparge pipe, and hole for water spraying is set on the surface of sparge pipe；Described travelling carriage is turned by left side rotating shaft
It is dynamic to be arranged in the travelling carriage mounting bracket of upper cover plate, chute is provided with the both sides of travelling carriage, keep left portion in the centre of travelling carriage
Position is provided with bearing pin；
The second described electric pushrod is arranged between described travelling carriage and described upper cover plate, wherein second electronic pushes away
The sleeve rear portion of bar is hinged in the second electric pushrod mounting bracket of upper cover plate, and the stretching boom end of the second electric pushrod is hinged
On the bearing pin of described travelling carriage；The survival capsule is totally-enclosed design, is provided with hatch door in survival capsule upper surface, inside is provided with
Oxygen breathing apparatus, survival capsule is slidably mounted on by lower slide block in the chute of the travelling carriage；Described worm gear is installed
In spline the tip of the axis, described worm screw is arranged on body both sides and installation is engaged with worm gear, is set in the power intake of worm screw
There is the second servomotor；Described electronic controller, Li-ion batteries piles are arranged on described internal body, and electronic controller leads to
Cross circuit respectively with the first described servomotor, the second servomotor, water pump, video capture device, the first electric pushrod,
Two electric pushrods, the 3rd electric pushrod are connected, and described Li-ion batteries piles electron controller provides electric power.
Further, wireless telecommunication system built in described survival capsule and electronic controller, can by it is wireless with it is outside
The handheld terminal of operator carries out real-time communication.
Because present invention employs above-mentioned technical proposal, the present invention has advantages below：
1. it utilizes three-pawl type reducing driving wheel, from new technologies such as cooling system, totally-enclosed survival capsules to the present invention, have
Stronger stair climbing ability, can withstand the high temperature of scene of fire generation.
Brief description of the drawings
Fig. 1 is entirety perspective view of the invention.
Fig. 2, Fig. 3 are internal structure schematic diagram of the present invention.
Schematic diagram when Fig. 4 is rescued on balcony for the present invention.
Fig. 5 is three-pawl type reducing driving wheel structure schematic diagram of the invention.
Fig. 6 is travelling carriage structural representation of the invention.
Fig. 7 is pan carriage structural representation of the invention.
Drawing reference numeral：1- pan carriages；2- three-pawl type reducing driving wheels；3- reels；The servomotors of 4- first；5- steel wires
Rope；6- water pumps；7- water tanks；8- sparge pipes；9- survival capsules；10- video capture devices；The servomotors of 11- second；12- worm gears；
13- Li-ion batteries piles；The electric pushrods of 14- first；15- worm screws；16- electronic controllers；The electric pushrods of 17- second；18- is slided
Frame；The electric pushrods of 19- the 3rd；20- bodies；21- balcony walls；22- upper cover plates；201- swivel mounts；202- claws；203- ball pivots
Support；The double ball-head tension rods of 204-；205- sliding sleeves；206- splined shafts.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment 1
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, a kind of rescue robot, including pan carriage 1, three-pawl type can
Reducing driving wheel 2, reel 3, the first servomotor 4, steel wire rope 5, water pump 6, water tank 7, sparge pipe 8, survival capsule 9, video acquisition
Equipment 10, the second servomotor 11, worm gear 12, Li-ion batteries piles 13, the first electric pushrod 14, worm screw 15, electronic controller
16th, the second electric pushrod 17, travelling carriage 18, the 3rd electric pushrod 19, body 20, upper cover plate 22, it is characterised in that：Described
The both sides of body 20 respectively symmetrically set 6 three-pawl type reducing driving wheels 2, and described three-pawl type reducing driving wheel 2 includes rotation
Pivoted frame 201, claw 202, spherical hinge holder 203, double ball-head tension rods 204, sliding sleeve 205, splined shaft 206, described swivel mount
201 are located at by middle disk and uniformly 3 articulated stands of disk periphery and constitute, and described swivel mount 201 is fixed on spline
The end of axle 206；Described claw 202 is bending crescent shape, and one end of claw 202 is rotatably installed in the hinge on swivel mount 201
Connect on support；The described upper end of spherical hinge holder 203 is fixedly connected by rotating shaft with claw 202, lower end by flexural pivot with it is double
One bulb hinged of ball-head tension rod 204；Described sliding sleeve 205 is cylindrical shape, and interior flower is provided with inside sliding sleeve 205
Key, is hinged provided with flexural pivot and with the other end of double ball-head tension rods 204 in the end face outside of sliding sleeve 205, in sliding sleeve
205 inside edge is provided with boss, and sliding sleeve 205 is coordinated by the external splines of internal spline and splined shaft 206 to be installed；Described
Pan carriage 1 includes 2 guide pillars, intermediate transverse girder and 2 thrust plates of sliding sleeve 205, and the described thrust plate of sliding sleeve 205 is fixed
On the outside of guide pillar, semicircle arcuation thrust groove, described thrust groove and sliding sleeve are provided with the two ends of the thrust plate of sliding sleeve 205
The boss of 205 inner sides, which coordinates, to be installed, and boss is stuck in thrust groove；The first described electric pushrod 14 is arranged on consolidating on body 20
Between the intermediate transverse girder of fixed board and the pan carriage 1；The described front end of upper cover plate 22 is rotatably installed in the front portion of body 20, in Shang Gai
The top of plate 22 is from left to right sequentially provided with the mounting bracket of reel 3, the mounting bracket of travelling carriage 18, the second electric pushrod 17 and installs branch
Frame；Described reel 3 is rotatably installed in the mounting bracket of reel 3 at the described rear portion of upper cover plate 22, is provided with the side of reel 3
First servomotor 4, the support of the first servomotor 4 is fixed on the side of the mounting bracket of reel 3, the first described servomotor
4 output shaft is connected with the input shaft of reel 3, described steel wire rope 5 is wound with reel 3, the other end of steel wire rope 5 is by sliding
The rear portion of survival capsule 9 is fixed on after wheel；
Described water pump 6, water tank 7, sparge pipe 8 are arranged on the described top of upper cover plate 22, the water sucking mouth of water pump 6 and water tank
7 connections, the delivery port of water pump 6 is connected with sparge pipe 8, and hole for water spraying is set on the surface of sparge pipe 8；Described travelling carriage 18 passes through
Left side axis of rotation is arranged in the mounting bracket of travelling carriage 18 of upper cover plate 22, chute is provided with the both sides of travelling carriage 18, in cunning
The centre of moving frame 18 keeps left position provided with bearing pin；
The second described electric pushrod 17 is arranged between described travelling carriage 18 and described upper cover plate 22, wherein second
The sleeve rear portion of electric pushrod 17 is hinged in the mounting bracket of the second electric pushrod 17 of upper cover plate 22, the second electric pushrod 17
Boom end is stretched out to be hinged on the bearing pin of described travelling carriage 18；The survival capsule 9 is totally-enclosed design, in the upper table of survival capsule 9
Face is provided with hatch door, and inside is provided with oxygen breathing apparatus, and survival capsule 9 is slidably mounted on the travelling carriage 18 by lower slide block
In chute；Described worm gear 12 is arranged on the end of splined shaft 206, and described worm screw 15 is arranged on the both sides of body 20 and and worm gear
12 engagements are installed, and the second servomotor 11 is provided with the power intake of worm screw 15；Described electronic controller 16, lithium-ion electric
Pond group 13 is arranged on inside described body 20, electronic controller 16 by circuit respectively with the first described servomotor 4, the
Two servomotors 11, water pump 6, video capture device 10, the first electric pushrod 14, the second electric pushrod 17, the 3rd electric pushrod
19 are connected, and the described electron controller 16 of Li-ion batteries piles 13 provides electric power.
Further, wireless telecommunication system built in described survival capsule 9 and electronic controller 16, can by it is wireless with it is outer
The handheld terminal of portion operator carries out real-time communication.
Operation principle：The three-pawl type reducing driving wheel 2 of the present invention is running into the barrier or stairway step of different height
When can change radius of turn automatically, i.e., by adjusting the overhang of the first electric pushrod 14, sliding sleeve is driven by pan carriage 1
205, sliding sleeve 205 drives double ball-head tension rods 204, and double ball-head tension rods 204 drive claw 202 to rotate by spherical hinge holder 203
Change the radius of turn of claw 202 end, adjust after the radius of turn of claw 202 and worm screw is driven by the second servomotor 11
15, then worm gear 12 is driven by worm screw 15, worm gear 12 is with movable gear shaft and then drives whole three-pawl type reducing driving wheel 2 to rotate.
Application method of the present invention：The present invention operationally enters captive room by fireman's remote control by stairway step first, is entering
Enter fire area front opening water pump 6, high-pressure water mist is sprayed from the aperture of sparge pipe 8 and then cool down the appearance of whole robot
Face, prevents that robot interior electronic component from being destroyed by high temperature, is opened after the room of captive is reached by trapped personnel
The hatch door of survival capsule 9, trapped personnel puts on oxygen breathing apparatus after entering in survival capsule 9, then passes through the communication in survival capsule 9
Instrument is got in touch with fireman, and trapped personnel can select two kinds of schemes of suing and labouring：A kind of is that trapped personnel enters robot
After survival capsule 9, trapped personnel is dropped into ground from balcony windows by robot release survival capsule 9 and got rid of poverty, specific method is：Quilt
After oppressive member enters in survival capsule 9, the image gathered by fireman according to video capture device 10 judges the tool of balcony windows
Body position and remote-controlled robot are close to window, then by the second electric pushrod 17 by the jack-up of travelling carriage 18, by the after jack-up
Three electric pushrods 19 are by the jack-up of upper cover plate 22, and at this moment survival capsule 9 and ground are in parastate, and robot is further along by lifesaving
Cabin 9 is held out on the outside of window, travelling carriage 18 is slowly then positioned into vertical state, then fireman passes through the first servomotor 4
Control reel 3 rotates, by the slowly land of survival capsule 9 to ground；Another scheme is that trapped personnel enters the heel of survival capsule 9
Random device people backtracking out of corridor, depending on scheme of specifically suing and labouring is needed according to floor structure, intensity of a fire size.
Claims (2)
1. a kind of rescue robot, including pan carriage（1）, three-pawl type reducing driving wheel（2）, reel（3）, the first servomotor
（4）, steel wire rope（5）, water pump（6）, water tank（7）, sparge pipe（8）, survival capsule（9）, video capture device（10）, the second servo electricity
Machine（11）, worm gear（12）, Li-ion batteries piles（13）, the first electric pushrod（14）, worm screw（15）, electronic controller（16）,
Two electric pushrods（17）, travelling carriage（18）, the 3rd electric pushrod（19）, body（20）, upper cover plate（22）, it is characterised in that：
Described body（20）Both sides respectively symmetrically set 6 three-pawl type reducing driving wheels（2）, described three-pawl type reducing driving
Wheel（2）Including swivel mount（201）, claw（202）, spherical hinge holder（203）, double ball-head tension rods（204）, sliding sleeve（205）, flower
Key axle（206）, described swivel mount（201）It is made up of middle disk and 3 articulated stands for being uniformly located at disk periphery, institute
The swivel mount stated（201）It is fixed on splined shaft（206）End；Described claw（202）For bending crescent shape, claw（202）
One end be rotatably installed in swivel mount（201）On articulated stand on；Described spherical hinge holder（203）Upper end passes through rotating shaft and card
Pawl（202）It is fixedly connected, lower end passes through flexural pivot and double ball-head tension rods（204）A bulb hinged；Described slip cap
Cylinder（205）For cylindrical shape, in sliding sleeve（205）Inside is provided with internal spline, in sliding sleeve（205）End face outside is provided with ball pivot
Joint and with double ball-head tension rods（204）The other end be hinged, in sliding sleeve（205）Inside edge be provided with boss, slip cap
Cylinder（205）Pass through internal spline and splined shaft（206）External splines coordinate install；Described pan carriage（1）Including 2 guide pillars, in
Between crossbeam and 2 sliding sleeves（205）Thrust plate, described sliding sleeve（205）Thrust plate is fixed on the outside of guide pillar, is being slided
Sleeve（205）The two ends of thrust plate are provided with semicircle arcuation thrust groove, described thrust groove and sliding sleeve（205）The boss of inner side
Coordinate and install, boss is stuck in thrust groove；The first described electric pushrod（14）It is arranged on body（20）On fixed plate and institute
State pan carriage（1）Intermediate transverse girder between；Described upper cover plate（22）Front end is rotatably installed in body（20）Front portion, in upper cover plate
（22）Top is from left to right sequentially provided with reel（3）Mounting bracket, travelling carriage（18）Mounting bracket, the second electric pushrod（17）Peace
Fill support；Described reel（3）It is rotatably installed in described upper cover plate（22）The reel at rear portion（3）In mounting bracket, in reel
（3）Side be provided with the first servomotor（4）, the first servomotor（4）Support be fixed on reel（3）The side of mounting bracket
Face, the first described servomotor（4）Output shaft and reel（3）Input shaft be connected, in reel（3）On be wound with described steel
Cord（5）, steel wire rope（5）The other end survival capsule is fixed on after pulley（9）Rear portion；
Described water pump（6）, water tank（7）, sparge pipe（8）It is arranged on described upper cover plate（22）Top, water pump（6）Water sucking mouth
With water tank（7）Connection, water pump（6）Delivery port and sparge pipe（8）It is connected, sparge pipe（8）Surface on hole for water spraying is set；It is described
Travelling carriage（18）Upper cover plate is arranged on by left side axis of rotation（22）Travelling carriage（18）In mounting bracket, in travelling carriage
（18）Both sides be provided with chute, in travelling carriage（18）Centre keep left position provided with bearing pin；
The second described electric pushrod（17）It is arranged on described travelling carriage（18）With described upper cover plate（22）Between, wherein the
Two electric pushrods（17）Sleeve rear portion be hinged on upper cover plate（22）The second electric pushrod（17）In mounting bracket, second is electronic
Push rod（17）Stretching boom end be hinged on described travelling carriage（18）Bearing pin on；The survival capsule（9）For totally-enclosed design,
In survival capsule（9）Upper surface is provided with hatch door, and inside is provided with oxygen breathing apparatus, survival capsule（9）Slided and pacified by lower slide block
Mounted in the travelling carriage（18）Chute in；Described worm gear（12）Installed in splined shaft（206）End, described worm screw
（15）It is arranged on body（20）Both sides and and worm gear（12）Engagement is installed, in worm screw（15）Power intake be provided with the second servo
Motor（11）；Described electronic controller（16）, Li-ion batteries piles（13）It is arranged on described body（20）Inside, electronics control
Device processed（16）By circuit respectively with the first described servomotor（4）, the second servomotor（11）, water pump（6）, video acquisition
Equipment（10）, the first electric pushrod（14）, the second electric pushrod（17）, the 3rd electric pushrod（19）It is connected, described lithium ion
Battery pack（13）Electron controller（16）Electric power is provided.
2. a kind of rescue robot according to claim 1, it is characterised in that：Described survival capsule（9）And Electronic Control
Device（16）Built-in wireless telecommunication system, can carry out real-time communication by the handheld terminal wirelessly with peripheral operation person.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610210475.2A CN105666501B (en) | 2016-04-07 | 2016-04-07 | A kind of rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610210475.2A CN105666501B (en) | 2016-04-07 | 2016-04-07 | A kind of rescue robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105666501A CN105666501A (en) | 2016-06-15 |
| CN105666501B true CN105666501B (en) | 2017-09-29 |
Family
ID=56308475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610210475.2A Active CN105666501B (en) | 2016-04-07 | 2016-04-07 | A kind of rescue robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105666501B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106924907B (en) * | 2017-04-02 | 2020-08-28 | 台州明创科技有限公司 | Intelligent fire-extinguishing lifesaving robot |
| CN108528564B (en) * | 2018-01-30 | 2020-07-31 | 江苏大学 | Semi-step software robot trolley with variable wheel diameter |
| CN109610975B (en) * | 2019-02-17 | 2020-12-29 | 安徽省华腾农业科技有限公司经开区分公司 | Intelligent escape fire hazard prevention safe |
| CN112405551A (en) * | 2020-10-21 | 2021-02-26 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Rescue robot with variable-diameter wheels |
| CN112936303A (en) * | 2021-01-29 | 2021-06-11 | 西安航空学院 | Air-drop formula conflagration is with air-ground search and rescue robot in coordination |
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| CN102582705A (en) * | 2012-03-09 | 2012-07-18 | 浙江理工大学 | Tread-variable center-height-adjustable disaster relief robot |
| CN104989914A (en) * | 2015-07-07 | 2015-10-21 | 北京工业大学 | High-adaptability multifunctional pipeline robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2907272A1 (en) * | 1979-02-24 | 1980-08-28 | Schlatter Ag | Wheeled undercarriage for self propelled robot - has several curved profile wheels set tangential to main wheel |
| CN1982889A (en) * | 2005-12-12 | 2007-06-20 | 北京航空航天大学 | Ultrasonic inspection of petroleum pipeline and inspecting robot |
| CN201333898Y (en) * | 2008-11-28 | 2009-10-28 | 北京邮电大学 | Wheel with changeable wheel diameter |
| CN101524841A (en) * | 2009-04-20 | 2009-09-09 | 哈尔滨工业大学 | Flexible ellipse-like wheel of detection robot |
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| Publication number | Publication date |
|---|---|
| CN105666501A (en) | 2016-06-15 |
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Inventor after: Wu Hao Inventor before: Yang Ding |
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Effective date of registration: 20170825 Address after: Yuyao City, Zhejiang province 315400 Ningbo City Economic Development Zone Applicant after: Ningbo Institute of intelligent manufacturing industry Applicant after: Ningbo double Witkey Investment Co. Ltd. Address before: 426100 Yongzhou City, Hunan province Qiyang County stone Zitang Xichong Village Second Street No. 23 Applicant before: Yang Ding |
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