CN107323561A - A kind of wheel leg type Zai Hou field rescues robot - Google Patents
A kind of wheel leg type Zai Hou field rescues robot Download PDFInfo
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- CN107323561A CN107323561A CN201710504948.4A CN201710504948A CN107323561A CN 107323561 A CN107323561 A CN 107323561A CN 201710504948 A CN201710504948 A CN 201710504948A CN 107323561 A CN107323561 A CN 107323561A
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- stretcher
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- 238000005070 sampling Methods 0.000 claims abstract description 69
- 230000007613 environmental effect Effects 0.000 claims abstract description 42
- 230000033001 locomotion Effects 0.000 claims abstract description 40
- 238000010276 construction Methods 0.000 claims abstract description 38
- 238000002640 oxygen therapy Methods 0.000 claims abstract description 37
- 239000000463 material Substances 0.000 claims abstract description 7
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 239000002689 soil Substances 0.000 claims abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 5
- 229910052760 oxygen Inorganic materials 0.000 claims description 35
- 239000001301 oxygen Substances 0.000 claims description 35
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical group [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 33
- 230000001629 suppression Effects 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000000956 alloy Substances 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 3
- 210000002683 foot Anatomy 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 3
- 230000034994 death Effects 0.000 description 3
- 231100000517 death Toxicity 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007704 transition Effects 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
- B62D57/028—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 having wheels and mechanical legs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/003—Stretchers with facilities for picking up patients or disabled persons, e.g. break-away type or using endless belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/02—Stretchers with wheels
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
Abstract
The present invention discloses a kind of wheel leg type Zai Hou field rescues robot, including trunk skeleton structure, wheel leg construction module, auxiliary leg construction module, environmental sampling construction module, vision module, oxygen therapy/fire-extinguishing function concurrently module, stretcher structure module.Wheel leg construction module can realize robot multi-motion state.Auxiliary leg construction module can realize Auxiliary support under robot leg formula motion state.Environmental sampling construction module can realize the sampling to materials such as soil, water.Vision module can assist rescue personnel to realize the visual monitoring to environment after calamity.Oxygen therapy/fire-extinguishing function concurrently module can realize the urgent oxygen therapy to trapped personnel or promptly putting out to burning things which may cause a fire disaster.Stretcher structure module can transport the wounded or goods and materials.A kind of wheel leg type Zai Hou field rescues robot of the present invention has the advantages that, load capacity adaptable to complex environment is strong, multiple functional, in terms of personnel's search and rescue under environment after the calamities such as earthquake, landslide, environmental monitoring, have broad application prospects.
Description
Technical field
It is a kind of wheel leg type Zai Hou field rescues robot, the skill exactly the present invention relates to robotic technology field
Art may be such that robot can well adapt to environment after the complicated calamity such as earthquake, landslide, while the technology can also be used for other
On related specialized robot under complicated terrain environment.
Background technology
The serious security of the lives and property that have impact on people of meeting that takes place frequently of natural calamity and human accident.Occur in disaster
Afterwards, if it is possible to situations such as quick obtaining Field Force injures and deaths and location of survivor, site environment, for further implementing to rescue
Work has great importance.Because disaster field environment is complicated, degree of danger is high, if rescue personnel enters scene in fact rashly
Sue and labour and help, easily cause new injures and deaths.In this case, rescue robot is just played an important role, and it can be replaced
Staff scene after calamity completes various sophisticated functions, and with stronger environmental suitability, can effectively improve rescue
The efficiency of work and the injures and deaths for reducing personnel, therefore have broad application prospects.
It is excellent that wheel leg type rescue robot can both realize that wheeled robot sport efficiency is high, stability is good, easily controllable
Point, can also realize the strong advantage of leg formula rescue robot environmental suitability, can be widely applied to earthquake, mine and the complexity such as cave in
Under environment, with higher researching value.Wroclaw Polytechnics, Paris University, Deng Duosuo colleges and universities of California Institute of Technology
Research and analysis all have been carried out to leg-wheel robot.
At present for the research of rescue robot, certain achievement is had been achieved for.Application No. 201510243076.1
Patent of invention " a kind of multiple degrees of freedom rescue robot of adaptive landform " include robot body and be arranged below use
In the drive device of driving robot body motion, it can allow the robot to fast and effectively transport by the setting of driving wheel
It is dynamic, the landform adaptability of robot just can effectively be strengthened by the setting for wheel of climbing.Application No.
201410553748.4 patent of invention " complex environment rescuing robot system " includes the personnel's peace being placed on robot vehicle frame
Device is put, middle transition conveying device, class spade pick device, obstacle cleaning device and multi-functional execution arm can be multiple
The barrier around the wounded and the accessory on wounded's body are excluded under miscellaneous, adverse circumstances, wounded's ring out of danger is pulled
Border, and complete to the stranded, carrying of critical the wounded and mobile working.However, above-mentioned two patent of invention is all present to multiple
The problems such as adaptability of miscellaneous landform is not enough.In terms of leg-wheel robot, the invention of Application No. 201310355161.8 is special
Sharp " complicated landform movable robot with wheel legs " includes platform, is uniformly arranged on six wheel leg systems of platform edges, can meet
Multiple requesting under complex environment, including climbing can be realized, obstacle detouring steadily advances across ditch and in uneven terrain, but
It is that structure is complex, control difficulty is larger.For above-mentioned problem, it is necessary to new for complex environment design after calamity
Rescue robot, it is simple in construction while with good complex environment adaptability and field rescue ability, control difficulty
Relatively low, load capacity is strong, the need for disclosure satisfy that Post disaster relief.
The content of the invention
Patent of the present invention for above-mentioned prior art exist not enough there is provided field rescue machine after a kind of wheel leg type calamity
People, content described in the patent includes trunk skeleton structure, wheel leg construction module, auxiliary leg construction module, environmental sampling knot
Structure module, vision module, oxygen therapy/fire-extinguishing function concurrently module, stretcher structure module so that robot can be realized according to the difference of environment
The conversion of wheeled/leg formula motion, and with functions such as oxygen therapy, fire extinguishing, environmental monitorings, with to the adaptation of unstructured complex environment
Ability is strong, efficiency high, load capacity are strong, it is simple in construction easily controllable the advantages of, disclosure satisfy that the demand of field rescue.The present invention
Belong to a kind of rescue robot, meet the demands such as field rescue after calamity, monitoring.
A kind of wheel leg type Zai Hou field rescues robot, it is characterised in that：Including trunk skeleton structure, wheel leg structure mould
Block, auxiliary leg construction module, environmental sampling construction module, vision module, oxygen therapy/fire-extinguishing function concurrently module, stretcher structure module；
The trunk skeleton structure includes bottom frame structure, top frame structure, lower raft, top cover plate, side
Cover plate；Lower raft is fixedly connected with bottom frame structure, and top cover plate is fixedly connected with top frame structure, lateral hatch respectively with
Bottom frame structure and top frame structure are fixedly connected with；Bottom frame structure and top frame structure by aluminum alloy materials framework and
Into lower raft, top cover plate, lateral hatch material therefor are steel；
The wheel leg construction module includes the first branch of wheel leg structure, the second branch of wheel leg structure, the 3rd point of wheel leg structure
Branch, the branch of wheel leg structure the 4th；
The first branch of the wheel leg structure includes wheel leg structure motor, little gear, gear wheel, rotary shaft, wheel leg knot
Structure first connecting rod, wheel leg structure second connecting rod, wheel leg structure third connecting rod, electric pushrod, driving wheel；Take turns leg structure motor
It is fixedly connected with lower raft, little gear can be driven to realize rotation；Gear wheel is fixedly connected with rotary shaft, and is engaged with little gear；Turn
Moving axis can realize freely rotating around axis direction relative to lower raft；Take turns leg structure first connecting rod one end and the side of rotary shaft
Face hinge connection, the other end and wheel leg structure second connecting rod hinge connection；Take turns leg structure third connecting rod one end and the side of rotary shaft
Face hinge connection, the other end and wheel leg structure second connecting rod hinge connection；Cut with scissors with wheel leg structure first connecting rod electric pushrod one end
Chain is connected, the other end and wheel leg structure second connecting rod hinge connection；Driving wheel is fixedly connected with wheel leg structure second connecting rod；When wheel leg
When structure motor is rotated, little gear is realized under the drive of wheel leg structure motor and rotated, and drives gear wheel to realize
Rotate, because gear wheel is fixedly connected with rotary shaft, rotated so as to drive rotary shaft to be realized around axis direction, it is final to realize wheel leg knot
The branch of structure first rotates around axis direction；When electric pushrod is moved, the first branch of wheel leg structure can be achieved and planar moves；
The second branch of the wheel leg structure, the branch of wheel leg structure the 3rd, the structure type and peace of the branch of wheel leg structure the 4th
Dress form is identical with wheel leg structure first branch；
The auxiliary leg construction module includes the first branch of auxiliary leg structure, the second branch of auxiliary leg structure；
Auxiliary first branch of leg structure differs only in first point of auxiliary leg structure with the first branch of wheel leg structure
Branch does not include driving wheel, and other structures form and type of attachment are identical with wheel leg structure first branch；
The structure type of the second branch of the auxiliary leg structure and installation form and the complete phase of auxiliary the first branch of leg structure
Together；
The environmental sampling construction module includes the branch of environmental sampling module first, the branch of environmental sampling module second, ring
The branch of border sampling module the 3rd；
The branch of environmental sampling module first includes sampling container, sampling container connecting rod, sampling container connecting rod driving electricity
Machine；Sampling container is fixedly connected with sampling container connecting rod, sampling container connecting rod and lower raft hinge connection, in sampling container connecting rod
Under the driving of motor, the branch of environmental sampling module first can realize the rotation relative to lower raft；
The branch of environmental sampling module second, the structure type of the branch of environmental sampling module the 3rd and installation form and ring
The branch of border sampling module first is identical；
The vision module is fixedly connected with top cover plate, and monitoring of the robot to environment can be achieved；
The oxygen therapy/fire-extinguishing function concurrently module includes oxygen therapy module, fire suppression module, direction adjusting structure, oxygen therapy/fire-extinguishing function concurrently
Module bottom support；
The oxygen therapy module includes oxygen bottle supporter, oxygen cylinder, oxygen catheter；Oxygen bottle supporter and oxygen therapy/fire-extinguishing function concurrently
Module bottom support is fixedly connected with, and oxygen cylinder is fixedly connected with oxygen bottle supporter, and oxygen catheter is used for exporting oxygen；When wheel leg type is bionical
When robot runs into the trapped personnel for being badly in need of oxygen therapy, oxygen can be provided in time；
The fire suppression module includes fire extinguisher bracket, fire extinguisher, fire extinguisher conduit；Fire extinguisher bracket and oxygen therapy/fire extinguishing work(
Energy module bottom support is fixedly connected with, and fire extinguisher is fixedly connected with fire extinguisher bracket, and fire extinguisher conduit is used for exporting extinguishing material；Work as wheel
When leg formula bio-robot runs into burning things which may cause a fire disaster and needs urgent put out, it can be put out a fire in time；
The direction adjusting structure includes direction adjusting structure first connecting rod, direction adjusting structure second connecting rod, direction tune
Whole structure third connecting rod, direction adjusting structure lower shoe, direction adjusting structure upper plate, direction adjusting structure cover plate, direction are adjusted
Whole structure motor；Direction adjusting structure first connecting rod, direction adjusting structure second connecting rod, direction adjusting structure third connecting rod
Respectively with direction adjusting structure lower shoe and the hinge connection of direction adjusting structure upper plate and diameter parallel；Direction adjusting structure lid
Plate is fixedly connected with direction adjusting structure upper plate, and forms first through hole and the second through hole；Direction adjusting structure motor with
Direction adjusting structure lower shoe is fixedly connected with, can driving direction adjustment structure second connecting rod rotate, thus drive direction adjusting structure
Realize and rotate；
The oxygen catheter is connected by first through hole and with first through hole, and fire extinguisher conduit is by the second through hole and with the
Two through holes are connected；Under the cooperation of direction adjusting structure motor and robot displacement, it can adjust oxygen catheter and go out
The direction of firearm conduit；
The oxygen therapy/fire-extinguishing function concurrently module bottom support is fixedly connected with bottom frame structure；
The stretcher structure module includes stretcher auxiliary support plate, first order stretcher, second level stretcher, universal wheel, stretcher
Motor, first pulley, second pulley, the 3rd pulley, the 4th pulley, the 5th pulley, rope；Stretcher auxiliary support plate can edge
Bottom frame structure realizes stretching motion；First order stretcher and stretcher auxiliary support plate hinge connection, relative turn can be achieved in the two
It is dynamic；Second level stretcher can be realized flexible relative to first order stretcher；Universal wheel is fixedly connected with second level stretcher；Stretcher motor
It is fixedly connected with lower raft；First pulley is fixedly connected with lower raft, and second pulley is fixedly connected with stretcher auxiliary support plate；3rd
One end of pulley and first order stretcher is fixedly connected with；4th pulley is fixedly connected with second level stretcher；5th pulley and first order stretcher
The other end be fixedly connected with；Rope be wrapped in first pulley, second pulley, the 3rd pulley, the 4th pulley, on the 5th pulley, and one
End is fixedly connected with stretcher motor；
Wheel leg type Zai Hou field rescues robot has three kinds of different motion states, respectively wheel type movement state, wheel
Formula moves the conversion conditions moved with leg formula, leg formula motion state；
When wheel leg type Zai Hou field rescues robot is from wheel type movement to leg formula conversion of motion, first point of wheel leg structure
Branch, the second branch of wheel leg structure, the branch of wheel leg structure the 3rd, the branch of wheel leg structure the 4th rotate identical around respective rotary shaft
Angle, and by the cooperation of the motor and electric pushrod of each Lun Tui structures branch realized in motion process by it is wheeled to
Leg formula changes；On the contrary, when wheel leg type Zai Hou field rescues robot is moved from leg formula and converted to wheel type movement, robot can
The first branch of counter motion or change wheel leg structure, wheel in the case where the motor of each Lun Tui structures branch coordinates with electric pushrod
The angle that the branch of leg structure second, the branch of wheel leg structure the 3rd, the branch of wheel leg structure the 4th rotate around respective rotary shaft；
In the artificial wheel type movement state of machine, the first branch of auxiliary leg structure, auxiliary leg structure second are branched into and lifted
State, does not come in contact with ground；In the artificial leg formula motion state of machine, the first branch of auxiliary leg structure, auxiliary leg structure
Second branch contacts with ground, and now robot is changed into including the first branch of wheel leg structure, the second branch of wheel leg structure, wheel leg
The branch of structure the 3rd, the branch of wheel leg structure the 4th, the first branch of auxiliary leg structure, six sufficient machines of the second branch of auxiliary leg structure
People；
During environmental sampling, the motion phase that environmental sampling construction module can be with wheel leg type Zai Hou field rescues robot
Coordinate, realize the sampling after complicated calamity under environment to water, soil；
When stretcher motor is rotated clockwise, the first order stretcher and second level stretcher of stretcher structure module can be achieved
Withdraw successively, now stretcher structure module is hidden in robot bottom；When stretcher motor is rotated counterclockwise, load can be achieved
The first order stretcher and second level stretcher of frame construction module stretch out successively.
The advantage of the invention is that：
1st, the wheel leg structure of wheel leg type Zai Hou field rescues robot of the present invention only has one degree of freedom, with carrying energy
The features such as power is strong, simple in construction, control is easy, and can flexibly realize robot it is wheeled/conversions of two kinds of motion states of leg formula, it is full
The demand of live complex environment after sufficient calamity；
2nd, wheel leg type Zai Hou field rescues robot of the present invention adds auxiliary leg construction module, equally only has one certainly
By spending, can under robot leg formula state auxiliary robot walking process, it is ensured that the stability and reliability of robot motion；
3rd, the environmental sampling modular structure of wheel leg type Zai Hou field rescues robot of the present invention is simple, fortune that can be with robot
It is dynamic to be engaged, instead of rescue personnel complete to soil, water quality it is separately sampled；
4th, wheel leg type Zai Hou field rescues robot of the present invention has oxygen therapy/fire-extinguishing function concurrently module, and trapped personnel can be achieved
Urgent oxygen therapy rescue and run into the fire-extinguishing function concurrently of the urgent condition of a fire, it is simple in construction, it is easy to accomplish, preferably meet need live after calamity
Will.
5th, wheel leg type Zai Hou field rescues robot of the present invention has stretcher structure module, only just can be real by a motor
The withdrawal successively or stretching of existing two-stage stretcher, on the basis of driver number is reduced, realize effective motion control, can
To meet the demand of rescue site wounded conveying and Relief Commodities Transportation.
Brief description of the drawings
Fig. 1 is robot overall structure diagram in the present invention；
Fig. 2 is robot overall structure bottom plan view in the present invention；
Fig. 3 is robot wheel leg construction module schematic diagram in the present invention；
Fig. 4 is structural representation under the wheeled state of robot in the present invention；
Fig. 5 is structural representation under robot leg formula state in the present invention；
Fig. 6 is robot environment's sampling structure module diagram in the present invention；
Fig. 7 is robot oxygen therapy/fire-extinguishing function concurrently construction module schematic diagram in the present invention；
Fig. 8 is direction adjusting structure schematic diagram in the present invention；
Fig. 9 is stretcher structure module diagram in the present invention；
Figure 10 is stretcher structure module top view in the present invention.
In figure, 1- trunk skeleton structures, 11- bottom frame structures, 12- top frame structures, 13- lower rafts, on 14-
Portion's cover plate, 15- lateral hatch, 2- wheel leg construction modules, the first branch of 21- wheel leg structures, 211- wheel leg structure motors,
212- little gears, 213- gear wheels, 214- rotary shafts, 15- wheel leg structure first connecting rods, 216- wheel leg structure second connecting rods,
217- takes turns leg structure third connecting rod, 218- electric pushrods, 219- driving wheels, the second branch of 22- wheel leg structures, 23- wheel leg structures
3rd branch, the branch of 24- wheel legs structure the 4th, 3- auxiliary leg construction modules, the first branch of 31- auxiliary leg structures, 32- auxiliary legs
The branch of structure second, 4- environmental sampling construction modules, the first branch of 41- environmental samplings module, 411- sampling containers, 412- samplings
Container connecting rod, 413- sampling container connecting rod motors, the second branch of 42- environmental samplings module, 43- environmental samplings module the 3rd
Branch, 5- vision modules, 6- oxygen therapys/fire-extinguishing function concurrently module, 61- oxygen therapy modules, 611- oxygen bottle supporters, 612- oxygen cylinders,
613- oxygen catheters, 62- fire suppression modules, 621- fire extinguisher brackets, 622- fire extinguishers, 623- fire extinguisher conduits, the adjustment of 63- directions
Structure, 631- direction adjusting structure first connecting rods, 632- direction adjusting structure second connecting rods, 633- direction adjusting structures the 3rd connect
Bar, 634- direction adjusting structure lower shoes, 635- direction adjusting structure upper plates, 636- direction adjusting structure cover plates, 637- side
To adjustment structure motor, 638- first through hole, the through holes of 639- second, 64- oxygen therapys/fire-extinguishing function concurrently module bottom support, 7-
Stretcher structure module, 71- stretcher auxiliary support plates, 72- first order stretchers, 73- second level stretcher, 74- universal wheels, 75- stretchers
Motor, 76- first pulleys, 77- second pulleys, the pulleys of 78- the 3rd, the pulleys of 79- the 4th, the pulleys of 710- the 5th, 711- ropes
Rope.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
The present invention is a kind of wheel leg type Zai Hou field rescues robot, including trunk skeleton structure 1, wheel leg construction module 2,
Leg construction module 3, environmental sampling construction module 4, vision module 5, oxygen therapy/fire-extinguishing function concurrently module 6, stretcher structure module 7 are aided in,
As depicted in figs. 1 and 2.
Trunk skeleton structure 1 include bottom frame structure 11, top frame structure 12, lower raft 13, top cover plate 14,
Lateral hatch 15；It is fixedly connected between each several part；In addition, vision module 5 is fixedly connected with top cover plate 14, robot can be achieved to ring
The monitoring in border, concrete structure is as depicted in figs. 1 and 2.
Taking turns leg construction module 2 includes the first branch of wheel leg structure 21, the second branch of wheel leg structure 22, the 3rd point of wheel leg structure
Branch 23, the branch 24 of wheel leg structure the 4th, the structure type of four branches are identical with installation form, as shown in Figure 2.Aid in leg
Construction module 3 includes the first branch of auxiliary leg structure 31, the second branch of auxiliary leg structure 32, the structure type and peace of Liang Ge branches
Dress form is identical, as shown in Figure 2.Take turns leg structure the first branch 21 as shown in figure 3, including take turns leg structure motor 211,
Little gear 212, gear wheel 213, rotary shaft 214, wheel leg structure first connecting rod 215, wheel leg structure second connecting rod 216, wheel leg knot
Structure third connecting rod 217, electric pushrod 218, driving wheel 219；Wheel leg structure motor 211 can drive the realization of little gear 212 to turn
It is dynamic, and drive gear wheel 213 to rotate by the engagement between gear；Because gear wheel 213 is fixedly connected with rotary shaft 214, therefore
Wheel leg structure motor 211 can drive the first branch of whole wheel leg structure 21 to realize swing；Take turns leg structure first connecting rod
215 one end and the hinge connection of rotary shaft 214, the other end and the hinge connection of wheel leg structure second connecting rod 216；Leg structure the 3rd is taken turns to connect
The one end of bar 217 and the hinge connection of rotary shaft 214, the other end and the hinge connection of wheel leg structure second connecting rod 216；Electric pushrod 218
One end and the hinge connection of wheel leg structure first connecting rod 215, the other end and the hinge connection of wheel leg structure second connecting rod 216, it is now electric
Dynamic push rod 218 can the first branch of driven wheel leg structure 21 realize motion in the same plane；Driving wheel 219 and wheel leg structure the
Two connecting rods 216 are fixedly connected with.The first branch of auxiliary leg structure 31 differs only in auxiliary leg knot with the first branch of wheel leg structure 21
The first branch of structure 31 does not include driving wheel, and other structures form and type of attachment are identical with wheel leg structure the first branch 21.
When ground is more smooth, robot can be moved under wheeled state, and structure type is as shown in figure 4, auxiliary
The first branch of leg structure 31, the second branch of auxiliary leg structure 32 are lifting status, are not come in contact with ground；Take turns leg structure first
Branch 21 can be by taking turns leg structure motor 211 rotation finally realize first round leg structure branch 21 around axis direction turn
Dynamic, other Lun Tui structures branches can also realize the rotation around axis direction using same procedure.By the above method, machine can be achieved
Omni-mobile of the device people under wheeled state, when robot runs into barrier, can change machine in real time by changing wheel leg direction
Device people's direction of motion, realizes barrier avoiding function.When running into the small-scale obstacle thing, robot can carry out the conversion of wheeled/leg formula motion
Obstacle detouring is realized, this first branch of hour wheel leg structure 21, the second branch of wheel leg structure 22, the branch 23 of wheel leg structure the 3rd, wheel leg knot
The branch 24 of structure the 4th rotates identical angle, and motor and electricity by each Lun Tui structures branch around respective rotary shaft
The cooperation of dynamic push rod is realized by wheeled in motion process to the change of leg formula；On the contrary, after wheel leg type calamity field rescue machine
People from leg formula move to wheel type movement convert when, robot can match somebody with somebody in the motor of each Lun Tui structures branch with electric pushrod
Close lower counter motion or change the first branch of wheel leg structure 21, the second branch of wheel leg structure 22, the branch 23 of wheel leg structure the 3rd, wheel
The angle that the branch 24 of leg structure the 4th rotates around respective rotary shaft.Site environment is more rugged after calamity, is not suitable for wheeled fortune
When dynamic, robot can realize that leg formula is moved, and structure type is as shown in figure 5, the first branch of auxiliary leg structure 31, auxiliary leg structure the
Two branches 32 contact with ground, now robot be changed into including the first branch of wheel leg structure 21, the second branch of wheel leg structure 22,
Take turns the branch 23 of leg structure the 3rd, the branch 24 of wheel leg structure the 4th, the first branch of auxiliary leg structure 31, the second branch of auxiliary leg structure
32 Hexapod Robot, completes the motion of leg formula, now robot trunk bone in the case where each motor and electric pushrod coordinate in real time
Frame structure 1 need to be moved along specific curves.
Environmental sampling construction module 4 is as shown in fig. 6, including the first branch of environmental sampling module 41, environmental sampling module
Two branches 42, the branch 43 of environmental sampling module the 3rd, the structure type of three branches are identical with installation form.Environmental sampling
The first branch of module 41 includes sampling container 411, sampling container connecting rod 412, sampling container connecting rod motor 413；Sampling is held
Device 411 is fixedly connected with sampling container connecting rod 412, sampling container connecting rod 412 and the hinge connection of lower raft 13, is driven in container connecting rod
Under the driving of dynamic motor 413, the first branch of environmental sampling module 41 can realize the rotation relative to trunk skeleton structure 1.In ring
In the sampling process of border, environmental sampling construction module 4 can be engaged with wheel leg type Zai Hou field rescues robot in motion, be realized
Sampling after complicated calamity under environment to water, soil.
Oxygen therapy/fire-extinguishing function concurrently module 6 as shown in fig. 7, comprises oxygen therapy module 61, fire suppression module 62, direction adjusting structure 63,
Oxygen therapy/fire-extinguishing function concurrently module bottom support 64；Wherein, oxygen therapy module 61 is led including oxygen bottle supporter 611, oxygen cylinder 612, oxygen
Pipe 613；Oxygen bottle supporter 611 is fixedly connected with oxygen therapy/fire-extinguishing function concurrently module bottom support 64, oxygen cylinder 612 and oxygen bottle supporter
611 are fixedly connected with, and oxygen catheter 613 is used for exporting oxygen.Fire suppression module 62 includes fire extinguisher bracket 621, fire extinguisher 622, fire extinguishing
Device conduit 623；Fire extinguisher bracket 621 is fixedly connected with oxygen therapy/fire-extinguishing function concurrently module bottom support 64, fire extinguisher 622 and fire extinguisher
Support 621 is fixedly connected with, and fire extinguisher conduit 623 is used for exporting extinguishing material.Direction adjusting structure 63 is as shown in figure 8, direction is adjusted
Structure 63 includes direction adjusting structure first connecting rod 631, direction adjusting structure second connecting rod 632, direction adjusting structure the 3rd and connected
Bar 633, direction adjusting structure lower shoe 634, direction adjusting structure upper plate 635, direction adjusting structure cover plate 636, direction are adjusted
Whole structure motor 637；Direction adjusting structure first connecting rod 631, direction adjusting structure second connecting rod 632, direction adjustment knot
Structure third connecting rod 633 respectively with direction adjusting structure lower shoe 634 and the hinge connection of direction adjusting structure upper plate 635 and axis
It is parallel；Direction adjusting structure cover plate 636 is fixedly connected with direction adjusting structure upper plate 635, and forms first through hole 638 and second
Through hole 639；Direction adjusting structure motor 637 is fixedly connected with direction adjusting structure lower shoe 634, can driving direction adjustment knot
Structure second connecting rod 632 is rotated, and is thus driven direction adjusting structure 63 to realize and is rotated.Ring after robot is in the calamity such as earthquake or landslide
When circumstances are to trapped personnel, oxygen therapy module 61 can be opened, oxygen is provided for trapped personnel；Needed promptly when robot runs into the condition of a fire
During fire extinguishing, fire suppression module 62 can be opened, burning things which may cause a fire disaster is put out.During oxygen therapy or fire extinguishing, can by direction adjusting structure 63 with
The mobile phase of robot itself is combined, and changes the direction of oxygen catheter 613 or fire extinguisher conduit 623 in real time, existing to meet rescue
The demand of field.
Stretcher structure module 7 is as shown in figure 9, including stretcher auxiliary support plate 71, first order stretcher 72, second level stretcher
73rd, universal wheel 74, stretcher motor 75, first pulley 76, second pulley 77, the 3rd pulley 78, the 4th pulley the 79, the 5th are slided
Wheel 710, rope 711；Stretcher auxiliary support plate 71 can realize stretching motion, first order stretcher 72 and load along bottom frame structure 11
The hinge connection of frame auxiliary support plate 71, the two can be achieved to relatively rotate, and second level stretcher 73 can be real relative to first order stretcher 72
Now stretch.It is stretcher structure module top view as shown in Figure 10, stretcher motor 75 is fixedly connected with lower raft 13；Each pulley
It is fixedly connected with respectively at the corresponding construction of stretcher structure module 7；Rope 711 is wrapped on each pulley, and one end drives electricity with stretcher
Machine 75 is fixedly connected with；When stretcher motor 75 is rotated clockwise, the first order stretcher 72 and the of stretcher structure module 7 can be achieved
Two grades of stretchers 73 are withdrawn successively, and now stretcher structure module 7 is hidden in robot bottom；When stretcher motor 75 turns counterclockwise
When dynamic, the first order stretcher 72 and second level stretcher 73 that stretcher structure module 7 can be achieved stretch out successively；Stretcher structure module 7 is also
Universal wheel 74 is installed, it is fixedly connected with second level stretcher 73, can aid in realizing the flexible of stretcher.
Claims (6)
1. a kind of wheel leg type Zai Hou field rescues robot, it is characterised in that：Including trunk skeleton structure (1), wheel leg structure mould
Block (2), auxiliary leg construction module (3), environmental sampling construction module (4), vision module (5), oxygen therapy/fire-extinguishing function concurrently module (6),
Stretcher structure module (7)；
The trunk skeleton structure (1) include bottom frame structure (11), top frame structure (12), lower raft (13), on
Portion's cover plate (14), lateral hatch (15)；Lower raft (13) is fixedly connected with bottom frame structure (11), top cover plate (14) and top
Portion's frame structure (12) is fixedly connected with, and lateral hatch (15) is mutually solid with bottom frame structure (11) and top frame structure (12) respectively
Even；Bottom frame structure (11) and top frame structure (12) are formed by aluminum alloy materials framework, lower raft (13), upper cap
Plate (14), lateral hatch (15) material therefor are steel；
The wheel leg construction module (2) includes wheel the first branch of leg structure (21), wheel the second branch of leg structure (22), wheel leg structure
3rd branch (23), the branch (24) of wheel leg structure the 4th；
Wheel first branch of leg structure (21) includes wheel leg structure motor (211), little gear (212), gear wheel
(213), rotary shaft (214), wheel leg structure first connecting rod (215), wheel leg structure second connecting rod (216), wheel leg structure the 3rd connect
Bar (217), electric pushrod (218), driving wheel (219)；Wheel leg structure motor (211) is fixedly connected with lower raft (13),
Little gear (212) can be driven to realize rotation；Gear wheel (213) is fixedly connected with rotary shaft (214), and is engaged with little gear (212)；
Rotary shaft (214) can realize freely rotating around axis direction relative to lower raft (13)；Take turns leg structure first connecting rod (215)
One end is connected with the lateral hinges of rotary shaft (214), the other end and wheel leg structure second connecting rod (216) hinge connection；Take turns leg knot
Structure third connecting rod (217) one end is connected with the lateral hinges of rotary shaft (214), the other end and wheel leg structure second connecting rod (216)
Hinge connection；Electric pushrod (218) one end and wheel leg structure first connecting rod (215) hinge connection, the other end and wheel leg structure the
Two connecting rods (216) hinge connection；Driving wheel (219) is fixedly connected with wheel leg structure second connecting rod (216)；When wheel leg structure driving electricity
When machine (211) is rotated, little gear (212) is realized under the drive of wheel leg structure motor (211) and rotated, and drives gear wheel
(213) realize and rotate, because gear wheel (213) is fixedly connected with rotary shaft (214), so as to drive rotary shaft (214) around axis side
Rotated to realizing, it is final to realize that wheel the first branch of leg structure (21) rotates around axis direction；When electric pushrod (218) is moved,
Wheel the first branch of leg structure (21) can be achieved planar to move；
Wheel second branch of leg structure (22), the branch (23) of wheel leg structure the 3rd, the structure of the branch (24) of wheel leg structure the 4th
Form is identical with the wheel branch of leg structure first (21) with installation form；
The auxiliary leg construction module (3) includes auxiliary the first branch of leg structure (31), auxiliary the second branch of leg structure (32)；
Auxiliary first branch of leg structure (31) and wheel the first branch of leg structure (21) differ only in auxiliary leg structure the
One branch (31) does not include driving wheel (219), and other structures form and type of attachment are with taking turns the first branch of leg structure (21) completely
It is identical；
The structure type of auxiliary second branch of leg structure (32) and installation form and the auxiliary branch of leg structure first (32) are complete
It is exactly the same；
The environmental sampling construction module (4) includes the branch of environmental sampling module first (41), the branch of environmental sampling module second
(42), the branch (43) of environmental sampling module the 3rd；
The branch of environmental sampling module first (41) includes sampling container (411), sampling container connecting rod (412), sampling container
Connecting rod motor (413)；Sampling container (411) is fixedly connected with sampling container connecting rod (412), sampling container connecting rod (412) with
Lower raft (13) hinge connection, under the driving of sampling container connecting rod motor (413), the branch of environmental sampling module first
(41) rotation relative to lower raft (13) can be achieved；
The branch of environmental sampling module second (42), the structure type of the branch (43) of environmental sampling module the 3rd and installation form
It is identical with the branch of environmental sampling module first (41)；
The vision module (5) is fixedly connected with top cover plate (14), and monitoring of the robot to environment can be achieved；
The oxygen therapy/fire-extinguishing function concurrently module (6) includes oxygen therapy module (61), fire suppression module (62), direction adjusting structure (63), defeated
Oxygen/fire-extinguishing function concurrently module bottom support (64)；
The oxygen therapy module (61) includes oxygen bottle supporter (611), oxygen cylinder (612), oxygen catheter (613)；Oxygen bottle supporter
(611) it is fixedly connected with oxygen therapy/fire-extinguishing function concurrently module bottom support (64), oxygen cylinder (612) is mutually solid with oxygen bottle supporter (611)
Even, oxygen catheter (613) is used for exporting oxygen；When wheel leg type bio-robot run into be badly in need of oxygen therapy trapped personnel when, can and
When oxygen is provided；
The fire suppression module (62) includes fire extinguisher bracket (621), fire extinguisher (622), fire extinguisher conduit (623)；Fire extinguisher branch
Frame (621) is fixedly connected with oxygen therapy/fire-extinguishing function concurrently module bottom support (64), and fire extinguisher (622) is mutually solid with fire extinguisher bracket (621)
Even, fire extinguisher conduit (623) is used for exporting extinguishing material；When wheel leg type bio-robot, which runs into burning things which may cause a fire disaster, needs urgent put out,
It can be put out a fire in time；
The direction adjusting structure (63) includes direction adjusting structure first connecting rod (631), direction adjusting structure second connecting rod
(632), direction adjusting structure third connecting rod (633), direction adjusting structure lower shoe (634), direction adjusting structure upper plate
(635), direction adjusting structure cover plate (636), direction adjusting structure motor (637)；Direction adjusting structure first connecting rod
(631), direction adjusting structure second connecting rod (632), direction adjusting structure third connecting rod (633) respectively with direction adjusting structure
Bottom plate (634) and (635) hinge connection of direction adjusting structure upper plate and diameter parallel；Direction adjusting structure cover plate (636) with
Direction adjusting structure upper plate (635) is fixedly connected with, and forms first through hole (638) and the second through hole (639)；Direction adjusting structure
Motor (637) is fixedly connected with direction adjusting structure lower shoe (634), can driving direction adjustment structure second connecting rod (632)
Rotate, thus drive direction adjusting structure (63) to realize and rotate；
The oxygen catheter (613) is connected by first through hole (638) and with first through hole (638), and fire extinguisher conduit (623) leads to
Cross the second through hole (639) and be connected with the second through hole (639)；In direction adjusting structure motor (637) and robot itself
Under the cooperation of motion, the direction of oxygen catheter (613) and fire extinguisher conduit (623) can adjust；
The oxygen therapy/fire-extinguishing function concurrently module bottom support (64) is fixedly connected with bottom frame structure (11)；
The stretcher structure module (7) include stretcher auxiliary support plate (71), first order stretcher (72), second level stretcher (73),
Universal wheel (74), stretcher motor (75), first pulley (76), second pulley (77), the 3rd pulley (78), the 4th pulley
(79), the 5th pulley (710), rope (711)；Stretcher auxiliary support plate (71) can realize flexible fortune along bottom frame structure (11)
It is dynamic；First order stretcher (72) and stretcher auxiliary support plate (71) hinge connection, the two can be achieved to relatively rotate；Second level stretcher
(73) it can be realized relative to first order stretcher (72) flexible；Universal wheel (74) is fixedly connected with second level stretcher (73)；Stretcher drives
Motor (75) is fixedly connected with lower raft (13)；First pulley (76) is fixedly connected with lower raft (13), second pulley (77) with
Stretcher auxiliary support plate (71) is fixedly connected with；One end of 3rd pulley (78) and first order stretcher (72) is fixedly connected with；4th pulley
(79) it is fixedly connected with second level stretcher (73)；The other end of 5th pulley (710) and first order stretcher (72) is fixedly connected with；Rope
(711) first pulley (76), second pulley (77), the 3rd pulley (78), the 4th pulley (79), the 5th pulley (710) are wrapped in
On, and one end is fixedly connected with stretcher motor (75).
2. a kind of wheel leg type Zai Hou field rescues robot as claimed in claim 1, with three kinds of different motion states, difference
Conversion conditions, the leg formula motion state moved for wheel type movement state, wheel type movement and leg formula.
3. a kind of wheel leg type Zai Hou field rescues robot as claimed in claim 1, when wheel leg type Zai Hou field rescues robot
During from wheel type movement to leg formula conversion of motion, wheel the first branch of leg structure (21), wheel the second branch of leg structure (22), wheel leg structure
3rd branch (23), the branch (24) of wheel leg structure the 4th rotate identical angle around respective rotary shaft, and pass through each wheel leg
The cooperation of the motor and electric pushrod of structure branch is realized by wheeled in motion process to the change of leg formula；On the contrary, working as
Wheel leg type Zai Hou field rescues robot from leg formula move to wheel type movement convert when, robot can be in each Lun Tui structures branch
Motor and electric pushrod coordinate lower counter motion or change wheel the first branch of leg structure (21), the second branch of wheel leg structure
(22), the angle that the branch (23) of wheel leg structure the 3rd, the branch (24) of wheel leg structure the 4th rotate around respective rotary shaft.
4. a kind of wheel leg type Zai Hou field rescues robot as claimed in claim 1, auxiliary in the artificial wheel type movement state of machine
It is lifting status to help the branch of leg structure first (31), auxiliary the second branch of leg structure (32), is not come in contact with ground；In machine
During artificial leg formula motion state, auxiliary the first branch of leg structure (31), auxiliary the second branch of leg structure (32) contact with ground, this
When robot be changed into including wheel the first branch of leg structure (21), wheel the second branch of leg structure (22), the branch of wheel leg structure the 3rd
(23), six foots of the branch (24) of wheel leg structure the 4th, auxiliary the first branch of leg structure (31), auxiliary the second branch of leg structure (32)
Robot.
5. a kind of wheel leg type Zai Hou field rescues robot as claimed in claim 1, during environmental sampling, environmental sampling knot
Structure module (4) can be engaged with the motion of wheel leg type Zai Hou field rescues robot, and realization is after complicated calamity to water, soil under environment
The sampling of earth.
6. a kind of wheel leg type Zai Hou field rescues robot as claimed in claim 1, when stretcher motor (75) turns clockwise
When dynamic, the first order stretcher (72) and second level stretcher (73) that stretcher structure module (7) can be achieved are withdrawn successively, now stretcher knot
Structure module (7) is hidden in robot bottom；When stretcher motor (75) is rotated counterclockwise, stretcher structure module can be achieved
(7) first order stretcher (72) and second level stretcher (73) stretches out successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710504948.4A CN107323561A (en) | 2017-06-28 | 2017-06-28 | A kind of wheel leg type Zai Hou field rescues robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710504948.4A CN107323561A (en) | 2017-06-28 | 2017-06-28 | A kind of wheel leg type Zai Hou field rescues robot |
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| CN107323561A true CN107323561A (en) | 2017-11-07 |
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| CN201710504948.4A Pending CN107323561A (en) | 2017-06-28 | 2017-06-28 | A kind of wheel leg type Zai Hou field rescues robot |
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| CN109229228A (en) * | 2018-11-13 | 2019-01-18 | 北京交通大学 | A kind of wheel-leg combined type robot |
| CN110523033A (en) * | 2019-08-19 | 2019-12-03 | 重庆特斯联智慧科技股份有限公司 | A kind of intelligent escape auxiliary robot of fire-fighting and rescue |
| CN112402118A (en) * | 2020-11-19 | 2021-02-26 | 中国人民解放军陆军特色医学中心 | Stretcher robot for field first aid |
| CN114590337A (en) * | 2022-04-18 | 2022-06-07 | 南京理工大学 | Wheel-foot combined type robot wheel type motion system and robot |
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