CN107757737A - Full landform intelligence rescue robot with self-balancing objective table - Google Patents
Full landform intelligence rescue robot with self-balancing objective table Download PDFInfo
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- CN107757737A CN107757737A CN201711137348.5A CN201711137348A CN107757737A CN 107757737 A CN107757737 A CN 107757737A CN 201711137348 A CN201711137348 A CN 201711137348A CN 107757737 A CN107757737 A CN 107757737A
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- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 6
- 230000008569 process Effects 0.000 claims abstract description 6
- 230000008878 coupling Effects 0.000 claims abstract description 5
- 238000010168 coupling process Methods 0.000 claims abstract description 5
- 238000005859 coupling reaction Methods 0.000 claims abstract description 5
- 238000012545 processing Methods 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 208000014674 injury Diseases 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000010792 warming Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
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Abstract
The invention discloses a kind of full landform intelligence rescue robot with self-balancing objective table, including walking mechanism, also include self-balancing mechanism, self-balancing mechanism includes being arranged on self-balancing objective table, control system, the screw mandrel of more than 2 and the screw rod driving device above frame, the lower end of screw mandrel is connect by shaft coupling with screw rod driving device axle, its upper end is connected with self-balancing objective table, it is provided with a threaded rod between the center of self-balancing objective table and frame, the bottom of threaded rod is fixed in frame, its top is connected to the bottom of self-balancing objective table by universal joint.The walking mechanism of the structure, which overcomes existing robot, can not adapt to earthquake-stricken area Various Complex landform, have the characteristics of mobility is strong and simple in construction；And set self-balancing objective table can be constantly in horizontality under any circumstance, the wounded in disaster area can be given treatment in rapid, steady, safety the disaster area that is carried out, and avoid because transport process is likely to occur the situation of second hurt.
Description
Technical field
The present invention relates to a kind of robot, and in particular to a kind of full landform intelligence rescue machine with self-balancing objective table
People.
Background technology
At present, with global warming and Global climate change, earthquake, sea occurs as frequent on the earth of human setting house
The natural calamities such as howl, landslide, big flood, fire, threaten the life and property safety of this mankind.When these disasters occur,
The people's own army, fire fighters, medical personnel etc. are needed timely to be rescued.And only can not by artificial rescue
The requirement of rescue.With the development of science and technology, increasing smart machine is gradually put into disaster relief ranks, wherein more universal
It is rescue robot.
Rescue robot can play rescue during whole rescue and relief work, scout feedback, on the spot rescue, logistics supply
Etc. huge effect can be played in task.Particularly in earthquake disaster field, calamity place shape is extremely complex, and ambulance can not enter at all
Enter disaster area and implement rescue.It is difficult to lift the badly-wounded wounded by stretcher when rescuing soldier and entering earthquake-stricken area implementation rescue
Go out disaster area, because the stationarity of stretcher, the ground after earthquake must be kept the moment during the wounded to be sent out to disaster area with stretcher
Landform complex is difficult to ensure that stretcher will not rock, and the condition of the injury for rocking the wounded that will increase sharply of stretcher causes not
Repairable situation.Therefore, this problem will be efficiently solved by studying a kind of robot with self-balancing objective table.
The existing robot applied in terms of the rescue of disaster area is mostly used for information feedback system or thermal imaging system to detect
Sign of life in disaster area, use are relatively limited.And study on the contrary many, example for the robot with self-balance structure is existing
Chinese utility model patent if Authorization Notice No. is 204673629U discloses a kind of single wheel self-balancing of horizontal gyroscope structure
Robot, including frame, balance motor, rotating weight, control board, electric rotating machine, gyrorotor, road wheel and walking electricity
Machine, frame are the hollow cylindrical of bottom surface closing, and frame top surface installs a square top plate, and balance motor is arranged on top plate
Upper surface, one end connection balance motor of rotating weight, the other end is hanging, and control board is arranged on the geometry of top plate lower surface
Center, control board connection balance motor, electric rotating machine and movable motor, electric rotating machine are arranged on the inside of frame,
Gyrorotor is arranged in the rotary shaft of electric rotating machine, and road wheel is arranged on the bottom surface lower surface of frame, and movable motor connection is driven
Dynamic road wheel, the central axis of the rotary shaft of rotating weight, the rotary shaft of gyrorotor and frame, the strong point position of road wheel
In on the central shaft of frame.Robot motion's flexibility of this kind of single wheel structure is good and with fixed point balanced capacity, is only applicable
In being used on level land, it is difficult to adapt to the landform of earthquake-stricken area Various Complex.
The content of the invention
For above-mentioned deficiency, the technical problems to be solved by the invention be to provide one kind operates steadily, mobility is strong,
Suitable in the situation of complicated landform carry the full landform intelligence rescue robot with self-balancing objective table of the wounded.
To achieve the above object, the present invention is achieved through the following technical solutions：
Full landform intelligence rescue robot with self-balancing objective table, including walking mechanism, the walking mechanism include
Frame and be separately mounted to frame both sides cover belt wheel group, respectively covers the lower section that belt wheel group is arranged on frame by connecting bracket, also
Including self-balancing mechanism, the self-balancing mechanism includes being arranged on self-balancing objective table above frame, for controlling self-balancing
Objective table is constantly in the control system of horizontality, the screw mandrel of more than 2 and the screw rod driving device for drive screw, institute
State screw rod driving device to be fixed in frame by erection support, the lower end of the screw mandrel passes through shaft coupling and screw rod driving device
Axle is connect, its upper end is connected by fastener with self-balancing objective table, and one is provided between the center of self-balancing objective table and frame
Threaded rod, the bottom of the threaded rod is fixed in frame, its top is connected to the bottom of self-balancing objective table by universal joint.
In such scheme, the fastener may include ring flange, screw and connection ring, and the centre bore of the ring flange supplies silk
Bar penetrates, and is fixed in the positioning hole that the screw is penetrated on ring flange and by ring flange on screw mandrel, the open loop of the connection ring
It is fixed on after holding through the wall body of self-balancing objective table in the positioning hole on ring flange.I.e. by the effect of fastener by self-balancing
Objective table is attached with screw mandrel, and the connection is not to be completely fixed connection nor the company of slack and undisciplined any mobile form
Connect.
In such scheme, the screw rod driving device can be DC speed-reducing.
In such scheme, each belt wheel group of covering may include that a pair of masters cover belt wheel, cover the servo-actuated of belt wheel transmission with main and cover for a pair
Belt wheel, for driving the main motor for covering belt wheel and one to cover band, wherein
The master covers the rotating shaft of belt wheel and the output axis connection of motor, it is described it is servo-actuated cover belt wheel and be arranged on master cover belt wheel
Top and be connected with a motion bar between the servo-actuated rotating shaft for covering belt wheel and the main rotating shaft for covering belt wheel, the motor passes through
Motor fixing frame is arranged on the lower section of the bottom plate below frame, and the bottom plate is parallel with frame to be set and pass through spring and frame
Connection, it is described cover band be coated on it is main cover belt wheel with the servo-actuated periphery covered where belt wheel.
It is described to ensure the servo-actuated flexibility for covering belt wheel movement in order to adjust the servo-actuated tensioning for covering belt wheel in such scheme
The servo-actuated rotating shaft for covering belt wheel can be connected with a slide rail, and the slide rail is located at the lower section of bottom plate and the top of slide rail and passes through screw vertically
It is fixed on bottom plate, the servo-actuated rotating shaft for covering belt wheel is arranged on the chute opened up on slide rail by the cooperation of bolt and bearing
It is interior.
In such scheme, in order to ensure respectively to cover the synchronism of belt wheel motion, it can cover belt wheel main and main cover between belt wheel
A horizon bar is connected with rotating shaft, a horizon bar is connected with belt wheel and the servo-actuated rotating shaft covered between belt wheel in servo-actuated cover.
In such scheme, the control system may include that camera, control terminal and master control borad, the camera are arranged on
On bottom plate, the master control borad is arranged on the lower section of self-balancing objective table and mainly sensed by central processing unit, driving chip, balance
Device and the electric power generating composition for power supply, the power supply is connected after power supply transfer chip with the feeder ear of central processing unit, described
PID controller connection in the input and central processing unit of driving chip, its output end are connected with screw rod driving device, described
Balance sensor and camera are connected with the signal input part of central processing unit；The control terminal passes through wireless connection module
It is connected with central processing unit.
In such scheme, the central processing unit can be model be STM32F407 process chip, the driving chip
For model TB6612 drive module.
Beneficial effects of the present invention are：
1) walking mechanism that uses of the present invention includes frame and be separately mounted to frame both sides covers belt wheel group, each to cover band
Wheel group include a pair of masters cover belt wheel, a pair with it is main cover belt wheel transmission it is servo-actuated cover belt wheel, motor and one cover band, the structure
Walking mechanism overcome existing robot and can not adapt to earthquake-stricken area Various Complex landform, have mobility by force and structure be simple
The characteristics of single；
2) robot of this structure is provided with self-balancing objective table, and it passes through screw mandrel, screw rod driving device, threaded rod and control
The use of system processed so that self-balancing objective table can be constantly in horizontality under any circumstance, more be run when in landform
Winnow with a dustpan and complicated earthquake, the wounded or other breakables etc. are placed on self-balancing objective table, you can the wounded in disaster area are fast
Speed, steady, safety the disaster area that is carried out are given treatment to, and avoided because transport process is likely to occur the situation of second hurt.Tool
There is stable, system to control sensitive, practical beneficial features.
Brief description of the drawings
Fig. 1 has the structural representation of the full landform intelligence rescue robot of self-balancing objective table.
Fig. 2 is the system block diagram of the control system.
In figure marked as：1st, screw mandrel；2nd, connection ring；3rd, ring flange；4th, self-balancing objective table；5th, shaft coupling；6th, screw mandrel drives
Dynamic device；7th, erection support；8th, frame；9th, spring；10th, connecting bracket；11st, crawler belt；12nd, main Athey wheel；13rd, output shaft；14、
Motor；15th, motor fixing frame；16th, motion bar；17th, slide rail；18th, threaded rod；19th, universal joint；20th, bottom plate；21st, it is servo-actuated
Athey wheel；22nd, camera；23rd, master control borad, 24, horizon bar.
Embodiment
As shown in figure 1, the full landform intelligence rescue robot with self-balancing objective table, including walking mechanism, the row
Walk that mechanism includes frame 8 and be separately mounted to the both sides of frame 8 cover belt wheel group, respectively cover belt wheel group and be arranged on by connecting bracket 10
The lower section of frame 8, except that：Also include self-balancing mechanism.
The self-balancing mechanism includes being arranged on the self-balancing objective table 4 of the top of frame 8, for controlling self-balancing objective table
4 are constantly in the control system of horizontality, the screw mandrel 1 of more than 2 and the screw rod driving device 6 for drive screw 1.It is described
Screw rod driving device 6 is fixed in frame 8 by erection support 7.In order to improve efficiency and save installing space, the present embodiment
In, the screw rod driving device 6 is DC speed-reducing.The lower end of the screw mandrel 1 passes through shaft coupling 5 and screw rod driving device 6
Axle is connect, its upper end is connected by fastener with self-balancing objective table 4.It is provided between the center of self-balancing objective table 4 and frame 8
One threaded rod 18, the bottom of the threaded rod 18 is fixed in frame 8, its top is connected to self-balancing loading by universal joint 19
The bottom of platform 4.The screw mandrel 1 is matched somebody with somebody to merge and made in the presence of screw rod driving device 6 from flat jointly with threaded rod 18, control system
Weighing apparatus objective table 4 is constantly in horizontal state.In the present embodiment, the screw mandrel 1 is specially 2, naturally it is also possible to is selected as 3
Deng.
The fastener specifically includes ring flange 3, screw and connection ring 2, wherein the centre bore screw mandrel 1 of ring flange 3
Upper end penetrates, and is fixed in the positioning hole that the screw is penetrated on ring flange 3 and by ring flange 3 on screw mandrel 1, the connection ring 2
Open-loop through self-balancing objective table 4 wall body after be fixed in the positioning hole on ring flange 3.I.e. self-balancing objective table 4 is logical
Cross threaded rod 18 and be used as main support, pull the connection ring 2 being connected with ring flange 3 to adjust the upper of self-balancing objective table 4 with screw mandrel 1
Under, left and right, tilt to ensure the horizontality of self-balancing objective table 4.
It is each cover belt wheel group and include a pair of masters cover belt wheel, cover the servo-actuated of belt wheel transmission with main and cover belt wheel, for driving for a pair
Master covers the motor 14 of belt wheel and one covers band.Wherein, the master covers the rotating shaft of belt wheel and the output shaft 13 of motor 14
Connection.A horizon bar is connected with belt wheel and the main rotating shaft covered between belt wheel in main cover, covers belt wheel with servo-actuated in the servo-actuated belt wheel that covers
Between rotating shaft on be connected with a horizon bar.I.e. at two same group and with straight line installation master cover the rotating shaft of belt wheel between connect
There is horizon bar；Similarly, it is connected with horizon bar between the servo-actuated rotating shaft for covering belt wheel at two same group and with straight line installation.
The servo-actuated belt wheel that covers is arranged on the main top for covering belt wheel and covers turning for belt wheel with main in the servo-actuated rotating shaft for covering belt wheel
A motion bar 16 is connected between axle.The motor 14 is arranged on the bottom plate 20 of the lower section of frame 8 by motor fixing frame 15
Lower section, the motor 14 is DC speed-reducing.The bottom plate 20 setting parallel with frame 8 and by spring 9 with
Frame 8 connects.The quantity of the spring 9 is 4 or more, is major diameter stiffness spring 9, to reach the top of frames 8
The effect of self-balancing objective table 4, it can also play good cushioning effect.It is described cover band and be coated on the main belt wheel that covers cover belt wheel with servo-actuated
On the periphery at place.The servo-actuated rotating shaft for covering belt wheel is connected with a slide rail 17.The slide rail 17 is located under bottom plate 20 vertically
The side and top of slide rail 17 is screwed on bottom plate 20, the servo-actuated rotating shaft for covering belt wheel are matched somebody with somebody by bolt and bearing
Close in the chute for being arranged on and being opened up on slide rail 17.The i.e. servo-actuated rotating shaft for covering belt wheel can move up and down in chute so that with
The dynamic belt wheel that covers can be adjusted corresponding rate of tension according to the main rotation for covering belt wheel.
As shown in Fig. 2 the control system includes camera 22, control terminal and master control borad 23.The camera 22 is pacified
Dress on the base plate 20, for gathering the real time environment image of robot current location, and is sent to central processing unit.The master control
Plate 23 is arranged on the lower section of self-balancing objective table 4 and mainly by central processing unit, driving chip, balance sensor and for powering
Electric power generating composition.In the present embodiment, the central processing implement body is from the process chip that model is STM32F407.It is wherein electric
Source is connected after power supply transfer chip with the feeder ear of central processing unit.In the input and central processing unit of the driving chip
PID controller connection, its output end is connected with screw rod driving device 6.In the present embodiment, the driving chip uses model
TB6612 drive module, the signal that the pid control module to receive in central processing unit is sent, and to screw rod driving device
6 send rotating forward, reversion, the instruction of working speed.The balance sensor and camera 22 are defeated with the signal of central processing unit
Enter end connection.The balance sensor is arranged on lower section, the angle of inclination for detecting self-balancing objective table 4 of master control borad 23,
Specific optional model MPU6050 balance sensor.The control terminal passes through wireless connection module and central processing unit
Connection.The control terminal can be the mobile devices such as mobile phone, tablet personal computer, intelligent watch or joystick, remote control
Device etc..When in use, control terminal domestic demand that the control operation software corresponding with control system is installed, the control operation software
By carrying out burning, exploitation in central processing unit.
Certainly, above-mentioned control system is only used for ensureing the control that self-balancing objective table 4 is constantly in horizontality, and
Control for whole robot also needs corresponding Robot remote device.Used Robot remote device can be existing more ripe
Robot control distant handle, the control of robot can also be integrated together in control terminal together with, control easy to operation.
The self-balancing objective table 4 is when in use：
1) by the wounded or treat that loading is placed on self-balancing objective table 4, and be fixed with some bandages, software controller
Control instruction is triggered by touch controlled key, then operational control terminal, walking mechanism movement；
2) balance sensor in frame 8 detects, sensed the angle of inclination of self-balancing objective table 4 and sends extremely immediately
Central processing unit；Central processing unit is that the value that sends is compared, when detecting that self-balancing objective table 4 is heeling condition
When, when interrupting immediately and carrying out calculating by PID controller and reach horizontality, the adjustment parameter of each screw mandrel 1；
3) each adjustment parameter is switched to corresponding control instruction by central processing unit, and control screw drive motor 14 rotates forward, instead
Turn and velocity of rotation, the ring flange 3 on screw mandrel 1 risen, decline or is tilted so as to control, to drive self-balancing to carry
Thing platform 4 reaches the real-time, balance of moment.
Therefore, the present invention is at work, it is only necessary to which the traveling of control machine people's walking mechanism, the self-balancing objective table 4 are logical
The balance of control system in real time, in moment itself realization level is crossed, avoids transporting wounded's process, because of with a varied topography, vehicle with walking machine
Structure jolts and the situation of wounded's second hurt occurs.
Explanation embodiments of the present invention are these are only, are not intended to limit the invention, for those skilled in the art
For, within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., it should be included in this hair
Within bright protection domain.
Claims (8)
1. the full landform intelligence rescue robot with self-balancing objective table, including walking mechanism, the walking mechanism include machine
Frame (8) and be separately mounted to frame (8) both sides cover belt wheel group, respectively covers belt wheel group and is arranged on frame by connecting bracket (10)
(8) lower section, it is characterised in that：
Also include self-balancing mechanism, the self-balancing mechanism includes being arranged on self-balancing objective table (4) above frame (8), used
The control system of horizontality, the screw mandrel of more than 2 (1) are constantly in control self-balancing objective table (4) and for driving silk
The screw rod driving device (6) of bar (1), the screw rod driving device (6) is fixed in frame (8) by erection support (7), described
The lower end of screw mandrel (1) is by shaft coupling (5) and screw rod driving device (6) axle connects, its upper end passes through fastener and self-balancing loading
Platform (4) is connected, and a threaded rod (18), the threaded rod (18) are provided between the center of self-balancing objective table (4) and frame (8)
Bottom be fixed in frame (8), its top is connected to the bottoms of self-balancing objective table (4) by universal joint (19).
2. the full landform intelligence rescue robot according to claim 1 with self-balancing objective table, it is characterised in that：Institute
Stating fastener includes ring flange (3), screw and connection ring (2), and the centre bore screw mandrel (1) of the ring flange (3) penetrates, described
It is fixed in the positioning hole that screw is penetrated on ring flange (3) and by ring flange (3) on screw mandrel (1), the open loop of the connection ring (2)
It is fixed on after holding through the wall body of self-balancing objective table (4) in the positioning hole on ring flange (3).
3. the full landform intelligence rescue robot according to claim 1 or 2 with self-balancing objective table, its feature exist
In：The screw rod driving device (6) is DC speed-reducing.
4. the full landform intelligence rescue robot according to claim 1 with self-balancing objective table, it is characterised in that：Often
One, which covers belt wheel group, includes a pair of masters and covers belt wheel, covers the servo-actuated of belt wheel transmission with main and cover belt wheel, for driving master to cover belt wheel for a pair
Motor (14) and one cover band, wherein
The master is covered the rotating shaft of belt wheel and is connected with the output shaft (13) of motor (14), and the servo-actuated belt wheel that covers is arranged on main cover
The top of belt wheel and it is connected with a motion bar (16), the driving between the servo-actuated rotating shaft for covering belt wheel and the main rotating shaft for covering belt wheel
Motor (14) is arranged on the lower section of the bottom plate (20) below frame (8), the bottom plate (20) and machine by motor fixing frame (15)
Parallel set of frame (8) simultaneously be connected by spring (9) with frame (8), it is described cover band be coated on it is main cover belt wheel and be servo-actuated cover belt wheel
On the periphery at place.
5. the full landform intelligence rescue robot according to claim 4 with self-balancing objective table, it is characterised in that：Institute
State the servo-actuated rotating shaft for covering belt wheel and be connected with a slide rail (17), the slide rail (17) is located at lower section and the slide rail of bottom plate (20) vertically
(17) top is screwed on bottom plate (20), and the servo-actuated rotating shaft for covering belt wheel is pacified by the cooperation of bolt and bearing
In the chute opened up on slide rail (17).
6. the full landform intelligence rescue robot according to claim 4 with self-balancing objective table, it is characterised in that：
Main cover is connected with a horizon bar (24) in belt wheel and the main rotating shaft covered between belt wheel, covers belt wheel servo-actuated and servo-actuated covers between belt wheel
Rotating shaft on be connected with a horizon bar (24).
7. the full landform intelligence rescue robot according to claim 4 with self-balancing objective table, it is characterised in that：Institute
Stating control system includes camera (22), control terminal and master control borad (23), and the camera (22) is arranged on bottom plate (20),
The master control borad (23) is arranged on the lower section of self-balancing objective table (4) and mainly sensed by central processing unit, driving chip, balance
Device and the electric power generating composition for power supply, the power supply is connected after power supply transfer chip with the feeder ear of central processing unit, described
PID controller connection in the input and central processing unit of driving chip, its output end are connected with screw rod driving device (6),
The balance sensor and camera (22) are connected with the signal input part of central processing unit；The control terminal passes through wireless
Link block is connected with central processing unit.
8. the full landform intelligence rescue robot according to claim 7 with self-balancing objective table, it is characterised in that：Institute
It is the process chip that model is STM32F407 to state central processing unit, and the driving chip is model TB6612 drive module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711137348.5A CN107757737B (en) | 2017-11-16 | 2017-11-16 | All-terrain intelligent rescue robot with self-balancing objective table |
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| CN201711137348.5A CN107757737B (en) | 2017-11-16 | 2017-11-16 | All-terrain intelligent rescue robot with self-balancing objective table |
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| CN107757737B CN107757737B (en) | 2024-01-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760757A (en) * | 2018-12-18 | 2019-05-17 | 湖北省农业机械工程研究设计院 | One kind is transported for Hills woods fruit, can self-leveling trolley |
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