CN107757737B - All-terrain intelligent rescue robot with self-balancing objective table - Google Patents
All-terrain intelligent rescue robot with self-balancing objective table Download PDFInfo
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- CN107757737B CN107757737B CN201711137348.5A CN201711137348A CN107757737B CN 107757737 B CN107757737 B CN 107757737B CN 201711137348 A CN201711137348 A CN 201711137348A CN 107757737 B CN107757737 B CN 107757737B
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- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 230000008878 coupling Effects 0.000 claims abstract description 4
- 238000010168 coupling process Methods 0.000 claims abstract description 4
- 238000005859 coupling reaction Methods 0.000 claims abstract description 4
- 230000004069 differentiation Effects 0.000 claims 1
- 230000010354 integration Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 3
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 230000006378 damage Effects 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 238000012876 topography Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006424 Flood reaction Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 238000007142 ring opening reaction Methods 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
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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 utility model discloses an all-terrain intelligent rescue robot with a self-balancing objective table, which comprises a travelling mechanism and a self-balancing mechanism, wherein the self-balancing mechanism comprises the self-balancing objective table arranged above a frame, a control system, more than 2 screw rods and a screw rod driving device, the lower end of each screw rod is connected with the corresponding screw rod driving device in a shaft way through a coupling, the upper end of each screw rod is connected with the corresponding self-balancing objective table, a threaded rod is arranged between the center of the self-balancing objective table and the frame, the bottom end of each threaded rod is fixed on the frame, and the top end of each threaded rod is connected with the bottom of the self-balancing objective table through a universal joint. The walking mechanism with the structure overcomes the defect that the existing robot cannot adapt to various complex terrains in earthquake disaster areas, and has the characteristics of strong maneuvering performance and simple structure; the self-balancing object stage can be always in a horizontal state under any condition, so that wounded in a disaster area can be rapidly, stably and safely transported out of the disaster area for rescue, and the situation that secondary injury possibly occurs in the transportation process is avoided.
Description
Technical Field
The utility model relates to a robot, in particular to an all-terrain intelligent rescue robot with a self-balancing objective table.
Background
At present, with global warming and global climate change, natural disasters such as earthquakes, tsunamis, landslides, floods, fires and the like frequently occur on the earth as a human home, and life and property safety of the human is threatened. When these disasters occur, people and soldiers, fire fighters, medical staff and the like are required to rescue in time. But rely solely on the requirement that artificial rescue has not been able to rescue. With the development of technology, more and more intelligent devices are gradually put into disaster relief lines, wherein rescue robots are more common.
The rescue robot can play a great role in the tasks of rescue, reconnaissance feedback, field rescue, logistic supply and the like in the whole rescue and relief process. Particularly in a seismic disaster area, the disaster area has very complex topography, and an ambulance cannot enter into a disaster area at all to rescue. When a rescue soldier enters an earthquake disaster area to rescue, a wounded person is difficult to lift out of the disaster area through the stretcher, because the stability of the stretcher must be kept all the time in the process of sending the wounded person out of the disaster area through the stretcher, the ground topography after the earthquake is extremely complex, the situation that the stretcher cannot shake is difficult to ensure, and the shaking of the stretcher can rapidly increase the wounded situation of the wounded person to cause irrecoverable situation. Thus, it would be effective to develop a robot with a self-balancing stage to address this problem.
The existing robots applied to disaster area rescue are mostly used for an information feedback system or a thermal imaging system to detect life signs in disaster areas, and are limited in use. The prior art of robots with self-balancing structures is quite different, for example, chinese patent application publication No. 204673629U discloses a single-wheel self-balancing robot with a horizontal gyro structure, which comprises a frame, a balancing motor, a rotary counterweight, a control circuit board, a rotary motor, a gyro rotor, travelling wheels and a travelling motor, wherein the frame is a hollow cylinder with a closed bottom surface, a square top plate is arranged on the top surface of the frame, the balancing motor is arranged on the upper end surface of the top plate, one end of the rotary counterweight is connected with the balancing motor, the other end of the rotary counterweight is suspended, the control circuit board is arranged at the geometric center position of the lower end surface of the top plate, the control circuit board is connected with the balancing motor, the rotary motor and the travelling motor, the rotary motor is arranged in the frame, the gyro rotor is arranged on a rotary shaft of the rotary motor, the travelling wheels are arranged on the lower end surface of the bottom surface of the frame, the travelling motor is connected with the travelling wheels, the rotary shaft of the rotary counterweight and the rotary shaft of the gyro rotor are coaxial with the central shaft of the frame, and the supporting points of the travelling wheels are positioned on the central shaft of the frame. The robot with the single-wheel structure has good movement flexibility and fixed-point balancing capability, is only suitable for being used on flat ground, and is difficult to adapt to various complicated terrains in earthquake-stricken areas.
Disclosure of Invention
Aiming at the defects, the utility model aims to provide the all-terrain intelligent rescue robot with the self-balancing object stage, which is stable in operation, strong in maneuvering performance and suitable for carrying wounded in the condition of complex terrains.
In order to achieve the above purpose, the present utility model is realized by the following technical scheme:
all-terrain intelligent rescue robot with self-balancing objective table comprises a travelling mechanism, wherein the travelling mechanism comprises a frame and belt covering wheel groups which are respectively arranged on two sides of the frame, each belt covering wheel group is arranged below the frame through a connecting bracket, the all-terrain intelligent rescue robot further comprises a self-balancing mechanism, the self-balancing mechanism comprises a self-balancing objective table arranged above the frame, a control system used for controlling the self-balancing objective table to be always in a horizontal state, more than 2 screw rods and a screw rod driving device used for driving the screw rods, the screw rod driving device is fixed on the frame through a mounting support, the lower end of each screw rod is connected with the screw rod driving device in a shaft joint mode, the upper end of each screw rod is connected with the self-balancing objective table through a fastening piece, a threaded rod is arranged between the center of the self-balancing objective table and the frame, and the bottom of each threaded rod is fixed on the frame and the top of each screw rod is connected with the bottom of the self-balancing objective table through a universal joint.
In the above scheme, the fastener can include ring flange, screw and go-between, the centre bore confession lead screw of ring flange penetrates, the screw penetrates in the locating hole on the ring flange and fixes the ring flange on the lead screw, the ring-opening end of go-between passes the wall body of self-balancing objective table after fixing in the locating hole on the ring flange. The self-balancing object stage is connected with the screw rod through the action of the fastener, and the connection is not completely fixed or loose and collapses in any moving mode.
In the above scheme, the screw rod driving device may be a direct current gear motor.
In the above scheme, each belt wheel set may include a pair of main belt wheels, a pair of driven belt wheels driven by the main belt wheels, a driving motor for driving the main belt wheels, and a belt
The rotary shaft of the main belt pulley is connected with the output shaft of the driving motor, the follow-up belt pulley is arranged above the main belt pulley, a movable rod is connected between the rotary shaft of the follow-up belt pulley and the rotary shaft of the main belt pulley, the driving motor is arranged below a bottom plate below the frame through a motor fixing frame, the bottom plate is arranged in parallel with the frame and is connected with the frame through a spring, and the belt is coated on the peripheries of the main belt pulley and the follow-up belt pulley.
In the above scheme, in order to adjust the tensioning of follow-up pulley to guarantee the flexibility that the follow-up pulley moved, the pivot of follow-up pulley can be connected with a slide rail, the vertical below of establishing at the bottom plate of slide rail and the top of slide rail pass through the screw fixation on the bottom plate, the spout of seting up on the slide rail is installed through the cooperation of bolt and bearing to the pivot of follow-up pulley.
In the above scheme, in order to ensure the motion synchronism of each pulley, a horizontal rod may be connected to the rotation shaft between the main pulley and the main pulley, and a horizontal rod may be connected to the rotation shaft between the follow-up pulley and the follow-up pulley.
In the above scheme, the control system may include a camera, a control terminal and a main control board, where the camera is mounted on the bottom plate, the main control board is mounted below the self-balancing stage and is mainly composed of a central processor, a driving chip, a balance sensor and a power supply for supplying power, the power supply is connected with the power supply end of the central processor after passing through the power supply switching chip, the input end of the driving chip is connected with a PID controller in the central processor, the output end of the driving chip is connected with a screw rod driving device, and the balance sensor and the camera are connected with the signal input end of the central processor; the control terminal is connected with the central processing unit through the wireless connection module.
In the above scheme, the central processing unit may be a processing chip with a model number of STM32F407, and the driving chip is a driving module with a model number of TB 6612.
The beneficial effects of the utility model are as follows:
1) The travelling mechanism comprises a frame and the belt covering wheel groups respectively arranged at two sides of the frame, wherein each belt covering wheel group comprises a pair of main belt covering wheels, a pair of follow-up belt covering wheels driven by the main belt covering wheels, a driving motor and a belt, and the travelling mechanism with the structure overcomes the defect that the existing robot cannot adapt to various complex terrains in earthquake disaster areas and has the characteristics of strong maneuvering performance and simple structure;
2) The robot of this structure has set up the self-balancing objective table, its use through lead screw, lead screw drive arrangement, threaded rod and control system for the self-balancing objective table can all the time be in the horizontality under any circumstances, comparatively jolt and complicated earthquake in the topography when, places wounded or other fragile article etc. on the self-balancing objective table, can be with wounded in disaster area rapidly, steadily, the safe transport out disaster area and carry out the rescue, and avoided probably appearing the condition of secondary injury because of transporting the process. Has the beneficial characteristics of stable operation, sensitive system control and strong practicability.
Drawings
Fig. 1 is a schematic structural diagram of an all-terrain intelligent rescue robot with a self-balancing stage.
Fig. 2 is a system block diagram of the control system.
The reference numerals in the figures are: 1. a screw rod; 2. a connecting ring; 3. a flange plate; 4. a self-balancing stage; 5. a coupling; 6. a screw driving device; 7. a mounting support; 8. a frame; 9. a spring; 10. a connecting bracket; 11. a track; 12. a main track wheel; 13. an output shaft; 14. a driving motor; 15. a motor fixing frame; 16. a movable rod; 17. a slide rail; 18. a threaded rod; 19. a universal joint; 20. a bottom plate; 21. follow-up crawler wheels; 22. a camera; 23. main control board, 24, horizontal pole.
Detailed Description
As shown in fig. 1, the all-terrain intelligent rescue robot with a self-balancing object stage comprises a traveling mechanism, wherein the traveling mechanism comprises a frame 8 and belt covering wheel groups respectively arranged on two sides of the frame 8, and each belt covering wheel group is arranged below the frame 8 through a connecting bracket 10, and the difference is that: also comprises a self-balancing mechanism.
The self-balancing mechanism comprises a self-balancing object stage 4 arranged above a frame 8, a control system for controlling the self-balancing object stage 4 to be in a horizontal state all the time, more than 2 screw rods 1 and a screw rod driving device 6 for driving the screw rods 1. The screw rod driving device 6 is fixed on a frame 8 through a mounting support 7. In order to improve efficiency and save installation space, in this embodiment, the screw driving device 6 is a dc reduction motor. The lower end of the screw rod 1 is connected with a screw rod driving device 6 in a shaft way through a coupling 5, and the upper end of the screw rod is connected with a self-balancing objective table 4 through a fastener. A threaded rod 18 is arranged between the center of the self-balancing stage 4 and the frame 8, the bottom end of the threaded rod 18 is fixed on the frame 8, and the top end of the threaded rod is connected to the bottom of the self-balancing stage 4 through a universal joint 19. The screw 1 is matched with the threaded rod 18 and the control system together, and the self-balancing object stage 4 is always in a horizontal state under the action of the screw driving device 6. In this embodiment, the number of the screw rods 1 is specifically 2, but may be 3.
The fastener specifically comprises a flange plate 3, a screw and a connecting ring 2, wherein the upper end of the screw rod 1 is penetrated through a central hole of the flange plate 3, the screw penetrates into a positioning hole on the flange plate 3 and fixes the flange plate 3 on the screw rod 1, and an open-loop end of the connecting ring 2 penetrates through a wall body of the self-balancing objective table 4 and is then fixed in the positioning hole on the flange plate 3. That is, the self-balancing stage 4 is supported by the threaded rod 18 as a main support, and the connecting ring 2 connected to the flange 3 is pulled by the screw rod 1 to adjust the vertical, horizontal and inclination of the self-balancing stage 4 so as to ensure the horizontal state of the self-balancing stage 4.
Each pulley group includes a pair of primary pulleys, a pair of secondary pulleys driven by the primary pulleys, a drive motor 14 for driving the primary pulleys, and a belt. Wherein the rotating shaft of the main belt pulley is connected with the output shaft 13 of the driving motor 14. A horizontal rod is connected on the rotating shaft between the main belt pulley and the main belt pulley, and a horizontal rod is connected on the rotating shaft between the follow-up belt pulley and the follow-up belt pulley. Namely, a horizontal rod is connected between the rotating shafts of two main belt pulleys which are arranged in the same group and in the same line; similarly, a horizontal rod is connected between the rotating shafts of the two follow-up belt pulleys which are arranged in the same group and in the same straight line.
The follow-up pulley is arranged above the main pulley and a movable rod 16 is connected between the rotating shaft of the follow-up pulley and the rotating shaft of the main pulley. The driving motor 14 is arranged below the bottom plate 20 below the frame 8 through a motor fixing frame 15, and the driving motor 14 is a direct current gear motor. The bottom plate 20 is arranged parallel to the frame 8 and is connected to the frame 8 by means of springs 9. The number of the springs 9 is 4 or more, and the springs 9 are large-diameter rigid springs 9, so that the self-balancing object stage 4 above the supporting frame 8 can be supported, and a good buffering effect can be achieved. The cover belt is coated on the outer circumferences of the main cover belt wheel and the follow-up cover belt wheel. The rotating shaft of the follow-up pulley is connected with a sliding rail 17. The sliding rail 17 is vertically arranged below the bottom plate 20, the top end of the sliding rail 17 is fixed on the bottom plate 20 through a screw, and the rotating shaft of the follow-up pulley is installed in a sliding groove formed in the sliding rail 17 through the matching of a bolt and a bearing. Namely, the rotating shaft of the follow-up pulley can move up and down in the chute, so that the follow-up pulley can adjust the corresponding tension according to the rotation of the main pulley.
As shown in fig. 2, the control system includes a camera 22, a control terminal, and a main control board 23. The camera 22 is mounted on the base plate 20, and is used for collecting a real-time environment image of the current position of the robot and sending the real-time environment image to the central processing unit. The main control board 23 is installed below the self-balancing object stage 4 and mainly comprises a central processing unit, a driving chip, a balance sensor and a power supply for supplying power. In this embodiment, the central processing unit specifically selects a processing chip with a model number of STM32F 407. The power supply is connected with the power supply end of the central processing unit after passing through the power supply switching chip. The input end of the driving chip is connected with a PID controller in the central processing unit, and the output end of the driving chip is connected with the screw rod driving device 6. In this embodiment, the driving chip adopts a driving module with a model TB6612, and is configured to receive a signal sent by a PID control module in the central processing unit, and send a command of forward rotation, reverse rotation, and working rotation speed to the screw rod driving device 6. The balance sensor and the camera 22 are both connected with the signal input end of the central processing unit. The balance sensor is installed below the main control board 23 and used for detecting the inclination angle of the self-balancing object stage 4, and specifically, a balance sensor with a model number of MPU6050 can be selected. The control terminal is connected with the central processing unit through the wireless connection module. The control terminal can be mobile equipment such as a mobile phone, a tablet personal computer, an intelligent watch and the like, and can also be a control handle, a remote controller and the like. When in use, the control terminal is internally provided with control operation software corresponding to the control system, and the control operation software is burnt and developed in the central processing unit.
Of course, the control system is only used for ensuring that the self-balancing stage 4 is always in a horizontal state, and the control of the whole robot also needs to be performed by a corresponding robot remote controller. The adopted robot remote controller can be a mature robot control remote handle, and can integrate the control of the robot with a control terminal together, so that the operation and control are convenient.
The self-balancing stage 4, in use:
1) The wounded or the object to be carried is placed on the self-balancing object stage 4 and fixed by using a plurality of binding bands, a software controller triggers a control instruction through a touch key, then a control terminal is operated, and a travelling mechanism moves;
2) The balance sensor arranged on the frame 8 immediately detects and senses the inclination angle of the self-balancing object stage 4 and sends the inclination angle to the central processing unit; the central processing unit compares the transmitted values, when the self-balancing object stage 4 is detected to be in an inclined state, the self-balancing object stage is immediately interrupted, and when the self-balancing object stage is calculated by the PID controller to reach a horizontal state, the adjusting parameters of all the screw rods 1 are adjusted;
3) The central processing unit converts each adjusting parameter into a corresponding control instruction to control the forward rotation, the reverse rotation and the rotation speed of the screw rod driving motor 14, so as to control the flange plate 3 on the screw rod 1 to ascend, descend or incline left and right, and the like, so as to drive the self-balancing objective table 4 to achieve real-time and instant balance.
Therefore, when the self-balancing object stage 4 works, only the running of the walking mechanism of the robot is controlled, the self-balancing object stage 4 realizes the balance on the level in real time and instantly through the control system, and the situation that the wounded person is secondarily injured due to complex terrain and jolt of the walking mechanism in the process of transporting the wounded person is avoided.
The above description is for the purpose of illustrating the embodiments of the present utility model and is not to be construed as limiting the utility model, but is intended to cover all modifications, equivalents, improvements and alternatives falling within the spirit and principle of the utility model.
Claims (4)
1. All-terrain intelligent rescue robot with self-balancing objective table, including running gear, running gear includes frame (8) and installs the belt pulley group that covers in frame (8) both sides respectively, and each covers the below at frame (8) through linking bridge (10), its characterized in that:
the self-balancing mechanism comprises a self-balancing object stage (4) arranged above a frame (8), a control system for controlling the self-balancing object stage (4) to be in a horizontal state all the time, more than 2 screw rods (1) and a screw rod driving device (6) for driving the screw rods (1), wherein the screw rod driving device (6) is fixed on the frame (8) through a mounting support (7), the lower end of the screw rods (1) is connected with the screw rod driving device (6) in a shaft way through a shaft coupling (5), the upper end of the screw rods is connected with the self-balancing object stage (4) through a fastening piece, a threaded rod (18) is arranged between the center of the self-balancing object stage (4) and the frame (8), and the bottom end of the threaded rod (18) is fixed on the frame (8) and the top end of the threaded rod is connected to the bottom of the self-balancing object stage (4) through a universal joint (19);
the fastening piece comprises a flange plate (3), a screw and a connecting ring (2), wherein a central hole of the flange plate (3) is used for a screw rod (1) to penetrate through, the screw penetrates into a positioning hole on the flange plate (3) and fixes the flange plate (3) on the screw rod (1), and an open-loop end of the connecting ring (2) penetrates through a wall body of a self-balancing objective table (4) and is then fixed in the positioning hole on the flange plate (3);
each pulley group comprises a pair of main pulleys, a pair of follow-up pulleys driven by the main pulleys, a driving motor (14) for driving the main pulleys and a belt, wherein
The rotating shaft of the main belt pulley is connected with an output shaft (13) of a driving motor (14), the follow-up belt pulley is arranged above the main belt pulley, a movable rod (16) is connected between the rotating shaft of the follow-up belt pulley and the rotating shaft of the main belt pulley, the driving motor (14) is arranged below a bottom plate (20) below the frame (8) through a motor fixing frame (15), the bottom plate (20) is arranged in parallel with the frame (8) and is connected with the frame (8) through a spring (9), and the belt is coated on the peripheries of the main belt pulley and the follow-up belt pulley;
the rotating shaft of the follow-up pulley is connected with a sliding rail (17), the sliding rail (17) is vertically arranged below the bottom plate (20), the top end of the sliding rail (17) is fixed on the bottom plate (20) through a screw, and the rotating shaft of the follow-up pulley is installed in a sliding groove formed in the sliding rail (17) through the cooperation of a bolt and a bearing;
a horizontal rod (24) is connected to the rotating shaft between the main belt pulley and the main belt pulley, and a horizontal rod (24) is connected to the rotating shaft between the follow-up belt pulley and the follow-up belt pulley.
2. The all-terrain intelligent rescue robot with a self-balancing stage of claim 1, wherein: the screw rod driving device (6) is a direct current gear motor.
3. The all-terrain intelligent rescue robot with a self-balancing stage of claim 1, wherein: the control system comprises a camera (22), a control terminal and a main control board (23), wherein the camera (22) is arranged on a bottom plate (20), the main control board (23) is arranged below a self-balancing object stage (4) and mainly comprises a central processing unit, a driving chip, a balance sensor and a power supply for supplying power, the power supply is connected with a power supply end of the central processing unit after passing through the power supply switching chip, an input end of the driving chip is connected with a PID (proportion integration differentiation) controller in the central processing unit, an output end of the driving chip is connected with a screw rod driving device (6), and the balance sensor and the camera (22) are connected with a signal input end of the central processing unit; the control terminal is connected with the central processing unit through the wireless connection module.
4. The all-terrain intelligent rescue robot with a self-balancing stage of claim 3, wherein: the central processing unit is a processing chip with the model of STM32F407, and the driving chip is a driving module with the model of TB 6612.
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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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| CN107757737A CN107757737A (en) | 2018-03-06 |
| CN107757737B true CN107757737B (en) | 2024-01-16 |
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| 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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| 《轮履复合式机器人的设计与实现》;田海波，马宏伟，张一澍，尚万峰;《组合机床与自动化加工技术》(第7期);15-18 * |
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| Publication number | Publication date |
|---|---|
| CN107757737A (en) | 2018-03-06 |
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