CN107901021A - A kind of multi-function robot rescued for Article handling and obstacle - Google Patents
A kind of multi-function robot rescued for Article handling and obstacle Download PDFInfo
- Publication number
- CN107901021A CN107901021A CN201711351884.5A CN201711351884A CN107901021A CN 107901021 A CN107901021 A CN 107901021A CN 201711351884 A CN201711351884 A CN 201711351884A CN 107901021 A CN107901021 A CN 107901021A
- Authority
- CN
- China
- Prior art keywords
- ratchet
- base body
- rescued
- input terminal
- article handling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005096 rolling process Methods 0.000 claims abstract description 17
- 238000004026 adhesive bonding Methods 0.000 claims description 19
- 238000007598 dipping method Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract description 7
- 238000005266 casting Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The present invention discloses a kind of multi-function robot rescued for Article handling and obstacle, including base body, the internal edge of the base body is provided with rolling wheel support, symmetrical shifting roller is provided with the rolling wheel support, on the base body surrounding baffle is fixedly installed on the inside of the rolling wheel support, the sidepiece of the surrounding baffle is provided with ratchet rope-climbing mechanism, projectile mechanism, charging crane, controller, the output terminal of the controller input terminal with the ratchet rope-climbing mechanism respectively, the input terminal of the projectile mechanism, the input terminal of the charging crane, the input terminal of the shifting roller is connected.The present invention uses Mecanum wheel, easy to accessible walking that is horizontal, oblique and turning, ratchet rope-climbing mechanism realizes the function of climbing by rope, charging crane realizes the handling and transport of relief supplies, projectile mechanism realizes the high throwing of relief supplies, realizes the function of handling and the accessible transport of relief supplies on the whole.
Description
Technical field
The present invention relates to a kind of multi-function robot rescued for Article handling and obstacle, belong to rescue applications technology neck
Domain.
Background technology
As robot is replaced manually in the continuous development in rescue field, being badly in need of especially under limit mal-condition will rescue
Article overcomes various objective terrain obstructions to replace manually being sent in the human hand of urgent need or region.
The content of the invention
It is an object of the present invention to overcome defect existing in the prior art, above-mentioned technical problem is solved, proposes that one kind is used for
The handling robot of cargo handling.
The present invention adopts the following technical scheme that：A kind of multi-function robot rescued for Article handling and obstacle, it is special
Sign is, including base body, and the internal edge of the base body is provided with rolling wheel support, is provided with the rolling wheel support symmetrical
The shifting roller of distribution, is fixedly installed surrounding baffle, the surrounding baffle on the base body on the inside of the rolling wheel support
Sidepiece be provided with ratchet rope-climbing mechanism, projectile mechanism, charging crane, controller, the output terminal of the controller respectively with institute
State the input terminal of ratchet rope-climbing mechanism, the input terminal of the projectile mechanism, the input terminal of the charging crane, the shifting roller
Input terminal be connected.
As a kind of preferred embodiment, charging crane includes rail plate, charge chute, mechanical arm, piston-cylinder, gas
Pump, one end of mechanical arm are hinged on base body, and for rail plate along being vertically fixed on base body, charge chute is rotatably arranged on cunning
The top of dynamic guide rail, air pump are fixed on base body, and one end of piston-cylinder is fixed on base body, the other end of piston-cylinder
It is fixedly connected with the sidepiece of charge chute, the output terminal of air pump is connected with the input terminal of piston-cylinder.
As a kind of preferred embodiment, projectile mechanism includes double drive motor, casts track plates, driving flywheel, flywheel
Main shaft, double drive motor are fixed on the outside of surrounding baffle, cast the inner side that track plates are fixed on surrounding baffle, and flywheel head shaft is arranged at
The top of track plates is cast, driving flywheel is hinged on flywheel head shaft, and the output terminal of double drive motor coordinates with flywheel head shaft to be joined
Connect.
As a kind of preferred embodiment, the angle of emergence for casting track plates is more than degree.
As a kind of preferred embodiment, ratchet rope-climbing mechanism includes thread gluing axis, ratchet driving motor, ratchet, and ratchet drives
Dynamic motor is fixed on base body, and thread gluing axis is arranged at the end of base body, and ratchet is equipped with the end of thread gluing axis, ratchet
The output terminal and ratchet for driving motor are connected, and ratchet is connected with thread gluing axis.
As a kind of preferred embodiment, the snap fastener for ensureing that ratchet one-way rotates self-locking is additionally provided with ratchet.
As a kind of preferred embodiment, tape handler, base body are provided with the inside of surrounding baffle on base body
Upper that band drive train is provided with the outside of surrounding baffle, the input terminal of output terminal and tape handler with drive train is connected
Connect, the output terminal of input terminal and controller with drive train is connected.
As a kind of preferred embodiment, roller drive shaft, the output terminal of controller are connected between shifting roller
It is connected with the input terminal of roller drive shaft；Shifting roller uses Mecanum wheel, easy to horizontal, oblique and turning without barrier
Hinder walking.
As a kind of preferred embodiment, controller is fixed at the middle part of rolling wheel support.
As a kind of preferred embodiment, the top of surrounding baffle is outward-dipping.
The beneficial effect that the present invention is reached：Present invention is generally directed to be relief supplies obstacle transport and rescue skill
Art field, the present invention on base body by setting ratchet rope-climbing mechanism, projectile mechanism, charging crane and shifting roller, dress
Release mechanism drives charge chute of the piston-cylinder driving positioned at rail plate top to rotate by air pump, and the article in charge chute is fallen
Enter in surrounding baffle, mechanical arm enters in charge chute for contacting article carrier triggering article to be loaded and unloaded；Projectile mechanism will be with biography
Motivation structure is transported to the article cast in track plates and drives driving flywheel high-speed rotation by thing by powerful double drive motor
Product are cast away along the exit end for casting track plates, and using upthrow instead of penetrating before traditional, long drive is replaced using close-range shot；Ratchet is climbed
Rope mechanism drives motor driving pawl and thread gluing axis high-speed rotation, thread gluing axis to cling the rope for treating rope climbing by ratchet, then
Thread gluing axis high-speed rotation, drives whole base body to be moved along rope, realizes the function of rope climbing；The shifting roller of the present invention uses wheat
Ke Namu takes turns, and easy to accessible walking that is horizontal, oblique and turning, ratchet rope-climbing mechanism realizes the work(to climb by rope
Can, charging crane realizes the handling and transport of relief supplies, and projectile mechanism realizes the high throwing of relief supplies, therefore the present invention
The function of handling and the accessible transport of relief supplies is realized on the whole.
Brief description of the drawings
Fig. 1 is the structure diagram of the stereogram of the present invention.
Fig. 2 is the structure diagram of the front view of the present invention.
Fig. 3 is the structure diagram of the top view of the present invention.
Fig. 4 is the structure diagram of the left view of the present invention.
The implication marked in figure：1- base bodies, 2- rolling wheel supports, 3- shifting rollers, 4- surrounding baffles, 5- thread gluing axis, 6- are slided
Dynamic guide rail, 7- charge chutes, 8- cast track plates, 9- double drive motors, 10- controllers, 11- tape handlers, 12- band driving wheels
System, 13- driving flywheels, 14- flywheel head shafts, 15- mechanical arms, 16- piston-cylinders, 17- roller drive shafts, 18- ratchets driving electricity
Machine, 19- snap fasteners, 20- ratchets, 21- air pumps.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiments are only used for clearly illustrating the present invention
Technical solution, and be not intended to limit the protection scope of the present invention and limit the scope of the invention.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the present invention proposes a kind of Multi Role Aircraft rescued for Article handling and obstacle
Device people, including base body 1, the internal edge of base body 1 are provided with rolling wheel support 2, are provided with rolling wheel support 2 symmetrical
Shifting roller 3, the inner side on base body 1 positioned at rolling wheel support 2 are fixedly installed surrounding baffle 4, and the sidepiece of surrounding baffle 4 is provided with spine
Rope-climbing mechanism, projectile mechanism, charging crane, controller 10 are taken turns, the output terminal of controller 10 is defeated with ratchet rope-climbing mechanism respectively
Enter end, the input terminal of projectile mechanism, the input terminal of charging crane, the input terminal of shifting roller 3 are connected.
As a kind of preferred embodiment, charging crane includes rail plate 6, charge chute 7, mechanical arm 15, piston-cylinder
16th, air pump 21, one end of mechanical arm 15 are hinged on base body 1, and rail plate 6 is along being vertically fixed on base body 1, charge chute
7 are rotatably arranged on the top of rail plate 6, and air pump 21 is fixed on base body 1, and one end of piston-cylinder 16 is fixed on base body
On 1, the other end of piston-cylinder 16 is fixedly connected with the sidepiece of charge chute 7, and the output terminal of air pump 21 is defeated with piston-cylinder 16
Enter end to be connected.
As a kind of preferred embodiment, projectile mechanism include double drive motor 9, cast track plates 8, driving flywheel 13,
Flywheel head shaft 14, double drive motor 9 are fixed on the outside of surrounding baffle 4, cast the inner side that track plates 8 are fixed on surrounding baffle 4, flywheel
Main shaft 14 is arranged at the top for casting track plates 8, and driving flywheel 13 is hinged on flywheel head shaft 14, the output of double drive motor 9
End coordinates with flywheel head shaft 14 and couples.
As a kind of preferred embodiment, the angle of emergence for casting track plates 8 is more than 60 degree.
As a kind of preferred embodiment, ratchet rope-climbing mechanism includes thread gluing axis 5, ratchet driving motor 18, ratchet 20, spine
Wheel drive motor 18 is fixed on base body 1, and thread gluing axis 5 is arranged at the end of base body 1, and ratchet 20 is equipped with thread gluing axis
5 end, the output terminal of ratchet driving motor 18 are connected with ratchet 20, and ratchet 20 is connected with thread gluing axis 5.
As a kind of preferred embodiment, the snap fastener for ensureing that ratchet 20 one-directionally rotates self-locking is additionally provided with ratchet 20
19。
As a kind of preferred embodiment, the inner side on base body 1 positioned at surrounding baffle 4 is provided with tape handler 11, base
The outside of surrounding baffle 4 is provided with band drive train 12, the output terminal with drive train 12 and tape handler 11 on pedestal 1
Input terminal be connected, the output terminal of the input terminal with drive train 12 and controller 10 is connected.
As a kind of preferred embodiment, be connected with roller drive shaft 17 between shifting roller 3, controller 10 it is defeated
The input terminal of outlet and roller drive shaft 17 is connected；Shifting roller 3 uses Mecanum wheel, easy to it is horizontal, oblique and turn
Curved accessible walking.
As a kind of preferred embodiment, controller 10 is fixed at the middle part of rolling wheel support 2.
As a kind of preferred embodiment, the top of surrounding baffle 4 is outward-dipping.
The operation principle of the present invention：Present invention is generally directed to be relief supplies obstacle transport and rescue technique neck
Domain, the present invention on base body 1 by setting ratchet rope-climbing mechanism, projectile mechanism, charging crane and shifting roller 3, handling
Mechanism drives charge chute 7 of the driving of piston-cylinder 16 positioned at 6 top of rail plate to rotate by air pump 21, by charge chute 7
Article is poured into surrounding baffle 4, and mechanical arm 15 enters in charge chute 7 for contacting article carrier triggering article to be loaded and unloaded；Cast
Tape handler 11 is transported to the article cast in track plates 8 and drives driving to fly by powerful double drive motor 9 by mechanism
Take turns 13 high-speed rotations to cast away article along the exit end for casting track plates 8, using upthrow instead of penetrating before traditional, using near
Penetrate and replace long drive；Ratchet rope-climbing mechanism drives 18 driving pawl 20 of motor and 5 high-speed rotation of thread gluing axis, thread gluing axis by ratchet
5 cling the rope for treating rope climbing, then 5 high-speed rotation of thread gluing axis, drive whole base body 1 to be moved along rope, realize the work(of rope climbing
Energy；The shifting roller 3 of the present invention uses Mecanum wheel, easy to accessible walking that is horizontal, oblique and turning, ratchet rope climbing
Mechanism realizes the function of climbing by rope, and charging crane realizes the handling and transport of relief supplies, and projectile mechanism is realized
The high throwing of relief supplies, therefore the present invention realizes the function of handling and the accessible transport of relief supplies on the whole.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of multi-function robot rescued for Article handling and obstacle, it is characterised in that including base body（1）, it is described
Base body（1）Internal edge be provided with rolling wheel support（2）, the rolling wheel support（2）On be provided with symmetrical mobile rolling
Wheel（3）, the base body（1）It is upper to be located at the rolling wheel support（2）Inner side be fixedly installed surrounding baffle（4）, the surrounding baffle
（4）Sidepiece be provided with ratchet rope-climbing mechanism, projectile mechanism, charging crane, controller（10）, the controller（10）Output
Hold the input terminal with the ratchet rope-climbing mechanism, the input terminal of the projectile mechanism, the input terminal of the charging crane, institute respectively
State shifting roller（3）Input terminal be connected.
A kind of 2. multi-function robot rescued for Article handling and obstacle according to claim 1, it is characterised in that
The charging crane includes rail plate（6）, charge chute（7）, mechanical arm（15）, piston-cylinder（16）, air pump（21）, the machine
Tool arm（15）One end be hinged on the base body（1）On, the rail plate（6）Edge is vertically fixed in the base body（1）
On, the charge chute（7）It is rotatably arranged on the rail plate（6）Top, the air pump（21）It is fixed on the base body
（1）On, the piston-cylinder（16）One end be fixed on the base body（1）On, the piston-cylinder（16）The other end with
The charge chute（7）Sidepiece be fixedly connected, the air pump（21）Output terminal and the piston-cylinder（16）Input terminal phase
Connection.
A kind of 3. multi-function robot rescued for Article handling and obstacle according to claim 1, it is characterised in that
The projectile mechanism includes double drive motor（9）, cast track plates（8）, driving flywheel（13）, flywheel head shaft（14）, it is described double
Drive motor（9）It is fixed on the surrounding baffle（4）Outside, the projectile track plates（8）It is fixed on the surrounding baffle（4）It is interior
Side, the flywheel head shaft（14）It is arranged at the projectile track plates（8）Top, the driving flywheel（13）It is hinged on described fly
Take turns main shaft（14）On, the double drive motor（9）Output terminal and the flywheel head shaft（14）Coordinate connection.
A kind of 4. multi-function robot rescued for Article handling and obstacle according to claim 3, it is characterised in that
The projectile track plates（8）The angle of emergence be more than 60 degree.
A kind of 5. multi-function robot rescued for Article handling and obstacle according to claim 1, it is characterised in that
The ratchet rope-climbing mechanism includes thread gluing axis（5）, ratchet driving motor（18）, ratchet（20）, the ratchet driving motor（18）
It is fixed on the base body（1）On, the thread gluing axis（5）It is arranged at the base body（1）End, the ratchet（20）Coordinate
It is arranged on the thread gluing axis（5）End, the ratchet drives motor（18）Output terminal and the ratchet（20）It is connected,
The ratchet（20）With the thread gluing axis（5）It is connected.
A kind of 6. multi-function robot rescued for Article handling and obstacle according to claim 5, it is characterised in that
The ratchet（20）On be additionally provided with and ensure the ratchet（20）One-directionally rotate the snap fastener of self-locking（19）.
A kind of 7. multi-function robot rescued for Article handling and obstacle according to claim 1, it is characterised in that
The base body（1）It is upper to be located at the surrounding baffle（4）Inner side be provided with tape handler（11）, the base body（1）It is upper
In the surrounding baffle（4）Outside be provided with band drive train（12）, the band drive train（12）Output terminal and the band
Transmission mechanism（11）Input terminal be connected, the band drive train（12）Input terminal and the controller（10）Output terminal
It is connected.
A kind of 8. multi-function robot rescued for Article handling and obstacle according to claim 1, it is characterised in that
The shifting roller（3）Between be connected with roller drive shaft（17）, the controller（10）Output terminal and the roller
Drive shaft（17）Input terminal be connected；The shifting roller（3）Using Mecanum wheel, easy to horizontal, oblique and turning
Accessible walking.
A kind of 9. multi-function robot rescued for Article handling and obstacle according to claim 1, it is characterised in that
The controller（10）It is fixed at the rolling wheel support（2）Middle part.
10. a kind of multi-function robot rescued for Article handling and obstacle according to claim 1, its feature exist
In the surrounding baffle（4）Top it is outward-dipping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711351884.5A CN107901021A (en) | 2017-12-15 | 2017-12-15 | A kind of multi-function robot rescued for Article handling and obstacle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711351884.5A CN107901021A (en) | 2017-12-15 | 2017-12-15 | A kind of multi-function robot rescued for Article handling and obstacle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107901021A true CN107901021A (en) | 2018-04-13 |
Family
ID=61870113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711351884.5A Pending CN107901021A (en) | 2017-12-15 | 2017-12-15 | A kind of multi-function robot rescued for Article handling and obstacle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107901021A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908279A (en) * | 2018-06-29 | 2018-11-30 | 南京中高知识产权股份有限公司 | Rescuing robot for fire control |
| CN111120573A (en) * | 2019-12-26 | 2020-05-08 | 沈阳微控新能源技术有限公司 | Outdoor rescue system based on energy storage flywheel |
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| US20080277172A1 (en) * | 2007-05-11 | 2008-11-13 | Pinhas Ben-Tzvi | Hybrid mobile robot |
| JP2011098403A (en) * | 2009-11-05 | 2011-05-19 | Kikuchiseisakusho Co Ltd | Rescue robot |
| CN102814811A (en) * | 2012-08-07 | 2012-12-12 | 宁波大学 | Rescue robot |
| CN202777513U (en) * | 2012-08-07 | 2013-03-13 | 宁波大学 | Rescue robot |
| CN103247967A (en) * | 2013-05-15 | 2013-08-14 | 国家电网公司 | Power aerial high-voltage work throwing and hanging type ejector |
| CN106312994A (en) * | 2016-10-13 | 2017-01-11 | 镇江高等职业技术学校 | Intelligent vehicle with ejection function |
| CN207593775U (en) * | 2017-12-15 | 2018-07-10 | 镇江高等职业技术学校 | A kind of multi-function robot rescued for Article handling and obstacle |
-
2017
- 2017-12-15 CN CN201711351884.5A patent/CN107901021A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080277172A1 (en) * | 2007-05-11 | 2008-11-13 | Pinhas Ben-Tzvi | Hybrid mobile robot |
| JP2011098403A (en) * | 2009-11-05 | 2011-05-19 | Kikuchiseisakusho Co Ltd | Rescue robot |
| CN102814811A (en) * | 2012-08-07 | 2012-12-12 | 宁波大学 | Rescue robot |
| CN202777513U (en) * | 2012-08-07 | 2013-03-13 | 宁波大学 | Rescue robot |
| CN103247967A (en) * | 2013-05-15 | 2013-08-14 | 国家电网公司 | Power aerial high-voltage work throwing and hanging type ejector |
| CN106312994A (en) * | 2016-10-13 | 2017-01-11 | 镇江高等职业技术学校 | Intelligent vehicle with ejection function |
| CN207593775U (en) * | 2017-12-15 | 2018-07-10 | 镇江高等职业技术学校 | A kind of multi-function robot rescued for Article handling and obstacle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908279A (en) * | 2018-06-29 | 2018-11-30 | 南京中高知识产权股份有限公司 | Rescuing robot for fire control |
| CN111120573A (en) * | 2019-12-26 | 2020-05-08 | 沈阳微控新能源技术有限公司 | Outdoor rescue system based on energy storage flywheel |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Shi Yinhua Inventor after: Shi Qin Inventor after: Dang Lifeng Inventor after: Zuo Wenyan Inventor before: Shi Qin Inventor before: Dang Lifeng Inventor before: Zuo Wenyan Inventor before: Shi Yinhua |
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