CN108818546A - Emergency management and rescue robot - Google Patents
Emergency management and rescue robot Download PDFInfo
- Publication number
- CN108818546A CN108818546A CN201810604978.7A CN201810604978A CN108818546A CN 108818546 A CN108818546 A CN 108818546A CN 201810604978 A CN201810604978 A CN 201810604978A CN 108818546 A CN108818546 A CN 108818546A
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- Prior art keywords
- rescue
- cursor
- helped
- emergency management
- hinged
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- 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.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Emergency Lowering Means (AREA)
Abstract
The present invention provides a kind of emergency management and rescue robot, including mobile obstacle crossing device, rescue transport device, rescue executing agency, communication device and controller, mobile obstacle crossing device, rescue transport device, rescue executing agency, communication device are connected with controller.Mobile obstacle crossing device is designed using four crawler belt front swing arms, and the steering of robot is realized by driving rear-wheel；Rescue transport device has stretcher, and stretcher is made of fixed plate and the second cursor and end may be reversed and be then equipped with conveyer belt；Rescuing executing agency is made of mechanical arm and end grabbing device, will be helped the task of object catching to execute.Present invention realization, which will be helped object, which moves lesser displacement, will be helped in object feeding rescue transport device.Make rescue operations to the injury relative reduction for being helped object.Fast changeable end effector pawl set has then been turned off continuous rescue and has been likely to become the approach to disseminate infection using the same pawl set.The safety for being helped object is more ensured.
Description
Technical field
The present invention relates to machinery fields, and in particular to arrives a kind of emergency management and rescue robot.
Background technique
Nowadays emergency management and rescue robot realizes that the mode of rescue is a variety of, and has used in actually rescue.Rescuing machine
Device people is divided into two major classes, searches and rescues and send with after.Search and rescue robot is mainly responsible for searching and is helped object, and then sending robot then is not have
There is search and rescue function that can only transport, has a single function.It embraces currently, there is a kind of rescue robot that will be helped object by way of lifting
Danger zone；Object " shovel " can will be helped there are also some rescue robots to enter in its protection shell.
Although rescue robot gets application in rescue, to object is helped, still there may be secondary for it
Injury；Single search and rescue class rescue robot does not have transport capacity, and discovery can not take direct rescue after being helped object.It is common
Rescue robot in rescue operations to move displacement larger, it may occur however that it is dangerous；Some do not protect the rescuing machine of shell
Device people, the process transported after rescue lack protection to object is helped.One can not be provided when accident occurring in rescue operations
It is effectively protected.
The end grabbing device part of common rescue robot, cannot after in continuous rescue, end grabbing device is contaminated
Enough quick-replaceables execute rescue next time with horse back.
Summary of the invention
The present invention provides a kind of emergency management and rescue robots, including mobile obstacle crossing device, rescue transport device, rescue execution
Mechanism, communication device and controller, mobile obstacle crossing device, rescue transport device, rescue executing agency, communication device with control
Device is connected；
The hollow casing that obstacle crossing device includes chassis and is mounted on chassis is moved, chassis upper surface is provided with electric sliding
Rail, the rear and front end at left and right sides of chassis are provided with rotating wheel, walking are mounted on two rotating wheels of the left and right sides
One crawler belt, and the first cursor is installed on two rotating wheels of transport vehicle front end, the rear end driving wheel rotation of the first cursor
It is connected on the rotating wheel of transport vehicle front end, the front end of the first cursor is provided with free pulley, installs on free pulley and driving wheel
There is the second crawler belt；
Rescuing transport device includes fixed plate and the second cursor for being hinged on fixed front edge of board, and fixed plate is mounted on electricity
On dynamic sliding rail, the hinged place of fixed plate and the second cursor is provided with driving motor, is provided with conveyer belt on the second cursor；
Executing agency is rescued, including mechanical arm and the grabbing device for being mounted on mechanical arm tail end, mechanical arm is hinged on shell
Top, grabbing device end are equipped with dismountable pawl set.
Further, pawl set is ladder structure of right angle, and right angle side is provided with dovetail groove, and grabbing device end is equipped with dovetail
Boss.
Further, pawl set is rubber material.
Further, outer surface of outer cover is equipped with environment monitoring equipment, and is equipped with life monitoring system inside the housing,
It is connected with controller.
Further, mechanical arm is formed by connecting by multiple articulations.
Further, mechanical arm tail end is provided with motion bar, and motion bar is mounted in a sleeve and can be along its length
It moves in sleeve, is hinged on sleeve at the top of each clamping jaw of grabbing device；
One end of several connecting rods is hinged on motion bar end, and the other end of each connecting rod is respectively hinged at grabbing device
Each clamping jaw center.
Present invention realization, which will be helped object, which moves lesser displacement, will be helped in object feeding rescue transport device.Make to rescue
Process is to the injury relative reduction for being helped object.Fast changeable end effector pawl set has then been turned off continuous rescue and has used
The same pawl set is likely to become the approach to disseminate infection.The safety for being helped object is more ensured.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of schematic diagram of emergency management and rescue robot provided by the invention；
Fig. 2 is the schematic diagram for rescuing transport device；
Fig. 3 is the schematic diagram of grabbing device；
Fig. 4 a-4b is the schematic diagram of pawl set.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Illustrate technical solution of the present invention.Presently preferred embodiments of the present invention is described in detail as follows, however other than these detailed descriptions, this
Invention can also have other embodiments.
The present invention provides a kind of emergency management and rescue robots, including mobile obstacle crossing device, rescue transport device, rescue execution
Mechanism, communication device and controller, mobile obstacle crossing device, rescue transport device, rescue executing agency, communication device with control
Device is connected；
Mobile obstacle crossing device includes chassis 10 and the hollow casing being mounted on chassis 10 1, the setting of 10 upper surface of chassis
There is an electric sliding rail, the rear and front end of 10 left and right sides of chassis is provided with rotating wheel 11, on two rotating wheels 11 of the left and right sides
It is mounted on the first crawler belt 5 of walking, and the first cursor 13 is installed on two rotating wheels 11 of transport vehicle front end, the first rotation
The rear end driving wheel 12 of arm 13 is rotatably connected on the rotating wheel 11 of transport vehicle front end, and the front end setting of the first cursor 13 is free
Second crawler belt 19 is installed on runner 14, free pulley 14 and driving wheel 12；
Rescue transport device 4 includes fixed plate 8 and the second cursor 15 for being hinged on 8 front end of fixed plate, and fixed plate 8 is pacified
On electric sliding rail, the hinged place of fixed plate 8 and the second cursor 15 is provided with driving motor, is arranged on the second cursor 15
There is conveyer belt 9；
Executing agency is rescued, including mechanical arm 2 and the grabbing device 3 for being mounted on 2 end of mechanical arm, mechanical arm 2 is hinged on
1 top of shell, 3 end of grabbing device are equipped with dismountable pawl set 7.
Mobile obstacle crossing device is designed using four crawler belt front swing arms to cope with the barrier common as boss, step, slope, trench etc.
Hinder.By driving the differential of two motors of rear-wheel to realize the steering of robot, two the first cursors of pendulum are additional by two
Motor control.
In an optional embodiment of the invention, pawl set 7 is ladder structure of right angle, and right angle side is provided with dovetail groove 7a,
3 end of grabbing device is equipped with dovetail boss 6a.Further alternative, pawl set 7 is rubber material.The trapezium structure of pawl set 7 can
With using the good feature of rubber material elastic shrinkage, make pawl set can either fix also can quick-replaceable, reduce continuous rescue
When the infection disease propagated of contaminated end grabbing device.
In an optional embodiment of the invention, 1 outer surface of shell is equipped with environment monitoring equipment, and inside shell 1
Life monitoring system is installed, is connected with controller.
In an optional embodiment of the invention, mechanical arm 2 is formed by connecting by multiple articulations, increases mechanical arm
Freedom degree and scope of activities.
In an optional embodiment of the invention, 2 end of mechanical arm is provided with motion bar 17, and motion bar 17 is mounted on a set of
It can move in cylinder 16 and in sleeve 16, be hinged on sleeve 16 at the top of each clamping jaw of grabbing device 3 along its length；If
One end of dry root connecting rod 18 is hinged on 17 end of motion bar, and the other end of each connecting rod 18 is respectively hinged at each of grabbing device 3
The center of a clamping jaw 6.
Of the invention is unique in that：
I, the mobile device designed by using four crawler belt front swing arms occurs by changing the different postures of swing arm to cope with
In face of robot seems the common obstacle such as boss, slope, trench, step.When only obstacle, packing up swing arm can make
Robot length reduces, and passes through some more narrow spaces.
The second cursor that front edge of board is fixed in II, rescue transport device may be reversed.Close to helped object when overturn to
An angle less than 45 degree is formed with ground.In catching to conveyer belt by end grabbing device.It will be helped by conveyer belt
Object is sent to fixing end.Fixed plate is equipped with sliding rail motor, is moved in the shell of protection by slot.It rescues in transport device
The effect of protection shell be the safety for guaranteeing to be helped object on the way.
Mechanical arm in III, rescue executing agency is responsible for adjusting position, makes end grabbing device is close to be helped object and done
Mentioning for task.End grabbing device is by catching the positions such as the collar for being helped object that will be helped object catching to the position of conveyer belt
It sets.Cooperation completion with the transmission band edge of the stretcher device of transport device will be helped object from danger zone ground to transport device
Protection shell in task.It, can be by fast when end grabbing device pathophorous humoral pollution possible by blood etc.
The pawl set of speed replacement end grabbing device pawl carrys out the rescue of Rapid Implementation next time.Pawl front end trapezium structure can with utilize rubber
The good feature of material elastic shrinkage, fix pawl set can either also being capable of quick-replaceable.
IV, by the sensor and monitoring device real-time monitoring rescue situations of installation and the variation of ambient enviroment is observed,
Life monitoring system can be installed additional in protection shell, and real-time monitoring is helped the vital sign of object.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, devices and structures not described in detail herein should be understood as gives reality with the common mode in this field
It applies；Anyone skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this is not affected the essence of the present invention.Therefore, anything that does not depart from the technical scheme of the invention, foundation
Technical spirit of the invention any simple modifications, equivalents, and modifications made to the above embodiment, still fall within the present invention
In the range of technical solution protection.
Claims (6)
1. a kind of emergency management and rescue robot, which is characterized in that including mobile obstacle crossing device, rescue transport device, rescue execution machine
Structure, communication device and controller, mobile obstacle crossing device, rescue transport device, rescue executing agency, communication device are and controller
It is connected；
The hollow casing that obstacle crossing device includes chassis and is mounted on chassis is moved, chassis upper surface is provided with electric sliding rail,
Rear and front end at left and right sides of chassis is provided with rotating wheel, and walking first is mounted on two rotating wheels of the left and right sides and is carried out
Band, and the first cursor is installed on two rotating wheels of transport vehicle front end, the rear end driving wheel rotation connection of the first cursor
On the rotating wheel of transport vehicle front end, the front end of the first cursor is provided with free pulley, and is equipped on free pulley and driving wheel
Two crawler belts；
Rescuing transport device includes fixed plate and the second cursor for being hinged on fixed front edge of board, and fixed plate is mounted on electric sliding
On rail, the hinged place of fixed plate and the second cursor is provided with driving motor, is provided with conveyer belt on the second cursor；
Executing agency is rescued, including mechanical arm and the grabbing device for being mounted on mechanical arm tail end, mechanical arm is hinged on cover top portion,
Grabbing device end is equipped with dismountable pawl set.
2. emergency management and rescue robot as described in claim 1, which is characterized in that pawl set is ladder structure of right angle, right angle side
It is provided with dovetail groove, grabbing device end is equipped with dovetail boss.
3. emergency management and rescue robot as described in claim 1, which is characterized in that pawl set is rubber material.
4. emergency management and rescue robot as described in claim 1, which is characterized in that outer surface of outer cover is equipped with environmental monitoring and sets
It is standby, and life monitoring system is installed inside the housing, it is connected with controller.
5. emergency management and rescue robot as described in claim 1, which is characterized in that mechanical arm connected by multiple articulations and
At.
6. emergency management and rescue robot as described in claim 1, which is characterized in that mechanical arm tail end is provided with motion bar, activity
Bar is mounted in a sleeve and can move in sleeve along its length, is hinged on sleeve at the top of each clamping jaw of grabbing device
On；
One end of several connecting rods is hinged on motion bar end, and the other end of each connecting rod is respectively hinged at each of grabbing device
Clamping jaw center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810604978.7A CN108818546A (en) | 2018-06-13 | 2018-06-13 | Emergency management and rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810604978.7A CN108818546A (en) | 2018-06-13 | 2018-06-13 | Emergency management and rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108818546A true CN108818546A (en) | 2018-11-16 |
Family
ID=64145085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810604978.7A Pending CN108818546A (en) | 2018-06-13 | 2018-06-13 | Emergency management and rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108818546A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877847A (en) * | 2019-03-20 | 2019-06-14 | 燕山大学 | A kind of flexible hand rescue parallel robot |
| CN110091932A (en) * | 2019-06-05 | 2019-08-06 | 中国人民解放军63863部队 | A kind of formula relief car of removing obstacles automatically |
| CN110202588A (en) * | 2019-06-03 | 2019-09-06 | 昆明理工大学 | A kind of rescue robot |
| CN110216694A (en) * | 2019-06-27 | 2019-09-10 | 山东科技大学 | Accidents Disasters collapsing live emergency management and rescue robot based on wireless communication |
| CN110562353A (en) * | 2019-09-25 | 2019-12-13 | 湖北博利特种汽车装备股份有限公司 | Rescue transfer robot |
| CN110919621A (en) * | 2019-11-12 | 2020-03-27 | 杭州丰奕科技有限公司 | Emergent track robot of intelligence |
| CN110978000A (en) * | 2019-11-25 | 2020-04-10 | 燕山大学 | Connecting rod type multi-arm rescue robot |
| CN113696192A (en) * | 2020-10-16 | 2021-11-26 | 国网浙江省电力有限公司金华供电公司 | Be used for narrow and small space rescue split type robot |
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| CN207139814U (en) * | 2017-04-17 | 2018-03-27 | 蓝思智能机器人(长沙)有限公司 | Rescue robot |
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| CN102717389A (en) * | 2012-06-27 | 2012-10-10 | 中国石油大学(华东) | Design of replaceable simple-joint robot flexible hand |
| CN104354159A (en) * | 2014-10-17 | 2015-02-18 | 中国人民解放军军事医学科学院卫生装备研究所 | Robot rescue system used in complicated environment |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877847A (en) * | 2019-03-20 | 2019-06-14 | 燕山大学 | A kind of flexible hand rescue parallel robot |
| CN110202588A (en) * | 2019-06-03 | 2019-09-06 | 昆明理工大学 | A kind of rescue robot |
| CN110202588B (en) * | 2019-06-03 | 2024-04-19 | 昆明理工大学 | Rescue robot |
| CN110091932A (en) * | 2019-06-05 | 2019-08-06 | 中国人民解放军63863部队 | A kind of formula relief car of removing obstacles automatically |
| CN110216694A (en) * | 2019-06-27 | 2019-09-10 | 山东科技大学 | Accidents Disasters collapsing live emergency management and rescue robot based on wireless communication |
| CN110562353A (en) * | 2019-09-25 | 2019-12-13 | 湖北博利特种汽车装备股份有限公司 | Rescue transfer robot |
| CN110919621A (en) * | 2019-11-12 | 2020-03-27 | 杭州丰奕科技有限公司 | Emergent track robot of intelligence |
| CN110919621B (en) * | 2019-11-12 | 2021-06-04 | 杭州丰奕科技有限公司 | Emergent track robot of intelligence |
| CN110978000A (en) * | 2019-11-25 | 2020-04-10 | 燕山大学 | Connecting rod type multi-arm rescue robot |
| CN113696192A (en) * | 2020-10-16 | 2021-11-26 | 国网浙江省电力有限公司金华供电公司 | Be used for narrow and small space rescue split type robot |
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Application publication date: 20181116 |
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