CN109129504B

CN109129504B - Pneumatic jacking disaster relief robot

Info

Publication number: CN109129504B
Application number: CN201811035978.6A
Authority: CN
Inventors: 吴海帆; 田谨晓; 潘维浩; 刘骁; 孙建; 吴琪江
Original assignee: Dalian University of Technology
Current assignee: Dalian University of Technology
Priority date: 2018-09-06
Filing date: 2018-09-06
Publication date: 2021-05-18
Anticipated expiration: 2038-09-06
Also published as: CN109129504A

Abstract

A pneumatic top-support disaster relief robot belongs to the field of disaster relief robots and comprises an electric sliding table, a sliding plate, a main body, side plates, a columnar air bag, a turnover bottom plate, a torsion spring and a jacking air bag. The main body is of a cuboid cavity structure, and a hollow circle is arranged at the center of the bottom and used for jacking the air bag after inflation; the side is provided with an opening for jacking the air bag through non-inflation, a side plate is hinged above the inner side of the opening, and the side plate is stressed to rotate only in the direction of the cavity of the main body. Two electronic slip tables are fixed in the main part bottom, and the slide is fixed and can reciprocating motion at electronic slip table flexible end, will not inflate jacking gasbag conveying in the main part cavity. The columnar air bag is arranged at the top of the inner cavity of the main body. The turnover bottom plate is hinged to the bottom of the main body, and is kept closed when not stressed, and is outwards rotated when stressed. The invention has strong adaptability, has no higher requirement on supporting ground, small appearance and light weight, can effectively enlarge the entrance of the ruins, enables rescue workers to smoothly enter the interiors of the ruins, and can also be used for supporting unstable heavy objects to ensure that rescue work is smoothly carried out.

Description

Pneumatic jacking disaster relief robot

Technical Field

The invention belongs to the field of disaster relief robots and provides a pneumatic jacking disaster relief robot.

Background

After a seismic hazard occurs, the first crucial task is to rapidly deploy post-disaster rescue, because the survival rate of the trapped people will be greatly reduced after 72 hours of the hazard. However, at present, the search and rescue work is difficult and dangerous to be carried out under the environment of ruins collapsed after disasters, and if a robot can be used for search and rescue, the search and rescue efficiency and safety are greatly improved. In the current search and rescue work after disaster, the method of using an inflatable air bag to jack up a part of a collapsed building structural member is a common method. However, the lifting height of the inflatable air bag is not high, and the inflatable air bag needs to be placed under a collapsed building structure by hands, which is dangerous, and the air bag cannot be placed at a place where disaster relief personnel cannot reach, which is very limited.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a novel pneumatic jacking disaster relief robot which adopts a mechanical structure that a robot main body is matched with a columnar air bag and a jacking air bag. The robot main part is arranged under the heavy object, and inside the main part was arranged in to the column gasbag, utilized the mode that the jacking gasbag piled up to compromise minimum seam height and maximum jacking stroke, had no higher requirement to supporting ground simultaneously. The pneumatic top bracing disaster relief robot has strong adaptability, small appearance and light weight. The entrance of the ruins can be effectively enlarged, rescue workers can enter the interiors of the ruins, and the movable support can also be used for supporting unstable heavy objects, so that rescue work can be guaranteed.

In order to achieve the purpose, the invention adopts the technical scheme that:

the utility model provides a pneumatic jacking disaster relief robot, includes transfer unit and jacking unit, transfer unit include electronic slip table 4, slide 6, the jacking unit include main part 1, round pin axle 2, curb plate 3, column gasbag 5, upset bottom plate 7, torsional spring 8, jacking gasbag 10.

The main body 1 is a main body part of the top-supported disaster relief robot, the appearance of the main body part is a cuboid cavity structure, and the upper part of the main body part is used for bearing heavy objects; an electric sliding table 4 and a columnar air bag 5 are arranged in the inner cavity of the lifting device, and a sliding plate 6 and a jacking air bag 10 are placed in the electric sliding table; a hollow circle is arranged at the center of the bottom of the air bag and is used for jacking the air bag 10 after being inflated; the side surface of the side plate is provided with an opening for jacking the air bag 10, and the upper part of the inner side of the opening is hinged with the side plate 3 through a pin shaft 2.

The side plates 3 are kept vertically downward under the condition of no stress and can only rotate towards the direction in the cavity of the main body 1, the maximum rotation angle is 90 degrees, and the side plates 3 cannot rotate towards the direction outside the cavity.

The two electric sliding tables 4 are fixed at the bottom of the main body 1 through sliding table fixing screws 9 and positioning pins, and the two electric sliding tables 4 are parallel and horizontal, so that the sliding plate 6 is kept horizontal. The slide 6 by the flexible end of fix with screw at electronic slip table 4, guarantee that slide 6 can form reciprocating motion in electronic slip table 4 for convey jacking gasbag 10 to in the main part 1 cavity. Electric sliding table 4 drive slide 6 will not inflate jacking gasbag 10 and carry to the 1 cavity of main part in, the height that highly is higher than 3 bottoms of curb plate of jacking gasbag 10 on the slide 6, when the two contacts, 3 internal rotations of curb plate guarantee that jacking gasbag 10 can get into 1 intracavity of main part completely, when jacking gasbag 10 got into 1 intracavity of main part completely, vertical state was got back to again to curb plate 3.

The columnar air bag 5 is arranged at the top of the inner cavity of the main body 1, and a straight line formed by connecting the circle center of the columnar air bag 5 with the circle center of a hollow circle at the bottom of the main body 1 is vertical downwards. The columnar air bag 5 and the jacking air bag 10 are inflated by pressurizing gas in the compressed air steel cylinder, when the jacking air bag 10 in the cavity of the main body 1 and the columnar air bag 5 expand simultaneously and contact with each other, the air bag continues to be inflated, and when the expansion height of the two air bags is higher than the height of the main body 1, the jacking air bag 10 at the lower part props up the overturning bottom plate 7 to jack the main body 1; the maximum horizontal distance that the turnover bottom plate 7 is expanded is larger than the size of the horizontal widest part of the jacking air bag 10 in the whole inflating process. When the two air bags are inflated to reach the maximum extension height, the columnar air bag 5 begins to deflate, the main body 1 partially falls back, and the turnover bottom plate 7 is gradually contacted with the jacking air bag 10 at the lower part; after the 5 gassing of column gasbag accomplished, main part 1 supported by lower part jacking gasbag 10 with the heavy object, and main part 1 is inside to continue to hold the space of not aerifing jacking gasbag 10 simultaneously, and the repeated pile up that realizes jacking gasbag 10 constantly increases jacking height.

The four turnover bottom plates 7 are hinged to the bottom of the main body 1 through the pin shaft 2 and the torsion springs 8, the four turnover bottom plates 7 are kept closed under the action of the torsion springs 8 under the condition of no stress, the turnover bottom plates 7 can only rotate outwards, and the maximum rotation angle is 90 degrees. The torsion springs 8 are arranged at the joints of the turnover bottom plates 7 and the pin shafts, and every two torsion springs 8 are connected with one turnover bottom plate 7; the sliding table fixing bolt 9 is used for fixing the two electric sliding tables 4 and fixing the telescopic end and the sliding plate 6 of the electric sliding tables.

Compared with the prior art, the invention has the beneficial effects that: the pneumatic jacking disaster relief robot provided by the invention has strong adaptability, no higher requirement on supporting ground, small appearance and light weight, can effectively enlarge the entrance of ruins, enables rescue workers to smoothly enter the interiors of the ruins, and can also be used for jacking unstable heavy objects to ensure the rescue work.

Drawings

Fig. 1 is a front view of a pneumatic jack-up disaster relief robot.

Fig. 2 is a full sectional view taken along the left side of the plane B-B in fig. 1.

Fig. 3 is a stepped sectional view taken along a plane a-a in fig. 1.

Fig. 4 is a partially enlarged view of the torsion spring 8 of the pneumatic jack-up rescue robot.

Fig. 5 is a schematic diagram of a pneumatic jacking disaster relief robot transfer process.

Fig. 6 is a schematic diagram of a jacking process of the pneumatic jacking disaster relief robot.

In the figure: 1 main part, 2 round pin axles, 3 curb plates, 4 electronic slip tables, 5 column gasbags, 6 slides, 7 upset bottom plates, 8 torsional springs, 9 slip table set screws, 10 jacking gasbags.

Detailed Description

The following further describes the specific embodiments of the present invention with reference to the drawings and technical solutions.

The pneumatic top-support disaster relief robot can be divided into two parts, namely a conveying unit and a jacking unit according to functional classification. The transmission unit can be divided into an electric sliding table 4 and a sliding plate 6 according to the structure; the jacking unit can be divided into a main body 1, a pin shaft 2, a side plate 3, a columnar air bag 5 and a turnover bottom plate 7 according to the structure. The main body 1 is a main body part of the search and rescue robot, is in a cuboid cavity structure in appearance, and is used for bearing heavy objects at the upper part; an electric sliding table 4 and a columnar air bag 5 are arranged in the inner cavity of the lifting device, and a sliding plate 6 and a jacking air bag 10 are placed in the electric sliding table; a hollow circle is arranged at the center of the bottom of the air bag and is used for jacking the air bag 10 after being inflated; the right side surface of the air bag lifting device is provided with an opening for lifting the air bag 10, and the upper part of the inner side of the opening is hinged with the right side plate 3 through a pin shaft 2.

As shown in the attached drawing 5, firstly, the pneumatic top-support disaster relief robot is placed below a heavy object, the uninflated air bag is placed on the sliding plate 6 through the conveyor belt, the electric sliding table 4 drives the sliding plate 6 to carry the uninflated jacking air bag 10 into the inner cavity of the main body 1, and when the side plate 3 is contacted, the air bag is higher than the bottom end of the side plate 3, so that the side plate 3 rotates inwards by a certain angle; when the jacking air bag 10 completely enters the cavity, the side plate 3 is kept in the vertical state again. At this moment, the electric sliding table 4 rotates reversely, the sliding plate 6 is driven to move out of the cavity of the main body 1, when the electric sliding table passes through the side plate 3, the side plate 3 cannot rotate out of the cavity of the main body 1, so that the electric sliding table keeps a vertical state, at this moment, the side plate 3 can block the uninflated jacking air bag 10 placed on the sliding plate 6, and the uninflated jacking air bag 10 can be gradually separated from the sliding plate 6 and is left in the cavity of the main body 1. The electric sliding table 4 drives the sliding plate 6 to continue moving towards the outside of the cavity of the main body 1, the next round of conveying process is carried out, and the uninflated jacking air bag 10 entering the cavity enters the jacking process.

The jacking process is shown in figure 6, after the non-inflated jacking air bag 10 enters the cavity of the main body 1 and is pressurized with the columnar air bag 5 through the gas in the compressed air steel cylinder, the two air bags can be expanded at the same time to be contacted with each other. When the expansion height of the two air bags is higher than the height of the main body 1, the jacking air bag 10 at the lower part gradually props up the overturning bottom plate, and the torsion force of the torsion spring 8 is gradually increased in the process. When the two air bags reach a certain height, the opening angle of the turnover bottom plate 7 is larger than the maximum diameter of the lower air bag, at the moment, the opening angle of the turnover bottom plate 7 is not continuously increased, but gradually retracts, and finally returns to the horizontal state. After the two air bags are inflated to reach the maximum stretching height, the jacking height reaches the maximum, when the jacking height reaches the maximum, the columnar air bag 5 starts to deflate, the pressure is reduced, the main body 1 starts to fall back, the overturning bottom plate 7 starts to gradually contact with the jacking air bag 10 on the lower part, and most of the jacking air bag 10 is located on the lower part of the overturning bottom plate 7 which returns to the horizontal state. After the columnar air bag is deflated, the whole main body 1 and the heavy object are supported by the jacking air bag 10 at the lower part, and meanwhile, the space capable of continuously accommodating the uninflated jacking air bag 10 is reserved inside the main body 1. At this time, the uninflated jacking air bag 10 is conveyed into the cavity of the main body 1 again through the conveying unit, and then the jacking process can be repeatedly carried out, so that the stacking of the air bags is realized, and the jacking height is continuously increased.

The above-mentioned embodiments only express the embodiments of the present invention, but not should be understood as the limitation of the scope of the invention patent, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.

Claims

1. The pneumatic jacking disaster relief robot is characterized by comprising a conveying unit and a jacking unit, wherein the conveying unit comprises an electric sliding table (4) and a sliding plate (6), and the jacking unit comprises a main body (1), a side plate (3), a columnar air bag (5), a turnover bottom plate (7) and a jacking air bag (10);

the main body (1) is of a cuboid cavity structure, and the upper part of the main body is used for bearing heavy objects; an electric sliding table (4) and a columnar air bag (5) are arranged in the inner cavity of the lifting device, and a sliding plate (6) and a jacking air bag (10) are placed in the electric sliding table; a hollow circle is arranged at the center of the bottom of the air bag and is used for jacking the air bag (10) after being inflated; the side surface of the air bag is provided with an opening for the uninflated jacking air bag (10) to enter the inner cavity; the upper part of the inner side of the opening is hinged with a side plate (3) through a pin shaft (2);

the side plates (3) are kept vertically downward under the condition of no stress, and the stress can only rotate towards the direction in the cavity of the main body (1);

the two electric sliding tables (4) are fixed at the bottom of the main body (1) through sliding table fixing screws (9) and positioning pins; the sliding plate (6) is fixed at the telescopic end of the electric sliding table (4) through screws, and the sliding plate (6) can reciprocate in the electric sliding table (4) and is used for conveying the uninflated jacking air bag (10) into the cavity of the main body (1) from the outside; the height of the jacking air bag (10) in the uninflated state on the sliding plate (6) is higher than that of the bottom end of the side plate (3), when the jacking air bag and the side plate are in contact, the side plate (3) rotates inwards to ensure that the jacking air bag (10) can completely enter the cavity of the main body (1), when the jacking air bag (10) completely enters the cavity of the main body (1), the side plate (3) returns to the vertical state again, the sliding plate (6) moves out of the cavity of the main body (1), and the conveying of a second uninflated jacking air bag (10) is carried out;

the columnar air bag (5) is arranged at the top of the inner cavity of the main body (1) and is positioned above the hollow circle at the bottom of the main body (1); the columnar air bag (5) and the jacking air bag (10) are inflated by pressurizing air in the compressed air steel cylinder, the jacking air bag (10) in the cavity of the main body (1) and the columnar air bag (5) are inflated at the same time and then are inflated continuously, when the expansion height of the two air bags is higher than the height of the main body (1), the jacking air bag (10) at the lower part opens the turnover bottom plate (7) and jacks up the main body (1), and the maximum horizontal distance of the opening of the turnover bottom plate (7) is larger than the size of the horizontal widest part of the jacking air bag (10) in the whole inflation process; when the two air bags are inflated to reach the maximum extension height, the columnar air bag (5) begins to deflate, the main body (1) partially falls back, and the turnover bottom plate (7) is gradually contacted with the jacking air bag (10) at the lower part; after the columnar air bag (5) is deflated, the main body (1) and the heavy object are supported by the lower jacking air bag (10), meanwhile, the space of the uninflated jacking air bag (10) can be continuously accommodated in the main body (1), the stacking of the jacking air bags (10) is repeatedly realized, and the jacking height of the main body (1) is continuously increased;

the turnover bottom plate (7) is hinged to the bottom of the main body (1) through the pin shaft (2) and the torsion spring (8), the turnover bottom plate (7) keeps closed under the action of the torsion spring (8) under the condition of no stress, and the turnover bottom plate (7) can only rotate outwards after stress.