CN109227557A - Six sufficient earthquake rescue robots - Google Patents
Six sufficient earthquake rescue robots Download PDFInfo
- Publication number
- CN109227557A CN109227557A CN201811171289.8A CN201811171289A CN109227557A CN 109227557 A CN109227557 A CN 109227557A CN 201811171289 A CN201811171289 A CN 201811171289A CN 109227557 A CN109227557 A CN 109227557A
- Authority
- CN
- China
- Prior art keywords
- steering engine
- movement branched
- leg
- delivery pipe
- earthquake rescue
- 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
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses the sufficient earthquake rescue of one kind six robots, including body, six movement branched chains, human body sensor and the camera that are set on body and the seismic survey sensor being set in movement branched chain, movement branched chain includes the first steering engine, the second steering engine connecting with the first steering engine, connect with the second steering engine and rotatable first leg, the third steering engine that is set in first leg and connect with third steering engine and rotatable second supporting leg.The sufficient earthquake rescue of of the invention six robot, is arranged six movement branched chains, terrain adaptability is strong, and human body sensor, camera and seismic survey sensor is arranged, and helps to improve rescue efficiency.
Description
Technical field
The invention belongs to robotic technology fields, specifically, the present invention relates to one kind six to take turns earthquake rescue robot.
Background technique
The generation of earthquake in recent years is more and more frequent, and many disaster areas are located in isolated area again, these areas once occur
Disaster, earthquake can make the traffic of original inconvenience become more to be obstructed, and influence to rescue speed.In disaster area because earthquake occurs,
Many people are embedded in the ruins that rescue personnel can not rapidly enter.Therefore, it is difficult to be completed within the first time of life rescue
Live manual search is rescued, rescue efficiency is low.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention provides one kind six
Sufficient earthquake rescue robot, it is therefore an objective to improve rescue efficiency.
To achieve the goals above, the technical scheme adopted by the invention is as follows: six sufficient earthquake rescue robots, including body,
Six movement branched chains, human body sensor and the camera that are set on body and the earthquake being set in movement branched chain are surveyed
Survey sensor, movement branched chain includes the first steering engine, the second steering engine connecting with the first steering engine, connect with the second steering engine and rotatable
First leg, the third steering engine that is set in first leg and connect with third steering engine and rotatable second supporting leg.
The output shaft of first steering engine is fixedly connected with the body, the output shaft of second steering engine and described first
Supporting leg is fixedly connected, and the output shaft of the third steering engine is fixedly connected with second supporting leg, the output shaft of the second steering engine and
The output shaft of three steering engines is parallel.
Six movement branched chains are arranged in two rows, and each row arranges three movement branched chains, and the camera is located at
Between two rows of movement branched chains.
The seismic survey sensor is set on second supporting leg.
The sufficient earthquake rescue of described six robot further includes being set on the body and being used to provide the exploration lamp of illumination,
The camera is located at the top of exploration lamp.
The internal body is equipped with the storage chamber for storing nutrient solution, and body is equipped with for discharging nutrient solution
Delivery pipe, delivery pipe are connected to storage chamber.
The delivery pipe is scalable.
The sufficient earthquake rescue of of the invention six robot, is arranged six movement branched chains, terrain adaptability is strong, and human body sense is arranged
Inductive sensing device, camera and seismic survey sensor, help to improve rescue efficiency.
Detailed description of the invention
This specification includes the following drawings, and shown content is respectively:
Fig. 1 is the structural schematic diagram of the sufficient earthquake rescue of the present invention six robot；
In the figure, it is marked as
1, body；2, seismic survey sensor；3, the first steering engine；4, the second steering engine；5, third steering engine；6, first leg；
7, the second supporting leg；8, sound equipment；9, signal transceiver；10, camera；11, lamp is surveyed；12, delivery pipe；13, bottom plating；
14, human body sensor；15, unmanned plane carry slot.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to a specific embodiment of the invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to design of the invention, technical solution
Solution, and facilitate its implementation.
As shown in Figure 1, the present invention provides the sufficient earthquake rescue robot of one kind six, including body 1, it is set on body 1
Six movement branched chains, human body sensor 14 and camera 10 and the seismic survey sensor that is set in movement branched chain
2, movement branched chain includes the first steering engine 3, the second steering engine 4 connecting with the first steering engine 3, connect with the second steering engine 4 and rotatable
It first leg 6, the third steering engine 5 being set in first leg 6 and is connect with third steering engine 5 and rotatable second supporting leg 7.
Specifically, as shown in Figure 1, basis of the body 1 as installation other component, body 1 are equipped with for providing electricity
The battery of energy.The output shaft of first steering engine 3 is fixedly connected with body 1, and the output shaft and first leg 6 of the second steering engine 4 are fixed
Connection, the output shaft of third steering engine 5 are fixedly connected with the second supporting leg 7, the output of the output shaft and third steering engine 5 of the second steering engine 4
Axis is parallel.First steering engine 3 is fixedly connected with the second steering engine 4, and the first steering engine 3 is rotated for controlling the second steering engine 4
Component, the second steering engine 4 are the components rotated for controlling first leg 6, and first leg 6 has certain length, first
Supporting leg 6 can be rotated up and down relative to body 1, and the second steering engine 4 can be rotated left and right relative to body 1,6 phase of first leg
Rotation centerline (namely axis of the output shaft of the second steering engine 4) and 4 phase of the second steering engine when being rotated up and down for body 1
Rotation centerline (namely axis of the output shaft of the first steering engine 3) perpendicular, first leg 6 when being rotated for body 1
Length direction on one end be fixedly connected with the output shaft of the second steering engine 4, third steering engine 5 is fixed at first leg 6
The other end on length direction.Third steering engine 5 is the component rotated for controlling the second supporting leg 7, the fixed peace of third steering engine 5
In first leg 6, first leg 6 extends towards the outside of body 1, and the second supporting leg 7 also is located at the outside of body 1, and second
Supporting leg 7 has certain length, and one end on the length direction of the second supporting leg 7 is fixedly connected with the output shaft of third steering engine 5, the
The other end on the length direction of two supporting legs 7 controls the second supporting leg 7 and is rotated up and down for contacting ground, third steering engine 5, the
The rotation centerline of two supporting legs 7 is parallel with the rotation centerline of first leg 6, the first steering engine 3, the second steering engine 4 and third rudder
Machine 5 is to be electrically connected with battery.
As shown in Figure 1, six movement branched chains are distributed in six positions, six movement branched chains are arranged in two rows, each to arrange
Arrange three movement branched chains, camera 10 is located between two rows of movement branched chains, and camera 10 is mounted on one end of body 1, ground
Earthquake survey sensor 2 is set on the second supporting leg 7, and is respectively mounted an earthquake on the second supporting leg 7 of each movement branched chain
Survey sensor 2, seismic survey sensor 2 is for obtaining seismic signal.During robot crawling, from six orientation from
The reflected faint seismic wave in subsurface rock interface is converted into electric signal, amplification, then digitizes, and is being sent to terminal service
Device carries out data processing, then judges that intensity and the position of aftershock avoid convenient for the rescue personnel to withdraw from the danger area in advance
Injures and deaths.
As shown in Figure 1, six sufficient earthquake rescue robots of the invention further include being set on body 1 and for providing illumination
Exploration lamp 11, camera 10 be located at exploration lamp 11 top.The sufficient earthquake rescue of of the invention six robot further includes being set to
Sound equipment 8 on body 1.Human body sensor 14 for detecting the close control device of human body, can accurately find out nearby whether
Someone, human body sensor 14 are fixedly mounted in one, and human body sensor 14 is located at the lower section of camera 10, human body
Inductive pick-up 14, exploration lamp 11 and camera 10 are located at the same end of body 1, improve using effect.
As shown in Figure 1, being equipped with the storage chamber for storing nutrient solution inside body 1, body 1 is equipped with for discharging
The delivery pipe 12 of nutrient solution, delivery pipe 12 are connected to storage chamber, and nutrient solution is regained one's strength of body for trapped person, search out by
After oppressive member, the nutrient input in storage chamber is given to trapped person by delivery pipe 12, trapped person is mended in time
Physical efficiency is filled, conducive to being rescued.Preferably, delivery pipe 12 is scalable, delivery pipe 12 has certain length, the length of delivery pipe 12
Degree is adjustable, and delivery pipe 12 is that the scalable rod-like structure formed is successively socketed by multiple hollow telescopic joints, and two of socket
Telescopic joint can relatively move along its length.Delivery pipe 12 is hard tube, and delivery pipe 12 is simultaneously connect, the delivery pipe with a delivery pipe
For hose, one end of delivery pipe is inserted into delivery pipe 12 and is connect with delivery pipe 12, and the other end of delivery pipe is located in storage chamber,
Nutrient solution in storage chamber is entered in delivery pipe 12 by delivery pipe, and nutrient solution is being delivered to trapped person by delivery pipe 12.
When not in use, delivery pipe 12, which is in most short status, does not influence the action of robot convenient for creeping for robot.
When encountering trapped person, delivery pipe 12 can be extended, delivery pipe 12 is towards stretching out on the outside of body 1, it is ensured that trapped person can
The nutrient solution inside body 1 is sucked, adaptability is improved.Body 1 is equipped with the actuator extended for controlling delivery pipe 12,
The actuator is preferably electric pushrod, and electric pushrod is to be electrically connected with battery, and electric pushrod is simultaneously connect with delivery pipe 12, electronic
Push rod control delivery pipe 12 stretches, and realizes 12 length adjustment of delivery pipe, structure is simple, easy to control.
As shown in Figure 1, being equipped with the upper armoring and bottom plating 13 of carbon fibre materials on body 1, plays a protective role, prevent
Falling stop stone smashes circuit.Upper plate armour is mounted on the top surface of body 1, the top surface of upper armoring covering body 1.Bottom plating 13 is mounted on
On the bottom surface of body 1, bottom plating 13 covers the bottom surface of body 1.
The application method of robot of the present invention are as follows: after earthquake disaster occurs, pass through the sufficient rescue robot of UAV flight six
Enter disaster area with prestissimo and carry out Disaster degree exploration and victims of the disaster's relief, rescue team member controls robot by remote control
Six movement branched chains are moved, and are observed by camera 10 ambient enviroment, into after ruins, before the machine person
Two exploration lamps 11 are opened, and auxiliary camera 10 observes ruins internal environment.Robot surrounding is mounted with human body sensor
14, the victims of the disaster in ruins can be found by auxiliary camera 10.Once finding appointing for the victims of the disaster in the rescue team member of terminal operation
What vital sign, will discharge the nutrient solution in body 1, can provide the life of a period of time to the victims of the disaster being embedded in ruins for a long time
Life maintains.The sound equipment 8 being arranged on body 1 can make rescue group more straight for realizing the real-time communication of the victims of the disaster and rescue team member
The grasp victims of the disaster's situation connect, while pacifying victims of the disaster's mood.Miniature GPS positioning system is housed inside body 1 simultaneously, it can be to backstage
Terminal sends the position of oneself, can make in this way rescue group person enter disaster area scene after quickly, accurately rescue the victims of the disaster.
The present invention is exemplarily described in conjunction with attached drawing above.Obviously, present invention specific implementation is not by above-mentioned side
The limitation of formula.As long as using the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out；Or not
It is improved, above-mentioned conception and technical scheme of the invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (7)
1. six sufficient earthquake rescue robots, it is characterised in that: including body, six movement branched chains, human bodies being set on body
Inductive pick-up and camera and the seismic survey sensor being set in movement branched chain, movement branched chain include the first steering engine,
The second steering engine for connecting with the first steering engine connect with the second steering engine and rotatable first leg, is set in first leg
It third steering engine and is connect with third steering engine and rotatable second supporting leg.
2. six sufficient earthquake rescue robots according to claim 1, it is characterised in that: the output shaft of first steering engine with
The body is fixedly connected, and the output shaft of second steering engine is fixedly connected with the first leg, the third steering engine it is defeated
Shaft is fixedly connected with second supporting leg, and the output shaft of the second steering engine is parallel with the output shaft of third steering engine.
3. according to claim 1 six sufficient earthquake rescue robots, it is characterised in that: six movement branched chains are in two rows
It is arranged, each row arranges three movement branched chains, and the camera is located between two rows of movement branched chains.
4. according to any one of claims 1 to 3 six sufficient earthquake rescue robots, it is characterised in that: the seismic survey passes
Sensor is set on second supporting leg.
5. according to any one of claims 1 to 4 six sufficient earthquake rescue robots, it is characterised in that: further include being set to institute
It states on body and for providing the exploration lamp of illumination, the camera is located at the top of exploration lamp.
6. according to any one of claims 1 to 5 six sufficient earthquake rescue robots, it is characterised in that: the internal body is set
There is the storage chamber for storing nutrient solution, body is equipped with the delivery pipe for discharging nutrient solution, delivery pipe and storage chamber
Connection.
7. according to claim 6 six sufficient earthquake rescue robots, it is characterised in that: the delivery pipe is scalable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811171289.8A CN109227557A (en) | 2018-10-09 | 2018-10-09 | Six sufficient earthquake rescue robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811171289.8A CN109227557A (en) | 2018-10-09 | 2018-10-09 | Six sufficient earthquake rescue robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109227557A true CN109227557A (en) | 2019-01-18 |
Family
ID=65055105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811171289.8A Pending CN109227557A (en) | 2018-10-09 | 2018-10-09 | Six sufficient earthquake rescue robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109227557A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109940639A (en) * | 2019-05-06 | 2019-06-28 | 广东工业大学 | A kind of earthquake emergency robot |
| CN110182223A (en) * | 2019-07-03 | 2019-08-30 | 中铁建设集团有限公司 | A kind of Railway Passenger Stations intelligent robot and its operation method |
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| US20040216931A1 (en) * | 1998-03-27 | 2004-11-04 | Chikyung Won | Robotic platform |
| CN103350422A (en) * | 2013-07-08 | 2013-10-16 | 桂林电子科技大学 | Life detecting and rescuing robot |
| CN104527831A (en) * | 2014-12-25 | 2015-04-22 | 华北科技学院 | Underground six-foot spider type search-and-rescue robot for coal mine |
| CN106405673A (en) * | 2016-10-28 | 2017-02-15 | 唐明贤 | Earthquake rescue aid |
| CN106595772A (en) * | 2017-01-11 | 2017-04-26 | 王东明 | Earthquake rescue structure safety monitoring robot |
| CN206218053U (en) * | 2016-12-01 | 2017-06-06 | 天津农学院 | The sufficient search and rescue robot of wheel-leg combined type movement six |
| CN107538503A (en) * | 2017-09-08 | 2018-01-05 | 湖南工业大学 | Earthquake rescue robot |
| CN108114387A (en) * | 2017-11-28 | 2018-06-05 | 歌尔科技有限公司 | A kind of method that robot is sued and laboured in earthquake and earthquake is sued and laboured |
| CN207780600U (en) * | 2017-11-02 | 2018-08-28 | 常熟理工学院 | A kind of six sufficient search and rescue robots of wireless control |
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2018
- 2018-10-09 CN CN201811171289.8A patent/CN109227557A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040216931A1 (en) * | 1998-03-27 | 2004-11-04 | Chikyung Won | Robotic platform |
| CN103350422A (en) * | 2013-07-08 | 2013-10-16 | 桂林电子科技大学 | Life detecting and rescuing robot |
| CN104527831A (en) * | 2014-12-25 | 2015-04-22 | 华北科技学院 | Underground six-foot spider type search-and-rescue robot for coal mine |
| CN106405673A (en) * | 2016-10-28 | 2017-02-15 | 唐明贤 | Earthquake rescue aid |
| CN206218053U (en) * | 2016-12-01 | 2017-06-06 | 天津农学院 | The sufficient search and rescue robot of wheel-leg combined type movement six |
| CN106595772A (en) * | 2017-01-11 | 2017-04-26 | 王东明 | Earthquake rescue structure safety monitoring robot |
| CN107538503A (en) * | 2017-09-08 | 2018-01-05 | 湖南工业大学 | Earthquake rescue robot |
| CN207780600U (en) * | 2017-11-02 | 2018-08-28 | 常熟理工学院 | A kind of six sufficient search and rescue robots of wireless control |
| CN108114387A (en) * | 2017-11-28 | 2018-06-05 | 歌尔科技有限公司 | A kind of method that robot is sued and laboured in earthquake and earthquake is sued and laboured |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109940639A (en) * | 2019-05-06 | 2019-06-28 | 广东工业大学 | A kind of earthquake emergency robot |
| CN110182223A (en) * | 2019-07-03 | 2019-08-30 | 中铁建设集团有限公司 | A kind of Railway Passenger Stations intelligent robot and its operation method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190118 |
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| RJ01 | Rejection of invention patent application after publication |