CN109333555A - Soft robot is used in a kind of rescue of pipe exploring - Google Patents
Soft robot is used in a kind of rescue of pipe exploring Download PDFInfo
- Publication number
- CN109333555A CN109333555A CN201811368623.9A CN201811368623A CN109333555A CN 109333555 A CN109333555 A CN 109333555A CN 201811368623 A CN201811368623 A CN 201811368623A CN 109333555 A CN109333555 A CN 109333555A
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- Prior art keywords
- main body
- rescue
- plate
- soft robot
- snap
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of pipe exploring rescue soft robots, including main body and bracket, the bottom end of the main body is connected with pushing plate, it and is to be fixedly connected between main body and pushing plate, hydraulic tube is installed at left and right sides of the top of the pushing plate, it and is to be flexibly connected between pushing plate and hydraulic tube, the main body is internally provided with protecting box, it and is to be fixedly connected between main body and protecting box, the inside of the protecting box is fixed with first-aid kit, fixed plate is installed at left and right sides of the main body, the beneficial effects of the present invention are: passing through sliding of the sliding slot between sliding block and protecting box, so as to which first-aid kit sliding is stored between main body and protecting box, and soft robot is facilitated to carry out pipeline rescue, so as to carry out simple rescue ease for the wounded in pipeline, and soft robot is facilitated to carry out next step rescue action, And some necessary rescue food can be disposed, in protecting box so as to race against time for rescue action.
Description
Technical field
The present invention relates to soft robot technical field, soft robot is used in specially a kind of pipe exploring rescue.
Background technique
Soft robot is a kind of Flexiable robot, can only be driven with air.Scientist's current research it is soft
Body robot is made of can be bent, reverse and pick up more than 100 times of own wt of object using papery and silicon rubber.Software
The design inspiration of robot is to imitate internal structure or shape framework of insect of the mankind etc., especially the latter.
It is disclosed in a kind of binary channels software finger of 201610515673 A- of Chinese invention CN and soft robot-application,
Software of the present invention refers to that robot breaches the limitation of Conventional mechanisms and control method more, and using soft material, (Young's modulus is small
In 1Mpa), the movement of four finger robots is controlled by pneumatic control mode, realizes the wound of manufacturing process and driving method
Newly, finger is cast using soft material, integrally shows enough flexibilities, shape, air cavity are by reasonable design, tool
Standby good performance, there is good practicability and a safety in the interaction with people and workpiece, but the surface of soft robot
Safeguard measure is not comprehensive enough, and use scope is also than narrow, and soft robot in the market, scope of activities is smaller, to cause
Pipeline rescue work is difficult to be unfolded, and receiving gravity area is also smaller, and rescue work Comparision is long, and is easy to delay most
Nearly rescue time, and do not have Monitoring Pinpelines function, thus be difficult the middle actual conditions of pipeline carrying out true report, and
It is easy to be influenced by extraneous circumstance in pipeline in rescue action, thus the problem for causing rescue action slow.
Summary of the invention
The purpose of the present invention is to provide a kind of pipe exploring rescue soft robots, to solve in above-mentioned background technique
The soft robot in the market proposed, scope of activities is smaller, so that pipeline rescue work be caused to be difficult to be unfolded, and bears weight
Power area is also smaller, and rescue work Comparision is long, and is easy to delay nearest rescue time, and does not have Monitoring Pinpelines
Function to be difficult the middle actual conditions of pipeline carrying out true report, and is easy in rescue action by pipeline China and foreign countries
Boundary's situation influences, thus the problem for causing rescue action slow.
To achieve the above object, the invention provides the following technical scheme: a kind of pipe exploring rescue soft robot, packet
Main body and bracket are included, the bottom end of the main body is connected with pushing plate, and to be fixedly connected between main body and pushing plate, the promotion
Hydraulic tube is installed at left and right sides of the top of plate, and to be flexibly connected between pushing plate and hydraulic tube, the inside of the main body is set
It is equipped with protecting box, and to be fixedly connected between main body and protecting box, the inside of the protecting box is fixed with first-aid kit, the main body
The left and right sides fixed plate is installed, and to be fixedly connected between main body and fixed plate, the left and right sides installation of the fixed plate
There is shell, the bracket is set to the bottom end of shell, and the bottom of the bracket is fixed with runner, and is living between runner and bracket
The top left and right sides of dynamic connection, the hydraulic tube is fixed with connecting rod, and is to be flexibly connected between hydraulic tube and connecting rod.
Preferably, the inner bottom of the protecting box is fixed with sliding block, and to be fixedly connected between protecting box and sliding block, institute
The top for stating sliding block is equipped with sliding slot, and fits closely between inner wall inside the middle part of the bottom inner portion inner wall of sliding slot and sliding block,
And protecting box is configured to slide construction by sliding slot and sliding block.
Preferably, the two sides up and down of the connecting rod are provided with mounting plate, and are fixed company between connecting rod and mounting plate
It connecing, the left and right sides is connected with compression bar in the middle part of the bottom inner portion of the mounting plate, and is vertical structure between compression bar and mounting plate, and
And connecting rod is configured to buckle structure by compression bar and mounting plate.
Preferably, the top left hand of the hydraulic tube is connected with gear, and to be flexibly connected between main body and gear, described
The top of main body is equipped with snap-gauge, and center line intersects between main body and snap-gauge, and the left and right ends of the snap-gauge are provided with activity
Column, and to be flexibly connected between portable pillar and snap-gauge, the bottom of the portable pillar is connected with gear, and between gear and portable pillar
To be flexibly connected, and fitted closely between the inner right side inner wall of main body and the right side inner wall of portable pillar, the top of the snap-gauge
End is fixed with baffle, and the top of the baffle is respectively connected with Bolt plate, and to be threadedly coupled between baffle and Bolt plate, the gear
The middle top of plate is fixed with vertical bar, and to be welded to connect between baffle and vertical bar, is equipped with peace at left and right sides of the vertical bar
It shelves.
Preferably, it is connected with slide plate at left and right sides of the middle part of the mounting rack, and is that activity connects between mounting rack and slide plate
It connects, and vertical bar is configured to snap-in structure by mounting rack and slide plate.
Preferably, center line intersects between the snap-gauge and baffle, and main body is configured to rotate by portable pillar with baffle
Structure.
Preferably, the two sides up and down of the snap-gauge are fixed with spring stack, and are vertical structure, institute between snap-gauge and spring stack
The bottom for stating spring stack is equipped with sheet rubber, and to be fixedly connected between sheet rubber and spring stack, the inside of the sheet rubber is set
It is equipped with monitor, the rear end of the slide plate is equipped with control lever, and to be fixedly connected between slide plate and control lever, the middle part of the control lever
It is connected with guide rod, and is fitted closely between inner wall inside the left and right sides of the inside inner wall of control lever and guide rod, the pushing plate
Inside is fixed with hydraulic cylinder, and to be fixedly connected between pushing plate and hydraulic cylinder, the top of the hydraulic cylinder is provided with elevating lever,
It and is vertical structure between hydraulic cylinder and elevating lever.
Preferably, pushing plate is installed at the top of the elevating lever, and to be welded to connect between elevating lever and pushing plate, and
And hydraulic cylinder is configured to lifting structure by elevating lever and pushing plate.
Preferably, it is fitted closely between inner wall inside the two sides up and down of the sheet rubber bottom inner portion inner wall and monitor,
And sheet rubber is configured to elastic construction by spring stack and monitor.
Compared with prior art, beneficial effects of the present invention are as follows:
1, protecting box of the present invention is configured to slide construction by sliding slot and sliding block, and connecting rod is configured to by compression bar and mounting plate
Buckle structure, by sliding of the sliding slot between sliding block and protecting box, so as to which main body and guarantor are stored in first-aid kit sliding
It protects between box, and soft robot is facilitated to carry out pipeline rescue, so as to simply be rescued for the wounded in pipeline
Alleviate, and soft robot is facilitated to carry out next step rescue action, and some necessary rescue foods can be disposed in protecting box
Product can push the compression bar between connecting rod and mounting plate by hydraulic tube so as to race against time for rescue action, thus
Necessary rescue tool can be placed between mounting plate, and equipment can be carried out according to the concrete condition of emergency place and taken
Band so as to provide the rescue aid of all standing for rescue action, and buckles to prevent in the duct up and down by compression bar
Occurrence of equipment dropping situations.
2, vertical bar of the present invention is configured to snap-in structure by mounting rack and slide plate, through slide plate between vertical bar and mounting rack
Activity, so as to which the special article in pipeline is carried out engaging transport, and by the guide rod in slide plate, so as to by object
Product are fastened between slide plate and control lever, and can expand the usable floor area of soft robot, and can enhance soft robot
Loaded area and the loss in pipeline can be dropped to most so as to provide time enough and space for pipeline rescue
It is small.
3, main body of the present invention is configured to rotational structure by portable pillar and baffle, through baffle between shell and portable pillar
Activity and can prevent that foreign matter occurs in pipeline so as to which baffle and snap-gauge rotation to be fastened between main body and gear
Fall off or pipeline in secondary injury occurs, so as to which vertical bar and mounting rack to be fastened in main body and shell, and can protect
The main body in shell is protected, so as to prevent soft robot from being injured by a crashing object by sharp object, and is able to maintain soft robot just
Often rescue and monitoring are explored.
4, present hydraulic cylinder is configured to lifting structure by elevating lever and pushing plate, by hydraulic in starting pushing plate
Cylinder pushes elevating lever, drives pushing plate elevating movement forward, so as to push shell and main body forward, and is able to drive branch
Runner in frame, so as to enhance soft robot forward speed, and it is outer so as to drive by the rotary motion of runner
Shell travels forward, and so as to shorten rescue time, and can be improved the working efficiency of soft robot.
5, sheet rubber of the present invention is configured to elastic construction by spring stack and monitor, by between sheet rubber and monitor
Spring stack, so as to prevent foreign matter damaged in collision monitor, and the situation in pipeline can be carried out by monitor true
Real passs on, and so as to carry out comprehensive investigative analysis to the situation in pipeline, and can shorten the time of rescue, and lead to
Crossing sheet rubber can reduce extraneous impact pressure, so as to prevent monitor from accidental damage occurs, and can reinforce snap-gauge
Protective capability explores monitoring so as to carry out mobile to pipeline inside.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that soft robot is used in a kind of pipe exploring rescue of the present invention；
Fig. 2 is the clamp structure schematic diagram that soft robot is used in a kind of pipe exploring rescue of the present invention；
Fig. 3 is the slide plate backsight structural representation that soft robot is used in a kind of pipe exploring rescue of the present invention；
Fig. 4 is the pushing plate structural schematic diagram that soft robot is used in a kind of pipe exploring rescue of the present invention；
Fig. 5 is enlarged structure schematic diagram at A in a kind of Fig. 1 of pipe exploring rescue soft robot of the present invention.
In figure: 1, main body；2, pushing plate；3, first-aid kit；4, protecting box；5, hydraulic tube；6, runner；7, bracket；8, shell；
9, fixed plate；10, connecting rod；11, compression bar；12, mounting plate；13, gear；14, portable pillar；15, snap-gauge；16, baffle；17, spiral shell
Bolt plate；18, vertical bar；19, mounting rack；20, slide plate；21, sheet rubber；22, spring stack；23, monitor；24, control lever；25, guide rod；
26, hydraulic cylinder；27, elevating lever；28, pushing plate；29, sliding slot；30, sliding block.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ",
The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention, in addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
Fig. 1-5 is please referred to, the present invention provides a kind of technical solution: a kind of pipe exploring rescue soft robot, including
Main body 1, pushing plate 2, first-aid kit 3, protecting box 4, hydraulic tube 5, runner 6, bracket 7, shell 8, fixed plate 9, connecting rod 10, compression bar
11, mounting plate 12, gear 13, portable pillar 14, snap-gauge 15, baffle 16, Bolt plate 17, vertical bar 18, mounting rack 19, slide plate 20, rubber
Dermatotome 21, spring stack 22, monitor 23, control lever 24, guide rod 25, hydraulic cylinder 26, elevating lever 27, pushing plate 28, sliding slot 29 and cunning
Block 30, the bottom end of main body 1 are connected with pushing plate 2, and to be fixedly connected between main body 1 and pushing plate 2, and the top of pushing plate 2 is left
Right two sides are equipped with hydraulic tube 5, and to be flexibly connected between pushing plate 2 and hydraulic tube 5, main body 1 is internally provided with protecting box
4, and to be fixedly connected between main body 1 and protecting box 4, the inside of protecting box 4 is fixed with first-aid kit 3, the inner bottom of protecting box 4
It is fixed with sliding block 30, and to be fixedly connected between protecting box 4 and sliding block 30, the top of sliding block 30 is equipped with sliding slot 29, and sliding slot
It is fitted closely between inner wall inside 29 bottom inner portion inner wall and the middle part of sliding block 30, and protecting box 4 passes through sliding slot 29 and sliding block
30 are configured to slide construction, by sliding of the sliding slot 29 between sliding block 30 and protecting box 4, so as to slide first-aid kit 3
It is stored between main body 1 and protecting box 4, and soft robot is facilitated to carry out pipeline rescue, so as to be the injury in pipeline
Personnel carry out simple rescue ease, and facilitate soft robot to carry out next step rescue action, and can pacify in protecting box 4
Some necessary rescue food are set, so as to race against time for rescue action, the left and right sides of main body 1 is equipped with fixed plate 9, and
To be fixedly connected between main body 1 and fixed plate 9, the left and right sides of fixed plate 9 is equipped with shell 8, and bracket 7 is set to shell 8
Bottom end, the bottom of bracket 7 are fixed with runner 6, and to be flexibly connected between runner 6 and bracket 7, top of hydraulic tube 5 or so two
Side is fixed with connecting rod 10, and to be flexibly connected between hydraulic tube 5 and connecting rod 10, the two sides up and down of connecting rod 10 are provided with peace
Loading board 12, and to be fixedly connected between connecting rod 10 and mounting plate 12, left and right sides connection in the middle part of the bottom inner portion of mounting plate 12
There is compression bar 11, and is vertical structure between compression bar 11 and mounting plate 12, and connecting rod 10 passes through compression bar 11 and 12 structure of mounting plate
As buckle structure, the compression bar 11 between connecting rod 10 and mounting plate 12 can be pushed by hydraulic tube 5, so as to will be necessary
Rescue tool be placed between mounting plate 12, and can according to the concrete condition of emergency place carry out equipment carrying, so as to
The rescue aid of all standing enough is provided for rescue action, and buckles to prevent occurrence of equipment in the duct by about 11 compression bar
Dropping situations；
The top left hand of hydraulic tube 5 is connected with gear 13, and to be flexibly connected between main body 1 and gear 13, the top peace of main body 1
Equipped with snap-gauge 15, and between main body 1 and snap-gauge 15, center line intersects, and the left and right ends of snap-gauge 15 are provided with portable pillar 14, and living
To be flexibly connected between dynamic column 14 and snap-gauge 15, the bottom of portable pillar 14 is connected with gear 13, and gear 13 and portable pillar 14 it
Between to be flexibly connected, and fitted closely between the inner right side inner wall of main body 1 and the right side inner wall of portable pillar 14, snap-gauge 15
Top is fixed with baffle 16, and center line intersects between snap-gauge 15 and baffle 16, and main body 1 is made up of portable pillar 14 and baffle 16
For rotational structure, by activity of the baffle 16 between shell 8 and portable pillar 14, so as to which baffle 16 and snap-gauge 15 are rotated
Be fastened between main body 1 and gear 13, and can prevent in pipeline occur foreign matter fall off or pipeline in secondary injury occurs,
So as to which vertical bar 18 and mounting rack 19 to be fastened in main body 1 and shell 8, and the main body 1 in shell 8 can be protected, thus
It can prevent soft robot from being injured by a crashing object by sharp object, and be able to maintain the normal rescue and monitoring exploration of soft robot, gear
The top of plate 16 is respectively connected with Bolt plate 17, and to be threadedly coupled between baffle 16 and Bolt plate 17, the middle top of baffle 16
It is fixed with vertical bar 18, and to be welded to connect between baffle 16 and vertical bar 18, the left and right sides of vertical bar 18 is equipped with mounting rack 19, pacifies
It shelves and is connected with slide plate 20 at left and right sides of 19 middle part, and to be flexibly connected between mounting rack 19 and slide plate 20, and vertical bar 18
It is configured to snap-in structure by mounting rack 19 and slide plate 20, by activity of the slide plate 20 between vertical bar 18 and mounting rack 19, from
And the special article in pipeline can be carried out to engaging transport, and by the guide rod 25 in slide plate 20, so as to by article card
It closes between slide plate 20 and control lever 24, and the usable floor area of soft robot can be expanded, and soft robot can be enhanced
Loaded area and the loss in pipeline can be dropped to most so as to provide time enough and space for pipeline rescue
It is small；
The two sides up and down of snap-gauge 15 are fixed with spring stack 22, and are vertical structure, spring stack 22 between snap-gauge 15 and spring stack 22
Bottom sheet rubber 21 is installed, and to be fixedly connected between sheet rubber 21 and spring stack 22, sheet rubber 21 is internally provided with
It is fitted closely between inner wall inside the two sides up and down of monitor 23,21 bottom inner portion inner wall of sheet rubber and monitor 23, and rubber
Plate 21 is configured to elastic construction by spring stack 22 and monitor 23, passes through the spring stack between sheet rubber 21 and monitor 23
22, so as to prevent foreign matter damaged in collision monitor 23, and the situation in pipeline can be carried out really by monitor 23
Pass on, so as to carry out comprehensive investigative analysis to the situation in pipeline, and the time of rescue can be shortened, and pass through
Sheet rubber 21 can reduce extraneous impact pressure, so as to prevent monitor 23 from accidental damage occurs, and can reinforce card
15 protective capability of plate explores monitoring so as to carry out mobile to pipeline inside, and the rear end of slide plate 20 is equipped with control lever 24, and
To be fixedly connected between slide plate 20 and control lever 24, the middle part of control lever 24 is connected with guide rod 25, and the inside inner wall of control lever 24 with lead
It is fitted closely between inner wall inside the left and right sides of bar 25, the inside of pushing plate 2 is fixed with hydraulic cylinder 26, and pushing plate 2 and liquid
To be fixedly connected between cylinder pressure 26, the top of hydraulic cylinder 26 is provided with elevating lever 27, and is between hydraulic cylinder 26 and elevating lever 27
Vertical structure, the top of elevating lever 27 are equipped with pushing plate 28, and to be welded to connect between elevating lever 27 and pushing plate 28, and
Hydraulic cylinder 26 is configured to lifting structure by elevating lever 27 and pushing plate 28, is pushed by the hydraulic cylinder 26 in starting pushing plate 2
Elevating lever 27 drives the elevating movement forward of pushing plate 28, so as to push shell 8 and main body 1 forward, and is able to drive branch
Runner 6 in frame 7 so as to enhance soft robot forward speed, and passes through the rotary motion of runner 6 so as to drive
Shell 8 travels forward, and so as to shorten rescue time, and can be improved the working efficiency of soft robot；
The working principle of the present embodiment: the pipe exploring rescue use soft robot, by starting SDA40X5 hydraulic cylinder 26 to
The action edge of soft robot can be enhanced, and real-time so as to carry out to pipeline inside by BE-3010CP4 monitor 23
Monitoring is explored, by the spring stack 22 between sheet rubber 21 and monitor 23, so as to prevent foreign matter damaged in collision monitor
23, and the situation in pipeline can really be pass on by monitor 23, so as to be carried out to the situation in pipeline
Comprehensive investigative analysis, and the time of rescue can be shortened, and can reduce extraneous impact pressure by sheet rubber 21, from
And can prevent monitor 23 from accidental damage occurs, and 15 protective capability of snap-gauge can be reinforced, so as to pipeline inside into
Every trade dynamic formula explores monitoring, pushes elevating lever 27 by the hydraulic cylinder 26 in starting pushing plate 2, pushing plate 28 is driven to go up and down forward
Movement, so as to which shell 8 and main body 1 are pushed forward, and the runner 6 being able to drive in bracket 7, so as to enhance software
Robot forward speed, and rescued by the rotary motion of runner 6 so as to drive shell 8 to travel forward so as to shorten
Help the time, and can be improved the working efficiency of soft robot, by hydraulic tube 5 can push connecting rod 10 and mounting plate 12 it
Between compression bar 11, so as to which necessary rescue tool is placed between mounting plate 12, and can be according to the tool of emergency place
Body situation carries out equipment carrying, so as to provide the rescue aid of all standing for rescue action, and is blocked by about 11 compression bar
Button is to prevent occurrence of equipment dropping situations in the duct, by activity of the baffle 16 between shell 8 and portable pillar 14, thus
Baffle 16 and the rotation of snap-gauge 15 can be fastened between main body 1 and gear 13, and generation foreign matter in pipeline can be prevented and fallen off,
Or secondary injury occurs in pipeline, so as to which vertical bar 18 and mounting rack 19 are fastened in main body 1 and shell 8, and can
The main body 1 in shell 8 is protected, so as to prevent soft robot from being injured by a crashing object by sharp object, and is able to maintain soft robot
Normal rescue and monitoring explore, by activity of the slide plate 20 between vertical bar 18 and mounting rack 19, so as to will be in pipeline
Special article carry out engaging transport, and by the guide rod 25 in slide plate 20, so as to which article is fastened on slide plate 20 and control
Between bar 24, and the usable floor area of soft robot can be expanded, and the loaded area of soft robot can be enhanced, thus
It can be rescued for pipeline and time enough and space are provided, and the loss in pipeline can be minimized, existed by sliding slot 29
Sliding between sliding block 30 and protecting box 4, so as to which the sliding of first-aid kit 3 is stored between main body 1 and protecting box 4, and side
Just soft robot carries out pipeline rescue, so as to carry out simple rescue ease for the wounded in pipeline, and facilitates soft
Body robot carries out next step rescue action, and some necessary rescue food can be disposed in protecting box 4, so as to for
Rescue action is raced against time, and here it is the working principles of the pipe exploring rescue soft robot.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection scope of invention.
Claims (9)
1. a kind of pipe exploring rescue soft robot, including main body (1) and bracket (7), it is characterised in that: the main body
(1) bottom end is connected with pushing plate (2), and to be fixedly connected between main body (1) and pushing plate (2), the top of the pushing plate (2)
The end left and right sides is equipped with hydraulic tube (5), and to be flexibly connected between pushing plate (2) and hydraulic tube (5), the main body (1)
It is internally provided with protecting box (4), and to be fixedly connected between main body (1) and protecting box (4), the inside of the protecting box (4) is solid
Surely have first-aid kit (3), be equipped with fixed plate (9) at left and right sides of the main body (1), and be between main body (1) and fixed plate (9)
It being fixedly connected, is equipped with shell (8) at left and right sides of the fixed plate (9), the bracket (7) is set to the bottom end of shell (8),
The bottom of the bracket (7) is fixed with runner (6), and to be flexibly connected between runner (6) and bracket (7), the hydraulic tube (5)
Top at left and right sides of be fixed with connecting rod (10), and between hydraulic tube (5) and connecting rod (10) be flexibly connected.
2. a kind of pipe exploring rescue soft robot according to claim 1, it is characterised in that: the protecting box
(4) inner bottom is fixed with sliding block (30), and to be fixedly connected between protecting box (4) and sliding block (30), the sliding block (30)
Top be equipped with sliding slot (29), and it is close between inner wall inside the middle part of the bottom inner portion inner wall of sliding slot (29) and sliding block (30)
Fitting, and protecting box (4) is configured to slide construction by sliding slot (29) and sliding block (30).
3. a kind of pipe exploring rescue soft robot according to claim 1, it is characterised in that: the connecting rod
(10) two sides up and down are provided with mounting plate (12), and to be fixedly connected between connecting rod (10) and mounting plate (12), the peace
The left and right sides is connected with compression bar (11) in the middle part of the bottom inner portion of loading board (12), and is vertical between compression bar (11) and mounting plate (12)
Structure, and connecting rod (10) is configured to buckle structure by compression bar (11) and mounting plate (12).
4. a kind of pipe exploring rescue soft robot according to claim 1, it is characterised in that: the hydraulic tube
(5) top left hand is connected with gear (13), and to be flexibly connected between main body (1) and gear (13), the top of the main body (1)
End is equipped with snap-gauge (15), and center line intersects between main body (1) and snap-gauge (15), the left and right ends setting of the snap-gauge (15)
Have portable pillar (14), and to be flexibly connected between portable pillar (14) and snap-gauge (15), the bottom of the portable pillar (14) is connected with
Gear (13), and to be flexibly connected between gear (13) and portable pillar (14), and the inner right side inner wall of main body (1) and activity
It is fitted closely between the right side inner wall of column (14), the top of the snap-gauge (15) is fixed with baffle (16), the baffle (16)
Top is respectively connected with Bolt plate (17), and to be threadedly coupled between baffle (16) and Bolt plate (17), the top of the baffle (16)
It is fixed with vertical bar (18) in the middle part of portion, and to be welded to connect between baffle (16) and vertical bar (18), the left and right two of the vertical bar (18)
Side is equipped with mounting rack (19).
5. a kind of pipe exploring rescue soft robot according to claim 4, it is characterised in that: the mounting rack
(19) it is connected with slide plate (20), and to be flexibly connected between mounting rack (19) and slide plate (20), and erects at left and right sides of middle part
Bar (18) is configured to snap-in structure by mounting rack (19) and slide plate (20).
6. a kind of pipe exploring rescue soft robot according to claim 4, it is characterised in that: the snap-gauge (15)
Center line intersects between baffle (16), and main body (1) is configured to rotational structure by portable pillar (14) and baffle (16).
7. a kind of pipe exploring rescue soft robot according to claim 4, it is characterised in that: the snap-gauge (15)
Two sides up and down be fixed with spring stack (22), and between snap-gauge (15) and spring stack (22) be vertical structure, the spring stack
(22) bottom is equipped with sheet rubber (21), and to be fixedly connected between sheet rubber (21) and spring stack (22), the sheet rubber
(21) be internally provided with monitor (23), the rear end of the slide plate (20) is equipped with control lever (24), and slide plate (20) and control lever
(24) to be fixedly connected between, be connected with guide rod (25) in the middle part of the control lever (24), and the inside inner wall of control lever (24) with lead
It is fitted closely between inner wall inside the left and right sides of bar (25), the inside of the pushing plate (2) is fixed with hydraulic cylinder (26), and pushes away
To be fixedly connected between movable plate (2) and hydraulic cylinder (26), the top of the hydraulic cylinder (26) is provided with elevating lever (27), and hydraulic
It is vertical structure between cylinder (26) and elevating lever (27).
8. a kind of pipe exploring rescue soft robot according to claim 7, it is characterised in that: the elevating lever
(27) it is equipped at the top of pushing plate (28), and to be welded to connect between elevating lever (27) and pushing plate (28), and hydraulic cylinder
(26) it is configured to lifting structure by elevating lever (27) and pushing plate (28).
9. a kind of pipe exploring rescue soft robot according to claim 7, it is characterised in that: the sheet rubber
(21) it is fitted closely between inner wall inside the two sides up and down of bottom inner portion inner wall and monitor (23), and sheet rubber (21) passes through bullet
Spring column (22) and monitor (23) are configured to elastic construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811368623.9A CN109333555A (en) | 2018-11-16 | 2018-11-16 | Soft robot is used in a kind of rescue of pipe exploring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811368623.9A CN109333555A (en) | 2018-11-16 | 2018-11-16 | Soft robot is used in a kind of rescue of pipe exploring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109333555A true CN109333555A (en) | 2019-02-15 |
Family
ID=65315984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811368623.9A Withdrawn CN109333555A (en) | 2018-11-16 | 2018-11-16 | Soft robot is used in a kind of rescue of pipe exploring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109333555A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409083A (en) * | 2020-03-31 | 2020-07-14 | 陈盛泉 | Multifunctional rescue robot |
-
2018
- 2018-11-16 CN CN201811368623.9A patent/CN109333555A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409083A (en) * | 2020-03-31 | 2020-07-14 | 陈盛泉 | Multifunctional rescue robot |
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Application publication date: 20190215 |
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