CN110202588A - A kind of rescue robot - Google Patents
A kind of rescue robot Download PDFInfo
- Publication number
- CN110202588A CN110202588A CN201910476815.XA CN201910476815A CN110202588A CN 110202588 A CN110202588 A CN 110202588A CN 201910476815 A CN201910476815 A CN 201910476815A CN 110202588 A CN110202588 A CN 110202588A
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- China
- Prior art keywords
- rescue
- gripper
- knuckle
- bar
- finger joint
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Links
- 230000033001 locomotion Effects 0.000 claims abstract description 61
- 210000001145 finger joint Anatomy 0.000 claims description 60
- 230000001681 protective effect Effects 0.000 claims description 41
- 210000000689 upper leg Anatomy 0.000 claims description 35
- 210000002414 leg Anatomy 0.000 claims description 33
- 101000623895 Bos taurus Mucin-15 Proteins 0.000 claims description 10
- 239000010720 hydraulic oil Substances 0.000 claims description 10
- 238000009423 ventilation Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 239000000956 alloy Substances 0.000 claims description 3
- 239000000446 fuel Substances 0.000 claims description 3
- 229910001095 light aluminium alloy Inorganic materials 0.000 claims description 3
- 239000007769 metal material Substances 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 210000002683 foot Anatomy 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 125000000623 heterocyclic group Chemical group 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B99/00—Subject matter not provided for in other groups of this subclass
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of rescue robots, belong to robotic technology field, including rescue cabin, rescue mechanical gripper device, four-footed telecontrol equipment, battery；The rescue cabin is rectangular box, and rescue mechanical gripper device is mounted on inside rescue cabin body, and four-footed telecontrol equipment is mounted on front and rear sides outside rescue cabin body, and it is that rescue robot integrally provides power supply that battery, which is mounted on inside rescue cabin body,.Personnel rescuing and protection work can be realized using mechanical gripper device and rescue cabin body, it is mobile that cooperation four-footed movement mechanism can be realized the walking under different road conditions.
Description
Technical field
The present invention relates to a kind of rescue robots, belong to robotic technology field.
Background technique
With the progress of social economy and technology, machine vision technique is gradually applied in every field, especially machine
In device people's technical field；In terms of emergency management and rescue, rescued compared to true man, some of complex environment such as mountainous region, the scene of a fire etc., Ke Nengzao
It is injured at rescue personnel, therefore it is higher to rescue requirement.It is developed in view of the diversified rescue robot of such situation, it is more
Number rescue robot has been carried out the functions such as avoidance, field data acquisition, hazardous environment processing, but realizes machine under complex environment
People independently completes the function of rescue work, realizes at present less, it is therefore desirable to research and develop a kind of can answer based on machine vision
The robot rescued under heterocycle border is to complete such work.
Summary of the invention
The present invention provides a kind of rescue robots, for realizing personnel rescuing work by the robot.
The technical scheme is that a kind of rescue robot, including rescue cabin, rescue mechanical gripper device, four-footed fortune
Dynamic device, battery；
The rescue cabin is rectangular box, and rescue mechanical gripper device is mounted on inside rescue cabin body, the installation of four-footed telecontrol equipment
The front and rear sides outside rescue cabin body, it is that rescue robot integrally provides power supply that battery, which is mounted on inside rescue cabin body,.
The rescue cabin includes bracket chassis 1, rescue hatch door 2, internal layer protective shell 3, apical support plate 4, ventilation device
5, single blade spiral swing hydranlic pressure jar 57, outer protection shell 47, rescue cabin door controller 50, hydraulic oil container 51；
The rescue hatch door 2 is mounted on bracket chassis 1 by single blade spiral swing hydranlic pressure jar 57, is rescued and is equipped with inside hatch door 2
Electromagnetic lock, apical support plate 4 are made of two vertical bars and a cross bar, and two vertical bar bottom ends are separately fixed at bracket chassis 1
Rear and front end, two vertical bar tops are connect with cross bar both ends respectively, and internal layer protective shell 3 is mounted on bracket chassis 1 and apical support
It between plate 4, is fixed at the top of internal layer protective shell 3 on 4 cross bar of apical support plate, air cushion layer is equipped on the inside of internal layer protective shell 3, is used for
Embedded mechanical gripper device, ventilation device 5 are mounted on the vertical bar of 4 side of apical support plate and are directly connected to battery, external
Protective shell 47 is fixed on bracket chassis 1 and covers apical support plate 4 and internal layer protective shell 3, rescues cabin door controller 50, hydraulic oil container
51 are fixed on outside 3 side of internal layer protective shell, rescue cabin door controller 50 by conducting wire and single blade spiral swing hydranlic pressure jar 57 and
Electromagnetic lock connection, hydraulic oil container 51 are 57 fuel feeding of single blade spiral swing hydranlic pressure jar.
The rescue mechanical gripper device includes rescue gripper component I, rescue gripper component II, hydraulic tensioning bar I
28, hydraulic tensioning bar II 37, rescue gripper controller 49, telescopic rod 58；Hydraulic tensioning bar I 28 and hydraulic tensioning bar II
37 are made of the body of rod and sleeve, and rescue gripper component I, rescue gripper component II are mounted on hydraulic tensioning bar I 28 relatively
On, hydraulic tensioning bar II 37 is mounted on I 28 upper side position of hydraulic tensioning bar, hydraulic tensioning bar I 28 and hydraulic tensioning bar II
37 movement driving gripper components I, rescue gripper component II complete crawl, and stretch rod II 37 passes through telescopic rod 58 and top
Support plate 4 connects, and the movement driving of telescopic rod 58 gripper component I, rescue gripper component II stretch out and withdraw rescue cabin, rescues
Gripper controller 49 is helped to connect with hydraulic tensioning bar I 28, hydraulic tensioning bar II 37, telescopic rod 58 respectively by conducting wire.
The rescue gripper component I, rescue II structure of gripper component are identical, wherein rescue gripper component I includes
Rescue gripper 6, finger joint control bracket connecting shaft 35 more than four groups, finger joint control tie rod 36；
Rescue gripper 6 include first knuckle 24, second knuckle 25, third knuckle 26, the 4th finger joint 27, pressure inductor 39,
Finger joint connecting shaft I 30, finger joint connecting shaft II 9, finger joint connecting shaft III 29, gripper control shaft I 31, gripper control shaft II
38, gripper control crank I 32, gripper control crank II 33, finger joint control bracket 34；
I 32 one end of crank is controlled with gripper simultaneously by gripper control shaft 31 for 24 one end of first knuckle and gripper controls
The connection of II 33 one end of crank, gripper control I 32 other end of crank and pass through gripper control shaft I 31 and hydraulic tensioning bar I
28 bar connection, gripper control the set that II 33 other end of crank passes through gripper control shaft II 38 and hydraulic tensioning bar I 28
Cylinder connection, 24 other end of first knuckle are connect by finger joint connecting shaft I 30 with 25 one end of second knuckle, and second knuckle 25 is another
End is connect by finger joint connecting shaft II 9 with 26 one end of third knuckle, and 26 other end of third knuckle passes through finger joint connecting shaft III 29
It is connect with 27 one end of the 4th finger joint, the inner side of first knuckle 24, second knuckle 25 and third knuckle 26 is mounted on pressure
Inductor 39,24 outside of first knuckle pass through with 25 outside of second knuckle and 24 outside of second knuckle with 25 outside of third knuckle
Finger joint controls bracket 34 and connects, in mechanical tine I between 24 outside of first knuckle, between 25 outside of second knuckle and third refers to
Bracket connecting shaft 35 is controlled by finger joint between 26 outside of section to connect；
Finger joint control bracket connecting shaft 35 on II first knuckle 24 of mechanical I first knuckle 24 of tine and mechanical tine is distinguished
The sleeve connection of tie rod 36 and hydraulic tensioning bar II 37 is controlled by finger joint.
The four-footed telecontrol equipment includes movement mechanism I, movement mechanism II, movement mechanism III, movement mechanism IV, four-footed fortune
Dynamic Setup Controller 48；
Movement mechanism I, movement mechanism II, movement mechanism III, IV structure of movement mechanism are identical, movement mechanism I, II phase of movement mechanism
To the forward position for being mounted on rescue cabin body device, movement mechanism III, movement mechanism IV are opposite to be mounted on rescue cabin body device
Rearward position, wherein movement mechanism I includes leg angle adjustment plate 10, medium-sized steering engine I 11, gear drive 12, thigh company
Connect frame 13, thigh parts 14, medium-sized steering engine II 56, medium-sized steering engine III 8, lower leg component 15, foot support 16, leg sensing
Device 53, thigh support sleeve 54, leg support bar 55, during angle adjustment plate 10 one end in leg is installed medium-sized steering engine I 11 and passed through
Type steering engine I 11 is connect with bracket chassis 1, and gear drive 12, the adjustment of leg angle are equipped among leg angle adjustment plate 10
10 other end of plate is equipped with thigh connection frame 13, and 14 upper end of thigh parts is equipped with medium-sized steering engine II 56 and passes through medium-sized steering engine II 56
It is connect with thigh connection frame 13,14 lower end of thigh parts is equipped with medium-sized steering engine III 8 and passes through medium-sized steering engine III 8 and lower leg component
The connection of 15 upper ends, foot support 16 are installed on 15 lower end of lower leg component, and 54 one end of thigh support sleeve is fixed on lower leg component
15 middle positions, 55 one end of leg support bar are fixed on 14 middle position of thigh parts, thigh support sleeve 54 and thigh support
Bar 55 is cooperatively connected, and leg sensor 53 is installed on lower leg component 15, and four-footed telecontrol equipment controller 48 is distinguished by conducting wire
It is connect with medium-sized steering engine I 11, medium-sized steering engine II 56, medium-sized steering engine III 8, leg sensor 53.
The battery includes main storage battery 40 and standby battery 41, and main storage battery 40 is divided into two groups for totally four, spare
Battery 41 is divided into two groups for totally four, and every group is respectively arranged in 3 liang of side positions of internal layer protective shell, and battery is that robot integrally mentions
Power supply source.
The bracket chassis 1, rescue hatch door 2, internal layer protective shell 3, apical support plate 4, rescue gripper 6, outer protection
Shell 47 selects Light Aluminum Alloy material, and the four-footed telecontrol equipment selects high-strength metal material.
It further include machine vision device, machine vision device is mounted on front side of rescue cabin, and machine vision device is by built-in
Video camera 7, external camera 17, ball-type rotation protective shell 18, bevel gear transmission 19, image collecting device and controller
22, camera horizon bracket 20, video camera vertical rack 21, rotary shaft 23, small-sized steering machine 52 are constituted, and ball-type rotates protective shell 18
Front side is equipped with opening, and external camera 17 passes through opening by camera horizon bracket 20 and video camera vertical rack 21 and is fixed on
Ball-type rotates inside protective shell 18, is installed on the Bevel Gear Transmission machine of 17 downside of ball-type rotation 18 inside external camera of protective shell
Structure 19 and small-sized steering machine 52 can drive external camera 17 to realize 120 degree of rotations of horizontal plane or so, be installed on ball-type rotation protection
The rotary shaft 23 and small-sized steering machine 52 of 18 both sides external of shell can drive external camera 17 to realize vertical plane 180 degree rotation up and down,
7 rake angle of built-in camera is mounted on 4 vertical bar of apical support plate of 1 front end of rescue cabin body device inner support chassis, and image is adopted
Acquisition means and controller 22 are connect with built-in camera 7, external camera 17, small-sized steering machine 52 respectively by conducting wire.
It further include sensing device, sensing device is mounted on machine vision device upper side position, including headlamp 42, distance perception
Answer device 43, infrared thermal sensor 44, inductor signal acquisition and control system 45, sensing device shell 46, headlamp 42, distance
Inductor 43, infrared thermal sensor 44 are nested in 46 front of sensing device shell, and inductor signal acquisition and control system 45 are pacified
Inside sensing device shell 46, inductor signal acquisition and control system 45 by conducting wire respectively with headlamp 42, distance
Inductor 43, infrared thermal sensor 44 connect, and sensing device is fixed on the upside of machine vision device by sensing device shell 46
Position.
The four-footed telecontrol equipment controller 48, rescue gripper controller 49, rescue cabin door controller 50 are by leading
Line is connect with image collecting device and controller 22.
The beneficial effects of the present invention are: can be realized personnel rescuing and protection work using mechanical gripper device and rescue cabin body
Make, it is mobile that cooperation four-footed movement mechanism can be realized the walking under different road conditions.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is four-footed telecontrol equipment schematic view of the mounting position of the invention；
Fig. 3 is rescue cabin body device structural schematic diagram of the invention；
Fig. 4 is machine vision device structural schematic diagram in the present invention；
Fig. 5 is sensing device structural schematic diagram in the present invention；
Fig. 6 is that gripper structural schematic diagram is rescued in the present invention；
Fig. 7 is rescue gripper and apical support plate connection schematic diagram in the present invention；
Fig. 8 is I structural schematic diagram of movement mechanism in the present invention；
Each label in figure are as follows: 1- bracket chassis, 2- rescue hatch door, 3- internal layer protective shell, 4- apical support plate, 5- ventilation device,
6- rescues gripper, 7- built in machine vision system video camera, the medium-sized steering engine III of 8-, 9- finger joint connecting shaft II, the leg 10- angle
The medium-sized steering engine I of adjustment plate, 11-, 12- gear drive, 13- thigh connection frame, 14- thigh parts, 15- lower leg component, 16-
Foot support, 17- external camera, 18- ball-type rotate protective shell, 19- bevel gear transmission, 20- camera horizon branch
Frame, 21- video camera vertical rack, 22- image collecting device and controller, 23- rotary shaft, 24- first knuckle, 25- second refer to
Section, 26- third knuckle, the 4th finger joint of 27-, 28- hydraulic tensioning bar I, 29- finger joint connecting shaft III, 30- finger joint connecting shaft I, 31-
Gripper control shaft I, 32- gripper control crank I, 33- gripper control crank II, 34- finger joint control bracket, 35- finger joint
Control bracket connecting shaft, 36- finger joint controls tie rod, 37- hydraulic tensioning bar II, 38- gripper control shaft II, 39- pressure sensitive
Device, 40- main storage battery, 41- standby battery, 42- headlamp, 43- distance-sensor, the infrared thermal sensor of 44-, 45- induction
Device signal acquisition and control system, 46- sensing device shell, 47- outer protection shell, 48- four-footed telecontrol equipment controller, 49-
Rescue gripper controller, 50- rescues cabin door controller, 51- hydraulic oil container, 52- small-sized steering machine, the leg 53- sensor 54- leg
The medium-sized steering engine II of portion's stop sleeve, 55- leg support bar, 56-, 57- single blade spiral swing hydranlic pressure jar, 58- telescopic rod.
Specific embodiment
With reference to the accompanying drawings and examples, the invention will be further described, but the contents of the present invention be not limited to it is described
Range.
Embodiment 1: as shown in Figs. 1-5, a kind of rescue robot, including rescue cabin, rescue mechanical gripper device, four-footed fortune
Dynamic device, battery；
The rescue cabin is rectangular box, and rescue mechanical gripper device is mounted on inside rescue cabin body, the installation of four-footed telecontrol equipment
The front and rear sides outside rescue cabin body, it is that rescue robot integrally provides power supply that battery, which is mounted on inside rescue cabin body,.
It include bracket chassis 1, rescue hatch door 2, internal layer protective shell 3, top it is possible to further which the rescue cabin is arranged
Support plate 4, ventilation device 5, single blade spiral swing hydranlic pressure jar 57, outer protection shell 47, rescue cabin door controller 50, hydraulic oil container
51；
The rescue hatch door 2 is mounted on bracket chassis 1 by single blade spiral swing hydranlic pressure jar 57, is rescued and is equipped with inside hatch door 2
Electromagnetic lock, apical support plate 4 are made of two vertical bars and a cross bar, and two vertical bar bottom ends are separately fixed at bracket chassis 1
Rear and front end, two vertical bar tops are connect with cross bar both ends respectively, and internal layer protective shell 3 is mounted on bracket chassis 1 and apical support
It between plate 4, is fixed at the top of internal layer protective shell 3 on 4 cross bar of apical support plate, air cushion layer is equipped on the inside of internal layer protective shell 3, is used for
Embedded mechanical gripper device, ventilation device 5 are mounted on the vertical bar of 4 side of apical support plate and are directly connected to battery, external
Protective shell 47 is fixed on bracket chassis 1 and covers apical support plate 4 and internal layer protective shell 3, rescues cabin door controller 50, hydraulic oil container
51 are fixed on outside 3 side of internal layer protective shell, rescue cabin door controller 50 by conducting wire and single blade spiral swing hydranlic pressure jar 57 and
Electromagnetic lock connection, hydraulic oil container 51 are 57 fuel feeding of single blade spiral swing hydranlic pressure jar.
It include rescue gripper component I, rescue gripper component it is possible to further which the rescue mechanical gripper device is arranged
II, hydraulic tensioning bar I 28, hydraulic tensioning bar II 37, rescue gripper controller 49, telescopic rod 58；Hydraulic tensioning bar I 28
It is made of with hydraulic tensioning bar II 37 body of rod and sleeve, rescue gripper component I, the opposite installation of rescue gripper component II
On hydraulic tensioning bar I 28, hydraulic tensioning bar II 37 is mounted on I 28 upper side position of hydraulic tensioning bar, hydraulic tensioning bar I 28
Driving gripper component I, the rescue completion crawl of gripper component II are moved with hydraulic tensioning bar II 37, stretch rod II 37 passes through
Telescopic rod 58 is connect with apical support plate 4, telescopic rod 58 movement driving gripper component I, rescue gripper component II stretch out and
Withdraw rescue cabin, rescue gripper controller 49 by conducting wire respectively with hydraulic tensioning bar I 28, hydraulic tensioning bar II 37,
Telescopic rod 58, pressure inductor 39 connect.
It is identical it is possible to further which the rescue gripper component I, rescue II structure of gripper component is arranged, wherein rescuing
Helping mechanical tine I includes rescue gripper 6, finger joint control bracket connecting shaft 35, the finger joint control tie rod 36 more than four groups；
Rescue gripper 6 include first knuckle 24, second knuckle 25, third knuckle 26, the 4th finger joint 27, pressure inductor 39,
Finger joint connecting shaft I 30, finger joint connecting shaft II 9, finger joint connecting shaft III 29, gripper control shaft I 31, gripper control shaft II
38, gripper control crank I 32, gripper control crank II 33, finger joint control bracket 34；
I 32 one end of crank is controlled with gripper simultaneously by gripper control shaft 31 for 24 one end of first knuckle and gripper controls
The connection of II 33 one end of crank, gripper control I 32 other end of crank and pass through gripper control shaft I 31 and hydraulic tensioning bar I
28 bar connection, gripper control the set that II 33 other end of crank passes through gripper control shaft II 38 and hydraulic tensioning bar I 28
Cylinder connection, 24 other end of first knuckle are connect by finger joint connecting shaft I 30 with 25 one end of second knuckle, and second knuckle 25 is another
End is connect by finger joint connecting shaft II 9 with 26 one end of third knuckle, and 26 other end of third knuckle passes through finger joint connecting shaft III 29
It is connect with 27 one end of the 4th finger joint, the inner side of first knuckle 24, second knuckle 25 and third knuckle 26 is mounted on pressure
Inductor 39,24 outside of first knuckle pass through with 25 outside of second knuckle and 24 outside of second knuckle with 25 outside of third knuckle
Finger joint controls bracket 34 and connects, in mechanical tine I between 24 outside of first knuckle, between 25 outside of second knuckle and third refers to
Bracket connecting shaft 35 is controlled by finger joint between 26 outside of section to connect；
Finger joint control bracket connecting shaft 35 on II first knuckle 24 of mechanical I first knuckle 24 of tine and mechanical tine is distinguished
The sleeve connection of tie rod 36 and hydraulic tensioning bar II 37 is controlled by finger joint.
Gripper is driven to control crank I by the extensional motion that rescue gripper controller 49 controls hydraulic tensioning bar I 28
32 and gripper control crank II 33 do link motion, and then adjust the position of first knuckle 24, pass through control hydraulic tensioning bar
II 37 extensional motion drives finger joint control tie rod 36 that the finger joint on first knuckle 24 is pulled to control bracket connecting shaft 35, in turn
It pulls the finger joint in each finger joint to control bracket 34 and realizes each finger joint rotary motion, pressure inductor 39 can carry out grasping force
The dynamics of the rescue adjustment crawl of gripper controller 49 is acquired and passes through, rescue gripper first knuckle 24 first contacts human body, the
Two finger joints 25, third knuckle 26 gradually complete grasping movement suitably to contact with pressure human body, and the 4th finger joint 27 is only as one kind
Supporting form.
It is possible to further be arranged the four-footed telecontrol equipment include movement mechanism I, movement mechanism II, movement mechanism III,
Movement mechanism IV, four-footed telecontrol equipment controller 48；
Movement mechanism I, movement mechanism II, movement mechanism III, IV structure of movement mechanism are identical, movement mechanism I, II phase of movement mechanism
To the forward position for being mounted on rescue cabin body device, movement mechanism III, movement mechanism IV are opposite to be mounted on rescue cabin body device
Rearward position, wherein movement mechanism I includes leg angle adjustment plate 10, medium-sized steering engine I 11, gear drive 12, thigh company
Connect frame 13, thigh parts 14, medium-sized steering engine II 56, medium-sized steering engine III 8, lower leg component 15, foot support 16, leg sensing
Device 53, thigh support sleeve 54, leg support bar 55, during angle adjustment plate 10 one end in leg is installed medium-sized steering engine I 11 and passed through
Type steering engine I 11 is connect with bracket chassis 1, and gear drive 12, the adjustment of leg angle are equipped among leg angle adjustment plate 10
10 other end of plate is equipped with thigh connection frame 13, and 14 upper end of thigh parts is equipped with medium-sized steering engine II 56 and passes through medium-sized steering engine II 56
It is connect with thigh connection frame 13,14 lower end of thigh parts is equipped with medium-sized steering engine III 8 and passes through medium-sized steering engine III 8 and lower leg component
The connection of 15 upper ends, foot support 16 are installed on 15 lower end of lower leg component, and 54 one end of thigh support sleeve is fixed on lower leg component
15 middle positions, 55 one end of leg support bar are fixed on 14 middle position of thigh parts, thigh support sleeve 54 and thigh support
Bar 55 is cooperatively connected, and leg sensor 53 is installed on lower leg component 15, and four-footed telecontrol equipment controller 48 is distinguished by conducting wire
It is connect with medium-sized steering engine I 11, medium-sized steering engine II 56, medium-sized steering engine III 8, leg sensor 53.
Four-footed telecontrol equipment controller 48 controls the movement that four-footed telecontrol equipment realizes robot, the control of four-footed telecontrol equipment
Device 48 controls medium-sized steering engine II 56 and medium-sized steering engine III 8 drives thigh parts 14 and lower leg component 15 and foot support 16 real
Existing pendulum motion, for complicated slope condition, four-footed telecontrol equipment controller 48 can be by controlling medium-sized I 11 He of steering engine
Gear drive 12 drives leg angle adjustment plate 10 to adjust the angle between four-footed, makes support of the body under slope condition
It is more stable, when upward slope, reduce angle between two foots of front side, angle increases between two foot of rear side；When descending, make two foots of front side
Between angle subtract greatly, between two foot of rear side angle increase it is small.
It include main storage battery 40 and standby battery 41 it is possible to further which the battery is arranged, main storage battery 40 is total
Four are divided into two groups, and standby battery 41 is divided into two groups for totally four, and every group is respectively arranged in 3 liang of side positions of internal layer protective shell, store
Battery is that robot integrally provides power supply.If 40 electricity shortage of main storage battery or can not normal power supply when, standby battery 41
It enables and is that robot integrally provides power supply.
It is possible to further which the bracket chassis 1, rescue hatch door 2, internal layer protective shell 3, apical support plate 4, rescue is arranged
Gripper 6, outer protection shell 47 select Light Aluminum Alloy material, and the four-footed telecontrol equipment selects high-strength metal material.
It further include machine vision device it is possible to further be arranged, machine vision device is mounted on front side of rescue cabin, machine
Device sighting device is adopted by built-in camera 7, external camera 17, ball-type rotation protective shell 18, bevel gear transmission 19, image
Acquisition means and controller 22, camera horizon bracket 20, video camera vertical rack 21, rotary shaft 23, small-sized steering machine 52 are constituted, ball
Type, which rotates, is equipped with opening on front side of protective shell 18, external camera 17 passes through camera horizon bracket 20 and video camera vertical rack 21
It is fixed on inside ball-type rotation protective shell 18 across opening, is installed on 17 downside of ball-type rotation 18 inside external camera of protective shell
Bevel gear transmission 19 and small-sized steering machine 52 external camera 17 can be driven to realize 120 degree rotations of horizontal plane or so, install
External camera 17 can be driven to realize vertical plane in the rotary shaft 23 and small-sized steering machine 52 of ball-type rotation 18 both sides external of protective shell
Upper and lower 180 degree rotation, 7 rake angle of built-in camera are mounted on the apical support plate 4 of 1 front end of rescue cabin body device inner support chassis
On vertical bar, image collecting device and controller 22 by conducting wire respectively with built-in camera 7, external camera 17, small-sized steering machine
52 connections.
It further include sensing device it is possible to further be arranged, sensing device is mounted on machine vision device upper side position, packet
Include headlamp 42, distance-sensor 43, infrared thermal sensor 44, inductor signal acquisition and control system 45, sensing device shell
Body 46, headlamp 42, distance-sensor 43, infrared thermal sensor 44 are nested in 46 front of sensing device shell, inductor signal
Acquisition and control system 45 are mounted on inside sensing device shell 46, and inductor signal acquisition and control system 45 pass through conducting wire point
It is not connect with headlamp 42, distance-sensor 43, infrared thermal sensor 44, sensing device is fixed on by sensing device shell 46
Machine vision device upper side position.
It is possible to further which the four-footed telecontrol equipment controller 48, rescue gripper controller 49, rescue hatch door is arranged
Controller 50 is connect by conducting wire with image collecting device and controller 22.
The working principle of the invention is: starting robot controls four-footed sportswear by four-footed telecontrol equipment controller 48
Movement is set, rescue robot is driven to be moved to rescue personnel position and carries out fine position, after position determines, rescue cabin gate
Device 50 processed controls single blade spiral swing hydranlic pressure jar 57 and opens rescue hatch door 2, and rescue gripper controller 49 is by controlling hydraulic drawing
The movement of boom II 37 drives rescue gripper 6 to stretch out rescue cabin, and then rescues gripper controller 49 and control hydraulic tensioning bar
The I 28 movement driving rescue crawls of gripper 6 finally rescue gripper controller 49 and pass through control hydraulic tensioning to rescue personnel
The movement of bar II 37 drives rescue gripper 6 that will be taken back in rescue cabin body to rescue personnel, and rescue cabin door controller 50 controls single leaf
Piece spiral swing hydranlic pressure jar 57 closes rescue hatch door 2, rescues hatch door 2 at this time and is used as rest ledge, rescue gripper controller 49 controls
The movement driving rescue gripper 6 of hydraulic tensioning bar I 28 will be placed on rescue hatch door 2 to rescue personnel, and ventilation device 5 guarantees
Air circulation in cabin.
It, can be by treating the position of rescue personnel based on machine vision technique after additional machine sighting device and sensing device
Carry out automatic identification is set, robot first treats rescue personnel by external camera 17 in machine vision device and carries out picture number
It is transferred to acquisition device and controller 22 according to acquisition, and by image data, acquisition device and controller 22 carry out image data
Judge and determine the location information to rescue personnel, and the location information to rescue personnel is transferred to the control of four-footed telecontrol equipment
Device 48, four-footed telecontrol equipment controller 48 drive the movement of four-footed telecontrol equipment that rescue robot is driven to be moved to rescue personnel position
It sets, in moving process, machine vision device continues through external camera 17 and acquisition device and controller 22 carries out path
Identification and obstacle recognize, and rescue the crawl process of gripper 6, and real-time monitoring in rescue operations by the monitoring of built-in camera 7
To rescue personnel's state.
Above in conjunction with attached drawing, the embodiment of the present invention is explained in detail, but the present invention is not limited to above-mentioned
Embodiment within the knowledge of a person skilled in the art can also be before not departing from present inventive concept
Put that various changes can be made.
Claims (10)
1. a kind of rescue robot, it is characterised in that: including rescue cabin, rescue mechanical gripper device, four-footed telecontrol equipment, electric power storage
Pond；
The rescue cabin is rectangular box, and rescue mechanical gripper device is mounted on inside rescue cabin body, and rescue mechanical gripper device is stretched
Rescue cabin grabs inside to rescue personnel to rescue cabin body out, and four-footed telecontrol equipment is mounted on front and back two outside rescue cabin body
Side, for driving rescue robot to carry out walking movement, battery is mounted on inside rescue cabin body as rescue four-footed telecontrol equipment
Robot integrally provides power supply.
2. rescue robot according to claim 1, it is characterised in that: the rescue cabin includes bracket chassis (1), rescues
Help hatch door (2), internal layer protective shell (3), apical support plate (4), ventilation device (5), single blade spiral swing hydranlic pressure jar (57), outside
Protective shell (47), rescue cabin door controller (50), hydraulic oil container (51)；
The rescue hatch door (2) is mounted on bracket chassis (1) by single blade spiral swing hydranlic pressure jar (57), is rescued hatch door (2)
Inside is equipped with electromagnetic lock, apical support plate (4) You Lianggen vertical bar and a cross bar composition, and two vertical bar bottom ends are separately fixed at branch
The rear and front end on frame chassis (1), two vertical bar tops are connect with cross bar both ends respectively, and internal layer protective shell (3) is mounted on bracket bottom
It between disk (1) and apical support plate (4), is fixed on apical support plate (4) cross bar at the top of internal layer protective shell (3), internal layer protection
Air cushion layer is equipped on the inside of shell (3), for embedding mechanical gripper device, ventilation device (5) is mounted on the perpendicular of apical support plate (4) side
It is directly connected on bar and with battery, outer protection shell (47) is fixed on bracket chassis (1) and covers apical support plate (4) and internal layer
Protective shell (3), rescue cabin door controller (50), hydraulic oil container (51) are fixed on outside internal layer protective shell (3) side, rescue hatch door
Controller (50) is connect by conducting wire with single blade spiral swing hydranlic pressure jar (57) and electromagnetic lock, and hydraulic oil container (51) is single blade pendulum
Actuated hydraulic cylinder (57) fuel feeding.
3. rescue robot according to claim 1, it is characterised in that: the rescue mechanical gripper device includes that rescue is mechanical
Tine I, rescue gripper component II, hydraulic tensioning bar I (28), hydraulic tensioning bar II (37), rescue gripper controller
(49), telescopic rod (58)；Hydraulic tensioning bar I (28) and hydraulic tensioning bar II (37) are made of the body of rod and sleeve, and rescue is mechanical
Tine I, rescue gripper component II are mounted on hydraulic tensioning bar I (28) relatively, and hydraulic tensioning bar II (37) is mounted on liquid
Stretch rod I (28) upper side position is pressed, hydraulic tensioning bar I (28) and hydraulic tensioning bar II (37) movement driving gripper component I are rescued
It helps mechanical tine II and completes crawl, stretch rod II (37) is connect by telescopic rod (58) with apical support plate (4), telescopic rod
(58) movement driving gripper component I, rescue gripper component II stretch out and withdraw rescue cabin, rescue gripper controller
(49) it is connect respectively with hydraulic tensioning bar I (28), hydraulic tensioning bar II (37), telescopic rod (58) by conducting wire.
4. rescue robot according to claim 3, it is characterised in that: the rescue gripper component I, rescue gripper
II structure of component is identical, wherein rescue gripper component I includes the rescue gripper (6) for being more than four groups, finger joint control bracket company
Spindle (35), finger joint control tie rod (36)；
Rescuing gripper (6) includes first knuckle (24), second knuckle (25), third knuckle (26), the 4th finger joint (27), pressure
Inductor (39), finger joint connecting shaft I (30), finger joint connecting shaft II (9), finger joint connecting shaft III (29), gripper control shaft I
(31), gripper control shaft II (38), gripper control crank I (32), gripper control crank II (33), finger joint control bracket
(34)；
First knuckle (24) one end controls crank I (32) one end and gripper with gripper simultaneously by gripper control shaft (31)
The connection of crank II (33) one end is controlled, gripper controls crank I (32) other end and passes through gripper control shaft I (31) and hydraulic drawing
The bar of boom I (28) connects, and gripper controls crank II (33) other end and passes through gripper control shaft II (38) and hydraulic tensioning
The sleeve connection of bar I (28), first knuckle (24) other end are connected by finger joint connecting shaft I (30) and second knuckle (25) one end
It connects, second knuckle (25) other end is connect by finger joint connecting shaft II (9) with third knuckle (26) one end, and third knuckle (26) is another
One end is connect by finger joint connecting shaft III (29) with the 4th finger joint (27) one end, first knuckle (24), second knuckle (25) and the
The inner side of three finger joints (26) is mounted on pressure inductor (39), on the outside of first knuckle (24) and on the outside of second knuckle (25)
And connect by finger joint control bracket (34) on the outside of second knuckle (24) with third knuckle (25) outside, in mechanical tine I
Between on the outside of first knuckle (24), on the outside of second knuckle (25) between and third knuckle (26) on the outside of between pass through finger joint control
Frame connecting shaft (35) connection；
Finger joint on mechanical I first knuckle of tine (24) and mechanical II first knuckle of tine (24) controls bracket connecting shaft
(35) sleeve connection of tie rod (36) and hydraulic tensioning bar II (37) is controlled by finger joint respectively.
5. rescue robot according to claim 1, it is characterised in that: the four-footed telecontrol equipment include movement mechanism I,
Movement mechanism II, movement mechanism III, movement mechanism IV, four-footed telecontrol equipment controller (48)；
Movement mechanism I, movement mechanism II, movement mechanism III, IV structure of movement mechanism are identical, movement mechanism I, II phase of movement mechanism
To the forward position for being mounted on rescue cabin body device, movement mechanism III, movement mechanism IV are opposite to be mounted on rescue cabin body device
Rearward position, wherein movement mechanism I include leg angle adjustment plate (10), medium-sized steering engine I (11), gear drive (12),
Thigh connection frame (13), thigh parts (14), medium-sized steering engine II (56), medium-sized steering engine III (8), lower leg component (15), foot branch
Support member (16), leg sensor (53), thigh support sleeve (54), leg support bar (55), leg angle adjustment plate (10) one
End is installed medium-sized steering engine I (11) and is connect by medium-sized steering engine I (11) with bracket chassis (1), in leg angle adjustment plate (10)
Between be equipped with gear drive (12), leg angle adjustment plate (10) other end be equipped with thigh connection frame (13), thigh parts
(14) upper end is equipped with medium-sized steering engine II (56) and is connect by medium-sized steering engine II (56) with thigh connection frame (13), thigh parts
(14) lower end is equipped with medium-sized steering engine III (8) and is connect by medium-sized steering engine III (8) with lower leg component (15) upper end, foot support
(16) it is installed on lower leg component (15) lower end, thigh support sleeve (54) one end is fixed on lower leg component (15) middle position, leg
Portion's support rod (55) one end is fixed on thigh parts (14) middle position, and thigh support sleeve (54) is matched with leg support bar (55)
Connection is closed, leg sensor (53) is installed on lower leg component (15), and four-footed telecontrol equipment controller (48) is distinguished by conducting wire
It is connect with medium-sized steering engine I (11), medium-sized steering engine II (56), medium-sized steering engine III (8), leg sensor (53).
6. rescue robot according to claim 1, it is characterised in that: the battery includes main storage battery (40) and standby
With battery (41), main storage battery (40) is divided into two groups for totally four, and standby battery (41) is divided into two groups for totally four, every group of difference
It is installed on (3) two side position of internal layer protective shell, battery is that robot integrally provides power supply.
7. rescue robot according to claim 1, it is characterised in that: the bracket chassis (1) rescues hatch door (2), is interior
Layer protective shell (3), apical support plate (4), rescue gripper (6), outer protection shell (47) select Light Aluminum Alloy material, institute
It states four-footed telecontrol equipment and selects high-strength metal material.
8. rescue robot according to claim 1, it is characterised in that: further include machine vision device, machine vision dress
It sets and is mounted on front side of rescue cabin, machine vision device is by built-in camera (7), external camera (17), ball-type rotation protection
Shell (18), bevel gear transmission (19), image collecting device and controller (22), camera horizon bracket (20), video camera
Vertical rack (21), rotary shaft (23), small-sized steering machine (52) are constituted, and ball-type, which rotates, is equipped with opening on front side of protective shell (18), external
Video camera (17) passes through opening by camera horizon bracket (20) and video camera vertical rack (21) and is fixed on ball-type rotation guarantor
Protective case (18) is internal, the bevel gear transmission being installed on the downside of the internal external camera (17) of ball-type rotation protective shell (18)
(19) and small-sized steering machine (52) can drive external camera (17) to realize 120 degree of rotations of horizontal plane or so, be installed on ball-type rotation
The rotary shaft (23) and small-sized steering machine (52) of protective shell (18) both sides external can drive external camera (17) to realize on vertical plane
Lower 180 degree rotation, built-in camera (7) rake angle are mounted on the apical support of rescue cabin body device inner support chassis (1) front end
On plate (4) vertical bar, image collecting device and controller (22) by conducting wire respectively with built-in camera (7), external camera
(17), small-sized steering machine (52) connects.
9. rescue robot according to claim 1, it is characterised in that: further include sensing device, sensing device is mounted on
Machine vision device upper side position, including headlamp (42), distance-sensor (43), infrared thermal sensor (44), inductor letter
Number acquisition and control system (45), sensing device shell (46), headlamp (42), distance-sensor (43), infrared thermal sensor
(44) it is nested in sensing device shell (46) front, inductor signal acquisition and control system (45) are mounted on sensing device shell
(46) internal, inductor signal acquisition and control system (45) by conducting wire respectively with headlamp (42), distance-sensor (43),
Infrared thermal sensor (44) connection, sensing device are fixed on machine vision device upper side position by sensing device shell (46).
10. rescue robot according to claim 1, it is characterised in that: the four-footed telecontrol equipment controller (48) is rescued
Help gripper controller (49), rescue cabin door controller (50) is connected by conducting wire and image collecting device and controller (22)
It connects.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910476815.XA CN110202588B (en) | 2019-06-03 | 2019-06-03 | Rescue robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910476815.XA CN110202588B (en) | 2019-06-03 | 2019-06-03 | Rescue robot |
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| CN110202588B CN110202588B (en) | 2024-04-19 |
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| CN114083550A (en) * | 2021-11-26 | 2022-02-25 | 长沙理工大学 | Multi-foot rescue robot |
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