CN110978000B - Connecting rod type multi-arm rescue robot - Google Patents
Connecting rod type multi-arm rescue robot Download PDFInfo
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- CN110978000B CN110978000B CN201911167605.9A CN201911167605A CN110978000B CN 110978000 B CN110978000 B CN 110978000B CN 201911167605 A CN201911167605 A CN 201911167605A CN 110978000 B CN110978000 B CN 110978000B
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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Abstract
The invention relates to a connecting rod type multi-arm rescue robot which comprises a vehicle shell, a traveling device, a lifting device and working arms, wherein the traveling device comprises a bearing frame and a crawler belt moving unit, the lifting device can move in the vertical direction relative to the traveling device, the lifting device moves vertically and is driven by a first electric push rod, three groups of working arms are arranged at the lower side of the lifting device, each working arm comprises a fixed arm, a push rod seat, a second electric push rod, a movable arm, an electric roller, a carrier roller, a tensioning carrier roller and a conveyor belt, when a rescue task is carried out, the first electric push rod, the second electric push rod and the electric roller jointly act to lift a wounded person, and then the wounded person is conveyed to a safe position by the traveling device and safely lowered to complete the rescue task. The invention can rapidly and safely move the wounded, can not directly expose the wounded outside the environment when transporting the wounded, can avoid the possible secondary injury when the wounded is lifted, and simultaneously provides protection for the wounded in the transportation process.
Description
Technical Field
The invention relates to the field of rescue robots, in particular to a connecting rod type multi-arm rescue robot.
Background
In real life, natural disasters such as fire disasters, earthquakes, landslides and the like can easily harm the life and property safety of human beings. When a disaster occurs, the wounded needs to be rescued at the first time. However, due to the complexity of the disaster site, the wounded and rescuers may be subjected to collapse, aftershocks, crushed stones, or secondary injuries from various combustibles during manual rescue. Therefore, a rescue robot which can transport and protect the wounded at the disaster site is needed to bring the wounded to a safe area for rescue.
The existing rescue robots mostly adopt lifting or dragging and other modes to move the wounded to the machine and transport the wounded. Because the rigid drive is adopted, secondary injury can be caused to the wounded in the lifting and dragging processes. Moreover, most rescue robots directly expose the wounded outside the environment when transporting the wounded, which may cause the wounded to suffer secondary injuries such as high temperature and falling rocks.
Disclosure of Invention
In view of the above problems, the present invention provides a link type multi-arm rescue robot. The invention can avoid the possible secondary injury when the wounded is lifted, and simultaneously provides protection for the wounded in the transportation process.
In order to achieve the above object, in particular, the present invention provides a link-type multi-arm rescue robot, which includes a controller, a body, a shell, a traveling device, a lifting device and a plurality of working arms, wherein the controller is respectively connected to the traveling device, the lifting device and the working arms in a communication manner, the shell covers the body, the traveling device, the lifting device and the working arms are respectively connected to the body, the working arms are symmetrically arranged below the lifting device,
the walking device comprises a bearing bracket, two supporting wheel frames, two groups of driving components and two tracks, wherein the two supporting wheel frames are respectively a first supporting wheel frame and a second supporting wheel frame which are fixedly connected with the machine body respectively, the first supporting wheel frame and the second supporting wheel frame are respectively arranged at two sides of the bearing bracket, the first supporting wheel frame and the second supporting wheel frame are vertically arranged with the bearing bracket, the first supporting wheel frame and the second supporting wheel frame are respectively provided with a set of driving components,
the driving assembly comprises a driving motor, a driving wheel, a plurality of supporting wheels, a tensioning wheel and a chain supporting wheel, the driving motor is installed on the rear side of a supporting wheel frame, the driving wheel is fixedly connected with a motor rotating shaft of the driving motor, the supporting wheels are installed on the lower side of the supporting wheel frame, the chain supporting wheel is installed on the upper side of the supporting wheel frame, the tensioning wheel is installed on the front side of the bearing frame, and the outer sides of the driving wheel, the supporting wheels, the tensioning wheel and the chain supporting wheel are wrapped with a track;
the lifting device comprises a movable frame, a first electric push rod, a plurality of sliders and a plurality of guide rails, two slider supporting plates and two first electric push rod connecting rod seats are respectively arranged on two sides of the lifting device, the slider supporting plates are fixedly connected with the sliders, the guide rails are fixedly connected with a bearing support, the guide rails are matched with the sliders, the guide rails are symmetrically arranged on two sides of the bearing support, the first electric push rod is fixedly connected with the bearing support, and a push rod sleeve of the first electric push rod is fixedly connected with the first electric push rod connecting rod seats;
the working arm comprises a fixed arm, a second electric push rod connecting rod seat, a second electric push rod, a movable arm, an electric roller, a plurality of carrier rollers, tensioning carrier rollers and a conveying belt, the fixed arm, the second electric push rod connecting rod seat and the second electric push rod are respectively provided with two groups, the two groups of fixed arm, the second electric push rod connecting rod seat and the second electric push rod are symmetrically arranged at two sides of the movable arm, the upper ends of the fixed arm and the second electric push rod connecting rod seat are fixed below the movable frame, and an electric push rod sleeve of the second electric push rod is rotatably connected with the push rod seat through a pin shaft;
the tensioning bolt and the tensioning nut are arranged on the outer sides of the first side plate and the second side plate, two sides of the electric roller are fixedly mounted on the first side plate and the second side plate respectively and are in sliding connection with the first side plate and the second side plate, and the tensioning bolt and the tensioning nut are configured to adjust the transverse displacement of the electric roller;
the digging arm includes supporting beam, first curb plate and second curb plate symmetry set up supporting beam's both sides, the tip of a lateral part of digging arm and first curb plate is respectively through the second electricity push rod connecting rod seat of round pin hub connection this side, the second electricity push rod connecting rod seat of this side of round pin hub connection is respectively passed through to another lateral part of digging arm and the tip of second curb plate, first curb plate and second curb plate all rotate the fixed arm of connecting the homonymy through the round pin axle, install a plurality of bearing rollers on the digging arm, a plurality of bearing rollers rotate with first curb plate and second curb plate respectively and are connected electric cylinder and a plurality of bearing roller outside parcel the conveyer belt, the conveyer belt outside is close to the electric cylinder position and installs the tensioning bearing roller, the tensioning bearing roller rotates with the digging arm to be connected.
Preferably, the plurality of carrier rollers are respectively connected with the first side plate and the second side plate in a rotating mode through pin shafts.
Preferably, shafts on two sides of the tensioning idler are respectively fixed on the first side plate and the second side plate by means of tensioning idler covers.
Preferably, the first side plate and the second side plate are both perpendicular to the supporting beam.
Preferably, a plurality of bolt holes are formed in the slider supporting plate, the slider supporting plate is fixedly connected with the slider through bolts, and the guide rail is fixedly connected with the bearing support through bolts.
Preferably, a plurality of groups of hole arrays for installing the working arm are distributed above the lifting device.
Preferably, the fixed arm and the second electric push rod connecting rod seat are fixedly connected with the movable frame through bolts.
Preferably, a plurality of first hollow beams are arranged above the bearing support, a plurality of second hollow beams are arranged above the movable frame, and the first hollow beams and the second hollow beams jointly form a frame structure of the machine body.
Preferably, the outer side of the conveyor belt is provided with an anti-slip layer.
Preferably, the invention also provides a rescue method of the link-type multi-arm rescue robot, which comprises the following steps:
s1, driving a motor to operate, and moving the rescue robot to enable the robot to move right above the wounded;
s2, the first electric push rod is electrified to operate, the movable frame drives the working arm to move downwards, and the conveyor belt in front of the working arm is in contact with the ground;
s3, the electric roller is electrified to operate to drive the conveyor belt to rotate inwards, and meanwhile, the first electric push rod and the second electric push rod synchronously operate to lift the wounded on the working arm;
s4, when the first electric push rod and the second electric push rod extend to the maximum degree, the movable arms of the two symmetrical working arms on the two sides are horizontally closed, and meanwhile, the electric roller stops running, so that the wounded is lifted and wholly encircled;
s5, driving a motor to operate, moving the rescue robot, and transporting the wounded to a safe position for treatment;
s6, the first electric push rod and the second electric push rod reset, the driving motor operates, the rescue robot is moved to a designated position, and the next rescue is waited.
Compared with the prior art, the invention has the following beneficial effects:
the walking device is reasonable in structure, the plurality of bearing wheels are arranged at the bottoms of the first supporting wheel frame and the second supporting wheel frame, the gravity of the walking device can be reasonably distributed, the service life of the walking device is prolonged, the walking device can rapidly and safely move a wounded person, the wounded person cannot be directly exposed outside the environment when the wounded person is conveyed, secondary injury possibly caused when the wounded person is lifted can be avoided, and meanwhile protection is provided for the wounded person in the conveying process.
Drawings
Fig. 1 is a schematic general structure diagram of a crawler-type multi-arm rescue robot;
FIG. 2 is a schematic structural diagram of the walking device of the present invention;
FIG. 3 is a schematic view of the lifting device of the present invention;
FIG. 4 is a schematic view of the track slider configuration of the present invention;
FIG. 5 is a schematic view of the working arm mounting structure of the present invention;
FIG. 6 is a schematic view of the working arm structure of the present invention;
FIG. 7 is an overall cross-sectional view of the working arm of the present invention;
fig. 8 is a schematic diagram of the operation of the present invention.
Wherein some of the reference numbers are as follows:
the device comprises a traveling device 1, a bearing bracket 11, a first supporting wheel frame 12, a second supporting wheel frame 13, a driving motor 101, a driving wheel 102, a chain supporting wheel 103, a tension wheel 104, a bearing wheel 105, a crawler 106, a lifting device 2, a movable frame 21, a slider supporting plate 22, a hole array 23, a first electric push rod connecting rod seat 24, a slider 201, a guide rail 202, a first electric push rod 203, a working arm 3, a fixed arm 301, a second electric push rod connecting rod seat 302, a second electric push rod 303, a movable arm 304, an electric roller 305, a carrier roller 306, a tension carrier roller 307 and a conveying belt 308.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The invention provides a connecting rod type multi-arm rescue robot, which comprises a walking device 1, a lifting device 2, a working arm 3, a machine body and a vehicle shell 4, and is shown in figures 1-8. The vehicle shell 4 is arranged outside the machine body, and the traveling devices 1 are arranged on two sides of the machine body. The working arms 3 are provided with a plurality of working arms 3, and the working arms 3 are symmetrically arranged below the lifting device 2 in a pairwise group. Two opposite working arms 3 on two sides move synchronously to complete the grabbing of the wounded.
The walking device 1 comprises a bearing support 11, a first supporting wheel frame 12, a second supporting wheel frame 13 and a driving assembly, wherein the first supporting wheel frame 12 and the second supporting wheel frame 13 are arranged on two sides of the bearing support 11, the first supporting wheel frame 12 and the second supporting wheel frame 13 are respectively provided with a set of driving assembly, the driving assembly comprises a driving motor 101, a driving wheel 102, a supporting chain wheel 103, a tension wheel 104 and a bearing wheel 105, and the outer sides of the driving wheel 102, the supporting chain wheel 103, the tension wheel 104 and the bearing wheel 105 are wrapped by a track 106.
The upper part of the bearing support 11 is provided with a plurality of first hollow beams 14, the strength of the bearing support 11 can be improved by the plurality of first hollow beams 14, the safety of the structure is guaranteed, the weight of the support is reduced, the mobility of the walking device 1 is improved, and the rescue efficiency is further improved.
The left side and the right side below the bearing support 11 are respectively provided with a pair of electric push rod connecting rod seats 15 symmetrically, the first supporting wheel carrier 12 and the second supporting wheel carrier 13 are respectively provided with a driving motor 101, a driving wheel 102, a chain supporting wheel 103, a tension wheel 104 and a plurality of bearing wheels 105, the bottom of the supporting wheel carrier is provided with the plurality of bearing wheels 105 by means of a mounting shaft 107, the gravity of the device can be reasonably distributed, and the service life of the walking device 1 is prolonged.
The lifting device 2 comprises a movable frame 21, a sliding block 201, a guide rail 202 and a first electric push rod 203, a plurality of second hollow cross beams 25 are arranged above the movable frame 21, the strength of the mechanism can be improved through the second hollow cross beams 25, the overall quality of the mechanism is reduced, and the working efficiency is improved.
The left and right sides of adjustable shelf 21 symmetry respectively is provided with a pair of slider backup pad 22 and first electric push rod connecting rod seat 24, it has a plurality of bolt holes to distribute on the slider backup pad 22, pass this bolt hole through the bolt and make slider 201 fixed connection in the slider backup pad 22 outside, a plurality of bolt holes of guide rail 202 top distribution, pass this bolt hole through the bolt and make guide rail 202 fixed connection in the inboard that bears frame 11, guide rail 202 and slider 201 cooperation form sliding connection, the push rod cover fixed connection of first electric push rod connecting rod seat 24 and first electric push rod 203, and the push rod of first electric push rod 203 and the electric push rod connecting rod seat 15 fixed connection that bears on the support 11.
The working arm 3 comprises a fixed arm 301, a second electric push rod connecting rod seat 302, a movable arm 304, an electric roller 305, a plurality of carrier rollers 306, a tensioning carrier roller 307 and a conveyor belt 308, the fixed arm 301, the second electric push rod 303 and the second electric push rod connecting rod seat 302 are respectively provided with two carrier rollers and are respectively arranged on two sides of the movable arm 304, the fixed arm 301 and the second electric push rod connecting rod seat 302 are respectively fixedly connected below the movable frame through bolts, and the second electric push rod connecting rod seat 302 is rotatably connected with a push rod sleeve of the second electric push rod 303 through a pin shaft.
The movable arm 304 includes a plurality of cross beams 3043, a first side plate 3041 and a second side plate 3042, the first side plate 3041 and the second side plate 3042 are respectively disposed on two sides of the cross beam 3043, the first side plate 3041 and the second side plate 3042 of the movable arm 304 are symmetrically disposed, the plurality of cross beams 3043 are disposed between the first side plate 3041 and the second side plate 3042, and the cross beams 3043 can improve the strength of the movable arm 304 and prolong the service life.
The first side plate 3041 and the second side plate 3042 are provided with shaft holes at corresponding positions, the first side plate 3041 and the second side plate 3042 are respectively connected with the fixing arm 301 through a pin, the rear ends of the first side plate 3041 and the second side plate 3042 are respectively connected with a push rod of the second electric push rod 303 through a pin, the outer sides of the first side plate 3041 and the second side plate 3042 are provided with a tensioning nut 3044, two sides of the electric roller 305 are fixedly installed at the middle position of the first side plate 3041 and the second side plate 3042, and are connected with the first side plate 3041 and the second side plate 3042 in a sliding manner, and the transverse position of the electric roller 305 is determined by the arrangement of the tensioning bolt 310 and the tensioning nut 3044, and the tensioning bolt 310 can be matched with and adjust the transverse position of the electric roller 305, so as to facilitate.
A plurality of carrier rollers 306 are arranged above the movable arm 304, shafts on two sides of the carrier rollers 306 are arranged on a first side plate 3041 and a second side plate 3042, carrier roller covers are arranged on the shafts of the carrier rollers 306, the shafts on two sides of the carrier rollers 306 are fixed by the carrier roller covers 309 and are in rotating connection with the two side plates, a conveyor belt 308 is wrapped outside the electric roller 305 and the carrier rollers 306, when the working arm lifts a wounded person, the movable arm rotates inwards, the conveyor belt starts to rotate inwards to convey the wounded person to the movable arm, secondary injury to the wounded person during lifting is avoided, a tensioning carrier roller 307 is arranged outside the conveyor belt 308 and close to the electric roller, two shafts on two sides of the tensioning carrier roller 307 are fixed at the middle position of the first side plate 3041 and the second side plate 3042 by the tensioning carrier roller covers 309, the tensioning carrier roller 307 is in rotating connection with the movable arm 304, the wrap angle of the conveyor belt 308 on the electric, improve the tension of area, in order to avoid appearing sliding in the data send process, improve operating mass, car shell 4 and bearing support fixed connection cover and bear the frame top.
The specific implementation process of the invention is as follows:
in the invention, the first electric push rod and the second electric push rod are both in a non-pushed state in an initial state, when the robot carries out rescue work, the driving motor 101 is started, the walking device 1 is adjusted through the driving motor 101, the robot is driven to move to a position right above a person to be rescued, after the robot runs to a proper position, the controller controls the first electric push rod 203 to be electrified to drive the lifting device 2 and the working arm 3 to vertically move downwards, after the foremost end of the movable arm 304 touches a lying plane of the person to be rescued, the controller controls the first electric push rod 203, the second electric push rod 303 and the electric roller 305 to simultaneously run, the first electric push rod 203 drives the lifting device 2 to continuously move downwards, meanwhile, the second electric push rod 303 pushes forwards to drive the movable arm 304 to fold inwards, so that the movable arms 304 at two sides touch the person to be rescued from the lower part of the person to be rescued, meanwhile, the electric roller 305 runs to drive the conveyor belt 308 to run, after the conveyor belt 308 touches the person to be rescued, the person is driven to move towards the rear of the movable arm, and the person to be rescued is lifted.
The first electric push rod needs to be controlled in the lifting process, the second electric push rod and the electric roller run at the same time in a certain proportional relation, when the first electric push rod 203 drives the lifting device to descend, the front end of the working arm 3 is in contact with the side face of the wounded body, meanwhile, the electric roller 305 drives the transmission belt 308 to move, when the working arm 3 descends to a certain position, the second electric push rod 303 moves, the connecting rod mechanism of the working arm 3 is turned inwards, a grabbing action is completed, when the working arm 3 is turned, the lifting device is ensured to descend at a certain speed, and the safety and the continuity that the working arm 3 enters the lower part of the wounded body are ensured. The specific speeds of the first electric push rod, the second electric push rod and the electric roller are specifically determined by the sizes of the first electric push rod, the second electric push rod and the electric roller.
Then, the lower part of the movable arm 304 is kept to be continuously contacted with the ground, when the two symmetrical movable arms 304 are closed inwards, the dragging of the conveyor belt to the wounded to be rescued is completed, when the two symmetrical movable arms reach the level simultaneously, the controller closes the operation of the second electric push rod and the electric roller, the lifting of the wounded to be rescued is completed, and after the lifting is completed, the controller controls the first electric push rod 203 to push back, so that the lifting device 2, the working arm 3 and the wounded to be rescued 5 are driven to move upwards.
After the rescue work is finished, the controller controls the driving motor 101 to drive the walking device 1, the robot and the wounded are moved to a safe position, medical treatment and treatment are carried out on the wounded to be rescued, the wounded to be rescued are always positioned below the mechanism in the whole process of lifting and conveying the wounded to be rescued, and after lifting is finished, the wounded to be rescued are far away from the ground, so that the situation that the wounded to be rescued are not lifted and follow-up various splashes can be guaranteed in the whole conveying process, secondary damage of high temperature of the ground can be avoided, and the whole rescue action can be completed safely and efficiently.
After a person to be rescued is brought to a safe position, the controller controls the first electric push rod 203, the second electric push rod 303 and the electric roller 305 to operate, the first electric push rod 203 is pushed outwards to drive the lifting device 2 and the working arm 3 to vertically move downwards, after the lifting device 2 and the working arm 3 move downwards to a proper height, the second electric push rod 303 is pushed inwards to control the movable arm 304 to turn outwards, meanwhile, the electric roller 305 operates reversely to drive the conveyor belt 308 to operate outwards to drive the person to be rescued to be placed at a specified position, after the placement is finished, the first electric push rod 203 is pushed inwards to drive the lifting device 2 and the working arm 3 to reset, and finally, the robot is removed to wait for the next rescue action.
The above examples are only for describing the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (10)
1. The utility model provides a connecting rod formula multi-arm rescue robot which characterized in that: the automatic lifting device comprises a controller, a machine body, a vehicle shell, a traveling device, a lifting device and a plurality of working arms, wherein the controller is respectively in communication connection with the traveling device, the lifting device and the working arms, the vehicle shell is coated outside the machine body, the traveling device, the lifting device and the working arms are respectively connected with the machine body, the working arms are symmetrically arranged below the lifting device,
the walking device comprises a bearing bracket, two supporting wheel frames, two groups of driving components and two tracks, wherein the two supporting wheel frames are respectively a first supporting wheel frame and a second supporting wheel frame which are fixedly connected with the machine body respectively, the first supporting wheel frame and the second supporting wheel frame are respectively arranged at two sides of the bearing bracket, the first supporting wheel frame and the second supporting wheel frame are vertically arranged with the bearing bracket, the first supporting wheel frame and the second supporting wheel frame are respectively provided with a set of driving components,
the driving assembly comprises a driving motor, a driving wheel, a plurality of supporting wheels, a tensioning wheel and a chain supporting wheel, the driving motor is installed on the rear side of a supporting wheel frame, the driving wheel is fixedly connected with a motor rotating shaft of the driving motor, the supporting wheels are installed on the lower side of the supporting wheel frame, the chain supporting wheel is installed on the upper side of the supporting wheel frame, the tensioning wheel is installed on the front side of the bearing frame, and the outer sides of the driving wheel, the supporting wheels, the tensioning wheel and the chain supporting wheel are wrapped with a track;
the lifting device comprises a movable frame, a first electric push rod, a plurality of sliders and a plurality of guide rails, two slider supporting plates and two first electric push rod connecting rod seats are respectively arranged on two sides of the lifting device, the slider supporting plates are fixedly connected with the sliders, the guide rails are fixedly connected with a bearing support, the guide rails are matched with the sliders, the guide rails are symmetrically arranged on two sides of the bearing support, the first electric push rod is fixedly connected with the bearing support, and a push rod sleeve of the first electric push rod is fixedly connected with the first electric push rod connecting rod seats;
the working arm comprises a fixed arm, a second electric push rod connecting rod seat, a second electric push rod, a movable arm, an electric roller, a plurality of carrier rollers, tensioning carrier rollers and a conveying belt, the fixed arm, the second electric push rod connecting rod seat and the second electric push rod are respectively provided with two groups, the two groups of fixed arm, the second electric push rod connecting rod seat and the second electric push rod are symmetrically arranged at two sides of the movable arm, the upper ends of the fixed arm and the second electric push rod connecting rod seat are fixed below the movable frame, and an electric push rod sleeve of the second electric push rod is rotatably connected with the push rod seat through a pin shaft;
the tensioning bolt and the tensioning nut are arranged on the outer sides of the first side plate and the second side plate, two sides of the electric roller are fixedly mounted on the first side plate and the second side plate respectively and are in sliding connection with the first side plate and the second side plate, and the tensioning bolt and the tensioning nut are configured to adjust the transverse displacement of the electric roller;
the digging arm includes supporting beam, first curb plate and second curb plate symmetry set up supporting beam's both sides, the push rod of the second electric putter of this side of round pin hub connection is respectively passed through to the tip of a lateral part of digging arm and first curb plate, the push rod of the second electric putter of this side of round pin hub connection is respectively passed through to the tip of another lateral part of digging arm and second curb plate, first curb plate and second curb plate all rotate the fixed arm of connecting the homonymy through the round pin axle, install a plurality of bearing rollers on the digging arm, a plurality of bearing rollers rotate with first curb plate and second curb plate respectively and are connected, electric drum and a plurality of bearing roller outside parcel conveyer belt, the conveyer belt outside is close to the electric drum position and installs the tensioning bearing roller, the tensioning bearing roller rotates with the digging arm to be connected.
2. The linked multi-arm rescue robot of claim 1, wherein: the multiple carrier rollers are rotatably connected with the first side plate and the second side plate through pin shafts.
3. The linked multi-arm rescue robot of claim 2, wherein: shafts on two sides of the tensioning carrier roller are respectively fixed on the first side plate and the second side plate through tensioning carrier roller covers.
4. The linked multi-arm rescue robot of claim 1, wherein: the first side plate and the second side plate are both perpendicular to the supporting beam.
5. The linked multi-arm rescue robot of claim 1, wherein: a plurality of bolt holes are formed in the slider supporting plate, the slider supporting plate is fixedly connected with the slider through bolts, and the guide rail is fixedly connected with the bearing support through bolts.
6. The linked multi-arm rescue robot of claim 1, wherein: and a plurality of groups of hole arrays for mounting the working arm are distributed above the lifting device.
7. The linked multi-arm rescue robot of claim 1, wherein: and the fixed arm and the second electric push rod connecting rod seat are fixedly connected with the movable frame through bolts.
8. The linked multi-arm rescue robot of claim 1, wherein: a plurality of first hollow beams are arranged above the bearing support, a plurality of second hollow beams are arranged above the movable frame, and the first hollow beams and the second hollow beams jointly form a frame structure of the machine body.
9. The linked multi-arm rescue robot of claim 1, wherein: and an anti-slip layer is arranged on the outer side of the conveying belt.
10. A rescue method using the link-type multi-arm rescue robot of claim 1, characterized in that: the method comprises the following steps:
s1, driving a motor to operate, and moving the rescue robot to enable the robot to move right above the wounded;
s2, the first electric push rod is electrified to operate, the movable frame drives the working arm to move downwards, and the conveyor belt in front of the working arm is in contact with the ground;
s3, the electric roller is electrified to operate to drive the conveyor belt to rotate inwards, and meanwhile, the first electric push rod and the second electric push rod synchronously operate to lift the wounded on the working arm;
s4, when the first electric push rod and the second electric push rod extend to the maximum degree, the movable arms of the two opposite working arms are horizontally closed, and meanwhile, the electric roller stops running, so that the wounded are lifted and wholly encircled;
s5, driving a motor to operate, moving the rescue robot, and transporting the wounded to a safe position for treatment;
s6, the first electric push rod and the second electric push rod reset, the driving motor operates, the rescue robot is moved to a designated position, and the next rescue is waited.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911167605.9A CN110978000B (en) | 2019-11-25 | 2019-11-25 | Connecting rod type multi-arm rescue robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911167605.9A CN110978000B (en) | 2019-11-25 | 2019-11-25 | Connecting rod type multi-arm rescue robot |
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| CN110978000A CN110978000A (en) | 2020-04-10 |
| CN110978000B true CN110978000B (en) | 2020-12-29 |
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| CN111844073B (en) * | 2020-07-22 | 2022-01-18 | 燕山大学 | Rigid-flexible hybrid multi-arm rescue robot |
| CN113694424B (en) * | 2020-10-16 | 2022-08-16 | 国网浙江省电力有限公司金华供电公司 | Telescopic wriggling rescue robot in narrow and small space |
| CN113750396B (en) * | 2021-08-16 | 2022-05-06 | 中关村军民科技协同创新孵化中心(北京)有限公司 | Barrier-breaking rescue robot for biochemical environment |
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| CN107322595A (en) * | 2017-06-27 | 2017-11-07 | 广东石油化工学院 | A kind of double-crawler type emergency rescue robot and control method |
| CN108818546A (en) * | 2018-06-13 | 2018-11-16 | 上海电机学院 | Emergency management and rescue robot |
| CN108858243B (en) * | 2018-08-14 | 2021-06-08 | 王慧 | Automatic stretcher robot |
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2019
- 2019-11-25 CN CN201911167605.9A patent/CN110978000B/en active Active
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