CN111319693A - Complex terrain rescue and survey robot - Google Patents
Complex terrain rescue and survey robot Download PDFInfo
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- CN111319693A CN111319693A CN202010204901.8A CN202010204901A CN111319693A CN 111319693 A CN111319693 A CN 111319693A CN 202010204901 A CN202010204901 A CN 202010204901A CN 111319693 A CN111319693 A CN 111319693A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/24—Endless track steering specially adapted for vehicles having both steerable wheels and endless track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/22—Arrangements for reducing or eliminating reaction, e.g. vibration, from parts, e.g. wheels, of the steering system
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Abstract
The invention discloses a rescue and survey robot for complex terrain, belonging to the technical field of rescue robots; the robot steering device comprises a steering mechanism and a driving mechanism, wherein the steering mechanism is arranged at the front end of the driving mechanism and is used for controlling the steering of the robot; the steering mechanism comprises a main body support, a steering engine rod, a left steering assembly and a right steering assembly, wherein the left steering assembly and the right steering assembly are symmetrically arranged on two sides of the main body support; the driving mechanism comprises a machine body, a control panel, a power supply module, a transmission structure, a left damping mechanism and a right damping mechanism; the control panel and the power module are fixed on the machine body and used for controlling the robot, the transmission structure is arranged right below the machine body, and the left damping mechanism and the right damping mechanism are symmetrically arranged on two sides of the machine body; by adopting the wheel and track combined mechanism, the steering wheel and the load balancing damping mechanism are added on the basis that the track is taken as a power mechanism, so that the turning and climbing performance and the environment adaptability of the robot are enhanced.
Description
Technical Field
The invention belongs to the technical field of rescue robots, and particularly relates to a rescue and survey robot for complex terrain.
Background
In recent years, with the frequent occurrence of natural disasters and human accidents which suddenly occur in the world, the life and property safety of people is seriously threatened, and timely and effective post-disaster rescue gradually draws wide attention of society. The scene situation is obtained at the first time after a disaster, the position of a survivor is found out, and the method has important significance for implementing rescue work and reducing casualties, however, for rescue scenes with complex post-disaster terrain such as earthquakes, mine disasters and the like, China mainly relies on manpower, search dogs and the like to enter the scene for life detection and data acquisition at present, but the search speed is slow, the space range is small, the method can not meet the requirement of large-scale rapid search and rescue of trapped persons in the ruins after the disaster, and the method is easily influenced by severe environment, so that additional rescue casualties are caused in the rescue work. Therefore, the development of the rescue and survey robot for replacing or partially replacing rescue workers has extremely important significance in timely and quickly carrying out environment detection and search and rescue work in a disaster area with complex terrains.
The traditional wheeled mobile robot has the advantages of simple structural design, strong flexibility and highest moving efficiency, but has the problem that the traditional wheeled mobile robot is not suitable for running on complex terrains, such as mud, gravel and the like. Traditional wheeled mobile robot takes place the drive wheel easily and skids on this kind of complicated topography, unsettled scheduling problem to because drive wheel and ground frictional force are little, lead to climbing performance relatively poor, drop or receive great impact and easily cause the transmission shaft fracture damage from the eminence, consequently simple traditional wheeled mobile robot is difficult to realize complicated topography and surveys.
The crawler-type mobile robot is relatively complex, adapts to complex terrain, and has moderate moving efficiency but low flexibility. Most of mobile robots for realizing complex terrains at present are crawler-type mobile platforms, and the mobile robots can move on slopes, ruins and muddy roads based on the crawler-type mobile platforms, but steering of the mobile robots is realized by differential speed of power wheels of left and right crawler belts of the robots, large-area hard friction exists between the crawler belts and the ground, and particularly on flat ground, the steering mode has large friction with the ground, and the steering efficiency is low, so that the mobile robots are not beneficial to flexible movement.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides a complex terrain rescue and survey robot, which overcomes the problems of poor terrain adaptability, poor maneuverability and poor buffering capacity of the traditional search and rescue robot in complex terrain environments such as coal mines, earthquake ruins and the like. The robot is carrying out the wheel that adopts of searching for and rescuing the in-process, the compound mechanism moving system of track, the biggest advantage of this system lies in having increased the directive wheel on traditional track as power unit's basis, the turn of robot has been strengthened, climbing performance has improved the environment adaptability, on the other hand innovative design's the equal damping mechanism that carries, the impact average who bears the track distributes on four bumper shock absorbers, very big reduction the impact load that single bumper shock absorber bore, the shock attenuation effect of bumper shock absorber has been improved, not only can cushion the jolt vibrations that the rugged road surface led to the fact for the robot, the job stabilization nature of each sensor has been improved, and greatly reduced the risk that the robot falls from the eminence and causes the fuselage to damage by accident.
The technical scheme of the invention is as follows: the utility model provides a rescue robot of surveying of complicated topography which characterized in that: the robot steering device comprises a steering mechanism and a driving mechanism, wherein the steering mechanism is arranged at the front end of the driving mechanism and is used for controlling the steering of the robot;
the steering mechanism comprises a main body support, a steering engine rod, a left steering assembly and a right steering assembly, and the left steering assembly and the right steering assembly are symmetrically arranged on two sides of the main body support; the main body bracket is of a frame structure, and the rear end of the main body bracket is fixedly connected with the driving mechanism through a connecting rod; the steering engine is fixed at the rear end of the main body bracket through a steering engine base; the left steering assembly comprises a steering wheel, a steering wheel bracket, a buffer plate, a crankshaft and a first spring shock absorber; the buffer plates are of flat plate structures, the two buffer plates are arranged on one side of the main body support in parallel, one end of each buffer plate is hinged with the middle part and the lower part of the main body support respectively, and the other end of each buffer plate is provided with a ball head; the steering wheel is installed at one end of the steering wheel support, the other end of the steering wheel support is of a transverse U-shaped structure, and first spherical bases are arranged on two support arms of the U-shaped structure and are used for being installed in a matched mode with ball heads of two buffer plates on the same side of the main body support; one end of the first spring shock absorber is connected with the top end of the main body bracket, and the other end of the first spring shock absorber is hinged with the middle part of the buffer plate positioned above the first spring shock absorber; an output shaft of the steering engine is fixedly connected with the steering engine rod which is horizontally arranged, and one end of the steering engine rod is connected with the steering wheel bracket through a crankshaft and is used for driving the steering wheel to rotate; the structure of the right steering assembly is the same as that of the left steering assembly and is symmetrically arranged;
the driving mechanism comprises a machine body, a control panel, a power supply module, a transmission structure, a left damping mechanism and a right damping mechanism; the robot comprises a robot body, a transmission structure, a left damping mechanism, a right damping mechanism and a power module, wherein the robot body is of a flat plate structure which is horizontally arranged, the control panel and the power module are fixed on the robot body and used for controlling the robot, the transmission structure is arranged right below the robot body, and the left damping mechanism and the right damping mechanism are symmetrically arranged on two sides of the robot body; the front end of the machine body is respectively fixedly connected with the main body bracket and the connecting rod;
the transmission structure comprises a motor, a motor bracket, a first transmission gear, a second transmission gear, a reduction gearbox, a transmission shaft bracket and a driving wheel; the motor is fixed at the front end below the machine body through a motor support, and the output shaft of the motor is provided with the first transmission gear; the reduction gearbox is fixed at the rear end below the machine body, the input shaft of the reduction gearbox is provided with the second transmission gear, the transmission shaft is used as an output shaft of the reduction gearbox and is fixed below the machine body through the transmission shaft bracket, and the two driving wheels are respectively fixed at two ends of the transmission shaft; the second transmission gear and the first transmission gear are helical gears, are meshed with each other, and drive the driving wheel to rotate through the motor;
the left damping mechanism comprises a crawler belt, an inner baffle, an outer baffle, a first driven wheel bracket, a supporting wheel, a driven wheel, a second driven wheel bracket, a second spring damper, a damper bracket, a first gasket and a second gasket; the inner baffle and the outer baffle are hollow quadrilateral flat plates with the same structure, are parallel and oppositely arranged, and are fixed at two corners between the upper ends of the inner baffle and the outer baffle through the first gasket and screws respectively; one ends of the two second brackets are respectively fixed at two corners between the lower ends of the inner baffle and the outer baffle through the second gaskets and the screws; one ends of the two second spring shock absorbers are fixed on the shock absorber support, and the other ends of the two second spring shock absorbers are fixed on the second support and positioned between the inner baffle and the outer baffle; the two supporting wheels are vertically arranged on the outer sides of the two second brackets through bolts and bearings respectively; the driven wheel is axially parallel to the driving wheel and is oppositely arranged above the two supporting wheels, and the driven wheel is arranged on the outer side of the outer baffle through the second driven wheel bracket; one end of the first driven wheel support is connected with the driven wheel and positioned outside the second driven wheel support, and the other end of the first driven wheel support is provided with the driving wheel; the crawler belt is arranged at the peripheries of the driving wheel, the driven wheel and the two supporting wheels, and drives the driven wheel and the supporting wheels to rotate under the rotation of the driving wheel so as to provide power for the robot; the right damping mechanism and the left damping mechanism are identical in structure and are symmetrically arranged, and the inner baffles of the left damping mechanism and the right damping mechanism are fixed on two sides of the machine body.
The further technical scheme of the invention is as follows: the main body support comprises a front panel, a rear panel and a first support, wherein the front panel and the rear panel are both hollow rectangular flat plate structures and are relatively fixed in parallel through a support rod; the first support is of a hollow frame body structure, is fixed on the outer side face of the rear panel and is connected with the body of the driving mechanism, and the lower end of the first support is fixed with the steering engine base.
The further technical scheme of the invention is as follows: the first spring shock absorber comprises a shock absorption spring, a telescopic rod and a sleeve, one end of the telescopic rod is hinged with the middle of the buffer plate, the other end of the telescopic rod is coaxially inserted into the sleeve, and the shock absorption spring is coaxially sleeved on the peripheries of the telescopic rod and the sleeve; when the buffer plate is impacted by external force, the telescopic rod moves in the sleeve along the axial direction and extrudes the damping spring at the same time, and the impact kinetic energy is converted into the elastic potential energy of the damping spring; the second spring damper has the same structure as the first spring damper.
The further technical scheme of the invention is as follows: the steering mechanism further comprises a camera, the camera is located above the first spring shock absorber, a threaded through hole is formed in one end of the camera, the camera is fixed between the front panel and the rear panel through bolts, and image information for collection is transmitted to the control panel in real time.
The further technical scheme of the invention is as follows: the crankshaft is of a Z-shaped rod-shaped structure, one end of the crankshaft is fixedly connected with the steering engine rod, the other end of the crankshaft is provided with a ball head structure, and the ball head structure is in clearance fit with a second spherical base arranged on the steering wheel support to realize rotating connection.
The further technical scheme of the invention is as follows: the motor is a cylindrical motor, and the motor support comprises a first motor support and a second motor support; the motor respectively passes through the mounting holes at the lower ends of the first motor support and the second motor support to realize fixation.
The further technical scheme of the invention is as follows: the inner baffle and the outer baffle are both of a nearly square structure.
Advantageous effects
The invention has the beneficial effects that: the invention provides a rescue and survey robot for complex terrains, which is a novel configuration rescue and survey robot suitable for complex terrains and high in mobility. Through adopting the mode of wheel, the compound mechanism of track, the directive wheel and the equal shock-absorbing mechanism of carrying have been increased on the track as power unit's basis, the turn of robot has been strengthened, climbing performance and adaptive capacity to environment, overcome among the prior art wheeled mobile robot take place the drive wheel easily and skid, unsettled, the transmission shaft fracture and pure track formula mobile robot steering inefficiency, the friction loss is big, the poor problem of nimble mobility, rescue robot's power consumption and time of endurance have been improved greatly, equal shock-absorbing mechanism of carrying has not only effectively alleviated jolting vibrations that rough road surface caused for the robot, each sensor's job stabilization nature has been improved, and greatly reduced the risk that the robot caused the fuselage damage from the eminence to fall by accident.
Drawings
Fig. 1 is an overall schematic diagram of a rescue and survey robot for complex terrain according to the present invention;
FIG. 2 is a schematic view of a steering mechanism of a rescue and survey robot for complex terrain according to the present invention;
fig. 3 is a schematic diagram of a driving mechanism of a rescue and survey robot for complex terrain according to the invention;
FIG. 4 is a schematic diagram of a transmission mechanism of a rescue and survey robot for complex terrain according to the present invention;
FIG. 5 is a front view of a shock absorbing mechanism of a rescue and survey robot for complex terrain according to the present invention;
FIG. 6 is a rear view of a shock absorbing mechanism of a rescue and survey robot for complex terrain according to the present invention;
description of reference numerals: 1. the front panel 2, the rear panel 3, the steering wheel 4, the steering wheel support 5, the buffer plate 6, the crankshaft 7, the steering engine rod 8, the damping spring 9, the telescopic rod 10, the sleeve 11, the camera 12, the first support 13, the steering engine base 14, the steering engine 15, the connecting rod 16, the machine body 17, the control plate 18, the power module 19, the crawler belt 20, the motor 21, the first motor support 22, the inner baffle 23, the outer baffle 24, the first driven wheel support 25, the supporting wheel 26, the second motor support 27, the first transmission gear 28, the second transmission gear 29, the reduction gearbox 30, the transmission shaft support 32, the driving wheel 33, the second driven wheel support 35, the second support 36, the damper support 37, the first gasket 38 and the second gasket.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
The embodiment is a rescue and survey robot for complex terrain.
Referring to fig. 1 to 6, the present embodiment is composed of a front panel 1, a rear panel 2, a steering wheel 3, a steering wheel support 4, a buffer plate 5, a crankshaft 6, a steering gear rod 7, a damping spring 8, an expansion link 9, a sleeve 10, a camera 11, a first support 12, a steering gear base 13, a steering gear 14, a connecting rod 15, a body 16, a control panel 17, a power module 18, a crawler belt 19, a motor 20, a first motor support 21, an inner baffle 22, an outer baffle 23, a first driven wheel support 24, a supporting wheel 25, a second motor support 26, a first transmission gear 27, a second transmission gear 28, a reduction gearbox 29, a transmission shaft 30, a transmission shaft support 31, a driving wheel 32, a driven wheel 33, a second driven wheel support 34, a second support 35, a damper support 36, a first gasket 37, and a second gasket 38.
The front panel 1 and the rear panel 2 are of thin plate structures and are fixedly connected through screws to form a main body bracket of a steering structure; one ends of the four buffer plates 5 are connected between the front panel 1 and the rear panel 2 through positioning columns, the middle positions of the four buffer plates are connected with through holes corresponding to the telescopic rods 9 through bolts, and ball heads arranged at the other ends of the four buffer plates are connected with spherical bases corresponding to the steering wheel supports 4 to form universal ball hinges so as to play a role in connecting the buffer plates 5 with the steering wheel supports 4; one end of a steering wheel support 4 is matched with an inner bearing of the steering wheel 3, and the other end of the steering wheel support is respectively connected with two buffer plates 5 through universal ball hinges, so that the functions of positioning the steering wheel 3 and transmitting the vibration generated by the steering wheel 3 to a shock absorber are achieved; one end of the crankshaft 6 is connected with a spherical base of the steering wheel bracket 4 through a universal ball hinge, and the other end of the crankshaft is fixedly connected to a steering engine rod 7 through a screw, so that the rotation of an output shaft of a steering engine 14 is transmitted to the rotation of the steering wheel 3; the shock absorber is composed of the shock absorbing springs 8, the telescopic rods 9 and the sleeve pipes 10, one end of each telescopic rod 9 is connected to the corresponding bolt base of the corresponding buffer plate 5, one end of each telescopic rod is inserted into the corresponding sleeve pipe 10, when the buffer plate 5 is impacted, the telescopic rods 9 move inwards along the sleeve pipes and meanwhile extrude the shock absorbing springs 8, and kinetic energy brought by the impact is converted into elastic potential energy of the shock absorbing springs 8; the camera 11 is positioned above the shock absorber, a through hole for a bolt to pass through is formed in one end of the camera 11, the camera 11 is fixed between the front panel 1 and the rear panel 2 through pre-fastening, collected image information is transmitted to a computing chip in the control panel 17 in real time through the camera 11, the collected scene image is subjected to face detection through an image processing algorithm, after a face is detected, a signal is sent to the steering engine 14 through the control panel 17, the direction of the steering engine 14 is adjusted, images at multiple angles can be collected conveniently, and the vital signs of a wounded person can be better observed; the steering engine rod 7 is fixedly connected to an output shaft of the steering engine 14 through a screw; the steering engine 14 is fixedly connected to the steering engine base 13 through screws; the steering engine base 13 is of a carbon fiber thin plate structure, and threaded holes for fixedly connecting the first support 12, the steering engine 14 and the connecting rod 15 are respectively formed in the periphery of the steering engine base; the first support 12 is respectively provided with a through hole for connecting the rear panel 2, the steering engine base 13 and the machine body 16, and the rear panel 2 is fixedly connected with the steering engine base 13, the rear panel 2 and the machine body 16 through screws; one end of the connecting rod 15 is fixedly connected to a corresponding threaded hole of the steering engine base 13 through a screw, and the other end of the connecting rod is fixedly connected to the lower portion of the machine body 16 through a screw.
The machine body 16 is a carbon fiber integrally-formed thin plate with a hollow area in the middle, is fixedly connected with the first support 12 at the front part through screws, is fixedly connected with the two inner baffles 22 at two sides through screws respectively, is fixedly connected with the first motor support 21 and the second motor support 26 at the middle part through screws, and is fixedly connected with the control panel 17, the power module 18, the reduction gearbox 29 and the transmission shaft support 31 at the rear part through screws; the control panel 17 is fixed on the machine body 16 through an insulating screw, a signal output end of the control panel transmits environmental information which is fed back and collected by an upper computer through WIFI on one hand, and the signal output end of the control panel is respectively connected with a signal input end of the motor 20 unit and a signal input end of the steering engine 14 on the other hand, the rotating speed of the motor 20 and the rotation of the steering engine 14 are controlled through a signal instruction sent by the control panel 17 so as to control the motion state of the robot, wherein a carried infrared sensor, a sound sensor, a carbon monoxide sensor, a flame sensor, a temperature and humidity sensor and a pyroelectric life sensor are used for sensing and accurately collecting disaster conditions in a space in real time, such as the positions of wounded persons, calling for help, rescuing, harmful gas, flame, temperature and humidity, vital signs and other environmental data, the collected data are transmitted back to the upper computer through a WIFI communication module, and help, a better search and rescue scheme is formulated, and the rescue time is saved; the power supply module 18 is arranged beside the control panel 17, and the power supply output end of the power supply module 18 is connected with the power supply input end of the control panel 17 to provide required electric energy for the robot; the first motor bracket 21 and the second motor bracket 26 are both fixedly connected below the machine body 16 through screws and used for fixing the motor 20; the motor 20 is a cylindrical motor and is arranged below the machine body 16 by being matched with the first motor bracket 21 and the second motor 26, the power input end and the signal input end of the motor 20 are connected with the control panel 17, and the output shaft of the motor 20 is fixedly connected with the first transmission gear 27 through a screw; the reduction gearbox 29 is fixedly connected below the machine body 16 through a screw, an input shaft of the reduction gearbox 29 is fixedly connected with the second transmission gear 28 through a screw, the second transmission gear 28 and the first transmission gear 27 are helical gears which are in meshed transmission with each other, and then the rotation of the output shaft of the motor 20 is converted into the rotation of the input shaft of the reduction gearbox 29, the reduction gearbox 29 increases the torque by reducing the rotating speed, and stronger power is provided for the driving wheel 32; the transmission shaft 30 is an output shaft of the reduction gearbox 29, and is respectively matched with the driving wheel 32 and a bearing mounting hole of the transmission shaft bracket 31, and the driving wheel 32 is driven to rotate to work by the rotation of the transmission shaft 30.
The inner baffle 22 and the outer baffle 23 are carbon fiber integrally-formed thin plates with hollow areas in the middle, and four corners are respectively provided with mounting holes for fixedly connecting two shock absorber supports 36 and two second supports 35; the shock absorber bracket 36 is fixed between the inner baffle plate 22 and the outer baffle plate 23 through screws and two first front and rear gaskets 37; the second bracket 35 is fixed between the inner baffle 22 and the outer baffle 23 through screws and two front and rear second gaskets 38; the telescopic rod 9 and the sleeve 10 of the driving mechanism shock absorber are respectively fixedly connected to the through holes corresponding to the second bracket 35 and the shock absorber bracket 36 through bolts; the supporting wheel 25 is connected to the through hole corresponding to the second bracket 35 through a bolt and a bearing, and the supporting wheel 25 tends to move outwards under the action of the damping spring 8, so that the supporting wheel can support the crawler 19; the caterpillar track is matched with the driving wheel 32, the driven wheel 33 and the two supporting wheels 25, and the driven wheel 33 and the supporting wheels 25 are driven to rotate under the rotation of the driving wheel 32, so that power is provided for the robot.
Installation procedure of the embodiment
The steering mechanism part is firstly assembled, the positioning columns of the four buffer plates, the two sleeves and the two cameras are installed at the corresponding through holes of the front panel, and then the rear panel is fixedly connected to the front panel through screws, so that the front panel, the buffer plates, the sleeves, the cameras and the rear panel are fixed. After the steering wheel is installed on the steering wheel support through the screw, the buffer plate and the ball head of the crankshaft are installed on the spherical base corresponding to the steering wheel support. And then the steering engine is fixedly connected to the steering engine base through screws, and the steering engine base is fixedly connected to the rear panel through screws. The through hole at the upper end of the first support is fixedly connected with the corresponding threaded hole of the rear panel through a screw, the through hole at the lower end of the first support is fixedly connected with the corresponding threaded hole of the steering engine base through a screw, and then the connecting rod is fixed at the tail end of the steering engine base through a screw and is fixedly connected with the driving mechanism.
And then assembling a driving mechanism part, fixedly connecting the control panel and the power module on the machine body through screws, installing the motor in the central holes at the lower ends of the first motor support and the second motor support, and fixedly connecting the upper ends of the first motor support and the second motor support on the machine body through screws. The first transmission gear is fixedly connected to the output shaft of the motor through screws, the transmission shaft support and the reduction gearbox are fixed below the machine body through screws respectively, and then the transmission shaft penetrates through the transmission shaft support and the reduction gearbox mounting holes and driving wheels are mounted at two ends of the transmission shaft support. And the second transmission gear is fixedly connected to the input shaft of the reduction gearbox through a screw and meshed with the first transmission gear. The inner baffle is fixedly connected to the machine body through screws, then a first gasket, a damper support and another first gasket are sequentially installed at the position, corresponding to the through hole, of the upper end of the inner baffle, a second gasket, a second support and another second gasket are sequentially installed at the position, corresponding to the through hole, of the lower end of the inner baffle, then the sleeve and the telescopic rod are fixed to the damper support and the second support through bolts respectively, damping springs are installed between the sleeve and the telescopic rod, and then the outer baffle is fixedly connected to the corresponding position of the inner baffle through bolts. And then, a second driven wheel support is fixedly connected to the corresponding threaded hole of the inner baffle through a screw, a driven wheel is arranged on the second driven wheel support, one end of the first driven wheel support is arranged on the driving wheel center shaft, the other end of the first driven wheel support is arranged at the corresponding position of the driven wheel center shaft, and the position of the driven wheel is further fixed. And finally, the crawler belt is matched with the driving wheel, the driven wheel and the two supporting wheels, and the machine body is fixedly connected with the connecting rod and the first support through screws respectively, so that the assembly of the driving mechanism and the steering mechanism is completed.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (7)
1. The utility model provides a rescue robot of surveying of complicated topography which characterized in that: the robot steering device comprises a steering mechanism and a driving mechanism, wherein the steering mechanism is arranged at the front end of the driving mechanism and is used for controlling the steering of the robot;
the steering mechanism comprises a main body support, a steering engine rod, a left steering assembly and a right steering assembly, and the left steering assembly and the right steering assembly are symmetrically arranged on two sides of the main body support; the main body bracket is of a frame structure, and the rear end of the main body bracket is fixedly connected with the driving mechanism through a connecting rod; the steering engine is fixed at the rear end of the main body bracket through a steering engine base; the left steering assembly comprises a steering wheel, a steering wheel bracket, a buffer plate, a crankshaft and a first spring shock absorber; the buffer plates are of flat plate structures, the two buffer plates are arranged on one side of the main body support in parallel, one end of each buffer plate is hinged with the middle part and the lower part of the main body support respectively, and the other end of each buffer plate is provided with a ball head; the steering wheel is installed at one end of the steering wheel support, the other end of the steering wheel support is of a transverse U-shaped structure, and first spherical bases are arranged on two support arms of the U-shaped structure and are used for being installed in a matched mode with ball heads of two buffer plates on the same side of the main body support; one end of the first spring shock absorber is connected with the top end of the main body bracket, and the other end of the first spring shock absorber is hinged with the middle part of the buffer plate positioned above the first spring shock absorber; an output shaft of the steering engine is fixedly connected with the steering engine rod which is horizontally arranged, and one end of the steering engine rod is connected with the steering wheel bracket through a crankshaft and is used for driving the steering wheel to rotate; the structure of the right steering assembly is the same as that of the left steering assembly and is symmetrically arranged;
the driving mechanism comprises a machine body, a control panel, a power supply module, a transmission structure, a left damping mechanism and a right damping mechanism; the robot comprises a robot body, a transmission structure, a left damping mechanism, a right damping mechanism and a power module, wherein the robot body is of a flat plate structure which is horizontally arranged, the control panel and the power module are fixed on the robot body and used for controlling the robot, the transmission structure is arranged right below the robot body, and the left damping mechanism and the right damping mechanism are symmetrically arranged on two sides of the robot body; the front end of the machine body is respectively fixedly connected with the main body bracket and the connecting rod;
the transmission structure comprises a motor, a motor bracket, a first transmission gear, a second transmission gear, a reduction gearbox, a transmission shaft bracket and a driving wheel; the motor is fixed at the front end below the machine body through a motor support, and the output shaft of the motor is provided with the first transmission gear; the reduction gearbox is fixed at the rear end below the machine body, the input shaft of the reduction gearbox is provided with the second transmission gear, the transmission shaft is used as an output shaft of the reduction gearbox and is fixed below the machine body through the transmission shaft bracket, and the two driving wheels are respectively fixed at two ends of the transmission shaft; the second transmission gear and the first transmission gear are helical gears, are meshed with each other, and drive the driving wheel to rotate through the motor;
the left damping mechanism comprises a crawler belt, an inner baffle, an outer baffle, a first driven wheel bracket, a supporting wheel, a driven wheel, a second driven wheel bracket, a second spring damper, a damper bracket, a first gasket and a second gasket; the inner baffle and the outer baffle are hollow quadrilateral flat plates with the same structure, are parallel and oppositely arranged, and are fixed at two corners between the upper ends of the inner baffle and the outer baffle through the first gasket and screws respectively; one ends of the two second brackets are respectively fixed at two corners between the lower ends of the inner baffle and the outer baffle through the second gaskets and the screws; one ends of the two second spring shock absorbers are fixed on the shock absorber support, and the other ends of the two second spring shock absorbers are fixed on the second support and positioned between the inner baffle and the outer baffle; the two supporting wheels are vertically arranged on the outer sides of the two second brackets through bolts and bearings respectively; the driven wheel is axially parallel to the driving wheel and is oppositely arranged above the two supporting wheels, and the driven wheel is arranged on the outer side of the outer baffle through the second driven wheel bracket; one end of the first driven wheel support is connected with the driven wheel and positioned outside the second driven wheel support, and the other end of the first driven wheel support is provided with the driving wheel; the crawler belt is arranged at the peripheries of the driving wheel, the driven wheel and the two supporting wheels, and drives the driven wheel and the supporting wheels to rotate under the rotation of the driving wheel so as to provide power for the robot; the right damping mechanism and the left damping mechanism are identical in structure and are symmetrically arranged, and the inner baffles of the left damping mechanism and the right damping mechanism are fixed on two sides of the machine body.
2. The complex terrain rescue survey robot of claim 1, wherein: the main body support comprises a front panel, a rear panel and a first support, wherein the front panel and the rear panel are both hollow rectangular flat plate structures and are relatively fixed in parallel through a support rod; the first support is of a hollow frame body structure, is fixed on the outer side face of the rear panel and is connected with the body of the driving mechanism, and the lower end of the first support is fixed with the steering engine base.
3. The complex terrain rescue survey robot of claim 1, wherein: the first spring shock absorber comprises a shock absorption spring, a telescopic rod and a sleeve, one end of the telescopic rod is hinged with the middle of the buffer plate, the other end of the telescopic rod is coaxially inserted into the sleeve, and the shock absorption spring is coaxially sleeved on the peripheries of the telescopic rod and the sleeve; when the buffer plate is impacted by external force, the telescopic rod moves in the sleeve along the axial direction and extrudes the damping spring at the same time, and the impact kinetic energy is converted into the elastic potential energy of the damping spring; the second spring damper has the same structure as the first spring damper.
4. The complex terrain rescue survey robot of claim 1, wherein: the steering mechanism further comprises a camera, the camera is located above the first spring shock absorber, a threaded through hole is formed in one end of the camera, the camera is fixed between the front panel and the rear panel through bolts, and image information for collection is transmitted to the control panel in real time.
5. The complex terrain rescue survey robot of claim 1, wherein: the crankshaft is of a Z-shaped rod-shaped structure, one end of the crankshaft is fixedly connected with the steering engine rod, the other end of the crankshaft is provided with a ball head structure, and the ball head structure is in clearance fit with a second spherical base arranged on the steering wheel support to realize rotating connection.
6. The complex terrain rescue survey robot of claim 1, wherein: the motor is a cylindrical motor, and the motor support comprises a first motor support and a second motor support; the motor respectively passes through the mounting holes at the lower ends of the first motor support and the second motor support to realize fixation.
7. The complex terrain rescue survey robot of claim 1, wherein: the inner baffle and the outer baffle are both of a nearly square structure.
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| CN202010204901.8A CN111319693B (en) | 2020-03-22 | 2020-03-22 | Complex terrain rescue and survey robot |
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| CN202010204901.8A CN111319693B (en) | 2020-03-22 | 2020-03-22 | Complex terrain rescue and survey robot |
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| CN111319693B CN111319693B (en) | 2021-04-20 |
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| CN116001938A (en) * | 2022-12-28 | 2023-04-25 | 北京理工大学 | Crawler-type double-rotor wall climbing robot |
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| CN111319693B (en) | 2021-04-20 |
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