CN111717302B - Rescue robot - Google Patents

Rescue robot Download PDF

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Publication number
CN111717302B
CN111717302B CN202010527842.8A CN202010527842A CN111717302B CN 111717302 B CN111717302 B CN 111717302B CN 202010527842 A CN202010527842 A CN 202010527842A CN 111717302 B CN111717302 B CN 111717302B
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China
Prior art keywords
box
layer
plate
carriage
pipe
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CN111717302A (en
Inventor
唐飞
李婧
陈浩
葛长玺
邱博
董满生
王强
石琴
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Hefei University of Technology
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Hefei University of Technology
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/028Vehicles 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 having wheels and mechanical legs
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01DSEPARATION
    • B01D47/00Separating dispersed particles from gases, air or vapours by liquid as separating agent
    • B01D47/06Spray cleaning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60PVEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P7/00Securing or covering of load on vehicles
    • B60P7/06Securing of load
    • B60P7/08Securing to the vehicle floor or sides
    • B60P7/10Securing to the vehicle floor or sides the load being plates, cases, or boxes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60SSERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S9/00Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
    • B60S9/14Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D5/00Power-assisted or power-driven steering
    • B62D5/04Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0421Electric motor acting on or near steering gear
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for

Abstract

The invention relates to the technical field of robots, in particular to a rescue robot. The four right angles of the carriage are respectively and correspondingly provided with a travelling mechanism and an inflating mechanism; running gear includes first motor, second motor, hydraulic tank, hydraulic cylinder, flexible leg, supporting leg and support claw, and the mechanism of aerifing includes water storage box, medicament box and air guide mechanism, and air guide mechanism includes gasbag and empty horizontally inlayer breather pipe, the outer breather pipe of sleeving together, evenly has seted up more than two outer gas outlets along the pipe shaft of outer breather pipe, and the outer gas outlet is communicating the gasbag through the pipe of ventilating, the gas outlet of inlayer breather pipe is communicateing the gas outlet of medicament box body lower floor, and inlayer breather pipe and outer breather pipe link up in outer gas outlet department. The rescue robot can be well suitable for various scenes in which disasters occur, can freely move in a complex and changeable disaster environment to complete rescue tasks, and can detect the disasters in real time and perform primary disaster relief.

Description

Rescue robot
Technical Field
The invention relates to the technical field of robots, in particular to a rescue robot.
Background
In recent years, underground accidental disasters such as fire disasters, underground water and oil gas leakage occur continuously, detection is carried out when the disasters occur, and post-disaster rescue is an urgent and important work, however, the environment is severe, the internal environment is difficult to know, so that the rescue difficulty is increased continuously, people rescue the disasters, and at the moment, the rescue robot can help people to complete the work by means of self intellectualization and flexibility, but the current rescue robot has the following defects:
(1) the action mode is single, the wheel type movement mode does not have the capability of quickly penetrating large obstacles, the center of gravity of the tracked robot is unstable when the tracked robot penetrates the obstacles, and the tracked robot is easy to turn on one side;
(2) the existing rescue robot is lack of high temperature resistance and oxidation resistance and can not be completely adapted to the complex environment of high temperature and high heat during the emergency emergencies such as fire disaster and oil drainage events of underground space and the like;
(3) lack of motion adaptability to the water and land combined environment;
(4) in the face of dust explosion environment, the staged rescue measure capability is lacked.
Disclosure of Invention
The invention provides a rescue robot for overcoming the defect that the existing rescue robot can not be well suitable for various scenes of disaster occurrence, can freely move in a complex and changeable disaster environment to complete rescue tasks, can detect disasters in real time and carry out primary disaster relief,
the invention adopts the following technical scheme for solving the technical problems:
a rescue robot comprises a body mechanism and a detection mechanism;
the body mechanism comprises a carriage 311, a transport box 211 and a control box 122, driving steering mechanisms are respectively arranged at the front end and the rear end corresponding to the bottom plate of the carriage 311, each driving steering mechanism comprises a pair of driving wheels 414, the control box 122 and the transport box 211 are respectively arranged on an upper carriage plate of the carriage 311, and the control box 122 is correspondingly positioned at the front end part of the carriage 311;
the detection mechanism comprises a water level sensor 111, an alarm indicator lamp 112, a dust concentration detector 114, an infrared temperature sensor 115, a high-definition waterproof and explosion-proof camera 117 and a sprayer 118, the water level sensor 111, the alarm indicator lamp 112, the infrared temperature sensor 115 and the dust concentration detector 114 are all arranged on a front box plate of the control box 122, the water level sensor 111 is arranged at the bottom of the front box plate of the control box 122, the high-definition waterproof and explosion-proof camera 117 and the sprayer 118 are respectively arranged on an upper box plate of the control box 122 through a rotary chassis 116 and a water spray valve 120, and a water inlet pipeline of the sprayer 118 is communicated with a water tank in the transport box 211;
four right angles of the carriage 311 are correspondingly provided with a travelling mechanism and an inflating mechanism;
the walking mechanism comprises a first motor 318, a second motor 321, a hydraulic oil tank 322, a hydraulic oil cylinder 315, a telescopic leg 314, a supporting leg 313 and a supporting claw 312, wherein the first motor 318, the second motor 321 and the hydraulic oil tank 322 are correspondingly arranged inside the carriage body of the carriage 311, the hydraulic oil cylinder 322, the telescopic leg 314, the supporting leg 313 and the supporting claw 312 are correspondingly arranged outside the carriage body of the carriage 311,
the second motor 321 is connected with a hydraulic pump in a hydraulic oil tank 322 through a bearing, an output shaft of the first motor 318 is connected with the lower end of the telescopic leg 314 through a speed reducer 320, the upper end of the telescopic leg 314 is hinged with the middle part of the supporting leg 313, one end of the supporting leg 313 is connected with a piston rod of a hydraulic oil cylinder 315, the other end of the supporting leg 313 is vertically connected with the supporting claw 312, the bottom end of a cylinder body of the hydraulic oil cylinder 315 is correspondingly connected to the telescopic leg 314, and the cylinder body of the hydraulic oil cylinder 315 is communicated with the hydraulic oil tank 322 through a first oil pipe 323 and a second oil pipe 324 respectively;
the inflation mechanism comprises a water storage box 516, a medicament box 515 and an air guide mechanism, a movable sheet is arranged in the medicament box 515 to divide the box body into an upper layer and a lower layer, a water inlet at the lower layer of the box body of the medicament box 515 is communicated with the water storage box 516 through a small water pipe 517,
the air guide mechanism comprises an air bag 513, a horizontal inner layer ventilating pipe 511 and an outer layer ventilating pipe 512 which are sleeved together, the air bag 513 is arranged in an inner concave spherical groove 519 on the lower bottom surface of a bottom plate 518 of the carriage 311,
one end and the medicine box 515 lateral wall of outer breather pipe 512 are fixed, and the other end is the blind end, and evenly seted up two above outer gas outlets along the pipe shaft of outer breather pipe 512, and outer gas outlet is communicating gasbag 513 through ventilation pipe 514, the gas inlet of inlayer breather pipe 511 communicates the gas outlet of medicine box 515 box body lower floor, and inlayer breather pipe 511 and outer breather pipe 512 link up in outer gas outlet department.
Further, the air guide mechanism further comprises a third motor 522 with a second gear 524 on an output shaft, a first gear 523 is arranged at one end of the inner-layer air vent pipe 511 corresponding to the medicine box 515, the inner-layer air vent pipe 511 is connected with the third motor 522 through meshing of the first gear 523 and the second gear 524, outer-layer air outlets are respectively arranged at axial positions of the outer-layer air vent pipe 512 corresponding to the inner-layer air vent pipe 511, and the outer-layer air outlets are respectively arranged in different radial directions of the cross section of the outer-layer air vent pipe 512; the upper layer of the medicine box 515 is evenly divided into a plurality of medicine containing cavities by partition boards
Further, the driving steering mechanism further comprises a steering engine 411, a steering rod 412 and a support column 416, the middles of the steering engine 411 and the steering rod 412 are hinged, two ends of the steering rod 412 are hinged with connecting rods 413, the other ends of the connecting rods 413 are connected with driving wheels 414 through the vertical support column 416, and each driving wheel 414 is provided with a hub motor.
Further, the transportation box 211 is fixedly connected with the control box 122 through an elastic mounting mechanism, the elastic mounting mechanism includes an L-shaped plate 213, a horizontal mounting bottom plate and a mounting box 121 with a clamping groove at the upper end, the mounting bottom plate is horizontally mounted on the front box plate of the transportation box 211 through a first mounting plate, the mounting bottom plate is elastically connected with the horizontal L-shaped plate 213 through four vertical springs 212, the horizontal part of the L-shaped plate 213 is fixedly connected with the first mounting plate, and the mounting box 121 is fixedly mounted on the rear box plate of the control box 122 through a second mounting plate;
the compression spring 212 and the L-shaped plate 213 are horizontally inserted into the mounting box 121 from the rear side plate of the mounting box 121, and the vertical part of the L-shaped plate 213 extends out of the mounting box 121 from the matched clamping groove, so that the transport box 211 and the control box 122 are fixedly connected.
Further, the carriage 311, the control box 122, the transport box 211, the telescopic legs 314, the support legs 313 and the support claws 312 are all made of heat insulation materials, wherein the heat insulation materials are double-layer and comprise a spacer layer and a reflecting screen layer, the spacer layer is wrapped by the reflecting screen layer, the reflecting screen layer is made of double-sided aluminum-plated polyester film materials, and the spacer layer is made of loose fibers, nets and foamed plastic materials.
The invention has the following beneficial technical effects:
1. according to the rescue robot, the rescue robot can move back and forth through the driving wheel with the hub motor under the barrier-free road condition, and the steering engine can control the movement steering of the rescue robot; under the road condition with obstacles or steps, the supporting legs on the walking mechanism are lifted and put down under the action of the hydraulic oil cylinders and the telescopic legs, the supporting claws are stably supported on the ground when the supporting legs are put down, and the robot can completely cross the obstacles or cross the surfaces of the steps under the coordination of the driving wheels.
2. According to the invention, after the rescue robot falls into water, the body of the rescue robot floats on the water surface through the inflation mechanism, and the rescue robot can freely move in the water environment through the matching of the supporting legs, the supporting claws and the telescopic legs on the walking mechanism.
3. The rescue robot comprises a detection mechanism, the detection mechanism can detect the condition of a specific working environment, a high-definition waterproof explosion-proof camera can detect obstacles at 360 degrees and send environment condition information in real time, and a walking mechanism can cross the obstacles; the water level sensor detects whether a dangerous water level condition exists in the environment or not, and the inflating mechanism is started to inflate the air bag, so that the rescue robot floats on the water surface, and the dangerous environment is avoided; the dust concentration detector and the infrared temperature sensor detect dust concentration and temperature in different environments, a detection early warning stage and an evacuation stage are arranged in a dust explosion environment, and a water spray valve is opened to implement rescue work.
4. The transportation box of the rescue robot is convenient to use, is fixedly connected with the control box through the elastic mounting mechanism, and is used for placing rescue goods into the transportation box when the rescue goods need to be transported.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a rear view of fig. 1 with the transport box and water spray device removed.
Fig. 3 is a perspective view of the transport box.
Fig. 4 is a view of the interior of the vehicle compartment.
Fig. 5 is a perspective view of the traveling mechanism.
Fig. 6 is a perspective view of the drive steering mechanism.
FIG. 7 is a perspective view of the inflation mechanism.
Fig. 8 is a sectional view a-a of fig. 7.
Fig. 9 is a schematic view of fig. 7 with the lid removed.
Fig. 10 is a top view of fig. 7.
Fig. 11 is a schematic view of the cartridge, reservoir cartridge removed from fig. 9.
Wherein: 111 a water level sensor; 112 alarm indicator lights; 114 dust concentration detector; 115 infrared temperature sensors; 116 rotating the chassis; 117 high-definition waterproof and explosion-proof camera; 118 a nebulizer; 119 water pipe; 120 water spray valve; 121 mounting a box; 122 a control box; 211 a transport case; 212 a spring; 213L-shaped plate; 311 a compartment; 312 support claws; 313 support legs; 314 telescoping legs; 315 a hydraulic oil cylinder; 318 a first motor; 321 a second motor; 320 a speed reducer; 322 hydraulic oil tank; 323 a first tubing; 324 a second tubing; 411 a steering engine; 412 a steering rod; 413 a connecting rod; 414 drive the wheels; 416 a pillar; 511 an inner layer breather pipe; 512 outer layer ventilation pipe; 513 air bags; 514 an airway tube; 515 a kit; 516 a water storage box; 517 small water pipe; 518 a backplane; 519 an internal concave spherical groove; 522 a third motor; 523 a first gear; 524 second gear.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1, a rescue robot includes a body mechanism and a detection mechanism;
the body mechanism comprises a carriage 311, a transport box 211 and a control box 122, driving steering mechanisms are respectively arranged at the front end and the rear end corresponding to the bottom plate of the carriage 311, each driving steering mechanism comprises a pair of driving wheels 414, the control box 122 and the transport box 211 are respectively arranged on an upper carriage plate of the carriage 311, and the control box 122 is correspondingly positioned at the front end part of the carriage 311;
the detection mechanism comprises a water level sensor 111, an alarm indicator lamp 112, a dust concentration detector 114, an infrared temperature sensor 115, a high-definition waterproof and explosion-proof camera 117 and a sprayer 118, the water level sensor 111, the alarm indicator lamp 112, the infrared temperature sensor 115 and the dust concentration detector 114 are all arranged on a front box plate of the control box 122, the water level sensor 111 is arranged at the bottom of the front box plate of the control box 122, the high-definition waterproof and explosion-proof camera 117 and the sprayer 118 are respectively arranged on an upper box plate of the control box 122 through a rotary chassis 116 and a water spray valve 120, and a water inlet pipeline of the sprayer 118 is communicated with a water tank in the transport box 211;
referring to fig. 4, four right angles of the compartment 311 are respectively and correspondingly provided with a traveling mechanism and an inflation mechanism;
referring to fig. 2 and 3, the transportation box 211 is fixedly connected to the control box 122 through an elastic mounting mechanism, the elastic mounting mechanism includes an L-shaped plate 213, a horizontal mounting bottom plate and a mounting box 121 with a clamping groove at the upper end, the mounting bottom plate is horizontally mounted on the front box plate of the transportation box 211 through a first mounting plate, the mounting bottom plate is elastically connected to the horizontal L-shaped plate 213 through four vertical springs 212, the horizontal part of the L-shaped plate 213 is fixedly connected to the first mounting plate, and the mounting box 121 is fixedly mounted on the rear box plate of the control box 122 through a second mounting plate;
the compression spring 212 and the L-shaped plate 213 are horizontally inserted into the mounting box 121 from the rear side plate of the mounting box 121, and the vertical part of the L-shaped plate 213 extends out of the mounting box 121 from the matched clamping groove, so that the transport box 211 and the control box 122 are fixedly connected. The transport box 211 can be used to house emergency rescue equipment, such as a sound wave detector, an infrared detector, and can detect the existence of a life information source in a disaster site; or the rescue box is arranged in small rescue equipment such as a life buoy, an emergency lamp and a safety rope, when the rescue equipment does not need to be transported, the transport box can be detached, the weight of the obstacle crossing robot is reduced, and the moving efficiency is improved;
referring to fig. 4 and 5, the traveling mechanism includes a first motor 318, a second motor 321, a hydraulic oil tank 322, a hydraulic oil cylinder 315, a telescopic leg 314, a support leg 313 and a support claw 312, the first motor 318, the second motor 321 and the hydraulic oil tank 322 are correspondingly installed inside the carriage 311, the hydraulic oil cylinder 322, the telescopic leg 314, the support leg 313 and the support claw 312 are correspondingly installed outside the carriage 311,
the second motor 321 is connected with a hydraulic pump in a hydraulic oil tank 322 through a bearing, an output shaft of the first motor 318 is connected with the lower end of the telescopic leg 314 through a speed reducer 320, the upper end of the telescopic leg 314 is hinged with the middle part of the supporting leg 313,
one end of the supporting leg 313 is connected with a piston rod of the hydraulic oil cylinder 315, the other end of the supporting leg 313 is vertically connected with the supporting claw 312, the bottom end of the cylinder body of the hydraulic oil cylinder 315 is correspondingly connected to the telescopic leg 314, and the cylinder body of the hydraulic oil cylinder 315 is communicated with the hydraulic oil tank 322 through a first oil pipe 323 and a second oil pipe 324 respectively.
The telescopic leg 314 can rotate under the drive of the first motor 318, and the supporting leg 313 is driven by the hydraulic oil cylinder 315 to increase or decrease the angle of the telescopic leg 314, so that the walking mechanism can realize actions similar to the actions of lifting, putting down and walking of the legs of a person.
Referring to fig. 6, the driving and steering mechanism further includes a steering gear 411, a steering rod 412 and a strut 416, the steering gear 411 and the steering rod 412 are hinged in the middle, two ends of the steering rod 412 are hinged with a connecting rod 413, the other end of the connecting rod 413 is connected with driving wheels 414 through the vertical strut 416, and each driving wheel 414 is provided with a hub motor.
Referring to fig. 7 and 9, the inflation mechanism comprises a water storage box 516, a medicament box 515 and an air guide mechanism, the medicament box 515 is internally provided with a movable sheet to divide the box body into an upper layer and a lower layer, a water inlet at the lower layer of the box body of the medicament box 515 is communicated with the water storage box 516 through a small water pipe 517, and the upper layer of the medicament box 515 is uniformly divided into a plurality of medicament containing cavities through partition plates.
Referring to fig. 8 and 10, the air guide mechanism includes an air bladder 513, and a horizontal inner-layer snorkel 511 and an outer-layer snorkel 512 that are nested together, and the air bladder 513 is installed in an inner concave spherical groove 519 on the lower bottom surface of a floor 518 of the passenger compartment 311,
one end and the medicine box 515 lateral wall of outer breather pipe 512 are fixed, and the other end is the blind end, and evenly seted up two above outer gas outlets along the pipe shaft of outer breather pipe 512, and outer gas outlet is communicating gasbag 513 through ventilation pipe 514, the gas inlet of inlayer breather pipe 511 communicates the gas outlet of medicine box 515 box body lower floor, and inlayer breather pipe 511 and outer breather pipe 512 link up in outer gas outlet department.
Referring to fig. 11, the air guide mechanism further includes a third motor 522 having a second gear 524 on an output shaft, a first gear 523 is disposed at one end of the inner vent pipe 511 corresponding to the chemical agent box 515, the inner vent pipe 511 is connected to the third motor 522 through engagement of the first gear 523 and the second gear 524, and outer air outlets are respectively disposed at axial positions of the outer vent pipe 512 corresponding to the inner vent pipe 511, and the outer air outlets are respectively disposed in different radial directions of the cross section of the outer vent pipe 512.
When the inner vent pipe 511 is driven by the third motor 522 to rotate, the air outlets of the inner vent pipe and the outer vent pipe are communicated in a one-to-one correspondence manner, and when the air outlets are communicated, air is introduced into the outer vent pipe 512 from the inner vent pipe 511, and then reaches the air bag 513 corresponding to each outer air outlet, so that the air bag 513 is inflated and expanded.
The carriage 311, the control box 122, the transport box 211, the telescopic legs 314, the support legs 313 and the support claws 312 are all made of heat insulation materials, wherein the heat insulation materials are double-layer and comprise a spacer layer and a reflecting screen layer, the reflecting screen layer is wrapped by the spacer layer, the reflecting screen layer is made of double-sided aluminized polyester film materials, and the spacer layer is made of loose fibers, nets and foamed plastic materials and can work in a high-temperature resistant environment.
The rescue robot can freely move in various disaster scenes for various disasters, and can detect the disasters in real time and perform primary disaster relief, and the method specifically comprises the following conditions:
case 1: when the rescue robot carries out rescue tasks in the high-temperature environment with oil leakage,
when the rescue robot arrives at the site, the infrared temperature sensor 115 detects the temperature of the site, and meanwhile, the high-definition waterproof and explosion-proof camera 117 can send and record the situation of the disaster-stricken environment to the control center in real time, wherein the ground surface is slippery due to oil leakage, the walking mechanisms are adopted to move, the telescopic legs 314 on each walking mechanism rotate forwards and are parallel to the longitudinal axis of the robot body, and the supporting legs 313 are perpendicular to the ground surface, so that the rescue robot is supported off the ground surface.
Then the telescopic leg 314 of the front running gear and the other running gear on the diagonal line thereof is driven by the first motor 318 to rotate, so that the supporting claw 312 leaves the ground, meanwhile, the supporting leg 313 and the telescopic leg 314 are driven by the second motor 321 and the hydraulic oil cylinder 315 to increase the angle, then the telescopic leg 314 is driven by the first motor 318 to rotate, the supporting claw 312 is contacted with the ground,
and finally, repeating the steps by the other two travelling mechanisms to realize forward movement.
Case 2: when the rescue robot needs to climb up the barrier of the step or descend the barrier of the step,
when the high-definition waterproof and explosion-proof camera 117 detects that a step obstacle needs to climb up or down, a pair of travelling mechanisms located at the front end of the carriage 311 starts to work at first, a telescopic leg 314 on each travelling mechanism is driven by a first motor 318 to rotate forwards, the angles of a supporting leg 313 and the telescopic leg 314 are increased under the drive of a second motor 321 and a hydraulic oil cylinder 315, and then a supporting claw 312 is driven to be in contact with the surface of the obstacle;
then a pair of driving wheels on a driving steering mechanism at the rear end of the carriage 311 is driven by the in-wheel motor to rotate forwards; causing a pair of drive wheels 414 on the front drive steering mechanism to ride over the obstacle surface;
a pair of running mechanisms located at the rear end of the carriage 311 work, specifically, the telescopic leg 314 on each running mechanism is driven by the first motor 318 to rotate forwards, the angle between the support leg 313 and the telescopic leg 314 is increased under the drive of the second motor 321 and the hydraulic oil cylinder 315, and then the support claw 312 is driven to cross the surface of the obstacle;
finally, a pair of driving wheels on the drive steering mechanism located at the front end of the vehicle body 311 is driven by the in-wheel motor to rotate forward, so that a pair of driving wheels on the rear-end drive steering mechanism crosses over to the surface of the obstacle.
When the driving wheel 414 rotates forward, each walking mechanism is driven by the second motor 321 and the hydraulic oil cylinder 315 to change the angles of the supporting leg 313 and the telescopic leg 314, and the above steps are repeated until climbing is completed.
Case 3: when the rescue robot needs to work in a water-meeting environment,
when the water level sensor 111 is detected to be submerged by water, the telescopic leg 314 on each walking mechanism is driven by the first motor 318 to rotate forwards, the angle between the supporting leg 313 and the telescopic leg 314 is increased under the drive of the second motor 321 and the hydraulic oil cylinder 315, and then the supporting claw 312 is driven, so that the supporting leg 313 is in an upright state, the body mechanism of the rescue robot is lifted at the moment, if the water level sensor 111 is detected not to be submerged at the moment, the rescue robot is moved by controlling the movement of the walking mechanism, the movement steps are the same as those of the first case, and if the water level sensor 111 is detected to be submerged, the inflating mechanism is started, specifically as follows:
firstly, a movable sheet on the medicine box 515 is opened, a medicine bag in the medicine box 515 falls into the lower layer of the medicine box 515, a gate valve of a small water pipe 517 is opened, water in a water storage box 516 enters the lower layer of the medicine box 515 through the small water pipe 517 and generates gas through chemical reaction, and the medicine bag is filled with dry sodium hydroxide and aluminum powder, 2Al +2NaOH +2H2O═2NaAlO2+3H2↑。
About 8.3g sodium hydroxide, 5.6g aluminium, about 100ml water are required to produce 7L of hydrogen gas under standard conditions.
Then, the gas generated by the reaction enters the air bag 513 through the inner layer vent pipe 511, so that the air bag 513 is inflated and expanded, the inner concave spherical groove 519 plays a role of fixing the air bag 513, the opening degree of the movable sheet on the medicine box 515 can be controlled, the amount of the medicine package falling into the lower layer of the medicine box 515 can be controlled, and further the gas production rate can be controlled;
through the meshing of the first gear 523 and the second gear 524, the third motor 522 drives the inner-layer vent pipe 511 to rotate, when the inner-layer vent pipe 511 rotates to a proper angle, the inner-layer air outlets on the inner-layer vent pipe 511 are respectively communicated with the outer-layer air outlets on the outer-layer vent pipe 512 in a one-to-one correspondence manner, so that the number of the corresponding air bags 513 is controlled to be expanded until the rescue robot floats on the water surface;
finally, the telescopic legs 314 on each walking mechanism are driven by the first motor 318 to rotate, the angles between the supporting legs 313 and the telescopic legs 314 are increased or decreased under the drive of the second motor 321 and the hydraulic oil cylinder 315, so that the telescopic legs 314 rotate at a constant speed, the supporting legs 313 are ensured to slide in water, and the rescue robot disclosed by the invention is enabled to move forwards.
Case 4: the rescue robot sets a detection early warning stage and an evacuation stage aiming at the dust explosion environment,
setting a detection early warning stage and an evacuation stage aiming at a dust explosion environment, firstly detecting the concentration and the temperature of surrounding dust by a dust concentration detector 114 and an infrared temperature sensor 115, and when the concentration of the detected dust is less than 35g/m or the temperature is less than 300 ℃, controlling a water spray valve 120, spraying water mist by a sprayer 118, dispersing and eliminating suspended dust, and reducing the concentration of the dust; when the dust concentration is detected to be higher than 35g/m or the temperature is detected to be higher than 300 ℃, the alarm indicator lamp 112 is turned on, dustproof explosion measures are abandoned, and evacuation to a safe area is carried out; meanwhile, the waterproof and explosion-proof camera 117 can monitor the field environment in real time and transmit the video to the command center.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (5)

1. A rescue robot, its characterized in that: comprises a machine body mechanism and a detection mechanism;
the machine body mechanism comprises a carriage (311), a transport box (211) and a control box (122), driving steering mechanisms are respectively arranged at the front end and the rear end of a bottom plate of the carriage (311), each driving steering mechanism comprises a pair of driving wheels (414), the control box (122) and the transport box (211) are respectively arranged on an upper carriage plate of the carriage (311), and the control box (122) is correspondingly positioned at the front end part of the carriage (311);
the detection mechanism comprises a water level sensor (111), an alarm indicator lamp (112), a dust concentration detector (114), an infrared temperature sensor (115), a high-definition waterproof and explosion-proof camera (117) and a sprayer (118), the water level sensor (111), the alarm indicator lamp (112), the infrared temperature sensor (115) and the dust concentration detector (114) are all installed on a front box plate of a control box (122), the water level sensor (111) is arranged at the bottom of the front box plate of the control box (122), the high-definition waterproof and explosion-proof camera (117) and the sprayer (118) are respectively installed on an upper box plate of the control box (122) through a rotary chassis (116) and a water spray valve (120), and a water inlet pipeline of the sprayer (118) is communicated with a water tank in a transport box (211);
four right angles of the carriage (311) are correspondingly provided with a travelling mechanism and an inflating mechanism;
the travelling mechanism comprises a first motor (318), a second motor (321), a hydraulic oil tank (322), a hydraulic oil cylinder (315), a telescopic leg (314), a supporting leg (313) and a supporting claw (312), the first motor (318), the second motor (321) and the hydraulic oil tank (322) are correspondingly installed inside a carriage body of the carriage (311), the hydraulic oil cylinder (315), the telescopic leg (314), the supporting leg (313) and the supporting claw (312) are correspondingly installed outside the carriage body of the carriage (311),
the second motor (321) is connected with a hydraulic pump in a hydraulic oil tank (322) through a bearing, an output shaft of the first motor (318) is connected with the lower end of a telescopic leg (314) through a speed reducer (320), the upper end of the telescopic leg (314) is hinged with the middle of a supporting leg (313), one end of the supporting leg (313) is connected with a piston rod of a hydraulic oil cylinder (315), the other end of the supporting leg (313) is vertically connected with a supporting claw (312), the bottom end of a cylinder body of the hydraulic oil cylinder (315) is correspondingly connected to the telescopic leg (314), and the cylinder body of the hydraulic oil cylinder (315) is communicated with the hydraulic oil tank (322) through a first oil pipe (323) and a second oil pipe (324);
the inflation mechanism comprises a water storage box (516), a medicament box (515) and an air guide mechanism, a movable sheet is arranged in the medicament box (515) to divide the box body into an upper layer and a lower layer, a water inlet at the lower layer of the box body of the medicament box (515) is communicated with the water storage box (516) through a small water pipe (517),
the air guide mechanism comprises an air bag (513), and a horizontal inner layer breather pipe (511) and an outer layer breather pipe (512) which are sleeved together, the air bag (513) is arranged in an inner concave spherical groove (519) on the lower bottom surface of a bottom plate (518) of the carriage (311),
one end and medicine box (515) lateral wall of outer breather pipe (512) are fixed, and the other end is the blind end, and has evenly seted up two above outer gas outlets along the pipe shaft of outer breather pipe (512), and outer gas outlet is communicating gasbag (513) through pipe (514) of ventilating, the gas outlet of medicine box (515) box body lower floor is communicated to the air inlet of inlayer breather pipe (511), and inlayer breather pipe (511) and outer breather pipe (512) link up in outer gas outlet department.
2. Rescue robot as claimed in claim 1, characterized in that: the air guide mechanism further comprises a third motor (522) with a second gear (524) on an output shaft, a first gear (523) is arranged at one end of the inner-layer vent pipe (511) corresponding to the medicine box (515), the inner-layer vent pipe (511) is connected with the third motor (522) through meshing of the first gear (523) and the second gear (524), outer-layer air outlets are formed in the axial positions of the outer-layer vent pipe (512) corresponding to the inner-layer vent pipe (511), and the outer-layer air outlets are respectively arranged in different radial directions of the cross section of the outer-layer vent pipe (512); the upper layer of the medicine box (515) is evenly divided into a plurality of medicine containing cavities by partition boards.
3. Rescue robot as claimed in claim 1, characterized in that: the driving steering mechanism further comprises a steering engine (411), a steering rod (412) and a strut (416), the middle parts of the steering engine (411) and the steering rod (412) are hinged, connecting rods (413) are hinged to the two ends of the steering rod (412), the other ends of the connecting rods (413) are connected with driving wheels (414) through vertical struts (416), and each driving wheel (414) is provided with a hub motor.
4. Rescue robot as claimed in claim 1, characterized in that: the transport box (211) is fixedly connected with the control box (122) through an elastic mounting mechanism, the elastic mounting mechanism comprises an L-shaped plate (213), a horizontal mounting bottom plate and a mounting box (121) with a clamping groove at the upper end, the mounting bottom plate is horizontally mounted on the front end box plate of the transport box (211) through a first mounting plate, the mounting bottom plate is elastically connected with the horizontal L-shaped plate (213) through four vertical springs (212), the horizontal part of the L-shaped plate (213) is fixedly connected with the first mounting plate, and the mounting box (121) is fixedly mounted on the rear end box plate of the control box (122) through a second mounting plate;
compression spring (212), L shaped plate (213) are inserted into mounting box (121) from the rear side board level of mounting box (121), and the vertical portion of L shaped plate (213) stretches out mounting box (121) from the complex draw-in groove, realize transport case (211) and control box (122) fixed connection.
5. Rescue robot as claimed in claim 1, characterized in that: the carriage (311), the control box (122), the transport box (211), the telescopic legs (314), the supporting legs (313) and the supporting claws (312) are all made of heat insulation materials, wherein the heat insulation materials are double-layer and comprise a spacer layer and a reflecting screen layer, the spacer layer is wrapped by the reflecting screen layer, the reflecting screen layer is made of double-sided aluminum-plated polyester film materials, and the spacer layer is made of loose fibers, nets and foamed plastic materials.
CN202010527842.8A 2020-06-11 2020-06-11 Rescue robot Active CN111717302B (en)

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CN112516715B (en) * 2021-01-27 2021-12-24 山东天维建设集团有限公司 Auxiliary device is demolishd to building factory building

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CN107176225A (en) * 2017-06-09 2017-09-19 哈尔滨理工大学 It is a kind of to be used for the wheeled robot of real time temperature monitoring under silo environment
CN108859637A (en) * 2018-07-27 2018-11-23 北京理工大学 A kind of spherical shape amphibious robot
CN110507936A (en) * 2019-08-14 2019-11-29 燕山大学 Four-wheel foot formula investigates rescue robot

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CN205219096U (en) * 2015-11-13 2016-05-11 阜阳师范学院 Machine people is gone on patrol to campus safety at night
CN107176225A (en) * 2017-06-09 2017-09-19 哈尔滨理工大学 It is a kind of to be used for the wheeled robot of real time temperature monitoring under silo environment
CN108859637A (en) * 2018-07-27 2018-11-23 北京理工大学 A kind of spherical shape amphibious robot
CN110507936A (en) * 2019-08-14 2019-11-29 燕山大学 Four-wheel foot formula investigates rescue robot

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