CN111872916A - Posture-adjustable three-degree-of-freedom parallel rescue robot - Google Patents
Posture-adjustable three-degree-of-freedom parallel rescue robot Download PDFInfo
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- CN111872916A CN111872916A CN202010711455.XA CN202010711455A CN111872916A CN 111872916 A CN111872916 A CN 111872916A CN 202010711455 A CN202010711455 A CN 202010711455A CN 111872916 A CN111872916 A CN 111872916A
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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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- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention relates to an attitude-adjustable three-degree-of-freedom parallel rescue robot, which comprises a movable platform, a motion branch, an obstacle crossing mechanism and a schematic execution mechanism, wherein the movable platform is connected with the motion branch; the movable platform comprises a rectangular top seat and vertical beams, and the vertical beams are fixedly connected below cross beams on two sides of the middle of the rectangular top seat; the motion branch comprises a revolute pair, a sliding pair and a ball pair, and the rescue robot can rotate along an X, Y axis and move along a Z axis under the action of the motion branch; the obstacle crossing mechanism comprises a short crawler base plate and a long crawler base plate, and can realize that the rescue robot stably crosses over certain obstacles. According to the invention, the 3-SPR parallel mechanism with the R pair symmetrical layout is applied to the structural design of the rescue robot, so that the robot can adjust the posture for rescue according to different human postures in the rescue process, and the movable platform is always kept relatively parallel to the ground in the transfer process, so that a rescuee is prevented from secondary damage in the transfer process.
Description
Technical Field
The invention relates to the technical field of rescue robots, in particular to an attitude-adjustable three-degree-of-freedom parallel rescue robot.
Background
Natural disasters and man-made disasters frequently occur all over the world, and the safety of human beings and the social stability are seriously threatened. A significant portion of the victims after the disaster are lost due to the inability to rescue in a timely manner. For example, in earthquake rescue, house collapse and landslide can delay the time for rescue workers to enter a disaster area, so that rescue is not timely; in fire rescue, the rescue environment temperature is high, oxygen is thin, toxic gas and even explosion easily exist, and the life of rescuers is seriously threatened; therefore, the research and development of the rescue robot for searching and rescuing have important theoretical and practical significance. However, the existing rescue robot is large in size, most of the existing rescue robots cannot rescue human bodies in different postures through the adjustment of the postures of the existing rescue robot, and the rescue robot is generally high in specificity and poor in universality.
The invention patent with publication number CN107486832A discloses a wheel type rescue robot, which comprises a frame, a walking mechanism, a grabbing mechanism, a control module, a remote controller and a power supply; in the actual operation process of the robot, due to the complexity of the external environment, the actual service performance of the wheel type rescue robot manipulator can be influenced, the obstacles in earthquake disasters are generally heavier, and the manipulator is difficult to deploy; the invention patent with publication number CN107336213A discloses a fire scene rescue robot, which adopts a walking mode of combining an active walking unit and an auxiliary walking unit and adopts a crawler to grab the ground; but in the fire scene, a lot of scattered sundries may exist, and meanwhile, the sundries lack necessary obstacles to be cleared, so that the actions are influenced, and the search and rescue speed is influenced; the invention patent with publication number CN101869745A discloses a rescue robot, which comprises a trunk, six legs, a traction rope, a control unit, a power supply and a conveying unit; the six-foot robot has stronger obstacle crossing capability, but is more complex to control, has an excessively small volume, can only provide a searching function, and cannot convey wounded persons to the rear.
Therefore, various rescue robots in the prior art have certain defects and shortcomings, and whether the rescue robots can play an important role in the rescue process and produce ideal technical effects is still to be further discussed.
Disclosure of Invention
In view of the above problems, the invention aims to provide an adjustable-posture three-degree-of-freedom parallel rescue robot which can realize adjustable-posture rescue and stable obstacle crossing of the robot, has strong universality and is suitable for various common disaster rescue tasks with rugged ground.
The technical scheme adopted by the invention is as follows:
the invention provides an attitude-adjustable three-degree-of-freedom parallel rescue robot which comprises a movable platform, a motion branch, an obstacle crossing mechanism and a schematic execution mechanism, wherein the movable platform is connected with the obstacle crossing mechanism; the moving branches are respectively arranged at the bottoms of the left end and the right end of the moving platform, the obstacle crossing mechanisms are respectively arranged at the bottoms of the moving branches, and the schematic execution mechanisms are symmetrically arranged at the bottoms of the left side and the right side of the middle of the moving platform;
the movable platform comprises a rectangular top seat and a plurality of vertical beams which are symmetrically arranged at the left side and the right side in the middle of the rectangular top seat and are used for connecting the signaling actuating mechanism; and a gyroscope is arranged at the upper part of the center of the rectangular top seat.
The movement branches comprise a first branch arranged at the middle bottom of one end of the rectangular top seat, and a second branch and a third branch which are symmetrically arranged at the bottoms of the front side and the rear side of the other end of the rectangular top seat;
the first branch comprises a first rotating pair, a first moving pair and a first spherical hinge which are sequentially connected between the moving platform and the obstacle crossing mechanism; the second branch comprises a second revolute pair, a second revolute pair and a second spherical hinge which are sequentially connected between the movable platform and the obstacle crossing mechanism; the third branch comprises a third revolute pair, a third moving pair and a third spherical hinge which are sequentially connected between the moving platform and the obstacle crossing mechanism; the first rotating pair, the second rotating pair and the third rotating pair are symmetrically distributed on the movable platform.
Furthermore, the first moving pair is a first-stage scissor mechanism, the second moving pair and the third moving pair are second-stage scissor mechanisms with the same size, and the width of the first-stage scissor mechanism is larger than that of the second-stage scissor mechanism;
furthermore, the primary scissor mechanism and the secondary scissor mechanism are main kinematic pairs driven by a lead screw.
Furthermore, the first spherical hinge, the second spherical hinge and the third spherical hinge are spherical joint bearings with the same size.
Further, the second branch and the third branch are identical in structure and size.
Further, the obstacle crossing mechanism comprises a first crawler chassis arranged at the bottom of the first branch, a second crawler chassis arranged at the bottom of the second branch and a third crawler chassis arranged at the bottom of the third branch, the second crawler chassis and the third crawler chassis are the same in size, and the length of the first crawler chassis is larger than the length of the second crawler chassis and the length of the third crawler chassis.
Furthermore, a gyroscope is arranged on the upper part of the center of the rectangular top seat.
Compared with the prior art, the invention has the following beneficial effects:
1. the rescue robot adopts a 3-SPR parallel mechanism, can realize two-rotation and one-movement of a movable platform, and can realize posture adjustment rescue of different human body postures;
2. the rescue robot of the invention adopts the parallel mechanism, and can keep the movable platform relatively parallel to the ground by means of the gyroscope, thus greatly avoiding secondary damage to the wounded in the process of transporting the wounded;
3. the obstacle crossing mechanism adopted by the rescue robot is a three-pair crawler chassis, so that obstacle crossing on a rugged road surface can be better realized.
Drawings
Fig. 1 is a schematic overall structure diagram of an embodiment of an attitude-adjustable three-degree-of-freedom parallel rescue robot provided by the invention;
FIG. 2 is a schematic view of the internal structure of FIG. 1;
FIG. 3 is a schematic diagram of the first branch of FIG. 2;
FIG. 4 is a schematic diagram of the second branch of FIG. 2;
FIG. 5 is a schematic diagram of the third branch of FIG. 2;
FIG. 6 is a schematic structural diagram of the posture adjustment state of the present invention.
Wherein, the reference numbers: 1-moving the platform; 11-a rectangular top seat; 111-a gyroscope; 12-vertical beams; 13-a housing; 14-an antenna; 2-motion branch; 21-first branch; r1-first revolute pair; p1-first sliding pair; s1-a first spherical hinge; 22-a second branch; r2-second revolute pair; p2-second sliding pair; s2-a second spherical hinge; 23-third branch; r3-third revolute pair; p3-third moving pair; s3-a third spherical hinge; 3-obstacle crossing mechanism; 31-a first crawler chassis; 32-a second crawler chassis; 33-a third crawler chassis; 4-schematic actuator.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
It should be noted that in the description of the present invention, the terms "upper", "lower", "top", "bottom", "one side", "the other side", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not mean that a device or an element must have a specific orientation, be configured and operated in a specific orientation.
Referring to fig. 1, a schematic overall structure diagram of an embodiment of an attitude-adjustable three-degree-of-freedom parallel rescue robot provided by the invention is given. The rescue robot comprises a movable platform 1, a movement branch 2, an obstacle crossing mechanism 3 and a schematic execution mechanism 4; the moving branches 2 are respectively connected to the bottoms of the left end and the right end of the moving platform 1 in parallel, the obstacle crossing mechanisms 3 are respectively connected to the bottoms of the moving branches 2 through revolute pairs, the signaling execution mechanisms 4 are respectively and symmetrically connected to the left side and the right side of the bottom of the moving platform 1, and the signaling execution mechanisms 4 can adopt rescue clamping jaws of various structures.
Referring to fig. 2, in the present embodiment, the whole movable platform 1 is approximately of a rectangular parallelepiped structure, and the movable platform 1 includes a rectangular top seat 11 and a vertical beam 12; the vertical beam 12 is fixedly connected below the cross beams at two sides of the middle of the rectangular top seat 11, and the bottom of the vertical beam 12 can be fixedly connected with rescue clamping jaws with different structures, so that a rescue function is realized; the number of the vertical beams 12 can be adjusted according to actual needs, in the embodiment, six vertical beams 12 are respectively installed on the left side and the right side below the cross beam on the two sides of the middle of the rectangular top seat 11 and are used for fixedly connecting the schematic actuating mechanism 4, and the gyroscope 111 is installed on the upper portion of the center of the rectangular top seat 11; and a shell 13 is installed on the outer side of the movable platform 1, and an antenna 14 for remotely controlling and transmitting signals is connected to the shell 13.
Referring to fig. 3, 4 and 5, in the present embodiment, the moving branch 2 includes three branches, namely a first branch 21, a second branch 22 and a third branch 23, wherein the first branch 21 includes a first revolute pair R1, a first revolute pair P1 and a first ball joint S1, which are sequentially connected between the bottom of the right end of the moving platform 1 and the obstacle crossing mechanism 3; the second branch 22 comprises a second revolute pair R2, a second revolute pair P2 and a second spherical hinge S2 which are sequentially connected between the bottom of the front side of the left end of the movable platform 1 and the obstacle crossing mechanism 3; the third branch 23 comprises a third revolute pair R3, a third moving pair P3 and a third ball hinge S3 which are sequentially connected between the bottom of the rear side of the left end of the moving platform 1 and the obstacle crossing mechanism 3; in this embodiment, the first sliding pair P1 is a primary scissor mechanism, the second sliding pair P2 and the third sliding pair P3 are secondary scissor mechanisms with the same size, the width of the primary scissor mechanism is greater than that of the secondary scissor mechanism, and the scissor mechanisms are both primary kinematic pairs driven by a lead screw; the first spherical hinge S1, the second spherical hinge S2 and the third spherical hinge S3 are ball bearing joints with the same size; the second branch 22 and the third branch 23 are identical in structure and size; the first revolute pair R1, the second revolute pair R2 and the third revolute pair R3 are symmetrically distributed on the movable platform 1; the invention is a 3-SPR parallel mechanism which can realize the two-rotation one-shift function of the rotary platform 1 rotating along the X, Y axis and moving along the Z axis.
Referring to fig. 2, in the present embodiment, the obstacle detouring mechanism 3 includes a first crawler chassis 31, a second crawler chassis 32, and a third crawler chassis 33; the first track chassis 31 is connected with the first ball joint S1, the second track chassis 32 is connected with the second ball joint S2, and the third track chassis 33 is connected with the third ball joint S3; wherein: the second crawler chassis 32 and the third crawler chassis 33 are the same in size, and the length of the first crawler chassis 31 is greater than the length of the second crawler chassis 32 and the third crawler chassis 33; the three pairs of crawler belt chassis move relatively independently and can cross over obstacles with certain difficulty.
Referring to fig. 6, a schematic diagram of a posture adjusting state of the posture-adjustable three-degree-of-freedom parallel rescue robot in the embodiment is shown, if a rescued person lies on a slope, the movable platform 1 rotates around a certain axis by a certain angle under the cooperation of each kinematic pair to realize posture adjustment, and the rescued person can be rescued under the cooperation of the schematic executing mechanism 4.
The working principle of the invention is as follows: when the rescue robot is used, a user firstly detects the robot and can put into use after confirming that no problem exists; when the rescue robot is used, firstly, the gyroscope 111 arranged at the center of the top of the body is started, then the first crawler chassis 31, the second crawler chassis 32 and the third crawler chassis 33 are respectively driven, so that the rescue robot moves forward towards a wounded, in the driving process, the gyroscope 111 transmits angle signals to the controller through the antenna 14, the controller controls the driving of the motion branch 2 according to the change of the signals, under the action of 3 moving pairs, the movable platform 1 is always kept relatively parallel to the ground, three pairs of crawler chassis can cross over obstacles with certain difficulty and reach the wounded, at the moment, the movable platform 1 can adjust the posture of two rotations and one movement by means of the gyroscope 111 according to the obtained human body posture data, the rescue operation on the wounded is realized by matching with the pre-installed schematic execution mechanism 4, and then the movable platform 1 is restored to be parallel to the ground through the action of each moving pair, finally, transporting the wounded to a safe place; in the transfer process, the gyroscope 111 is used for feeding back the angle in real time and controlling the driving by the controller, so that the movable platform 1 is always relatively parallel to the ground, secondary damage to wounded persons is avoided, and the rescue task is safely and efficiently realized.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (6)
1. The three-degree-of-freedom parallel rescue robot with the adjustable posture is characterized in that: the robot comprises a movable platform, a motion branch, an obstacle crossing mechanism and a schematic execution mechanism; the moving branches are respectively arranged at the bottoms of the left end and the right end of the moving platform, the obstacle crossing mechanisms are respectively arranged at the bottoms of the moving branches, and the schematic execution mechanisms are symmetrically arranged at the bottoms of the left side and the right side of the middle of the moving platform;
the movable platform comprises a rectangular top seat and a plurality of vertical beams which are symmetrically arranged at the left side and the right side in the middle of the rectangular top seat and are used for connecting the signaling actuating mechanism; and a gyroscope is arranged at the upper part of the center of the rectangular top seat.
The movement branches comprise a first branch arranged at the middle bottom of one end of the rectangular top seat, and a second branch and a third branch which are symmetrically arranged at the bottoms of the front side and the rear side of the other end of the rectangular top seat;
the first branch comprises a first rotating pair, a first moving pair and a first spherical hinge which are sequentially connected between the moving platform and the obstacle crossing mechanism; the second branch comprises a second revolute pair, a second revolute pair and a second spherical hinge which are sequentially connected between the movable platform and the obstacle crossing mechanism; the third branch comprises a third revolute pair, a third moving pair and a third spherical hinge which are sequentially connected between the moving platform and the obstacle crossing mechanism; the first rotating pair, the second rotating pair and the third rotating pair are symmetrically distributed on the movable platform.
2. The three-degree-of-freedom parallel rescue robot with adjustable posture as claimed in claim 1, characterized in that: the first sliding pair is a first-stage scissor mechanism, the second sliding pair and the third sliding pair are second-stage scissor mechanisms with the same size, and the width of the first-stage scissor mechanism is larger than that of the second-stage scissor mechanism.
3. The three-degree-of-freedom parallel rescue robot with adjustable posture as claimed in claim 2, characterized in that: the primary scissor mechanism and the secondary scissor mechanism are main kinematic pairs driven by a lead screw.
4. An attitude-adjustable three-degree-of-freedom parallel rescue robot as claimed in claim 1, 2 or 3, wherein: the first spherical hinge, the second spherical hinge and the third spherical hinge are spherical joint bearings with the same size.
5. An attitude-adjustable three-degree-of-freedom parallel rescue robot as claimed in claim 1, 2 or 3, wherein: the second branch and the third branch are identical in structure and size.
6. The three-degree-of-freedom parallel rescue robot with adjustable posture as claimed in claim 1, characterized in that: the obstacle crossing mechanism comprises a first crawler chassis arranged at the bottom of the first branch, a second crawler chassis arranged at the bottom of the second branch and a third crawler chassis arranged at the bottom of the third branch, the second crawler chassis and the third crawler chassis are identical in size, and the length of the first crawler chassis is larger than that of the second crawler chassis and that of the third crawler chassis.
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| CN202010711455.XA CN111872916B (en) | 2020-07-22 | 2020-07-22 | Posture-adjustable three-degree-of-freedom parallel rescue robot |
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| CN202010711455.XA CN111872916B (en) | 2020-07-22 | 2020-07-22 | Posture-adjustable three-degree-of-freedom parallel rescue robot |
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| CN111872916B CN111872916B (en) | 2021-12-21 |
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