CN112894851A - Rescue robot - Google Patents
Rescue robot Download PDFInfo
- Publication number
- CN112894851A CN112894851A CN202110125690.3A CN202110125690A CN112894851A CN 112894851 A CN112894851 A CN 112894851A CN 202110125690 A CN202110125690 A CN 202110125690A CN 112894851 A CN112894851 A CN 112894851A
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- supporting part
- ratchet
- telescopic beam
- rescue robot
- base
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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
Abstract
A rescue robot comprises a top bracing system and a power system, wherein the top bracing system comprises a first top bracing device, a second top bracing device and a telescopic device; the power system comprises a hydraulic pump; the first top bracing device and the second top bracing device both comprise a base, a supporting part and a hydraulic cylinder. The hydraulic cylinder comprises a cylinder barrel and a piston rod, is connected with the hydraulic pump and is arranged on the base; the tail end of the piston rod is rotatably connected with the bottom of the supporting part; the telescopic device comprises a detachable upper telescopic beam, the supporting part of the first top support device and the supporting part of the second top support device are detachably connected through the upper telescopic beam, and the hydraulic cylinder drives the supporting part and the upper telescopic beam to lift. The invention has simple structure and convenient manufacture, is a rescue robot with protection function, embeddable and adjustable support, and belongs to the field of rescue equipment.
Description
Technical Field
The invention relates to the field of rescue equipment, in particular to a rescue robot.
Background
In view of the recent decades of development, the rescue robot has become the focus of attention, and all research institutions also pay attention to the robot. The three robots of the ruins deformable search and rescue robot, the robotized life detector and the rotor unmanned aerial vehicle are successfully developed by jointly bearing and developing key laboratories of China 'Oncology national institute of Automation in Shenyang' of Chinese academy and China earthquake emergency search and rescue center.
The rescue robot is a robot for rescuing people suffering from disasters, is convenient and quick to use, has good rescue efficiency, can greatly save rescue manpower and time, plays an important role in various disasters, and is one of necessary devices in rescue tasks. Although the existing rescue robots have been developed to a certain extent and have different forms of rescue robots in the market, the robots capable of achieving efficient and safe rescue in rescue tasks are not ideal.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: provides a rescue robot with protection function and adjustable support.
In order to achieve the purpose, the invention adopts the following technical scheme:
a rescue robot comprises a top bracing system and a power system, wherein the top bracing system comprises a first top bracing device, a second top bracing device and a telescopic device, and the power system comprises a hydraulic pump; the first top support device and the second top support device respectively comprise a base, a supporting part and a hydraulic cylinder, the hydraulic cylinder is arranged on the base, the hydraulic cylinder is connected with the hydraulic cylinder, the hydraulic cylinder comprises a cylinder barrel and a piston rod, and the tail end of the piston rod is rotatably connected with the bottom of the supporting part; the telescopic device comprises a detachable upper telescopic beam, and the supporting part of the first top support device and the supporting part of the second top support device are detachably connected through the upper telescopic beam, so that the supporting part and the upper telescopic beam are driven to lift by the hydraulic cylinder. After the structure is adopted, the hydraulic pressure generated by the hydraulic pump drives the hydraulic cylinder to jack the piston rod, so that the two supporting parts and the upper telescopic beam are jacked, and a protection space is formed between the lower part of the upper telescopic beam and the area between the first jacking device and the second jacking device.
Preferably, the telescopic device further comprises a detachable lower telescopic beam, and the base of the first top bracing device and the base of the second top bracing device are detachably connected through the lower telescopic beam, so that an adjustable protection space is formed among the first top bracing device, the upper telescopic beam, the second top bracing device and the lower telescopic beam. After adopting this kind of structure, first shore device, go up flexible roof beam, second shore device and the roof beam that stretches out and draws back down encircles the protection object to form firm protection space, and because go up flexible roof beam and all can dismantle also can stretch out and draw back with the roof beam that stretches out and draws back down, the length in protection space is adjustable, also easy to assemble and dismantlement, and it is nimble to use.
Preferably, the upper telescopic beam and the lower telescopic beam respectively comprise a first cross arm, a second cross arm and a fixing bolt; one end of the first cross arm is provided with a first sliding groove, one end of the second cross arm is provided with a filler rod, and the filler rod is detachably inserted into the first sliding groove; the side surface of the first cross arm is provided with a threaded hole, the threaded hole is communicated into the first sliding groove from the outer side of the first cross arm, one side of the fillet, corresponding to the threaded hole, is provided with a fixing groove, and a fixing bolt penetrates through the threaded hole and is clamped into the fixing groove to abut against the fillet. After the structure is adopted, the fixing bolt is unscrewed, then the insertion strip slides in the first sliding groove to a required position, and then the fixing bolt is screwed, so that the length adjustment of the telescopic device can be realized.
Preferably, a self-locking mechanism for preventing the support part from sliding down is provided between the base and the support part. After adopting this kind of structure, safe and reliable more.
Preferably, the self-locking mechanism comprises a ratchet strip, a spring and a swing shaft, the top end of the ratchet strip is fixedly connected with the supporting part, and one side of the ratchet strip is provided with a ratchet; the swing shaft is rotatably connected with the base, the swing shaft is provided with a pawl for preventing the ratchet bar from sliding downwards, and the spring is connected between the pawl and the base, so that the pawl is propped against the ratchet under the elastic force of the spring.
Preferably, the base is provided with a second sliding groove, the ratchet strip and the pawl are both arranged in the second sliding groove, one side of the ratchet strip opposite to the ratchet is a smooth surface, and the smooth surface is in sliding connection with the inner wall of the second sliding groove. After adopting this kind of structure, the ratchet slides from top to bottom along second spout.
Preferably, the spring is a V-shaped spring, one side of the V-shaped spring is fixedly connected to the inner wall of the second sliding chute, and the other side of the V-shaped spring is fixedly connected with the pawl.
Preferably, the ratchet teeth are asymmetrical trapezoidal teeth, including a downwardly sloping upper flank and a horizontal lower flank.
Preferably, the piston rod and the bearing portion are connected by a thrust bearing.
Preferably, the hydraulic cylinders of the first jacking device and the second jacking device are both connected with oil pipes, and the two oil pipes are connected with a hydraulic pump through a three-way valve.
Adopt quick-operation joint to be connected between pneumatic cylinder and the oil pipe, oil pipe can satisfy simple structure, dismantle convenient, the leakproofness is good, intensity is enough and the design requirement that the latus rectum is the same with pneumatic cylinder and hydraulic pump connection, accessible hand twist joint when using realizes the switch-on fast and dismantles.
In summary, the present invention has the following advantages:
(1) the structure design is simple, and the manufacturing cost is low.
(2) The rescue personnel can carry conveniently, and the operation is simple. When the self-locking ratchet is used, the supporting part is connected with the ratchet strip, and the supporting part rises and drives the ratchet strip and the pawl to move to form self-locking protection. The upper telescopic beam can be used for supporting a heavy object, and the first top supporting device and the second top supporting device work simultaneously and lift the heavy object.
(3) Can be quickly disassembled and adjusted when in use.
(4) Has strong adaptability to the complex environment of the ruins. A thrust joint bearing is arranged between the top end of the piston rod and the supporting part, and when a heavy object supported by the rescue robot is not parallel to the ground, the piston rod can be adjusted to a certain angle through the thrust joint bearing to adapt to the plane of the heavy object.
(5) The use is flexible. Because the telescopic device can be disassembled and adjusted, the rescue robot can be used as a whole and also can be disassembled for use. Under the condition that a certain gap exists between the upper part and the lower part of a pressed person, the upper telescopic beam and the lower telescopic beam can be respectively embedded and arranged above and below the pressed person to form a protection area surrounding the human body, and then heavy objects are jacked to avoid secondary damage; when the condition does not allow the protective space to be formed, the disassembled first jacking device and the disassembled second jacking device can be respectively arranged on two sides of the person to be pressed to jack the weight.
Drawings
Fig. 1 is a perspective view of a rescue robot.
Fig. 2 is a schematic view of the internal structure of the shoring system.
Fig. 3 is a perspective view of the self-locking mechanism and the support portion.
Fig. 4 is a perspective view of a first cross arm.
Fig. 5 is a perspective view of the second cross arm and the fixing bolt.
Wherein, 1 is a base, 2 is a supporting part, 3 is a thrust bearing, 4 is a ratchet, 5 is a pawl, 6 is a swing shaft, 7 is a V-shaped spring, 8 is a hydraulic cylinder, 9 is a second chute, 10 is a fillet, 11 is a first chute, 12 is a fixed groove, 13 is a fixed bolt, 14 is a threaded hole, and 15 is a hydraulic pump.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
Example one
A rescue robot comprises a top bracing system and a power system, wherein the top bracing system comprises a first top bracing device, a second top bracing device and a telescopic device, and the power system comprises a hydraulic pump; the first top support device and the second top support device respectively comprise a base, a supporting part and a hydraulic cylinder, the hydraulic cylinder is arranged on the base, the hydraulic cylinder is connected with the hydraulic cylinder, the hydraulic cylinder comprises a cylinder barrel and a piston rod, and the tail end of the piston rod is rotatably connected with the bottom of the supporting part; the telescopic device comprises a detachable upper telescopic beam, and the supporting part of the first top support device and the supporting part of the second top support device are detachably connected through the upper telescopic beam, so that the supporting part and the upper telescopic beam are driven to lift by the hydraulic cylinder. After the structure is adopted, the hydraulic pressure generated by the hydraulic pump drives the hydraulic cylinder to jack the piston rod, so that the upper telescopic beam is jacked, and a protection space is formed between the lower part of the upper telescopic beam and the first jacking device and the area between the lower part of the upper telescopic beam and the second jacking device.
The telescopic device further comprises a detachable lower telescopic beam, and the base of the first top bracing device and the base of the second top bracing device are detachably connected through the lower telescopic beam, so that an adjustable protection space is formed among the first top bracing device, the upper telescopic beam, the second top bracing device and the lower telescopic beam. After adopting this kind of structure, first shore device, go up flexible roof beam, second shore device and the roof beam that stretches out and draws back down encircles the protection object to form firm protection space, and because go up flexible roof beam and all can dismantle also can stretch out and draw back with the roof beam that stretches out and draws back down, the length in protection space is adjustable, also easy to assemble and dismantlement, and it is nimble to use.
The upper telescopic beam and the lower telescopic beam respectively comprise a first cross arm, a second cross arm and a fixing bolt; one end of the first cross arm is provided with a first sliding groove, one end of the second cross arm is provided with a filler rod, and the filler rod is detachably inserted into the first sliding groove; the side surface of the first cross arm is provided with a threaded hole, the threaded hole is communicated into the first sliding groove from the outer side of the first cross arm, one side of the fillet, corresponding to the threaded hole, is provided with a fixing groove, and a fixing bolt penetrates through the threaded hole and is clamped into the fixing groove to abut against the fillet.
A self-locking mechanism for preventing the supporting part from sliding down is arranged between the base and the supporting part.
The self-locking mechanism comprises a ratchet strip, a spring and a swing shaft, the top end of the ratchet strip is fixedly connected with the supporting part, and one side of the ratchet strip is provided with a ratchet; the swing shaft is rotatably connected with the base, the swing shaft is provided with a pawl for preventing the ratchet bar from sliding downwards, and the spring is connected between the pawl and the base, so that the pawl is propped against the ratchet under the elastic force of the spring.
Open on the base has the second spout, and in the second spout was all located to ratchet and pawl, the one side relative with the ratchet was the smooth surface on the ratchet, the inner wall sliding connection of smooth surface and second spout.
The spring is V-arrangement spring, and one side fixed connection of V-arrangement spring is on the inner wall of second spout, and the opposite side and the pawl fixed connection of V-arrangement spring.
The ratchet teeth are asymmetrical trapezoidal teeth and comprise an upper tooth surface inclined downwards and a lower horizontal tooth surface.
The piston rod is connected with the supporting part through a thrust bearing.
And the hydraulic cylinders of the first jacking device and the second jacking device are both connected with oil pipes, and the two oil pipes are connected with a hydraulic pump through a three-way valve.
The length of the telescopic beam between the first top bracing device and the second top bracing device is adjusted within the range of 30 cm-50 cm, and when the upper telescopic beam is not jacked up by the hydraulic cylinder, the initial height of the upper surface of the upper telescopic beam is 30 cm.
The piston rod is made of alloy steel 40Cr serving as a plunger manufacturing material, the cylinder barrel is made of 45 hardened and tempered steel, the elements of the piston cylinder are sealed by O-shaped sealing rings to ensure that leakage cannot occur, when the hydraulic cylinder stops being used, the liquid level of an oil tank of the hydraulic cylinder does not exceed 80% of the height of a designed oil tank, and when all oil liquid of the hydraulic cylinder returns to a pump body oil tank, no oil liquid overflows out of the oil tank.
The oil pipe is connected with the hydraulic cylinder by a commercially available quick joint, and the joint body of the quick joint adopts conical pipe threads. Thus, the nut buckled and pressed on the joint body can be loosened during disassembly, and the joint body does not need to be disassembled.
The angle of inclination of the upper tooth surface of the ratchet is 44 DEG, and the axial center position angle of the pawl is 30 deg.
The ratchet bars and the pawls are made of 40Cr, and the upper telescopic beam and the lower telescopic beam are made of high-strength steel.
The hydraulic pump comprises a pump body part, a handle part, an oil tank, a connecting part, an oil injection device and an oil discharge device, wherein the hydraulic cylinders are used for generating power for jacking heavy object rescue by transmitting hydraulic oil to the hydraulic cylinders through interaction, and wounded persons pressed by heavy objects after disasters can be quickly rescued in the environment that large-scale rescue equipment cannot be used, and no electric power or manpower can not be used and the heavy objects cannot be loosened in a large range.
When a heavy object is not completely pressed on a human body and a gap is formed between the heavy object and the human body, a first top supporting device and a second top supporting device are placed on two sides of the human body, an upper telescopic beam is embedded into the gap between the heavy object and the human body and the length of the upper telescopic beam is adjusted, a lower telescopic beam is embedded below the human body in the same mode, an annular protection area is formed on the human body, a hydraulic pump is started to jack up the heavy object, hand pressing is stopped after enough space is formed between the heavy object and the compressed person, the compressed person is pulled out in time and sent for treatment, and the heavy object can be supported by using some supports after rescue is finished so as to relieve pressure and unlock the robot and carry out the next rescue task. When no space for embedding the upper telescopic beam is arranged between the weight and the human body, the first cross arm and the second cross arm can be disassembled, and then the first jacking device and the second jacking device are separately used and are respectively placed on two sides of the human body to jack the weight.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A rescue robot, its characterized in that: the device comprises a top bracing system and a power system, wherein the top bracing system comprises a first top bracing device, a second top bracing device and a telescopic device, and the power system comprises a hydraulic pump;
the first top support device and the second top support device respectively comprise a base, a supporting part and a hydraulic cylinder, the hydraulic cylinder is arranged on the base, the hydraulic cylinder is connected with the hydraulic cylinder, the hydraulic cylinder comprises a cylinder barrel and a piston rod, and the tail end of the piston rod is rotatably connected with the bottom of the supporting part;
the telescopic device comprises a detachable upper telescopic beam, and the supporting part of the first top support device and the supporting part of the second top support device are detachably connected through the upper telescopic beam, so that the supporting part and the upper telescopic beam are driven to lift by the hydraulic cylinder.
2. A rescue robot as claimed in claim 1, characterized in that: the telescopic device further comprises a detachable lower telescopic beam, and the base of the first top bracing device and the base of the second top bracing device are detachably connected through the lower telescopic beam, so that an adjustable protection space is formed among the first top bracing device, the upper telescopic beam, the second top bracing device and the lower telescopic beam.
3. A rescue robot as claimed in claim 2, characterized in that: the upper telescopic beam and the lower telescopic beam respectively comprise a first cross arm, a second cross arm and a fixing bolt;
one end of the first cross arm is provided with a first sliding groove, one end of the second cross arm is provided with a filler rod, and the filler rod is detachably inserted into the first sliding groove;
the side surface of the first cross arm is provided with a threaded hole, the threaded hole is communicated into the first sliding groove from the outer side of the first cross arm, one side of the fillet, corresponding to the threaded hole, is provided with a fixing groove, and a fixing bolt penetrates through the threaded hole and is clamped into the fixing groove to abut against the fillet.
4. A rescue robot as claimed in claim 1, characterized in that: a self-locking mechanism for preventing the supporting part from sliding down is arranged between the base and the supporting part.
5. A rescue robot as claimed in claim 4, characterized in that: the self-locking mechanism comprises a ratchet strip, a spring and a swing shaft, the top end of the ratchet strip is fixedly connected with the supporting part, and one side of the ratchet strip is provided with a ratchet;
the swing shaft is rotatably connected with the base, the swing shaft is provided with a pawl for preventing the ratchet bar from sliding downwards, and the spring is connected between the pawl and the base, so that the pawl is propped against the ratchet under the elastic force of the spring.
6. A rescue robot as claimed in claim 5, characterized in that: open on the base has the second spout, and in the second spout was all located to ratchet and pawl, the one side relative with the ratchet was the smooth surface on the ratchet, the inner wall sliding connection of smooth surface and second spout.
7. The rescue robot as claimed in claim 6, wherein: the spring is V-arrangement spring, and one side fixed connection of V-arrangement spring is on the inner wall of second spout, and the opposite side and the pawl fixed connection of V-arrangement spring.
8. A rescue robot as claimed in claim 5, characterized in that: the ratchet teeth are asymmetrical trapezoidal teeth and comprise an upper tooth surface inclined downwards and a lower horizontal tooth surface.
9. A rescue robot as claimed in claim 1, characterized in that: the piston rod is connected with the supporting part through a thrust bearing.
10. A rescue robot as claimed in claim 1, characterized in that: and the hydraulic cylinders of the first jacking device and the second jacking device are both connected with oil pipes, and the two oil pipes are connected with a hydraulic pump through a three-way valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110125690.3A CN112894851B (en) | 2021-01-29 | 2021-01-29 | Rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110125690.3A CN112894851B (en) | 2021-01-29 | 2021-01-29 | Rescue robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112894851A true CN112894851A (en) | 2021-06-04 |
| CN112894851B CN112894851B (en) | 2022-09-06 |
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| CN202110125690.3A Active CN112894851B (en) | 2021-01-29 | 2021-01-29 | Rescue robot |
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| CN (1) | CN112894851B (en) |
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|---|---|
| CN112894851B (en) | 2022-09-06 |
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