CN113199495A

CN113199495A - Rescue robot with adjustable clamping jaw position

Info

Publication number: CN113199495A
Application number: CN202110765372.3A
Authority: CN
Inventors: 刘连荣; 杨杰; 陈东亮; 关玉金
Original assignee: Jiangsu Sanming Zhida Technology Co ltd
Current assignee: Qingdao ivanos Transmission Machinery Co.,Ltd.
Priority date: 2021-07-07
Filing date: 2021-07-07
Publication date: 2021-08-03
Anticipated expiration: 2041-07-07
Also published as: CN113199495B

Abstract

The invention relates to the technical field of rescue equipment, and particularly discloses a rescue robot with an adjustable clamping jaw position, which comprises a rescue robot body, a containing box, a driving mechanism I, a supporting plate, a clamping jaw and a driving mechanism II, wherein the containing box is arranged on the rescue robot body; the storage box is arranged above the rescue robot body, an opening is formed in the upper portion of the storage box, and a baffle capable of moving horizontally is arranged at the opening; the clamping jaw is arranged on the support plate and can vertically move in the containing box or extend out of the opening of the containing box under the driving of the driving mechanism I; the clamping jaw can move horizontally and vertically under the driving of the driving mechanism II. The clamping jaw can move in the three-dimensional direction of the space and can be accommodated.

Description

Rescue robot with adjustable clamping jaw position

Technical Field

The invention relates to the technical field of rescue equipment, in particular to a rescue robot with an adjustable clamping jaw position.

Background

The rescue robot is a robot developed by adopting advanced science and technology for rescue, such as an earthquake rescue robot, and is a robot specially used for searching survivors in the ruins of underground shopping malls after a major earthquake to execute rescue tasks. The clamping jaw of rescue robot is used for clearing up the barrier usually or snatchs the goods and materials, and the clamping jaw of current rescue robot can only do the action of snatching for the rescue robot body, and the position is fixed, need remove or go up and down rescue robot position to the barrier of different positions and just can accomplish the barrier of clearing up, wastes time and energy, and work efficiency is low, and the clamping jaw exposes externally easy wearing and tearing and corruption. Based on the rescue robot, the invention provides the rescue robot with the clamping jaw capable of being accommodated.

Disclosure of Invention

In view of the technical problems in the background art, the invention provides a rescue robot with a clamping jaw capable of being accommodated, and the position of the clamping jaw is adjustable. In order to achieve the purpose, the invention provides the following technical scheme: a rescue robot with an adjustable clamping jaw position comprises a rescue robot body, and further comprises a storage box, a driving mechanism I, a support plate, a clamping jaw and a driving mechanism II; the storage box is arranged above the rescue robot body, an opening is formed in the side wall of one side of the storage box, and a horizontally movable baffle capable of controlling the opening and closing of the opening is arranged at the opening; the clamping jaw is arranged on the support plate and can horizontally move in the containing box or extend out of the opening of the containing box under the driving of the driving mechanism I; the clamping jaw can move horizontally and vertically under the driving of the driving mechanism II; the jaws are movable in three dimensions in space.

The driving mechanism I comprises a worm, a rotating column, a fixing ring, a connecting rod, a screw and a limiting rod; two ends of the worm are respectively and rotatably connected with the inner walls of two sides of the containing box; the rotary column is horizontally arranged, a fixing ring is sleeved on the rotary column, connecting rods extend outwards from two sides of the fixing ring, and the other ends of the two connecting rods are fixedly connected with the inner wall of the containing box respectively; a worm wheel meshed with the worm is sleeved on the rotating column, and an internal thread hole is formed in the center position penetrating through the rotating column and the worm wheel; the external thread of the screw is in threaded connection with the internal thread holes of the rotary column and the worm wheel; a groove along the length direction of the screw is formed in the outer wall of one end of the screw; one end of the limiting rod is fixedly connected with the inner wall of the containing box, the other end of the limiting rod is abutted against the groove of the outer wall of the screw, and the limiting rod is matched with the groove of the outer wall and can move along the groove of the outer wall; the support plate is detachably connected with the other end of the screw rod.

The driving mechanism II comprises a support I, a support II, a screw I, a screw II and a moving rod; the number of the support I and the number of the support II are two; the two supports I are sequentially arranged at one side of the support plate along the vertical direction; two ends of the lead screw I are respectively and rotatably connected with the corresponding support I; the screw I is provided with a sliding block nut I matched with the screw I; a moving plate is horizontally arranged on the other side of the support plate in an extending mode through the slider nut I, and a through groove is formed in the moving plate along the length direction; the two supports II are sequentially arranged at one end of the support plate along the horizontal direction; two ends of the screw II are respectively and rotatably connected with the corresponding supports II; the screw II is provided with a sliding block nut II matched with the screw II; the movable rod is vertically arranged, one end of the movable rod is fixedly connected with the sliding block nut II, and the other end of the movable rod is provided with a limiting seat; the moving block is sleeved on the moving rod; one side surface of the moving block is provided with a columnar bulge matched with the moving plate through groove, and the columnar bulge is arranged in the moving plate through groove; and a clamping jaw is arranged on the other side surface of the moving block.

Be equipped with the draw-in groove on the column spinner, draw-in groove department is equipped with the solid fixed ring with draw-in groove looks adaptation.

And a through hole matched with the screw rod is formed in the side wall of the other side of the containing box corresponding to the screw rod.

One end of the screw rod is rotatably arranged on the inner wall of the containing box through a motor.

One end of the screw rod I is rotatably arranged on the support I through a motor.

One end of the screw II is rotatably arranged on the support II through a motor.

The baffle is driven by the cylinder to move vertically at the opening of the containing box.

The invention has the beneficial effects that: according to the invention, the driving mechanism I and the driving mechanism II are arranged, so that the clamping jaw can move in the three-dimensional direction of the space, the position adjustment is realized, the obstacle can be conveniently cleaned or the material can be conveniently grabbed, the time and the labor are saved, and the operation efficiency is improved.

Set up actuating mechanism I, through corotation or reversal motor, drive the anticlockwise/clockwise rotation of worm, drive worm wheel and column spinner clockwise/anticlockwise rotation, under spacing of spacing and screw rod recess, with worm wheel and column spinner threaded connection's screw rod horizontal migration, drive the clamping jaw at X axle direction motion, can be in containing box horizontal migration or stretch out the containing box opening.

Through setting up actuating mechanism II for the clamping jaw follows the removal of movable block along Y axle and Z axle optional position on the extension board.

The containing box lateral wall is equipped with the opening, and the opening part is equipped with the horizontal migration's that the control opening opened and shut baffle, when moving baffle exposes the containing box opening, the clamping jaw can stretch out the containing box and carry out the operation, and in the containing box can be got back to the clamping jaw when not carrying out the operation, the baffle blocked the opening, prevents to advance the in-process and is infected with the dust or corroded and wearing and tearing or the clamping jaw stretches out the outside and cause the interference to external environment.

Drawings

Fig. 1 is a schematic structural diagram of the rescue robot of the invention.

Fig. 2 is a partially enlarged view of a in fig. 1.

Fig. 3 is a schematic diagram of the position structure of the driving mechanism II in the invention.

Fig. 4 is a schematic view of the internal structure of the storage box of the present invention.

Fig. 5 is a schematic view of the position structure of the driving mechanism i in the present invention.

In the figure, 1-a rescue robot body, 2-a baffle, 3-a containing box, 301-an opening, 4-a support I, 5-a driving mechanism I, 6-a worm wheel, 7-a screw rod, 701-a groove, 8-a support plate, 9-a driving mechanism II, 10-a clamping jaw, 11-a screw rod I, 12-a slider nut I, 13-a slider nut II, 14-a screw rod II, 15-a support II, 16-a moving block, 17-a moving plate, 1701-a through groove, 18-a moving rod, 19-a limiting seat, 20-a columnar bulge, 21-a motor I, 22-a connecting rod, 23-a fixing ring, 24-a limiting rod, 25-a rotating column, 26-a worm, 27-a motor II and 28-a motor III.

Detailed Description

With reference to fig. 1 to 5, a rescue robot with an adjustable clamping jaw 10 comprises a rescue robot body 1, a storage box 3, a driving mechanism i 5, a support plate 8, a clamping jaw 10 and a driving mechanism ii 9; the containing box 3 is arranged above the rescue robot body 1, the side wall of the containing box 3 is provided with an opening 301, a baffle plate 2 for controlling the opening 301 to open and close is arranged at the opening 301, when the movable baffle plate 2 is exposed out of the opening 301 of the containing box 3, the clamping jaw 10 can extend out of the containing box 3 for operation, when the operation is not performed, the clamping jaw 10 can return into the containing box 3, the baffle plate 2 blocks the opening 301, and the phenomenon that dust is polluted or corroded in the advancing process or the clamping jaw 10 extends out of the outside to cause interference to the external environment is prevented; the clamping jaw 10 is arranged on the support plate 8, and the clamping jaw 10 can horizontally move in the containing box 3 or extend out of the opening 301 of the containing box 3 under the driving of the driving mechanism I5; the clamping jaw 10 can move horizontally and vertically under the driving of the driving mechanism II 9; a Cartesian space rectangular coordinate system is established in the space, as shown in FIG. 1, the clamping jaw 10 is assumed to move horizontally on the containing box 3 as an X axis, on the support plate 8 as a Y axis and as a Z axis, and the clamping jaw 10 can move in the three-dimensional direction of the space to realize position adjustment.

As shown in fig. 4-5, the driving mechanism i 5 includes a worm 26, a rotary column 25, a fixing ring 23, a connecting rod 22, a screw 7, and a limiting rod 24; two ends of the worm 26 are respectively connected with the inner walls of two sides of the containing box 3 in a rotating way; the rotating column 25 is horizontally arranged, the fixing ring 23 is sleeved on the rotating column 25, the rotating column 25 can only rotate along the fixing ring 23 without moving axially, the connecting rods 22 extend outwards from two sides of the fixing ring 23, and the other ends of the two connecting rods 22 are respectively fixedly connected with the inner wall of the containing box 3; the rotating column 25 is sleeved with a worm wheel 6 meshed with the worm 26, and an internal thread hole is formed in the center position penetrating through the rotating column 25 and the worm wheel 6; the external thread of the screw 7 is in threaded connection with the internal thread holes of the rotary column 25 and the worm wheel 6; a groove 701 along the length direction of the screw 7 is arranged on the outer wall of one end of the screw 7; one end of a limiting rod 24 is fixedly connected with the inner wall of the containing box 3, the other end of the limiting rod is abutted against the outer wall groove 701 of the screw 7, and the limiting rod 24 is matched with the outer wall groove 701 and can move along the outer wall groove 701 to limit the screw 7 and only can move along the length direction of the screw 7; the support plate 8 is detachably connected with the other end face of the screw 7, the support plate 8 is vertically arranged and perpendicular to the screw 7, the clamping jaw 10 is the same as the screw in the length direction in the horizontal moving direction of the containing box 3 and is an X axis, and the plane where the support plate 8 is located is perpendicular to the X axis.

As shown in fig. 2-3, the driving mechanism ii 9 includes a support i 4, a support ii 15, a lead screw i 11, a lead screw ii 14, and a moving rod 18; the number of the supports I4 and the number of the supports II 15 are two; the two supports I4 are sequentially arranged at one side of the support plate 8 along the vertical direction; two ends of the screw I11 are respectively and rotatably connected with the corresponding support I4; a sliding block nut I12 matched with the screw I11 is arranged on the screw I11; a moving plate 17 is horizontally arranged on the other side of the support plate 8 in an extending mode through the slider nut I12, and a through groove 1701 is formed in the moving plate 17 along the length direction; the two supports II 15 are sequentially arranged at one end of the support plate 8 along the horizontal direction; two ends of the screw II 14 are respectively and rotatably connected with the corresponding supports II 15; a sliding block nut II 13 matched with the screw rod II 14 is arranged on the screw rod II 14; the movable rod 18 is vertically arranged, one end of the movable rod is fixedly connected with the sliding block nut II 13, and the other end of the movable rod is provided with a limiting seat 19; a moving block 16 is sleeved on the moving rod 18; one side surface of the moving block 16 is provided with a columnar bulge 20 matched with the through groove 1701 of the moving plate 17, and the columnar bulge 20 is arranged in the through groove 1701 of the moving plate 17; the other side surface of the moving block 16 is provided with a clamping jaw 10. When the screw II 14 rotates, the slider nut II 13 horizontally moves along the length direction of the screw II 14 under the limit of the moving plate 17 and the columnar bulge 20, and the moving rod 18 drives the columnar bulge 20 on the moving block 16 to horizontally move in the through groove 1701 on the moving plate 17, so that the clamping jaw on the moving plate 17 horizontally moves (in the Y-axis direction), and the adjustment in the Y-axis direction is realized; the slider nut I12 moves up and down under the limiting of the moving plate 17 and the columnar protrusions 20, the slider nut I12 drives the through groove 1701 of the moving plate 17 to push the columnar protrusions 20 on the moving block 16 to move up and down, so that the moving block 16 vertically moves on the moving rod 18, and the movement in the Z-axis direction is realized; the clamping jaw 10 follows the moving block 16.

Be equipped with the draw-in groove on the column spinner 25, draw-in groove department is equipped with the solid fixed ring 23 with draw-in groove looks adaptation, realizes that the column spinner 25 can only rotate along solid fixed ring 23, and does not carry out axial displacement.

Usually, in order to make the support plate 8, the clamping jaw 10, the driving mechanism ii 9 and the screw 7 all enter the containing box 3, the space between the inner wall of the containing box 3 on the side far from the opening 301 and the rotary column 25 needs to be large enough, so it is preferable that a through hole matched with the screw 7 is provided on the side wall of the other side of the containing box 3 corresponding to the screw 7, when the support plate 8, the clamping jaw 10 and the driving mechanism ii 9 all enter the containing box 3, one end of the screw 7 extends out of the through hole of the containing box 3, and partial space of the containing box 3 can be saved.

One end of the screw 7 is rotatably provided on the inner wall of the storage box 3 by a motor (as shown in fig. 4 to 5, motor i 21).

One end of a screw I11 is rotatably arranged on the support I4 through a motor II 27, and one end of a screw II 14 is rotatably arranged on the support II 15 through a motor III 28.

Motor I21 on actuating mechanism I5, motor II 27 that lead screw I11 corresponds and the III accessible manual observation barrier positions of the motor that lead screw II 14 corresponds, manual remote control's mode is adjusted and is started, also can shoot the scanning barrier through the camera on rescue robot body 1, transmit to master control system and image recognizer, when image recognizer discernment barrier characteristic, transmit data to master control system through three-dimensional range finding sensor, control motor I21, the motor that lead screw I11 and lead screw II 14 correspond starts or stops, thereby realize clamping jaw 10 in three-dimensional space's position adjustment.

The baffle 2 is driven by a cylinder to move vertically (not shown) at the opening 301 of the receiving box 3.

As shown in fig. 1-5, the working principle and flow of the present invention are as follows:

when the clamping jaw 10 is needed, the baffle 2 moves to expose the opening 301 of the containing box 3, as shown in fig. 4, the motor I21 is started, the motor I21 rotates positively to drive the worm 26 to rotate anticlockwise to drive the worm wheel 6 and the rotary column 25 to rotate clockwise, the screw 7 in threaded connection with the worm wheel 6 and the rotary column 25 moves towards the opening 301 under the limiting of the limiting rod 24 and the screw 7 groove 701, otherwise, the motor I21 rotates reversely to drive the worm 26 to rotate clockwise to drive the worm wheel 6 and the rotary column 25 to rotate anticlockwise, and the screw 7 in threaded connection with the worm wheel 6 and the rotary column 25 moves towards the direction of keeping away from the opening 301 of the containing box 3. The support plate 8 on the screw 7 moves horizontally (in the X-axis direction as described above) along with the screw 7, and is adjusted to a proper position, the motor i 21 stops rotating, and the clamping jaw 10 is completely exposed outside the containing box 3, as shown in fig. 1.

As shown in fig. 2-3, when the position (Y-axis direction) of the clamping jaw 10 in the horizontal direction of the support plate 8 needs to be adjusted, the motor iii 28 drives the lead screw ii 14 to rotate, the slider nut ii 13 moves horizontally along the length direction of the lead screw ii 14 under the limit of the moving plate 17 and the columnar projection 20, and the moving rod 18 drives the columnar projection 20 on the moving block 16 to move horizontally in the through groove 1701 on the moving plate 17, so that the clamping jaw on the moving plate 17 moves horizontally (Y-axis direction).

When the position of the clamping jaw 10 needs to be adjusted in the vertical direction (Z axis), the motor II 27 drives the screw rod I11 to rotate, the slider nut I12 moves up and down under the limiting effect of the moving plate 17 and the columnar bulge 20, the slider nut I12 drives the through groove 1701 of the moving plate 17 to push the columnar bulge 20 on the moving block 16 to move up and down, so that the moving block 16 vertically moves on the moving rod 18, and the movement in the Z axis direction is achieved.

When the operation is completed, the motor I21 rotates reversely to drive the screw rod 7 to move downwards, the support plate 8 on the screw rod 7 moves towards the storage box 3 along with the screw rod 7 until completely entering the storage box 3, the motor I21 stops rotating, the baffle plate 2 moves horizontally to block the opening 301 of the storage box 3, and the dust or the corrosion in the advancing process is prevented.

Claims

1. The utility model provides a clamping jaw position adjustable rescue robot, includes rescue robot body, its characterized in that: the device also comprises a storage box, a driving mechanism I, a support plate, a clamping jaw and a driving mechanism II; the storage box is arranged above the rescue robot body, an opening is formed in the side wall of one side of the storage box, and a horizontally movable baffle capable of controlling the opening and closing of the opening is arranged at the opening; the clamping jaw is arranged on the support plate and can horizontally move in the containing box or extend out of the opening of the containing box under the driving of the driving mechanism I; the clamping jaw can move horizontally and vertically under the driving of the driving mechanism II.

2. Rescue robot with adjustable jaw position according to claim 1, characterized in that: the driving mechanism I comprises a worm, a rotating column, a fixing ring, a connecting rod, a screw and a limiting rod; two ends of the worm are respectively and rotatably connected with the inner walls of two sides of the containing box; the rotary column is horizontally arranged, a fixing ring is sleeved on the rotary column, connecting rods extend outwards from two sides of the fixing ring, and the other ends of the two connecting rods are fixedly connected with the inner wall of the containing box respectively; a worm wheel meshed with the worm is sleeved on the rotating column, and an internal thread hole is formed in the center position penetrating through the rotating column and the worm wheel; the external thread of the screw is in threaded connection with the internal thread holes of the rotary column and the worm wheel; a groove along the length direction of the screw is formed in the outer wall of one end of the screw; one end of the limiting rod is fixedly connected with the inner wall of the containing box, the other end of the limiting rod is abutted against the groove of the outer wall of the screw, and the limiting rod is matched with the groove of the outer wall and can move along the groove of the outer wall; the support plate is detachably connected with the other end of the screw rod.

3. Rescue robot with adjustable jaw position according to claim 1, characterized in that: the driving mechanism II comprises a support I, a support II, a screw I, a screw II and a moving rod; the number of the support I and the number of the support II are two; the two supports I are sequentially arranged at one side of the support plate along the vertical direction; two ends of the lead screw I are respectively and rotatably connected with the corresponding support I; the screw I is provided with a sliding block nut I matched with the screw I; a moving plate is horizontally arranged on the other side of the support plate in an extending mode through the slider nut I, and a through groove is formed in the moving plate along the length direction; the two supports II are sequentially arranged at one end of the support plate along the horizontal direction; two ends of the screw II are respectively and rotatably connected with the corresponding supports II; the screw II is provided with a sliding block nut II matched with the screw II; the movable rod is vertically arranged, one end of the movable rod is fixedly connected with the sliding block nut II, and the other end of the movable rod is provided with a limiting seat; the moving block is sleeved on the moving rod; one side surface of the moving block is provided with a columnar bulge matched with the moving plate through groove, and the columnar bulge is arranged in the moving plate through groove; and a clamping jaw is arranged on the other side surface of the moving block.

4. Rescue robot with adjustable jaw position according to claim 2, characterized in that: be equipped with the draw-in groove on the column spinner, draw-in groove department is equipped with the solid fixed ring with draw-in groove looks adaptation.

5. Rescue robot with adjustable jaw position according to claim 2, characterized in that: and a through hole matched with the screw rod is formed in the side wall of the other side of the containing box corresponding to the screw rod.

6. Rescue robot with adjustable jaw position according to claim 2, characterized in that: one end of the screw rod is rotatably arranged on the inner wall of the containing box through a motor.

7. Rescue robot with adjustable jaw position according to claim 3, characterized in that: one end of the screw rod I is rotatably arranged on the support I through a motor.

8. Rescue robot with adjustable jaw position according to claim 3, characterized in that: one end of the screw II is rotatably arranged on the support II through a motor.

9. Rescue robot with adjustable jaw position according to claim 1, characterized in that: the baffle is driven by the cylinder to move horizontally at the opening of the containing box.