CN113370222B - Crawler-type earthquake search and rescue machine - Google Patents
Crawler-type earthquake search and rescue machine Download PDFInfo
- Publication number
- CN113370222B CN113370222B CN202010154936.5A CN202010154936A CN113370222B CN 113370222 B CN113370222 B CN 113370222B CN 202010154936 A CN202010154936 A CN 202010154936A CN 113370222 B CN113370222 B CN 113370222B
- Authority
- CN
- China
- Prior art keywords
- mechanical
- crawler
- detection
- fixed
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 claims abstract description 91
- 210000000707 wrist Anatomy 0.000 claims description 8
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000003137 locomotive effect Effects 0.000 claims 3
- 238000012790 confirmation Methods 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 9
- 238000004140 cleaning Methods 0.000 description 4
- 239000010985 leather Substances 0.000 description 3
- 239000004575 stone Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 241000270295 Serpentes Species 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a crawler-type earthquake search and rescue machine which comprises a crawler body, a control room arranged on the crawler body, a control system for controlling the crawler body, a mechanical detection arm, a mechanical gripper and a mechanical bucket, wherein the mechanical detection arm, the mechanical gripper and the mechanical bucket are arranged on the crawler body, and a detection device is arranged on the mechanical detection arm. According to the invention, the crawler body can walk on complex road conditions after earthquake, and the mechanical detection arms with the detection devices are respectively arranged on the front side, the left side and the right side of the chassis of the crawler body and are matched with each other to detect target detection points, so that the detection degree is higher and finer, and the search and rescue can be conveniently carried out. The chassis is also provided with a mechanical gripper and a mechanical bucket, so that the ruins after detection and confirmation can be cleaned conveniently, labor is saved, the chassis is also provided with a remote control device, the remote control and the monitoring of detection information can be carried out through a 50-1000 meter remote control operation system, disaster relief personnel are prevented from being threatened by aftershock, and the safety is higher.
Description
Technical Field
The invention relates to the technical field of fire-fighting equipment, in particular to a crawler-type earthquake search and rescue machine.
Background
After the earthquake occurs, rescue workers rush to disaster areas to rescue, but after-earthquake disaster areas frequently generate aftershocks which have serious threats to the life safety of the rescue workers, and the aftershocks generally occur in the same place where the main earthquake occurs, although the aftershocks are generally smaller than the main earthquake in strength, the aftershocks are easy to cause secondary damage to houses, high buildings and the like which are swaying and falling after the main earthquake or have collapsed, so the disaster areas where the main earthquake occurs are extremely dangerous, and the rescue workers enter themselves in a trade manner and have life danger.
Because trapped persons are buried in ruins, the positions of the trapped persons need to be confirmed firstly in the search and rescue process, and in order to quickly open a rescue channel, no trapped persons need to be ensured on the rescue channel path so as to avoid secondary damage to the trapped persons when the rescue channel is opened, various detection instruments are needed to detect whether trapped persons exist at a target point, if the trapped persons exist, the rescue personnel can quickly rescue through various rescue equipment, and after the rescue is finished, the rescue channel can be quickly opened by pushing the mechanical equipment in a horizontal mode; if no trapped person is detected, rescue workers can directly and quickly develop the rescue channel through flat pushing of mechanical equipment, so that the rescue speed is increased and the time for opening the rescue channel is shortened. Therefore, there is an urgent need for an earthquake search and rescue machine that can be remotely controlled by a remote controller to enable the earthquake search and rescue machine to automatically enter a jolt area to detect trapped people, and can assist in opening a rescue channel.
Disclosure of Invention
In order to fill the blank of the prior art, the invention provides a crawler-type earthquake search and rescue machine which can be remotely controlled by a remote controller to enable the person to automatically enter a jolt area to detect trapped persons and can assist in getting through a rescue channel.
The utility model provides a crawler-type earthquake search and rescue machine, includes the crawler-type machine automobile body and sets up the control room on the crawler-type machine automobile body, be provided with the control in the control room control system of crawler-type machine automobile body, the control room top still is provided with non-blind area camera system, non-blind area camera system's signal output part is connected control system's signal input part, still including setting up mechanical detection arm, mechanical tongs and the mechanical bucket on the crawler-type machine automobile body, be provided with detection device on the mechanical detection arm, detection device's signal output part is connected control system's signal input part, mechanical detection arm, mechanical tongs, mechanical bucket and detection device's signal input part is connected respectively control system's signal output part, control system's signal terminal is connected remote control device's signal terminal.
As the improvement of the scheme, the front side, the left side and the right side of the crawler body are respectively provided with the mechanical detection arms, the fixed ends of the mechanical detection arms are fixed on the crawler body, the detection device is arranged at the free ends of the mechanical detection arms, and the free ends of the mechanical detection arms can rotate around the fixed ends of the mechanical detection arms.
As the improvement of the scheme, the mechanical detection arm comprises a base, a mechanical arm and a mechanical arm, wherein the base is fixed on a chassis of the crawler body, the fixed end of the mechanical arm is rotationally connected with the base, the fixed end of the mechanical arm is connected with the free end of the mechanical arm, and the free end of the mechanical arm is provided with the detection device.
As the improvement of above-mentioned scheme, detection device includes fixed plate, connecting plate and detection instrument, fixed plate one end is connected the wrist free end, the other end with the connecting plate is connected fixedly, detection instrument install in on the connecting plate, detection instrument's signal input part is connected control system's signal output part.
As an improvement of the scheme, the detecting instrument is one or more of an X-ray machine, an acoustic wave life detector, a thermal infrared life detector, an optical life detector and a radar life detector.
As the improvement of above-mentioned scheme, mechanical tongs include base I, rocking arm I and tongs, base I is fixed in on the chassis of crawler-type aircraft automobile body, rocking arm I stiff end with base I rotates and links to each other, rocking arm I free end is installed the tongs.
As the improvement of above-mentioned scheme, machinery bucket includes base II, rocking arm II and bucket, base II is fixed in on the chassis, rocking arm II stiff end with base II rotates and links to each other, rocking arm II free end is installed the bucket.
As an improvement of the scheme, the length of the rocker arm I is longer than the farthest distance between the center of the base I and the edge of the chassis, and the length of the rocker arm II is longer than the farthest distance between the center of the base II and the edge of the chassis.
As an improvement of the scheme, the control system comprises a power system and a wireless intercom broadcasting system, wherein the power system is an electric driving system.
As an improvement of the scheme, the remote control device further comprises a remote control device, wherein the remote control device comprises a main controller electrically connected with the control system and a wireless receiving module electrically connected with the main controller, and the wireless receiving module is used for receiving a remote control terminal instruction.
The beneficial effects of the invention are as follows: according to the invention, the crawler body can walk on complex road conditions after earthquake, the mechanical detection arms with detection instruments are respectively arranged on the front side, the left side and the right side of the chassis of the crawler body to detect target detection points, and the mechanical detection arms arranged on the front side, the left side and the right side of the chassis not only can detect the target detection points on the front side, the left side and the right side of the chassis, but also can detect the same target detection point in a mutually matched manner, so that the detection degree is higher and finer, and the search and rescue are convenient. The chassis is also provided with a mechanical gripper and a mechanical bucket, so that the ruins after detection and confirmation can be cleaned conveniently, labor is saved, the chassis is also provided with a remote control device, remote control and monitoring of detection information can be carried out through a 50-1000 meter remote control operation system, rescue workers are prevented from being threatened by aftershocks, and the safety is higher. The technical scheme is named as a crawler-type earthquake search and rescue machine, can be used under actual non-light earthquake conditions, and can also be used under collapse, blasting, removal environments of some buildings, pavements, bridges and the like.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of the structure of the present invention;
fig. 2 is a schematic view of the structure of the detection device of the present invention mounted on a mechanical detection arm.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The present invention will be described in detail with reference to examples.
The invention relates to a crawler-type earthquake search and rescue machine, and the preferred embodiment of the invention is further described in detail below.
As shown in FIG. 1, the crawler-type earthquake search and rescue machine comprises a crawler body 10, a control room 11 arranged on the crawler body 10, a control system arranged in the control room 11 and a remote control device, wherein the remote control device is preferably an industrial non-standard remote control device, the control system controls the crawler body 10 to drive and mechanically act, the remote control device comprises a main controller electrically connected with the control system and a wireless receiving module electrically connected with the main controller, and the wireless receiving module is used for receiving instructions of a remote control terminal, namely the remote control module. The control room 11 top still is provided with non-blind area camera system for advance and search and rescue to search and rescue the machine and carry out real-time looking at, still including setting up mechanical detection arm 20, mechanical tongs 30 and the mechanical bucket 40 on the crawler body 10, be provided with detection device 50 on the mechanical detection arm 20, the signal output part of non-blind area camera system, detection device 50 is connected control system's signal input part, mechanical detection arm 20, mechanical tongs 30, mechanical bucket 40 and detection device 50's signal input part are connected respectively control system's signal output part, control system's signal terminal is connected remote control device's signal terminal. The mechanical detection arm 20 is used for carrying out 3D shape following detection on ruins in the way of the track of the crawler body 10, trapped people are found, after a rescuer confirms that no trapped people exist, the crawler body 10 continues to advance forwards or according to actual conditions, sundries are cleaned at the detected places through the mechanical grab 30 and the mechanical bucket 40, the mechanical grab 30 is used for grabbing massive concrete slabs or stones and other blocky objects, the mechanical bucket 40 is used for digging pits or digging fine and broken stones and other finely divided objects, the two are matched with each other to cope with most occasions, a channel for the crawler body 10 and the rescuer to pass through is cleared out, the rescuer can carry out remote control and monitoring through a remote control terminal such as a remote controller or a notebook computer or a tablet computer, preferably 50-1000 m remote controller is used for carrying out remote control, the movement of the crawler body 10 and the movements of the mechanical detection arm 20, the mechanical grab 30 and the mechanical bucket 40 are controlled, the rescuer does not need to directly enter the ruins with unknown conditions, the rescue worker is prevented from being threatened by vibration, and the life safety of the rescuer is guaranteed to be higher while the rescue is carried out. When the mechanical gripper 30 and the mechanical bucket 40 are operated by a single person, one of the two is in a folded or idle state, and the other one is also rotated to the opposite direction of the working arm, so that the balance of the counterweight is kept, when a plurality of persons operate, the two remote controllers or handles can be used for operating respectively, and work in the two directions respectively, so that the working efficiency is improved, and the rescue time is shortened.
Preferably, the front side, the left side and the right side of the crawler body 10 are respectively provided with the mechanical detection arm 20, preferably respectively arranged at the position of the middle part of the front side of the crawler body 10 close to the front end face of the crawler body 10, the position of the middle part of the left side of the crawler body 10 close to the left end face of the crawler body 10 and the position of the middle part of the right side of the crawler body 10 close to the right end face of the crawler body 10, the fixed end of the mechanical detection arm 20 is fixed on the crawler body 10, the detection device 50 is arranged at the free end of the mechanical detection arm 20, the mechanical detection arm 20 can freely stretch and retract so that the free end of the mechanical detection arm 20 can detect a target detection point at a far position, the free end of the mechanical detecting arm 20 can rotate 360 degrees around the fixed end of the mechanical detecting arm 20, and the free ends of the three mechanical detecting arms 20 arranged on the front side, the left side and the right side of the crawler body 10 can detect the same target detecting point through free rotation and telescopic interaction, namely the detecting devices 50 of the free ends of the three mechanical detecting arms 20 can mutually cooperate to detect the front side, the left side and the right side of the target detecting point at the same time, so that the target detecting point which is difficult to detect relatively can be detected in an omnibearing manner, and the accuracy of a detecting result is ensured.
As shown in fig. 2, the mechanical detection arm 20 includes a base 21, a mechanical arm 22 and a mechanical arm 23, where the base 21 is a disc-type base 21 to enhance stability, the base 21 is fixed on the chassis 12 of the crawler body 10, the fixed end of the mechanical arm 22 is rotatably connected with the base 21 to realize 360-degree rotation of the mechanical arm 22 on the base 21, the fixed end of the mechanical arm 23 is connected with the free end of the mechanical arm 22, a hydraulic driving device is disposed on the mechanical arm 23, the mechanical arm 23 is stretched and contracted by the hydraulic driving device, the free end of the mechanical arm 23 is provided with the detection device 50, and the detection device 50 mounted on the free end of the mechanical arm 23 can realize omnibearing detection of a target detection point and mutual matching of the detection devices 50 on the three mechanical detection arms 20 by 360-degree rotation of the mechanical arm 22 and stretching and contracting of the mechanical arm 23.
Preferably, the detecting device 50 includes a fixing plate 51, a connecting plate 52, and a detecting instrument 53, where the detecting instrument 53 is one or more of an X-ray machine, an acoustic life detector, a thermal infrared life detector, an optical life detector, and a radar life detector, one end of the fixing plate 51 is connected to the free end of the mechanical wrist 23 and can rotate around the free end of the mechanical wrist 23, the other end of the fixing plate is connected and fixed with the connecting plate 52, the fixing plate 51 is detachably connected with the connecting plate 52, the detecting instrument 53 is mounted at different positions on the connecting plate 52 according to the type of the detecting instrument 53 used by the fixing plate 52, and the fixing plate 51 rotates around the free end of the mechanical wrist 23 in cooperation with the detachable connection mode of the connecting plate 52 and the fixing plate 51, so that the detecting instrument 53 can perform omnibearing detection on a target detecting point, and one or more detecting instruments 53 are mounted on the connecting plate 52 and do not affect each other, and the detecting instruments 53 on the mechanical detecting arms 20 on different sides of the crawler body 10 can cooperate with each other to perform mutual detection on the target detecting point, so as to provide comprehensive information for identifying whether the target rescue personnel are trapped on the target person. The signal input end of the detecting instrument 53 is connected with the signal output end of the control system, and rescue workers can receive detection information and perform remote control operation through a remote controller or a notebook computer or a tablet computer, so that rescue work can be prevented from directly entering a dangerous area.
Preferably, the detecting instrument 53 is one or more of an X-ray machine, an acoustic wave life detector, a thermal infrared life detector, an optical life detector and a radar life detector, and can be used for detecting the life of the target detecting point in a plurality of matching modes so as to find trapped personnel, and can also be used for detecting the life of the target detecting point independently. If the X-ray machine, preferably a high-power X-ray machine, scans the target detection point to obtain an image for a rescue worker to judge whether the target detection point has trapped people or not; the sound wave life detector can identify the sound position of the trapped person by means of sound wave vibration, so that rescue is implemented, and the existence of the earth surface and life at a certain depth below the earth surface can be distinguished; the thermal infrared life detector is high-tech rescue equipment for detecting life signs, is provided with an image display and has a night vision function, different targets are judged mainly through sensing temperature difference, so that the thermal infrared life detector can work normally in darkness, the infrared life detector detects heat of a trapped person, an optical system gathers the received human thermal radiation energy into an electric signal after being collected by an infrared sensor, and an infrared thermal image is displayed through a monitor after being processed, so that rescue workers can be helped to determine the position of the trapped person; the optical life detector is commonly called as a snake eye, carries out life detection by utilizing light reflection, has a tiny probe in front of the detector, can go deep into very tiny gap detection, and can accurately find trapped people, wherein the depth of the trapped people can reach more than tens of meters; the radar life detector analyzes and judges whether a life body exists in ruins or not and specific position information of the life body based on a time domain Doppler effect generated by human body telemechanical motion on radar echoes. The free end of the mechanical detecting arm 20 can be provided with one of the above instruments for detection, or can be provided with a switchable multi-head module, and a plurality of modules are combined to cooperate to detect the target detecting point, so that more accurate conclusions and more abundant information can be obtained for analysis and confirmation of rescue workers. The detecting instrument 53 further comprises a vibration detecting head, the vibration detecting head comprises a universal telescopic support and a vibration detecting contact with multiple sensors, the vibration detecting contact is fixed on the universal telescopic support, the universal telescopic support comprises a spring leather sheath and a telescopic spring fixed in the spring leather sheath, the vibration detecting contact is fixed at the front end of the spring leather sheath, detected signals or signals processed through amplification and the like are sent to a control system by the vibration detecting contact, so that conditions such as knocking vibration of a person or collapse of an internal structure of a building are facilitated to be detected, and the directionality and the effectiveness of rescue are greatly improved.
Preferably, the mechanical gripper 30 comprises a base I31, a rocker arm I32 and a gripper 33, wherein the base I31 is fixed on the chassis 12 of the crawler body 10, the fixed end of the rocker arm I32 is rotationally connected with the base I31, and the free end of the rocker arm I32 is provided with the gripper 33. The mechanical bucket 40 comprises a base II 41, a rocker II 42 and a bucket 43, wherein the base II 41 is fixed on the chassis 12, the fixed end of the rocker II 42 is rotationally connected with the base II 41, and the free end of the rocker II 42 is provided with the bucket 43. The mechanical gripper 30 and the mechanical bucket 40 are used for cleaning obstacles in the travelling path and cleaning areas where no trapped person exists through the gripper 33 and the bucket 43 which are arranged at the free ends respectively, so that the cleaning work is assisted by rescue workers, and life detection and cleaning rescue are integrated. The mechanical gripper 30 and the mechanical bucket 40 may be arranged side by side, or may be arranged in tandem, and when the mechanical grippers are arranged in tandem, the heights of the base I31 and the base II 41 are set to be different in height, so that the rocker arm I32 and the rocker arm II 42 are not affected by each other during working. The length of the rocker arm I32 is longer than the farthest distance between the center of the base I31 and the edge of the chassis 12, so that a gripper 33 arranged at the free end of the rocker arm I32 can extend out of the chassis 12 to clean ruins; the length of the rocker arm II 42 is longer than the farthest distance between the center of the base II 41 and the edge of the chassis 12, so that the bucket 43 arranged at the free end of the rocker arm II 42 can extend out of the chassis 12 to clean ruins.
Preferably, the control system comprises a power system and a wireless intercom broadcasting system, wherein the power system is an electric driving system. Since a plurality of kinds of detecting instruments 53 are influenced by external noise and noise directly influences the detection result, the power system is preferably a silent electric drive system. The wireless intercom broadcasting system is a high-frequency wireless intercom broadcasting system, and the crawler body 10 can be used as a temporary command center through the wireless intercom broadcasting system.
As an alternative embodiment, a container is further disposed on the chassis 12 of the crawler body 10, and the container is fixed on the chassis 12, and is used for storing rescue tools and emergency medical supplies.
As an alternative implementation manner, the top of the control room 11 is provided with a high-power fan, the fan is detachably connected with the top of the control room 11 and can be assembled or disassembled as required, and the signal input end of the fan switch is connected with the signal output end of the control system.
As an optional implementation manner, the top of the control room 11 is further provided with a high-power LED lighting lamp, and a signal input end of the LED lighting lamp switch is connected with a signal output end of the control system for lighting at night.
As an optional implementation manner, the top of the control room 11 is further provided with a blind-area-free pinhole camera system, so that real-time observation and detection are performed on the road surface in front, a signal output end of the blind-area-free pinhole camera system is connected with a signal input end of the control system, and a signal output end of the control system is connected with a signal input end of the remote control device.
As an alternative embodiment, the crawler body 10 may further be detachably provided with a counterweight module, where the counterweight module is used to avoid overturning caused by unbalanced weight of the body when the mechanical gripper 30 and the mechanical bucket 40 operate, and of course, the gravity centers of the crawler chassis are generally relatively stable, and the gravity centers of the mechanical gripper 30 and the mechanical bucket 40 can be coordinated with each other to avoid falling to one side when the mechanical gripper 30 and the mechanical bucket 40 operate alone, but if there is an additional counterweight when the weight is grabbed or lifted, the operation strength of the earthquake search-and-rescue machine can be greatly increased, so that the mechanical gripper 30 and the mechanical bucket 40 grab the lifted object. The counterweight module may include a heavy power module or a diesel engine module or an empty container that may be loaded with concrete or stone to enable flexible use of site resources.
Further, the rear end on the crawler body 10 is provided with an arc guide rail, the arc guide rail is fixed on the crawler chassis for a rigid bearing structure, the radius setting of the arc guide rail is preferably larger to enable the edge of the arc guide rail to exceed the edge range of the crawler chassis, one or more of a control room 11, a container, a high-power fan, a counterweight module and a high-power LED illuminating lamp are movably fixed on the arc guide rail, a control room 11 is preferably movably fixed on the arc guide rail, a high-power fan and a high-power LED illuminating lamp are arranged on one outwards side of the control room 11, a container compartment is arranged inside the control room, and a container with an opening is arranged on the top of the control room. The control room bottom is provided with the brake module, and control room 11 is fixed in on the circular arc guide rail when the brake module starts, and control room 11 can remove when the brake module is relaxed, and this mode of movement can be from removing or external force removes, and from the mode of movement can divide into motor drive, perhaps is provided with the walking wheel that is driven by the motor in control room bottom, and the preferential external force that adopts removes, control room 11 restriction is fixed in on the circular arc track, and both cooperation departments are provided with friction roller, control room 11 needs when removing on the circular arc track, promotes through mechanical tongs 30 and mechanical bucket 40 control room 11 removes to avoided complicated cumbersome actuating mechanism, improved usability and maintainability.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution, which shall be covered by the scope of the claims of the present invention.
Claims (6)
1. The utility model provides a crawler-type earthquake search and rescue machine, includes crawler-type locomotive body (10) and sets up control room (11) on crawler-type locomotive body (10), be provided with the control in control room (11) control system of crawler-type locomotive body (10), its characterized in that: the top of the control room (11) is also provided with a camera system, a signal output end of the camera system is connected with a signal input end of the control system, the crawler belt conveyor comprises a mechanical detection arm (20), a mechanical gripper (30) and a mechanical bucket (40) which are arranged on the crawler belt conveyor body (10), the mechanical detection arm (20) is provided with a detection device (50), and the signal input ends of the mechanical detection arm (20), the mechanical gripper (30), the mechanical bucket (40) and the detection device (50) are respectively connected with the signal output end of the control system;
The remote control device comprises a main controller electrically connected with the control system and a wireless receiving module electrically connected with the main controller, and receives a remote control terminal instruction through the wireless receiving module; when one of the mechanical grippers and the mechanical bucket is operated by a single person, the other one of the mechanical grippers and the mechanical bucket is in a folded or idle state, and can also rotate to the opposite direction of the working arm, so that the balance of the counterweight is kept;
The rear end of the crawler body (10) is provided with an arc guide rail which is a rigid bearing structure and is fixed on a crawler chassis; the edge of the arc guide rail exceeds the range of the edge of the crawler chassis;
The movable control device comprises a circular arc guide rail, wherein a control chamber is movably fixed on the circular arc guide rail, a high-power fan and a high-power LED illuminating lamp are arranged on one outward side of the control chamber, a container compartment is arranged in the control chamber, an open container is arranged on the top of the control chamber, a brake module is arranged at the bottom of the control chamber, the control chamber is fixed on the circular arc guide rail when the brake module is started, the control chamber can move when the brake module is relaxed, the movement mode comprises the movement by adopting external force, the control chamber is limited and fixed on the circular arc guide rail, a friction roller is arranged at the matched position of the control chamber and the circular arc guide rail, and the control chamber is pushed to move through a mechanical gripper and a mechanical bucket when the control chamber needs to move on the circular arc guide rail;
The crawler body (10) is provided with mechanical detection arms (20) on the front side, the left side and the right side respectively, the fixed ends of the mechanical detection arms (20) are fixed on the crawler body (10), the detection devices (50) are arranged at the free ends of the mechanical detection arms (20), and the free ends of the mechanical detection arms (20) can rotate around the fixed ends of the mechanical detection arms (20);
The mechanical detection arm (20) comprises a base (21), a mechanical arm (22) and a mechanical wrist (23), wherein the base (21) is fixed on a chassis (12) of the crawler body (10), the fixed end of the mechanical arm (22) is rotationally connected with the base (21), the fixed end of the mechanical wrist (23) is connected with the free end of the mechanical arm (22), and the free end of the mechanical wrist (23) is provided with the detection device (50);
The detection device (50) comprises a fixed plate (51), a connecting plate (52) and a detection instrument (53), wherein one end of the fixed plate (51) is connected with the free end of the mechanical wrist (23), the other end of the fixed plate is fixedly connected with the connecting plate (52), the detection instrument (53) is installed on the connecting plate (52), and the signal input end of the detection instrument (53) is connected with the signal output end of the control system.
2. A crawler-type seismic search and rescue machine as set forth in claim 1 wherein: the detecting instrument (53) is one or more of an X-ray machine, an acoustic wave life detector, a thermal infrared life detector, an optical life detector and a radar life detector.
3. A crawler-type seismic search and rescue machine as set forth in claim 1 wherein: the mechanical gripper (30) comprises a base I (31), a rocker arm I (32) and a gripper (33), wherein the base I (31) is fixed on a chassis (12) of a crawler body (10), the fixed end of the rocker arm I (32) is rotationally connected with the base I (31), and the free end of the rocker arm I (32) is provided with the gripper (33).
4. A crawler-type seismic search and rescue machine as set forth in claim 3 wherein: the mechanical bucket (40) comprises a base II (41), a rocker II (42) and a bucket (43), wherein the base II (41) is fixed on the chassis (12), the fixed end of the rocker II (42) is rotationally connected with the base II (41), and the bucket (43) is installed at the free end of the rocker II (42).
5. A crawler-type seismic search and rescue machine as set forth in claim 4 wherein: the length of the rocker arm I (32) is larger than the farthest distance between the center of the base I (31) and the edge of the chassis (12), and the length of the rocker arm II (42) is larger than the farthest distance between the center of the base II (41) and the edge of the chassis (12).
6. A crawler-type seismic search and rescue machine as set forth in claim 5 wherein: the control system comprises a power system and a wireless intercom broadcasting system, wherein the power system is an electric driving system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010154936.5A CN113370222B (en) | 2020-03-09 | 2020-03-09 | Crawler-type earthquake search and rescue machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010154936.5A CN113370222B (en) | 2020-03-09 | 2020-03-09 | Crawler-type earthquake search and rescue machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113370222A CN113370222A (en) | 2021-09-10 |
| CN113370222B true CN113370222B (en) | 2024-06-11 |
Family
ID=77569282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010154936.5A Active CN113370222B (en) | 2020-03-09 | 2020-03-09 | Crawler-type earthquake search and rescue machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113370222B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115382315A (en) * | 2022-09-26 | 2022-11-25 | 中冶节能环保有限责任公司 | Rescue robot system for bag type dust collector and operation method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06246652A (en) * | 1993-02-23 | 1994-09-06 | Nippon Telegr & Teleph Corp <Ntt> | Manipulator device for handling heavy weight object |
| CN203546788U (en) * | 2013-10-24 | 2014-04-16 | 赵越 | Multifunctional comprehensive excavation rescue vehicle |
| CN105397817A (en) * | 2015-12-22 | 2016-03-16 | 山东鲁班机械科技有限公司 | Emergency rescue robot |
| CN106078808A (en) * | 2015-12-11 | 2016-11-09 | 广东技术师范学院 | Intelligent robot based on controlled in wireless and control method thereof |
| CN108381507A (en) * | 2018-02-01 | 2018-08-10 | 裴小根 | A kind of rescue robot equipped with rescue mechanical arm |
| CN110861064A (en) * | 2019-11-28 | 2020-03-06 | 广州大学 | Automatic rescue robot |
| CN212825403U (en) * | 2020-03-09 | 2021-03-30 | 湖南梅花机电科技有限公司 | Crawler-type earthquake search and rescue machine |
-
2020
- 2020-03-09 CN CN202010154936.5A patent/CN113370222B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06246652A (en) * | 1993-02-23 | 1994-09-06 | Nippon Telegr & Teleph Corp <Ntt> | Manipulator device for handling heavy weight object |
| CN203546788U (en) * | 2013-10-24 | 2014-04-16 | 赵越 | Multifunctional comprehensive excavation rescue vehicle |
| CN106078808A (en) * | 2015-12-11 | 2016-11-09 | 广东技术师范学院 | Intelligent robot based on controlled in wireless and control method thereof |
| CN105397817A (en) * | 2015-12-22 | 2016-03-16 | 山东鲁班机械科技有限公司 | Emergency rescue robot |
| CN108381507A (en) * | 2018-02-01 | 2018-08-10 | 裴小根 | A kind of rescue robot equipped with rescue mechanical arm |
| CN110861064A (en) * | 2019-11-28 | 2020-03-06 | 广州大学 | Automatic rescue robot |
| CN212825403U (en) * | 2020-03-09 | 2021-03-30 | 湖南梅花机电科技有限公司 | Crawler-type earthquake search and rescue machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113370222A (en) | 2021-09-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106078808B (en) | Intelligent robot based on wireless control | |
| CN212825403U (en) | Crawler-type earthquake search and rescue machine | |
| CN110465844A (en) | A kind of milling robot and its working method | |
| KR20170104407A (en) | Robot for Explore Disaster | |
| CN107200077B (en) | Three-body wall-climbing robot and obstacle crossing method thereof | |
| CN113370222B (en) | Crawler-type earthquake search and rescue machine | |
| JP6594119B2 (en) | Autonomous traveling device | |
| JP2004301665A (en) | Wall surface inspection robot system and wall surface inspection method | |
| CN110925521B (en) | Pipeline deashing robot | |
| JP6830584B2 (en) | Building inspection robot | |
| CN206659745U (en) | Ground swe eper, air cleaning unit and two-in-one device | |
| CN109591030A (en) | A kind of interior crusing robot | |
| CN104385274A (en) | Emergency disposal robot used for responding to subway sudden events | |
| CN211415196U (en) | Intelligent patrol security robot | |
| CN207858845U (en) | Laboratory night patrol machine people | |
| CN212154317U (en) | Maintenance robot | |
| CN116619321A (en) | Intelligent inspection robot for cable trench | |
| CN106823188A (en) | Automatic detection rescue robot for deep well and rescue method | |
| CN114541304B (en) | Automatic inspection robot for highway pavement | |
| CN115922737A (en) | Multifunctional safety inspection robot | |
| CN207104929U (en) | A kind of tunnel multifunctional intellectual emergency management and rescue caterpillar type robot | |
| CN211315502U (en) | Lifting cradle head detection mechanism and pipeline robot with same | |
| CN216403660U (en) | Tower crane intelligence keeps away barrier lifting hook and control system thereof | |
| CN110158429A (en) | A kind of intelligent road surface embossing system based on laser navigation | |
| JP2017041166A (en) | Autonomous traveling equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |