CN114987650B - Running gear of heavy-duty emergency rescue robot - Google Patents
Running gear of heavy-duty emergency rescue robot Download PDFInfo
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- CN114987650B CN114987650B CN202210682788.3A CN202210682788A CN114987650B CN 114987650 B CN114987650 B CN 114987650B CN 202210682788 A CN202210682788 A CN 202210682788A CN 114987650 B CN114987650 B CN 114987650B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a traveling mechanism of a heavy-load emergency rescue robot, which comprises a plurality of groups of traveling frame bodies, wherein the adjacent traveling frame bodies are connected through a connecting piece to form a series traveling body, and the traveling frame bodies comprise: the lower end face of the bearing bracket seat is provided with a load cross beam frame, and the middle part of the load cross beam frame is provided with a ground grabbing device; and the two sides of the expansion and contraction assembly are symmetrically arranged on the load cross beam frame and are used for driving a ground gripping device to be regulated and controlled, and the output end part of the expansion and contraction assembly is also provided with a traveling support arm.
Description
Technical Field
The invention relates to the technical field of industrial transportation, in particular to a traveling mechanism of a heavy-load emergency rescue robot.
Background
A mine refers to an independent production and operation unit for mining ores in a certain mining environment, and generally includes one or more mining cells or pittings, mines, open stopes, and the like. However, in the mining process of the mine, certain dangerous factors, such as collapse, collapse and the like exist, and therefore, emergency first-aid devices such as rescue robots need to be reserved. In the rescue process of the existing rescue robot, if the existing rescue robot meets a high slope and a high-angle inclined stone body or a mine surface, the existing rescue robot cannot move forward, so that rescue materials are difficult to transport or collect mine conditions, and particularly for some path robot devices with large loads, the stability of the path is difficult to ensure when the existing rescue robot moves forward in road conditions of concave-convex complex roads and large-area high-slope roadblocks.
Accordingly, those skilled in the art have provided a traveling mechanism for a heavy-duty emergency rescue robot to solve the problems set forth in the background art described above.
Disclosure of Invention
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a running gear of heavy-duty emergency rescue robot, its is including setting up the support body of marcing of multiunit, and is adjacent the support body of marcing passes through the link joint and constitutes the polyphone body of marcing, the support body of marcing includes:
the lower end face of the bearing bracket seat is provided with a load cross beam frame, and the middle part of the load cross beam frame is provided with a ground grabbing device;
and the two sides of the expansion and contraction assembly are symmetrically arranged on the load cross beam frame and are used for driving a regulation and control ground grabbing device, and the output end part of the expansion and contraction assembly is also provided with a traveling support arm.
As a preferred aspect of the present invention, the expansion and contraction assembly includes:
two groups of guide rods are transversely arranged in parallel, screw rods are arranged in parallel clamping cavities of the guide rods, and the screw rods are driven by a first motor;
the upper end of the load seat is respectively provided with a load double-cylinder plate which is connected with the guide rod in a sliding way and a threaded sleeve seat which is connected with the screw in a meshing way, and the load seat is also used for arranging and installing a connecting piece and a traveling support arm.
As a preferred aspect of the present invention, the travel arm includes:
the elastic support frame arm is in a triangular structure shape, a load cover seat is installed at the end part of the lower corner of the elastic support frame arm, and a second motor is installed in the load cover seat;
and the upper end part of the traveling wheel is rotatably arranged on the load cover seat and is coaxially fixed with the second output end of the motor.
As a preferable aspect of the present invention, the ground gripping device includes:
the middle part of the fixed seat is rotatably provided with a rotary sleeve rod which can be driven by a motor III to rotate, and a cross-shaped column cavity communicated downwards is formed in the rotary sleeve rod;
the upper end part of the guide barrel frame is connected with the fixed seat through a return spring, and an axial guide strip seam is formed in the wall of the lower barrel cavity of the guide barrel frame;
the guide strip plate penetrates through the guide strip seam to be connected in a sliding mode, a sliding seat is fixed at the outer end of the guide strip plate, the sliding seat is further connected with a threaded sleeve seat through a push rod, and the middle of the push rod is further connected with a fixed seat through a first elastic rod; and
the drill cylinder rod comprises a spiral convex rib arranged on the outer cylinder wall, a cross column rod which is coaxially fixed in the inner cylinder cavity and is in sliding connection with the cross column cavity, and a containing annular cavity which is preset in the inner cylinder cavity and can be embedded by a rotary sleeve rod, and the outer cylinder wall at the upper end of the drill cylinder rod is connected with the inner end of the guide strip plate through a bearing.
As a preferred technical scheme of the invention, the lower end head of the guide cylinder frame is provided with a sticking cover, and the outer diameter end part of the sticking cover is connected with the sliding seat through an elastic rod.
As a preferred technical scheme of the invention, the sticking cover is of a rigid structure, the wall of the inner cover is provided with a deformation clamping groove, and the depth of the deformation clamping groove is sequentially reduced from outside to inside.
As a preferable technical scheme of the invention, the middle part of the sticking cover is arranged on a cleaning sponge used for cleaning a drill rod.
As a preferable aspect of the present invention, the joint includes:
the end parts of the two ends of the propelling telescopic rod are respectively hinged with the end parts of the two ends of the splayed bracket, and the end parts of the left and right support rods of the splayed bracket are both hinged connection structures;
the connecting block is used for pushing the telescopic rod to be connected with the advancing rack body, and comprises a fixing column and a universal coupling.
As a preferred embodiment of the present invention, the present invention further comprises:
an intelligent processing module;
the visual module is used for identifying an external environment image, and the external environment image at least comprises a path and an obstacle;
the three-dimensional scanning module is used for scanning the oriented obstacle slope and the traveling road surface, feeding back the scanned obstacle slope and the traveling road surface to the intelligent processing module for simulating and drawing the obstacle slope and the traveling road surface, and performing simulation calculation on the relative angle between the slope of the obstacle and the horizontal plane; and
and the pressure sensing module is arranged on the travelling wheel and used for monitoring the pressure conditions of the travelling wheel and the travelling road surface and feeding back the pressure conditions to the intelligent processing module.
Compared with the prior art, the invention provides a traveling mechanism of a heavy-load emergency rescue robot, which has the following beneficial effects:
according to the invention, the travelling mechanism is more flexible through the travelling mechanism with the serial structure, and through the structural arrangement of the ground grabbing device and the connecting piece, when encountering a high slope obstacle, the travelling mode of the serial travelling body is changed into a creeping travelling structure through the use of the ground grabbing device and the connecting piece, so that the high slope obstacle is spanned, and then the transportation of rescue goods and materials and the collection of external environment condition data information are completed.
Drawings
FIG. 1 is a schematic view of a traveling frame structure according to the present invention;
FIG. 2 is an enlarged view of a portion of the claw-ground device of the present invention;
FIG. 3 is an enlarged view of the drill rod of the present invention;
FIG. 4 is an enlarged view of a portion of a connector according to the present invention;
FIG. 5 is a schematic diagram of a control structure according to the present invention;
in the figure: 1. a traveling frame body; 2. a joining member; 3. a load carrier mount; 4. a load beam frame; 5. a scaling component; 6. a traveling support arm; 7. a ground grasping device; 21. propelling the telescopic rod; 22. a splayed bracket; 23. fixing a column; 24. a universal coupling; 51. a guide bar; 52. a screw; 53. a first motor; 54. a load seat; 55. loading the double-cylinder plate; 56. a screw sleeve seat; 61. an elastic support arm; 62. a load shield seat; 63. a travel wheel; 64. a second motor; 71. a third motor; 72. a fixed seat; 73. rotating the sleeve rod; 74. a cross-shaped column cavity; 75. a return spring; 76. a guide cylinder frame; 77. guiding strip seams; 78. a sliding seat; 79. a guide strip plate; 710. a drill pipe rod; 711. a cross-shaped post rod; 712. an accommodating ring cavity; 713. spiral convex ribs; 714. a first elastic rod; 715. a push rod; 716. a second elastic rod; 717. and (5) sticking a cover.
Detailed Description
Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides a running gear of heavy-duty emergency rescue robot, its is including setting up the support body 1 of marcing of multiunit, and adjacent the support body 1 of marcing links up through link member 2 and constitutes the polyphone body of marcing, the support body 1 of marcing includes:
the lower end surface of the bearing bracket seat 3 is provided with a load cross beam frame 4, and the middle part of the load cross beam frame 4 is provided with a ground grabbing device 7;
the expansion and contraction assembly 5 is symmetrically arranged on the load cross beam frame 4 at two sides and used for driving a ground control and gripping device 7, and a traveling support arm 6 is further arranged at the output end part of the expansion and contraction assembly 5;
through the structure setting of the body of marcing of polyphone to the flexibility of walking structure has been improved, and through the setting of the ground device of grabbing of independent regulation and control, thereby make the barrier that the higher slope can be striden to the body of marcing of polyphone, and be difficult for appearing the phenomenon of overturning, can be the reverse hanging even and grab solid wriggling and march.
In this embodiment, the expansion and contraction assembly 5 includes:
two groups of guide rods 52 are transversely arranged in parallel, screw rods 52 are arranged in parallel clamping cavities of the guide rods 52, and the screw rods 52 are driven by a first motor 53;
a load seat 54, on the upper end of which a load double-cylinder plate 55 connected with the guide rod 52 in a sliding way and a screw sleeve seat 56 connected with the screw rod 52 in a meshing way are respectively arranged, and the load seat 54 is also used for arranging and installing the connecting piece 2 and the traveling support arm 6;
when the motor-driven screw rod regulates and controls the moving support arm to move outwards, the ground grabbing device longitudinally contracts to one side of the load cross beam frame, and when the motor-driven screw rod regulates and controls the moving support arm to move inwards, the ground grabbing device longitudinally extends to one end of the moving road surface below the ground grabbing device and serves as a driving force for the ground grabbing device to continuously move downwards and extend.
In this embodiment, the traveling arm 6 includes:
the elastic support arm 61 is in a triangular structure shape, a load cover seat 62 is installed at the end part of the lower corner of the elastic support arm, and a motor II 64 is installed in the load cover seat 62 and used for buffering vibration force generated when the elastic support arm travels along the traveling wheel surface;
and the upper end part of the traveling wheel 63 is rotatably arranged on the load cover seat 62, is coaxially fixed with the output end of the second motor 64, and the steering of the traveling wheel is regulated and controlled by the second motor.
In this embodiment, the ground gripping device 7 includes:
the middle of the fixed seat 72 is rotatably provided with a rotating sleeve rod 73 which can be driven by a motor III 71 to rotate, and a cross-shaped column cavity 74 communicated with the lower part is formed in the rotating sleeve rod 73;
the upper end part of the guide barrel frame 76 is connected with the fixed seat 72 through a return spring 75, and an axial guide strip seam 77 is formed on the lower barrel cavity wall of the guide barrel frame 76;
the guide strip plate 79 penetrates through the guide strip slot 77 to be connected in a sliding mode, a sliding seat 78 is fixed to the outer end portion of the guide strip plate 79, the sliding seat 78 is further connected with the screw sleeve seat 56 through a push rod 715, and the middle portion of the push rod 715 is further connected with the fixed seat 72 through an elastic rod I714; and
the drill cylinder rod 710 comprises a spiral convex rib 713 arranged on the outer cylinder wall, a cross column rod 711 coaxially fixed in the inner cylinder cavity and slidably connected with the cross column cavity 74, and an accommodating ring cavity 712 preset in the inner cylinder cavity and embedded by the turnbuckle rod 73, and the outer cylinder wall at the upper end of the drill cylinder rod 710 is connected with the inner end of the guide strip 79 through a bearing;
it should be noted that the cross-shaped column rod is in real-time axially sliding connection with the cross-shaped column cavity, and when the rotary sleeve rod is driven to rotate by the motor III, the cross-shaped column rod is synchronously driven to rotate, so that the drill cylinder rod is driven to rotate, drilling is moved towards the interior of the advancing road surface under the coordination of the push rod, the embedding between the drill cylinder rod and the advancing road surface is further completed, and then the separation between the drill cylinder rod and the advancing road surface is completed under the reverse driving of the motor III and the coordination of the push rod.
Furthermore, a sticking cover 717 is installed on the lower end head of the guide cylinder frame 76, and the outer diameter end part of the sticking cover 717 is connected with the sliding seat 78 through the second elastic rod 716.
Further, the cover 717 is a rigid structure, a deformation clamping groove is formed in the wall of the inner cover, and the depth of the deformation clamping groove is sequentially reduced from the outside to the inside, so that the stability of the drill pipe rod in the process of drilling into the advancing road surface is improved, and the stress intensity of the drill pipe rod deviating from the axis between the rotary sleeve rod and the cross-shaped pole is reduced.
Further, the middle of the attaching cover 717 is installed on a cleaning sponge for cleaning the drill rod 710.
In this embodiment, the connecting member 2 includes:
the end parts of the two ends of the propelling telescopic rod 21 are respectively hinged with the end parts of the two ends of the splayed bracket 22, and the end parts of the left and right support rods of the splayed bracket 22 are both hinged connection structures;
the connecting block is used for pushing the connection between the telescopic rod 21 and the advancing frame body 1, and comprises a fixing column 23 and a universal coupling 24;
it should be noted that the two ends of the propulsion telescopic rod between the two sets of advancing frames of the heads of the serially-connected advancing bodies are connected through the fixed columns, so that the two sets of advancing frames of the heads are in a linear integrated structure, when the claw ground device in the two sets of advancing frames of the heads at the front sides is reset, the head rear side advancing frame serves as a supporting point of the head front side advancing frame, and further the head front side advancing frame is made to advance, the head rear side advancing frame serves as a guide of the advancing direction, and the universal coupling and the propulsion telescopic rod on the rear side of the head rear side advancing frame can be matched with each other to regulate and control the guide of the next advancing direction, and the guidance effect of the universal coupling is realized, so that the crawling advancing process is broken line crawling, and the crawling advancing efficiency is improved.
Further, the method also comprises the following steps:
an intelligent processing module;
the visual module is used for identifying an external environment image, and the external environment image at least comprises a path and an obstacle;
the three-dimensional scanning module is used for scanning the oriented barrier slope and the traveling road surface, feeding back the barrier slope and the traveling road surface to the intelligent processing module for simulation drawing, and performing simulation calculation on the relative angle between the slope of the barrier and the horizontal plane, wherein the relative angle is set as alpha, and the local slope with the alpha smaller than the alpha included between the slope of the barrier and the traveling road surface is selected from the barrier slope as the traveling road surface; and
a pressure sensing module installed on the traveling wheel 63 for monitoring the pressure status of the traveling wheel and the traveling road surface and feeding back to the intelligent processing module, initially, the pressure sensing module monitors the pressure value P of the horizontal traveling body to the road surface in the series traveling body, when the vehicle travels on the obstacle slope, the pressure sensing module monitors the pressure value P1 of the horizontal traveling body to the road surface in real time, P1 × cos α is calculated in a high frequency mode to obtain a plurality of groups of data P2, wherein P2 is a vertical downward component acting force, and nP is taken as the start judgment time of the ground grabbing device, wherein n is more than 0 and less than 1, n is taken in the embodiment
When/is>
When the device is used, the propelling telescopic rod and the ground grabbing device are started to assist in crossing the obstacle.
In particular implementation, the method comprises the following steps:
s1: selecting a plurality of groups of advancing frame bodies, and installing corresponding fixed columns and universal couplings;
s2: installing rescue goods and materials on the advancing frame body, obtaining a P value and further obtaining a P value
A value;
s3: starting the tandem advancing body to advance along the mine surface until
When the ground grabbing device is started, the ground grabbing device performs peristaltic advancing until the obstacle is crossed.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution of the present invention and the inventive concept within the technical scope of the present invention, and the technical solution and the inventive concept thereof should be covered by the scope of the present invention.
Claims (5)
1. The utility model provides a running gear of heavy-duty emergency rescue robot, its is including setting up multiunit frame body (1) of marcing, and is adjacent it is advanced the body, its characterized in that to establish ties through linking piece (2) linking constitution to advance frame body (1) of marcing: the traveling frame body (1) includes:
the lower end face of the bearing bracket seat (3) is provided with a load cross beam frame (4), and the middle part of the load cross beam frame (4) is provided with a ground grabbing device (7);
the two sides of the expansion and contraction assembly (5) are symmetrically arranged on the load cross beam frame (4) and are used for driving a ground grabbing device (7) to be regulated and controlled, and a traveling support arm (6) is further arranged at the output end part of the expansion and contraction assembly (5);
the expansion and contraction assembly (5) comprises:
the guide rods (51) are transversely arranged in two groups in parallel, screw rods (52) are arranged in parallel clamping cavities of the guide rods (51), and the screw rods (52) are driven by a first motor (53);
the upper end part of the load seat (54) is respectively provided with a load double-cylinder plate (55) which is connected with the guide rod (51) in a sliding way and a threaded sleeve seat (56) which is connected with the screw rod (52) in a meshing way, and the load seat (54) is also used for arranging and installing the connecting piece (2) and the advancing support arm (6);
the travel arm (6) comprises:
the elastic support frame arm (61) is in a triangular structure shape, a load cover seat (62) is installed at the end part of the lower corner of the elastic support frame arm, and a second motor (64) is installed in the load cover seat (62);
the upper end part of the traveling wheel (63) is rotatably arranged on the load cover seat (62) and is coaxially fixed with the output end of the second motor (64);
the ground-gripping device (7) comprises:
the middle of the fixed seat (72) is rotatably provided with a rotary sleeve rod (73) which can be driven by a motor III (71) to rotate, and a cross-shaped column cavity (74) which is communicated downwards is formed in the rotary sleeve rod (73);
the upper end part of the guide barrel frame (76) is connected with the fixed seat (72) through a return spring (75), and an axial guide strip seam (77) is formed on the wall of the lower barrel cavity of the guide barrel frame (76);
the guide strip plate (79) penetrates through the guide strip slot (77) to be connected in a sliding mode, a sliding seat (78) is fixed to the outer end portion of the guide strip plate (79), the sliding seat (78) is further connected with the thread sleeve seat (56) through a push rod (715), and the middle of the push rod (715) is further connected with the fixed seat (72) through an elastic rod I (714); and
the drill barrel rod (710) comprises a spiral convex rib (713) arranged on the outer barrel wall, a cross column rod (711) which is coaxially fixed in the inner barrel cavity and is in sliding connection with the cross column cavity (74), and an accommodating ring cavity (712) which is preset in the inner barrel cavity and can be embedded by a rotating sleeve rod (73), and the outer barrel wall at the upper end of the drill barrel rod (710) is connected with the inner end of the guide lath (79) through a bearing;
the joint (2) comprises:
the end parts of the two ends of the propelling telescopic rod (21) are respectively hinged with the end parts of the two ends of the splayed bracket (22), and the end parts of the left and right support rods of the splayed bracket (22) are both hinged connection structures;
the connecting block is used for pushing the telescopic rod (21) to be connected with the advancing rack body (1), and the connecting block comprises a fixing column (23) and a universal coupling (24).
2. The traveling mechanism of a heavy-duty emergency rescue robot according to claim 1, characterized in that: and a sticking cover (717) is arranged on the lower end head of the guide barrel frame (76), and the outer diameter end part of the sticking cover (717) is connected with the sliding seat (78) through a second elastic rod (716).
3. The walking mechanism of heavy-duty emergency rescue robot according to claim 2, characterized in that: the sticking cover (717) is of a rigid structure, the wall of the inner cover is provided with a deformation clamping groove, and the depth of the deformation clamping groove is sequentially reduced from the outside to the inside.
4. The walking mechanism of heavy-duty emergency rescue robot according to claim 2, characterized in that: the middle part of the sticking cover (717) is provided with a cleaning sponge for cleaning the drill rod (710).
5. The traveling mechanism of a heavy-duty emergency rescue robot according to claim 1, characterized in that: also comprises:
an intelligent processing module;
the visual module is used for identifying an external environment image, and the external environment image at least comprises a path and an obstacle;
the three-dimensional scanning module is used for scanning the oriented slope surface and the traveling road surface of the barrier, feeding back the scanned slope surface and the traveling road surface of the barrier to the intelligent processing module for simulating and drawing, and performing simulation calculation on the relative angle between the slope surface and the horizontal plane of the barrier; and
and the pressure sensing module is arranged on the traveling wheel (63) and used for monitoring the pressure conditions existing on the traveling wheel and the traveling road surface and feeding back the pressure conditions to the intelligent processing module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210682788.3A CN114987650B (en) | 2022-06-16 | 2022-06-16 | Running gear of heavy-duty emergency rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210682788.3A CN114987650B (en) | 2022-06-16 | 2022-06-16 | Running gear of heavy-duty emergency rescue robot |
Publications (2)
| Publication Number | Publication Date |
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| CN114987650A CN114987650A (en) | 2022-09-02 |
| CN114987650B true CN114987650B (en) | 2023-04-07 |
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| CN202210682788.3A Active CN114987650B (en) | 2022-06-16 | 2022-06-16 | Running gear of heavy-duty emergency rescue robot |
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Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2519576B1 (en) * | 1982-01-11 | 1985-11-29 | Int Robotic Engineerin | CLIMBING ROBOT |
| JPS60252076A (en) * | 1984-05-26 | 1985-12-12 | Hideki Yamauchi | Creeping robot |
| CN103273979B (en) * | 2013-06-20 | 2014-04-30 | 北京信息科技大学 | Splittable snake-like robot with multiple motion modes |
| CN107830307B (en) * | 2017-11-27 | 2019-04-19 | 西北工业大学 | A kind of Inchworm type creepage robot of high maneuverability |
| CN208264371U (en) * | 2018-05-10 | 2018-12-21 | 中国石油大学(华东) | A kind of bionical exploration robot |
| CN112026945A (en) * | 2020-08-25 | 2020-12-04 | 燕山大学 | Parallel rescue robot with foot-type adjustable posture |
| CN111976575B (en) * | 2020-08-28 | 2023-12-08 | 内蒙古一一五地质矿产勘查开发有限责任公司 | Geological survey field on-site rapid analysis vehicle |
| CN213862461U (en) * | 2020-12-18 | 2021-08-03 | 徐州考拉机器人科技有限公司 | Combined robot crawler chassis |
| AU2021100301A4 (en) * | 2021-01-18 | 2021-04-15 | Banerjee, Moon DR | A closed loop serpentine crawling technique for two anchor peristaltic mobile soft robot |
| CN113173211B (en) * | 2021-05-06 | 2023-04-28 | 李云飞 | Worm-like soft robot |
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- 2022-06-16 CN CN202210682788.3A patent/CN114987650B/en active Active
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