CN201901186U - Disaster detecting robot - Google Patents
Disaster detecting robot Download PDFInfo
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- CN201901186U CN201901186U CN2010206316749U CN201020631674U CN201901186U CN 201901186 U CN201901186 U CN 201901186U CN 2010206316749 U CN2010206316749 U CN 2010206316749U CN 201020631674 U CN201020631674 U CN 201020631674U CN 201901186 U CN201901186 U CN 201901186U
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Abstract
A disaster detecting robot comprises a vehicle body (1), a detecting support (2) and a camera. A crawler-type travelling mechanism is arranged on the vehicle body (1); a buffering support device (11) is arranged between the vehicle body (1) and the travelling mechanism; a rotating device (12) is arranged between the vehicle body (1) and the detecting support (2); the detecting support (2) consists of a main support (13) and an auxiliary support (14) which are hinged with each other; the main support (13) and the auxiliary support (14) are respectively controlled by a main support swinging system (22) and an auxiliary support swinging system (23); and a signal transmitting device (15) is connected with the camera (3). The disaster detecting robot is ingenious in design and flexible in movement, and can enter various bad disaster sites and inform search and rescue personnel of the conditions of trapped persons.
Description
Technical field
The utility model relates to a kind of robot, especially a kind of on-the-spot robot of surveying of disaster that is used for.
Background technology
When disasters such as presence of fire, earthquake, mine disaster, for the on-the-spot trapped personnel of searching and rescuing takes place in disaster, the rescue worker tends to carry search and rescue equipment such as rescue dogs or heat energy detection instrument, but because disaster field condition complexity, under the situation of filling the air as poison gas, rescue dogs and rescue group can't enter the scene, and in the scene of fire, the heat energy detection instrument is then ineffective fully; This external some disaster scene, trapped personnel is positioned within the ruins that cave in or when underground, because stranded position is very narrow and small with the extraneous slit that communicates, and therefore only depends on existing search and rescue means to be difficult to judge the particular case of captive, can't formulate best rescue plan.
Summary of the invention
The utility model is in order to solve the above-mentioned deficiency of existing in prior technology, and it is ingenious to propose a kind of design, and flexible movements can enter various abominable disasters scene, the situation of trapped personnel are informed rescue worker's disaster sniffing robot by vision signal.
Concrete solution of the present utility model is: a kind of disaster sniffing robot, comprise car body 1 and survey support 2, survey support 2 and be provided with camera 3, it is characterized in that: described car body 1 one ends are provided with movable motor 4, the mouth of movable motor 4 is provided with sprocket wheel 5, sprocket wheel 5 links to each other with drive sprocket 7 by chain 6, with be furnished with crawler belt 9 on the coaxial positive transport wheel 8 of drive sprocket 7, crawler belt 9 also matches with the driven road wheel 10 that is supported on the car body 1, also be provided with cushioning and supporting device 11 at car body 1 and near between the ground-surface driven road wheel 10, between car body 1 and detection support 2, also be provided with wheel word 12, surveying support 2 is made up of main support 13 that is hinged and assistant support 14, respectively by main support oscillation system 22 and 23 controls of assistant support oscillation system, also be connected with sender unit 15 on main support 13 and the assistant support 14 with camera 3.
Described cushioning and supporting device 11 comprises that one is hinged near the connecting panel 16 on the axle center of ground-surface driven road wheel 10, and the upper end of connecting panel 16 and recoil spring 17 are rotationally connected, and the other end of recoil spring 17 then is hinged on the car body 1.
The lower end of described detection support 2 is provided with and car body 1 bearing bonded assembly rotating disk 18, be set with on the rotating disk 18 and rotate worm gear 19, be arranged on the mouth of rotary electric machine 21 with rotating rotary worm 20 that worm gear 19 matches, rotary electric machine 21 is fixedly installed on the car body 1.
Described main support oscillation system 22 comprises main support worm gear 24 and the main support worm screw 25 of a cover by drive motor control, main support worm gear 24 is captiveed joint with the bottom of main support 13, main support worm gear 24 is socketed on the oscillating axle 26 that is fixedly set in car body 1, main support 13 is relatively-stationary double bracket structure, and supplemental support support 27 wherein is connected on the oscillating axle 26 by bearing carrier ring.
Described assistant support oscillation system 23 comprises assistant support worm gear 28 and the assistant support worm screw 29 of a cover by drive motor control, assistant support worm gear 28 is coaxial and fixing with oscillating axle 26, and on oscillating axle 26, go back fixed cover and be connected to assistant support drive sprocket 30, the assistant support chain drive-belt 31 that matches with assistant support drive sprocket 30 also matches with assistant support driven sprocket 32, assistant support driven sprocket 32 is coaxial with the jointed shaft of main support 13 and assistant support 14, and assistant support driven sprocket 32 and assistant support 14 relative fixed.
The utility model is compared with prior art, has following advantage:
This device rational in infrastructure, design ingenious, novel, its flexible movements, reliable, its walking manner is a crawler type, therefore can adapt to different abominable disaster site contours, its mobile machine arm can be sent into camera comparatively narrow space simultaneously, gather the vision signal of trapped personnel, and vision signal is sent on the video display apparatus of searching and rescuing team, can allow the rescue worker grasp the particular location and the physical condition of captive in real time; And can the article that earn a bare living as help captives such as medicine, food, water that some volumes are less be transported to and be stranded in, improve the rescue success ratio; Therefore we can say that this device has possessed multiple advantage, be particularly suitable in disaster search and rescue scene, using.
Description of drawings
Fig. 1 is the structural representation of the utility model embodiment.
Fig. 2 is the A portion enlarged drawing of Fig. 1.
Fig. 3 is the structural representation of the utility model embodiment wheel word part.
Fig. 4 is the front view that the utility model embodiment surveys holder part.
Fig. 5 is the left view that the utility model embodiment surveys holder part.
The specific embodiment
Below in conjunction with the description of drawings specific embodiment of the present utility model.As shown in Figure 1: a kind of disaster sniffing robot, comprise car body 1 and survey support 2, the end of surveying support 2 is provided with camera 3, end at car body 1 is provided with movable motor 4, the sprocket wheel 5 that is arranged on movable motor 4 mouths links to each other with drive sprocket 7 by chain 6, drive sprocket 7 is coaxial with positive transport wheel 8, is furnished with crawler belt 9 on the positive transport wheel 8, crawler belt 9 also matches with the driven road wheel 10 that is connected on the car body 1, therefore can realize the purpose that car body 1 is walked under the driving of movable motor 4;
Be provided with cushioning and supporting device 11 at car body 1 and near between the ground-surface driven road wheel 10, cushioning and supporting device 11 comprises connecting panel 16 and the buffering spring 17 that is hinged together, the upper end of recoil spring 17 is hinged on the car body 1, and connecting panel 16 bottoms are then hinged with the axle center near ground-surface driven road wheel 10.
Between car body 1 and detection support 2, be provided with wheel word 12, it can drive surveys support 2 is done 360 degree with respect to car body 1 rotation, be provided with and car body 1 bearing bonded assembly rotating disk 18 in the bottom of surveying support 2, on rotating disk 18, be set with and rotate worm gear 19, the rotary worm 20 that matches with rotation worm gear 19 then is arranged on the mouth of rotary electric machine 21, and rotary electric machine 21 is captiveed joint with car body 1; When rotary electric machine 21 work, can realize surveying the whole spinning movement of support 2 like this.
Surveying support 2 is made up of main support 13 that is hinged and assistant support 14, the action of main support oscillation system 22 control main supports 13: main support oscillation system 22 is by relying on motor-driven main support worm gear 24 and main support worm screw 25 to form, wherein main support worm gear 24 is captiveed joint with the bottom of main support 13, main support worm gear 24 is socketed on the oscillating axle 26 that is fixedly installed on the car body 1, and main support worm gear 24 can rotate with respect to oscillating axle 26, main support 13 is relatively-stationary double bracket structure, and supplemental support support 27 wherein is connected on the oscillating axle 26 by bearing carrier ring.
The action of assistant support oscillation system 23 control assistant supports 14: assistant support oscillation system 23 is by relying on motor-driven assistant support worm gear 28 and assistant support worm screw 29 to form, wherein assistant support worm gear 28 is coaxial and fixing with oscillating axle 26, be oscillating axle 26 can with assistant support worm gear 28 co-rotation, on oscillating axle 26, go back fixed cover and be connected to assistant support drive sprocket 30, and also match with assistant support driven sprocket 32 with assistant support chain drive-belt 31 that assistant support drive sprocket 30 matches, the jointed shaft of main support 13 and assistant support 14 is coaxial with assistant support driven sprocket 32, and relative fixed between assistant support driven sprocket 32 and the assistant support 14.
Also be provided with sender unit 15 on camera 3, he can send to the vision signal that collects on rescue group's the video display apparatus, makes best rescue scheme to make things convenient for the rescue group according to the particular case of stranded place and trapped personnel.
The disaster sniffing robot of the utility model embodiment is when walking, movable motor 4 work, driving sprocket wheel 5 rotates, sprocket wheel 5 drives drive sprocket 7 by transmission (chain 6) and rotates, and drive sprocket 7 and positive transport wheel 8 is coaxial fixing, so positive transport wheel 8 also rotates, and drives the crawler belt 9 that matches with it and move, be supported on driven road wheel 10 on the car body 1, that match with crawler belt 9 simultaneously and also under the effect of crawler belt 9, rotate, thereby realize advancing of car body 1.
In the process that car body 1 is advanced, because on-the-spot situation complexity takes place in disaster, car body 1 may run into various situations such as climbing, descending, in order to prevent that the electronic machine on the robot is damaged by vibrations, be provided with cushioning and supporting device 11 at car body 1 and near between the ground-surface driven road wheel 10, when vibrations take place, recoil spring 17 compressions or stretching, the power that vibration is produced absorbs, swing relatively between connecting panel 16 that is hinged simultaneously and the buffering spring 17, thereby change the distance between car body 1 and the driven road wheel 10, also can play the effect of buffering.
When needs camera 3 rotates, when observing surrounding environment, wheel word 12 can drive surveys support 2 unitary rotation: rotary electric machine 21 work, driving rotary worm 20 rotates, the rotation worm gear 19 that matches with rotary worm 20 also rotates thereupon, just can drive detection support 2 with rotation worm gear 19 co-axially fixed rotating disks 18 and rotate according to arbitrarily angled.
Survey support 2 when needs and move, when entering in the various narrow and small slits, main support control system 22 and assistant support control system 23 can be controlled main support 13 and assistant support 14 actions respectively; The course of action of main support control system 22 is as follows: be fixed on motor-driven main support worm screw 25 actions on the car body 1, driving main support worm gear 24 rotates, because main support worm gear 24 is captiveed joint with the bottom of main support 13, therefore can realize the swing of main support 13; And the stability when strengthening main support 13 motion, main support 13 is set to relatively-stationary double bracket structure, and wherein supplemental support support 27 is connected on the oscillating axle 26 by bearing carrier ring; Be that main support 13 has two contact points that keep at a certain distance away with oscillating axle 26.
The course of action of assistant support control system 23 is as follows: be fixed on motor-driven assistant support worm screw 29 actions on the car body 1, driving assistant support worm gear 24 rotates, rotate with assistant support worm gear 24 co-axially fixed oscillating axles 26 this moment thereupon, and the assistant support drive sprocket 30 that drives on the oscillating axle 26 rotates, and begin action with assistant support chain drive-belt 31 that assistant support drive sprocket 30 matches, assistant support driven sprocket 32 is rotated, and drive and assistant support driven sprocket 32 relatively-stationary assistant supports 14 are done swing.
By above-mentioned two motion combination, realize surveying the motion of support 2, to be arranged in the camera 3 of surveying support 2 front ends and send into various narrow and small slits, finally enter trapped personnel space of living in, the sender unit 15 that links to each other with camera 2 is sent to the vision signal of gathering on rescue worker's the video display apparatus.
Claims (5)
1. disaster sniffing robot, comprise car body (1) and survey support (2), survey support (2) and be provided with camera (3), it is characterized in that: described car body (1) one end is provided with movable motor (4), the mouth of movable motor (4) is provided with sprocket wheel (5), sprocket wheel (5) links to each other with drive sprocket (7) by chain (6), with be furnished with crawler belt (9) on the coaxial positive transport wheel (8) of drive sprocket (7), crawler belt (9) also matches with the driven road wheel (10) that is supported on the car body (1), also be provided with cushioning and supporting device (11) at car body (1) and near between the ground-surface driven road wheel (10), between car body (1) and detection support (2), also be provided with wheel word (12), surveying support (2) is made up of main support that is hinged (13) and assistant support (14), respectively by main support oscillation system (22) and assistant support oscillation system (23) control, also be connected with sender unit (15) on main support (13) and the assistant support (14) with camera (3).
2. disaster sniffing robot according to claim 1, it is characterized in that: described cushioning and supporting device (11) comprises that one is hinged near the connecting panel (16) on the axle center of ground-surface driven road wheel (10), the upper end of connecting panel (16) and recoil spring (17) are rotationally connected, and the other end of recoil spring (17) then is hinged on the car body (1).
3. disaster sniffing robot according to claim 1, it is characterized in that: the lower end of described detection support (2) is provided with and car body (1) bearing bonded assembly rotating disk (18), be set with on the rotating disk (18) and rotate worm gear (19), be arranged on the mouth of rotary electric machine (21) with rotating rotary worm (20) that worm gear (19) matches, rotary electric machine (21) is fixedly installed on the car body (1).
4. disaster sniffing robot according to claim 1, it is characterized in that: described main support oscillation system (22) comprises main support worm gear (24) and the main support worm screw (25) of a cover by drive motor control, main support worm gear (24) is captiveed joint with the bottom of main support (13), main support worm gear (24) is socketed on the oscillating axle (26) that is fixedly set in car body (1), main support (13) is relatively-stationary double bracket structure, and supplemental support support (27) wherein is connected on the oscillating axle (26) by bearing carrier ring.
5. disaster sniffing robot according to claim 1, it is characterized in that: described assistant support oscillation system (23) comprises assistant support worm gear (28) and the assistant support worm screw (29) of a cover by drive motor control, assistant support worm gear (28) is coaxial and fixing with oscillating axle (26), and on oscillating axle (26), go back fixed cover and be connected to assistant support drive sprocket (30), the assistant support chain drive-belt (31) that matches with assistant support drive sprocket (30) also matches with assistant support driven sprocket (32), assistant support driven sprocket (32) is coaxial with the jointed shaft of main support (13) and assistant support (14), and assistant support driven sprocket (32) and assistant support (14) relative fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206316749U CN201901186U (en) | 2010-11-29 | 2010-11-29 | Disaster detecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206316749U CN201901186U (en) | 2010-11-29 | 2010-11-29 | Disaster detecting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201901186U true CN201901186U (en) | 2011-07-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206316749U Expired - Fee Related CN201901186U (en) | 2010-11-29 | 2010-11-29 | Disaster detecting robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN201901186U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106297211A (en) * | 2015-06-12 | 2017-01-04 | 上海渐华科技发展有限公司 | Sitting posture correcting system for prompting based on movable camera and projection light and application thereof |
| CN108606880A (en) * | 2018-03-16 | 2018-10-02 | 上海文圭精密机械有限公司 | A kind of full landform intelligent wheel chair of climbing stairs |
| CN108618910A (en) * | 2018-03-16 | 2018-10-09 | 上海文圭精密机械有限公司 | A kind of wheelchair using intelligence control system |
| CN108943021A (en) * | 2018-07-30 | 2018-12-07 | 广东宏穗晶科技服务有限公司 | A kind of open air exploration is with photography machine people |
| CN110207659A (en) * | 2019-06-27 | 2019-09-06 | 长沙理工大学 | A kind of operating mechanism of the terrain detection device of unmanned outdoor vehicles |
-
2010
- 2010-11-29 CN CN2010206316749U patent/CN201901186U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106297211A (en) * | 2015-06-12 | 2017-01-04 | 上海渐华科技发展有限公司 | Sitting posture correcting system for prompting based on movable camera and projection light and application thereof |
| CN108606880A (en) * | 2018-03-16 | 2018-10-02 | 上海文圭精密机械有限公司 | A kind of full landform intelligent wheel chair of climbing stairs |
| CN108618910A (en) * | 2018-03-16 | 2018-10-09 | 上海文圭精密机械有限公司 | A kind of wheelchair using intelligence control system |
| CN108943021A (en) * | 2018-07-30 | 2018-12-07 | 广东宏穗晶科技服务有限公司 | A kind of open air exploration is with photography machine people |
| CN110207659A (en) * | 2019-06-27 | 2019-09-06 | 长沙理工大学 | A kind of operating mechanism of the terrain detection device of unmanned outdoor vehicles |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110720 Termination date: 20111129 |