CN202765123U - All-terrain auxiliary rescue robot - Google Patents
All-terrain auxiliary rescue robot Download PDFInfo
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- CN202765123U CN202765123U CN 201220461736 CN201220461736U CN202765123U CN 202765123 U CN202765123 U CN 202765123U CN 201220461736 CN201220461736 CN 201220461736 CN 201220461736 U CN201220461736 U CN 201220461736U CN 202765123 U CN202765123 U CN 202765123U
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Abstract
The utility model relates to an all-terrain auxiliary rescue robot and belongs to the mechanical rescue filed. A drawing tractor is connected with a trailer through a bionic connection device, and a manipulator, a monitoring camera and an ultrasonic distance-measuring sensor are arranged on the front end of the drawing tractor. Solar battery panels are respectively arranged on the upper portion and the side face of the drawing tractor and the side face of the trailer, and a connection rod type hoisting mechanism is arranged on a moving platform of the trailer. The all-terrain single-connection-rod auxiliary rescue robot has the advantages of being low in cost, small in size, detachable, simple in assembly, and capable of adapting to complex road surfaces. Low cost enables mass production and wide application to be possible. The all-terrain single-connection-rod auxiliary rescue robot has strong automation and adaptability when carrying out rescue on the complex road surfaces, and has wide application prospects.
Description
Technical field
The utility model relates to mechanization rescue field, particularly a kind of full terrain aided rescue robot.It is based on the complex road surface emergency relief and a kind of full terrain aided rescue robot that designs.Relate to mechanical, automatically controlled and the communications field.Be mainly used in the auxiliary rescue of complex-terrain.
Background technology
At present, existing rescue machinery mostly is heavy-duty machinery, and the motion underaction is not easy to carry, and is not suitable for travelling of complex road condition, be difficult to enter narrow and small rescue place, and function singleness, degree of automation is relatively low.Be difficult to be applied to timely and effectively in the disaster relief scene.
Summary of the invention
The purpose of this utility model is to provide a kind of full terrain aided rescue robot, has solved the problems referred to above that prior art exists.The design that it adopts split type full landform track propulsion chassis has a machine volume less, disassembled, and assembling is simple, and the characteristics such as be easy to carry are supported and technical support for bailout rapid progress provides strong equipment, are with a wide range of applications.
Above-mentioned purpose of the present utility model is achieved through the following technical solutions:
Full terrain aided rescue robot, comprise manipulator 1, solar panel 2, link-type hoist mechanism 3, trailer 4, bionical connecting device 5, tractor truck 6, monitoring camera and ultrasonic distance-measuring sensor 7, eight-bar linkage 8 and ball-screw 9, described tractor truck 6 is connected with trailer 4 by bionical connecting device 5, and the front end of described tractor truck 6 arranges manipulator 1 and monitoring camera and ultrasonic distance-measuring sensor 7; The side of the top of described tractor truck 6 and side, trailer 4 arranges respectively solar panel 2; Two link-type hoist mechanisms 3 are separately positioned on the mobile platform of trailer 4; Motor 10 is arranged on the rear end of trailer 4.
Described solar panel 2 is rotatably connected on the top of tractor truck 6 by permanent seat.
Described tractor truck 6 is creeper type tractor.
Described trailer 4 is crawl trailer, and the length of crawler belt upper surface is greater than the length of lower surface.
Described link-type hoist mechanism 3 is made of eight-bar linkage 8 and ball-screw 9, and link-type hoist mechanism 3 is connected to by ball-screw 9 on the mobile platform of trailer 4, and described ball-screw 9 is connected driving eight-bar linkage 8 with the motor of trailer inside.
The full terrain aided rescue robot of the utility model has been realized the combination of each work mechanism and walking machine, and by the design of electromechanical integration each several part is carried out automation control, is applied to the auxiliary rescue of complex road surface.
The beneficial effects of the utility model are: the utility model is made up operating part and traveling gear, and utilizes the principle of electromechanical integration to unify control, has improved the degree of automation of robot.Adopt modular design philosophy, propose the design of split type chassis, but single-unit car body independent ambulation carries different car body modules as required.Connect between the manipulator of robot and forward and backward chassis and adopt the bionics chain connection.Adopt 8 novel link-type hoist mechanisms, build with mobile robot's platform on, the compacter dexterity of structure.Power provides the aspect to propose solar cell and the common compound type energy drive scheme that drives of storage battery, energy savings, environmental protection.The utlity model has the characteristics that cost is low, volume is little, disassembled, assembling is simple, can adapt to complex road surface.It is with low cost so that batch manufacturing and widespread use become possibility.The design of robot makes it have stronger automatism and comformability in complex road surface enforcement rescue in addition.Be with a wide range of applications.
Description of drawings
Accompanying drawing described herein is used to provide further understanding of the present utility model, consists of the application's a part, and illustrative example of the present utility model and explanation thereof are used for explaining the utility model, do not consist of improper restriction of the present utility model.
Fig. 1 is axle geodesic structure schematic diagram of the present utility model;
Fig. 2 is the axle geodesic structure schematic diagram of bionical connecting device of the present utility model;
Fig. 3 is the axle geodesic structure schematic diagram of link-type hoist mechanism of the present utility model.
Among the figure: 1, manipulator; 2, solar panel; 3, link-type hoist mechanism; 4, trailer; 5, bionical connecting device; 6, tractor truck; 7, monitoring camera and ultrasonic distance-measuring sensor; 8, eight-bar linkage 9, ball-screw; 10, motor.
The specific embodiment
Further specify detailed content of the present utility model and the specific embodiment thereof below in conjunction with accompanying drawing.
Referring to Fig. 1, full terrain aided rescue robot of the present utility model, comprise manipulator 1, solar panel 2, link-type hoist mechanism 3, trailer 4, bionical connecting device 5, tractor truck 6, monitoring camera and ultrasonic distance-measuring sensor 7, eight-bar linkage 8 and ball-screw 9, described tractor truck 6 is connected with trailer 4 by bionical connecting device 5, and the front end of described tractor truck 6 arranges manipulator 1 and monitoring camera and ultrasonic distance-measuring sensor 7; The side of the top of described tractor truck 6 and side, trailer 4 arranges respectively solar panel 2; Two link-type hoist mechanisms 3 are separately positioned on the mobile platform of trailer 4; Motor 10 is arranged on the rear end of trailer 4.
Described solar panel 2 is rotatably connected on the top of tractor truck 6 by permanent seat.
Described tractor truck 6 is creeper type tractor.
Described trailer 4 is crawl trailer, and the length of crawler belt upper surface is greater than the length of lower surface.
Described link-type hoist mechanism 3 is made of eight-bar linkage 8 and ball-screw 9, and link-type hoist mechanism 3 is connected to by ball-screw 9 on the mobile platform of trailer 4, and described ball-screw 9 is connected driving eight-bar linkage 8 with the motor of trailer inside.
Referring to 1 to shown in Figure 3, the innovative point of traveling gear of the present utility model, control part and working portion is described as follows:
Traveling gear: the utility model adopts crawler type walking mechanism, and chassis design is optimized layout, has outstanding obstacle climbing ability.Introduce the bionics theory, the arthropods such as imitated centipede, adopt two car body designs, the inner motor that the driving of four platform independent is installed of car body, to guarantee to have powerful power, when robot was walked in rugged highway section, the angle between the chassis, front and back of robot constantly changed to keep balance, and more common entirely anthropomorphic robot has stronger locomitivity.The front and back chassis design adopts identical type of drive and mode, can control separately, also can operate respectively, control is simple, full landform chassis design, adopted modular design philosophy, propose the design of split type chassis, but single-unit car body independent ambulation carries different car body modules as required, the single-unit car body is smaller and more exquisite, and obstacle climbing ability is stronger.The ability of adaptation to the ground and the ability of crossing over blockage all strengthen to some extent.
Working portion: the utility model working portion is comprised of manipulator, monitoring camera, ultrasonic distance-measuring sensor, link-type hoist mechanism, solar cell.Robot catches image by monitoring camera, passes to the control personnel, and the control personnel control manipulator according to the image data of transmission and finish corresponding action.The bionics theory has been adopted in the design of manipulator, and the motion in mimic biology joint makes manipulator finish more flexibly a series of motions by rotary joint and linear joint; Ultrasonic distance-measuring sensor can transmit peripheral obstacle apart from the distance of car body, and the disaster area information that the personnel that control are grasped is specialized digitalisation more, and the convenient operation personnel judge the rescue situation more accurately faster; Auxiliary rescue facility has adopted the hoist mechanism design of 8 link-types, carries on robot moving platform, and when robot enters narrow and smallly when caving between floor, hoist mechanism plays a supportive role, and can effectively prevent the injury that contingent secondary caves in and causes; The propulsion source design has been adopted storage battery and solar power to mix and has been supplied with, main energy is supplied with by storage battery, solar power is supplied with and is helped out, solar panels can rise along certain angle, focus automatically, take full advantage of clean energy resource, environmental protection, prolonged the work-hours of robot, guaranteed that rescue can lasting carrying out, made robot that open-air adaptive capacity under the stronger mal-condition be arranged.
Control part: the function that the utility model control part is finished comprises the control of control crawler body, the control of manipulator steering wheel, the control of solar panels automatic lighting, monitoring camera, ultrasonic distance-measuring sensor is controlled and hoist mechanism is controlled 5 parts.The fortune of crawler body motor forward and backward, motor is stopped and thereby the functions such as speed governing of motor realize advancing better, fall back, turning, start and stop function; Design adopts micro controller system, relay, diode, aerotron, remote control module, on-off element etc. to realize; Manipulator control is by troubleshooting functions such as the crawl of the rotation of control steering wheel, mobile realization manipulator, shearing, borings, adopts 32 road steering engine controllers, the remote manipulation practical function; Solar panels adopt 32 road steering engine controllers by steering wheel control rotation, and the feedback signal by photosensor focuses automatically, guarantees maximum light-receiving area, improves conversion efficiency; Signal emission and the receiving function of monitoring camera, ultrasonic distance-measuring sensor utilize micro controller system and wireless remote control module and people to form closed loop control, realize the transmission of signal; The link-type hoist mechanism adopts DC machine to drive ball-screw, and coupler link mechanism adopts the forward and backward of wireless remote control module realization motor and suddenly stops control.Control part has adopted advanced automatically controlled theory, utilize the specific function of relay and partial logic chip, the signal that remote controller is sent transfers the control signal of motor to, thereby the personnel that conveniently control have improved the degree of automation of robot to the real-time control of each motor action.
The above is preferred embodiment of the present utility model only, is not limited to the utility model, and for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (5)
1. full terrain aided rescue robot, it is characterized in that: tractor truck (6) is connected with trailer (4) by bionical connecting device (5), and the front end of described tractor truck (6) arranges manipulator (1) and monitoring camera and ultrasonic distance-measuring sensor (7); The side of the top of described tractor truck (6) and side, trailer (4) arranges respectively solar panel (2); Two link-type hoist mechanisms (3) are separately positioned on the mobile platform of trailer (4); Motor (10) is arranged on the rear end of trailer (4).
2. full terrain aided rescue robot according to claim 1, it is characterized in that: described solar panel (2) is rotatably connected on the top of tractor truck (6) by permanent seat.
3. full terrain aided rescue robot according to claim 1, it is characterized in that: described tractor truck (6) is creeper type tractor.
4. full terrain aided rescue robot according to claim 1, it is characterized in that: described trailer (4) is crawl trailer, and the length of crawler belt upper surface is greater than the length of lower surface.
5. full terrain aided rescue robot according to claim 1, it is characterized in that: described link-type hoist mechanism (3) is made of eight-bar linkage (8) and ball-screw (9), link-type hoist mechanism (3) is connected on the mobile platform of trailer (4) by ball-screw (9), and described ball-screw (9) is connected driving eight-bar linkage (8) with the motor of trailer inside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220461736 CN202765123U (en) | 2012-09-12 | 2012-09-12 | All-terrain auxiliary rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220461736 CN202765123U (en) | 2012-09-12 | 2012-09-12 | All-terrain auxiliary rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202765123U true CN202765123U (en) | 2013-03-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220461736 Expired - Fee Related CN202765123U (en) | 2012-09-12 | 2012-09-12 | All-terrain auxiliary rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202765123U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608135A (en) * | 2015-02-11 | 2015-05-13 | 金陵科技学院 | Intelligent solar nursing robot adopting laser for remote charging |
| CN110859708A (en) * | 2018-08-28 | 2020-03-06 | 周建成 | Automatic robot for making bandage |
-
2012
- 2012-09-12 CN CN 201220461736 patent/CN202765123U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608135A (en) * | 2015-02-11 | 2015-05-13 | 金陵科技学院 | Intelligent solar nursing robot adopting laser for remote charging |
| CN104608135B (en) * | 2015-02-11 | 2016-05-04 | 金陵科技学院 | A kind of solar energy intelligent nursing robot who is carried out long-range charging by laser |
| CN110859708A (en) * | 2018-08-28 | 2020-03-06 | 周建成 | Automatic robot for making bandage |
| CN110859708B (en) * | 2018-08-28 | 2021-12-10 | 奉节县中医院 | Automatic robot for making bandage |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130306 Termination date: 20140912 |
|
| EXPY | Termination of patent right or utility model |