CN203047409U - Robot for searching and rescuing - Google Patents
Robot for searching and rescuing Download PDFInfo
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- CN203047409U CN203047409U CN 201320057421 CN201320057421U CN203047409U CN 203047409 U CN203047409 U CN 203047409U CN 201320057421 CN201320057421 CN 201320057421 CN 201320057421 U CN201320057421 U CN 201320057421U CN 203047409 U CN203047409 U CN 203047409U
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Abstract
The utility model relates to a robot for searching and rescuing. The robot comprises a moving mechanism and a control mechanism. The moving mechanism comprises a creeper tread, four rocker arms and two stepping motors, wherein the four rocker arms and the two stepping motors are arranged on the creeper tread. Taking one stepping motor for example, a first pinion is fixedly arranged on an output shaft of the stepping motor, wherein the first pinion is meshed with a first main gear, the first main gear is coaxially connected with a second pinion through a first rotating shaft, the second pinion is meshed with a second main gear which is fixedly arranged at one end of a second rotating shaft, and the other end of the second rotating shaft is connected with a driving wheel through a transmission wheel and a fixing shaft. Each rocker arm is composed of a driving wheel, two driven wheels, a crawler belt and a rocker arm board, wherein fixing shafts of the driving wheel and the two driven wheels are arranged on the rocker arm board and a circle of crawler belt is arranged on the periphery of the driving wheel and the two driven wheels. Rotating angles of the stepping motors are controlled by the control mechanism. A steering engine is arranged on the rocker arm board of each rocker arm, and is controlled by the control mechanism.
Description
Technical field
The utility model relates to a kind of robot, particularly about a kind of search and rescue robot that uses in major disasters such as earthquake, fire and particular surroundings.
Background technology
Along with the continuous development of society, when the wealth of society is increasing, cause the danger of presence of fire also increasing, the harmfulness of fire is also increasing.According to statistics, China's fire seventies annual loss is less than 2.5 hundred million yuan, and the eighties, fire annual loss was less than 3.2 hundred million yuan.Enter the nineties, particularly since 1993, the direct property loss that fire causes rises to average annual 1000000000 yuan, average annual dead people more than 2000.Compare fire, earthquake is the bigger disaster that causes economic loss and personal casualty.On 05 12nd, 2008,8.0 grades of earthquakes took place in the Wenchuan, Sichuan, and wrecked number and missing toll's summation surpass 87000 people, cause direct economic loss 8,451 hundred million.On 06 30th, 2009,6.0 grades of earthquakes took place in the Yaoan, Yunnan, and totally 205.9 ten thousand people are disaster-stricken to cause 3 states cities such as Chuxiong, Dali, Lijing, 1 people that dies in the disaster, and the people is injured more than 300.And building ruins, shake back situation complexity, also being faced with the danger of aftershock, the work that the rescue group carries out the captive search and rescue is very difficult.72 hours is rescue gold period after the earthquake, therefore, after earthquake in the ruins in the search work of trapped personnel, design a rescue search and rescue aircraft, can enough carry out search work in the hazardous location, in time send out the situation in the hazardous location, help the rescue worker to find out the captive position fast, thereby improve the efficient of rescue, the danger coefficient that reduces the rescue group is present problem demanding prompt solution.
Summary of the invention
At the problems referred to above, the purpose of this utility model provides a kind of search and rescue robot that can improve rescue efficiency, guarantee rescue group's safety.
For achieving the above object, the utility model is taked following technical scheme: a kind of search and rescue robot is characterized in that: it comprises the control mechanism of a kinematic mechanism and the described kinematic mechanism work of a control; Described kinematic mechanism comprises caterpillar block, be arranged on the described caterpillar block a pair of in twos four rocking arms and two stepping motors; The output shaft of each described stepping motor is installed with first miniature gears, described first miniature gears and the engagement of first big gear wheel, and described first big gear wheel is through first turning cylinder and second coaxial connection of miniature gears, described second miniature gears and second big gear wheel engagement, described second big gear wheel is installed in an end of second turning cylinder, and the other end of described second turning cylinder is connected driving wheel by power wheel with anchor shaft; Described rocking arm is made of described driving wheel, two flower wheels, crawler belt and rocker plate, and the anchor shaft of described driving wheel and two flower wheels all is arranged on the described rocker plate, and described driving wheel and two flower wheel peripheries are provided with the described crawler belt of a circle; The rotational angle of described stepping motor is controlled by described control mechanism; Also be provided with a steering wheel on the rocker plate of described rocking arm, described steering wheel is by described control mechanism control work.
Described caterpillar block bottom is provided with four pairs of BOGEY WHEELs, and described four pairs of BOGEY WHEELs are connected described caterpillar block bottom by shock absorption device.
Described shock absorption device comprises damping spring, and described damping spring is arranged on the described caterpillar block, and described damping spring is connected with connecting rod one end by Shock-proof bolt, and the described connecting rod other end is by the described BOGEY WHEEL of described Shock-proof bolt captive joint; On described caterpillar block, corresponding with described Shock-proof bolt, also be provided with a chute.
Described control mechanism comprises that a controller, has the cradle head mechanism of camera, an information acquisition module, an image processing module, a wireless communication module, a lighting module and a power module; Described controller is imported control signal respectively in described kinematic mechanism, cradle head mechanism and the information acquisition module, and described kinematic mechanism moves according to control signal; Camera collection rescue site graphicinformation in the described cradle head mechanism, and with the graphicinformation of gathering behind described image processing module, transfer to described controller, by the wireless communication module in the described controller graphicinformation is sent to reception facilities; Described information acquisition module carries out information acquisition according to control signal to obstacle and sign of life, the information that collects is back in the described controller, control described kinematic mechanism by described controller according to the obstacle information that returns and carry out the obstacle detouring motion, and the sign of life information of returning is sent to described reception facilities; Described controller is also controlled the work of described lighting module; Described power module is described control mechanism power supply.
The utility model is owing to take above technical scheme, it has the following advantages: 1, the utility model is worked by control mechanism controlled motion mechanism owing to adopting, be provided with four rocking arms in the kinematic mechanism, per two rocking arms form one group, and by a stepping motor drive job, the rotational angle of stepping motor is by the controlling machine body plan, and then realize that kinematic mechanism is in the work of rescue site, and carry out obstacle detouring, and then effectively improve rescue efficiency, guaranteed rescue group's safety.2, the utility model is made of controller, cradle head mechanism, information acquisition module, image processing module, wireless communication module, lighting module and power module owing to control mechanism, by controller each parts is controlled, and by its be installed in camera in the cradle head mechanism with earthquake after the situation in ruins transmit out, make the rescue worker can in time grasp the interior personnel's situation of rescue site, reduce unnecessary injures and deaths, improved the efficient of search-and-rescue work greatly.3, the utility model is owing to adopt four rocker structures, each rocking arm constitutes by driving wheel, flower wheel, crawler belt and rocker plate, also be provided with a steering wheel on each rocker plate, this steering wheel is controlled its work by control mechanism, narrow and small in rescue site situation complexity and space, adopt the search and rescue robot of this four rocker structures can strengthen to site environment adaptive capacity, increased Applicable scope of the present utility model.4, the utility model is owing to adopt wireless communication module to carry out the information transmission in control module, and the detected information of each parts is transferred to rescue worker's reception facilities by wireless communication module, therefore, realized remote transmission over radio control function.The utility model can be widely used in the search-and-rescue work in various disasters ruins.
Description of drawings
Fig. 1 is integral structure scheme drawing of the present utility model;
Fig. 2 is the lateral plan of Fig. 1;
Fig. 3 is control mechanism structural representation of the present utility model.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is described in detail.
As shown in Figure 1 and Figure 2, the utility model comprises the control mechanism 30 of a kinematic mechanism 10 and a controlled motion mechanism 10 work.
As shown in Figure 1, kinematic mechanism 10 comprises caterpillar block 11, be arranged on the caterpillar block 11 a pair of in twos four rocking arms 12 and two stepping motors 13, four rocking arms 12 are identical with the principle of work of two stepping motors 13, be example with one of them rocking arm 12 and a stepping motor 13, kinematic mechanism 10 of the present utility model is described in detail.The output shaft of stepping motor 13 is installed with first miniature gears 14, first miniature gears 14 and first big gear wheel 15 engagements, and first big gear wheel 15 is through first turning cylinder 16 and two second 17 coaxial connections of miniature gears, and second miniature gears 17 is respectively applied to being positioned at two rocking arm 12 transmissions of both sides.Second miniature gears 17 and second big gear wheel 18 engagement, and second big gear wheel 18 be installed in an end of second turning cylinder 19, and the other end of second turning cylinder 19 is connected driving wheel 20 by power wheel with anchor shaft.Rocking arm 12 is made of driving wheel 20, two flower wheels 21, crawler belt 22 and rocker plate 23, and the anchor shaft of driving wheel 20 and two flower wheels 21 all is arranged on the rocker plate 23, is provided with a circle crawler belt 22 at driving wheel 20 and two flower wheel 21 peripheries.The rotational angle of stepping motor 13 is by control mechanism 30 controls, and then realization kinematic mechanism 10 is in the work of rescue site.Wherein, on the rocker plate 23 of rocking arm 12, also be provided with a steering wheel, this steering wheel is by its work of control mechanism 30 control, realizes the lifting of rocking arm 12, drop action.
In above-described embodiment, also be provided with 24, four pairs of BOGEY WHEELs 24 of four pairs of BOGEY WHEELs in caterpillar block 11 bottoms and be connected caterpillar block 11 bottoms by shock absorption device.
Wherein, shock absorption device comprises damping spring, and damping spring is arranged on the caterpillar block 11, and damping spring is connected with connecting rod one end by Shock-proof bolt, and the connecting rod other end is by Shock-proof bolt captive joint BOGEY WHEEL 24.On caterpillar block 11, corresponding with Shock-proof bolt, also be provided with a chute, be convenient to connecting rod and drive BOGEY WHEEL 24 upper and lower slips, to realize shock-absorbing function.
As shown in Figure 3, control mechanism 30 comprises that a controller 31, has the cradle head mechanism 32 of camera, an information acquisition module 33, an image processing module 34, a wireless communication module 35, a lighting module 36 and a power module 37.
Controller 31 is with in control signal difference input motion mechanism 10, cradle head mechanism 32 and the information acquisition module 33, and kinematic mechanism 10 is according to motions such as control signal advance, retreats or turns to; According to control signal, camera in the cradle head mechanism 32 carries out image acquisition to rescue site information, and the graphicinformation after will gathering transfers to controller 31 behind image processing module 34, graphicinformation is sent to rescue group's reception facilities by the wireless communication modules 35 in the controller 31; Information acquisition module 33 carries out information acquisition according to control signal to obstacle and sign of life, the information that collects is back in the controller 31, carry out the obstacle detouring motion by controller 31 according to the obstacle information controlled motion mechanism 10 that returns, and the sign of life information of returning is sent to rescue group's reception facilities.Wherein, controller 31 also controls the unlatching of lighting module 36 or cuts out; Above-mentioned each parts are by power module 37 power supplies.
In sum, the utility model in use, after two stepping motors 13 receive the control signal of controller 31, start working, drive crawler belt 22 motions in each rocking arm 12, when crawler belt 22 is run into obstacle, when the BOGEY WHEEL 24 of the height of obstacle and search and rescue robot of the present utility model highly about equally the time, when driving on the obstacle, if the center of gravity of search and rescue robot is positioned at the top at obstacle edge, then it can recover level, can pass through; When search and rescue robot runs into the place ahead obstacle when higher, by the control signal of the steering wheel on two rocking arms 12 that are positioned at the search and rescue robot front portion according to controller 31 transmissions, anterior rocking arm 12 is upwards lifted, and the crawler belt 22 on the anterior rocking arm 12 is pressed on the obstacle, two rocking arms 10 that will be positioned at the search and rescue robot rear portion simultaneously put down, make it produce downward power, thereby search and rescue robot is lifted, it is broken the barriers smoothly.
The various embodiments described above only are used for explanation the utility model; the connection of each parts and structure all can change to some extent; on the basis of technical solutions of the utility model; all improvement and equivalents of connection and the structure of individual component being carried out according to the utility model principle all should not got rid of outside protection domain of the present utility model.
Claims (4)
1. search and rescue robot is characterized in that: it comprises the control mechanism of a kinematic mechanism and the described kinematic mechanism work of a control;
Described kinematic mechanism comprises caterpillar block, be arranged on the described caterpillar block a pair of in twos four rocking arms and two stepping motors; The output shaft of each described stepping motor is installed with first miniature gears, described first miniature gears and the engagement of first big gear wheel, and described first big gear wheel is through first turning cylinder and second coaxial connection of miniature gears, described second miniature gears and second big gear wheel engagement, described second big gear wheel is installed in an end of second turning cylinder, and the other end of described second turning cylinder is connected driving wheel by power wheel with anchor shaft; Described rocking arm is made of described driving wheel, two flower wheels, crawler belt and rocker plate, and the anchor shaft of described driving wheel and two flower wheels all is arranged on the described rocker plate, and described driving wheel and two flower wheel peripheries are provided with the described crawler belt of a circle; The rotational angle of described stepping motor is controlled by described control mechanism; Also be provided with a steering wheel on the rocker plate of described rocking arm, described steering wheel is by described control mechanism control work.
2. a kind of search and rescue robot as claimed in claim 1 is characterized in that: described caterpillar block bottom is provided with four pairs of BOGEY WHEELs, and described four pairs of BOGEY WHEELs are connected described caterpillar block bottom by shock absorption device.
3. a kind of search and rescue robot as claimed in claim 2, it is characterized in that: described shock absorption device comprises damping spring, described damping spring is arranged on the described caterpillar block, described damping spring is connected with connecting rod one end by Shock-proof bolt, and the described connecting rod other end is by the described BOGEY WHEEL of described Shock-proof bolt captive joint; On described caterpillar block, corresponding with described Shock-proof bolt, also be provided with a chute.
4. as claim 1 or 2 or 3 described a kind of search and rescue robots, it is characterized in that: described control mechanism comprises that a controller, has the cradle head mechanism of camera, an information acquisition module, an image processing module, a wireless communication module, a lighting module and a power module;
Described controller is imported control signal respectively in described kinematic mechanism, cradle head mechanism and the information acquisition module, and described kinematic mechanism moves according to control signal; Camera collection rescue site graphicinformation in the described cradle head mechanism, and with the graphicinformation of gathering behind described image processing module, transfer to described controller, by the wireless communication module in the described controller graphicinformation is sent to reception facilities; Described information acquisition module carries out information acquisition according to control signal to obstacle and sign of life, the information that collects is back in the described controller, control described kinematic mechanism by described controller according to the obstacle information that returns and carry out the obstacle detouring motion, and the sign of life information of returning is sent to described reception facilities; Described controller is also controlled the work of described lighting module; Described power module is described control mechanism power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320057421 CN203047409U (en) | 2013-01-31 | 2013-01-31 | Robot for searching and rescuing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320057421 CN203047409U (en) | 2013-01-31 | 2013-01-31 | Robot for searching and rescuing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203047409U true CN203047409U (en) | 2013-07-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320057421 Expired - Lifetime CN203047409U (en) | 2013-01-31 | 2013-01-31 | Robot for searching and rescuing |
Country Status (1)
| Country | Link |
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| CN (1) | CN203047409U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103373402A (en) * | 2013-07-12 | 2013-10-30 | 上海交通大学 | Wheel-tracked compound modular mobile robot traveling device |
| CN109606489A (en) * | 2018-11-20 | 2019-04-12 | 航天科工智能机器人有限责任公司 | The small-sized unmanned platform of jettisonable formula stair climbing |
| CN110077484A (en) * | 2019-05-15 | 2019-08-02 | 西安航空学院 | Automatic search and rescue dolly of tunnel conflagration |
| CN111267066A (en) * | 2020-03-18 | 2020-06-12 | 安徽建筑大学 | Rescue robot with rescue mechanical arm |
-
2013
- 2013-01-31 CN CN 201320057421 patent/CN203047409U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103373402A (en) * | 2013-07-12 | 2013-10-30 | 上海交通大学 | Wheel-tracked compound modular mobile robot traveling device |
| CN103373402B (en) * | 2013-07-12 | 2015-10-28 | 上海交通大学 | Wheel-track combined Modularized mobile robot mobile devices |
| CN109606489A (en) * | 2018-11-20 | 2019-04-12 | 航天科工智能机器人有限责任公司 | The small-sized unmanned platform of jettisonable formula stair climbing |
| CN110077484A (en) * | 2019-05-15 | 2019-08-02 | 西安航空学院 | Automatic search and rescue dolly of tunnel conflagration |
| CN110077484B (en) * | 2019-05-15 | 2020-12-29 | 西安航空学院 | Automatic search and rescue dolly of tunnel conflagration |
| CN111267066A (en) * | 2020-03-18 | 2020-06-12 | 安徽建筑大学 | Rescue robot with rescue mechanical arm |
| CN111267066B (en) * | 2020-03-18 | 2021-06-25 | 安徽建筑大学 | Rescue robot with rescue mechanical arm |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130710 |
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| CX01 | Expiry of patent term |