CN203127006U - Serpentine-spiral-propulsion disaster rescue and search robot - Google Patents
Serpentine-spiral-propulsion disaster rescue and search robot Download PDFInfo
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- CN203127006U CN203127006U CN 201320143973 CN201320143973U CN203127006U CN 203127006 U CN203127006 U CN 203127006U CN 201320143973 CN201320143973 CN 201320143973 CN 201320143973 U CN201320143973 U CN 201320143973U CN 203127006 U CN203127006 U CN 203127006U
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Abstract
The utility model discloses a serpentine-spiral-propulsion disaster rescue and search robot. The robot comprises two or more power systems, wherein disaster detection modules are arranged on the power systems, every two adjacent power systems are connected through a steering system, and each steering system comprises a steering engine which is arranged on a fixing bracket; and an output end of a console is connected with the disaster detection modules, all driving devices in the power systems and the steering engines in the steering systems respectively, output ends of the disaster detection modules are respectively connected with an input end of the console, and a power supply module supplies power to all power consuming devices. A flexible serpentine structure and a spiral-propulsion power mode are combined together, so that the serpentine-spiral-propulsion disaster rescue and search robot has the advantages of high power, high stability, strong adaptability, simplicity in programming and control, flexibility in steering and powerful functions, can be adapted to various complicated terrains in ruins or tunnels and has no need of posture control, the 360DEG all-angle steering is realized, and the ruin-deep-part-reaching trapped people search is facilitated.
Description
Technical field
The utility model relates to a kind of searching machine people, relates in particular to a kind of snakelike screw-pushing type disaster relief searching machine people.
Background technology
Earthquake disaster takes place frequently all over the world in recent years, especially as Wenchuan violent earthquake, Japanese violent earthquake, causes a large amount of personal casualty, and wherein reason is owing to found evening greatly.From ruins, search out the survivor as how the fastest speed, become a problem demanding prompt solution.In order to carry out survivor's search in the terrain environment complicated in ruins, search and rescue robot arises at the historic moment.
The key technical problem of search and rescue robot is aspects such as movability (physical construction), sensing detection device and man-machine communication's mode, and wherein movability is the decisive factor that search and rescue robot is finished search-and-rescue work.The mobile platform of robot should be able to shuttle back and forth among narrow space in the environment of abominable ruins neatly, can crossing over blockage, stair climbing, pass through muddy road etc., and the movement of search and rescue robot should not exert an influence to unstable structure on every side, to avoid that secondary caves in or blast etc.In addition, robot also should possess the ability that adapts to harsh environment, has waterproof, resistant to elevated temperatures function fully.Existing robots is divided into wheeled, crawler type, deformable (polymorphic) and bionical search and rescue robot with traction and mode of motion different.Wheeled robot is easy to lose the stability of motion when the motion of scraggly ground; Though caterpillar type robot has strengthened the ability that travel mechanism adapts to ground, the alerting ability of its motion is relatively poor, and volume is bigger than normal and not too be fit to search-and-rescue work.
In recent years, bio-robot is becoming new research focus, and wherein snake-shaped robot becomes the focus of research because good, the landform adaptive capacity of stability of motion is strong, good airproof performance, be suitable under the harsh environment advantage such as operation.Snake-shaped robot is formed by a plurality of identical modules or mechanisms in series usually, and each module individual drive relies on the mutual action between body and ground to realize driving.Intermodule adopts different joint forms to realize rigidity or flexibly connects, and utilizes relatively rotating between the module, makes the health bending stretch realize motion.But the multivariant control difficulty of present snake-shaped robot, load-carrying capacity is low, and motion speed is slow, and under terrain environment complicated and changeable, the ability of obstacle negotiation is relatively poor.
Screw-pushing type is that German inventor Richard Lovell proposes a kind of continuous propulsion mode the earliest.1868, U.S. inventor Jacob Morath designed the blank of this scheme and has been applied to vehicle propulsion.The groundwork of screw propulsion vehicle is very simple, and it does not have wheel or crawler belt, and it has only a pair of hollow cylinder that has screwed flange, and motion principle and screw motion or drill bit movement are closely similar.1907, James and Ira Peavey produced the screw propulsion car, can adapt to any mal-condition that mixes snow and ooze, and reliability is very high, can be applied to the timber transport field.The Soviet Union has made the alligator of screw-pushing type to adapt to complicated rural atmosphere after the World War II; Calendar year 2001, the Bering is crossed over for the first time with " snowbird No. 6 " of common vehicle and screw rod technology be combined into by Shi Tifu Brooks and his ice and snow challenger team, and wherein the mode of motion of screw propulsion has played huge effect.If the power mode of serpentine configuration and screw propulsion reasonably combines flexibly, the alerting ability of rescue searching machine and the adaptive capacity of in the complex-terrain environment, working will have been increased greatly.
The utility model content
The purpose of this utility model provides a kind of snakelike screw-pushing type disaster relief searching machine people, the power mode of serpentine configuration and screw propulsion flexibly can be combined, greatly increase disaster relief searching machine people's alerting ability and the adaptive capacity of in the complex-terrain environment, working.
The utility model adopts following technical proposals:
A kind of snakelike screw-pushing type disaster relief searching machine people, comprise two joints or the above power system of two joints, power system is provided with the condition of a disaster detecting module, two adjacent joint power systems connect by steering swivel system, described power system comprises cylindric power shell and is arranged on the actuating device of power enclosure, the power outer surface of outer cover is provided with worm thread, and the power inner surface of outer cover is provided with internally toothed annulus, and the mouth of actuating device is connected with the internally toothed annulus planet gear meshed and is; Steering swivel system comprises the steering engine that is arranged on the fixed support; The mouth of control desk connects each actuating device in the condition of a disaster detecting module, the power system and the steering engine in the steering swivel system respectively, and the condition of a disaster detecting module mouth connects the input end of control desk respectively, and power module is each consumer power supply.
The cylindric power shell two ends of described power system are provided with circular baffle plate, the circular baffle plate center is provided with bearing, be provided with the planetary gear train that is installed in the planetary gear train anchor fitting in the cylindric power shell, the planetary gear train anchor fitting comprises first adapter plate and second adapter plate, first adapter plate is provided with adapter shaft, adapter shaft stretches out the power shell by the bearing that power shell front end circular baffle plate center arranges, the second adapter plate center is provided with perforate, actuating device comprises motor, motor output shaft connects the sun gear of planetary gear train by the perforate at the second adapter plate center, the internally toothed annulus engagement that planetary gear train and power inner surface of outer cover arrange, the motor body is fixed by anchor fitting, the anchor fitting rear end is provided with adapter shaft, and adapter shaft stretches out the power shell by the bearing that power outer casing back circular baffle plate center arranges.
In the described two adjacent joint power systems, the adapter shaft that preceding power system rear end arranges connects the adapter shaft that back power system front end arranges by steering swivel system.
Described steering swivel system comprises the steering engine that is arranged on 4 symmetrical distributions on the fixed support.
Described the condition of a disaster detecting module comprises human body infrared inductor, infrared camera and verbal system.
Horizontal cross is fixedly connected with and only rolls baffle plate on the adapter shaft of described snakelike screw-pushing type disaster relief searching machine people head and the tail two joint power systems, only rolls the length of baffle plate greater than the external diameter of power shell.
Horizontal cross is fixedly connected with and only rolls baffle plate on the adapter shaft of described snakelike screw-pushing type disaster relief searching machine people head and the tail two joint power systems, only roll the baffle plate both ends horizontal and be provided with roller, on the same horizontal direction, the maximum distance of two rollers is greater than the external diameter of power shell.
Described control desk comprises main control chip system, steering engine controller, machine governor, read-out, verbal system, direction rocking bar, speed governing knob, forward/backward master cock and buzzer phone.
Power system is provided with two the condition of a disaster detecting modules, and two the condition of a disaster detecting modules are separately positioned on the adapter shaft of the adapter shaft of first joint power system front end and periproct power system rear end.
The utility model drives the power shell by the actuating device in the power system and rotates, and produces forward propulsive force by the friction with ground; Control snakelike screw-pushing type disaster relief searching machine people's direct of travel by steering swivel system, and utilize the condition of a disaster detecting module to monitor assessment ruins inner case in real time, seek the trapped personnel in the ruins.The utility model will be flexibly the power mode of serpentine configuration and screw propulsion combine, have that power is big, stability is high, comformability is strong, programming Control is simple, turn to flexible, powerful advantage, various complex-terrains in can adapting in ruins or the tunnel, need not attitude control, realize that full angle 360 degree turn to, and are conducive to go deep into deep, ruins search trapped personnel.
Description of drawings
Fig. 1 is structural representation of the present utility model.
The specific embodiment
As shown in Figure 1, snakelike screw-pushing type disaster relief searching machine people described in the utility model is made up of two joints or the above power system of two joints, and power system is provided with the condition of a disaster detecting module 1, and two adjacent joint power systems connect by steering swivel system.
Power system comprises cylindric power shell 2 and is arranged on the actuating device of power shell 2 inside, power shell 2 outside faces are provided with worm thread 3, power shell 2 inside faces are provided with internally toothed annulus 4, and it is 12 that the mouth of actuating device is connected with internally toothed annulus 4 planet gear meshed.The cylindric power shell of described power system 2 two ends are provided with circular baffle plate 5, circular baffle plate 5 centers arrange centre hole, and being provided with 6, two circular baffle plate 5 of bearing in the centre hole can seal power shell 2 inner spaces, anti-sealing or the grains of sand etc. enter power shell 2 inside, cause device damage.
Steering swivel system is between the two joint power systems of front and back, the adapter shaft 9 that the adapter shaft 9 that the power system rear end arranges before connecting respectively and back power system front end arrange plays the effect that connects adjacent two joint power systems and control snakelike screw-pushing type disaster relief searching machine people sense of motion.Steering swivel system comprises the steering engine 11 that is arranged on the fixed support, in the present embodiment, steering swivel system is made up of four 180 degree big torsion steering wheels and supporting mounting brackets thereof, one group in twos, about combination provides (vertically) or about (laterally) both direction 360 spend the directions variation.These four steering wheel symmetrical expressions distribute, and namely the left side is a vertical steering wheel and a horizontal steering wheel, and the right side symmetry is installed a horizontal steering wheel and a vertical steering wheel.Four steering wheels link together by mounting bracket, and are connected with the adapter shaft 9 of preceding power system rear end setting and the adapter shaft 9 of back power system front end setting.Thus, four steering wheels can be realized turning to of snakelike screw-pushing type disaster relief searching machine each joint of people according to user's control.Belong to ripe prior art owing to utilize the combination of steering wheel to realize turning in automation control area, do not repeat them here.
The mouth of control desk connects each actuating device in the condition of a disaster detecting module 1, the power system and the steering engine 11 in the steering swivel system respectively by control line, and the condition of a disaster detecting module 1 mouth connects the input end of control desk respectively.In the present embodiment, can utilize the RS485 bus to carry out the information transmission, transmission distance can reach about 1400 meters; Control desk can adopt the hand-held control desk, comprises main control chip system, steering engine controller, motor 10 governors, read-out, verbal system, direction rocking bar, speed governing knob, forward/backward master cock and buzzer phone.Solidified the robot control program in the main control chip system, according to the data of obtaining from direction rocking bar, speed governing knob and forward/backward master cock, send corresponding control command by serial ports to steering engine controller and motor 10 governors after the analytical calculation, regulate the people's that operates machine running state.
The condition of a disaster detecting module 1 comprises human body infrared inductor, infrared camera and verbal system.Whether have the survivor around the human body infrared inductor is detectable, if find the survivor, the human body infrared inductor sends signal to control desk at once, and control desk is controlled buzzer warning after receiving signal, reminds operating personal to find the survivor; Infrared camera can be gathered image in the ruins in real time and the read-out by control desk shows; Verbal system in the condition of a disaster detecting module 1 can be connected with the verbal system on the control desk, realizes the real-time audio exchange between inside, ruins and the control desk.Can adopt 1, two the condition of a disaster detecting module 1 of two the condition of a disaster detecting modules to be separately positioned on the adapter shaft 9 of the adapter shaft 9 of first joint power system front end and periproct power system rear end in the present embodiment.
Power module carries out independently-poweredly for each consumer, satisfies the different electrical power requirement of snakelike screw-pushing type disaster relief searching machine philtrum distinct device.
Two joints described in the utility model or the above power system of two joints, adapter shaft 9 and the steering swivel system by each power system front end and/or rear end is connected in one successively.In normal operation, big torsion DC machine 10, adapter shaft 9 and steering swivel system should be in the relative motion state with power shell 2, be big torsion DC machine 10, adapter shaft 9 is relative with steering swivel system remains static with ground, and power shell 2 relatively and ground be in rotary state, thereby produce thrust with ground friction, drive snakelike screw-pushing type disaster relief searching machine people and advance.Yet under the bigger situation of extraneous resistance, big torsion DC machine 10 might take place, adapter shaft 9 is relative with steering swivel system with ground be in rotary state, and power shell 2 relatively and ground situation about remaining static, and causes snakelike screw-pushing type disaster relief searching machine people to move.At this situation, the utility model horizontal cross captive joint on the adapter shaft 9 of snakelike screw-pushing type disaster relief searching machine people head and the tail two joint power systems only rolls baffle plate 12, only rolls the length of baffle plate 12 greater than the external diameter of power shell 2.Only roll baffle plate 12 by installing, when big torsion DC machine 10, adapter shaft 9 is relative with steering swivel system with ground when being in rotary state, because only the rolling baffle plate 12 and when rotating, will contact with ground of horizontal cross setting, hindering big torsion DC machine 10, adapter shaft 9 and steering swivel system rotates, thereby force power shell 2 relatively and ground be in rotary state, and big torsion DC machine 10, adapter shaft 9 and steering swivel system are static with respect to ground, guarantee that snakelike screw-pushing type disaster relief searching machine people normally advances.
Because snakelike screw-pushing type disaster relief searching machine people is when fore-and-aft direction moves, only roll the object that baffle plate 12 may touch both sides, produce extra resistance, the utility model also can arrange roller 13 only rolling baffle plate 12 both ends horizontal, reduces the generation of additional friction.At this moment, the maximum distance D of two rollers 13 should be greater than the external diameter of power shell 2 on the same horizontal direction, guarantees power shell 2 relatively and ground is in rotary state.
The utility model drives power shells 2 by the big torsion DC machine 10 in the power system and rotates in use, produces forward propulsive force by the friction with ground; Steering swivel system is controlled snakelike screw-pushing type disaster relief searching machine people's direct of travel by four steering wheels.Operating personal can be monitored assessment ruins inner case in real time by the read-out on the control desk and verbal system, and utilize joystick and speed governing button equal controller to control power system and steering swivel system, regulate snakelike screw-pushing type disaster relief searching machine people's kinematic velocity and direction, seek trapped personnel in the ruins with this.Appear at when neighbouring as trapped personnel, the human body infrared inductor will send signal to main control chip, and the control buzzer warning is pointed out operating personal.
Claims (9)
1. snakelike screw-pushing type disaster relief searching machine people, it is characterized in that: comprise two joints or the above power system of two joints, power system is provided with the condition of a disaster detecting module, two adjacent joint power systems connect by steering swivel system, described power system comprises cylindric power shell and is arranged on the actuating device of power enclosure, the power outer surface of outer cover is provided with worm thread, the power inner surface of outer cover is provided with internally toothed annulus, and the mouth of actuating device is connected with the internally toothed annulus planet gear meshed and is; Steering swivel system comprises the steering engine that is arranged on the fixed support; The mouth of control desk connects each actuating device in the condition of a disaster detecting module, the power system and the steering engine in the steering swivel system respectively, and the condition of a disaster detecting module mouth connects the input end of control desk respectively, and power module is each consumer power supply.
2. snakelike screw-pushing type disaster relief searching machine people according to claim 1, it is characterized in that: the cylindric power shell two ends of described power system are provided with circular baffle plate, the circular baffle plate center is provided with bearing, be provided with the planetary gear train that is installed in the planetary gear train anchor fitting in the cylindric power shell, the planetary gear train anchor fitting comprises first adapter plate and second adapter plate, first adapter plate is provided with adapter shaft, adapter shaft stretches out the power shell by the bearing that power shell front end circular baffle plate center arranges, the second adapter plate center is provided with perforate, actuating device comprises motor, motor output shaft connects the sun gear of planetary gear train by the perforate at the second adapter plate center, the internally toothed annulus engagement that planetary gear train and power inner surface of outer cover arrange, the motor body is fixed by anchor fitting, the anchor fitting rear end is provided with adapter shaft, and adapter shaft stretches out the power shell by the bearing that power outer casing back circular baffle plate center arranges.
3. snakelike screw-pushing type disaster relief searching machine people according to claim 2, it is characterized in that: in the described two adjacent joint power systems, the adapter shaft that preceding power system rear end arranges connects the adapter shaft that back power system front end arranges by steering swivel system.
4. snakelike screw-pushing type disaster relief searching machine people according to claim 3, it is characterized in that: described steering swivel system comprises the steering engine that is arranged on 4 symmetrical distributions on the fixed support.
5. snakelike screw-pushing type disaster relief searching machine people according to claim 4, it is characterized in that: described the condition of a disaster detecting module comprises human body infrared inductor, infrared camera and verbal system.
6. snakelike screw-pushing type disaster relief searching machine people according to claim 5, it is characterized in that: horizontal cross is fixedly connected with and only rolls baffle plate on the adapter shaft of described snakelike screw-pushing type disaster relief searching machine people head and the tail two joint power systems, only rolls the length of baffle plate greater than the external diameter of power shell.
7. snakelike screw-pushing type disaster relief searching machine people according to claim 5, it is characterized in that: horizontal cross is fixedly connected with and only rolls baffle plate on the adapter shaft of described snakelike screw-pushing type disaster relief searching machine people head and the tail two joint power systems, only roll the baffle plate both ends horizontal and be provided with roller, on the same horizontal direction, the maximum distance of two rollers is greater than the external diameter of power shell.
8. according to claim 6 or 7 described snakelike screw-pushing type disaster relief searching machine people, it is characterized in that: described control desk comprises main control chip system, steering engine controller, machine governor, read-out, verbal system, direction rocking bar, speed governing knob, forward/backward master cock and buzzer phone.
9. snakelike screw-pushing type disaster relief searching machine people according to claim 8, it is characterized in that: power system is provided with two the condition of a disaster detecting modules, and two the condition of a disaster detecting modules are separately positioned on the adapter shaft of the adapter shaft of first joint power system front end and periproct power system rear end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320143973 CN203127006U (en) | 2013-03-27 | 2013-03-27 | Serpentine-spiral-propulsion disaster rescue and search robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320143973 CN203127006U (en) | 2013-03-27 | 2013-03-27 | Serpentine-spiral-propulsion disaster rescue and search robot |
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| CN203127006U true CN203127006U (en) | 2013-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201320143973 Expired - Fee Related CN203127006U (en) | 2013-03-27 | 2013-03-27 | Serpentine-spiral-propulsion disaster rescue and search robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104690725A (en) * | 2015-01-06 | 2015-06-10 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Attitude control method of snake-like robot |
| CN106078716A (en) * | 2016-06-17 | 2016-11-09 | 西北工业大学 | A kind of have the snake-shaped robot boring ground function |
-
2013
- 2013-03-27 CN CN 201320143973 patent/CN203127006U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104690725A (en) * | 2015-01-06 | 2015-06-10 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Attitude control method of snake-like robot |
| CN104690725B (en) * | 2015-01-06 | 2016-04-27 | 泰华宏业（天津）机器人技术研究院有限责任公司 | The attitude control method of snake-shaped robot |
| CN106078716A (en) * | 2016-06-17 | 2016-11-09 | 西北工业大学 | A kind of have the snake-shaped robot boring ground function |
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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: 20130814 Termination date: 20150327 |
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| EXPY | Termination of patent right or utility model |