CN203142829U - Multifunctional hydraulic rescue robot - Google Patents

Multifunctional hydraulic rescue robot Download PDF

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Publication number
CN203142829U
CN203142829U CN 201320056282 CN201320056282U CN203142829U CN 203142829 U CN203142829 U CN 203142829U CN 201320056282 CN201320056282 CN 201320056282 CN 201320056282 U CN201320056282 U CN 201320056282U CN 203142829 U CN203142829 U CN 203142829U
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CN
China
Prior art keywords
wheel
gear
ditch
obstacles
hydraulic
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Expired - Fee Related
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CN 201320056282
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Chinese (zh)
Inventor
蔡远骏
毕磊
游青青
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Northeastern University China
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Northeastern University China
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Priority to CN 201320056282 priority Critical patent/CN203142829U/en
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Publication of CN203142829U publication Critical patent/CN203142829U/en
Expired - Fee Related legal-status Critical Current
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Abstract

A multifunctional hydraulic rescue robot belongs to the technical field of robots. The robot can replace rescuers to enter dangerous or narrow spaces to conduct rescue, is simple in structure and complete in functions, and does not rely on power facilities. The robot comprises an advancing mechanism, a ditch crossing mechanism, a lifting mechanism and an obstacle clearing mechanism. The advancing mechanism is composed of a front wheel assembly and a back wheel assembly. The ditch crossing mechanism is composed of a base plate, a ditch crossing back wheel, a ditch crossing back chain wheel, a ditch crossing motor wheel, a rack, a ditch crossing chain, a ditch crossing front chain wheel, idler wheels, a left swing arm and a right swing arm. The lifting mechanism is composed of a hydraulic cylinder, a hydraulic cylinder base, a lead screw, a sliding block, a support rod, a hydraulic support and a bearing. The obstacle clearing mechanism is composed of a threaded rod, a front obstacle clearing support, a back obstacle clearing support, a baffle, a first gear, a second gear, a third gear, a square hole cylinder, a square rod, an obstacle clearing lead screw, a square rod gear, an obstacle clearing lead screw gear and a transmission gear.

Description

The multifunction hydraulic rescue robot
Technical field
The utility model belongs to the Robotics field, particularly relates to a kind of multifunction hydraulic rescue robot.
Background technology
In recent years, earthquake both at home and abroad took place frequently, and earthquake has caused serious personal casualty and property damage, and the salvage work of trapped personnel also becomes earthquake top priority later.But the rescue action of these earthquakes generally suffers from some same difficult problems: because of earthquake later highway communication almost all the destroyed big machineries that cause be difficult to enter the disaster scene in the very first time; The general power of use big machinery is strong, noise is big, and operation relatively difficulty, precision is difficult to control, causes easily that at rescue site the secondary of building caves in, and causes the rescue action failure; Can not oneself enter under the situation of rescue site at big machinery, the rescue group can only free-hand excavation be pressed in weights such as on one's body stone of captive, cement plate, and this has made very big difficulty to salvage work; Most of captive all is to be embedded in the ruins of building collapse, and this moment, big machinery and rescue group were difficult to approach the personnel that rescued.
The utility model content
At the problem that prior art exists, the utility model provides a kind of multifunction hydraulic rescue robot, and this robot can replace the rescue group to enter the narrow and small place of danger or space rescuing, and is simple in structure, multiple functional, and do not rely on electric power facility.
To achieve these goals, the utility model adopts following technical scheme: a kind of multifunction hydraulic rescue robot comprises walking mechanism, gets over ditch mechanism, lifting mechanism and the mechanism that removes obstacles;
Described walking mechanism is made of left and right front component and left and right wheel assembly, and described front component is made up of pinion carrier, center gear, breast wheel, satellite gear, power wheel and front-wheel chain; Inside in pinion carrier is provided with center gear, is equipped with breast wheel in the outer periphery of center gear, is equipped with satellite gear in the outer periphery of breast wheel; Described center gear, breast wheel and satellite gear are arranged on pinion carrier inside by gear wheel shaft; On the both sides external wall of pinion carrier, be coaxially arranged with power wheel with satellite gear, be equipped with the front-wheel chain in the outer periphery of power wheel; Described center gear is meshed respectively with the front-wheel chain with satellite gear, power wheel with breast wheel, breast wheel; Described wheel assembly is made up of rear wheel frame, drive sprocket, sprocket wheel, second sprocket wheel and trailing wheel chain; Drive sprocket, sprocket wheel and second sprocket wheel are arranged on the rear wheel frame by gear wheel shaft, are equipped with the trailing wheel chain in the outer periphery of drive sprocket, sprocket wheel and second sprocket wheel, and described drive sprocket, sprocket wheel and second sprocket wheel are meshed with the trailing wheel chain respectively; The gear wheel shaft of described center gear, drive sprocket is connected with the motor shaft of advancing respectively;
Described more ditch mechanism by base plate, more the ditch trailing wheel, more sprocket wheel behind the ditch, more ditch motor wheel, tooth bar, more the ditch chain, more sprocket wheel, roller and left and right swing arm are formed before the ditch; Sprocket wheel before more ditch mechanism front portion is provided with left and right more ditch, be connected by preceding center shaft between the sprocket wheel before the left and right more ditch, preceding center shaft is arranged on the base plate by preceding bracing strut, the two ends of preceding center shaft are connected with an end of left and right swing arm respectively, and the other end of left and right swing arm is connected with its roller separately respectively; Sprocket wheel after more ditch mechanism rear portion is provided with left and right more ditch, more the forward and backward sprocket wheel of ditch is meshed with ditch chain more respectively, the side of sprocket wheel is respectively arranged with more ditch trailing wheel behind described left and right more ditch, more sprocket wheel and more being connected by rear center's axle between the ditch trailing wheel behind the ditch; Rear center's axle is arranged on the base plate by bracket of back axle, and described tooth bar is arranged in the groove on the base plate, and more the ditch trailing wheel is meshed with tooth bar, and tooth bar can stretch out base plate from groove; More be provided with more ditch motor wheel in the side of ditch trailing wheel in a side, described more ditch trailing wheel is taken turns with ditch motor more and is meshed; The gear wheel shaft of described more ditch motor wheel is connected with ditch motor shaft more;
Described lifting mechanism is made up of hydraulic actuating cylinder, hydraulic cylinder base, leading screw, slide block, pole, hydraulic support and bearing; The top of lifting mechanism is provided with hydraulic actuating cylinder, is provided with hydraulic cylinder base below hydraulic actuating cylinder, is provided with leading screw in hydraulic cylinder base, and the non-piston end of described hydraulic actuating cylinder is connected with leading screw by slide block, and leading screw is threaded with slide block; Be respectively arranged with left and right pole in the both sides of hydraulic cylinder base, an end of left and right pole is connected with the non-piston end of hydraulic actuating cylinder, and the other end is connected with hydraulic cylinder base; Described hydraulic actuating cylinder, hydraulic cylinder base, slide block and pole are formed slider-crank mechanism, and leading screw and slide block are formed the leading screw slide block mechanism; The forward and backward two ends of described leading screw are connected by bearing with hydraulic cylinder base, and the front end of leading screw is connected with the hydraulic electric motor axle by coupler, and described hydraulic electric motor is fixed on the hydraulic support; Described base plate is provided with several pivot shafts, be respectively arranged with base plate through holes and rack ventilating hole at hydraulic cylinder base and the left and right two ends of hydraulic support, described pivot shaft is arranged in base plate through holes and the rack ventilating hole, pivot shaft between base plate through holes and base plate, rack ventilating hole and base plate is respectively arranged with support spring, described hydraulic cylinder base, hydraulic electric motor and hydraulic support all are arranged on the top of base plate groove, and corresponding with the base plate groove;
Described remove obstacles mechanism by thread rod, the preceding support of removing obstacles, after remove obstacles support, baffle plate, first gear, second gear, the 3rd gear, square hole cylinder, square bar, the screw mandrel of removing obstacles, square bar gear, remove obstacles screw gear and transmission gear form; The support of removing obstacles before described is provided with cylindrical groove, is provided with first motor of removing obstacles in cylindrical groove; After the frame bottom of removing obstacles be provided with the cylindrical hole with negative thread, on the support of removing obstacles after described thread rod is arranged on by cylindrical hole; Below the support of preceding removing obstacles, be provided with first gear, second gear and the 3rd gear, the gear wheel shaft of first gear and first motor shaft of removing obstacles is connected, described second gear by the cylindrical projection on the base plate be arranged on base plate and before remove obstacles between the support, the 3rd gear is connected with the lower end of thread rod; After the remove obstacles front and back walls of support be respectively arranged with circular hole, and it is corresponding before and after the position of circular hole, in the circular hole of a pair of front and back correspondence, be respectively arranged with the square hole cylinder, after being arranged on by the square hole cylinder, described square bar removes obstacles on the support, on the support of removing obstacles after the described screw mandrel of removing obstacles is arranged on by another circular hole to the front and back correspondence; The screw mandrel of removing obstacles is captiveed joint with Joining clasp one end, square bar is provided with groove, and the cross-sectional plane of the square bar of groove is circular, in groove, be provided with the other end of Joining clasp, be respectively arranged with the square bar gear at described square bar, the screw mandrel of removing obstacles, the screw gear of removing obstacles, and the screw gear of removing obstacles is connected with the wire rod thread of removing obstacles, remove obstacles between support and the baffle plate after described square bar gear, the screw gear of removing obstacles are arranged on, described square bar gear, the screw gear of removing obstacles are meshed with its transmission gear separately respectively; The gear wheel shaft of described transmission gear is connected with its second motor shaft of removing obstacles separately respectively.
Described breast wheel has three, and evenly distributes on circumference.
Described satellite gear has three, and corresponding one by one with breast wheel.
Described sprocket wheel, the second sprocket wheel specification be identical, on same horizontal surface, and form the triangular shape structure with drive sprocket on same plane.
Described front-wheel chain is made up of front-wheel rubber coating, two strand bars and bearing pin, and described front-wheel rubber coating is connected with two strand bars respectively by bearing pin, and two strand bar structures are identical.
Described trailing wheel chain is made up of trailing wheel rubber coating, strand bar and bearing pin, and described trailing wheel rubber coating is connected with the strand bar by bearing pin.
Described first gear, second gear and the 3rd gear set specifications are identical, and transmitting ratio is 1:1:1.
Described square bar gear is identical with its transmission gear specification, and transmitting ratio is 1:1.
The described screw gear of removing obstacles is identical with its transmission gear specification, and transmitting ratio is 1:1.
The beneficial effects of the utility model:
Multifunction hydraulic rescue robot of the present utility model can enter the scene in earthquake relief work, replacing the rescue group to enter the narrow and small place of danger or space rescues, possess simple in structure, volume is little, in light weight, can export enough big power, can adapt to harsh environment, multiple functional and do not rely on characteristics such as electric power facility, concrete beneficial effect is as follows:
1. the walking mechanism that adopts satellite gear to be combined with chain: satellite gear can make dolly cross the obstacle of certain altitude, and chain can make dolly advance more stably, and both combinations can make the more changeable environment of the utility model adaptation;
2. spring lifting mechanism: when implementing rescue, utilize spring that the part of the utility model operation is dropped to ground, make ground become stress point, can make the hydraulic actuating cylinder application of force more steady, alleviated the burden of car body simultaneously;
3. ditch mechanism more: when more the motor in the ditch mechanism rotates, make by gear and chain that tooth bar stretches out, the swing arm swing.When running into ditch, make tooth bar and swing arm be supported on the both sides of ditch, thereby help the utility model to get over ditch.
Description of drawings
Fig. 1 is the structural representation of multifunction hydraulic rescue robot of the present utility model;
Fig. 2 is front component, the structural representation of motor and the motor frame of advancing of advancing;
Fig. 3 is the structural representation after two strand bars, front-wheel rubber coating and the bearing pin of front-wheel chain connects;
Fig. 4 is wheel assembly, the structural representation of motor and the motor frame of advancing of advancing;
Fig. 5 is the structural representation after a strand bar, trailing wheel rubber coating and the bearing pin of trailing wheel chain connects;
Fig. 6 is walking mechanism and structural representation after base plate is connected;
Fig. 7 is for getting over the structural representation of ditch mechanism;
Fig. 8 is lifting mechanism and structural representation after base plate is connected;
Fig. 9 is the lateral plan of Fig. 8;
Figure 10 is remove obstacles mechanism and structural representation after base plate is connected;
Figure 11 is the lateral plan of Figure 10;
Figure 12 is the birds-eye view of Figure 10;
Figure 13 is the structural representation that removes the Figure 10 behind the baffle plate;
Among the figure, 1--center gear, 2--breast wheel, the 3--satellite gear, 4-power wheel, 5-front-wheel chain, 6-pinion carrier, 7-drive sprocket, 8-sprocket wheel, 9-the second sprocket wheel, 10-trailing wheel chain, 11-rear wheel frame, 12-more ditch trailing wheels, sprocket wheel behind 13-more ditches, 14-more ditch motor wheels, 15-tooth bar, 16-more ditch chains, sprocket wheel before 17-more ditches, 18-swing arm, 19-roller, 20-preceding center shaft, 21-preceding bracing strut, 22-rear center axle, 23-bracket of back axle, 24-base plate, 25-hydraulic actuating cylinder, 26-hydraulic cylinder base, 27-leading screw, 28-slide block, 29-pole, 30-bearing, 31-coupler, 32-pivot shaft, 33-support spring, 34-hydraulic support, 35-thread rod, 36-preceding the support of removing obstacles, 37-after the support of removing obstacles, 38-the first gear, 39-the second gear, 40-the three gear, 41-square hole cylinder, 42-square bar, the 43-screw mandrel of removing obstacles, 44-square bar gear, 45-the screw gear of removing obstacles, 46-transmission gear, 47-Joining clasp, the 48--cylindrical projection, 49-the motor of advancing, the 50-motor frame of advancing, 51-base plate groove, 52-more ditch motors, 53-more ditch motor framves, 54--hydraulic electric motor, 55--first motor of removing obstacles, 56--second motor of removing obstacles, the 57--base plate through holes, 58--rack ventilating hole, 59-front-wheel rubber coating, 60-strand bar, 61-bearing pin, 62-trailing wheel rubber coating, 63-baffle plate.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described in further detail.
As Fig. 1 ~ shown in Figure 13, a kind of multifunction hydraulic rescue robot comprises walking mechanism, more ditch mechanism, lifting mechanism and the mechanism that removes obstacles;
Described walking mechanism is made of left and right front component and left and right wheel assembly, and described front component is made up of pinion carrier 6, center gear 1, breast wheel 2, satellite gear 3, power wheel 4 and front-wheel chain 5; Be provided with center gear 1 in the inside of pinion carrier 6, be equipped with breast wheel 2 in the outer periphery of center gear 1, be equipped with satellite gear 3 in the outer periphery of breast wheel 2; Described center gear 1, breast wheel 2 and satellite gear 3 are arranged on pinion carrier 6 inside by gear wheel shaft; On the both sides external wall of pinion carrier 6, be coaxially arranged with power wheel 4 with satellite gear 3, be equipped with front-wheel chain 5 in the outer periphery of power wheel 4; Described center gear 1 is meshed respectively with front-wheel chain 5 with satellite gear 3, power wheel 4 with breast wheel 2, breast wheel 2; Described wheel assembly is made up of rear wheel frame 11, drive sprocket 7, sprocket wheel 8, second sprocket wheel 9 and trailing wheel chain 10; Drive sprocket 7, sprocket wheel 8 and second sprocket wheel 9 are arranged on the rear wheel frame 11 by gear wheel shaft, outer periphery at drive sprocket 7, sprocket wheel 8 and second sprocket wheel 9 is equipped with trailing wheel chain 10, and described drive sprocket 7, sprocket wheel 8 and second sprocket wheel 9 are meshed with trailing wheel chain 10 respectively; The gear wheel shaft of described center gear 1, drive sprocket 7 is connected with 49 in the motor of advancing by the motor frame 50 of advancing that is arranged on the base plate 24 respectively;
Described more ditch mechanism by base plate 24, more ditch trailing wheel 12, more sprocket wheel 13 behind the ditch, more ditch motor wheel 14, tooth bar 15, more ditch chain 16, more sprocket wheel 17, roller 19 and left and right swing arm 18 are formed before the ditch; Sprocket wheel 17 before more ditch mechanism front portion is provided with left and right more ditch, be connected by preceding center shaft 20 between the sprocket wheel 17 before the left and right more ditch, preceding center shaft 20 is arranged on the base plate 24 by preceding bracing strut 21, the two ends of preceding center shaft 20 are connected with an end of left and right swing arm 18 respectively, and the other end of left and right swing arm 18 is connected with its roller 19 separately respectively; Sprocket wheel 13 after more ditch mechanism rear portion is provided with left and right more ditch, more the forward and backward sprocket wheel of ditch is meshed with ditch chain 16 more respectively, the side of sprocket wheel 13 is respectively arranged with more ditch trailing wheel 12 behind described left and right more ditch, more sprocket wheel 13 and more being connected by rear center's axle 22 between the ditch trailing wheel 12 behind the ditch; Rear center's axle 22 is arranged on the base plate 24 by bracket of back axle 23, and described tooth bar 15 is arranged in the groove on the base plate 24, and more ditch trailing wheel 12 is meshed with tooth bar 15, and tooth bar 15 can stretch out base plate 24 from groove; More be provided with more ditch motor wheel 14 in the side of ditch trailing wheel 12 in a side, described more ditch trailing wheel 12 is taken turns 14 with ditch motor more and is meshed; The gear wheel shaft of described more ditch motor wheel 14 is connected with 52 in ditch motor more by the more ditch motor frame 53 that is arranged on the base plate 24;
Described lifting mechanism is made up of hydraulic actuating cylinder 25, hydraulic cylinder base 26, leading screw 27, slide block 28, pole 29, hydraulic support 34 and bearing 30; The top of lifting mechanism is provided with hydraulic actuating cylinder 25, below hydraulic actuating cylinder 25, be provided with hydraulic cylinder base 26, be provided with leading screw 27 in hydraulic cylinder base 26, the non-piston end of described hydraulic actuating cylinder 25 is connected with leading screw 27 by slide block 28, and leading screw 27 is threaded with slide block 28; Be respectively arranged with left and right pole 29 in the both sides of hydraulic cylinder base 26, an end of left and right pole 29 is connected with the non-piston end of hydraulic actuating cylinder 25, and the other end is connected with hydraulic cylinder base 26; Described hydraulic actuating cylinder 25, hydraulic cylinder base 26, slide block 28 and pole 29 are formed slider-crank mechanism, and leading screw 27 and slide block 28 are formed the leading screw slide block mechanism; Described leading screw 27 forward and backward two ends are connected by bearing 30 with hydraulic cylinder base 26, and the front end of leading screw 27 is connected by 54 of coupler 31 and hydraulic electric motors, and described hydraulic electric motor 54 is fixed on the hydraulic support 34; Described base plate 24 is provided with several pivot shafts 32, be respectively arranged with base plate through holes 57 and rack ventilating hole 58 at hydraulic cylinder base 26 and hydraulic support 34 left and right two ends, described pivot shaft 32 is arranged in base plate through holes 57 and the rack ventilating hole 58, pivot shaft 32 between base plate through holes 57 and base plate 24, rack ventilating hole 58 and base plate 24 is respectively arranged with support spring 33, described hydraulic cylinder base 26, hydraulic electric motor 54 and hydraulic support 34 all are arranged on the top of base plate groove 51, and corresponding with base plate groove 51;
Described remove obstacles mechanism by thread rod 35, the preceding support 36 of removing obstacles, after remove obstacles support 37, baffle plate 63, first gear 38, second gear 39, the 3rd gear 40, square hole cylinder 41, square bar 42, the screw mandrel 43 of removing obstacles, square bar gear 44, remove obstacles screw gear 45 and transmission gear 46 form; The support 36 of removing obstacles before described is provided with cylindrical groove, is provided with first motor 55 of removing obstacles in cylindrical groove; After support 37 bottoms of removing obstacles be provided with the cylindrical hole with negative thread, on the support 37 of removing obstacles after described thread rod 35 is arranged on by cylindrical hole; Below the support 36 of preceding removing obstacles, be provided with first gear 38, second gear 39 and the 3rd gear 40, the gear wheel shaft of first gear 38 and first 55 in the motor of removing obstacles is connected, described second gear 39 by the cylindrical projection 48 on the base plate 24 be arranged on base plate 24 and before remove obstacles between the support 36, the 3rd gear 40 is connected with the lower end of thread rod 35; After the remove obstacles front and back walls of support 37 be respectively arranged with circular hole, and it is corresponding before and after the position of circular hole, in the circular hole of a pair of front and back correspondence, be respectively arranged with square hole cylinder 41, after being arranged on by square hole cylinder 41, described square bar 42 removes obstacles on the support 37, on the support 37 of removing obstacles after the described screw mandrel 43 of removing obstacles is arranged on by another circular hole to the front and back correspondence; The screw mandrel 43 of removing obstacles is captiveed joint with Joining clasp 47 1 ends, square bar 42 is provided with groove, and the cross-sectional plane of the square bar of groove is circular, in groove, be provided with the other end of Joining clasp 47, be respectively arranged with square bar gear 44 at described square bar 42, the screw mandrel 43 of removing obstacles, the screw gear 45 of removing obstacles, and the screw gear 45 of removing obstacles is threaded with the screw mandrel 43 of removing obstacles, remove obstacles between support 37 and the baffle plate 63 after described square bar gear 44, the screw gear 45 of removing obstacles are arranged on, described square bar gear 44, the screw gear 45 of removing obstacles are meshed with its transmission gear 46 separately respectively; The gear wheel shaft of described transmission gear 46 respectively be arranged on after its second motor shaft 56 of removing obstacles separately of removing obstacles on the support 37 be connected.
Described breast wheel 2 has three, and evenly distributes on circumference.
Described satellite gear 3 has three, and corresponding one by one with breast wheel 2.
Described sprocket wheel 8, second sprocket wheel, 9 specifications be identical, on same horizontal surface, and form the triangular shape structure with drive sprocket 7 on same plane.
Described front-wheel chain 5 is made up of front-wheel rubber coating 59, two strand bars 60 and bearing pin 61, and described front-wheel rubber coating 59 is connected with two strand bars 60 respectively by bearing pin 61, and two strand bar 60 structures are identical.
Described trailing wheel chain 10 is made up of trailing wheel rubber coating 62, strand bar 60 and bearing pin 61, and described trailing wheel rubber coating 59 is connected with strand bar 60 by bearing pin 61.
Described first gear 38, second gear 39 and the 3rd gear 40 specifications are identical, and transmitting ratio is 1:1:1.
Described square bar gear 44 is identical with its transmission gear 46 specifications, and transmitting ratio is 1:1.
The described screw gear 45 of removing obstacles is identical with its transmission gear 46 specifications, and transmitting ratio is 1:1.
Described baffle plate 63 with after remove obstacles support 37 be connected by bolt.
Below in conjunction with description of drawings use of the present utility model:
As Fig. 1 ~ shown in Figure 13, under the normal travel condition, during walking mechanism work, the motor 49 of advancing drives center gears 1 and rotates, and center gear 1 drives breast wheel 2 and rotates, and by three breast wheels 2 power is gone to row above the star-wheel 3 again.Satellite gear 3 and then the drive power wheel 4 coaxial with it rotates, and power wheel 4 drives with the front-wheel chain 5 of its engagement and does the motion of advancing afterwards.
Running under the operating mode of obstacle, obstacle such as brick for example, under the prerequisite of normal condition, one jiao in the front-wheel triangle is withstood obstacle, then with this angle as S. A., because front component is planetary wheeling mechanism, this moment, other parts of front component were climbed up obstacle according to this new S. A..
The motor 49 of advancing drives drive sprocket 7 and rotates, and then the trailing wheel chain 10 of drive and its engagement is along drive sprocket 7 motions.Be equivalent to drive sprocket 7 and do driving wheel, trailing wheel chain 10 plays gearing, and sprocket wheel 8, second sprocket wheel 9 are done flower wheel, assists drive sprocket 7 to drive 10 motions of trailing wheel chain together.
Front and rear wheel chain bottom kiss the earth on the ground, has certain friction force just can advance.As long as allow motor 49 counter-rotatings of advancing when retreating.
More during the work of ditch mechanism, more ditch motor 52 drives more that ditch motor wheel 14 rotates, and more ditch motor wheel 14 drives more that ditch trailing wheel 12 rotates, and more ditch trailing wheel 12 rotates and then drives tooth bar 15 and moves forward and backward.When tooth bar 15 was mobile backward, tooth bar 15 stretched out the utility model base portion, has been equivalent to increase the length of body tail of the present utility model.
More sprocket wheel 13 is fixed on rear center's axle 22 with ditch trailing wheel 12 more behind the ditch.When more ditch trailing wheel 1 rotated, sprocket wheel 13 rotated after the while had also driven and got over ditch.By the rotation of sprocket wheel 13 behind the ditch more, via ditch chain 16 more, final drive more ditch before sprocket wheel 17 rotate.On the center shaft 20, when sprocket wheel 17 rotated before getting over ditch, swing arm 18 also can be done swing around preceding center shaft 20 before more sprocket wheel 17 was fixed on swing arm 18 before the ditch.At the front end of swing arm 18 2 rotary rollers 19 have been installed also.When swing arm 18 pendulum arrived ground, after roller 19 kiss the earths, swing arm 18 is no longer swing just.Be equivalent to increase the length of the utility model body forward structure, and because roller 19 can roll, the utility model can move on.
When running into when adding the gully of length of tooth bar 15 no longer than vehicle body, swing arm 18, more ditch motor 52 rotates, and tooth bar 15 stretches out.Because propulsion source is more ditch motor wheel 14, the swing arm 18 this moment rotation that also follows suit is up to reaching the longest position.The effective total length of vehicle body this moment is about 800mm, and namely the vehicle body raw footage adds the length of upper rack 15 and swing arm 18.When entering the gully, the roller 19 in the swing arm 18 is costed the front side on opposite, gully.This moment, driving power mainly leaned on the motor 49 of advancing that is connected with wheel assembly, and the motor 49 of advancing drives wheel assemblies and advances.When front component is climbed up the opposite, gully smoothly, wheel assembly enters the gully, this moment, power mainly leaned on the motor 49 of advancing that is connected with front component, the motor 49 of advancing drives front component and advances, drive the rear side that tooth bar 15 rides over the gully simultaneously, when wheel assembly was also climbed up the gully, more the ditch motion was finished, and packs up all mechanisms and gets final product.
During lifting mechanism work, hydraulic electric motor 54 is passed to leading screw 27 by coupler 31 with power, drives leading screw 27 and rotates.And leading screw 27 cooperates with slide block 28.In the slide block 28 tapped bore is arranged, when leading screw 27 rotated, slide block 28 can advance or retreats along leading screw 27 directions.Slide block 28 constitutes slider-crank mechanism with pole 27, hydraulic cylinder base 26 and hydraulic actuating cylinder 25, in the time of slide block 28 motion, and lifting angle that just can regulator solution cylinder pressure 25.
The hydraulic cylinder base 26 of hydraulic electric motor 54 and bearing hydraulic mechanism all is the top that is suspended at the base plate groove 51 of base plate 24.Under the normal walking situation, what support these two parts is that elastic force with support spring 33 carries out.Because the height of wheel, lifting mechanism can not advanced in the kiss the earth influence.And when needing lifting mechanism to do the time spent, for example running into the slabstone that is pressed in the wounded top etc., when needing lifting mechanism to support slabstone, hydraulic actuating cylinder 25 adjustable-angles make application force vertically act on weight.Hydraulic cylinder base 26 compression support springs 33 then up to hydraulic cylinder base 26 kiss the earths, pass to the gravity of weight above the ground.Can provide application force extra except the power output of hydraulic pressure to lifting mechanism like this, the common weight that is pressed in the wounded top that supports.
Adopt hydraulic efficiency pressure system as the advantage of power take-off implement: because hydraulic efficiency pressure system adopts mineral oil as working medium, this medium has good lubricated and rust-preventing characteristic, the service life that is conducive to improve Hydraulic Elements.Because hydraulic flow is easy to continuous adjusting, so hydrostatic drive realizes that stepless time adjustment conveniently.Take smaller volume and still can export very big hoisting force, be applicable to various rescue sites.
Hydraulic tongs can also be installed in the top of hydraulic actuating cylinder 25, meets obstacles such as reinforcing bar, can utilize hydraulic tongs to remove.
Remove obstacles mechanism when work, first motor 55 of removing obstacles drives connected first gear 38 and rotates, and then by second gear 39 power is passed to the 3rd gear 40, and these three gears are limited in the little space by forward and backward support and the base plate 24 of removing obstacles.And the 3rd gear 40 is connected with thread rod 35, and when the 3rd gear 40 rotated, thread rod 35 also rotated.Cooperate with thread rod 35 be after the remove obstacles cylindrical hole of support 37, the constraint of remove obstacles before being subjected to support 36 and thread rod 35 motions, after the support 37 of removing obstacles will move up and down, the mechanism that namely removes obstacles has the degree of freedom of up-and-down movement.
After 2 second motors 56 of removing obstacles of removing obstacles on the support 37 rotate, drive a pair of identical transmission gear 46 and rotate.Transmission gear 46 drives square bar gear 44 respectively, the screw gear 45 of removing obstacles rotates, and screw gear 45 interstitial holes of removing obstacles that are connected with the screw mandrel 43 of removing obstacles are tapped bore, can cooperate with the screw mandrel 43 of removing obstacles to do the screw mandrel transmission.When the screw gear 45 of removing obstacles rotates, the screw mandrel 43 of removing obstacles rotations that also follow suit, and in rotation shift-in forward.Screw mandrel 43 the place aheads of removing obstacles are provided with the Joining clasp 47 that connects square bar 42.Square bar 42 has been opened a groove and has been cooperated with Joining clasp 47.When the screw mandrel 43 of removing obstacles advances, can drive square bar 42 and advance together, and when square bar 42 rotates, not influence the motion of the screw mandrel 43 of removing obstacles.The mechanism that namely removes obstacles has had and has moved forward and backward and rotated two degree of freedom.
Barrier clearing devices such as wood saw and motor can be installed in square bar 42 the place aheads.Because described three degree of freedom.Barrier clearing device can be easy to cut obstacle in the space.
Subsidiary and function thereof
Remote monitor and control: camera head also is installed on the robot, illumination equipment and talkback unit, makes the situation (state that comprises travel path and the wounded) of the clearer understanding rescue site of rescue group.
Medical rescue: robot carries a medical kit, and wherein nutritious liquid and the necessary medicine of saving oneself use for the wounded, improve the wounded's survivability, for further rescue is got the time.
Wireless exploration: for avoiding energy resource consumption, have line control to enter the rescue site mode except existing, also configurable controlled in wireless enters the scene and searches for.

Claims (9)

1. a multifunction hydraulic rescue robot is characterized in that comprising walking mechanism, gets over ditch mechanism, lifting mechanism and the mechanism that removes obstacles;
Described walking mechanism is made of left and right front component and left and right wheel assembly, and described front component is made up of pinion carrier, center gear, breast wheel, satellite gear, power wheel and front-wheel chain; Inside in pinion carrier is provided with center gear, is equipped with breast wheel in the outer periphery of center gear, is equipped with satellite gear in the outer periphery of breast wheel; Described center gear, breast wheel and satellite gear are arranged on pinion carrier inside by gear wheel shaft; On the both sides external wall of pinion carrier, be coaxially arranged with power wheel with satellite gear, be equipped with the front-wheel chain in the outer periphery of power wheel; Described center gear is meshed respectively with the front-wheel chain with satellite gear, power wheel with breast wheel, breast wheel; Described wheel assembly is made up of rear wheel frame, drive sprocket, sprocket wheel, second sprocket wheel and trailing wheel chain; Drive sprocket, sprocket wheel and second sprocket wheel are arranged on the rear wheel frame by gear wheel shaft, are equipped with the trailing wheel chain in the outer periphery of drive sprocket, sprocket wheel and second sprocket wheel, and described drive sprocket, sprocket wheel and second sprocket wheel are meshed with the trailing wheel chain respectively; The gear wheel shaft of described center gear, drive sprocket is connected with the motor shaft of advancing respectively;
Described more ditch mechanism by base plate, more the ditch trailing wheel, more sprocket wheel behind the ditch, more ditch motor wheel, tooth bar, more the ditch chain, more sprocket wheel, roller and left and right swing arm are formed before the ditch; Sprocket wheel before more ditch mechanism front portion is provided with left and right more ditch, be connected by preceding center shaft between the sprocket wheel before the left and right more ditch, preceding center shaft is arranged on the base plate by preceding bracing strut, the two ends of preceding center shaft are connected with an end of left and right swing arm respectively, and the other end of left and right swing arm is connected with its roller separately respectively; Sprocket wheel after more ditch mechanism rear portion is provided with left and right more ditch, more the forward and backward sprocket wheel of ditch is meshed with ditch chain more respectively, the side of sprocket wheel is respectively arranged with more ditch trailing wheel behind described left and right more ditch, more sprocket wheel and more being connected by rear center's axle between the ditch trailing wheel behind the ditch; Rear center's axle is arranged on the base plate by bracket of back axle, and described tooth bar is arranged in the groove on the base plate, and more the ditch trailing wheel is meshed with tooth bar, and tooth bar can stretch out base plate from groove; More be provided with more ditch motor wheel in the side of ditch trailing wheel in a side, described more ditch trailing wheel is taken turns with ditch motor more and is meshed; The gear wheel shaft of described more ditch motor wheel is connected with ditch motor shaft more;
Described lifting mechanism is made up of hydraulic actuating cylinder, hydraulic cylinder base, leading screw, slide block, pole, hydraulic support and bearing; The top of lifting mechanism is provided with hydraulic actuating cylinder, is provided with hydraulic cylinder base below hydraulic actuating cylinder, is provided with leading screw in hydraulic cylinder base, and the non-piston end of described hydraulic actuating cylinder is connected with leading screw by slide block, and leading screw is threaded with slide block; Be respectively arranged with left and right pole in the both sides of hydraulic cylinder base, an end of left and right pole is connected with the non-piston end of hydraulic actuating cylinder, and the other end is connected with hydraulic cylinder base; Described hydraulic actuating cylinder, hydraulic cylinder base, slide block and pole are formed slider-crank mechanism, and leading screw and slide block are formed the leading screw slide block mechanism; The forward and backward two ends of described leading screw are connected by bearing with hydraulic cylinder base, and the front end of leading screw is connected with the hydraulic electric motor axle by coupler, and described hydraulic electric motor is fixed on the hydraulic support; Described base plate is provided with several pivot shafts, be respectively arranged with base plate through holes and rack ventilating hole at hydraulic cylinder base and the left and right two ends of hydraulic support, described pivot shaft is arranged in base plate through holes and the rack ventilating hole, pivot shaft between base plate through holes and base plate, rack ventilating hole and base plate is respectively arranged with support spring, described hydraulic cylinder base, hydraulic electric motor and hydraulic support all are arranged on the top of base plate groove, and corresponding with the base plate groove;
Described remove obstacles mechanism by thread rod, the preceding support of removing obstacles, after remove obstacles support, baffle plate, first gear, second gear, the 3rd gear, square hole cylinder, square bar, the screw mandrel of removing obstacles, square bar gear, remove obstacles screw gear and transmission gear form; The support of removing obstacles before described is provided with cylindrical groove, is provided with first motor of removing obstacles in cylindrical groove; After the frame bottom of removing obstacles be provided with the cylindrical hole with negative thread, on the support of removing obstacles after described thread rod is arranged on by cylindrical hole; Below the support of preceding removing obstacles, be provided with first gear, second gear and the 3rd gear, the gear wheel shaft of first gear and first motor shaft of removing obstacles is connected, described second gear by the cylindrical projection on the base plate be arranged on base plate and before remove obstacles between the support, the 3rd gear is connected with the lower end of thread rod; After the remove obstacles front and back walls of support be respectively arranged with circular hole, and it is corresponding before and after the position of circular hole, in the circular hole of a pair of front and back correspondence, be respectively arranged with the square hole cylinder, after being arranged on by the square hole cylinder, described square bar removes obstacles on the support, on the support of removing obstacles after the described screw mandrel of removing obstacles is arranged on by another circular hole to the front and back correspondence; The screw mandrel of removing obstacles is captiveed joint with Joining clasp one end, square bar is provided with groove, and the cross-sectional plane of the square bar of groove is circular, in groove, be provided with the other end of Joining clasp, be respectively arranged with the square bar gear at described square bar, the screw mandrel of removing obstacles, the screw gear of removing obstacles, and the screw gear of removing obstacles is connected with the wire rod thread of removing obstacles, remove obstacles between support and the baffle plate after described square bar gear, the screw gear of removing obstacles are arranged on, described square bar gear, the screw gear of removing obstacles are meshed with its transmission gear separately respectively; The gear wheel shaft of described transmission gear is connected with its second motor shaft of removing obstacles separately respectively.
2. multifunction hydraulic rescue robot according to claim 1 is characterized in that described breast wheel has three, and evenly distributes on circumference.
3. multifunction hydraulic rescue robot according to claim 1 is characterized in that described satellite gear has three, and corresponding one by one with breast wheel.
4. multifunction hydraulic rescue robot according to claim 1, it is characterized in that described sprocket wheel, the second sprocket wheel specification identical, on same horizontal surface, and form the triangular shape structure with drive sprocket on same plane.
5. multifunction hydraulic rescue robot according to claim 1, it is characterized in that described front-wheel chain is made up of front-wheel rubber coating, two strand bars and bearing pin, described front-wheel rubber coating is connected with two strand bars respectively by bearing pin, and two strand bar structures are identical.
6. multifunction hydraulic rescue robot according to claim 1 is characterized in that described trailing wheel chain is made up of trailing wheel rubber coating, strand bar and bearing pin, and described trailing wheel rubber coating is connected with the strand bar by bearing pin.
7. multifunction hydraulic rescue robot according to claim 1 is characterized in that described first gear, second gear and the 3rd gear set specifications are identical, and transmitting ratio is 1:1:1.
8. multifunction hydraulic rescue robot according to claim 1 is characterized in that described square bar gear is identical with its transmission gear specification, and transmitting ratio is 1:1.
9. multifunction hydraulic rescue robot according to claim 1 is characterized in that the described screw gear of removing obstacles is identical with its transmission gear specification, and transmitting ratio is 1:1.
CN 201320056282 2013-01-31 2013-01-31 Multifunctional hydraulic rescue robot Expired - Fee Related CN203142829U (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104044654A (en) * 2014-05-28 2014-09-17 苏州工业园区职业技术学院 Driving wheel for wall-climbing robot
CN104842971A (en) * 2014-10-10 2015-08-19 北汽福田汽车股份有限公司 Vehicle auxiliary passing device, driving system, and vehicle
CN105270495A (en) * 2015-10-23 2016-01-27 河北工业大学 Mobile robot and operation method thereof
CN105774930A (en) * 2014-12-10 2016-07-20 孙欣 Composite caterpillar wheel deformation mechanism
WO2018035743A1 (en) * 2016-08-24 2018-03-01 李玉婷 Triangular track-and-wheel robot
CN109015589A (en) * 2018-08-22 2018-12-18 罗晓辉 A kind of detection and rescue robot
CN109850023A (en) * 2019-03-05 2019-06-07 内蒙古第一机械集团股份有限公司 A kind of planetary triangle crawler travel and driving device

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104044654A (en) * 2014-05-28 2014-09-17 苏州工业园区职业技术学院 Driving wheel for wall-climbing robot
CN104842971A (en) * 2014-10-10 2015-08-19 北汽福田汽车股份有限公司 Vehicle auxiliary passing device, driving system, and vehicle
CN104842971B (en) * 2014-10-10 2017-09-29 北汽福田汽车股份有限公司 Vehicle auxiliary passes through device, driving system and vehicle
CN105774930A (en) * 2014-12-10 2016-07-20 孙欣 Composite caterpillar wheel deformation mechanism
CN105270495A (en) * 2015-10-23 2016-01-27 河北工业大学 Mobile robot and operation method thereof
WO2018035743A1 (en) * 2016-08-24 2018-03-01 李玉婷 Triangular track-and-wheel robot
CN109015589A (en) * 2018-08-22 2018-12-18 罗晓辉 A kind of detection and rescue robot
CN109850023A (en) * 2019-03-05 2019-06-07 内蒙古第一机械集团股份有限公司 A kind of planetary triangle crawler travel and driving device

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