CN203228861U - Moving mechanism of search-and-rescue robot - Google Patents
Moving mechanism of search-and-rescue robot Download PDFInfo
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- CN203228861U CN203228861U CN 201320235917 CN201320235917U CN203228861U CN 203228861 U CN203228861 U CN 203228861U CN 201320235917 CN201320235917 CN 201320235917 CN 201320235917 U CN201320235917 U CN 201320235917U CN 203228861 U CN203228861 U CN 203228861U
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- rescue robot
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Abstract
The utility model relates to the design of a search-and-rescue robot, specifically to the design of a moving mechanism of a search-and-rescue robot. The moving mechanism comprises two moving bodies, the two moving bodies are sequentially connected through two rigid rods in the sequence of a moving body, a rigid rod, the other rigid rod, and the other moving body, and each moving body is provided with two motors. The moving mechanism is characterized in that the two moving bodies are of a double-crawler belt type structure, each crawler belt is driven by a motor. The search-and-rescue robot has relatively good passing ability and flexibility, thereby improving accuracy and efficiency of search and rescue.
Description
Technical field
The utility model is the design about a kind of colliery search and rescue robot, is specifically related to the design of the travel mechanism of a kind of colliery search and rescue robot.
Background technology
Current, the coal mining accident rate is higher, so the research of colliery search and rescue robot more and more comes into one's own.So, to research and develop a kind of search and rescue robot that can enter the disaster scene very first time and just possess important meaning, search and rescue robot can be used for the rescue decision-making for decision maker and rescue expert provide failure-free information, improves rescue efficiency, reduces personnel's injures and deaths.Existing search and rescue robot comprises that vehicle type, bionic type, parallel and flight formula etc. are several.Wherein, because the caterpillar mobile robot travelling performance is good, can moves on hackly ground, and have stronger obstacle climbing ability, the climbing ability is strong, motion stabilization, so the vehicle type search and rescue robot is generally crawler type.A kind of robot wherein, it is a kind of double-crawler type robot, and its leading portion adopts caterpillar belt structure and the swing arm of class assembling manch, realizes the function of speeling stairway and clear an obstacle, and pick up camera has been installed on the mechanical arm, can gather the ambient image information of all angles.But this kind robot is monolithic design, and its higher obstacle of can't ascending can not be climbed the obstacle with vertical wall.Therefore be necessary to design a kind of caterpillar type robot that can realize better meeting obstacle.
The utility model content
To achieve these goals, the utility model adopts following technical scheme:
A kind of travel mechanism of search and rescue robot, it comprises two moving bodys, connect successively by the order of two rigid rods with moving body, rigid rod, rigid rod, moving body between two moving bodys, each moving body is provided with two motors, it is characterized in that: two moving bodys are the double-crawler type structure, and every crawler belt is used a direct motor drive respectively.
The travel mechanism of aforesaid search and rescue robot is further characterized in that: connect by pivot knuckles between moving body and rigid rod and rigid rod and the rigid rod.
The travel mechanism of aforesaid search and rescue robot is further characterized in that: be provided with the 5th electrical motor between rigid rod and the rigid rod, be used for driving pivot knuckles and connect.
The travel mechanism of aforesaid search and rescue robot is further characterized in that: five electrical motors can be in freedom or driving condition.
The travel mechanism of aforesaid search and rescue robot is further characterized in that: five electrical motors state each other is independently.
The travel mechanism of aforesaid search and rescue robot is further characterized in that: at least one crawler belt has grouser.
The binary crawler type travel mechanism that the utility model relates to, with respect to wheeled robot and traditional caterpillar type robot, obstacle climbing ability is stronger.It is most suitable to advance in scraggly tunnel, the function of crawler belt is just as the self-contained road of robot, and the advantage of anthropomorphic robot has been used for reference in the design of couple structure, when obstacle is higher, can lift first half, as the people moves, stride across obstacle.
Description of drawings
The scheme drawing of the double-crawler type search and rescue robot that Fig. 1, the utility model relate to
The scheme drawing of the double-crawler type search and rescue robot climbing step that Fig. 2, the utility model relate to
The scheme drawing of the double-crawler type search and rescue robot climbing superelevation obstacle that Fig. 3 A-Fig. 3 C, the utility model relate to
The specific embodiment
The colliery search and rescue robot that the utility model relates to adopts binary crawler type travel mechanism, consider the particularity of working environment during design, structure has been carried out light-weight design, guarantee that it has smaller volume, lighter weight, can in the little coal mine environment in space, freely advance, and carry more relevant device and goods and materials as much as possible, for making it that better obstacle climbing ability be arranged, as Fig. 1, Fig. 2, shown in Fig. 3 A-Fig. 3 C, adopt catamaran design, it comprises two moving bodys 1, and each moving body 1 is the double-crawler type structure, by shown in two crawler belt 2(figure one) drive by the two motors (not shown) respectively; A rigid rod 4 is arranged respectively on two moving bodys 1; Connect by pivot knuckles between rigid rod 4 and the corresponding moving body 1; The other end of two rigid rods 4 also is articulated and connected by gear 5.Preferably, the gear that is articulated and connected 5 that the 5th electrical motor is used for driving these two rigid rods 4 is set.When the common step of climbing, as shown in Figure 2, the 5th electrical motor is in free state, cooperatively interacted by four electrical motors on two moving bodys 1 and realizes climbing.When running into higher obstacle, shown in Fig. 3 A-Fig. 3 C, under the cooperation of four electrical motors, by the continuous gear of the 5th direct motor drive two parts, thereby previous moving body 1 is lifted, clear the jumps, drive a back moving body 1 by previous moving body 1 again and clear the jumps, can reach obstacle detouring effect preferably.
Below be main design objective and the requirement of this robot moving platform:
(1) overall dimension: length * wide * height=510 * 284 * 460 (mm);
(2) deadweight is 3～5 kilograms, carries weight: 5 kilograms;
(3) peak velocity〉3m/s (normal speed〉1.5m/s);
(4) the ascend ability of vertical obstacle〉50 centimetres, the common stair of can ascending;
(5) hill climbing ability〉25 degree;
(6) operating temperature :-10 ℃+40 ℃;
(7) car body has protection against dust, can travel in drive;
(8) provide lift-launch platform (2 degree of freedom).
The binary crawler type travel mechanism that the utility model relates to, with respect to wheeled robot and traditional caterpillar type robot, obstacle climbing ability is stronger.It is most suitable to advance in scraggly tunnel, the function of crawler belt is just as the self-contained road of robot, and the advantage of anthropomorphic robot has been used for reference in the design of couple structure, when obstacle is higher, can lift first half, as the people moves, stride across obstacle.Binary crawler type travel mechanism has following characteristics:
(1) adopt the binary track structure, area of thrust surface are bigger, give the pressure on ground little, and advancing in soil, mud ground is difficult for sinking, even a part is sunk, also can be dragged by another part, breaks away from from sinking.With respect to wheeled and traditional crawler type better crossing ability is arranged;
(2) stronger obstacle climbing ability is arranged, can cross higher obstacle with respect to wheeled and traditional crawler type, climb up steeper slope;
(3) in the caterpillar belt structure grouser is arranged, can prevent from skidding among the robot motion.
After this colliery search and rescue robot is studied successfully, can load different equipment, be applied in different fields, expand its usability greatly, in real work, can bear the various salvage works that try to be the first, economic benefit, obvious social benefit.
Claims (5)
1. the travel mechanism of a search and rescue robot, it is characterized in that, it comprises two moving bodys, connect successively by the order of two rigid rods with moving body, rigid rod, rigid rod, moving body between two moving bodys, each moving body is provided with two motors, two moving bodys are the double-crawler type structure, and every crawler belt is used a direct motor drive respectively.
2. the travel mechanism of search and rescue robot as claimed in claim 1 is characterized in that: connect by pivot knuckles between moving body and rigid rod and rigid rod and the rigid rod.
3. the travel mechanism of search and rescue robot as claimed in claim 2 is characterized in that: be provided with the 5th electrical motor between rigid rod and the rigid rod, be used for driving pivot knuckles and connect.
4. the travel mechanism of crawler type search and rescue robot as claimed in claim 3, it is characterized in that: five electrical motors state each other is independently.
5. as the travel mechanism of the described search and rescue robot of the arbitrary claim of claim 1-4, it is characterized in that: at least one crawler belt has grouser.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320235917 CN203228861U (en) | 2013-05-03 | 2013-05-03 | Moving mechanism of search-and-rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320235917 CN203228861U (en) | 2013-05-03 | 2013-05-03 | Moving mechanism of search-and-rescue robot |
Publications (1)
| Publication Number | Publication Date |
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| CN203228861U true CN203228861U (en) | 2013-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320235917 Expired - Fee Related CN203228861U (en) | 2013-05-03 | 2013-05-03 | Moving mechanism of search-and-rescue robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103612685A (en) * | 2013-11-29 | 2014-03-05 | 哈尔滨工程大学 | Leg type rotatable quadruped robot with crawler wheels and driving wheels |
-
2013
- 2013-05-03 CN CN 201320235917 patent/CN203228861U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103612685A (en) * | 2013-11-29 | 2014-03-05 | 哈尔滨工程大学 | Leg type rotatable quadruped robot with crawler wheels and driving wheels |
| CN103612685B (en) * | 2013-11-29 | 2017-02-08 | 哈尔滨工程大学 | Leg type rotatable quadruped robot with crawler wheels and driving wheels |
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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: 20131009 Termination date: 20150503 |
|
| EXPY | Termination of patent right or utility model |