CN204248880U - A kind of multifunctional rescue robot - Google Patents
A kind of multifunctional rescue robot Download PDFInfo
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- CN204248880U CN204248880U CN201420744431.4U CN201420744431U CN204248880U CN 204248880 U CN204248880 U CN 204248880U CN 201420744431 U CN201420744431 U CN 201420744431U CN 204248880 U CN204248880 U CN 204248880U
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Abstract
The utility model relates to ruins rescue aid, specifically a kind of multifunctional rescue robot, robot comprises travel mechanism, camera, gas receiver and wireless connections module, the creeper undercarriage that travel mechanism comprises driver module and is arranged on driver module both sides respectively, walked by driver module driving, camera and wireless connections module are connected with driver module respectively by quick plug, camera are provided with the gas receiver gathering gas sample in ruins; Three kinds of working methods that the utility model robot has to be had cable, work independently without cable and camera, the quick plug on driver module is directly connected with console by cable, and realizing has cable; Driver module is connected by quick plug with wireless connections module, realizes without cable; The mode that camera works independently is that camera takes off from travel mechanism together with gas receiver, is directly connected with console by cable.The utility model structure is simple, compact, modularization, is easy to install, and volume is little, lightweight.
Description
Technical field
The utility model relates to ruins rescue aid, specifically a kind of multifunctional rescue robot.
Background technology
The generation of the contingency such as earthquake, tsunami usually can cause building collapsing to produce ruins, and the search and rescue survivor be embedded under ruins is a very urgent task.In order to improve search efficiency, greatly develop search and rescue robot technology; Disorderly and unsystematic due to ruins environment, robot has cable to enter in ruins in some cases, or robot all cannot enter without cable, brings very large difficulty to search-and-rescue work.
Utility model content
In order to the complex situations solving different ruins environment need the restriction of different search and rescue equipment, the purpose of this utility model is to provide a kind of multifunctional rescue robot.
The purpose of this utility model is achieved through the following technical solutions:
The utility model robot comprises travel mechanism, camera, gas receiver and wireless connections module, wherein travel mechanism comprises driver module and is arranged on these driver module both sides respectively, is driven the creeper undercarriage of walking by described driver module, described camera and wireless connections module are connected with driver module respectively by quick plug, described camera are provided with the gas receiver gathering gas sample in ruins.
Wherein: described camera comprises camera base, lens base, motor A, motor output shaft, motor B and rotating lens, this camera base is connected with described driver module by quick plug, described motor A is arranged in this camera base, and the motor output shaft of this motor A is connected with the described lens base be positioned at above camera base, drives lens base to rotate; Described rotating lens is installed in rotation on lens base, and described motor B is positioned at this rotating lens, and the output shaft of motor B is connected with described lens base, and side and the motor B of described rotating lens are affixed, and opposite side and described lens base are rotationally connected; Described rotating lens has two frees degree, is respectively and rotates around vertical axis and to face upward rotation of bowing; The bottom of described camera base is provided with quick plug C, and this camera base is connected with the quick plug A of described driver module front portion by quick plug C;
Described wireless connections module comprises control panel, video reception plate, DC module, video receiver and battery, this battery is electrically connected with described control panel and driver module respectively, described video reception plate and DC module are electrically connected with this control panel respectively, and described video receiver is electrically connected with this video reception plate; Described wireless connections module is provided with quick plug D, and this quick plug D is connected by the quick plug B of cable with described driver module rear portion;
Described driver module is provided with the tail supporting mechanism preventing described robot from tumbling, this tail supporting mechanism comprises support bar base, support bar, trailing wheel and spring, described support bar floor installation is at the rear portion of driver module, one end of described support bar is hinged on support bar base, the other end is connected with described trailing wheel, and the two ends of described spring are connected on support bar base and support bar; Described support bar base, support bar, trailing wheel and spring are two, two described support bar bases are separately fixed at the rear portion of driver module, one end of two described support bars is hinged on support bar base respectively, the other end is tightened together by Rear wheel support axle, the two ends of described Rear wheel support axle are all connected with trailing wheel, spring supporting axle is connected with between two described support bars, one end of two described springs is connected on support bar base, and the other end is connected on described spring supporting axle.
Advantage of the present utility model and good effect are:
1. the utility model is by robot moving mechanism as carrier platform, and camera, gas receiver, wireless connections module are fixed thereon, and cooperatively interacted search-and-rescue work, and structure is simple, compact, modularization, and be easy to install, volume is little, lightweight.
2. the driver module rear portion of the utility model robot is provided with tail supporting mechanism, moving in obstacle detouring process for supporting robot body, preventing robot from tumbling in whole robot.
3. the rotating lens of the utility model robot can realize rotating without dead angle up and down, investigation ruins environment; Gas receiver can collect the toxic gas that may exist in the environment of ruins, realizes monitoring.
4. the camera of the utility model robot, wireless connections module are connected by quick plug with between driver module, cable can be realized in use, without modes such as cable and camera work independently, to adapt to ruins environment complicated and changeable, adaptability is stronger, reliable and practical.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is the structural representation of the utility model travel mechanism;
Fig. 3 is the perspective view of the utility model camera;
Fig. 4 is the internal structure schematic diagram of the utility model camera;
Fig. 5 is the structural representation of the utility model tail supporting mechanism;
Fig. 6 is the internal structure schematic diagram of the utility model wireless connections module;
Wherein: 1 is travel mechanism, 2 is camera, 3 is gas receiver, 4 is wireless connections module, 5 is creeper undercarriage, 6 is driver module, 7 is tail supporting mechanism, 8 is quick plug A, 9 is quick plug B, 10 is camera base, 11 is lens base, 12 is quick plug C, 13 is quick plug D, 14 is support bar base, 15 is support bar, 16 is spring supporting axle, 17 is Rear wheel support axle, 18 is trailing wheel, 19 is spring, 20 is motor A, 21 is motor output shaft, 22 is motor B, 23 is rotating lens, 24 is control panel, 25 is video reception plate, 26 is DC module, 27 is video receiver, 28 is battery.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1, robot of the present utility model comprises travel mechanism 1, camera 2, gas receiver 3 and wireless connections module 4, wherein camera 2 and wireless connections module 4 are arranged on respectively in travel mechanism 1, with travel mechanism 1 and walk, and gas receiver 3 is fixed on camera 2.
As shown in Fig. 2, Fig. 5, travel mechanism 1 comprises creeper undercarriage 5, driver module 6 and tail supporting mechanism 7, the both sides of driver module 6 are separately installed with creeper undercarriage 5, the creeper undercarriage 5 of both sides is symmetrical arranged, walking is driven by driver module 6, according to terrain environment Passive deformation, to adapt to ruins environment, higher barrier can be crossed; Creeper undercarriage 5 of the present utility model and driver module 6 are prior art, adopt the patent No. to be wheel-shoe compound mobile module in 201010219515.2 utility model patents and caterpillar drive.The front portion of driver module 6 is provided with quick plug A8, and rear portion is provided with quick plug B9.Tail supporting mechanism 7 is arranged on the rear portion of driver module 6, comprise two support bar bases 14, two support bars 15, a spring supporting axle 16, a Rear wheel support axle 17, two trailing wheels 18 and two springs 19, two support bar bases 14 are separately fixed at the rear portion of driver module 6, be positioned at the both sides below quick plug B9, one end of two support bars 15 is hinged on support bar base 14 respectively, the other end is tightened together by Rear wheel support axle 17, the two ends of Rear wheel support axle 17 are all connected with trailing wheel 18, spring supporting axle 16 is supported between two support bars 15, one end of two springs 19 is connected on support bar base 14, the other end is connected on spring supporting axle 16.Tail supporting mechanism 7 to move in obstacle detouring process for supporting robot body in whole robot, prevents robot from tumbling.
As shown in Figure 3, Figure 4, camera 2 comprises camera base 10, lens base 11, motor A20, motor output shaft 21, motor B22 and rotating lens 23, the bottom of this camera base 10 is provided with quick plug C12, and camera base 10 is connected with the quick plug A8 of driver module 6 front portion by quick plug C12; Motor A20 is fixed in this camera base 10, and the motor output shaft 21 of motor A20 is connected with the lens base 11 be positioned at above camera base 10, drives lens base 11 to rotate around vertical axis.Rotating lens 23 is installed in rotation on lens base 11, and motor B22 is positioned at rotating lens 23, and output shaft and the lens base 11 of motor B22 are affixed, and side and the motor B22 of rotating lens 23 are affixed, and opposite side is rotationally connected by bearing and lens base 11.When motor B22 works, because of output shaft and lens base 11 affixed, so carry out facing upward rotation of bowing under the effect of rotating lens 23 active force outside; That is, rotating lens 23 has two frees degree, and being respectively can around vertical axis rotating 360 degrees, and pitch angle can reach 240 ° simultaneously, is driven respectively by motor A20, motor B22.
Gas receiver 3 is fixed on the rear side of camera base 10, by the action such as solenoid control air-breathing, closedown carried, can collect the toxic gas that may exist in the environment of ruins, realizes monitoring.Gas receiver 3 of the present utility model is commercial products, and purchase in Dongguan City Yuan Fan Industrial Equipment Co., Ltd, model is YHS-0.5L.
As shown in Figure 6, wireless connections module 4 comprises control panel 24, video reception plate 25, DC module 26, video receiver 27 and battery 28, this battery 28 is electrically connected with control panel 24 and driver module 6 respectively, video reception plate 25 and DC module 26 are electrically connected with control panel 24 respectively, and video receiver 27 is electrically connected with video reception plate 25.Wireless connections module 4 is provided with quick plug D13, and wireless connections module 4 is fixed on the upside of driver module 6, and quick plug D13 is connected by the quick plug B9 of cable with driver module 6 rear portion.
The using method of the utility model robot is:
The utility model has three kinds of mode of operations, namely has cable, works independently without cable and camera 2.Closely can realize cable, take off by wireless connections module 4 by driver module 6, the quick plug B9 on driver module 6 is directly connected with console, by console (console of the present utility model is prior art) control work; Can realize without cable at a distance or under specific condition, the quick plug B9 on driver module 6 is connected with the quick plug D13 in wireless connections module 4, is worked without cable far distance controlled robot by wireless connections module 4; When extremely specific condition or travel mechanism 1 cannot arrive, camera 2 takes off from travel mechanism 1 together with gas receiver 3, and the quick plug C12 on camera base 10 is directly connected with console by cable.
Operation principle of the present utility model is:
When ruins environment allows search and rescue equipment to have cable to enter search and rescue, wireless connections module 4 is directly taken off from driver module 6, quick plug B9 on driver module 6 is directly connected with console by cable, now not only alleviate the weight of whole search and rescue equipment, reduce the load of travel mechanism 1, and make Signal transmissions more stable smooth.
When ruins environment does not allow search and rescue equipment to have cable to enter search and rescue, the quick plug D13 in wireless connections module 4 is connected with the quick plug B9 on driver module 6 by cable, can realize remote without pulling search and rescue in ruins.Namely battery 28 is powered for control panel 24 and driver module 6, and video reception plate 2 receives the vision signal that camera 2 transmits, and reaches console by video receiver 27; DC module 26 controls the voltage of driver module 6, makes driver module 6 voltage stabilizing.
When ruins environment is extremely special or (vertical ruins environment) in the unapproachable situation of travel mechanism 1, camera 2 takes off from driver module 6 together with gas receiver 3, quick plug C12 on camera base 10 is directly connected with console by cable, by rescue worker's direct control camera 2, camera 2 is pulled and completes detection mission into inside, ruins.
No matter which kind of mode of operation, after gas receiver 3 enters inside, ruins, under the control of magnetic valve, sucks gas in ruins in gas receiver 3, adopt gas sample for detection.
The utility model, by the application of quick plug A8, B9, C12, D13, completes the mutual conversion of three kinds of mode of operations, makes more to adapt to ruins environment complicated and changeable.
Claims (8)
1. a multifunctional rescue robot, it is characterized in that: comprise travel mechanism (1), camera (2), gas receiver (3) and wireless connections module (4), wherein travel mechanism (1) comprises driver module (6) and is arranged on this driver module (6) both sides respectively, the creeper undercarriage (5) of walking is driven by described driver module (6), described camera (2) and wireless connections module (4) are connected with driver module (6) respectively by quick plug, described camera (2) is provided with the gas receiver (3) gathering gas sample in ruins.
2. by multifunctional rescue robot according to claim 1, it is characterized in that: described camera (2) comprises camera base (10), lens base (11), motor A (20), motor output shaft (21), motor B (22) and rotating lens (23), this camera base (10) is connected with described driver module (6) by quick plug, described motor A (20) is arranged in this camera base (10), the motor output shaft (21) of this motor A (20) is connected with the described lens base (11) being positioned at camera base (10) top, lens base (11) is driven to rotate, described rotating lens (23) is installed in rotation on lens base (11), described motor B (22) is positioned at this rotating lens (23), the output shaft of motor B (22) is connected with described lens base (11), side and the motor B (22) of described rotating lens (23) are affixed, and opposite side and described lens base (11) are rotationally connected.
3. by multifunctional rescue robot according to claim 2, it is characterized in that: described rotating lens (23) has two frees degree, be respectively and rotate around vertical axis and to face upward rotation of bowing.
4. by multifunctional rescue robot according to claim 2, it is characterized in that: the bottom of described camera base (10) is provided with quick plug C (12), this camera base (10) is connected by the quick plug A (8) that quick plug C (12) is anterior with described driver module (6).
5. by multifunctional rescue robot according to claim 1, it is characterized in that: described wireless connections module (4) comprises control panel (24), video reception plate (25), DC module (26), video receiver (27) and battery (28), this battery (28) is electrically connected with described control panel (24) and driver module (6) respectively, described video reception plate (25) and DC module (26) are electrically connected with this control panel (24) respectively, and described video receiver (27) is electrically connected with this video reception plate (25).
6. by multifunctional rescue robot according to claim 5, it is characterized in that: described wireless connections module (4) is provided with quick plug D (13), this quick plug D (13) is connected with the quick plug B (9) at described driver module (6) rear portion by cable.
7. by multifunctional rescue robot according to claim 1, it is characterized in that: (6) are provided with the tail supporting mechanism preventing described robot from tumbling to described driver module, this tail supporting mechanism comprises support bar base (14), support bar (15), trailing wheel (18) and spring (19), described support bar base (14) is arranged on the rear portion of driver module (6), one end of described support bar (15) is hinged on support bar base (14), the other end is connected with described trailing wheel (18), the two ends of described spring (19) are connected on support bar base (14) and support bar (15).
8. by multifunctional rescue robot according to claim 7, it is characterized in that: described support bar base (14), support bar (15), trailing wheel (18) and spring (19) are two, two described support bar bases (14) are separately fixed at the rear portion of driver module (6), one end of two described support bars (15) is hinged on support bar base (14) respectively, the other end is tightened together by Rear wheel support axle (17), the two ends of described Rear wheel support axle (17) are all connected with trailing wheel (18), spring supporting axle (16) is connected with between two described support bars (15), one end of two described springs (19) is connected on support bar base (14), the other end is connected on described spring supporting axle (16).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420744431.4U CN204248880U (en) | 2014-11-30 | 2014-11-30 | A kind of multifunctional rescue robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420744431.4U CN204248880U (en) | 2014-11-30 | 2014-11-30 | A kind of multifunctional rescue robot |
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| CN204248880U true CN204248880U (en) | 2015-04-08 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104859735A (en) * | 2015-05-07 | 2015-08-26 | 青岛理工大学 | Overturning-type obstacle-surmounting vehicle |
| CN104875811A (en) * | 2015-06-12 | 2015-09-02 | 洛阳理工学院 | Wheel leg assisted composite obstacle crossing device |
| CN104973153A (en) * | 2015-07-20 | 2015-10-14 | 哈尔滨工业大学 | Novel suspension system for tracked mobile robot |
| CN105538285A (en) * | 2016-02-29 | 2016-05-04 | 中国科学院沈阳自动化研究所 | Life detection robot equipment based on multi-sensor information |
| CN105598977A (en) * | 2015-12-31 | 2016-05-25 | 天津鼎优科技有限公司 | Robot based on underground rescue operation |
| CN105619375A (en) * | 2014-11-30 | 2016-06-01 | 中国科学院沈阳自动化研究所 | Multifunctional rescue robot and using method thereof |
-
2014
- 2014-11-30 CN CN201420744431.4U patent/CN204248880U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619375A (en) * | 2014-11-30 | 2016-06-01 | 中国科学院沈阳自动化研究所 | Multifunctional rescue robot and using method thereof |
| CN104859735A (en) * | 2015-05-07 | 2015-08-26 | 青岛理工大学 | Overturning-type obstacle-surmounting vehicle |
| CN104875811A (en) * | 2015-06-12 | 2015-09-02 | 洛阳理工学院 | Wheel leg assisted composite obstacle crossing device |
| CN104973153A (en) * | 2015-07-20 | 2015-10-14 | 哈尔滨工业大学 | Novel suspension system for tracked mobile robot |
| CN104973153B (en) * | 2015-07-20 | 2017-04-26 | 哈尔滨工业大学 | Suspension system for tracked mobile robot |
| CN105598977A (en) * | 2015-12-31 | 2016-05-25 | 天津鼎优科技有限公司 | Robot based on underground rescue operation |
| CN105538285A (en) * | 2016-02-29 | 2016-05-04 | 中国科学院沈阳自动化研究所 | Life detection robot equipment based on multi-sensor information |
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