CN205343103U

CN205343103U - Anticorrosive blast proof multi -functional hot imaging detection rescue robot

Info

Publication number: CN205343103U
Application number: CN201620035043.8U
Authority: CN
Inventors: 任曲波
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-01-14
Filing date: 2016-01-14
Publication date: 2016-06-29
Anticipated expiration: 2026-01-14

Abstract

The utility model discloses an anticorrosive blast proof multi -functional hot imaging detection rescue robot, including crawler type robot platform, manipulator device and control appearance, crawler type robot platform includes the chassis cabin body, be provided with the gas detection ware on the body of chassis cabin, the temperature detect ware, laser radar and manipulator device, the manipulator device includes mechanical hand large arm, mechanical hand large arm's front end passes through mechanical hand small arm and links to each other with the manipulator, mechanical hand large arm's end articulates on the support, but the support is installed on the mount pad on locating chassis cabin body roof through 360 degrees unlimited rotatory revolute joint of horizontal direction, mechanical hand large arm's middle part links to each other with electric putter, the control appearance passes through electric telescopic handle and installs at the support rear side. The utility model discloses environmental performance is strong in the adaptation, and tasks such as switching valve leaking stoppage and rescue can be carried out to the self -built search and rescue map of ability substitute under the adverse circumstances, have high practicality.

Description

The multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion is explosion-proof

Technical field

This utility model relates to a kind of robot, more particularly, it relates to the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion is explosion-proof.

Background technology

Fast development along with China's economic construction, urbanization and process of industrialization are constantly accelerated, and a large amount of fire safety evaluating hidden danger and risk are increasing, and fire fighting and rescue task becomes increasingly complex, the dangerous sort that fireman faces is various, brings serious threat to the life security of fireman.Inflammable for some, explosive, poisonous, harmful, easily the indoor and outdoor hazards such as building, bulk storage plant stacking, anoxia, dense smoke, radioactivity that caves in is on-the-spot, owing to site environment is not known about by commanding and rescue personnel, there is no on-the-spot map, do not know there are the risk factors such as what harmful gas yet, set about entirely without method, where more not knowing the leakage point of some cause of accident, disaster affected people where, it is impossible to these hazards scenes are made and judges accurately and operational commanding.Meanwhile, severe scene there is also substantial amounts of Dangerous and Harmful Factors, is highly detrimental to people and enters to perform high-risk rescue work.Hence for above-mentioned problem, it is badly in need of a kind of extreme disaster field that can enter and is detected the specialized robot of rescue.

Summary of the invention

1. utility model to solve the technical problem that

The purpose of this utility model is in that to overcome above-mentioned deficiency, provide the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion is explosion-proof, adopt the technical solution of the utility model, obstacle climbing ability is strong, adapt to high and low temperature environment and strong acid and strong base environmental performance is strong, climbing obstacle climbing ability is good, have at high temperature, the ability of secondary existence under blast and strong corrosive environment, high temperature or leak point can not only be detected, and disaster affected people, and can use whether temperature sensor and gas detector detection around exist high temperature and poisonous explosive possibility, use manipulator for rescue simultaneously, Remote can be realized and close valve, cut off source of leakage or perform long-range rescue task.

2. technical scheme

For reaching above-mentioned purpose, the technical scheme that this utility model provides is:

The multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion of the present utility model is explosion-proof, including wheel-pedrail robot platform, wheel-pedrail robot platform includes chassis nacelle and is located at the creeper undercarriage of the nacelle left and right sides, chassis, also include robot device and monitor controller, described robot device includes mechanical hand large arm, mechanical hand forearm, rotary joint, gripper of manipulator and revolute joint, the front end of described mechanical hand large arm is hinged by the front end of rotary joint Yu mechanical hand forearm, the end of mechanical hand forearm is provided with gripper of manipulator, the end of mechanical hand forearm is provided with video camera；The end of described mechanical hand large arm is articulated with on support, and support is by can the revolute joint of 360 degree of unlimited rotaries of horizontal direction be arranged in the mounting seat being located on nacelle top board rear end, chassis；The middle part of described mechanical hand large arm is connected with the electric pushrod being arranged in mounting seat；Described monitor controller is arranged on the rear side of support by electric expansion bar.

Further, described monitor controller is thermal infrared imager or the double; two light integrated monitoring instrument of infrared visible ray.

Further, the front end of described chassis nacelle is provided with laser radar.

Further, front side and the left and right sides of described chassis nacelle are provided with temperature sensor.

Further, described chassis nacelle is provided with gas detector, each gas detector is respectively connected with alarm.

Further, bottom or the top of described chassis nacelle are provided with water tank, and the side plate of water tank offers draining sewage draining exit；The top board of described chassis nacelle offers water inlet and outlet, water inlet and outlet all connect with water tank chassis.

Further, the left and right sides panel of described chassis nacelle is provided with can as the casing of control chamber or power supply box, and four angles of this casing are equipped with chamfering；Between upper plane and lower plane that each described casing is respectively positioned in creeper undercarriage chassis non-corrosive metal (NCM) crawler belt and is formed；It is provided with tensioner between the upper plane that described casing and chassis non-corrosive metal (NCM) crawler belt are formed, described tensioner includes "U" shaped tensioning plate and is formed at the slide rail plate of casing both sides, the flat board of described tensioning plate is arranged on roof box by tensioning spring, and the biside plate of tensioning plate is slidably fitted in slide rail plate.

Further, described creeper undercarriage includes chassis non-corrosive metal (NCM) crawler belt, chassis drivewheel and the chassis driven pulley being rotationally connected with chassis nacelle side panel, and described chassis non-corrosive metal (NCM) crawler belt is sleeved on chassis drivewheel, chassis driven pulley；Described chassis drivewheel is by driving axle to be connected with the hoofing part reductor being located in the nacelle rear deck of chassis, and hoofing part reductor is connected with travel driving motor.

Further, two symmetrical metal fin arms it are provided with outside creeper undercarriage described in two, described metal fin arm includes the fin arm drivewheel that fin arm non-corrosive metal (NCM) crawler belt, fin arm metal rack and chassis driven pulley are connected and the fin arm driven pulley being rotationally connected with fin arm metal rack, and described fin arm non-corrosive metal (NCM) crawler belt is sleeved on fin arm drivewheel, fin arm driven pulley；The front deck middle position of described chassis nacelle is provided with fin arm angle-controlled motor, and described fin arm angle-controlled motor rotates with fin arm and drives reductor to be connected, and fin arm rotates to drive and is plugged with rotating shaft on reductor；The two ends of described rotating shaft are stretched out chassis nacelle left and right sides panel respectively and are connected with fin arm metal rack after chassis driven pulley and fin arm drivewheel；Described fin arm rotates in the delivery outlet driving reductor and is provided with manual rotation axle.

Further, the top board of described chassis nacelle is provided with Backpack type reserve battery.

3. beneficial effect

The technical scheme adopting this utility model to provide, compared with existing known technology, has the advantages that

(1) the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion of the present utility model is explosion-proof, the front end of its mechanical hand large arm is hinged by the front end of rotary joint Yu mechanical hand forearm, realize the folding angles conversion of mechanical hand forearm, the end of mechanical hand forearm is provided with gripper of manipulator, gripper of manipulator can realize rotating and folding, for rescue works such as opening/shutting valve and crawl objects, the end of mechanical hand forearm is provided with video camera, the effect of object is grabbed for observing alignment object and hands, the end of mechanical hand large arm is articulated with on support, support is by can the revolute joint of 360 degree of unlimited rotaries of horizontal direction be arranged in the mounting seat being located on nacelle top board rear end, chassis, 360 degree of unlimited rotaries of horizontal direction can be realized, so that gripper of manipulator can the interior comprehensive work of horizontal direction 360 degree, the middle part of mechanical hand large arm is connected with the electric pushrod being arranged in mounting seat, it is easy to control mechanical hand large arm lift and put down；

(2) the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion of the present utility model is explosion-proof, its monitor controller is arranged on the rear side of support by electric expansion bar, can investigate at a distance at high visual angle, and comprehensive monitoring, monitor controller is the double, two light integrated monitoring instrument of infrared visible ray, it is equipped with high-performance infrared thermal imaging module and visible ray module in the double, two light integrated monitoring instrument of infrared visible ray, can 360 ° of all-directional rotations, visible image capturing and the dual imaging function of infra-red thermal imaging can be realized, realize the work double tides of robot, simultaneously, infrared imaging is utilized to add visible light camera, detection pipeline leakage point, ignition point or personnel to be rescued, can be judged by trickle variations in temperature, determine best track route and rescue method；

(3) the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion of the present utility model is explosion-proof; the front end of its chassis nacelle is provided with laser radar; guarantee robot Fast Drawing scene map under the extreme environment such as dense smoke thick fog no light conditions at night, it is simple to formulate attack and route of withdrawal；

(4) the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion of the present utility model is explosion-proof, front side and the left and right sides of its chassis nacelle are provided with temperature sensor, it is possible to the temperature conditions of monitoring wheel-pedrail robot platform front and left and right sides side；

(5) the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion of the present utility model is explosion-proof, the top board of its chassis nacelle is provided with gas detector, each gas detector is respectively connected with alarm, for understanding the gas station at scene；

(6) the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion of the present utility model is explosion-proof, its chassis nacelle is provided with cooling water tank, the water inlet of cooling water tank connects with the water inlet being located in the nacelle of chassis, the outlet of cooling water tank connects with the outlet being located on the nacelle top board of chassis, anti-freeze cooling liquid can be perfused with in cooling water tank, in high temperature environments, evaporated by liquid, emergent offer robot constant temperature ensures, the side plate of cooling water tank offers draining sewage draining exit, for draining or blowdown；

(7) the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion of the present utility model is explosion-proof, being provided with on the left and right sides panel of its chassis nacelle can as the casing of control chamber or power supply box, four angles of this casing are equipped with chamfering, substitute control circuit or battery in tradition and be arranged in the nacelle of chassis, chassis nacelle internal reservation is made to go out to use space more, also maintainer is made directly to carry out outside keeping in repair or safeguarding, easy to maintenance, time saving and energy saving, between upper plane and lower plane that each casing is respectively positioned in creeper undercarriage chassis non-corrosive metal (NCM) crawler belt and is formed, and the four of casing angles are equipped with chamfering, chassis non-corrosive metal (NCM) crawler belt is played the effect supporting and leading, run trace is provided for chassis non-corrosive metal (NCM) crawler belt, guarantee that chassis non-corrosive metal (NCM) crawler belt will make crawler belt lose guiding because of the paralysis of suspended structure；

(8) the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion of the present utility model is explosion-proof, it is provided with tensioner between the upper plane that in its casing and creeper undercarriage, chassis non-corrosive metal (NCM) crawler belt is formed, for compensating the chassis non-corrosive metal (NCM) crawler belt gap owing to producing after service wear, tensioner includes "U" shaped tensioning plate and is fixedly mounted on the slide rail plate of casing both sides, the flat board of tensioning plate is arranged on roof box by tensioning spring, simple in construction, the spacing being different from conventional track system fading margin front axle or rear axle realizes traditional handicraft and the technology of track tensioning, the elastic force utilizing tensioning spring promotes and lifts on tensioning plate, automatically the crawler belt gap owing to producing after service wear is compensated, realize the purpose that chassis non-corrosive metal (NCM) crawler belt is non-maintaining, it is greatly improved the reliability service time of robot platform, reduce the difficulty that robot platform is safeguarded, reduce use cost, the biside plate of tensioning plate is slidably fitted in slide rail plate, limit tensioning plate can only move up and down, avoid tensioning plate double swerve；

(9) the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion of the present utility model is explosion-proof, two symmetrical metal fin arms it are provided with outside its two creeper undercarriage, creeper undercarriage is in conjunction with metal fin arm, wheel-pedrail robot platform both can be moved rearwards by forward, climbing obstacle climbing ability can be improved again, flexible and convenient operation, additionally, due to fin arm non-corrosive metal (NCM) crawler belt and chassis non-corrosive metal (NCM) crawler belt, have high temperature resistant, corrosion resistant advantage, has the ability of secondary existence under high temperature, blast and strong corrosive environment；

(10) the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion of the present utility model is explosion-proof, the top board of its chassis nacelle is provided with Backpack type reserve battery, provides emergency power supply for robot, again lengthen working hours, expand robot ambulation distance.

Accompanying drawing explanation

Fig. 1 is the side view of the explosion-proof multi-functional thermal imaging detection and rescue robot of a kind of anticorrosion of the present utility model

Fig. 2 is the axonometric chart of the explosion-proof multi-functional thermal imaging detection and rescue robot of a kind of anticorrosion of the present utility model；

Fig. 3 is the sectional view of wheel-pedrail robot platform in this utility model；

Fig. 4 is the side view of chassis nacelle in this utility model.

Label declaration in schematic diagram: 1, chassis nacelle；101, casing；102, tensioning plate；103, tensioning spring；104, slide rail plate；201, chassis non-corrosive metal (NCM) crawler belt；202, chassis drivewheel；203, chassis driven pulley；301, fin arm non-corrosive metal (NCM) crawler belt；302, fin arm drivewheel；303, fin arm driven pulley；304, fin arm metal rack；4, fin arm angle-controlled motor；5, rotating shaft；6, hoofing part reductor；7, travel driving motor；8, fin arm rotates and drives reductor；9, manual rotation axle；10, raise one's hand handle；11, cooling water tank；12, draining sewage draining exit；13, mounting seat；14, support；15, electric pushrod；16, mechanical hand large arm；17, mechanical hand forearm；18, gripper of manipulator；19, electric expansion bar；20, monitor controller；21, laser radar；22, temperature sensor；23, gas detector；24, alarm；25, reserve battery；26, video camera.

Detailed description of the invention

For further appreciating that content of the present utility model, in conjunction with the accompanying drawings and embodiments this utility model is described in detail.

Embodiment 1

In conjunction with Fig. 1, Fig. 2 and Fig. 3, the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion of the present embodiment is explosion-proof, including wheel-pedrail robot platform, including chassis nacelle 1 and the creeper undercarriage being located at chassis nacelle 1 left and right sides, in the present embodiment, the two sides, front and back of chassis nacelle 1 are intilted inclined-plane, improve the obstacle climbing ability of robot platform；For the ease of carrying chassis nacelle 1, the front and back position place of the left and right sides panel of chassis nacelle 1 is provided with handle 10 of raising one's hand, and in order to be convenient for carrying electric fuse, emergency drug and urgent equipment, handle 10 of raising one's hand is hollow pipe, the opening part of hollow pipe is threaded end cap；Creeper undercarriage includes chassis non-corrosive metal (NCM) crawler belt 201, chassis drivewheel 202 and the chassis driven pulley 203 being rotationally connected with chassis nacelle 1 side panel, chassis non-corrosive metal (NCM) crawler belt 201 has high temperature resistant, corrosion resistant advantage, there is the ability of secondary existence under high temperature, blast and strong corrosive environment, in the present embodiment, chassis non-corrosive metal (NCM) crawler belt 201 is the crawler belt with holes that can increase tooth block or rubber blanket, according to the difference using environment, increase tooth block for environment such as stair climbings, or installation rubber blanket is used for walking noise reduction or increasing ground connection frictional force；Chassis non-corrosive metal (NCM) crawler belt 201 is sleeved on chassis drivewheel 202, chassis driven pulley 203, and chassis drivewheel 202 is by driving axle to be connected with the hoofing part reductor 6 being located in chassis nacelle 1 rear deck, and hoofing part reductor 6 is connected with travel driving motor 7；Being provided with two symmetrical metal fin arms outside two creepers undercarriage, creeper undercarriage is in conjunction with metal fin arm so that wheel-pedrail robot platform both can be moved rearwards by forward, can improve again climbing obstacle climbing ability, flexible and convenient operation；Metal fin arm includes fin arm non-corrosive metal (NCM) crawler belt 301, fin arm metal rack 304, the fin arm drivewheel 302 being connected with chassis driven pulley 203 and the fin arm driven pulley 303 being rotationally connected with fin arm metal rack 304, fin arm non-corrosive metal (NCM) crawler belt 301 has high temperature resistant, corrosion resistant advantage, at high temperature, there is under blast and strong corrosive environment the ability of secondary existence, in the present embodiment, fin arm non-corrosive metal (NCM) crawler belt 301 is crawler belt with holes, it is easy to according to the difference using environment, increase tooth block for environment such as stair climbings, or rubber blanket is installed be used for walking noise reduction or increasing ground connection frictional force；Fin arm drivewheel 302 is connected with chassis driven pulley 203, in order to fin arm drivewheel 302 and chassis driven pulley 203 rotate simultaneously, receives the power of the chassis drivewheel 202 that chassis non-corrosive metal (NCM) crawler belt 201 passes over；Fin arm non-corrosive metal (NCM) crawler belt 301 is sleeved on fin arm drivewheel 302, fin arm driven pulley 303, and fin arm non-corrosive metal (NCM) crawler belt 301 is in the outer rim of fin arm metal rack 304, is used for contacting ground, it is achieved the functions such as climbing obstacle detouring；The front deck middle position of chassis nacelle 1 is provided with fin arm angle-controlled motor 4, and fin arm angle-controlled motor 4 rotates with fin arm and drives reductor 8 to be connected, and fin arm rotates to drive and is plugged with rotating shaft 5 on reductor 8；The two ends of rotating shaft 5 are stretched out chassis nacelle 1 left and right sides panel respectively and are connected with fin arm metal rack 304 after chassis driven pulley 203 and fin arm drivewheel 302, the purpose that the two ends of rotating shaft 5 are connected with fin arm metal rack 304 to realize synchronous rotary, the anglec of rotation of rotating shaft 5 is rotated by fin arm and drives reductor 8 to be adjusted, and fin arm is rotated the rotation driving reductor 8 and can be driven by fin arm angle-controlled motor 4, can also pass through to rotate to drive at fin arm reductor 8 is plugged with manual rotation axle 9, manually drive；Specifically fin arm drivewheel 302 passes through two bearing outsides in rotating shaft 5 with chassis driven pulley 203, when being not connected to chassis non-corrosive metal (NCM) crawler belt 201, can rotate freely, after connecting base plate non-corrosive metal (NCM) crawler belt 201, become transmission chassis drivewheel 202 power transition apparatus to fin arm driven pulley 303；

Being provided with on the left and right sides panel of chassis nacelle 1 can as the casing 101 of control chamber or power supply box, substitute control circuit or battery in tradition and be arranged in chassis nacelle 1, chassis nacelle 1 internal reservation is made to go out to use space more, also maintainer is made directly to carry out outside keeping in repair or safeguarding, easy to maintenance, time saving and energy saving, between upper plane and lower plane that each casing 101 is respectively positioned in creeper undercarriage chassis non-corrosive metal (NCM) crawler belt 201 and is formed, and the four of casing 101 angles are equipped with chamfering, chassis non-corrosive metal (NCM) crawler belt 201 is played the effect supporting and leading, run trace is provided for chassis non-corrosive metal (NCM) crawler belt 201, guarantee that chassis non-corrosive metal (NCM) crawler belt 201 will make crawler belt lose guiding because of the paralysis of suspended structure；It is provided with tensioner between the upper plane that casing 101 and chassis non-corrosive metal (NCM) crawler belt 201 are formed, for compensating the chassis non-corrosive metal (NCM) crawler belt 201 gap owing to producing after service wear, tensioner includes "U" shaped tensioning plate 102 and is fixedly mounted on the slide rail plate 104 of casing 101 both sides, the flat board of tensioning plate 102 is arranged on casing 101 top board by tensioning spring 103, simple in construction, the spacing being different from conventional track system fading margin front axle or rear axle realizes traditional handicraft and the technology of track tensioning, the elastic force utilizing tensioning spring 103 promotes and lifts on tensioning plate 102, automatically the crawler belt gap owing to producing after service wear is compensated, realize the purpose that chassis non-corrosive metal (NCM) crawler belt 201 is non-maintaining, it is greatly improved the reliability service time of robot platform, reduce the difficulty that robot platform is safeguarded, reduce use cost, the biside plate of tensioning plate 102 is slidably fitted in slide rail plate 104, limit tensioning plate 102 can only move up and down, avoid tensioning plate 102 double swerve；

Being provided with cooling water tank 11 in chassis nacelle 1, the bottom of cooling water tank 11 is provided with draining sewage draining exit 12, and for draining or blowdown, in the present embodiment, cooling water tank 11 is arranged at (shown in Figure 4) bottom chassis nacelle 1；The water inlet of cooling water tank 11 connects with the water inlet being located in chassis nacelle 1, the outlet of cooling water tank 11 connects with the outlet being located on chassis nacelle 1 top board, anti-freeze cooling liquid can be perfused with in cooling water tank 11, in high temperature environments, being evaporated by liquid, emergent offer robot constant temperature ensures；

The top board of chassis nacelle 1 is provided with robot device, robot device includes mechanical hand large arm 16, mechanical hand forearm 17, rotary joint, gripper of manipulator 18 and revolute joint, the front end of mechanical hand large arm 16 is hinged by the front end of rotary joint Yu mechanical hand forearm 17, it is achieved the folding angles conversion of mechanical hand forearm 17；The end of mechanical hand forearm 17 is provided with gripper of manipulator 18, and gripper of manipulator 18 can realize rotating and folding, for rescue works such as opening/shutting valve and crawl objects；The end of mechanical hand forearm 17 is provided with video camera 26, grabs the effect of object for observing alignment object and hands；The end of mechanical hand large arm 16 is articulated with on support 14, support 14 is by can the revolute joint of 360 degree of unlimited rotaries of horizontal direction be arranged in the mounting seat 13 being located on chassis nacelle 1 top board rear end, 360 degree of unlimited rotaries of horizontal direction can be realized, in order to gripper of manipulator 18 can the interior comprehensive work of horizontal direction 360 degree；The middle part of mechanical hand large arm 16 is connected with the electric pushrod 15 being arranged in mounting seat 13, it is simple to controls mechanical hand large arm 16 and lifts and put down；Support 14 is provided with rotable antenna, it is to avoid bending during work；Monitor controller 20 is arranged on the rear side of support 14 by electric expansion bar 19, can rotate in the lump along with support 14, monitoring visual angle is more fully, monitor controller 20 is the double; two light integrated monitoring instrument of infrared visible ray, visible image capturing and the dual imaging function of infra-red thermal imaging can be realized, realize the work double tides of robot, simultaneously, infrared imaging is utilized to add visible light camera, detection pipeline leakage point, ignition point or personnel to be rescued, can be judged by trickle variations in temperature, it is determined that best track route and rescue method；The front end of chassis nacelle 1 is provided with laser radar 21; do not need any light, laser radar 21 only need to be utilized to generate map, and then manipulation robot advances according to map; guarantee that robot can carry out execution task under the extreme environment such as dense smoke thick fog no light conditions at night, and return smoothly；The front side of chassis nacelle 1 and the left and right sides are provided with temperature sensor 22, it is possible to the temperature conditions of monitoring wheel-pedrail robot platform front and left and right sides side；The top board of chassis nacelle 1 is provided with gas detector 23, each gas detector 23 is respectively connected with alarm 24, the top board of chassis nacelle 1 is provided with Backpack type reserve battery 25, for understanding the gas station of scene of fire, emergency power supply is provided for robot, again lengthen working hours, expand robot ambulation distance.

Embodiment 2

The basic structure of the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion of the present embodiment is explosion-proof, with embodiment 1, is different in that: monitor controller 20 is thermal infrared imager, it is possible to find pipeline leakage point, ignition point or personnel to be rescued by trickle variations in temperature.

The multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion of the present utility model is explosion-proof, climbing obstacle climbing ability is good, there is the ability of secondary existence under high temperature, blast and strong corrosive environment, high temperature or leak point can not only be detected, and disaster affected people, and can use whether temperature sensor 22 and gas detector 23 detection around exist high temperature and poisonous explosive possibility, use manipulator for rescue, it may be achieved Remote is closed valve, cut off source of leakage or perform long-range rescue task simultaneously.

Schematically this utility model and embodiment thereof being described above, this description does not have restricted, and shown in accompanying drawing is also one of embodiment of the present utility model, and actual structure is not limited thereto.So, if those of ordinary skill in the art is enlightened by it, when creating objective without departing from this utility model, design the frame mode similar to this technical scheme and embodiment without creationary, protection domain of the present utility model all should be belonged to.

Claims

1. the multi-functional thermal imaging detection and rescue robot that anticorrosion is explosion-proof, including wheel-pedrail robot platform, wheel-pedrail robot platform includes chassis nacelle (1) and is located at the creeper undercarriage of chassis nacelle (1) left and right sides；It is characterized in that: also include robot device and monitor controller (20), described robot device includes mechanical hand large arm (16), mechanical hand forearm (17), rotary joint, gripper of manipulator (18) and revolute joint, the front end of described mechanical hand large arm (16) is hinged by the front end of rotary joint Yu mechanical hand forearm (17), and the end of mechanical hand forearm (17) is provided with gripper of manipulator (18)；The end of described mechanical hand forearm (17) is provided with just video camera (26) to gripper of manipulator (18)；The end of described mechanical hand large arm (16) is articulated with on support (14), and support (14) is by can the revolute joint of 360 degree of unlimited rotaries of horizontal direction be arranged in the mounting seat (13) being located on chassis nacelle (1) top board rear end；The middle part of described mechanical hand large arm (16) is connected with the electric pushrod (15) being arranged in mounting seat (13)；Described monitor controller (20) is arranged on the rear side of support (14) by electric expansion bar (19).

2. the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion according to claim 1 is explosion-proof, it is characterised in that: described monitor controller (20) is thermal infrared imager or the double; two light integrated monitoring instrument of infrared visible ray.

3. the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion according to claim 2 is explosion-proof, it is characterised in that: the front end of described chassis nacelle (1) is provided with laser radar (21).

4. the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion according to claim 3 is explosion-proof, it is characterised in that: front side and the left and right sides of described chassis nacelle (1) are provided with temperature sensor (22).

5. the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion according to claim 4 is explosion-proof, it is characterized in that: described chassis nacelle (1) is provided with gas detector (23), each gas detector (23) is respectively connected with alarm (24).

6. the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion according to claim 5 is explosion-proof, it is characterized in that: described chassis nacelle (1) is provided with cooling water tank (11), the side plate of cooling water tank (11) offers draining sewage draining exit (12)；The water inlet of described cooling water tank (11) connects with the water inlet being located in chassis nacelle (1), and the outlet of cooling water tank (11) connects with the outlet being located on chassis nacelle (1) top board.

7. the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion according to claim 6 is explosion-proof, it is characterized in that: being provided with on the left and right sides panel of described chassis nacelle (1) can as the casing (101) of control chamber or power supply box, and four angles of this casing (101) are equipped with chamfering；Between upper plane and lower plane that each described casing (101) is respectively positioned in creeper undercarriage chassis non-corrosive metal (NCM) crawler belt (201) and is formed；It is provided with tensioner between the upper plane that described casing (101) and chassis non-corrosive metal (NCM) crawler belt (201) are formed, described tensioner includes "U" shaped tensioning plate (102) and is formed at the slide rail plate (104) of casing (101) both sides, the flat board of described tensioning plate (102) is arranged on casing (101) top board by tensioning spring (103), and the biside plate of tensioning plate (102) is slidably fitted in slide rail plate (104).

8. the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion according to claim 7 is explosion-proof, it is characterized in that: described creeper undercarriage includes chassis non-corrosive metal (NCM) crawler belt (201), chassis drivewheel (202) and the chassis driven pulley (203) being rotationally connected with chassis nacelle (1) side panel, and described chassis non-corrosive metal (NCM) crawler belt (201) is sleeved on chassis drivewheel (202), chassis driven pulley (203)；Described chassis drivewheel (202) is by driving axle to be connected with the hoofing part reductor (6) being located in chassis nacelle (1) rear deck, and hoofing part reductor (6) is connected with travel driving motor (7).

9. the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion according to claim 8 is explosion-proof, it is characterized in that: outside the creeper undercarriage described in two, be provided with two symmetrical metal fin arms, described metal fin arm includes fin arm non-corrosive metal (NCM) crawler belt (301), fin arm metal rack (304), fin arm drivewheel (302) being connected with chassis driven pulley (203) and fin arm driven pulley (303) being rotationally connected with fin arm metal rack (304), described fin arm non-corrosive metal (NCM) crawler belt (301) is sleeved on fin arm drivewheel (302), on fin arm driven pulley (303)；The front deck middle position of described chassis nacelle (1) is provided with fin arm angle-controlled motor (4), described fin arm angle-controlled motor (4) rotates with fin arm and drives reductor (8) to be connected, and fin arm rotates to drive and is plugged with rotating shaft (5) on reductor (8)；The two ends of described rotating shaft (5) are stretched out chassis nacelle (1) left and right sides panel respectively and are connected with fin arm metal rack (304) afterwards through chassis driven pulley (203) and fin arm drivewheel (302)；Described fin arm rotates in the delivery outlet driving reductor (8) and is provided with manual rotation axle (9).

10. the multi-functional thermal imaging detection and rescue robot that a kind of anticorrosion according to claim 9 is explosion-proof, it is characterised in that: the top board of described chassis nacelle (1) is provided with Backpack type reserve battery (25).