CN205524562U - Bionical search and rescue robot of flexible - Google Patents
Bionical search and rescue robot of flexible Download PDFInfo
- Publication number
- CN205524562U CN205524562U CN201620057918.4U CN201620057918U CN205524562U CN 205524562 U CN205524562 U CN 205524562U CN 201620057918 U CN201620057918 U CN 201620057918U CN 205524562 U CN205524562 U CN 205524562U
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- 210000000689 upper leg Anatomy 0.000 claims description 60
- 210000002414 leg Anatomy 0.000 claims description 33
- 230000003187 abdominal effect Effects 0.000 claims description 8
- 238000013016 damping Methods 0.000 claims description 7
- 210000001015 abdomen Anatomy 0.000 abstract 2
- 241000239290 Araneae Species 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
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Abstract
The utility model relates to a bionical search and rescue robot of flexible belongs to intelligent robot technical field. The utility model discloses a head, a step, no. Two steps, no. Three steps, no. Four steps, belly, bracing piece, sensor, truck shell, bottom plate, the head is installed at the bottom plate front end, and a step, no. Two steps, no. Three steps, four pairs of steps of no. Four steps symmetry are respectively installed in bottom plate week side, and the belly is installed on the bottom plate, and the truck shell is installed on the bottom plate, and bracing piece, search and rescue sensor are installed respectively on the truck shell. The utility model discloses the robot is used for fire fighting field, can carry out search and rescue work at human unapproachable complex environments such as conflagration, earthquakes, and the function is showing, it is bionical that the robot carries out the spider form, and the drive is nimble, and the practicality is strong, the adaptable multiple road surface of step environment keeps the high efficiency to march, installing multiple sensor and photography equipment, realizing intelligent control, scientific and technological content is high, machinery strong innovativeness, spreading value is high.
Description
Technical field
This utility model relates to a kind of bionical search and rescue robot of deformable, belongs to intelligent robot technology field.
Background technology
Instantly typhoon tsunami, mine mine disaster, the burst disaster such as fire and earthquake take place frequently, crisis human life's property safety, and in the disaster very first time, fire fighter can not enter disaster field for various reasons the very first time, succours the great difficulty brought to fire-fighting.For this difficulty, fire department have developed multiple search and rescue equipment.Existing search and rescue device intelligence degree is the highest, and only search and rescue robot many employings crawler type, its obstacle climbing ability is limited, and traveling inefficient, controls dumb, the most limited functionality in search and rescue ability, is still unable to reach desirable, can optimize space big.
Summary of the invention
The purpose of this utility model is to provide a kind of bionical search and rescue robot of deformable, design to improve traveling efficiency plus the wheeled step mutually changed with climb type form can be carried out with bionical Aranea form, the installation of multi-functional search and rescue equipment is used for adapting to multiple search and rescue environment, improves and searches and rescues success rate.
This utility model is realized by techniques below scheme: a kind of bionical search and rescue robot of deformable, including 2, No. two steps of 1, step of head 3, No. three steps 4, No. four steps 5, abdominal part 6, support bar 7, sensor 8, trunk shell 9, base plates 10；Head 1 is arranged on base plate 10 front end, 3, No. three steps of 2, No. two steps of a number step, 5 four pairs of steps of 4, No. four steps are respectively symmetrically and are arranged on 10 weeks sides of base plate, abdominal part 6 is arranged on base plate 10, trunk shell 9 is arranged on base plate 10, support bar 7, search and rescue sensor 8 are separately mounted on trunk shell 9, and No. three steps 4 include contact to earth foot I 11, supporting leg I 12, elongation hydraulic stem I 13, steering connections I 14, shank fold mechanism I 15, trunk connector I 16, overall steering gear I 17, thigh fold mechanism I 18, connection thigh I 19；nullTrunk connector I 16 is arranged on base plate 10，Overall steering gear I 17 is arranged on trunk connector I 16，Thigh fold mechanism I 18 one end is arranged in overall steering gear I 17，The other end connects with being connected thigh I 19 one end，Steering connections I 14 is arranged on connection thigh I 19 other end，Shank fold mechanism I 15 one end is arranged on steering connections I 14，Shank fold mechanism I 15 other end connects with being connected thigh I 19，Elongation hydraulic stem I 13 one end is connected with steering connections I 14，The other end is arranged on supporting leg I 12，The foot I 11 that contacts to earth is arranged on supporting leg I 12，No. four steps 5 include overall steering gear II 20、Trunk connector II 21、Thigh fold mechanism II 22、Connect thigh II 23、Shank fold mechanism II 24、Function wheels 25、Steering connections II 26、Connect shank 27、Damping 28、Supporting leg II 29、Contact to earth foot II 30；nullTrunk connector II 21 is arranged on robot base plate 10，Overall steering gear II 20 is arranged on trunk connector II 21，Thigh fold mechanism II 22 one end is arranged in overall steering gear II 20，The other end connects with being connected thigh II 23，Steering connections II 26 is arranged on connection thigh II 23，Shank fold mechanism II 24 one end is arranged on steering connections II 26，The other end connects with being connected thigh II 23，Function wheels 25 are arranged on steering connections II 26，Connect shank 27 one end to be arranged on steering connections II 26，The other end is arranged on supporting leg II 29，Damping 28 is arranged on connection shank 27，The foot II 30 that contacts to earth is arranged on supporting leg II 29，A number step 2 includes the foot III 31 that contacts to earth、Supporting leg III 32、Overall steering gear III 33、Trunk connector III 34、Thigh fold mechanism III 35、Connect thigh III 36、Camera cradle head 37、Steering connections III 38、Shank fold mechanism III 39、Elongation hydraulic stem II 40、Search and rescue mechanical hand 41；Trunk connector III 34 is arranged on robot base plate 10, overall steering gear III 33 is arranged on trunk connector III 34, thigh fold mechanism III 35 one end is arranged in overall steering gear III 33, the other end connects with being connected thigh III 36, steering connections III 38 is arranged on connection thigh III 36, shank fold mechanism III 39 one end is arranged on steering connections III 38, the other end connects with being connected thigh III 36, photography holder 37 is arranged on steering connections III 38, elongation hydraulic stem II 40 one end is arranged on steering connections III 38, the other end is arranged on supporting leg III 32, search and rescue mechanical hand 41 to be arranged on supporting leg III 32, the foot III 31 that contacts to earth is arranged on supporting leg III 32.
The operation principle of the bionical search and rescue robot of a kind of deformable is: No. two step 3 structures are identical with No. three step 4 structures, it is arranged on 5 four pairs of step tunables bionical Aranea traveling actions of work of 2, No. two steps of a step, 4, No. four steps of 3, No. three steps of 10 weeks sides of robot base plate so that it is freely advance at rugged complex road surface；Wherein No. two steps 3 and 5 two pairs of steps of No. four steps are respectively mounted function wheels so that it is be deformed into wheeled form under hydraulic stem control, make robot can improve traveling efficiency in flat road surface with wheeled advance；Photography holder 37 is installed in a number step 2 and searches and rescues mechanical hand 41, it is possible to achieve monitoring in real time and obstacle during robot search and rescue are carried and capture work；Meanwhile, robot is provided with search and rescue support bar 7, can carry out wall face supporting work at narrow and small hazardous environment, ensures that search and rescue are smoothed out；Robot can according to circumstances need to install other search and rescue equipment at abdominal part 6, improves search efficiency.
This utility model has the advantages that
1, robot is used for fire-fighting domain, can carry out search-and-rescue work at the unapproachable complex environment of the mankind such as fire, earthquake, and function is notable；
2, robot carries out Aranea Bionic conflguration, drives flexibly, practical；
3, step can carry out Aranea form and wheeled form phase enantiotropy, adapts to multiple road environment, keeps efficiently advancing；
4, multiple sensors and photographic equipment are installed, it is achieved Based Intelligent Control, high in technological content；
5, machinery innovation is strong, and promotional value is high.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is No. three step structural representations of the present utility model；
Fig. 3 is No. four step structural representations of the present utility model；
Fig. 4 is a step structural representation of the present utility model.
nullFigure is respectively numbered: 1: head、2: numbers steps、3: No. two steps、4: No. three steps、5: No. four steps、6: abdominal part、7: support bar、8: sensor、9: trunk shell、10: base plate、11: contact to earth foot I、12: supporting leg I、13: elongation hydraulic stem I、14: steering connections I、15: shank fold mechanism I、16: trunk connector I、17: overall steering gear I、18: thigh fold mechanism I、19: connect thigh I、20: overall steering gear II、21: trunk connector II、22: thigh fold mechanism II、23: connect thigh II、24: shank fold mechanism II、25: function wheels、26: steering connections II、27: connect shank、28: damping、29: supporting leg II、30: contact to earth foot II、31: contact to earth foot III、32: supporting leg III、33: overall steering gear III、34: trunk connector III、35: thigh fold mechanism III、36: connect thigh III、37: camera cradle head、38: steering connections III、39: shank fold mechanism III、40: elongation hydraulic stem II、41: search and rescue mechanical hand.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, the utility model is described in further detail, but content of the present utility model is not limited to described scope.
Embodiment 1: as Figure 1-4, a kind of bionical search and rescue robot of deformable, including 2, No. two steps of 1, step of head 3, No. three steps 4, No. four steps 5, abdominal part 6, support bar 7, sensor 8, trunk shell 9, base plates 10；Head 1 is arranged on base plate 10 front end, 3, No. three steps of 2, No. two steps of a number step, 5 four pairs of steps of 4, No. four steps are respectively symmetrically and are arranged on 10 weeks sides of base plate, abdominal part 6 is arranged on base plate 10, trunk shell 9 is arranged on base plate 10, support bar 7, search and rescue sensor 8 are separately mounted on trunk shell 9, and No. three steps 4 include contact to earth foot I 11, supporting leg I 12, elongation hydraulic stem I 13, steering connections I 14, shank fold mechanism I 15, trunk connector I 16, overall steering gear I 17, thigh fold mechanism I 18, connection thigh I 19；nullTrunk connector I 16 is arranged on base plate 10，Overall steering gear I 17 is arranged on trunk connector I 16，Thigh fold mechanism I 18 one end is arranged in overall steering gear I 17，The other end connects with being connected thigh I 19 one end，Steering connections I 14 is arranged on connection thigh I 19 other end，Shank fold mechanism I 15 one end is arranged on steering connections I 14，Shank fold mechanism I 15 other end connects with being connected thigh I 19，Elongation hydraulic stem I 13 one end is connected with steering connections I 14，The other end is arranged on supporting leg I 12，The foot I 11 that contacts to earth is arranged on supporting leg I 12，No. four steps 5 include overall steering gear II 20、Trunk connector II 21、Thigh fold mechanism II 22、Connect thigh II 23、Shank fold mechanism II 24、Function wheels 25、Steering connections II 26、Connect shank 27、Damping 28、Supporting leg II 29、Contact to earth foot II 30；nullTrunk connector II 21 is arranged on robot base plate 10，Overall steering gear II 20 is arranged on trunk connector II 21，Thigh fold mechanism II 22 one end is arranged in overall steering gear II 20，The other end connects with being connected thigh II 23，Steering connections II 26 is arranged on connection thigh II 23，Shank fold mechanism II 24 one end is arranged on steering connections II 26，The other end connects with being connected thigh II 23，Function wheels 25 are arranged on steering connections II 26，Connect shank 27 one end to be arranged on steering connections II 26，The other end is arranged on supporting leg II 29，Damping 28 is arranged on connection shank 27，The foot II 30 that contacts to earth is arranged on supporting leg II 29，A number step 2 includes the foot III 31 that contacts to earth、Supporting leg III 32、Overall steering gear III 33、Trunk connector III 34、Thigh fold mechanism III 35、Connect thigh III 36、Camera cradle head 37、Steering connections III 38、Shank fold mechanism III 39、Elongation hydraulic stem II 40、Search and rescue mechanical hand 41；Trunk connector III 34 is arranged on robot base plate 10, overall steering gear III 33 is arranged on trunk connector III 34, thigh fold mechanism III 35 one end is arranged in overall steering gear III 33, the other end connects with being connected thigh III 36, steering connections III 38 is arranged on connection thigh III 36, shank fold mechanism III 39 one end is arranged on steering connections III 38, the other end connects with being connected thigh III 36, photography holder 37 is arranged on steering connections III 38, elongation hydraulic stem II 40 one end is arranged on steering connections III 38, the other end is arranged on supporting leg III 32, search and rescue mechanical hand 41 to be arranged on supporting leg III 32, the foot III 31 that contacts to earth is arranged on supporting leg III 32.
Claims (1)
1. the bionical search and rescue robot of deformable, it is characterised in that: include head (1), step (2), No. two steps (3), No. three steps (4), No. four steps (5), abdominal part (6), support bar (7), sensor (8), trunk shell (9), base plates (10)；Head (1) is arranged on base plate (10) front end, a number step (2), No. two steps (3), No. three steps (4), (5) four pairs of steps of No. four steps are respectively symmetrically and are arranged on base plate (10) week side, abdominal part (6) is arranged on base plate (10), trunk shell (9) is arranged on base plate (10), support bar (7), search and rescue sensor (8) to be separately mounted on trunk shell (9), No. three steps (4) include the foot I (11) that contacts to earth, supporting leg I (12), elongation hydraulic stem I (13), steering connections I (14), shank fold mechanism I (15), trunk connector I (16), overall steering gear I (17), thigh fold mechanism I (18), connect thigh I (19)；nullTrunk connector I (16) is arranged on base plate (10)，Overall steering gear I (17) is arranged on trunk connector I (16)，Thigh fold mechanism I (18) one end is arranged in overall steering gear I (17)，The other end connects with being connected thigh I (19) one end，Steering connections I (14) is arranged on connection thigh I (19) other end，Shank fold mechanism I (15) one end is arranged on steering connections I (14)，Shank fold mechanism I (15) other end connects with being connected thigh I (19)，Elongation hydraulic stem I (13) one end is connected with steering connections I (14)，The other end is arranged on supporting leg I (12)，The foot I (11) that contacts to earth is arranged on supporting leg I (12)，No. four steps (5) include overall steering gear II (20)、Trunk connector II (21)、Thigh fold mechanism II (22)、Connect thigh II (23)、Shank fold mechanism II (24)、Function wheels (25)、Steering connections II (26)、Connect shank (27)、Damping (28)、Supporting leg II (29)、Contact to earth foot II (30)；nullTrunk connector II (21) is arranged on robot base plate (10)，Overall steering gear II (20) is arranged on trunk connector II (21)，Thigh fold mechanism II (22) one end is arranged in overall steering gear II (20)，The other end connects with being connected thigh II (23)，Steering connections II (26) is arranged on connection thigh II (23)，Shank fold mechanism II (24) one end is arranged on steering connections II (26)，The other end connects with being connected thigh II (23)，Function wheels (25) are arranged on steering connections II (26)，Connect shank (27) one end to be arranged on steering connections II (26)，The other end is arranged on supporting leg II (29)，Damping (28) is arranged in connection shank (27)，The foot II (30) that contacts to earth is arranged on supporting leg II (29)，A number step (2) includes the foot III (31) that contacts to earth、Supporting leg III (32)、Overall steering gear III (33)、Trunk connector III (34)、Thigh fold mechanism III (35)、Connect thigh III (36)、Camera cradle head (37)、Steering connections III (38)、Shank fold mechanism III (39)、Elongation hydraulic stem II (40)、Search and rescue mechanical hand (41)；nullTrunk connector III (34) is arranged on robot base plate (10)，Overall steering gear III (33) is arranged on trunk connector III (34)，Thigh fold mechanism III (35) one end is arranged in overall steering gear III (33)，The other end connects with being connected thigh III (36)，Steering connections III (38) is arranged on connection thigh III (36)，Shank fold mechanism III (39) one end is arranged on steering connections III (38)，The other end connects with being connected thigh III (36)，Photography holder (37) is arranged on steering connections III (38)，Elongation hydraulic stem II (40) one end is arranged on steering connections III (38)，The other end is arranged on supporting leg III (32)，Search and rescue mechanical hand (41) to be arranged on supporting leg III (32)，The foot III (31) that contacts to earth is arranged on supporting leg III (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620057918.4U CN205524562U (en) | 2016-01-21 | 2016-01-21 | Bionical search and rescue robot of flexible |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620057918.4U CN205524562U (en) | 2016-01-21 | 2016-01-21 | Bionical search and rescue robot of flexible |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205524562U true CN205524562U (en) | 2016-08-31 |
Family
ID=56766048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620057918.4U Withdrawn - After Issue CN205524562U (en) | 2016-01-21 | 2016-01-21 | Bionical search and rescue robot of flexible |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205524562U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105523100A (en) * | 2016-01-21 | 2016-04-27 | 昆明理工大学 | Deformable bionic search and rescue robot |
| CN109876340A (en) * | 2019-03-18 | 2019-06-14 | 南京涵铭置智能科技有限公司 | A kind of bionical fire-fighting robot and its fire-fighting method |
-
2016
- 2016-01-21 CN CN201620057918.4U patent/CN205524562U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105523100A (en) * | 2016-01-21 | 2016-04-27 | 昆明理工大学 | Deformable bionic search and rescue robot |
| CN109876340A (en) * | 2019-03-18 | 2019-06-14 | 南京涵铭置智能科技有限公司 | A kind of bionical fire-fighting robot and its fire-fighting method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160831 Effective date of abandoning: 20180112 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20160831 Effective date of abandoning: 20180112 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |