CN205734955U - A kind of underground rescue robot - Google Patents
A kind of underground rescue robot Download PDFInfo
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- CN205734955U CN205734955U CN201620375891.3U CN201620375891U CN205734955U CN 205734955 U CN205734955 U CN 205734955U CN 201620375891 U CN201620375891 U CN 201620375891U CN 205734955 U CN205734955 U CN 205734955U
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- main body
- underarm
- support arm
- arm
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Abstract
The utility model discloses a kind of underground rescue robot, including: main body, upper arm and underarm, the both sides, top of main body are horizontally installed with upper arm, the both sides, bottom of main body are horizontally installed with underarm, the lower rotation of main body is provided with trailing arm, the top of main body is provided with lifter, and subject ontology is provided with energy storage device, and energy storage device is connected with main body, upper arm, lifter, underarm and trailing arm respectively.Technical purpose of the present utility model is to provide a kind of a kind of underground rescue robot that can the child that fall in well be quickly rescued, with this underground rescue robot avoid digging a well, rescue efficiency is higher, shorten rescue time, thus improves the chance of survival of the well child that falls.
Description
Technical field
This utility model relates to robot field, particularly a kind of underground rescue robot.
Background technology
In existing life, often have child to fall in well, and the well of currently the majority be all machine makes out, well depth and little.When the child fallen in well is rescued, the adult of child's rescue can not be able to be entered in well, it is impossible to rescue, Many times child is the weakest, it is also not possible to is put into by rope in well and allows child lay hold of a rope, thus child is rescued well.And it is accomplished by big for well chisel when rescuing now, and the most both waste the rescue time of preciousness, reduce the efficiency of rescue, the most very waste of manpower and material resources, while sinking shaft, also it is very easy to cause that child's is injured.
Therefore, it is badly in need of in the present case wanting a kind of a kind of equipment that can the child that fall in well be rescued quickly, safely, saves the life of child.
Utility model content
For problem present in above-mentioned reality, technical purpose of the present utility model is to provide a kind of a kind of underground rescue robot that can the child that fall in well be quickly rescued, with this underground rescue robot avoid digging a well, rescue efficiency is higher, shorten rescue time, thus improves the chance of survival of the well child that falls.
This utility model is achieved through the following technical solutions:
A kind of underground rescue robot, including: main body, upper arm and underarm, the both sides, top of main body are horizontally installed with upper arm, the both sides, bottom of main body are horizontally installed with underarm, the lower rotation of main body is provided with trailing arm, the top of main body is provided with lifter, and subject ontology is provided with energy storage device, and energy storage device is connected with main body, upper arm, lifter, underarm and trailing arm respectively.
In technique scheme, the lifter installed at body top enables to rescue robot and moves up and down in well, and the upper arm installed on the top of main body can contact with the borehole wall so that rescue robot rocks during moving up and down and less maybe will not rock；The well child that falls can be surrounded by the underarm that lower body part is installed, the trailing arm that bottom is installed is longitudinally mounted, and trailing arm can turn to horizontal level, so that the buttocks of child can be supported by trailing arm, thus child is held up, under the effect of lifter, child is rescued well.
Further, described trailing arm includes the first support arm and the second support arm, second support arm is separately mounted to the both sides of the first support arm, the shape of the first support arm is T-shape, second support arm and the first support arm consist of rectangle, the middle part of the second support arm and the first support arm is provided with recessed cambered surface, the second support arm and the first support arm outer wrap TPE material；Second support arm and the first support arm are arranged on the bottom of main body respectively by the first servomotor.
In technique scheme, trailing arm is set to the first support arm and the second support arm, second support arm is separately mounted to the both sides of the first support arm, the shape of the first support arm is T-shape, second support arm and the first support arm consist of rectangle so that when the area of well is relatively big and is bent into sitting posture by the lower limb rescuing child, the first support arm and the second support arm common rotation are to horizontal level, thus the whole buttocks ratio of child is supported so that child is more comfortable；When the area of well is too small, when the lower limb of child can not bend to sitting posture, by the first support arm of T-shape, the crotch of child is supported, thus child is held；It is provided with recessed cambered surface at the middle part of the second support arm and the first support arm, child can firmly be held, and the contact area of trailing arm and child can be increased, expand the contact area of child and trailing arm, second support arm and the first support arm outer wrap have TPE material so that child feels more comfortable；Second support arm and the first support arm are rotated by servomotor so that the speed that the second support arm and the first support arm rotate is adjustable, and the position of rotation is more accurate.
Further, described main body in the horizontal plane be projected as circular arc, vertical plane is projected as rectangle, main body is made up of some rectangular blocks connected longitudinally, the scroll wheel of longitudinally rolling is uniformly installed in the middle part of the outer wall of main body, the top of main body is provided with illuminator, and illuminator is connected with energy storage device.
In technique scheme, by main body being set to by some rectangular blocks connected longitudinally, the main body of rectangular block composition connected longitudinally so that the horizontal cross-section of main body is circular arc so that main body can be fitted the borehole wall, and the space shared by main body is less；Uniformly being provided with the scroll wheel of longitudinally rolling in the middle part of the outer wall of main body so that main body is less with the frictional force of the borehole wall, illuminator can be for rescuing the light providing enough, it is simple to sues and labours.
Further, described upper arm is connected with main body by the second servomotor, upper arm be shaped as circular arc, the outside of upper arm is provided with the angle of the circular arc that the scroll wheel longitudinally rolled, upper arm and main body form in the horizontal direction and is at least 180 °.
In technique scheme, upper arm is connected with main body by the second servomotor, the rotational angle making upper arm is more accurate, the scroll wheel installed outside upper arm makes upper arm less with the frictional force of the borehole wall, the angle of the circular arc that upper arm and main body form in the horizontal direction is at least 180 °, rescue robot can preferably be supported by upper arm, and minimizing is rocked.
Further, described underarm is connected with main body by the 3rd servomotor, and underarm is 15～40cm with the fore-and-aft distance of trailing arm, and described underarm is made up of some sections, is horizontally rotated by servomotor and be connected between sections with sections.
In technique scheme, by the fore-and-aft distance of underarm Yu trailing arm is set to 15～40cm so that when child is held up by trailing arm, the waist of child just can be embraced by underarm, making child can have relatively comfortable sitting posture, child can preferably be embraced by the underarm being made up of multiple sections.
Further, described lifter includes hoisting frame and lifting chain, one end of lifting chain is fixedly mounted on hoisting frame, gear is installed on lifting chain, gear is fixedly mounted in the 5th servomotor rotating shaft, 5th servomotor is fixedly mounted on the top of main body, and gear is slided by fixing shell and is fixed on lifting chain, and the 5th servomotor is connected with energy storage device.
In technique scheme, being put in well by rescue robot by the lifter installed and robot and the well child that falls pulled out, hoisting frame is fixed on outside well, and the 5th servomotor rotates thus driven gear rotates, so that gear moves up and down along lifting chain.
Further, inside described underarm, pressure transducer is installed, each servomotor on described upper arm, underarm, trailing arm and lifter, the pressure transducer on underarm are connected with main controller respectively, main controller is connected with energy storage device, lower body part is provided with the infrared sensor coplanar and horizontally disposed with two underarm median planes, and infrared sensor is connected with main controller.
In technique scheme, the pressure transducer installed inside underarm can real-time perception underarm to being rescued the extruding force of child so that underarm to the extruding force of child default suitable within the scope of；Main controller is the signal processing of each components and parts and signal command sends device, main controller can control switch and the amount of spin of each servomotor on upper arm, underarm, trailing arm and lifter, thus control the horizontally rotating of upper arm, the horizontally rotating and angle that on underarm, each servomotor rotates of underarm, underarm is opened and tightens up, distance that trailing arm makes rescue robot move up and down along the rotation of trunnion axis and the angle of rotation, lifter, main controller can hold strength tightly according to what the pressure value that pressure transducer records controlled underarm, and enclasping force will not be made excessive；Two underarms are that contact coordinates installation alternatively up and down, so could not collide when underarm is held tightly, two underarm median planes are the horizontal planes that two underarms contact with each other, the infrared sensor that lower body part is installed is passive infrared sensor, when infrared sensor receives the electromagnetic wave of the infra-red radiation mated with human body, main controller then think underarm with rescued the head of child at same position, main controller controls, by controlling the 5th servomotor amount of spin, the distance that main body declines, underarm just can embrace the waist of child in time being moved to be rescued the waist of personnel by the head rescuing personnel, thus the well child that falls is rescued, generally underarm with when being rescued the head of child at same position, underarm moves 25～60cm still further below, so can just child be embraced, and also make child can feel comfortable.
The beneficial effects of the utility model are:
1, the lifter by installing at body top enables to rescue robot and moves up and down in well, and the upper arm installed on the top of main body can contact with the borehole wall so that rescue robot rocks during moving up and down and less maybe will not rock；The well child that falls can be surrounded by the underarm that lower body part is installed, the trailing arm that bottom is installed is longitudinally mounted, trailing arm can turn to horizontal level, so that the buttocks of child can be supported by trailing arm, thus child is held up, under the effect of lifter, child is rescued well, only by rescue robot, child is rescued well, make that rescue time is short, rescue efficiency is high, improve the chance of survival of the well child that falls.
2, trailing arm is set to the first support arm and the second support arm, second support arm is separately mounted to the both sides of the first support arm, the shape of the first support arm is T-shape, second support arm and the first support arm consist of rectangle, make when the area of well is relatively big and is bent into sitting posture by the lower limb rescuing child, first support arm and the second support arm common rotation are to horizontal level, thus are supported the whole buttocks ratio of child so that child is more comfortable；When the area of well is too small, when the lower limb of child can not bend to sitting posture, by the first support arm of T-shape, the crotch of child is supported, thus child is held；It is provided with recessed cambered surface at the middle part of the second support arm and the first support arm, child can firmly be held, and the contact area of trailing arm and child can be increased, expand the contact area of child and trailing arm, second support arm and the first support arm outer wrap have TPE material so that child feels more comfortable；Second support arm and the first support arm are rotated by servomotor so that the speed that the second support arm and the first support arm rotate is adjustable, and the position of rotation is more accurate.
3, by the fore-and-aft distance of underarm Yu trailing arm is set to 15～40cm, when child is held up by trailing arm, the waist of child just can be embraced by underarm so that child can have relatively comfortable sitting posture, and child can preferably be embraced by the underarm being made up of multiple sections.
Accompanying drawing explanation
Fig. 1 is the structural representation of the man-machine life of rescue machine.
Labelling in figure: 1 be main body, 2 be upper arm, 3 be underarm, 4 be trailing arm, 4.1 be the first support arm, 4.2 be the second support arm, 5 for lifter.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described in detail.
A kind of underground rescue robot as shown in Figure 1, including main body 1, upper arm 2, underarm 3, trailing arm the 4, first support arm the 4.1, second support arm 4.2, lifter 5, the both sides, top of main body 1 are horizontally installed with upper arm 2, the both sides, bottom of main body 1 are horizontally installed with underarm 3, the bottom of main body 1 is provided with trailing arm 4, the top of main body 1 is provided with lifter, on main body 1 body, energy storage device is installed, energy storage device is connected with main body 1, upper arm 2, lifter, underarm 3 and trailing arm 4 respectively, and energy storage device can be accumulator.
Trailing arm 4 includes the first support arm 4.1 and the second support arm 4.2, second support arm 4.2 is separately mounted to the both sides of the first support arm 4.1, the shape of the first support arm 4.1 is T-shape, second support arm 4.2 and the first support arm 4.1 consist of rectangle, the middle part of the second support arm 4.2 and the first support arm 4.1 is provided with recessed cambered surface, the main controller being arranged on rescue robot can control the first support arm 4.1 and action of the second support arm 4.2 respectively, and the second support arm 4.2 and the first support arm 4.1 outer wrap have TPE material；Second support arm 4.2 and the first support arm 4.1 are arranged on the bottom of main body 1 respectively by the first servomotor；Described main body 1 in the horizontal plane be projected as circular arc, being projected as rectangle on vertical plane, main body 1 is made up of some rectangular blocks connected longitudinally, is uniformly provided with the scroll wheel of longitudinally rolling in the middle part of the outer wall of main body 1, the top of main body 1 is provided with illuminator, and illuminator is connected with energy storage device；Upper arm 2 is connected with main body 1 by the second servomotor, upper arm 2 be shaped as circular arc, the outside of upper arm 2 is provided with the scroll wheel of longitudinally rolling, the angle of the circular arc that upper arm 2 and main body 1 form in the horizontal direction is at least 180 °, generally the angle of the circular arc that upper arm 2 and main body 1 form in the horizontal direction is 200 °, the rotation wheel horizontally rotated is installed in the outside of upper arm 2, rotate wheel to be driven by servomotor, the servomotor rotating wheel is driven to be connected with main controller and energy storage device, main controller controls to turn wheel rotation, thus adjust the orientation of rescue robot, it is easy to sue and labour, adjust orientation to be controlled by remote controller.
Underarm 3 is connected with main body 1 by the 3rd servomotor, underarm 3 is 15～35cm with the fore-and-aft distance of trailing arm 4, generally underarm 3 is 30cm with the fore-and-aft distance of trailing arm 4, it is suitable for the child of section age bracket, described underarm 3 is made up of some sections, generally the sections of underarm 3 is two joints, is horizontally rotated by servomotor and be connected between sections with sections, and servomotor is controlled by main controller.
Described lifter 5 includes hoisting frame and lifting chain, one end of lifting chain is fixedly mounted on hoisting frame, gear is installed on lifting chain, gear is fixedly mounted in the 5th servomotor rotating shaft, gear is slided by fixing shell and is fixed on lifting chain, 5th servomotor is fixedly mounted on the top of main body 1, 5th servomotor is connected with energy storage device, fixing shell is provided with the through hole of break-through, by bearing, the 5th servo motor shaft is installed in hole, lifting chain is through fixing shell, gear coordinates with lifting chain in fixing shell, 5th servomotor driven gear rotates so that main body 1 moves up and down.
Inside described underarm 3, pressure transducer is installed, each servomotor on described upper arm 2, underarm 3, trailing arm 4 and lifter 5, the pressure transducer on underarm 3 are connected with main controller respectively, main controller is connected with energy storage device, the bottom of main body 1 is provided with the infrared sensor coplanar and horizontally disposed with underarm 3, and infrared sensor is connected with main controller.
The pressure transducer installed inside underarm 3 can real-time perception underarm 3 to being rescued the extruding force of child so that underarm 3 to the extruding force of child default suitable within the scope of；Main controller is the signal processing of each components and parts and signal command sends device, main controller can control upper arm 2, underarm 3, the ON/OFF of each servomotor on trailing arm 4 and lifter 5 and amount of spin, thus control horizontally rotating of upper arm 2, horizontally rotating and the angle of each servomotor rotation on underarm 3 of underarm 3, underarm 3 is made to open and tighten up, the trailing arm 4 rotation along trunnion axis and the angle of rotation, lifter 5 drives rescue robot to move up and down and controls the distance of movement, main controller can hold strength tightly according to what the pressure value that pressure transducer records controlled underarm 3, enclasping force will not be made excessive；nullTwo underarms 3 are that contact coordinates installation alternatively up and down，So could not collide when underarm 3 is held tightly，Two underarm 3 median planes are the horizontal planes that two underarms 3 contact with each other，The infrared sensor that lower body part is installed is passive infrared sensor，When infrared sensor receives the electromagnetic wave of the infra-red radiation mated with human body，Main controller then think underarm 3 with rescued the head of child at same position，Main controller controls, by controlling the 5th servomotor amount of spin, the distance that main body declines，Underarm 3 just can embrace the waist of child in time being moved to be rescued the waist of personnel by the head rescuing personnel，Thus the well child that falls is rescued，Generally underarm 3 with when being rescued the head of child at same position，Underarm 3 moves 25～60cm still further below，Usually 50cm，So can just child be embraced，And also make child can feel comfortable，After child is embraced，Main controller controls trailing arm 4，Child can be held up by trailing arm 4，So that child safety be sitting on trailing arm 4，Then，Main controller controls the 5th servomotor，Rescue robot is climbed outside well，Thus the well child that will fall rescues，This underground rescue robot is avoided digging a well、Rescue efficiency is higher、Shorten rescue time，Thus improve the chance of survival of the well child that falls.
The foregoing is only embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every equivalent structure utilizing this utility model description and accompanying drawing content to be made or equivalence flow process conversion; or directly or indirectly it is used in other relevant technical fields, the most in like manner it is included in scope of patent protection of the present utility model.
Claims (7)
1. a underground rescue robot, it is characterized in that, including: main body (1), upper arm (2) and underarm (3), the both sides, top of main body (1) are horizontally installed with upper arm (2), the both sides, bottom of main body (1) are horizontally installed with underarm (3), the bottom of main body (1) is provided with trailing arm (4), the top of main body (1) is provided with lifter (5), being provided with energy storage device on main body (1) body, energy storage device is connected with main body (1), upper arm (2), lifter (5), underarm (3) and trailing arm (4) respectively.
2. underground rescue robot as claimed in claim 1, it is characterized in that, described trailing arm (4) includes the first support arm (4.1) and the second support arm (4.2), second support arm (4.2) is separately mounted to the both sides of the first support arm (4.1), the shape of the first support arm (4.1) is T-shape, second support arm (4.2) and the first support arm (4.1) consist of rectangle, second support arm (4.2) is provided with recessed cambered surface with the middle part of the first support arm (4.1), and the second support arm (4.2) and the first support arm (4.1) outer wrap have TPE material；Second support arm (4.2) and the first support arm (4.1) are arranged on the bottom of main body (1) respectively by the first servomotor.
3. underground rescue robot as claimed in claim 1, it is characterized in that, described main body (1) in the horizontal plane be projected as circular arc, vertical plane is projected as rectangle, main body (1) is made up of some rectangular blocks connected longitudinally, uniformly being provided with the scroll wheel of longitudinally rolling in the middle part of the outer wall of main body (1), the top of main body (1) is provided with illuminator, and illuminator is connected with energy storage device.
4. underground rescue robot as claimed in claim 3, it is characterized in that, described upper arm (2) is connected with main body (1) by the second servomotor, upper arm (2) be shaped as circular arc, the outside of upper arm (2) is provided with the scroll wheel of longitudinally rolling, and the angle of the circular arc that upper arm (2) and main body (1) form in the horizontal direction is at least 180 °.
5. underground rescue robot as claimed in claim 4, it is characterized in that, described underarm (3) is connected with main body (1) by the 3rd servomotor, underarm (3) is 15～40cm with the fore-and-aft distance of trailing arm (4), described underarm (3) is made up of some sections, is horizontally rotated by servomotor and be connected between sections with sections.
6. underground rescue robot as claimed in claim 5, it is characterized in that, described lifter (5) includes hoisting frame and lifting chain, one end of lifting chain is fixedly mounted on hoisting frame, being provided with gear on lifting chain, gear is fixedly mounted in the 5th servomotor rotating shaft, and gear is slided by fixing shell and is fixed on lifting chain, 5th servomotor is fixedly mounted on the top of main body (1), and the 5th servomotor is connected with energy storage device.
7. the control system of a underground rescue robot based on claim 6, it is characterized in that, described underarm (3) inner side is provided with pressure transducer, each servomotor on described upper arm (2), underarm (3), trailing arm (4) and lifter (5), the pressure transducer on underarm (3) are connected with main controller respectively, main controller is connected with energy storage device, the bottom of main body (1) is provided with the infrared sensor coplanar and horizontally disposed with underarm (3) median plane, and infrared sensor is connected with main controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620375891.3U CN205734955U (en) | 2016-04-29 | 2016-04-29 | A kind of underground rescue robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620375891.3U CN205734955U (en) | 2016-04-29 | 2016-04-29 | A kind of underground rescue robot |
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| Publication Number | Publication Date |
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| CN205734955U true CN205734955U (en) | 2016-11-30 |
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| CN201620375891.3U Expired - Fee Related CN205734955U (en) | 2016-04-29 | 2016-04-29 | A kind of underground rescue robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904464A (en) * | 2016-04-29 | 2016-08-31 | 四川九鼎智远知识产权运营有限公司 | Underground rescue robot |
-
2016
- 2016-04-29 CN CN201620375891.3U patent/CN205734955U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904464A (en) * | 2016-04-29 | 2016-08-31 | 四川九鼎智远知识产权运营有限公司 | Underground rescue robot |
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Effective date of registration: 20170223 Address after: 563000 Guizhou city of Zunyi province Huichuan District Huichuan road Zunyi V Valley Industrial Expo Center project business standing building 1-1 Patentee after: Guizhou Bo Shi Hao electronic technology Co. Ltd. Address before: 610041 Sichuan Province, Chengdu Tianfu Street 69 No. 1 Building 1 unit 16 floor No. 1610 Patentee before: Sichuan nine ancient cooking vessel intelligence intellectual property operation far away Co., Ltd |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20170429 |
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| CF01 | Termination of patent right due to non-payment of annual fee |