CN205814924U - Unmanned relief car - Google Patents

Abstract

The utility model discloses a kind of unmanned relief car.This utility model mainly includes pilotless automobile, vehicle body is provided with can 360 degree rotate bases, base is fixed with the robot arm energy that can fold and can stretch upwards；The top side of robot arm is fixed with the U-shaped palm of energy automatic open-close, and U-shaped palm can rotate 90 degree around trunnion axis, rotate 180 degree around vertical axis；Giant and the ejecting gun of automatically retractable are installed in U-shaped palm；It is separately installed with photographic head and searchlight U-shaped palm rear upper two jiaos；Being separately installed with in both sides, U-shaped palm rear portion can be with the electric saw of automatic telescopic and hydraulic tongs；In U-shaped palm lower rear, crampon is installed；Top opposite side at robot arm is provided with the aerial ladder of automatically retractable；In aerial ladder top outer, rope ejector is installed；Afterbody at vehicle body lays the vehicle-mounted hanging basket of rescue.This utility model is multiple functional, flexible, can reduce the injures and deaths of rescue personnel.

Description

Unmanned relief car

Technical field

This utility model belongs to rescue outfit technical field, is specifically related to a kind of unmanned relief car.

Background technology

Safety, is the finest wording, as warmth, allows people feel more warm, steady and sure.But, in recent years existing Grow directly from seeds in living, but it occur frequently that many startling accidents, cause great loss to the lives and properties of the people.Accident There is an objective reason, but be more artificial former thus result in.Country is in order to safeguard road traffic order, in advance Prevent and reduce vehicle accident, protecting personal safety, protection citizen, legal person and the property safety of its hetero-organization and other legal power Benefit, improves traffic efficiency, formulates and has issued " People's Republic of China's law on road traffic safety ".For fire preventing and chemicals Blast, it is to avoid and the generation of all kinds of disaster accidents of minimizing, conscientiously strengthen emergency management and rescue work, protect personal safety and safety of property, maintenance Public safety, has issued " People's Republic of China's Fire Prevention Act ".In order to conscientiously carry out the laws and regulations of country, conscientiously protect The lives and properties of good the country and people masses, departments of government has been done the effort of maximum, but has been answered first aid due to current China Equipment and the facility helped are the most relatively backward, have many public security armed policemans and cadres and masses to dedicate treasured at the disaster relief scene of helping out of distress Expensive life.

In order to set up a rescue team having modern equipment as early as possible, it is achieved efficiently, science, hommization rescue Help, on the premise of guaranteeing rescue team's inherently safe, save the lives and properties of the country and people masses, exploitation to greatest extent A kind of unmanned intelligence relief car of research, imperative.

At present, the relief car kind of China is the most few, and technical equipment is still in the situation fallen behind, and is difficult to adapt to rescue Demand, reason is as follows:

(1) function singleness.Existing relief car has roadside assistance car, the fire-fighting specially diligent series such as relief car, disaster unit Product, the equipment of its vehicle is simpler and cruder, technology is the most backward, and utilitarian function is the most single, and substantially special train is special.

(2) manual operation.Existing relief car is generally and is driven by people, and the rescue outfit of vehicle is also by manually grasping Make, and mobility and motility the most poor.When accident, disaster scene exist potential safety hazard, and situation is more complicated, needs again When deathtrap implements closely to rescue in high-altitude or ditch hole etc., existing relief car is difficult to adapt to.

(3) risk is strong.Owing to the scene of breakdown lorry operation exists oil gas explosion, toxic gas leakage, building collapsing, mountain Many calamitous hidden danger such as body landslide, and the personnel participating in rescue lack safe and reliable protection-gear, so rescuing The security risk helping personnel is relatively big, often has disaster relief emergency personnel to dedicate the life of preciousness to for this.

Summary of the invention

The purpose of this utility model is for drawbacks described above present in prior art, it is provided that a kind of use the present age unmanned The multinomial advanced technologies such as driving, satellite navigation, intelligent robot, electronic numerical control, Remote, can ensure rescue people effectively The inherently safe of member, improves the performance of breakdown lorry, function, strengthens the motility of breakdown lorry, adaptive unmanned rescues Help car.

The purpose of this utility model realizes by the following technical solutions: this unmanned relief car, it includes One pilotless automobile, vehicle body is provided with can 360 degree rotate bases, base is fixed with and can fold and can upwards stretch The robot arm energy of exhibition；The top side of described robot arm is fixed with the U-shaped palm of an energy automatic open-close, U-shaped hands The palm can rotate 90 degree around trunnion axis in vertical, rotates 180 degree around vertical axis in horizontal plane；Facing to its U in U-shaped palm Shape opening is provided with the giant of an automatically retractable and the dry powder ejecting gun of an automatically retractable；After U-shaped palm Above portion, two jiaos are separately installed with a photographic head and a searchlight；Being separately installed with one in both sides, U-shaped palm rear portion can Electric saw and hydraulic tongs with automatic telescopic；In U-shaped palm lower rear, one crampon is installed；Top at robot arm Portion's opposite side is provided with the aerial ladder of automatically retractable；In aerial ladder top outer, rope ejector is installed；Afterbody at vehicle body is laid There is the vehicle-mounted hanging basket of rescue；The Unmanned Systems of pilotless automobile and command and control center wireless connections, for remotely controlling The operation of automobile；Robot arm is connected with robot arm control system, during robot arm control system controls with commander Heart wireless connections, for remote control robot arm and each unit coordinates action thereof.

Concrete, described robot arm is formed by three joints are hinged, between bottom first segment and base and two adjacent sections it Between all connected by telescopic hydraulic oil cylinder.

Concrete, described giant connects soft high pressure rubber water pipe.

Operation principle of the present utility model and action effect embody as follows:

(1) the rescue car kits configuration of the unmanned relief car of this utility model achieves multifunction.

Equipped with a robot arm, this machine on this utility model unmanned relief car base in the middle part of vehicle body The entirety of human arm can along with base the most freely rotatable 360 degree, and the U-shaped palm on robot arm can be vertically Rotate 90 degree around trunnion axis in face, around vertical axis rotation 180 degree in horizontal plane, thus add the motility of rescue, motor-driven Property.By the operation of telescopic hydraulic oil cylinder, after robot arm all stretches, overall length can be more than 30 meters, and this has filled up high-rise building The common fire fighting truck of group is difficult to the blank of direct sprinkling fire, the most effectively expands the scope of geographic search rescue.Rescue for each The physical length helping car robot arm can configure according to the demand that large, medium and small vehicle is different.

Top side at robot arm be provided with can with the aerial ladder of automatic telescopic, when arm launch perpendicular to the ground and When the aerial ladder at arm top all stretches out, total height is up to about 50 meters, and this has filled up common fire fighting truck does not has altostratus The blank of ladder, can preferably solve high-rise building and rescue a difficult problem for people's escape under meeting with fire condition.

In the U-shaped palm portion at robot arm top, it exactly likes in one " leading ", " leading " i.e. U-shaped palm Can be horizontal rotation in surface 180 degree, vertical rotation in surface 90 degree, " Long Zui " the i.e. U-shaped opening of U-shaped palm can be automatic Opening and closing, have the function grabbed, push away, shovel, also have the function of hydraulic dilatation.So robot arm is at accident and disaster relief scene also Can be engaged in road prune job, when vehicle accident needs orcible entry vehicle to rescue people, the U-shaped palm on robot arm can To use as hydraulic spreader, bear the responsibility of a line rescue.

Internally installed at U-shaped palm has two " rifles ", and a giant, another is dry powder ejecting gun, works as palm When " Long Zui " of (leading) opens completely, the baffle plate of two muzzle automatically opens up, and giant or dry powder ejecting gun can be free Stretch out water spray, dust.This utility model uses soft high pressure rubber water pipe to instead of common cloth water pipe, it would however also be possible to employ Soft metal material high-pressure water pipe, improves the voltage endurance capability of water pipe；Increase dry powder high-pressure injection flexible pipe newly, filled up domestic Outer fire fighting truck does not has the blank of dry powder high-pressure injection device；Water and two high-pressure hoses of powder are fixed in robot arm Centre, makes the stability of giant and dry powder ejecting gun greatly strengthen, the pressure of such water and powder injection is bigger, range more High, farther.Using robot arm spray water under high pressure fire extinguishing, the effective range making rescue cover is bigger, and the floor that can sue and labour is more Height, changes over the situation of the difficult fire extinguishing of fire-fighting lance of being carried on one's shoulders or with both hands by several fire fighters completely.Unmanned relief car The function sprayed water with high pressure is also applied for urban road cleaning, high building exterior wall cleaning, artificial hypothermia in summer and air atomizing etc., this reality With novel, there is the wide prospect of marketing.

Being provided with electric saw and hydraulic tongs, electric saw and hydraulic tongs in the both sides, rear portion of U-shaped palm can be with automatic telescopic；At aerial ladder Top outer is provided with rope ejector；Lower rear at U-shaped palm is provided with crampon；On the rear portion of U-shaped palm Two jiaos, side is provided with photographic head and searchlight；Afterbody at relief car lays the vehicle-mounted hanging basket of rescue.Electric saw and hydraulic tongs are main It it is the orcible entry of the cleaning for rescue site barrier and accident vehicle；Rope ejector eject rope be mainly used for river, River, the water surface, zanjon rescue people and towboat etc.；Hydraulic tongs, the Main Function of crampon are the barriers in cleaning rescue front, hanging Accident vehicle, can coordinate aerial ladder high-altitude to rescue people with the crampon vehicle-mounted hanging basket of rescue of slinging, or rescue people in ditch, region, hole Remove thing；Photographic head (containing ultraviolet) is mainly used in providing all kinds of rescues and the information data of operation to command and control center；Searchlighting Lamp is to provide illumination for rescue action at night.

(2) the unmanned relief car of this utility model achieves the unmanned intelligent operation of relief car.

The unmanned relief car of this utility model have employed pilotless automobile, and pilotless automobile there has been maturation at present Product, achieves positioning function by technology such as GPS, is a kind of intelligent automobile, it is also possible to referred to as " wheeled mobile robot ", Rely primarily on the intelligent driving instrument based on computer system in car unmanned to realize.Pilotless automobile is to pass through car Carry sensor-based system perception road environment, automatic planning travelling line and control vehicle arrive predeterminated target intelligent automobile.Its profit Perception vehicle-periphery, and road, vehicle location and the obstacle information obtained according to perception is come, control with onboard sensor Turning to and speed of vehicle processed, thus enable the vehicle to reliably and securely travel on road.

The unmanned relief car of this utility model have employed existing unmanned technology, and its robot arm is also to use Existing intellectualized operation technology, be collect automatically control, architecture, artificial intelligence, numerous technology such as vision calculating are in one Body, is computer science, pattern recognition and the product of intelligent control technology high development, is also that modern relief car has most advanced Technology and an important symbol of strength, unmanned relief car illustrates made in China high-tech level, unmanned Technology is applicable to all of rescue industry, has broad application prospects equally in the field such as national defence and national economy.

Unmanned relief car of the present utility model still remains the function of Hyundai Motor pilot steering, also remains machine The manually-operated function of device human arm.

(3) the unmanned relief car of this utility model enhances the ability that rescue action is anti-risk.

Owing to this utility model have employed unmanned technology, relief car can by automatic Pilot arrive many dangerous or Calamitous region, no matter whether rescue site environment exists air pollution, chemical contamination, radioactive pollution or there is blast The threats such as thing and body of wall collapse, unmanned relief car can normally work, it is ensured that rescue task smoothly completes.Unmanned Relief car and robot arm jointly can substitute the mankind and make a lot of high-risk, highly difficult thing, this dramatically reduces people Class rescues the huge risk faced.

This utility model has filled up China's automatic driving vehicle and high Intelligent robot participates in the blank rescued, this practicality Novel unmanned relief car will make important contribution for the realization of China's dream.

Accompanying drawing explanation

Fig. 1 is the structural representation during robot arm folding of this utility model embodiment.

Structural representation when Fig. 2 is that in Fig. 1, robot arm stretches.

Structural representation when Fig. 3 is that in Fig. 1, robot arm and aerial ladder all stretch.

Fig. 4 is control system theory structure block diagram of the present utility model.

Detailed description of the invention

With embodiment, this utility model is described in further detail below in conjunction with the accompanying drawings.

Seeing Fig. 1, Fig. 2, Fig. 3, the unmanned relief car of the present embodiment, including pilotless automobile 1 (unmanned vapour The existing matured product of car, does not repeats them here), vehicle body is provided with can the bases 11 of 360 degree rotations, base 11 is fixed with The robot arm 7 (the existing matured product of similar robot arm) that can fold and can stretch upwards.It can be seen that this reality Execute the robot arm 7 of example to be formed by three joints are hinged, all by stretching bottom it between first segment and base 11, between two adjacent sections Contracting hydraulic jack 10 connects.The top side of robot arm 7 be fixed with can the U-shaped palm 3 of automatic open-close, U-shaped palm 3 can be Rotate 90 degree around trunnion axis in vertical, in horizontal plane, rotate 180 degree around vertical axis；Open facing to its U-shaped in U-shaped palm 3 Mouth is mounted side by side giant 2 and the dry powder ejecting gun 15 of automatically retractable；Rear upper two jiaos difference at U-shaped palm 3 Photographic head 4 and searchlight 5 are installed；Being separately installed with in the both sides, rear portion of U-shaped palm 3 can be with the electric saw 12 of automatic telescopic and liquid Pressing tongs 13；Lower rear at U-shaped palm 3 is provided with crampon 9；Top opposite side at robot arm 3 is provided with can The aerial ladder 6 of automatic telescopic；In aerial ladder 6 top outer, rope ejector 14 is installed；Afterbody at vehicle body is laid and is rescued vehicle-mounted hanging Basket 8.The Unmanned Systems of pilotless automobile 1 and command and control center wireless connections, for remotely controlling the operation of automobile； Robot arm 3 is connected with robot arm control system, robot arm control system and command and control center wireless connections, For remote control robot arm 3 and each unit coordinates action thereof；Fig. 3 show control system principle of the present utility model knot Structure block diagram.Device of the present utility model on the basis of existing technology, is controlled automatically in conjunction with remote control technology, robot mechanical arm Technology processed etc., are entirely capable of realizing the unmanned and hommization rescue work under hazardous environment, and powerful, reduce rescue The injures and deaths of personnel.

Claims (3)

1. a unmanned relief car, it is characterised in that: it includes a pilotless automobile, and being provided with on vehicle body can 360 degree of bases rotated, base is fixed with the robot arm energy that can fold and can stretch upwards；Described robot arm Top side is fixed with the U-shaped palm of an energy automatic open-close, and U-shaped palm can rotate 90 degree around trunnion axis in vertical, 180 degree are rotated around vertical axis in horizontal plane；The high pressure of one automatically retractable is installed facing to its U-shaped opening in U-shaped palm The dry powder ejecting gun of hydraulic giant and an automatically retractable；U-shaped palm rear upper two jiaos be separately installed with a photographic head and One searchlight；Being separately installed with one in both sides, U-shaped palm rear portion can be with the electric saw of automatic telescopic and hydraulic tongs；At U-shaped hands Palm lower rear is provided with a crampon；Top opposite side at robot arm is provided with the aerial ladder of automatically retractable； In aerial ladder top outer, rope ejector is installed；Afterbody at vehicle body lays the vehicle-mounted hanging basket of rescue；The nothing of pilotless automobile People's control loop and command and control center wireless connections, for remotely controlling the operation of automobile；Robot arm and robot Arm control system connects, and robot arm control system and command and control center wireless connections, for remote control robot hands Arm and each unit coordinates action thereof.

Unmanned relief car the most according to claim 1, it is characterised in that: described robot arm by three joint hinged and Become, be all connected by telescopic hydraulic oil cylinder between bottom first segment and base and between two adjacent sections.

Unmanned relief car the most according to claim 1, it is characterised in that: described giant connects soft high pressure rubber Tube of glue.