CN206218053U - The sufficient search and rescue robot of wheel-leg combined type movement six - Google Patents
The sufficient search and rescue robot of wheel-leg combined type movement six Download PDFInfo
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- CN206218053U CN206218053U CN201621311179.3U CN201621311179U CN206218053U CN 206218053 U CN206218053 U CN 206218053U CN 201621311179 U CN201621311179 U CN 201621311179U CN 206218053 U CN206218053 U CN 206218053U
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Abstract
The utility model discloses a kind of sufficient search and rescue robot of wheel-leg combined type movement six, including main body rack, train wheel apparatus and three joint Bionic limb devices, the three joints Bionic limb device includes multiple, it is symmetrically mounted on main body rack both sides, the anti-raw limb in each three joint includes the first linking arm, the second linking arm, stempoda, and the first steering wheel, the second steering wheel, the 3rd steering wheel；The train wheel apparatus are arranged on three joint Bionic limb devices, and train wheel apparatus are made up of wheel, shaft coupling, motor, and motor connects wheel by shaft coupling, and the motor is fixed on the stempoda of three joint Bionic limb devices by electric machine support；The utility model has creeps and wheel two kinds of ground moving modes of traveling, is adapted to different working environments, and two kinds of motion modes can carry out any switching laws, considerably increase the mobility and operating efficiency of robot according to the use demand of road conditions and user.
Description
Technical field
The utility model belongs to robotics, relates in particular to a kind of sufficient search and rescue aircraft of wheel-leg combined type movement six
Device people.
Background technology
The time of occurrence of search and rescue robot is relatively later, although the application field of present robot constantly expands wide, technology
It is constantly progressive, but the robot in search and rescue field, emulation and the theory stage in laboratory are much still in, while also existing
Many problems for being difficult to overcome and be difficult to expect, really are able to the search and rescue robot being applied to seldom, and wheel-leg combined type
Mobile robot is just more rare；
Typically there are wireless telecommunications, three kinds of modes of wire communication and voice interface, pin between existing robot and operator
Typically there are first two communication modes for search and rescue robot, can be led to robot well using wired communication modes
Electricity, reaches the requirement of lasting continuation of the journey, can more easily control the work of search and rescue robot, but, some problems are there is also,
Such as extreme environment, landform is more complicated, and wired communication can not have too remote distance with robot, and distance is too big, transmission
Line is easy to wind or block and can carry very not inconvenient to the walking of influence robot, long transmission line；Wireless telecommunications,
Site contour is complicated after the deficiency of above-mentioned wire communication can be avoided to there certainly exist calamity, and narrow space is reduced and is wirelessly transferred
Distance, but the situation at scene is wirelessly transferred or can reach requirement after general calamity；The report of voice is to collect machine
People and a kind of mode of extraneous communication, can more improve the efficiency of search and rescue；And the road conditions and landform after calamity are all more complicated, machine
People must have the ability of good obstacle detouring and climbing during search and rescue, should have mobile speed quickly on flat ground
Degree；In some extreme environments, to increase the security of disaster relief personnel, autonomous search and rescue system and positioning to search and rescue robot are
System proposes new requirement.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided one kind has to creep advances two kinds with wheel
The sufficient search and rescue robot of wheel-leg combined type movement six of move mode.
The utility model is achieved through the following technical solutions：
A kind of sufficient search and rescue robot of wheel-leg combined type movement six, including main body rack, train wheel apparatus and three joint Bionic limbs
Device；
The three joints Bionic limb device includes multiple, and it is symmetrically mounted on main body rack both sides, each anti-life in three joints
Limb includes the first linking arm, the second linking arm, stempoda, and the first steering wheel, the second steering wheel, the 3rd steering wheel；First steering wheel
It is fastened on main body rack, the first steering wheel connects one end of the first linking arm, forms the first joint of Bionic limb；Described first connects
The other end and the second steering wheel for connecing arm are fastenedly connected, and the second steering wheel connects one end of the second linking arm, form the second of Bionic limb
Joint；The other end of second linking arm is fastenedly connected with the 3rd steering wheel, and the 3rd steering wheel and stempoda are fastenedly connected, and is formed bionical
3rd joint of limb；
The train wheel apparatus are arranged on three joint Bionic limb devices, and train wheel apparatus are made up of wheel, shaft coupling, motor,
Motor connects wheel by shaft coupling, and the motor is fixed on the stempoda of three joint Bionic limb devices by electric machine support；
Control mainboard and driving plate are additionally provided with main body rack；The driving plate is divided into motor driving plate and steering wheel drives
Dynamic plate, motor driving plate is electrically connected with the motor of train wheel apparatus, actuator driving plate and the first steering wheel, the second steering wheel, the 3rd steering wheel
Electrically connect, and motor driving plate and actuator driving plate enter horizontal electrical signal and are connected with control mainboard；
Image collecting device, human-body infrared sensing device, flame sensing device, smog is also equipped with main body rack to pass
Induction device, supersonic sensing device and GPS positioning device, wherein：Image collecting device and image transmitting communication module are electrically connected,
Electrically connected between described image harvester, image transmitting communication module and control mainboard, image transmitting communication module is connected with
Figure passes antenna, and the vision signal of image acquisition device is sent into remote control terminal by image transmitting communication module；
The human-body infrared sensing device, flame sensing device, smog sensing device, supersonic sensing device and GPS positioning device are equal
Electrically connected between control mainboard；Master board is also associated with data transfer communication module, and data transfer communication module is connected with
Number passes antenna, and remote control terminal is communicated by data transfer communication module and control mainboard.
In the above-mentioned technical solutions, the quantity of three joint Bionic limb devices is six, six three joint Bionic limb devices point
Cloth in main body rack both sides, per side three.
In the above-mentioned technical solutions, the quantity of train wheel apparatus is four, and four train wheel apparatus are separately mounted to six three passes
After two first three joint Bionic limb devices in section Bionic limb device and two on three joint Bionic limb devices.
In the above-mentioned technical solutions, the main body rack includes upper backup pad, middle upper backup pad, middle lower supporting plate, lower branch
Fagging, is fastenedly connected between four supporting plates by copper post；Further, the middle lower supporting plate, lower supporting plate shape phase
Together, size is identical；The upper backup pad, middle upper backup pad shapes and sizes are identical.
In the above-mentioned technical solutions, the motor is preferably reducing motor.
In the above-mentioned technical solutions, the wheel is preferably omni-directional wheel, and steering wheel can be well reduced during deformation
Stress.
Advantage of the present utility model and have the beneficial effect that：
(1) the utility model uses four-sheet structure, lower to go up small structure greatly using lower heavy light, and machine is stablized well
The overall center of gravity of device people；(2) each Bionic limb of the utility model is constituted by three twin shaft steering wheels, constitutes three passes of limbs
Section, therefore with walking, obstacle detouring, the ability of climbing well；Effectively raise the flexibility ratio of robot；(3) in Bionic limb
Lower extremities, be connected with steering wheel and universal wheel, by taking turns the deformation of leg, wheel-leg combined type walking manner can be realized；Select simultaneously
It is omni-directional wheel, a mode for being to meet running on wheels, another is that steering wheel can be well reduced during deformation
Stress；(4) the utility model detects robot peripheral obstacle using supersonic sensing module, realizes autonomous avoidance walking
Pattern, can reduce the workload of operator；(5) human-body infrared sensing device can timely detect life breath, be easy in calamity
Search-and-rescue work afterwards；(6) as long as flame sensing device and smog sensing device are easy to for detecting the ambient conditions of rescue spot
Going and finding out what's going on for rescue worker's current events, accomplishes reply situation at any time；(7) the utility model carries d GPS locating module device, energy
Positioning work is carried out in real time, is easy to the control under the working conditions such as search and rescue.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is electric control structure schematic diagram of the present utility model.
Specific embodiment
The technical solution of the utility model is further illustrated with reference to specific embodiment.
Referring to accompanying drawing, the sufficient search and rescue robot of wheel-leg combined type movement of the present utility model six mainly includes：Main body rack, four
Individual train wheel apparatus and six three joint Bionic limb devices；
The main body rack includes upper backup pad 1, middle upper backup pad 2, middle lower supporting plate 3, lower supporting plate 4, four supports
It is fastenedly connected by copper post 5 between plate；Four supporting plates for using consider from force analysis and position of centre of gravity, above two
Laminate is small and thin, and two-ply below is big and thickness；Wherein, middle lower supporting plate 3, the shape of lower supporting plate 4 are identical, size phase
Together；Upper backup pad 1, the shapes and sizes of middle upper backup pad 2 are identical.
Described six three joint Bionic limb devices are distributed in main body rack both sides, per side three；The anti-raw limb in each three joint
Including the first linking arm 6, the second linking arm 7, stempoda 8, and the first steering wheel 9, the second steering wheel 10, the 3rd steering wheel 11；Described
One steering wheel 9 is fastened by two steering wheel steering wheels 12 and middle lower supporting plate 3, the similar round jag of lower supporting plate 4 by screw 19
Connection, the first steering wheel 9 connects one end of the first linking arm 6 by a U-bracket 13, forms the first joint of Bionic limb；Institute
The other end and the second steering wheel 10 for stating the first linking arm 6 are fastenedly connected, and the second steering wheel 10 connects the by another U-bracket 14
One end of two linking arms 7, forms the second joint of Bionic limb；The other end of second linking arm 7 is fastened with the 3rd steering wheel 11
Connection, the 3rd steering wheel 11 is fastenedly connected by steering wheel support 15 and stempoda 8, forms the 3rd joint of Bionic limb；By three rudders
Into three joints of Bionic limb, (the first steering wheel is realized advancing and retrogressing, second the second linking arm of servos control 7 and stempoda 8 for mechanism
Raise and realize moving left and right with whereabouts, the 3rd servos control stempoda), good obstacle detouring and climbing ability can be reached.
Four train wheel apparatus are separately mounted to two first three joint Bionic limbs in six three joint Bionic limb devices
After device and two on three joint Bionic limb devices；Train wheel apparatus are made up of wheel 16, shaft coupling 17, reducing motor 18, slow down
Motor 18 connects wheel 16 by shaft coupling 17, and the reducing motor 18 is fixed on stempoda 8 by electric machine support.
Control mainboard and driving plate are provided with main body rack, the control mainboard and driving plate are by being fastenedly connected
On main body rack；The driving plate is divided into motor driving plate and actuator driving plate, and motor driving plate is electric with the deceleration of train wheel apparatus
Machine 18 is electrically connected, and actuator driving plate is electrically connected with the first steering wheel 9, the second steering wheel 10, the 3rd steering wheel 11, and motor driving plate and rudder
Machine driving plate is entered horizontal electrical signal and is connected with control mainboard.
Image collecting device 19, human-body infrared sensing device, flame sensing device, smog are also equipped with main body rack
Sensing device, supersonic sensing device and GPS positioning device (not marked in figure).Image collecting device and corresponding image are passed
Defeated communication module electrically connects (image transmitting communication module is also fastenedly connected on the middle upper backup pad 1), described image collection
Electrically connected between device, image transmitting communication module and control mainboard, image transmitting communication module is connected with figure and passes antenna, passes through
The vision signal of image acquisition device is sent to remote control terminal by image transmitting communication module；The human body infrared is passed
Induction device, flame sensing device, smog sensing device, supersonic sensing device and GPS positioning device are between control mainboard
Electrical connection；Master board is also associated with data transfer communication module, and data transfer communication module is connected with number and passes antenna, long-range control
Terminal processed is communicated by data transfer communication module and control mainboard, and (one side remote control terminal is logical by data transfer
News module sends control robot and carries out the control signal of ground moving to control mainboard；On the other hand, control mainboard is by number
According to transmission communication module each sensor (i.e. human-body infrared sensing device, flame sensing device, smog are sent to remote control terminal
Sensing device, supersonic sensing device and GPS positioning device) detection data).
When using, robot has creeps and wheel two kinds of move modes of traveling, and two kinds of move modes can basis
The situation on road surface is freely switched.When under rugged and rough road conditions, master board drives six three by actuator driving plate
The steering wheel motion of joint Bionic limb device, realizes that robot crawling is moved；When in smooth-riding surface, master board controls six three
Second steering wheel 10 of joint Bionic limb device and the 3rd steering wheel 11 are acted, and adjust the second linking arm 7 and stempoda 8 to suitable position
(during adjustment, the second linking arm 7 is lifted up, and stempoda 8 is to interior folding), transfers train wheel apparatus, wheel is contacted ground, so that real
The wheel traveling mode of existing robot, when wheel is advanced, realizes advancing, by control by controlling the reducing motor of train wheel apparatus
Train wheel apparatus where three joint Bionic limb devices the first steering wheel 9, realize turn to；
Using the image collecting device 19 and image transmitting communication module that are carried in robot, the collection of image information is realized
With remote transmission；Life breath is detected using human-body infrared sensing device, is easy to the search-and-rescue work after calamity；Passed using ultrasonic wave
Induction device detection robot peripheral obstacle；Using the fire around flame sensing device and smog sensing device detection robot
Situation；The positioning of robot is realized using GPS positioning device；
The sufficient search and rescue robot of wheel-leg combined type movement of the present utility model six can apply to the disaster relief and get rid of the danger, explosion-proof anti-terrorism,
Archaeology detection etc..
Exemplary description is done to the utility model above, it should explanation, do not departed from core of the present utility model
In the case of the heart, any simple deformation, modification or other skilled in the art can not spend creative work etc.
Protection domain of the present utility model is each fallen within replacing.
Claims (6)
1. a kind of wheel-leg combined type moves six sufficient search and rescue robots, it is characterised in that：Closed including main body rack, train wheel apparatus and three
Section Bionic limb device；
The three joints Bionic limb device includes multiple, and it is symmetrically mounted on main body rack both sides, the anti-raw limb bag in each three joint
Include the first linking arm, the second linking arm, stempoda, and the first steering wheel, the second steering wheel, the 3rd steering wheel；The first steering wheel fastening
On main body rack, the first steering wheel connects one end of the first linking arm, forms the first joint of Bionic limb；First linking arm
The other end be fastenedly connected with the second steering wheel, the second steering wheel connect the second linking arm one end, formed Bionic limb second joint；
The other end of second linking arm is fastenedly connected with the 3rd steering wheel, and the 3rd steering wheel and stempoda are fastenedly connected, and forms Bionic limb
3rd joint；
The train wheel apparatus are arranged on three joint Bionic limb devices, and train wheel apparatus are made up of wheel, shaft coupling, motor, motor
Wheel is connected by shaft coupling, the motor is fixed on the stempoda of three joint Bionic limb devices by electric machine support；
Control mainboard and driving plate are additionally provided with main body rack；The driving plate is divided into motor driving plate and servo driving
Plate, motor driving plate is electrically connected with the motor of train wheel apparatus, and actuator driving plate and the first steering wheel, the second steering wheel, the 3rd steering wheel are electric
Connect, and motor driving plate and actuator driving plate enter horizontal electrical signal and are connected with control mainboard；
Image collecting device, human-body infrared sensing device, flame sensing device, smog sensing dress are also equipped with main body rack
Put, supersonic sensing device and GPS positioning device, wherein：Image collecting device and image transmitting communication module are electrically connected, described
Electrically connected between image collecting device, image transmitting communication module and control mainboard, image transmitting communication module is connected with figure biography
Antenna, remote control terminal is sent to by image transmitting communication module by the vision signal of image acquisition device；It is described
Human-body infrared sensing device, flame sensing device, smog sensing device, supersonic sensing device and GPS positioning device with control
Electrically connected between mainboard processed；Master board is also associated with data transfer communication module, and data transfer communication module is connected with several biographies
Antenna, remote control terminal is communicated by data transfer communication module and control mainboard.
2. wheel-leg combined type according to claim 1 moves six sufficient search and rescue robots, it is characterised in that：Three joint Bionic limbs
The quantity of device is six, and six three joint Bionic limb devices are distributed in main body rack both sides, per side three.
3. wheel-leg combined type according to claim 1 and 2 moves six sufficient search and rescue robots, it is characterised in that：Train wheel apparatus
Quantity be four, four train wheel apparatus are separately mounted to two first three joint Bionic limbs in six three joint Bionic limb devices
After device and two on three joint Bionic limb devices.
4. wheel-leg combined type according to claim 1 moves six sufficient search and rescue robots, it is characterised in that：The main body rack
Including upper backup pad, middle upper backup pad, middle lower supporting plate, lower supporting plate, fastening company is carried out by copper post between four supporting plates
Connect；The middle lower supporting plate, lower supporting plate shape are identical, and size is identical；The upper backup pad, middle upper backup pad shapes and sizes
It is identical.
5. wheel-leg combined type according to claim 1 moves six sufficient search and rescue robots, it is characterised in that：The motor is preferred
It is reducing motor.
6. wheel-leg combined type according to claim 1 moves six sufficient search and rescue robots, it is characterised in that：The wheel is preferred
It is omni-directional wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621311179.3U CN206218053U (en) | 2016-12-01 | 2016-12-01 | The sufficient search and rescue robot of wheel-leg combined type movement six |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621311179.3U CN206218053U (en) | 2016-12-01 | 2016-12-01 | The sufficient search and rescue robot of wheel-leg combined type movement six |
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| Publication Number | Publication Date |
|---|---|
| CN206218053U true CN206218053U (en) | 2017-06-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621311179.3U Expired - Fee Related CN206218053U (en) | 2016-12-01 | 2016-12-01 | The sufficient search and rescue robot of wheel-leg combined type movement six |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891429A (en) * | 2017-12-18 | 2018-04-10 | 浙江工业职业技术学院 | Search and rescue robot |
| CN108058174A (en) * | 2017-12-22 | 2018-05-22 | 杭州欢乐飞机器人科技股份有限公司 | Modularization robot master board |
| CN108238126A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of Lun Zu omnidirectional movings robot |
| CN109227557A (en) * | 2018-10-09 | 2019-01-18 | 安徽信息工程学院 | Six sufficient earthquake rescue robots |
| CN109911052A (en) * | 2019-03-18 | 2019-06-21 | 华南理工大学 | A kind of wheel leg type multi-mode inspection search and rescue robot |
| CN112172957A (en) * | 2020-10-09 | 2021-01-05 | 中国民航大学 | Wheel leg automatic exchange type obstacle crossing robot |
| CN114572322A (en) * | 2021-12-15 | 2022-06-03 | 常州机电职业技术学院 | Bionic sea crab robot |
-
2016
- 2016-12-01 CN CN201621311179.3U patent/CN206218053U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891429A (en) * | 2017-12-18 | 2018-04-10 | 浙江工业职业技术学院 | Search and rescue robot |
| CN108058174A (en) * | 2017-12-22 | 2018-05-22 | 杭州欢乐飞机器人科技股份有限公司 | Modularization robot master board |
| CN108238126A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of Lun Zu omnidirectional movings robot |
| CN109227557A (en) * | 2018-10-09 | 2019-01-18 | 安徽信息工程学院 | Six sufficient earthquake rescue robots |
| CN109911052A (en) * | 2019-03-18 | 2019-06-21 | 华南理工大学 | A kind of wheel leg type multi-mode inspection search and rescue robot |
| CN109911052B (en) * | 2019-03-18 | 2024-04-30 | 华南理工大学 | Wheel leg type multi-mode inspection search and rescue robot |
| CN112172957A (en) * | 2020-10-09 | 2021-01-05 | 中国民航大学 | Wheel leg automatic exchange type obstacle crossing robot |
| CN114572322A (en) * | 2021-12-15 | 2022-06-03 | 常州机电职业技术学院 | Bionic sea crab robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170606 Termination date: 20171201 |
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| CF01 | Termination of patent right due to non-payment of annual fee |