CN206455651U - A kind of crawler type rescue robot - Google Patents
A kind of crawler type rescue robot Download PDFInfo
- Publication number
- CN206455651U CN206455651U CN201621482108.XU CN201621482108U CN206455651U CN 206455651 U CN206455651 U CN 206455651U CN 201621482108 U CN201621482108 U CN 201621482108U CN 206455651 U CN206455651 U CN 206455651U
- Authority
- CN
- China
- Prior art keywords
- track frame
- rescue robot
- electric pushrod
- athey wheel
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model is related to a kind of crawler type rescue robot, including car body and mechanical arm, and the mechanical arm is arranged on the car body, the car body includes track frame, the Athey wheel of the track frame both sides is arranged at, the crawler belt on the Athey wheel is arranged at, the electro-motor being connected with the Athey wheel；The utility model has only used the basic modules such as track frame, Athey wheel, crawler belt, mechanical arm, electro-motor, the elemental motion of robot can be completed, and track frame is designed as H type structures, the material of consumption is saved to greatest extent, using electric pushrod as mechanical arm driving element, cost is saved, the rescue robot avoids unnecessary structure and component to greatest extent, on the basis of robot basic function is ensured, the cost of robot is greatly reduced.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of crawler type rescue robot.
Background technology
With the continuous improvement of social science and technology, robot steps into the visual field of masses and popular in certain limit
Received.Robot, which is that instead of on-the-spot security inspection personnel, can not go or be not suitable for people to examine on the spot in the hazardous environment in area, in real time
Transmit image scene；Carry, shift suspicious explosive product and other dangerous thingses；Instead of explosive librarian use Explosive Ordnance Demolition device
Destruction of bomb, it is to avoid unnecessary casualties.
But current robot architecture is complicated, involve great expense, use cost is too high, and very big damage is caused if damaging
Lose, so, only in particular cases just organized work at some using robot, this also results in robot can not be large-scale
Promote the use of.
Utility model content
In order to solve in the prior art the technical problem that robot architecture is complicated, cost is too high, the utility model is provided
A kind of crawler type rescue robot.
The technical problems to be solved in the utility model is achieved through the following technical solutions：
A kind of crawler type rescue robot, including car body and mechanical arm, the mechanical arm is arranged on the car body, described
Car body includes track frame, is arranged at the Athey wheel of the track frame both sides, is arranged at the crawler belt on the Athey wheel, is carried out with described
The electro-motor of belt wheel connection；
Control cabinet is provided with the track frame, the mechanical arm is arranged on the control cabinet, and the mechanical arm includes
The rotary electric machine on the control cabinet is arranged at, the large arm on the rotary electric machine is articulated with, the forearm being hinged with the large arm,
It is arranged in forearm and slidable telescopic arm, the manipulator being connected by electric rotating machine with the telescopic arm, the machinery
Hand is driven by the electric rotating machine to be rotated, and is hinged with the first electric pushrod between the rotary electric machine and large arm, the large arm and
The second electric pushrod is hinged between forearm, the 3rd electric pushrod is provided between the forearm and telescopic arm.
Further illustrated as of the present utility model, the track frame both sides are provided with the electricity being connected with the Athey wheel
Dynamic motor, the electrical motor driven Athey wheel is rotated.
Further illustrated as of the present utility model, the track frame is H type structures, the Athey wheel is arranged at the shoe
Tape holder both sides, the control cabinet is arranged on intermediate transverse girder.
Further illustrated as of the present utility model, the 3rd electric pushrod and the forearm and the fixed company of telescopic arm
Connect.
Further illustrated as of the present utility model, the control cabinet includes battery and receiver of remote-control sytem, the storage
Battery be the rescue robot power, first electric pushrod, the second electric pushrod, the 3rd electric pushrod, rotary electric machine,
Electric rotating machine and electro-motor are connected with the receiver of remote-control sytem, and by the remote control with the receiver of remote-control sytem wireless connection
Device is controlled.
Further illustrated as of the present utility model, high-definition camera, the high definition are provided with the rescue robot
Camera is connected by data channel with control device.
Compared with prior art, what the utility model was obtained has the beneficial effect that：
The utility model has only used the basic modules such as track frame, Athey wheel, crawler belt, mechanical arm, electro-motor, you can complete
Into the elemental motion of robot, and track frame is designed as H type structures, the material of consumption is saved to greatest extent, using electricity
Dynamic push rod saves cost as mechanical arm driving element, the rescue robot avoid to greatest extent unnecessary structure and
Component, on the basis of robot basic function is ensured, greatly reduces the cost of robot.
The utility model is described in further details below with reference to drawings and Examples.
Brief description of the drawings
Fig. 1 is a kind of crawler type rescue robot structural representation of the present utility model.
Fig. 2 is a kind of crawler type rescue robot body construction schematic diagram of the present utility model.
In figure：1st, track frame；2nd, Athey wheel；3rd, crawler belt；4th, electro-motor；5th, control cabinet；6th, rotary electric machine；7th, large arm；
8th, forearm；9th, telescopic arm；10th, electric rotating machine；11st, manipulator；12nd, the first electric pushrod；13rd, the second electric pushrod；14th, the 3rd
Electric pushrod.
Embodiment
Reach technological means and effect that predetermined purpose is taken for the utility model is expanded on further, below in conjunction with accompanying drawing
And embodiment is to embodiment of the present utility model, architectural feature and its effect, describe in detail as follows.
As shown in Figure 1 and Figure 2, a kind of crawler type rescue robot, including car body and mechanical arm, mechanical arm is arranged at car body
On, car body includes track frame 1, is arranged at the Athey wheel 2 of the both sides of track frame 1, the crawler belt 3 on Athey wheel 2 is arranged at, with Athey wheel
The electro-motor 4 of 2 connections；Control cabinet 5 is provided with track frame 1, mechanical arm is arranged on control cabinet 5, mechanical arm includes setting
In the rotary electric machine 6 on control cabinet 5, the large arm 7 on rotary electric machine 6 is articulated with, the forearm 8 being hinged with large arm 7 is arranged at forearm
8 interior and slidable telescopic arms 9, the manipulator 11 being connected by electric rotating machine 10 with telescopic arm 9, manipulator 11 is by rotating
The driving rotation of motor 10, is hinged with the first electric pushrod 12, is hinged between large arm 7 and forearm 8 between rotary electric machine 6 and large arm 7
There is the second electric pushrod 13, the 3rd electric pushrod 14 is fixedly connected between forearm 8 and telescopic arm 9.
Preferably, the both sides of track frame 1 are provided with the electro-motor 4 being connected with Athey wheel 2, the driving crawler belt of electro-motor 4
Wheel 2 is rotated, so as to drive robot ambulation；Track frame 1 is H type structures, and Athey wheel 2 is arranged at the both sides of track frame 1, control cabinet 5
It is arranged on the intermediate transverse girder of track frame 1.
Preferably, control cabinet 5 includes battery and receiver of remote-control sytem, and battery is powered for rescue robot, the first electricity
Dynamic push rod 12, the second electric pushrod 13, the 3rd electric pushrod 14, rotary electric machine 6, electric rotating machine 10 and electro-motor 4 with it is distant
Receiver connection is controlled, and by the remote control control with receiver of remote-control sytem wireless connection；High definition is provided with rescue robot to take the photograph
As head, and it is connected by data channel with control device.
Operationally, the electro-motor 4 of the both sides of track frame 1 drives the Athey wheel 2 of both sides respectively, it is ensured that robot, which advances, to work as
In balance, by the rotating speed for controlling electro-motor 4, you can the gait of march of control machine people, and be provided with robot
Camera, is easy to operator to adjust the travel direction of robot at any time, in the electro-motor 4 by controlling the two ends of track frame 1,
Make its speed identical, in opposite direction, form differential, robot is rotated around fuselage axial line, you can complete to turn, robot
Manipulating, simple and response characteristic is good.
Meanwhile, mechanical arm can realize overall rotation by rotary electric machine 6, by the flexible of the first electric pushrod 12,
The pitching posture of large arm 7 can be controlled, stretching for the second electric pushrod 13 of control can control the pitching posture of forearm 8, control
Stretching for 3rd electric pushrod 14, can control the length of telescopic arm 9, finally by control electric rotating machine 10, can realize machine
The rotation of tool hand 11, to adjust angle during work, so makes the working range of mechanical arm wider, is conducive to robot to implement to rescue
Help work.
The utility model is only using basic modules such as track frame 1, Athey wheel 2, crawler belt 3, mechanical arm, electro-motors 4, you can
The elemental motion of robot is completed, and track frame 1 is designed as H type structures, and the material of consumption is saved to greatest extent, uses
Electric pushrod saves cost as mechanical arm driving element, and the rescue robot avoids unnecessary structure to greatest extent
And component, on the basis of robot basic function is ensured, greatly reduce the cost of robot.
Above content is to combine specific preferred embodiment further detailed description of the utility model, it is impossible to
Assert that specific implementation of the present utility model is confined to these explanations.For the ordinary skill of the utility model art
For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, should all be regarded
To belong to protection domain of the present utility model.
Claims (6)
1. a kind of crawler type rescue robot, including car body and mechanical arm, the mechanical arm are arranged on the car body, its feature
It is：The car body includes track frame（1）, it is arranged at the track frame（1）The Athey wheel of both sides（2）, it is arranged at the crawler belt
Wheel（2）On crawler belt（3）, with the Athey wheel（2）The electro-motor of connection（4）；
The track frame（1）On be provided with control cabinet（5）, the mechanical arm is arranged at the control cabinet（5）On, the mechanical arm
Including being arranged at the control cabinet（5）On rotary electric machine（6）, it is articulated with the rotary electric machine（6）On large arm（7）, with institute
State large arm（7）The forearm being hinged（8）, it is arranged at forearm（8）Interior and slidable telescopic arm（9）, pass through electric rotating machine（10）
With the telescopic arm（9）The manipulator of connection（11）, the manipulator（11）By the electric rotating machine（10）Driving rotation, it is described
Rotary electric machine（6）And large arm（7）Between be hinged with the first electric pushrod（12）, the large arm（7）And forearm（8）Between be hinged with
Second electric pushrod（13）, the forearm（8）And telescopic arm（9）Between be provided with the 3rd electric pushrod（14）.
2. a kind of crawler type rescue robot according to claim 1, it is characterised in that：The track frame（1）Both sides are equal
It is provided with and the Athey wheel（2）The electro-motor of connection（4）, the electro-motor（4）Drive Athey wheel（2）Rotate.
3. a kind of crawler type rescue robot according to claim 1, it is characterised in that：The track frame（1）For H type knots
Structure, the Athey wheel（2）It is arranged at the track frame（1）Both sides, the control cabinet（5）It is arranged on intermediate transverse girder.
4. a kind of crawler type rescue robot according to claim 1, it is characterised in that：3rd electric pushrod（14）
With the forearm（8）And telescopic arm（9）It is fixedly connected with.
5. a kind of crawler type rescue robot according to claim any one of 1-4, it is characterised in that：The control cabinet
（5）Include battery and receiver of remote-control sytem, the battery is that the rescue robot is powered, first electric pushrod
（12）, the second electric pushrod（13）, the 3rd electric pushrod（14）, rotary electric machine（6）, electric rotating machine（10）And electro-motor（4）
It is connected with the receiver of remote-control sytem, and by the remote control control with the receiver of remote-control sytem wireless connection.
6. a kind of crawler type rescue robot according to claim 5, it is characterised in that：Set on the rescue robot
There is high-definition camera, the high-definition camera is connected by data channel with control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621482108.XU CN206455651U (en) | 2016-12-30 | 2016-12-30 | A kind of crawler type rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621482108.XU CN206455651U (en) | 2016-12-30 | 2016-12-30 | A kind of crawler type rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206455651U true CN206455651U (en) | 2017-09-01 |
Family
ID=59697519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621482108.XU Expired - Fee Related CN206455651U (en) | 2016-12-30 | 2016-12-30 | A kind of crawler type rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206455651U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571237A (en) * | 2017-10-10 | 2018-01-12 | 滨州职业学院 | A kind of multifunctional mobile mechanical arm |
| CN108168592A (en) * | 2017-11-21 | 2018-06-15 | 上海骐钛机械有限公司 | A kind of tube quality detection device |
| CN114392990A (en) * | 2022-01-19 | 2022-04-26 | 江南造船(集团)有限责任公司 | Cleaning robot for narrow air pipe of ship |
-
2016
- 2016-12-30 CN CN201621482108.XU patent/CN206455651U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571237A (en) * | 2017-10-10 | 2018-01-12 | 滨州职业学院 | A kind of multifunctional mobile mechanical arm |
| CN108168592A (en) * | 2017-11-21 | 2018-06-15 | 上海骐钛机械有限公司 | A kind of tube quality detection device |
| CN114392990A (en) * | 2022-01-19 | 2022-04-26 | 江南造船(集团)有限责任公司 | Cleaning robot for narrow air pipe of ship |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170901 Termination date: 20171230 |