CN207432188U - A kind of foot carries out combined type search and rescue robot - Google Patents
A kind of foot carries out combined type search and rescue robot Download PDFInfo
- Publication number
- CN207432188U CN207432188U CN201721379751.4U CN201721379751U CN207432188U CN 207432188 U CN207432188 U CN 207432188U CN 201721379751 U CN201721379751 U CN 201721379751U CN 207432188 U CN207432188 U CN 207432188U
- Authority
- CN
- China
- Prior art keywords
- rescue robot
- arm
- master arm
- combined type
- carries out
- 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
Links
Abstract
The utility model discloses a kind of foots to carry out combined type search and rescue robot, its structure includes gripper jaw, master arm, driver, rotating wheel, slave arm, terminals, power pack, pedestal, walking device, the master arm is made of combination steel pipe, openend is circle, the master arm front end is formed by rotation barrier part Combination Welding, the master arm rear end is intermeshed with driver output shaft, driver lower end connecting shaft and the mutual frictional rotation in slave arm upper end, the slave arm upper end is intermeshed with master arm and appearance composition is T-shaped, the utility model is equipped with walking device, while driving wheel rotates creeper tread is driven to be moved with crawler belt, realize level land move mode, driving wheel drives bogie wheel movement, realize ladder climbing function, it can realize diversified movement, effectively improve search and rescue robot movement efficiency.
Description
Technical field
The utility model is that a kind of foot carries out combined type search and rescue robot, belongs to robotic technology field.
Background technology
Search and rescue robot takes the robot of advanced science and technology development for rescue, and such as earthquake rescue robot, it is
It is a kind of dedicated for after violent earthquake in the ruins of market place builet below the ground looking for survivors perform rescue task robot.This machine
People is equipped with colour TV camera, thermal imaging system and communication system.
Prior art discloses Application No.：201320057421.9 a kind of search and rescue robot, it include motion
And control mechanism；Motion includes creeper tread, four rocking arms being arranged on creeper tread and two stepper motors；Each stepping
The output shaft of motor is installed with first pinion gear, and first pinion gear is engaged with first gear wheel, and first gear wheel
Coaxially connected through first rotation axis and second pinion gear, second pinion gear is engaged with second gear wheel, second big
Gear is installed in one end of second rotation axis, and the other end of second rotation axis passes through drive and fixed axis connection active
Wheel；Rocking arm is made of driving wheel, two driven wheels, crawler belt and rocker plate, and the fixing axle of driving wheel and two driven wheels is respectively provided with
In rocker plate, driving wheel and two driven wheel peripheries are provided with a circle crawler belt；The rotational angle of stepper motor is by control mechanism
Control；A steering engine is additionally provided in the rocker plate of rocking arm, steering engine controls work by control mechanism.But it is disadvantageous in that
Search and rescue robot move mode is more single, and when running into the opposite situation of road conditions, search and rescue robot movement efficiency reduces.
Utility model content
In view of the deficienciess of the prior art, the utility model aim, which is to provide a kind of foot, carries out combined type search and rescue robot,
More single to solve search and rescue robot move mode, when running into the opposite situation of road conditions, search and rescue robot movement efficiency reduces
The problem of.
To achieve these goals, the utility model is to realize by the following technical solutions：A kind of foot carries out combined type
Search and rescue robot, structure include gripper jaw, master arm, driver, rotating wheel, slave arm, terminals, power pack, pedestal, row
Device is walked, the master arm is made of combination steel pipe, and openend is circle, and the master arm front end is combined by rotation barrier part
It is welded, the master arm rear end is intermeshed with driver output shaft, driver lower end connecting shaft and slave arm upper end
Mutual frictional rotation, the slave arm upper end is intermeshed with master arm and appearance composition is T-shaped, and the master arm front end is set
Have gripper jaw and flexible connection, gripper jaw is combined by left and right same parts forms down " eight " shape structure, the master arm by from
Swing arm is flexibly connected with rotating wheel, and the pedestal left and right sides is connected with walking device；The walking device by bogie wheel, creeper tread,
Driving wheel, crawler belt, transmission shaft composition, described bogie wheel one end are intermeshed always with front-end driven wheel, and the driving wheel sets up separately
In creeper tread or so, the crawler belt plate surface is equipped with crawler belt and is flexibly connected using gap friction mode, the transmission shaft upper end
It is mutually rotatablely connected with pedestal left and right output shaft.
Further, the rotating wheel is located on slave arm lower end position.
Further, the power pack back-end location is equipped with terminals side by side.
Further, the terminals line leads directly to slave arm inner cavity from lower to upper.
Further, the pedestal is located in the lower position of power pack.
Further, the slave arm lower end is equipped with power pack.
Further, the transmission shaft is formed by multiple gear combinations.
Further, the track contacting surface is smooth and exists together a horizontal plane with Its lower side, and surface is equipped with block.
Advantageous effect
A kind of foot of the utility model carries out combined type search and rescue robot, and search and rescue robot is mainly moved by walking device,
Power pack is connected after being powered first by terminals, power pack output shaft is intermeshed with driving wheel, while driving wheel rotates
Creeper tread and crawler belt is driven to move, realizes level land move mode, when running into opposite road conditions, as height difference it is larger planar
Under condition, the block of crawler belt front edge of board to be taken away, by front-end driven wheel bogie wheel is driven to move, bogie wheel is arranged on the outside of crawler belt,
It can be convenient for the rotary movement of bogie wheel, realize ladder climbing function, realize that variation is mobile with reference to level land move mode, effectively
Improve search and rescue robot movement efficiency.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon：
Fig. 1 is the structure diagram that a kind of foot of the utility model carries out combined type search and rescue robot；
Fig. 2 is the walking device schematic diagram of the utility model；
Fig. 3 is the rotating wheel schematic diagram that a kind of foot of the utility model carries out combined type search and rescue robot；
Fig. 4 is the crawler belt attachment structure schematic diagram of the utility model.
In figure：Gripper jaw -1, master arm -2, driver -3, rotating wheel -4, slave arm -5, terminals -6, power pack -7,
Pedestal -8, walking device -9, bogie wheel -901, creeper tread -902, driving wheel -903, crawler belt -904, transmission shaft -905.
Specific embodiment
Technical means, creative features, achievable purpose and effectiveness to realize the utility model are easy to understand, below
With reference to specific embodiment, the utility model is expanded on further.
- Fig. 4 is please referred to Fig.1, the utility model provides a kind of technical solution：A kind of foot carries out combined type search and rescue robot,
Structure includes gripper jaw 1, master arm 2, driver 3, rotating wheel 4, slave arm 5, terminals 6, power pack 7, pedestal 8, walking device
9, the master arm 2 is made of combination steel pipe, and openend is circle, and 2 front end of master arm is combined by rotation barrier part
It is welded, 2 rear end of master arm is intermeshed with 3 output shaft of driver, the 3 lower end connecting shaft of driver and slave arm 5
The mutual frictional rotation in upper end, 5 upper end of slave arm is intermeshed with master arm 2 and appearance forms T-shaped, the master arm
2 front ends are equipped with gripper jaw 1 and are flexibly connected, and gripper jaw 1 is combined by left and right same parts forms down " eight " shape structure, the active
Arm 2 is flexibly connected by slave arm 5 with rotating wheel 4, and 8 left and right sides of pedestal is connected with walking device 9；The walking device 9 by
Bogie wheel 901, creeper tread 902, driving wheel 903, crawler belt 904, transmission shaft 905 form, described 901 one end of bogie wheel always with it is preceding
End driving wheel 903 is intermeshed, and the driving wheel 903 sets up separately in creeper tread 902 or so, and 902 surface of creeper tread, which is equipped with, to be carried out
Band 904 and use gap friction mode flexible connection, 905 upper end of transmission shaft and 8 left and right output shaft of the pedestal mutually company of rotation
It connects, the rotating wheel 4 is located on 5 lower end position of slave arm, and 7 back-end location of power pack is equipped with terminals 6 side by side, described to connect
6 line of line end leads directly to 5 inner cavity of slave arm from lower to upper, and the pedestal 8 is located in the lower position of power pack 7, the slave arm 5
Lower end is equipped with power pack 7.
Driving wheel 903 described in this patent subjects the weight of driver 3 and pedestal 8, can increase the attached of driving wheel 903
Put forth effort, the balance and operability of car body will all improve a lot.
It is carrying out in use, search and rescue robot is mainly moved by walking device 9, after being powered first by terminals 6
Power pack 7 is connected, 7 output shaft of power pack is intermeshed with driving wheel 903, and creeper tread 902 is driven while driving wheel 903 rotates
It is moved with crawler belt 904, realizes level land move mode, when running into opposite road conditions, under the larger state of ground of height difference, take
The block of 902 front end of creeper tread is opened, by front-end driven wheel 903 bogie wheel 901 is driven to move, bogie wheel 901 is arranged on crawler belt
904 outsides can be convenient for the rotary movement of bogie wheel 901, realize ladder climbing function, realized with reference to level land move mode various
Change movement, effectively improve search and rescue robot movement efficiency.
The utility model solves the problems, such as it is that search and rescue robot move mode is more single, runs into the opposite situation of road conditions
When, search and rescue robot movement efficiency reduces, and the utility model is combined with each other by above-mentioned component, can be convenient for turning over for bogie wheel
It rotates and makees, realize ladder climbing function, realize that variation is mobile with reference to level land move mode, effectively improve search and rescue robot movement
Efficiency, it is described in detail below：
901 one end of bogie wheel is intermeshed always with front-end driven wheel 903, and the driving wheel 903 sets up separately in creeper tread 902
Left and right, 902 surface of creeper tread are equipped with crawler belt 904 and are flexibly connected using gap friction mode, 905 upper end of transmission shaft
It is mutually rotatablely connected with 8 left and right output shaft of pedestal.
The basic principle of the utility model and main feature and the advantages of the utility model has been shown and described above, for
For those skilled in the art, it is clear that the utility model is not limited to the details of above-mentioned exemplary embodiment, and without departing substantially from this
In the case of the spirit or essential attributes of utility model, the utility model can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the utility model is by institute
Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent requirements of the claims
All changes are embraced therein.Any reference numeral in claim should not be considered as to the involved right of limitation
It is required that.
Moreover, it will be appreciated that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
Using specification as an entirety, the technical solutions in each embodiment can also be properly combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (6)
1. a kind of foot carries out combined type search and rescue robot, structure includes gripper jaw (1), master arm (2), driver (3), rotating wheel
(4), slave arm (5), terminals (6), power pack (7), pedestal (8), walking device (9), the master arm (2) is by combination steel tube
Road is formed, and openend is circle, and master arm (2) front end is formed by rotation barrier part Combination Welding, it is characterised in that：
Master arm (2) rear end is intermeshed with driver (3) output shaft, driver (3) the lower end connecting shaft and slave arm
(5) the mutual frictional rotation in upper end, slave arm (5) upper end is intermeshed with master arm (2) and appearance forms T-shaped, institute
Master arm (2) front end is stated equipped with gripper jaw (1) and is flexibly connected, gripper jaw (1) is combined by left and right same parts to be formed down " eight "
Shape structure, the master arm (2) are flexibly connected by slave arm (5) with rotating wheel (4), pedestal (8) left and right sides and walking
Device (9) is connected；
The walking device (9) is by bogie wheel (901), creeper tread (902), driving wheel (903), crawler belt (904), transmission shaft (905)
Composition, described bogie wheel (901) one end are intermeshed always with front-end driven wheel (903), and the driving wheel (903), which is set up separately, is carrying out
Band plate (902) left and right, creeper tread (902) surface is equipped with crawler belt (904) and is flexibly connected using gap friction mode, described
Transmission shaft (905) upper end is mutually rotatablely connected with pedestal (8) left and right output shaft.
2. a kind of foot according to claim 1 carries out combined type search and rescue robot, it is characterised in that：The rotating wheel (4) sets
On slave arm (5) lower end position.
3. a kind of foot according to claim 1 carries out combined type search and rescue robot, it is characterised in that：After the power pack (7)
End position is equipped with terminals (6) side by side.
4. a kind of foot according to claim 1 carries out combined type search and rescue robot, it is characterised in that：The terminals (6) are even
Line leads directly to slave arm (5) inner cavity from lower to upper.
5. a kind of foot according to claim 1 carries out combined type search and rescue robot, it is characterised in that：The pedestal (8) is located at
In the lower position of power pack (7).
6. a kind of foot according to claim 1 carries out combined type search and rescue robot, it is characterised in that：Under the slave arm (5)
End is equipped with power pack (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721379751.4U CN207432188U (en) | 2017-10-24 | 2017-10-24 | A kind of foot carries out combined type search and rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721379751.4U CN207432188U (en) | 2017-10-24 | 2017-10-24 | A kind of foot carries out combined type search and rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207432188U true CN207432188U (en) | 2018-06-01 |
Family
ID=62293791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721379751.4U Expired - Fee Related CN207432188U (en) | 2017-10-24 | 2017-10-24 | A kind of foot carries out combined type search and rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207432188U (en) |
-
2017
- 2017-10-24 CN CN201721379751.4U patent/CN207432188U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100434331C (en) | Small-sized four-peddrail mobile robot driving device | |
| CN102582706B (en) | Coal mine underground search-and-rescue detection robot moving device | |
| CN102180205B (en) | Robot with wheel legs | |
| CN105383582B (en) | The unmanned 4 wheel driven platform of swing arm | |
| CN104875798B (en) | Transformer station's wheel carries out compound switchable type mobile robot | |
| CN103863424B (en) | Adapt to the crusing robot of complicated unstructured landform | |
| CN202180886U (en) | Self-balanced intelligent traffic robot | |
| CN206552137U (en) | The switchable type wheel of electromagnetic clutch control carries out composite mobile robot | |
| CN108032920B (en) | Soft ground crawling robot | |
| CN104443114B (en) | A kind of imperial running vehicle type based on inverted pendulum adjustment center of gravity slides robot | |
| CN108791548B (en) | A kind of compound mobile mechanism of two-wheeled-leg-crawler | |
| CN202006842U (en) | Wheel-leg robot | |
| CN104029746B (en) | Planetary gear crawler belt combined type tread systems design | |
| CN114802497A (en) | Portable wheel-track double-swing-arm mobile robot | |
| CN207432188U (en) | A kind of foot carries out combined type search and rescue robot | |
| CN106112957B (en) | A kind of two-sided traveling reconnaissance robot | |
| CN110615048B (en) | Cross-country robot based on muddy region quick travel | |
| CN202716956U (en) | Omnidirectional mobile crawler | |
| CN209757305U (en) | Crawler-type stair climbing robot | |
| CN201148179Y (en) | Mobile robot for ice and snow surface | |
| KR101428876B1 (en) | Front wheel driving bicycle by swing motion of arms | |
| CN109649078A (en) | It is a kind of suitable for the all-terrain vehicle chassis of complex working condition and its application | |
| CN201136558Y (en) | Robot for moving on all-landforms | |
| CN202201083U (en) | Flexible travelling mechanism with all-directional steering | |
| CN212099123U (en) | Full-automatic spherical robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180601 Termination date: 20191024 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |