CN207747037U - Intelligent emergent rescue robot - Google Patents
Intelligent emergent rescue robot Download PDFInfo
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- CN207747037U CN207747037U CN201720249990.1U CN201720249990U CN207747037U CN 207747037 U CN207747037 U CN 207747037U CN 201720249990 U CN201720249990 U CN 201720249990U CN 207747037 U CN207747037 U CN 207747037U
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Abstract
A kind of intelligent emergent rescue robot, including：Man-machine interactive system, wireless communication system, data collecting system, fault self-diagnosis system, delivery drive-control system, variable stability control system, rescue control system of actuating mechanism, thermal protection control system, dynamical system, hydraulic system and emergency lighting system.The utility model greatly improves the technical performance of emergency management and rescue equipment, the a tractor serves several purposes function of emergency management and rescue is expanded, and accurate disaster field data are provided in due course for emergency management and rescue command centre, for smoothly expansion rescue action provides important foundation and help in time, rescue time is saved, the loss of lives and properties is made to be preferably minimized.
Description
Technical field
The utility model is related to field of artificial intelligence, and in particular to a kind of intelligent emergent rescue robot.It answers extensively
For earthquake, typhoon, flood floods, fire and toxic gas, warehouse explode etc. exceedingly odious disaster environment, be tunnel,
The intelligent emergent rescue outfit that the emergency management and rescue such as subway, bridge, warehouse are speedily carried out rescue work and FSE field of operation is indispensable.
Background technology
The current emergency management and rescue in China speedily carry out rescue work equipment present situation and existing deficiency：1), less varieties, low output：It is domestic at present
Emergency repair equipment, most of is the common equipment of general excavator, fire fighting truck, lifeboat etc, less varieties, and yield
It is low.2), equipment performance index is relatively low, can not meet the functional requirement of rescue：The equipment of speedily carrying out rescue work of most domestic at present, no
The requirement that full ground or full landform can be met encounters complicated topography variation, and much equipping itself cannot pass through, let alone
Rescue in time.3), safety device is not complete or do not have at all, inconvenient for operation：Most of emergency management and rescue are equipped at present, are all
Manual operation, in the environment that fire or toxic gas leak, rescue personnel hardly enters or can not enter.4), work(
It can single, the repetition and waste energy：Most of rescue is equipped at present in China, only simple function, such as common excavator,
Fire fighting truck, forklift, inflatable boat, high-altitude operation vehicle etc..5), the degree of automation is low, intelligent equipment is few：Most domestic at present
Rescue outfit is mostly the low equipment of non intelligentization, the degree of automation, cannot meet much complex landform by requiring, have
Disaster field is just even not achieved at all, can not just rescue at all.
Utility model content
Technical problem to be solved in the utility model is：The above-mentioned problems of the prior art is solved, and is provided a kind of
Intelligent emergent rescue robot realizes that multinomial emergency management and rescue task, significant increase answer first aid using advanced artificial intelligence technology
The technical performance for helping equipment is expanded a tractor serves several purposes function of emergency management and rescue, and is in time provided for emergency management and rescue command centre
Accurate disaster field data are saved rescue time, are made for smoothly expansion rescue action provides important foundation and help in time
The loss of lives and properties is preferably minimized.
The technical solution adopted in the utility model is：A kind of intelligent emergent rescue robot, including：Man-machine interactive system,
Wireless communication system, data collecting system, fault self-diagnosis system, delivery drive-control system, variable stability control system,
Rescue control system of actuating mechanism, thermal protection control system, dynamical system, hydraulic system and emergency lighting control system.
In above-mentioned technical proposal, the man-machine interactive system be include cyclelog/computer platform, video acquisition
Card, display, VR visors, image data preserve identification module, remote control, video frequency collection card, display, VR visors and image
It is flat with CAN12, CAN13, CAN14, CAN15, canbus bus and cyclelog/computer respectively that data preserve identification module
Platform connects, and wherein video frequency collection card is connect by CAN1 with the video reception module in wireless communication system, cyclelog/meter
It calculates machine platform to connect with the wireless data receipt modules in wireless communication system by CAN2, cyclelog/computer platform
It is connect with the wireless instructions transmitting module in wireless communication system by CAN3, the finger of remote control and wireless instructions transmitting module
It is transmitting realization with reception by infrared ray electric magnetic wave to enable data transmission.
In above-mentioned technical proposal, wireless communication system includes video transmission module, video reception module, wireless data transmission
Module, wireless data receipt modules, wireless instructions transmitting module and wireless instructions receiving module, wherein video transmission module and number
According to the 3D high-definition camera instruments in acquisition system, the connection of heat distribution imager, video reception module and regarding in man-machine interactive system
Frequency capture card connects, and wireless data transmission module is surveyed with life-detection instrument, detection of poison gas instrument, the radar in data collecting system to hinder
Instrument, laser range finder, GPS positioning module connection, wireless data receipt modules are connect with cyclelog/computer platform, nothing
Line transmitting module is connect by infrared ray electric magnetic wave with remote control, and wireless instructions receiving module passes through CAN4 and DSP master
Cyclelog CPU connections.
In above-mentioned technical proposal, the data collecting system includes 3D high-definition camera instruments, heat distribution imager, life detection
Instrument, detection of poison gas instrument, radar survey barrier instrument, laser range finder, GPS positioning module, and they respectively with video transmission module and nothing
Line data transmission module connects.
In above-mentioned technical proposal, the fault self-diagnosis system/black box includes DSP master program(me) controllers CPU and its outer
Auxiliary control circuit, it is connect by CAN4 with wireless instructions receiving module, is connect with hydraulic system by CAN9, is passed through CAN10
It connect with dynamical system, is connect with thermal protection control system by CAN11, is connect with delivery drive-control system by CAN5,
It is connect with rescue control system of actuating mechanism by CAN6, is connected by CAN7, CAN8 and variable stability control system.
In above-mentioned technical proposal, the delivery drive-control system includes intermediate relay group ZJ/n=28, ratio electromagnetism
Iron, hydraulic multitandem valve, oil cylinder/motor and traveling actuator A, wherein intermediate relay group A：ZJ/n=28 and DSP main program controls
Device CPU processed is connected by CAN5, and traveling actuator A controls various transport conditions by oil cylinder/motor connection respectively.
In above-mentioned technical proposal, the variable stability control system includes pressure sensor, oil pressure sensor, angle biography
Sensor, displacement sensor, obliquity sensor, temperature sensor, photosensitive sensor, heat-sensitive sensor, infrared sensor, length pass
Sensor, these above-mentioned sensors pass through CABLE/C and CABLE/D, canbus bus respectively and DSP master program(me) controllers CPU connects
It connects, the data information of various duty parameters is fed back into DSP master program(me) controllers CPU.
In above-mentioned technical proposal, the rescue control system of actuating mechanism includes by intermediate relay group ZJ/n=40, ratio
Example electromagnet, hydraulic multitandem valve, oil cylinder/motor, traveling actuator B, wherein intermediate relay group B：ZJ/n=40 and the main journeys of DSP
Sequence controller CPU is connected by CAN6, and rescue control system of actuating mechanism passes through oil cylinder/every rescue of motor connection control respectively
Execute action.
In above-mentioned technical proposal, the thermal protection control system include intermediate relay group ZJ/n=2, water pump/foam storehouse,
Hydraulic giant/foam gun and solenoid valve, thermal protection control system are simultaneously connect by CAN11 with DSP master program(me) controllers CPU, thermal protection
Mask system realizes being turned on and off for thermal protection system by the signal feedback of heat-sensitive sensor.
In above-mentioned technical proposal, the dynamical system includes diesel engine and its generating equipment, diesel engine control
Device is connect by CAN10 with DSP master program(me) controllers CPU, the oil in the power output device and hydraulic system of diesel engine
Pump connection, realizes the adjusting of engine and pump speed.
In above-mentioned technical proposal, the hydraulic system includes oil pump, fuel tank, oil pipe, hydraulic valve bank, oil cylinder and motor,
Middle oil pump control module is connect by CAN9 with DSP master program(me) controllers CPU, realizes the start and stop of oil pump.
In above-mentioned technical proposal, the emergency lighting control system includes intermediate relay DZJ/n=1 and LED illumination lamp
Circuit module, emergency lighting control system are connect by CAN16 with DSP master program(me) controllers CPU, realize the unlatching of emergency lighting
Or it closes.
A kind of intelligent emergent rescue robot using above-mentioned technical proposal, mechanical structure include：
1) the data acquisition process control box K001 of data collecting system is mounted on robot back, data collecting system
Video box BS001, life-detection instrument S002, detection of poison gas instrument S003, heat distribution imager S004, the S005 installations of GPS positioning instrument
In robot chest, video box AS000,3D video camera S006, the radar of data collecting system survey barrier instrument S007, laser range finder
S008, emergency light S009 are mounted on robot head；
2) the communication process control box K002, variable stability control box K003, DPS master program(me) controller of control system
CPU handles control box K004, rescue actuating mechanism controls box K005, traveling delivery control box K006, emergency lighting control box
K007, fault self-diagnosis system control box K008, thermal protection system control box K009 are respectively arranged in the back of robot；
3) dynamical system D000 is mounted on the buttocks of robot, i.e. on upper spider SJ000；
4) hydraulic system Y000 is mounted on the buttocks of robot, i.e. on upper spider SJ000；Fluid pressure line is then respectively arranged in
Its corresponding each position of robot whole body；
5) delivery driving system is mounted on lower bearing bracket XJ000 and its with lower portion, it include front foot shank assembly X001,
Front foot thigh assembly X004, front foot shank are coupled with front foot thigh by axis pin X003, front foot thigh and lower bearing bracket XJ000, by pin
Axis X006 connections, and realize front foot by the way that the upper and lower oil cylinder X002 of the shank mounted thereto and upper and lower oil cylinder X005 of thigh is flexible
The upper and lower action of shank, thigh passes through the front foot oscillating oil cylinder X011 and front foot assembly rocking pin on rack XJ000
Axis X010, to realize the left and right swing of front foot；Pass through the front-wheel rotational deceleration machine assembly on front foot thigh simultaneously
X008, front-wheel rotation motor assembly X009 and front tyre X007 and the trailing wheel rotation on trailing wheel mounting bracket X022 subtract
Fast machine assembly X024, trailing wheel rotation motor assembly X025, rear tyre X026, rear foot assembly X018 and trailing wheel mounting bracket are mounted on
Trailing wheel oscillating oil cylinder X019, trailing wheel swing mechanism connecting rod 1 between X022：X020, trailing wheel swing mechanism connecting rod 2：X021 to
Rotation and the deflection action for realizing front and rear wheel, that realizes robot travels and travels the adjustment turned to forward or backward；
Rear foot assembly X018 passes through axis pin X013, the rear foot swing mechanism connecting rod 1 on rack XJ000：X014, after
Foot swing mechanism connecting rod 2：X015, rear foot oscillating oil cylinder X016, the rear foot swing axis pin X017, the upper and lower oil cylinder X012 of the rear foot, to
Realize the upper and lower action of rear foot assembly X018 and the abduction of rear foot assembly X018 and the action of interior receipts；
System above structure can be achieved with the standing of robot, traveling, steering, walking and creep；
6) it includes robot arm, finger, wrist, waist and supporting plate mechanism, dragger that rescue, which executes operating mechanism,
Structure, including big arm assembly W001, large arm lifting mechanism assembly W002, large arm swing mechanism assembly W003, the lifting of large arm and stretch
Exhibition is realized by cylinder action；
Middle arm assembly W008 is coupled with big arm assembly W001 by axis pin W004, and the lifting action of middle arm is to pass through peace
Middle arm lifting mechanism connecting rod 1 on middle arm assembly W008 and big arm assembly W001：W006 and middle arm lifting mechanism connecting rod 2：
Mutual act of W007 and middle arm elevating ram W005 and realize；
Small arm assembly W013 is coupled with middle arm assembly W008 by axis pin W011, and the lifting action of small arm assembly is logical
Cross the forearm lifting mechanism connecting rod 1 on small arm assembly W013 and middle arm assembly W008：W009, forearm lifting mechanism connecting rod
2：Mutual act of W012 and forearm elevating ram W010 and realize；
The total W014 of wrist rotating mechanism is mounted on small arm assembly W013, and passes through axis pin (W018) and finger assembly
1W021 and finger assembly 2：W022 couples, tight by finger to realize the unitary rotation of finger assembly 1 and finger assembly 2
Loose mechanism rod 1:W015, finger tense-lax mechanism rod 2:The mutually interconnection of W016 and finger tense-lax oil cylinder W017 and axis pin W018
The upper and lower swing, it can be achieved that palm is moved, passes through finger tense-lax and turns round axis pin W019, finger tense-lax mechanism rod 3:W020, finger
Assembly 1W021, finger assembly 2:The mutual linkage of W022, it can be achieved that finger promptly or loosen；
Praising and reducing for head is to praise mechanism W023 by head to realize, praise mechanism equally and be include axis pin,
Connecting rod, oil cylinder；
The action of waist master bedroom is by the waist master bedroom mechanism rod assembly 1 on upper spider SJ000：W025, waist
Portion's master bedroom mechanism rod assembly 2：W027, the vertical sleeping oil cylinder W024 of connecting link pin W026 and waist of waist and upper spider SJ000
Mutual link and realize；
Supporting plate mechanism is by supporting plate assembly W028, supporting plate assembly W028 and lower bearing bracket XJ000, connecting link pin W030 and support
The lifting action of plate elevating ram assembly W031, supporting plate are mutually linked by them and realized；
The traction switching motion of haulage gear is to realize that haulage gear equally includes by haulage gear assembly W029
The rotation of axis pin, connecting rod, oil cylinder, haulage gear is realized by rotary reducer and hydraulic motor.
The outstanding feature and remarkable result of the utility model
1), unmanned, voluntarily navigation feature；2), full landform traveling, can stand, creeps, paddle；3), 3D is imaged, is swept
It retouches, the comprehensive various data acquisitions of disaster environment include life detection；4), remote data transmission and remote control；5), failure from
Diagnostic function and maintenance function, that is, black box function；6), variable stability system, voluntarily regulatory function；7), powerful to rescue
Help function and miscellaneous function；8), thermal protection system, thermal protection function；9), the display of operating mode technical parameter and warning function, DSP
Data-signal that master program(me) controller CPU is come by the sensor feedback in hydraulic system or actuator and by turning
It changes and operation, man-machine interactive system is transmitted to by telecommunication and real-time display goes out current rescue state over the display
Each corresponding operating mode technical parameter, when transfiniting, dangerous play limitation and alarm, DSP master program(me) controllers are by each sensor feedback
The data-signal to come over generates corresponding floor data parameter suitable in fact, then with DSP main programs by conversion and operation
The operating mode technical parameter set in controller CPU is compared, and when reaching set limits value 90%, output is corresponding
Pre-warning signal export corresponding alarm signal, while exporting corresponding actions when reaching set limits value 100%
Signal is limited, limitation hydraulic system executes component and acted to dangerous play direction, protects each corresponding execution system and rescue
Help the safety of robot entirety；10), the storage of fault self-diagnosis and fault data parameter and periodic maintenance prompt work(
Energy；11), the structure design of low resistance coefficient, lightweight fuselage and high intensity, compression molding technology reduce welding stress and heat
Deformation greatly enhances the rigidity and bending resistance, tension and compression strength of actuator structure part；
In summary feature, the utility model have the reliable safety of high-intelligentization, and function is more, uses advanced people
Work intellectual technology and the long distance wireless information transmission technology, greatly improve the quality and technical performance of rescue robot, enhance
Its more emergency management and rescue function.
Description of the drawings
Fig. 1 is the intelligent rescue robot assembly standing walking states schematic diagram of the present invention；
Fig. 2 is the intelligent rescue robot assembly traveling delivery status diagram of the present invention；
Fig. 3 is that the intelligent rescue robot assembly of the present invention rescues executing agency's schematic diagram；
Fig. 4 is that the intelligent rescue robot assembly of the present invention travels executing agency's schematic diagram；
Fig. 5 is that the intelligent rescue robot of the present invention delivers traveling mechanism hydraulic schematic diagram；
Fig. 6 is that the intelligent rescue robot of the present invention rescues executing agency's hydraulic schematic diagram；
Fig. 7 is the intelligent rescue robot wireless transmission of the present invention and wireless receiving electrical schematic diagram；
Fig. 8 is the intelligent rescue robot delivery traveling remote-transmitter electrical schematic diagram of the present invention；
Fig. 9 is that the intelligent rescue robot rescue of the present invention executes remote control reception electrical schematic diagram；
Figure 10 is that the intelligent rescue robot of the present invention delivers traveling mechanism control system schematic diagram；
Figure 11 is that the intelligent rescue robot of the present invention rescues control system of actuating mechanism schematic diagram；
Figure 12 is the intelligent rescue robot control system electricity functional block diagram of the present invention.
Attached drawing marks explanation：It is illustrated in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4：
1, video box A：S000), 2, video box：BS001,3, life-detection instrument：S002,4, detection of poison gas instrument：S003,5,
Heat distribution imager：S004,6, GPS positioning instrument：S005,7,3D video cameras：S006,8, radar survey barrier instrument：S007,9, Laser Measuring
Distance meter：S008,10, emergency light：S009,11, data acquisition process control box：K001,12, communication system control box：
K002,13, variable stability control box：K003,14, DSP master program(me) controllers CPU：K004,15, rescue actuating mechanism controls
Box：K005,16, traveling delivery control box K006,17, emergency lighting control box：K007,18, fault self-diagnosis system control box：
K008,19, thermal protection system control box：K009,20, dynamical system：D000,21, hydraulic system：Y000,22, upper spider：
SJ000,23, lower bearing bracket：XJ000,24, big arm assembly：W001,25, large arm lifting mechanism assembly：W002,26, large arm turn-around machine
Structure assembly：W003,27, large arm and middle arm connecting link pin：W004,28, middle arm elevating ram：W005,29, middle arm lifting mechanism connect
Bar 1：W006,30, middle arm lifting mechanism connecting rod 2：W007,31, middle arm assembly：W008,32, forearm lifting mechanism connecting rod 1：
W009,33, forearm elevating ram：W010,34, middle arm and forearm connecting link pin：W011,35, forearm lifting mechanism connecting rod 2：
W012,36, small arm assembly：W013,37, wrist rotating mechanism assembly：W014,38, finger tense-lax mechanism rod 1：W015,39,
Finger tense-lax mechanism rod 2：W016,40, finger tense-lax oil cylinder：W017,41, finger and wrist connecting link pin：W018,42, hand
Refer to tense-lax and turns round axis pin：W019,43, finger tense-lax mechanism rod 3：W020,44, finger assembly 1：W021,45, finger assembly 2：
W022,46, head praise mechanism：W023,47, the vertical sleeping oil cylinder of waist：W024,48, the vertical sleeping mechanism rod assembly of waist 1：W025,
49, waist and upper spider connecting link pin：W026,50, the vertical sleeping mechanism rod assembly of waist 2：W027,51, supporting plate assembly：W028,
52, haulage gear assembly：W029,53, supporting plate and lower bearing bracket connecting link pin：W030,54, supporting plate elevating ram assembly：W031,
55, front foot shank assembly：X001,56, the upper and lower oil cylinder of shank：X002,57, front foot shank and thigh connecting link pin：X003,58,
Front foot thigh assembly：X004,59, the upper and lower oil cylinder of thigh：X005,60, front foot thigh and lower bearing bracket connecting link pin：X006,61,
Front tyre：X007,62, front-wheel rotational deceleration machine assembly：X008,63, front-wheel rotation motor assembly：X009,64, front foot assembly pendulum
Dynamic axis pin：X010,65, front foot oscillating oil cylinder：X011,66, the rear foot up and down oil cylinder：X012,67, rear foot assembly couples with lower bearing bracket
Axis pin assembly：X013,68, rear foot swing mechanism connecting rod 1：X014,69, rear foot swing mechanism connecting rod 2：X015,70, the rear foot swing
Oil cylinder：X016,71, the rear foot swing axis pin：X017,72, rear foot assembly：X018,73, trailing wheel oscillating oil cylinder：X019,74, trailing wheel
Swing mechanism connecting rod 1：X020,75, trailing wheel swing mechanism connecting rod 2：X021,76, trailing wheel mounting bracket：X022,77, trailing wheel swing
Axis pin：X023,78, trailing wheel rotational deceleration machine assembly：X024,79, trailing wheel rotation motor assembly：X025,80, rear tyre：X026.
Specific implementation mode：
Referring to attached drawing, a kind of intelligent emergent rescue robot of the utility model, including：Man-machine interactive system, channel radio
Letter system, data collecting system, fault self-diagnosis system, delivery drive-control system, variable stability control system, rescue are held
Row mechanism control system, thermal protection control system, dynamical system, hydraulic system and emergency lighting system；The human-computer interaction
System be include cyclelog/computer platform, data collecting card, display, VR visors, image data preserve and identification mould
Block, remote control, data collecting card, display, VR visors and image data preserve and identification module respectively with CAN12,
CAN13, CAN14, CAN15, canbus bus are connect with cyclelog/computer platform, and wherein data collecting card passes through
CAN1 and video reception module linker controller/computer platform in wireless communication system, pass through CAN2 and channel radio
Wireless data receipt modules connection in letter system, is connect by CAN3 with the wireless instructions transmission module in communication system, distant
The director data transmission for controlling device and wireless instructions transmission module is realized with by reception by emitting for infrared ray electric magnetic wave；
Wireless communication system include video transmission module, video reception module, wireless data transmission module, wireless data receipt modules,
Wireless instructions transmission module, wherein video transmission module and the 3D high-definition camera instruments in data collecting system, heat distribution imager
Connection, video reception module are connect with the video frequency collection card in man-machine interactive system, wireless data transmission module and life detection
Instrument, detection of poison gas instrument, radar survey barrier instrument, laser range finder, GPS positioning module connection, wireless data receipt modules and program control
Device processed/computer platform connection, two wireless instructions transmission modules are connect with remote control by electromagnetic infrared wave, are passed through respectively
CAN4 is connect with DSP master program(me) controllers CPU；The data collecting system includes 3D high-definition camera instruments, heat distribution imager, life
Order survey meter, detection of poison gas instrument, radar survey barrier instrument, laser range finder, GPS positioning module, and they respectively with video transmission mould
Block is connected with wireless data transmission module；Fault self-diagnosis system/the black box include DSP master program(me) controllers CPU and its
Outer auxiliary control circuit, it is connect by CAN4 with wireless instructions transmission module, is connect, is passed through with hydraulic system by CAN9
CAN10 is connect with dynamical system, is connected by CAN11 and thermal protection system control, and CAN5 and delivery drive-control system are passed through
Connection is connect with rescue control system of actuating mechanism by CAN6, is connected by CAN7, CAN8 and variable stability control system
It connects；The delivery drive-control system, including intermediate relay group A：ZJ/n=28, proportion electro-magnet, hydraulic multitandem valve, oil
Cylinder/motor travels actuator A, wherein intermediate relay group A：ZJ/n=28 and DSP master program(me) controllers CPU is connected by CAN5
It connects, traveling actuator is connected by oil cylinder/motor respectively, controls various transport conditions；The variable stability control system
Including pressure sensor, oil pressure sensor, angular transducer, displacement sensor, obliquity sensor, temperature sensor, photosensitive biography
Sensor, heat-sensitive sensor, infrared sensor, linear transducer.These sensors respectively pass through CABLE/C and CABLE/D,
Canbus buses are connect with DSP master program(me) controllers CPU, and the data information of various duty parameters is fed back to DSP main program controls
Device CPU processed；The rescue control system of actuating mechanism includes by intermediate relay group B：ZJ/n=40, proportion electro-magnet, hydraulic pressure
Multi-way valve, oil cylinder/motor, traveling actuator B, wherein intermediate relay group B：ZJ/n=40 and DSP master program(me) controllers CPU is logical
CAN6 connections are crossed, rescue control system of actuating mechanism is connect by oil cylinder with motor respectively, realizes that every rescue executes action；Institute
It includes intermediate relay group B to state thermal protection system to be：ZJ/n=2, water pump/foam storehouse, hydraulic giant/foam gun and solenoid valve, heat are anti-
Shield control system is simultaneously connect by CAN11 with DSP master program(me) controllers CPU, and heat is realized by the signal feedback of heat-sensitive sensor
Guard system is turned on and off；The dynamical system includes diesel engine and its generating equipment, and engine controller is logical
It crosses CAN10 to connect with DSP master program(me) controllers CPU, power output device is connect with the oil pump in hydraulic system, and realization is started
The adjusting of machine and pump speed；The hydraulic system includes oil pump, fuel tank, oil pipe, hydraulic valve bank, oil cylinder, motor, wherein oil pump
Control module is connect with DSP master program(me) controllers CPU by CAN9, realizes the start and stop of oil pump；The emergency lighting
Control system includes intermediate relay DZJ/n=1 and LED illumination lamp circuit module, is controlled by CAN16 and DSP main programs
Device CPU connections, realize being turned on and off for emergency lighting.
A kind of intelligent emergent rescue robot using above-mentioned technical proposal, mechanical structure include：1) data acquisition system
The data acquisition process control box K001 of system is mounted on robot back, video box BS001, the life detection of data collecting system
Instrument S002, detection of poison gas instrument S003, heat distribution imager S004, GPS positioning instrument S005 are mounted on robot chest, data acquisition
Video box AS000,3D video camera S006, the radar of system survey barrier instrument S007, laser range finder S008, emergency light S009 peaces
Mounted in robot head；
2) the communication process control box K002, variable stability control box K003, DPS master program(me) controller of control system
CPU handles control box K004, rescue actuating mechanism controls box K005, traveling delivery control box K006, emergency lighting control box
K007, fault self-diagnosis system control box K008, thermal protection system control box K009 are respectively arranged in the back of robot；
3) dynamical system D000 is mounted on the buttocks of robot, i.e. on upper spider SJ000.
4) hydraulic system Y000 is mounted on the buttocks of robot, i.e. on upper spider SJ000；Fluid pressure line is then respectively arranged in
Its corresponding each position of robot whole body.
5) delivery driving system is mounted on lower bearing bracket XJ000 and its with lower portion, it include front foot shank assembly X001,
Front foot thigh assembly X004, front foot shank are coupled with front foot thigh by axis pin X003, front foot thigh and lower bearing bracket XJ000, by pin
Axis X006 connections, and realize front foot by the way that the upper and lower oil cylinder X002 of the shank mounted thereto and upper and lower oil cylinder X005 of thigh is flexible
The upper and lower action of shank, thigh passes through the front foot oscillating oil cylinder X011 and front foot assembly rocking pin on rack XJ000
Axis X010, to realize the left and right swing of front foot；Simultaneously
By front-wheel rotational deceleration machine assembly X008, front-wheel rotation motor assembly X009 on front foot thigh and preceding
Tire X007 and trailing wheel rotational deceleration machine assembly X024, trailing wheel rotation motor assembly on trailing wheel mounting bracket X022
X025, rear tyre X026, the trailing wheel oscillating oil cylinder X019 between rear foot assembly X018 and trailing wheel mounting bracket X022, after
Take turns swing mechanism connecting rod 1：X020, trailing wheel swing mechanism connecting rod 2：X021 is real to realize rotation and the deflection action of front and rear wheel
Existing robot travels and travels the adjustment turned to forward or backward；
Rear foot assembly X018 passes through axis pin X013, the rear foot swing mechanism connecting rod 1 on rack XJ000：X014, after
Foot swing mechanism connecting rod 2：X015, rear foot oscillating oil cylinder X016, the rear foot swing axis pin X017, the upper and lower oil cylinder X012 of the rear foot, to
Realize the upper and lower action of rear foot assembly X018 and the abduction of rear foot assembly X018 and the action of interior receipts.
System above structure can be achieved with the standing of robot, traveling, steering, walking and creep；
6) it includes robot arm, finger, wrist, waist and supporting plate mechanism, dragger that rescue, which executes operating mechanism,
Structure, including big arm assembly W001, large arm lifting mechanism assembly W002, large arm swing mechanism assembly W003, the lifting of large arm and stretch
Exhibition is realized by cylinder action；
Middle arm assembly W008 is coupled with big arm assembly W001 by axis pin W004, and the lifting action of middle arm is to pass through peace
Middle arm lifting mechanism connecting rod 1 on middle arm assembly W008 and big arm assembly W001：W006 and middle arm lifting mechanism connecting rod 2：
Mutual act of W007 and middle arm elevating ram W005 and realize.
Small arm assembly W013 is coupled with middle arm assembly W008 by axis pin W011, and the lifting action of small arm assembly is logical
Cross the forearm lifting mechanism connecting rod 1 on small arm assembly W013 and middle arm assembly W008：W009, forearm lifting mechanism connecting rod
2：Mutual act of W012 and forearm elevating ram W010 and realize；
The total W014 of wrist rotating mechanism is mounted on small arm assembly W013, and passes through axis pin (W018) and finger assembly
1W021 and finger assembly 2：W022 couples, tight by finger to realize the unitary rotation of finger assembly 1 and finger assembly 2
Loose mechanism rod 1:W015, finger tense-lax mechanism rod 2:The mutually interconnection of W016 and finger tense-lax oil cylinder W017 and axis pin W018
The upper and lower swing, it can be achieved that palm is moved, passes through finger tense-lax and turns round axis pin W019, finger tense-lax mechanism rod 3:W020, finger
Assembly 1W021, finger assembly 2:The mutual linkage of W022, it can be achieved that finger promptly or loosen；
Praising and reducing for head is to praise mechanism W023 by head to realize, praise mechanism equally and be include axis pin,
Connecting rod, oil cylinder；
The action of waist master bedroom is by the waist master bedroom mechanism rod assembly 1 on upper spider SJ000：W025, waist
Portion's master bedroom mechanism rod assembly 2：W027, the vertical sleeping oil cylinder W024 of connecting link pin W026 and waist of waist and upper spider SJ000
Mutual link and realize；
Supporting plate mechanism is by supporting plate assembly W028, supporting plate assembly W028 and lower bearing bracket XJ000, connecting link pin W030 and support
The lifting action of plate elevating ram assembly W031, supporting plate are mutually linked by them and realized；
The traction switching motion of haulage gear is to realize that haulage gear equally includes by haulage gear assembly W029
The rotation of axis pin, connecting rod, oil cylinder, haulage gear is realized by rotary reducer and hydraulic motor.
Claims (2)
1. a kind of intelligent emergent rescue robot, it is characterised in that：Including：Man-machine interactive system, wireless communication system, data
Acquisition system, fault self-diagnosis system, delivery drive-control system, variable stability control system, rescue executing agency
Control system, thermal protection control system, dynamical system, hydraulic system and emergency lighting system；The man-machine interactive system packet
It includes cyclelog/computer platform, video frequency collection card, display, VR visors, image data and preserves identification module, remote control dress
Set, video frequency collection card, display, VR visors and image data preserve identification module respectively with CAN12, CAN13, CAN14,
CAN15, canbus bus are connect with cyclelog/computer platform, and wherein video frequency collection card passes through CAN1 and channel radio
Video reception module connection in letter system, cyclelog/computer platform pass through in CAN2 and wireless communication system
Wireless data receipt modules connect, and cyclelog/computer platform passes through the wireless finger in CAN3 and wireless communication system
Transmitting module is enabled to connect, the director data transmission of remote control and wireless instructions transmitting module is the hair by infrared ray electric magnetic wave
It penetrates and receives and realize；Wireless communication system include video transmission module, video reception module, wireless data transmission module,
Wireless data receipt modules, wireless instructions transmitting module and wireless instructions receiving module, wherein video transmission module are adopted with data
3D high-definition camera instruments, the connection of heat distribution imager in collecting system, video reception module and the video in man-machine interactive system
Capture card connects, and wireless data transmission module is surveyed with life-detection instrument, detection of poison gas instrument, the radar in data collecting system to hinder
Instrument, laser range finder, the connection of GPS locating modules, wireless data receipt modules are connect with cyclelog/computer platform, nothing
Line transmitting module is connect by infrared ray electric magnetic wave with remote control, and wireless instructions receiving module passes through CAN4 and DSP
Master program(me) controller CPU connections；The data collecting system includes 3D high-definition camera instruments, heat distribution imager, life spy
Survey instrument, detection of poison gas instrument, radar survey barrier instrument, laser range finder, GPS locating modules, and they respectively with video transmission module and
Wireless data transmission module connects；Fault self-diagnosis system/the black box include DSP master program(me) controllers CPU and its
Outer auxiliary control circuit, it is connect by CAN4 with wireless instructions receiving module, is connect, is passed through with hydraulic system by CAN9
CAN10 is connect with dynamical system, is connect with thermal protection control system by CAN11, and CAN5 and delivery traveling control are passed through
System connects, and is connect with rescue control system of actuating mechanism by CAN6, is controlled by CAN7, CAN8 and variable stability
System connects；The delivery drive-control system include intermediate relay group ZJ/n=28, proportion electro-magnet, hydraulic multitandem valve,
Oil cylinder/motor and traveling actuator A, wherein intermediate relay group A：ZJ/n=28 are logical with DSP master program(me) controllers CPU
CAN5 connections are crossed, traveling actuator A controls various transport conditions by oil cylinder/motor connection respectively；It is described to stabilize
Property control system includes pressure sensor, oil pressure sensor, angular transducer, displacement sensor, obliquity sensor, temperature sensing
Device, photosensitive sensor, heat-sensitive sensor, infrared sensor, linear transducer, these above-mentioned sensors pass through CABLE/C respectively
It is connect with CABLE/D, canbus bus with DSP master program(me) controllers CPU, by the data information of various duty parameters
Feed back to DSP master program(me) controllers CPU；The rescue control system of actuating mechanism include by intermediate relay group ZJ/n=
40, proportion electro-magnet, hydraulic multitandem valve, oil cylinder/motor, traveling actuator B, wherein intermediate relay group B：ZJ/n=40 with
DSP master program(me) controllers CPU is connected by CAN6, and rescue control system of actuating mechanism is connected by oil cylinder/motor respectively
The every rescue of control executes action；The thermal protection control system includes intermediate relay group ZJ/n=2, water pump/foam storehouse, water
Rifle/foam gun and solenoid valve, thermal protection control system are simultaneously connect by CAN11 with DSP master program(me) controllers CPU, heat
Protective mask system realizes being turned on and off for thermal protection system by the signal feedback of heat-sensitive sensor；The dynamical system packet
Diesel engine and its generating equipment are included, diesel engine machine controller passes through CAN10 and DSP master program(me) controllers CPU
It connects, the tune of engine and pump speed is realized in the oil pump connection in the power output device and hydraulic system of diesel engine
Section；The hydraulic system includes oil pump, fuel tank, oil pipe, hydraulic valve bank, oil cylinder and motor, and wherein oil pump control module passes through
CAN9 is connect with DSP master program(me) controllers CPU, realizes the start and stop of oil pump；During emergency lighting control system includes
Between relay DZJ/n=1 and LED lighting lamp circuit modules, emergency lighting control system passes through CAN16 and the main journeys of DSP
Sequence controller CPU connections, realize being turned on and off for emergency lighting.
2. according to the intelligent emergent rescue robot described in claim 1, which is characterized in that intelligent emergent rescue robot
Mechanical structure includes：The data acquisition process control box (K001) of data collecting system is mounted on robot back, data acquisition
Video box (BS001), life-detection instrument (S002), detection of poison gas instrument (S003), heat distribution imager (S004), the GPS of system
Position indicator (S005) is mounted on robot chest, video box (AS000), 3D video cameras (S006), the thunder of data collecting system
It is mounted on robot head up to barrier instrument (S007), laser range finder (S008), emergency light (S009) is surveyed；
The communication process control box (K002) of control system, variable stability control box (K003), DPS master program(me) controllers
CPU handles control box (K004), rescue actuating mechanism controls box (K005), traveling delivery control box (K006), emergency lighting control
Box (K007) processed, fault self-diagnosis system control box (K008), thermal protection system control box (K009) are all respectively arranged in machine
The back of people；
Dynamical system (D000) is mounted on the buttocks of robot, i.e., on upper spider (SJ000)；
Hydraulic system (Y000) is mounted on the buttocks of robot, i.e., on upper spider (SJ000)；Fluid pressure line is then respectively arranged in it
The corresponding each position of robot whole body；
It delivers driving system and is mounted on lower bearing bracket (XJ000) and its with lower portion, it includes front foot shank assembly (X001), preceding
Foot thigh assembly (X004), front foot shank are coupled with front foot thigh by axis pin (X003), front foot thigh and lower bearing bracket (XJ000),
Coupled by axis pin (X006), and is stretched with the upper and lower oil cylinder of thigh (X005) by the upper and lower oil cylinder of shank (X002) mounted thereto
The upper and lower action of front foot shank, thigh is realized in contracting, by the front foot oscillating oil cylinder (X011) that is mounted in rack (XJ000) and
Front foot assembly swings axis pin (X010), to realize the left and right swing of front foot；Pass through the front-wheel on front foot thigh simultaneously
Rotational deceleration machine assembly（X008）, front-wheel rotation motor assembly（X009）And front tyre（X007）And mounted on trailing wheel installation branch
Frame（X022）On trailing wheel rotational deceleration machine assembly（X024）, trailing wheel rotation motor assembly（X025）, rear tyre（X026）, installation
In rear foot assembly（X018）With trailing wheel mounting bracket（X022）Between trailing wheel oscillating oil cylinder（X019）, trailing wheel swing mechanism connecting rod
1（X020）, trailing wheel swing mechanism connecting rod 2（X021）To realize rotation and the deflection action of front and rear wheel, robot is realized
Forward or backward travel and travel turn to adjustment；
Rear foot assembly（X018）By being mounted on rack（XJ000）On axis pin（X013）, rear foot swing mechanism connecting rod 1
（X014）, rear foot swing mechanism connecting rod 2（X015）, rear foot oscillating oil cylinder（X016）, the rear foot swing axis pin（X017）, on the rear foot,
Lower oil cylinder（X012）, to realize rear foot assembly（X018）It is upper and lower action and rear foot assembly（X018）Abduction and it is interior receive it is dynamic
Make；
Rescue executes arm, finger, wrist, waist and supporting plate mechanism, the haulage gear that operating mechanism includes robot, including
Big arm assembly（W001）, large arm lifting mechanism assembly（W002）, large arm swing mechanism assembly（W003）, the lifting and stretching, extension of large arm
All it is to be realized by cylinder action；
Middle arm assembly（W008）It is to pass through axis pin（W004）With big arm assembly（W001）Connection, the lifting action of middle arm is to pass through
Mounted on middle arm assembly（W008）With big arm assembly（W001）On middle arm lifting mechanism connecting rod 1（W006）With middle arm lifting machine
Structure connecting rod 2（W007）And middle arm elevating ram（W005）Mutual act and realize；
Small arm assembly（W013）It is to pass through axis pin（W011）With middle arm assembly（W008）Connection, the lifting action of small arm assembly is
By being mounted on small arm assembly（W013）With middle arm assembly（W008）On forearm lifting mechanism connecting rod 1（W009）, forearm lifting
Mechanism rod 2（W012）And forearm elevating ram（W010）Mutual act and realize；
Wrist rotating mechanism is total（W014）Mounted on small arm assembly（W013）On, and pass through axis pin（W018）With finger assembly
（1W021）With finger assembly 2（W022）Connection is led to realize the unitary rotation of finger assembly 1 and finger assembly 2
Cross finger tense-lax mechanism rod 1（W015）, finger tense-lax mechanism rod 2（W016）With finger tense-lax oil cylinder（W017）And pin
Axis（W018）Mutual linkage, it can be achieved that palm upper and lower swing, pass through finger tense-lax and turn round axis pin（W019）, finger tense-lax
Mechanism rod 3（W020）, finger assembly（1W021）, finger assembly 2（W022）Mutual linkage, it can be achieved that finger promptly or
Loosen；
Praise and the reduction on head are to praise mechanism by head（W023）It realizes, it includes axis pin, company to praise mechanism equally to be
Bar, oil cylinder；
The action of waist master bedroom is by being mounted on upper spider（SJ000）On waist master bedroom mechanism rod assembly 1（W025）, waist
Portion's master bedroom mechanism rod assembly 2（W027）, waist and upper spider（SJ000）Connecting link pin（W026）And the vertical sleeping oil of waist
Cylinder（W024）Mutual link and realize；
Supporting plate mechanism is by supporting plate assembly（W028）, supporting plate assembly（W028）With lower bearing bracket（XJ000）, connecting link pin（W030）With
And supporting plate elevating ram assembly（W031）, the lifting of supporting plate, which is acted, mutually to be linked by them and realized；
The traction switching motion of haulage gear is by haulage gear assembly（W029）Realize, haulage gear be equally include pin
The rotation of axis, connecting rod, oil cylinder, haulage gear is realized by rotary reducer and hydraulic motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720249990.1U CN207747037U (en) | 2017-03-15 | 2017-03-15 | Intelligent emergent rescue robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720249990.1U CN207747037U (en) | 2017-03-15 | 2017-03-15 | Intelligent emergent rescue robot |
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| CN207747037U true CN207747037U (en) | 2018-08-21 |
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ID=63145237
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053134A (en) * | 2017-03-15 | 2017-08-18 | 谢立波 | Intelligent emergent rescue robot and its intelligent control method |
| CN110209183A (en) * | 2019-06-04 | 2019-09-06 | 吉林大学 | A kind of hexapod robot unstability adjusting algorithm based on dual-threshold voltage ZMP |
-
2017
- 2017-03-15 CN CN201720249990.1U patent/CN207747037U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053134A (en) * | 2017-03-15 | 2017-08-18 | 谢立波 | Intelligent emergent rescue robot and its intelligent control method |
| CN107053134B (en) * | 2017-03-15 | 2023-12-01 | 谢立波 | Intelligent emergency rescue robot and intelligent control method thereof |
| CN110209183A (en) * | 2019-06-04 | 2019-09-06 | 吉林大学 | A kind of hexapod robot unstability adjusting algorithm based on dual-threshold voltage ZMP |
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