CN207771838U - search and rescue robot - Google Patents
search and rescue robot Download PDFInfo
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- CN207771838U CN207771838U CN201721773692.9U CN201721773692U CN207771838U CN 207771838 U CN207771838 U CN 207771838U CN 201721773692 U CN201721773692 U CN 201721773692U CN 207771838 U CN207771838 U CN 207771838U
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- search
- rack
- electric rotating
- rotating machine
- rescue robot
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Abstract
Include rack, rack-mounted search and rescue device and four walking foots being separately mounted on four angles of rack this application discloses a kind of search and rescue robot, the walking is enough including flight wind turbine.The search and rescue robot of the application can be walked by the way that walking foot is arranged, make search and rescue robot when encountering the barrier that cannot be crossed by the way that flight wind turbine is arranged on walking foot, of short duration obstacle detouring flight can be carried out, search and rescue robot forms of motion is various, strong applicability.
Description
Technical field
The present invention relates to robot fields, and in particular to search and rescue robot.
Background technology
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.Search and rescue robot takes advanced science skill for rescue
The robot of art development, such as earthquake rescue robot, it is a kind of dedicated for looking for survivors executes in ruins after earthquake
The robot of rescue task.
Existing search and rescue robot forms of motion is single, and in the ruins environment after earthquake, action is limited, without short distance
Barrier-jump ability.
Invention content
The present invention in view of the above-mentioned problems, propose one kind can appetitive flight, the search and rescue robot of leaping over obstacles.
The technical solution adopted by the present invention is as follows：
A kind of search and rescue robot, including rack, rack-mounted search and rescue device and four are separately mounted to rack
Walking foot on four angles, the walking include flight wind turbine enough.
Search and rescue robot can be walked by the way that walking foot is arranged, and make search and rescue aircraft by the way that flight wind turbine is arranged on walking foot
Device people can carry out of short duration obstacle detouring flight, search and rescue robot forms of motion is various, fits when encountering the barrier that cannot be crossed
It is strong with property.
Optionally, the walking foot further includes：
First electric rotating machine is mounted in rack；
First motion bar, the first end of the first motion bar and the output shaft of the first electric rotating machine are fixed；
Second electric rotating machine is mounted on the second end of the first motion bar, the output shaft axis of the second electric rotating machine and first
The output shaft axis of electric rotating machine is vertical；
Second motion bar, the first end of the second motion bar and the output shaft of the second electric rotating machine are fixed；
Third electric rotating machine, is mounted on the second end of the second motion bar, the output shaft axis of third electric rotating machine perpendicular to
The output shaft axis of second electric rotating machine；
Support foot, supports sufficient side wall and the output shaft of the third electric rotating machine to fix, the flight assembling exists
Support the upper end of foot.
By the control of three electric rotating machines, support foot can do walking motion；Pass through the first motion bar, the second motion bar
The sufficient rotation with support, and the flight wind turbine in the sufficient upper end of support is set, the position of flight wind turbine can be reliably controlled, from
And in appetitive flight, direction and the distance of flight can be controlled.
Optionally, the support is column structure enough, and it is tapered to support the lower end of foot to collapse.
This structure can facilitate rectification, ensure that flight wind turbine has larger lift.
Optionally, further include the controller being electrically connected with search and rescue device and flight wind turbine.
When practice, the controller includes for the communication unit with external world's communication, and communication unit can will search and rescue
The signal of device acquisition is sent to other devices (such as remote control center).
Optionally, further include the power supply component being electrically connected with the controller.
Power supply component is given is powered with electric device (flight wind turbine, search and rescue device etc.).
Optionally, the power supply component is lithium battery or fuel electric generator.
Optionally, the search and rescue device includes peoplesniffer, at least one of video camera and sound collector.
Optionally, the top of the rack is equipped with dropping gear, and the lower part of the rack is equipped with buffer unit.
Optionally, the dropping gear includes parachute.
Setting parachute can enable search and rescue robot to be dropped, and robot input disaster area is facilitated to carry out work
Make.
Optionally, the buffer unit includes the buffer board being located at below rack and is arranged between buffer board and rack
Multiple buffer springs.
Buffer unit can protect search and rescue robot in air-drop, prevent the too big damage search and rescue robot of impact force.
The beneficial effects of the invention are as follows：Search and rescue robot can be walked by the way that walking foot is arranged, by being set on walking foot
Setting flight wind turbine makes search and rescue robot when encountering the barrier that cannot be crossed, and can carry out of short duration obstacle detouring flight, search and rescue
Robot motion is various informative, strong applicability.
Description of the drawings：
Fig. 1 is the structural schematic diagram of 1 robot of embodiment；
Fig. 2 is the schematic diagram after Fig. 1 removals the first umbrella rope of drop and umbrella cover；
Fig. 3 is the explosive view after 1 robot of embodiment removal parachute；
Fig. 4 is the schematic diagram of mounting disc；
Fig. 5 is the schematic diagram of 1 crossbeam of embodiment；
Fig. 6 is the schematic diagram of another angle of 1 crossbeam of embodiment；
Fig. 7 is the structural schematic diagram of 2 robot of embodiment；
Fig. 8 is the schematic diagram of 2 crossbeam of embodiment；
Fig. 9 is the schematic diagram after 2 crossbeam of embodiment and mounting disc cooperation.
Each reference numeral is in figure：
1, rack；2, buffer unit；3, parachute；4, it is detached from rocket；5, walking foot；6, mounting disc；7, the first umbrella rope；8、
Umbrella cover；9, buffer board；10, buffer spring；11, spring mounting blocks；12, connecting shaft；13, hollow to match zygostyle；14, connecting pin；15、
Bracing wire；16, directive wheel；17, elevating lever；18, mandril；19, hole is passed through；20, bottom plate；21, crossbeam；22, stop collar；23, it cuts
Blade；24, blade；25, connecting line；26, search and rescue device；27, the first electric rotating machine；28, the output shaft of the first electric rotating machine；
29, the first motion bar；30, the second electric rotating machine；31, the output shaft of the second electric rotating machine；32, the second motion bar；33, third is revolved
Rotating motor；34, the output shaft of third electric rotating machine；35, support foot；36, flight wind turbine；37, limit hole；38, salient point；39, recessed
Point；40, cutting groove；41, control switch；42, the second umbrella rope；43, conducting wire.
Specific implementation mode：
With reference to each attached drawing, the present invention is described in detail.
Embodiment 1
As shown in Figure 1,2 and 3, the present embodiment discloses a kind of robot, is also search and rescue robot or hand throwing type machine
People, including rack 1, the search and rescue device 26 in rack 1 and four are separately mounted to the foot of the walking on 1 four angles of rack
5, walking foot 5 includes flight wind turbine 36.
Search and rescue robot can be walked by the way that foot 5 of walking is arranged, by search in setting flight wind turbine 36 on foot 5 of walking
Robot is rescued when encountering the barrier that cannot be crossed, of short duration obstacle detouring flight can be carried out, search and rescue robot forms of motion is more
Sample, strong applicability.
As shown in Fig. 2, in this present embodiment, walking foot 5 further includes：
First electric rotating machine 27 is mounted in rack 1；
First motion bar 29, the first end of the first motion bar 29 are fixed with the output shaft 28 of the first electric rotating machine；
Second electric rotating machine 30 is mounted on the second end of the first motion bar 29,31 axis of output shaft of the second electric rotating machine
It is vertical with 28 axis of output shaft of the first electric rotating machine；
Second motion bar 32, the first end of the second motion bar 32 are fixed with the output shaft 31 of the second electric rotating machine；
Third electric rotating machine 33 is mounted on the second end of the second motion bar 32,34 axis of output shaft of third electric rotating machine
Perpendicular to 31 axis of output shaft of the second electric rotating machine；
Support foot 35, the side wall of support foot 35 are fixed with the output shaft 34 of third electric rotating machine, and flight wind turbine 36 is mounted on
The upper end of support foot 35.
By the control of three electric rotating machines, support foot 35 can do walking motion；It is lived by the first motion bar 29, second
The rotation of lever 32 and support foot 35, and the flight wind turbine 36 in 35 upper ends of support foot is set, it can reliably control flight
The position of wind turbine 36, to which in appetitive flight, direction and the distance of flight can be controlled.
As shown in Fig. 2, in this present embodiment, support foot 35 is column structure, and it is tapered to support the lower end of foot 35 to collapse.
This structure can facilitate rectification, ensure that flight wind turbine 36 has larger lift.
In this present embodiment, further include that the controller being electrically connected with search and rescue device 26 and flight wind turbine 36 (is not drawn in figure
Go out).When practice, controller includes for the communication unit with external world's communication, and communication unit can adopt search and rescue device 26
The signal of collection is sent to other devices (such as remote control center).
In this present embodiment, further include the power supply component being electrically connected with the controller.Power supply component, which is given, uses electric device (flight wind
Machine 36, search and rescue device 26 etc.) power supply.When practice, power supply component is lithium battery or fuel electric generator.
As shown in Fig. 2, in this present embodiment, search and rescue device 26 includes peoplesniffer, video camera and sound collector
It is at least one.
As shown in Figure 1,2 and 3, the top of rack 1 is equipped with dropping gear, and the lower part of rack 1 is equipped with buffer unit 2,
In this present embodiment, dropping gear includes parachute 3, and setting parachute 3 can enable search and rescue robot to be dropped, convenient
Robot input disaster area works.In this present embodiment, buffer unit 2 include be located at the buffer board 9 of the lower section of rack 1 with
And the multiple buffer springs 10 being arranged between buffer board 9 and rack 1.Buffer unit 2 protection can search and rescue machine in air-drop
People prevents the too big damage search and rescue robot of impact force.
As shown in Figure 2,3, robot further includes the separating mechanism for cutting off 1 connection relation of parachute 3 and rack.Separation
Mechanism can cut off 1 connection relation of parachute 3 and rack so that parachute 3 can be detached with rack 1 behind land.
As shown in Fig. 2,3 and 4, in this present embodiment, rack 1 includes bottom plate 20 and the crossbeam 21 above bottom plate 20；
Parachute 3 includes mounting disc 6, is located at the umbrella cover 8 of the top of mounting disc 6, and connection mounting disc 6 and umbrella cover 8 is more
The first umbrella of root rope 7；Mounting disc 6 and 21 upper surface of crossbeam against, mounting disc 6 is fixed on by two connecting lines 25 on crossbeam 21,
The both ends of connecting line 25 are fixed with mounting disc 6, and connecting line 25 forms limit hole 37 with mounting disc 6, and crossbeam 21 is threaded through limit
In hole 37；Separating mechanism is used to cut off connecting line 25 when hand throwing type robot lands.
The mounting disc 6 of parachute 3 can be made to be connected on crossbeam 21 by two connecting lines 25, to which parachute 3 can
Play the role of reduction of speed.
As shown in Figures 4 and 5, in this present embodiment, there is multigroup location structure, positioning knot between mounting disc 6 and crossbeam 21
Structure includes mutually matched concave point 39 and salient point 38, and the concave point 39 and salient point 38 of location structure are located at mounting disc 6 and crossbeam
On 21 (mounting disc 6 is salient point 38 in the present embodiment, is concave point 39 on crossbeam 21).Concave point 39 and salient point 38 cooperate, and are used for
Prevent mounting disc 6 from being relatively moved with crossbeam 21, the cooperation of location structure and two connecting lines 25 can be effectively by parachute 3
It is connect with rack 1.
As shown in Figures 2 and 3, in this present embodiment, separating mechanism includes：
Elevating lever 17 is slidably arranged in rack 1, can be moved up and down with respect to rack 1；
Cutting blade 23 is fixed on the upper surface of elevating lever 17, and blade 24 is upward, and cutting blade 23 is located at crossbeam 21
Underface, and blade 24 is directed at two connecting lines 25；
Across hole 19, setting on the base plate 20, and is located at the underface of elevating lever 17；
Mandril 18, one end and buffer board 9 are fixed, and the other end coordinates with across hole 19, are used for when landing, by passing through hole
After 19, drives elevating lever 17 to be moved up with respect to rack 1, blade 24 is made to cut off two connecting lines 25.
Internal diameter across hole 19 is less than elevating lever 17, so that elevating lever 17 is protected in addition, elastic component can be arranged when practice
It holds in low level, such as setting tension spring (tension spring one end is connect with 17 side wall of elevating lever, and the other end is connect with bottom plate 20).
When practical operation, when robot airborn landing, buffer board 9 is first subjected to impact, so as to compress buffering elastic
It is moved to 1 side of rack after spring 10, mobile 18 synchronizing moving of drive mandril of buffer board 9, after mandril 18 is by passing through hole 19, top
Firmly elevating lever 17 drive elevating lever 17 to be moved up with respect to rack 1, blade 24 are made to cut off two connecting lines 25.
As shown in Fig. 2, in this present embodiment, rack 1 further includes being slided with 21 fixed stop collar 22 of crossbeam, elevating lever 17
It is inside sleeved in stop collar 22.
As shown in fig. 6, in this present embodiment, the lower section of crossbeam 21 has the cutting groove 40 stretched into for blade 24, two companies
Wiring 25 is located at the length direction of the connecting line 25 and blade 24 of 21 lower section of crossbeam between cutting groove 40 and cutting blade 23
Vertically.It can facilitate the cutting operation of connecting line 25 by the way that cutting groove 40 is arranged.
As shown in Figures 2 and 3, in this present embodiment, buffer gear further includes spring mounting blocks 11 and connecting pin 14, buffering elastic
10 one end of spring is connect with buffer board 9, and the other end is connect with 11 lower end of spring mounting blocks, and 11 upper end of spring mounting blocks has connecting shaft
12；On bottom plate 20 with lower ending opening it is hollow match zygostyle 13, connecting shaft 12 be inserted into from lower to upper it is corresponding it is hollow match zygostyle 13,
Connecting pin 14 cross matched connecting shaft 12 and it is hollow match zygostyle 13, for connecting shaft 12 to be limited with hollow with zygostyle 13
Firmly.Connecting shaft 12 and the hollow side wall with zygostyle 13 are both provided with through-hole, after connecting pin 14 is by each through-hole, by connecting shaft 12 with
It is hollow to be limited with zygostyle 13.
As shown in Fig. 2, in this present embodiment, separating mechanism further includes bracing wire 15 and directive wheel 16, one end of bracing wire 15 with
Connecting pin 14 connects, and the other end is connect after directive wheel 16 with elevating lever 17；When 17 opposed bottom 20 of elevating lever moves up,
Bracing wire 15 is driven to move, by connecting pin 14 from connecting shaft 12 and hollow with detaching on zygostyle 13.Preferably, directive wheel 16 is neighbouring rises
Bar 17 is dropped, after being arranged in this way, bracing wire 15 can effectively be driven to move when 17 opposed bottom 20 of elevating lever moves up, relative to
For the structure for not having directive wheel 16, one end displacement distance of the bracing wire 15 far from elevating lever 17 is big, to can guarantee connecting pin
14 from connecting shaft 12 and hollow with detaching on zygostyle 13, at this time by walk foot so that bottom plate 2 be lifted after be detached from connecting shaft 12,
I.e. rack 1 is separated with buffer board 9, buffer spring 10 and spring mounting blocks 11, can effectively mitigate the heavy burden of rack in this way,
Improve cruising ability.
Embodiment 2
The present embodiment discloses a kind of hand throwing type disaster search and rescue robot.As shown in Fig. 7,8 and 9, the machine of the present embodiment
Difference lies in the robot of this implementation further includes the disengaging rocket for being mounted on 3 umbrella cover of parachute, 8 top to device people with embodiment 1
4, in addition separating mechanism have any different with embodiment 1, the separating mechanism of the present embodiment can not only cut off parachute 3 and rack 1 connects
Relationship is connect, and can trigger and be detached from the work of rocket 4.
As shown in Fig. 7,8 and 9, in this present embodiment, the work of rocket 4, this reality are detached from order to enable separating mechanism to trigger
The cutting groove 40 for applying the crossbeam 21 of example runs through crossbeam 21, and control circuit is equipped in the mounting disc 6 of the present embodiment, and control circuit is logical
It crosses conducting wire 43 and is connect with rocket 4 is detached from, control circuit includes stretching into the control switch 41 of cutting groove 40.
The separating mechanism of the present embodiment is same as Example 1, when landing, after passing through hole 19, drives elevating lever 17
Opposite rack 1 moves up, and so that blade 24 is stretched into after cutting groove 40 cuts off two connecting lines 25 and triggers control switch 41 again, makes
Rocket 4 is detached to work.
By the way that cutting blade 23, cutting groove 40 and the control switch 41 for stretching into cutting groove 40 is arranged so that blade 24 is cut
Cut after connecting line 25 can deep enough cutting groove 40, further triggering control switch 41, fiery to make control circuit control be detached from
Arrow 4 works, and takes the parachute 3 being detached from rack 1 to other positions, effectively prevent follow-up work of the parachute 3 to robot
It impacts.
Specific work process is as follows when landing：Robot drops, and buffer board 9 is first subjected to impact when landing, so as to
Moved to 1 side of rack after compressing buffer spring 10, the movement of buffer board 9 make mandril 18 by passing through hole 19 after, drive lifting
Bar 17 is moved up with respect to rack 1, so that blade 24 is cut off two connecting lines 25, and go deep into corresponding cutting groove 40, blade 24
It is contacted with control switch 41, triggering control switch 41 makes control circuit control be detached from rocket 4 and works.
In this present embodiment, it includes rocket body and the gunpowder type engine mounted on rocket body lower part to be detached from rocket 4.Conducting wire 43 1
End is connect with control circuit, and the other end is trigger head, and trigger head stretches into gunpowder type engine, and gunpowder is lighted for making after powered up
Engine.When practice, trigger head can generate electric spark or high temperature after being powered.The disengaging rocket 4 of the application can be adopted
With the common model rocket that can emit.When practice, the gunpowder type engine being detached from rocket 4 can be replaced with high pressure gas holder,
The opening valve controlled by control circuit is set on high pressure gas holder, and after control switch 41 is triggered, control circuit can will be opened
Valve is opened, and the high pressure gas in high pressure gas holder discharges, and the function of flight can be also played by reaction force.
As shown in fig. 7, in this present embodiment, being detached from rocket 4 and being connect with umbrella cover 8 by the second umbrella rope 42.Pass through setting the
Two umbrella ropes 42 can increase the distance for being detached from rocket 4 and umbrella cover 8, prevent because being detached from rocket 4 and umbrella cover 8 apart from closely burning out very much umbrella
Face 8 or too big downward reaction force influence to be detached from the drive flight of parachute 3 of rocket 4 to umbrella cover 8.
In this present embodiment, multiple walking foots 5 are installed in rack 1.The walking foot 5 of the present embodiment is in addition to may be used reality
It applies outside the walking foot structure of example 1, the walking foot of the prior art can also be used, such as Publication No. CN 206494025 U, CN
107200080 A、CN 107253497 A、CN107200078 A、CN206278172U、CN206171601U、
Walking structure disclosed in the patent documents such as CN20623293U and CN205469363U.
The robot of the present embodiment can be dropped by setting, facilitate the deployment of robot；Buffer unit 2 can be
Robot is protected when landing, prevents the too big damage robot of impact force；Separating mechanism can cut off parachute 3 and rack 1 connects
Relationship so that parachute 3 can be detached with rack 1 after landing；It is detached from rocket 4 by setting so that take off when robot lands
It can fly out outward from rocket 4, the parachute 3 being detached from rack 1 taken to other positions, to effectively prevent parachute 3 right
The follow-up work of robot impacts.
The foregoing is merely the preferred embodiment of the present invention, not thereby limit the scope of patent protection of the present invention, all
It is directly or indirectly to be used in other relevant technologies with equivalent structure transformation made by description of the invention and accompanying drawing content
Field includes similarly within the scope of the present invention.
Claims (9)
1. a kind of search and rescue robot, which is characterized in that pacify respectively including rack, rack-mounted search and rescue device and four
Walking foot on four angles of rack, the walking include flight wind turbine enough；
The walking is sufficient to further include：
First electric rotating machine is mounted in rack；
First motion bar, the first end of the first motion bar and the output shaft of the first electric rotating machine are fixed；
Second electric rotating machine is mounted on the second end of the first motion bar, the output shaft axis of the second electric rotating machine and the first rotation
The output shaft axis of motor is vertical；
Second motion bar, the first end of the second motion bar and the output shaft of the second electric rotating machine are fixed；
Third electric rotating machine is mounted on the second end of the second motion bar, and the output shaft axis of third electric rotating machine is perpendicular to second
The output shaft axis of electric rotating machine；
Support foot, supports sufficient side wall and the output shaft of the third electric rotating machine to fix, the flight assembling is supporting
The upper end of foot.
2. search and rescue robot as described in claim 1, which is characterized in that the support is column structure enough, and supports foot
Collapse tapered in lower end.
3. search and rescue robot as described in claim 1, which is characterized in that further include being electrically connected with search and rescue device and flight wind turbine
Controller.
4. search and rescue robot as claimed in claim 3, which is characterized in that further include the power supply component being electrically connected with the controller.
5. search and rescue robot as claimed in claim 4, which is characterized in that the power supply component is lithium battery or oil-fired power generating
Machine.
6. search and rescue robot as described in claim 1, which is characterized in that the search and rescue device includes peoplesniffer, camera shooting
At least one of machine and sound collector.
7. search and rescue robot as described in claim 1, which is characterized in that the top of the rack is equipped with dropping gear, institute
The lower part for stating rack is equipped with buffer unit.
8. search and rescue robot as claimed in claim 7, which is characterized in that the dropping gear includes parachute.
9. search and rescue robot as claimed in claim 7, which is characterized in that the buffer unit includes being located at delaying below rack
Punching and the multiple buffer springs being arranged between buffer board and rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721773692.9U CN207771838U (en) | 2017-12-18 | 2017-12-18 | search and rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721773692.9U CN207771838U (en) | 2017-12-18 | 2017-12-18 | search and rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207771838U true CN207771838U (en) | 2018-08-28 |
Family
ID=63226467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721773692.9U Expired - Fee Related CN207771838U (en) | 2017-12-18 | 2017-12-18 | search and rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207771838U (en) |
Cited By (1)
| 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 |
-
2017
- 2017-12-18 CN CN201721773692.9U patent/CN207771838U/en not_active Expired - Fee Related
Cited By (1)
| 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 |
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| 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: 20180828 Termination date: 20181218 |