CN210414567U - Throwing rescue robot based on electromagnetic ejection - Google Patents
Throwing rescue robot based on electromagnetic ejection Download PDFInfo
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- CN210414567U CN210414567U CN201921349988.7U CN201921349988U CN210414567U CN 210414567 U CN210414567 U CN 210414567U CN 201921349988 U CN201921349988 U CN 201921349988U CN 210414567 U CN210414567 U CN 210414567U
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Abstract
The utility model discloses a throw rescue robot based on electromagnetism is launched, by support, belt, upper DC motor, electrolytic capacitor, coil, iron core, image recognition camera group module, upper master control PCB board, driving motor, chassis DC motor, tire, laser module, industrial control computer, STM32 main control board, lithium cell, walk line hole, handle, button group, sensor group module, six upper nuts, six lower floor's nuts and six connecting rods and constitute. The throwing rescue robot has the characteristics of low manufacturing cost, convenience in operation, stable function, strong anti-interference performance, high accuracy of electromagnetic ejection throwing and the like. In addition, the safety is high, and in some dangerous areas, the rescue can be carried out by a machine instead of a human being. The intelligent degree is high, and in some fixed places, autonomous navigation rescue can be carried out through the camera group and the sensor. Moreover, each module is high in integration level, and is convenient to replace, pull and plug.
Description
Technical Field
The utility model relates to a life rescue safety device field, in particular to throw rescue robot based on electromagnetism launches.
Background
At present, a plurality of disasters occur in life, and no matter fire fighting, chemical factory explosion and drowning in a deep water area, some rescue articles such as a throwing escape bottle, a throwing water life saving device and the like need to be thrown accurately. The current situation is that waiting for manual rescue, and the manual throwing lacks precision, lacks the promptness, also can't be close to in some danger areas.
The utility model discloses a scheme is just to the improvement that current rescue mode goes on of above-mentioned problem.
SUMMERY OF THE UTILITY MODEL
In order to overcome not enough among the prior art, the utility model provides a throw rescue robot based on electromagnetism launches has overcome not enough, the untimely defect of emergency rescue of security when inaccuracy, danger area that rescue was thrown in the manual work today are close to.
In order to achieve the purpose of the utility model, the technical scheme adopted for solving the technical problem is as follows:
the utility model provides a throw rescue robot based on electromagnetism is launched, includes by support, belt, upper DC motor, electrolytic capacitor, coil, iron core and image recognition camera group module, wherein:
the bracket is arranged on the upper layer of the robot;
the upper layer direct current motor is arranged on the inner side of the bracket;
the belt is sleeved on the upper layer direct current motor;
the bracket forms a set of rotatable picking device through the upper layer direct current motor and the belt and is used for picking up the articles to be thrown;
the electrolytic capacitor is arranged beside the bracket;
the coil is arranged on the bracket;
the iron core is inserted in the coil;
the electrolytic capacitor is connected with the coil and the iron core to form an electromagnetic cannon which is used for throwing the article out in an electromagnetic ejection mode;
the image identification camera group module is arranged at the front end of the upper layer of the robot and is positioned right ahead of the upper layer direct current motor and used for detecting road conditions and identifying image articles.
Further, still include upper master control PCB board, upper master control PCB board sets up in robot upper left end, and with electrolytic capacitor and upper direct current motor electrical connection are used for control pickup attachment.
Further, still include driving motor, chassis direct current motor, tire, laser module, industrial control computer, STM32 main control panel and lithium cell, wherein:
the chassis direct current motor is arranged in the middle of the lower layer of the robot;
the tire is arranged on an output shaft at the outer side of the chassis direct current motor;
the driving motor is arranged on one side of the tire, is connected with the chassis direct current motor and the tire and is used for forming a set of motor tire with adjustable speed;
the laser module is positioned at the front end of the lower layer of the robot and used for scanning a detection distance angle;
the STM32 main control board is arranged at the left end of the lower layer of the robot, is electrically connected with the upper layer direct current motor, the image recognition camera group module, the upper layer main control PCB board, the driving motor, the chassis direct current motor, the laser module, the industrial personal computer and the lithium battery, and is used for controlling the upper layer direct current motor, the image recognition camera group module, the upper layer main control PCB board, the driving motor, the chassis direct current motor, the laser module, the industrial personal computer and the lithium battery;
the industrial personal computer is arranged at the rear end of the lower layer of the robot, is electrically connected with the STM32 main board and is used for sending a control instruction to the STM32 main control board;
the lithium battery is arranged at the right end of the lower layer of the robot and used for supplying power to the robot.
Preferably, the number of the driving motor, the chassis direct current motor and the number of the tires are all three, wherein:
the reverse connecting lines of the output shafts of the three chassis direct current motors are connected to one point, and the included angle between any two chassis direct current motors is 120 degrees;
the included angle between any two adjacent tires in the three tires is 60 degrees;
the three driving motors are transversely arranged on the same side of the corresponding tire;
the three driving motors, the chassis direct current motor and the tire form an omnidirectional chassis together.
Preferably, the cross sections of the upper layer and the lower layer of the robot are both regular hexagons.
Further, still include six upper nuts, six lower floor's nuts and six connecting rods, wherein:
the six upper-layer nuts are respectively arranged on the inner sides of the joints of any two adjacent edges of the upper layer of the robot;
the six lower-layer nuts are respectively arranged on the inner sides of the joint of any two adjacent edges of the lower layer of the robot;
six connecting rods respectively with six upper nut and six the nut correspondence of lower floor is connected for connect robot upper strata and robot lower floor and then fixed whole robot.
Furthermore, the robot control system further comprises a wire feeding hole, wherein the wire feeding hole is formed in the upper layer of the robot, is electrically connected with the STM32 main control board and is used for being connected with a control circuit of the whole robot.
Furthermore, the robot further comprises a handle, and the handle is wirelessly connected with the industrial personal computer and used for remotely controlling the robot.
Further, still include the button group, the button group sets up on the robot side baffle, including emergency stop button, power button, charge button and the ejection button that discharges, wherein:
the emergency stop button is used for controlling emergency braking of the robot;
the power button is used for controlling the switch of the robot;
the charging button is used for manually controlling the charging of the electrolytic capacitor;
and the discharging ejection button is used for manually controlling the discharging ejection of the electromagnetic gun.
Further, still include the sensor group module, the sensor group module sets up in the front end on robot upper strata, including temperature sensor, humidity transducer and flame sensor, is used for the condition of sensing ambient environment's temperature, humidity and flame respectively.
The utility model discloses owing to adopt above technical scheme, make it compare with prior art, have following advantage and positive effect:
the utility model relates to a throwing rescue robot based on electromagnetic ejection, which comprises an electromagnetic ejection device (electromagnetic cannon) for placing a robot on the upper layer, an image recognition camera group module and a sensor group module; the lower floor is the chassis of qxcomm technology, and three driving motor of three omniwheel collocation, chassis center have put one and use STM32 as the PCB board of master control, have the control interface of each module on the board, and STM32 main control board next door is placed and is built the industrial control mainboard that the host computer used. The throwing rescue robot has the characteristics of low manufacturing cost, convenience in operation, stable function, strong anti-interference performance, high accuracy of electromagnetic ejection throwing and the like. In addition, the safety is high, and in some dangerous areas, the rescue can be carried out by a machine instead of a human being. The intelligent degree is high, and in some fixed places, autonomous navigation rescue can be carried out through the camera group and the sensor. Moreover, each module is high in integration level, and is convenient to replace, pull and plug.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 is a schematic view of the overall structure of a throwing rescue robot based on electromagnetic ejection;
fig. 2 is a schematic upper structure diagram of a throwing rescue robot based on electromagnetic ejection;
fig. 3 is a schematic view of the lower layer structure of the throwing rescue robot based on electromagnetic ejection;
fig. 4 is the utility model discloses a throw rescue robot's upper and lower layer connection structure sketch map based on electromagnetism is launched.
[ description of main symbols ]
1-a scaffold;
2-a belt;
3-an upper layer direct current motor;
4-an electrolytic capacitor;
5-a coil;
6-iron core;
7-an image recognition camera group module;
8-upper main control PCB board;
9-driving a motor;
10-chassis direct current motor;
11-a tyre;
12-a laser module;
13-industrial control computer;
14-STM32 master control board;
15-a lithium battery;
16-upper nut;
17-lower layer nut;
18-a connecting rod;
19-a wiring hole;
20-emergency stop button;
21-power button;
22-charge button;
23-discharge ejection button.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described and discussed below with reference to the accompanying drawings of the present invention, and it is obvious that only some examples, not all examples, of the present invention are described herein, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.
As shown in fig. 1, the present embodiment discloses a throwing rescue robot based on electromagnetic ejection, which includes a bracket 1, a belt 2, an upper layer dc motor 3, an electrolytic capacitor 4, a coil 5, an iron core 6 and an image recognition camera group module 7, wherein:
the bracket 1 is arranged on the upper layer of the robot;
the upper layer direct current motor 3 is arranged on the inner side of the bracket 1;
the belt 2 is sleeved on the upper layer direct current motor 3;
the bracket 1 forms a set of rotatable picking device through the upper layer direct current motor 3 and the belt 2, and is used for picking up an article to be thrown;
the electrolytic capacitor 4 is arranged beside the bracket 1;
the coil 5 is arranged on the bracket 1;
the iron core 6 is inserted in the coil 5;
the electrolytic capacitor 4, the coil 5 and the iron core 6 are connected to form an electromagnetic cannon which is used for throwing out an article in an electromagnetic ejection mode;
the image identification camera group module 7 is arranged at the front end of the upper layer of the robot and is positioned right in front of the upper layer direct current motor 3 and used for detecting road conditions and identifying image articles.
With further reference to fig. 1, the throwing rescue robot further comprises a button group disposed on the robot side fascia, including an emergency stop button 20, a power button 21, a charge button 22, and a discharge ejection button 23, wherein:
the emergency stop button 20 is connected with a power switch at the lower layer of the robot and is used for controlling the emergency brake of the robot;
the power button 21 is connected with a power supply in the lower layer of the robot and is used for controlling the switch of the robot;
the charging button 22 is connected with a module of the robot lower layer control electrolytic capacitor 4, is used for manually controlling the charging of the electrolytic capacitor 4, and can periodically detect whether a charging circuit is normal;
the discharge ejection button 23 is connected with the control thyristor circuit and used for manually controlling the electromagnetic cannon to discharge and eject, and whether the ejection function of the electromagnetic cannon is normal or not can be regularly detected.
Referring to fig. 2, throwing rescue robot superstructure based on electromagnetism is launched includes six upper nuts 16, upper main control PCB board 8, upper direct current motor 3, coil 5, iron core 6, electrolytic capacitor 4, image recognition camera group module 7 and walk line hole 19, upper main control PCB board 8 sets up at robot upper left end, and with electrolytic capacitor 4 and upper direct current motor 3 electrical property link to each other for control pickup attachment. The wiring hole 19 is formed in the upper layer of the robot, is electrically connected with the STM32 main control board 14 and is used for being connected with a control circuit of the whole robot.
In this embodiment, the throwing rescue robot further includes a sensor set module (not shown), the sensor set module is disposed at the front end of the upper layer of the robot, and includes a temperature sensor, a humidity sensor and a flame sensor, which are respectively used for sensing the conditions of the temperature, the humidity and the flame of the surrounding environment.
Referring to fig. 3, throwing rescue robot substructure based on electromagnetism is launched includes six lower nut 17, driving motor 9, chassis direct current motor 10, tire 11, laser module 12, industrial computer 13, STM32 main control board 14 and lithium cell 15, wherein:
the chassis direct current motor 10 is arranged in the middle of the lower layer of the robot;
the tire 11 is arranged on an output shaft at the outer side of the chassis direct current motor 10;
the driving motor 9 is arranged on one side of the tire 11, is connected with the chassis direct current motor 10 and the tire 11, and is used for forming a set of motor tires with adjustable speed;
the laser module 12 is positioned at the front end of the lower layer of the robot and used for scanning a detection distance angle;
STM32 main control board 14 locates the left end of robot lower floor, and with upper DC motor 3, image recognition camera group module 7, upper main control PCB board 8, driving motor 9, chassis DC motor 10, laser module 12, industry control computer 13 and lithium cell 15 electrical property link to each other, are used for control upper DC motor 3, image recognition camera group module 7, upper main control PCB board 8, driving motor 9, chassis DC motor 10, laser module 12, industry control computer 13 and lithium cell 15. In this embodiment, the STM32 main control board 14 adopts an STM32F103C8T6 type microcontroller.
The industrial personal computer 13 is arranged at the rear end of the lower layer of the robot, is electrically connected with the STM32 main control board 14 and is used for sending a control instruction to the STM32 main control board 14;
the lithium battery 15 is arranged at the right end of the lower layer of the robot and used for supplying power to the robot. In this embodiment, the lithium battery 15 is a 24V explosion-proof lithium battery.
Preferably, the number of the driving motor 9, the chassis direct current motor 10 and the number of the tires 11 are three, wherein:
the reverse connecting lines of the output shafts of the three chassis direct current motors 10 are connected to one point, and the included angle between any two chassis direct current motors 10 is 120 degrees. In this embodiment, the three chassis dc motors 10 form a triangular shape.
The included angle between any two adjacent tires 11 in the three tires 11 is 60 degrees.
The three driving motors 9 are transversely arranged on the same side of the corresponding tire 11. In the present embodiment, the lateral direction is set on one side of the tire 11 in the counterclockwise running direction.
The three driving motors 9, the chassis direct current motor 10 and the tires 11 form an omnidirectional chassis together.
Preferably, the cross sections of the upper layer and the lower layer of the robot are both regular hexagons. The six upper-layer nuts 16 are respectively arranged on the inner sides of the joints of any two adjacent edges of the upper layer of the robot; six lower nut 17 is seted up respectively in the robot lower floor arbitrary two adjacent limit link up the department inboard. In this embodiment, each tire 11 is parallel to the separation edges of the lower regular hexagon of the robot.
Referring to fig. 4, the connection diagram of the upper and lower structures of the throwing rescue robot based on electromagnetic ejection is composed of a group of connecting rods 18 (six connecting rods 18), and the connecting rods 18 are physically connected with the upper and lower structures to fix the whole robot. Specifically, six connecting rods 18 respectively with six upper nut 16 and six lower nut 17 correspond and are connected for connecting robot upper strata and robot lower floor and then fix whole robot.
In a preferred embodiment, the throwing rescue robot further comprises a handle (not shown) which is wirelessly connected with the industrial personal computer 13 and used for remotely controlling the robot.
The specific use method comprises the following steps:
when in use, different modes can be switched through the interface of the industrial personal computer 13.
Mode 1: in the autonomous navigation mode, the robot can autonomously navigate to a proper distance through the camera according to the feedback value of the image recognition camera group module 7 and then throw the rescue goods, and the program can be modified according to the execution occasion in the mode.
Mode 2: in the remote control mode, an operator enables the robot to rotate up and down, left and right through the handle, and the operator can press the angle correction and charging ejection button to throw the object when the robot reaches a proper position.
The utility model aims at overcoming the inaccuracy of rescue is thrown in the manual work today, danger area security is not enough when being close to, emergency rescue is untimely defect, providing one kind and launching throwing the technique based on the electromagnetism, image recognition technique (image recognition camera group module 7), flame temperature humidity transducer technique (sensor group module), self-contained navigation and wiFi remote control technique. Rescue personnel can throw rescue articles in dangerous zones through the upper computer remote control robot; meanwhile, in some safety zones, the robot can perform autonomous navigation and throw rescue goods through combination of image recognition and sensors.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a throw rescue robot based on electromagnetism is launched, its characterized in that includes by support, belt, upper DC motor, electrolytic capacitor, coil, iron core and image recognition camera group module, wherein:
the bracket is arranged on the upper layer of the robot;
the upper layer direct current motor is arranged on the inner side of the bracket;
the belt is sleeved on the upper layer direct current motor;
the bracket forms a set of rotatable picking device through the upper layer direct current motor and the belt and is used for picking up the articles to be thrown;
the electrolytic capacitor is arranged beside the bracket;
the coil is arranged on the bracket;
the iron core is inserted in the coil;
the electrolytic capacitor is connected with the coil and the iron core to form an electromagnetic cannon which is used for throwing the article out in an electromagnetic ejection mode;
the image identification camera group module is arranged at the front end of the upper layer of the robot and is positioned right ahead of the upper layer direct current motor and used for detecting road conditions and identifying image articles.
2. A throwing rescue robot based on electromagnetic ejection as claimed in claim 1, further comprising an upper main control PCB board disposed at the left end of the upper layer of the robot and electrically connected to the electrolytic capacitor and the upper dc motor for controlling the pick-up device.
3. A throwing rescue robot based on electromagnetic ejection as claimed in claim 2, further comprising a driving motor, a chassis dc motor, a tire, a laser module, an industrial personal computer, an STM32 main control board and a lithium battery, wherein:
the chassis direct current motor is arranged in the middle of the lower layer of the robot;
the tire is arranged on an output shaft at the outer side of the chassis direct current motor;
the driving motor is arranged on one side of the tire, is connected with the chassis direct current motor and the tire and is used for forming a set of motor tire with adjustable speed;
the laser module is positioned at the front end of the lower layer of the robot and used for scanning a detection distance angle;
the STM32 main control board is arranged at the left end of the lower layer of the robot, is electrically connected with the upper layer direct current motor, the image recognition camera group module, the upper layer main control PCB board, the driving motor, the chassis direct current motor, the laser module, the industrial personal computer and the lithium battery, and is used for controlling the upper layer direct current motor, the image recognition camera group module, the upper layer main control PCB board, the driving motor, the chassis direct current motor, the laser module, the industrial personal computer and the lithium battery;
the industrial personal computer is arranged at the rear end of the lower layer of the robot, is electrically connected with the STM32 main board and is used for sending a control instruction to the STM32 main control board;
the lithium battery is arranged at the right end of the lower layer of the robot and used for supplying power to the robot.
4. A throwing rescue robot based on electromagnetic catapult as claimed in claim 3, wherein the number of the driving motor, the chassis dc motor and the tires are all three, wherein:
the reverse connecting lines of the output shafts of the three chassis direct current motors are connected to one point, and the included angle between any two chassis direct current motors is 120 degrees;
the included angle between any two adjacent tires in the three tires is 60 degrees;
the three driving motors are transversely arranged on the same side of the corresponding tire;
the three driving motors, the chassis direct current motor and the tire form an omnidirectional chassis together.
5. A throwing rescue robot based on electromagnetic ejection as claimed in claim 4, characterized in that the cross-section of the upper robot layer and the cross-section of the lower robot layer are both regular hexagons.
6. A throwing rescue robot based on electromagnetic catapult as claimed in claim 5, further comprising six upper layer nuts, six lower layer nuts and six links, wherein:
the six upper-layer nuts are respectively arranged on the inner sides of the joints of any two adjacent edges of the upper layer of the robot;
the six lower-layer nuts are respectively arranged on the inner sides of the joint of any two adjacent edges of the lower layer of the robot;
six connecting rods respectively with six upper nut and six the nut correspondence of lower floor is connected for connect robot upper strata and robot lower floor and then fixed whole robot.
7. A throwing rescue robot based on electromagnetic ejection as claimed in claim 6, further comprising a wire hole, wherein the wire hole is opened on the upper layer of the robot and is electrically connected with the STM32 main control board for connecting the control circuit of the whole robot.
8. A throwing rescue robot based on electromagnetic ejection as claimed in claim 7, further comprising a handle wirelessly connected to the industrial personal computer for remote control of the robot.
9. A throwing rescue robot based on electromagnetic ejection as claimed in claim 8, further comprising a set of buttons disposed on the robot sideguard, including an emergency stop button, a power button, a charge button and a discharge ejection button, wherein:
the emergency stop button is used for controlling emergency braking of the robot;
the power button is used for controlling the switch of the robot;
the charging button is used for manually controlling the charging of the electrolytic capacitor;
and the discharging ejection button is used for manually controlling the discharging ejection of the electromagnetic gun.
10. A throwing rescue robot based on electromagnetic catapult as claimed in claim 1, further comprising a sensor group module disposed at the front end of the upper layer of the robot, including a temperature sensor, a humidity sensor and a flame sensor for sensing the temperature, humidity and flame conditions of the surrounding environment, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921349988.7U CN210414567U (en) | 2019-08-19 | 2019-08-19 | Throwing rescue robot based on electromagnetic ejection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921349988.7U CN210414567U (en) | 2019-08-19 | 2019-08-19 | Throwing rescue robot based on electromagnetic ejection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210414567U true CN210414567U (en) | 2020-04-28 |
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ID=70363267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921349988.7U Active CN210414567U (en) | 2019-08-19 | 2019-08-19 | Throwing rescue robot based on electromagnetic ejection |
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| Country | Link |
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| CN (1) | CN210414567U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110370300A (en) * | 2019-08-19 | 2019-10-25 | 上海应用技术大学 | A kind of throwing rescue robot based on electromagnetic launch |
-
2019
- 2019-08-19 CN CN201921349988.7U patent/CN210414567U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110370300A (en) * | 2019-08-19 | 2019-10-25 | 上海应用技术大学 | A kind of throwing rescue robot based on electromagnetic launch |
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