CN211417440U - Earthquake rescue robot - Google Patents
Earthquake rescue robot Download PDFInfo
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- CN211417440U CN211417440U CN201922198900.2U CN201922198900U CN211417440U CN 211417440 U CN211417440 U CN 211417440U CN 201922198900 U CN201922198900 U CN 201922198900U CN 211417440 U CN211417440 U CN 211417440U
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Abstract
The utility model provides an earthquake rescue robot, there is control power in this application fuselage, case is placed to electrical control mechanism and dry powder fire extinguishing agent, the fuselage both sides respectively have a set of track structure, the life detection instrument is installed to the fuselage front side, there is the carousel fuselage front side top, be fixed with the arm support on the carousel, the arm support internal fixation has the arm, lower arm and last arm hinge and articulated department relevant electromechanical machine, lower arm lower extreme and arm support hinge and articulated department have an angle motor, the shower nozzle passes through the support to be fixed in arm middle part on, the shower nozzle leads to pipe to be put the case with the interior dry powder fire extinguishing agent of fuselage and links to each other, the arm tip has the gripper power supply through gripper mount front end on the machine, gripper power supply tip articulates there is the gripper. The utility model provides an earthquake rescue robot to present disaster scene rescue difficulty, is difficult to discover more stranded people, and the personnel that are stranded can not only be discover sooner to the subsidiary auxiliary structure of this robot, also can enter into the place that search and rescue personnel can't get into, carries out supplementary rescue.
Description
Technical Field
The utility model relates to a rescue robot field especially relates to an earthquake rescue robot.
Background
With the progress of the times and the continuous development of science and technology, the living standard of people is gradually improved. However, natural disasters and human accidents can not be predicted forever, and people can only ensure that the efficiency of search and rescue can be improved after disasters occur, so that more lives can be saved. However, the search and rescue process is also dangerous and serious, and what we need to do is not only to ensure the safety of search and rescue personnel, but also to ensure the safety of wounded personnel. Then we guess whether can design a robot search and rescue device, we can not only ensure search and rescue personnel's safety like this, and the robot also can discover more stranded personnel through scientific and technological means moreover, has improved rescue efficiency, saves more lives, and the most important thing robot can enter into many dangerous places, visits the way for search and rescue personnel, improves the safety guarantee greatly. However, most of the existing search and rescue robots are crawler-type robots, and considering that the crawler may be damaged when an emergency occurs, the robots cannot move, so that the rescue time is delayed, and a large economic loss is caused. Therefore, the device can deeply consider the moving mode to search for a more stable moving method.
SUMMERY OF THE UTILITY MODEL
To solve the above existing problems. The utility model provides an earthquake rescue robot to present disaster scene rescue difficulty, is difficult to discover more stranded people, and the personnel that are stranded can not only be discover sooner to the subsidiary auxiliary structure of this robot, also can enter into the place that search and rescue personnel can't get into, carries out supplementary rescue. To achieve this object:
the utility model provides an earthquake rescue robot, which comprises a body, mechanical arms, mechanical claws and a spray head, wherein a control power supply, an electric control mechanism and a dry powder extinguishing agent placing box are arranged in the body, a group of crawler structures are respectively arranged on two sides of the body, a life detection instrument is arranged on the front side of the body, a turntable is arranged above the front side of the body, a mechanical arm frame is fixed on the turntable, a mechanical arm is fixed in the mechanical arm frame, the mechanical arm comprises a lower mechanical arm and an upper mechanical arm, the lower mechanical arm and the upper mechanical arm are hinged and the hinged part of the lower mechanical arm and the upper mechanical arm is related to a motor and is driven by a shutdown motor, the spray head is fixed in the middle part of the upper mechanical arm by a bracket, the spray head is connected with the dry powder extinguishing agent placing box in the body by a water pipe, the end part of the upper mechanical arm is fixed by a mechanical claw fixing frame and is provided with a mechanical claw power supply device at the, the end part of the gripper power supply device is hinged with a gripper.
The utility model discloses a further improvement, every group track structure has a front portion structure and a rear portion structure, front portion structure includes triangle link, anterior track and anterior crawler belt dish, anterior crawler belt dish is installed to the angle department of triangle link, anterior track is around on three anterior crawler belt dish, rear portion structure includes rear portion track, rear portion crawler belt dish and crawler belt dish link, crawler belt dish link both ends respectively have a rear portion crawler belt dish, the rear portion track is around on two rear portion crawler belt dishes, and two crawler belt structural design topography adaptability is stronger, more is suitable for the rescue environment and uses.
The utility model discloses a further improvement, the gripper includes fixed pressure disk, fixed bolster, gear one, gear two, mounting panel, connecting rod one, gasket, nut, gear three, gear four, connecting rod two, switching motor, upset motor, gear five, hold-in range and synchronizing wheel, the fixed bolster links to each other with the gripper power supply ware through a pair of fixed pressure disk, gear one is installed in the pivot of gripper power supply ware, gear one and gear two intermeshing, gear two is installed in the pivot of upset motor, realizes the upset of grabbing by the upset motor drive, switching motor and upset motor are in the mounting panel, the switching motor passes one side mounting panel and connects gear three, connecting rod one and connecting rod two pairs set up and set up the both sides at the claw of gripper respectively, connecting rod one and connecting rod two one end are fixed in the outside of the claw of gripper and the other end and are fixed and are connected and correspond the connecting rod through gasket and nut and fix in the mounting panel outside and pass through the gasket and fix The rotating shaft is fixed, synchronizing wheels are sleeved on the connecting rotating shaft of the connecting rod in the support plate and the connecting rotating shaft of the connecting rod in the claw part of the mechanical claw, a synchronous belt is sleeved on the two synchronizing wheels on one side, a gear four and a gear five are arranged at the end parts of the two connecting rods on the outer side of the support plate respectively, the gear four is meshed with the gear three and the gear five, the claw part of the mechanical claw is driven by an opening and closing motor to be opened and closed, and the mechanical claw with the structure is adopted due to the fact that the rescue environment has high requirements on the degree of freedom and.
The utility model discloses a further improvement, the fuselage rear side has the lift axle, there is panoramic camera lift epaxial end, the environmental monitoring of being convenient for of design like this.
The utility model discloses a further improvement, the arm all has one row of mounting hole to supply equipment fixing with the collateral branch frame of last arm down, sets up the mounting hole and can other supporting structures of easy to assemble.
The utility model provides an earthquake rescue robot, the concrete design is as follows:
1) the remote control system is divided into two parts, namely a bottom moving part and an upper remote control operation part;
2) the lower moving part of the crawler-type crawler belt is in a crawler-type structure and is formed by combining a straight crawler wheel and a triangular crawler wheel, the triangular crawler wheel can play a role in climbing an obstacle when encountering the obstacle, and the two crawler wheels move together when the terrain is gentle;
3) the upper remote control operation part of the device is provided with detection devices, manipulators, cameras and other rescue equipment-necessary facilities;
4) the fire extinguishing apparatus of the present application needs to receive the water pipe in addition, ensures to have sufficient water supply.
5) The most important advantage of this application just lies in can going deep into the danger zone that search and rescue personnel can't get into, guarantees safety. Meanwhile, the robot is provided with a life detector and other rescue devices, so that the search and rescue efficiency can be greatly improved, more time is strived for trapped people, and various emergency conditions can be processed.
Drawings
FIG. 1 is a schematic view of the entire embodiment of the present invention;
FIG. 2 is a schematic view of a portion of a robot of the present invention;
FIG. 3 is a first schematic view of the gripper of the present invention;
FIG. 4 is a second schematic view of the gripper of the present invention;
illustration of the drawings:
1. a panoramic camera; 2. a lifting shaft; 3. a body; 4. a rear crawler belt; 5. a rear crawler belt disc; 6. a crawler belt disc connecting frame; 7. a triangular connecting frame; 8. a front crawler; 9. a front crawler belt disc; 10. a lower mechanical arm; 11. an upper mechanical arm; 12. a gripper; 13. a spray head; 14. a water pipe; 15. a gripper power supply; 16. a motor; 17. a motor; 19. a turntable; 20. a life detector; 21. a mechanical arm support; 22. mounting holes; 23. a mechanical paw fixing frame; 24. a fixed platen; 25. fixing a bracket; 26. a first gear; 27. a second gear; 28. a mounting plate; 29. a first connecting rod; 30. a gasket; 31. a nut; 32. a third gear; 33. a fourth gear; 34. a second connecting rod; 35. switching on and off the motor; 36. turning over a motor; 37. a fifth gear; 38 a synchronous belt; 39. and a synchronizing wheel.
Detailed Description
The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
the utility model provides an earthquake rescue robot to present disaster scene rescue difficulty, is difficult to discover more stranded people, and the personnel that are stranded can not only be discover sooner to the subsidiary auxiliary structure of this robot, also can enter into the place that search and rescue personnel can't get into, carries out supplementary rescue.
As an embodiment of the utility model, the utility model provides an earthquake rescue robot, including fuselage 3, arm, gripper 12 and shower nozzle 13, there are control power, electrical control mechanism and dry powder extinguishing agent placing box in the fuselage 3, there is a set of track structure respectively fuselage 3 both sides, life detection instrument 20 is installed to fuselage 3 front side, there is carousel 19 above fuselage 3 front side, be fixed with arm frame 21 on carousel 19, be fixed with arm in arm frame 21, the arm includes lower arm 10 and upper arm 11, lower arm 10 and upper arm 11 articulate and the articulated department has shutdown motor 16 and drive through shutdown motor 16, arm 10 lower extreme and arm frame 21 articulate and the articulated department has angle motor 17 to drive through angle motor 17, shower nozzle 13 fixes in upper arm 11 middle part through the support, the spray head 13 is connected with a dry powder extinguishing agent placing box in the machine body 3 through a water pipe 14, the end part of the upper mechanical arm 11 is fixed through a mechanical paw fixing frame 23, the front end of the upper mechanical arm 11 is provided with a mechanical paw power supply 15, and the end part of the mechanical paw power supply 15 is hinged with a mechanical paw 12.
As a specific embodiment of the present invention, the present invention provides an earthquake rescue robot as shown in fig. 1-4, which comprises a body 3, a mechanical arm, a gripper 12 and a nozzle 13, wherein a control power supply, an electric control mechanism and a dry powder extinguishing agent storage box are arranged in the body 3, a set of caterpillar structure is arranged on each side of the body 3, a life detection instrument 20 is installed on the front side of the body 3, a turntable 19 is arranged above the front side of the body 3, a mechanical arm support 21 is fixed on the turntable 19, a mechanical arm is fixed in the mechanical arm support 21, the mechanical arm comprises a lower mechanical arm 10 and an upper mechanical arm 11, a row of mounting holes 22 are arranged on each of the side supports of the lower mechanical arm 10 and the upper mechanical arm 11 for equipment installation, other matching structures can be conveniently installed by arranging the mounting holes, the lower mechanical arm 10 is hinged with the upper mechanical arm 11, and a shutdown motor 16 is arranged at the hinged position of the lower mechanical arm 10, the lower end of the lower mechanical arm 10 is hinged with a mechanical arm frame 21, an angle motor 17 is arranged at the hinged position and driven by the angle motor 17, the spray head 13 is fixed in the middle of the upper mechanical arm 11 through a support, the spray head 13 is connected with a dry powder fire extinguishing agent placing box in the machine body 3 through a water pipe 14, the end part of the upper mechanical arm 11 is fixed through a mechanical paw fixing frame 23, a mechanical paw power supply 15 is arranged at the front end of the upper mechanical arm 11, and a mechanical paw 12 is hinged to the end part of the mechanical paw power supply 15.
Every group track structure of this application has a front portion structure and a rear portion structure, front portion structure includes triangle link 7, anterior track 8 and anterior crawler belt dish 9, anterior crawler belt dish 9 is installed to the angle department of triangle link 7, anterior track 8 is around on three anterior crawler belt dish 9, the rear portion structure includes rear portion track 4, rear portion crawler belt dish 5 and crawler belt dish link 6, 6 both ends of crawler belt dish link respectively have a rear portion crawler belt dish 5, rear portion track 4 is around on two rear portion crawler belt dishes 5, and two crawler belt structural design topography adaptability are stronger, more are suitable for the rescue environment and use.
The gripper 12 comprises a fixed platen 24, a fixed support 25, a first gear 26, a second gear 27, a support plate 28, a first connecting rod 29, a gasket 30, a nut 31, a third gear 32, a fourth gear 33, a second connecting rod 34, an opening and closing motor 35, a turnover motor 36, a fifth gear 37, a synchronous belt 38 and a synchronous wheel 39, wherein the fixed support 25 is connected with a gripper power supply 15 through a pair of fixed platens 24, the first gear 26 is installed on a rotating shaft of the gripper power supply 15, the first gear 26 is meshed with the second gear 27, the second gear 27 is installed on a rotating shaft of the turnover motor 36, the turnover of a gripper is realized by driving the turnover motor 36, the opening and closing motor 35 and the turnover motor 36 are arranged in the support plate 28, the opening and closing motor 35 penetrates through the support plate 28 on one side to connect with the third gear 32, the first connecting rod 29 and the second connecting rod 34 are arranged in pairs and are respectively arranged on two sides of a claw, one end of the first connecting rod 29 and one end of the second connecting rod 34 are fixed on the outer side of the claw part of the mechanical claw 12, the other end of the first connecting rod 29 and the other end of the second connecting rod 34 are fixed on the outer side of the support plate 28 and are fixed through a gasket 30 and a nut 31, and the connecting shafts corresponding to the connecting rods are fixed, synchronizing wheels 39 are sleeved on the connecting shafts in the claw parts of the support plate 28 and the connecting shafts in the claw parts of the mechanical claw 12, a synchronous belt 38 is sleeved on the two synchronizing wheels 39 on one side, gears four 33 and five 37 are arranged at the end parts of the two connecting rods 34 on the outer side of the support plate 28 respectively, the gears four 33 are meshed with the gears three 32 and five 37, the opening and closing of the claw part of the mechanical claw 12 are realized by driving of an opening and closing motor 35, and the.
3 rear sides of fuselage have lift axle 2, there is panorama camera 1 lift axle 2 upper end, the environmental monitoring of being convenient for of design like this.
The working principle of the application is as follows:
the rescue robot is provided with a life detector 20 in front for detecting people trapped in the ruins, and the tail part is provided with a panoramic camera 1 for scanning the terrain to prepare for search and rescue personnel to enter the field. The panoramic camera 1 is arranged on the lifting shaft 2 and can stretch out and draw back. The robot walks simultaneously through two kinds of tracks: the crawler belt structure is composed of a crawler belt, two crawler belt discs and a crawler belt disc connecting frame; the crawler belt is in another crawler belt structure consisting of one crawler belt, three crawler belt discs and one triangular connecting frame, and can freely walk in the ruins. The robot body is provided with a turntable 19 which can rotate freely, a lower mechanical arm 10 is arranged on the turntable 19, the lower mechanical arm 10 is hinged with the turntable 19 and driven by an angle motor 17, the mechanical arm 10 is hinged with a mechanical arm 11 and driven by a shutdown motor 16, and the mechanical arm is provided with a mounting hole 22 for mounting some rescue equipment. The mechanical arm 11 is provided with a mounting hole 22 on which a spray head 13 is mounted, and a water pipe 14 is connected below the mechanical arm, so that fire extinguishment is facilitated. The tail end of the mechanical arm 11 is provided with a mechanical paw fixing frame 23 which is fixedly connected with a fixing support 25, the mechanical paw power supply 15 is arranged on the mechanical paw fixing frame, and a fixing pressing disc 24 is arranged on the mechanical paw power supply 15 for fixing the mechanical paw power supply. The fixed support 25 is hinged with the mechanical claw, a first gear 26 is fixed on the fixed support 25 and meshed with a second gear 27, and the second gear 27 is driven by a turnover motor 36, so that the turning of the gripper is realized. Two motors are fixedly installed between two support plates 28, the support plates 28 are hinged with four connecting rods 29, a gear three 32 is driven by a switching motor 35 to drive a gear four 33 and a gear five 37 so as to drive the four connecting rods to realize the switching of the mechanical claw, a synchronizing wheel 39 is fixed on a rotating shaft of each connecting rod, and the rotating shaft of each connecting rod is connected with the synchronizing wheel fixed on the mechanical claw 12 through a synchronous belt 38, so that the grabbing is more stable.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, but also to cover any modifications or equivalent changes made in the technical spirit of the present invention, which fall within the scope of the present invention.
Claims (3)
1. The utility model provides an earthquake rescue robot, includes fuselage (3), arm, gripper (12) and shower nozzle (13), there are control power, electrical control mechanism and dry powder extinguishing agent to place case, its characterized in that in fuselage (3): the fire extinguishing powder storage box is characterized in that a group of crawler structures are arranged on two sides of the machine body (3), a life detector (20) is installed on the front side of the machine body (3), a rotary table (19) is arranged above the front side of the machine body (3), a mechanical arm support (21) is fixed on the rotary table (19), a mechanical arm is fixed in the mechanical arm support (21), the mechanical arm comprises a lower mechanical arm (10) and an upper mechanical arm (11), the lower mechanical arm (10) and the upper mechanical arm (11) are hinged, a hinged part of the lower mechanical arm (10) is related to a motor (16) and driven by a shutdown motor (16), an angle motor (17) is hinged at the hinged part of the lower mechanical arm (10) and the mechanical arm support (21) and driven by the angle motor (17), a spray head (13) is fixed in the middle of the upper mechanical arm (11) through a support, and the spray head (13) is connected with a dry powder storage, the end part of the upper mechanical arm (11) is fixed through a mechanical paw fixing frame (23), a mechanical paw power supply device (15) is arranged at the front end of the upper mechanical arm (11), and a mechanical paw (12) is hinged to the end part of the mechanical paw power supply device (15).
2. The earthquake rescue robot as recited in claim 1, wherein: every group track structure has a front portion structure and a rear portion structure, front portion structure includes triangle link (7), anterior track (8) and anterior crawler belt dish (9), anterior crawler belt dish (9) are installed to the angle department of triangle link (7), anterior track (8) are around on three anterior crawler belt dish (9), the rear portion structure includes rear portion track (4), rear portion crawler belt dish (5) and crawler belt dish link (6), crawler belt dish link (6) both ends respectively have a rear portion crawler belt dish (5), rear portion track (4) are around on two rear portion crawler belt dishes (5).
3. The earthquake rescue robot as recited in claim 1, wherein: the gripper (12) comprises a fixed pressing disc (24), a fixed support (25), a first gear (26), a second gear (27), a support plate (28), a first connecting rod (29), a gasket (30), a nut (31), a third gear (32), a fourth gear (33), a second connecting rod (34), an opening and closing motor (35), a turnover motor (36), a fifth gear (37), a synchronous belt (38) and a synchronous wheel (39), wherein the fixed support (25) is connected with the gripper power supply (15) through the pair of fixed pressing discs (24), the first gear (26) is installed on a rotating shaft of the gripper power supply (15), the first gear (26) is meshed with the second gear (27), the second gear (27) is installed on the rotating shaft of the turnover motor (36), the turnover of the gripper is realized by the driving of the turnover motor (36), the opening and closing motor (35) and the turnover motor (36) are arranged in the support plate (28), the opening and closing motor (35) penetrates through a support plate (28) on one side to be connected with a gear III (32), a connecting rod I (29) and a connecting rod II (34) are arranged in pairs and are respectively arranged on two sides of a claw part of the mechanical claw (12), one end of the connecting rod I (29) and one end of the connecting rod II (34) are fixed on the outer side of the claw part of the mechanical claw (12), the other end of the connecting rod I (29) and the other end of the connecting rod II (34) are fixed on the outer side of the support plate (28) and are fixed through a gasket (30) and a nut (31) and are fixed through a corresponding connecting rod connecting rotating shaft, synchronizing wheels (39) are sleeved on the connecting shaft in the inner connecting rod of the support plate (28) and the connecting shaft in the claw part of the mechanical claw (12), synchronous belts (38) are sleeved on two synchronizing wheels (39) on one side, a gear IV (33) and a gear V (37) are respectively arranged at the end parts, the opening and closing of the claw part of the mechanical claw (12) are realized by the driving of an opening and closing motor (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922198900.2U CN211417440U (en) | 2019-12-10 | 2019-12-10 | Earthquake rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922198900.2U CN211417440U (en) | 2019-12-10 | 2019-12-10 | Earthquake rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211417440U true CN211417440U (en) | 2020-09-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922198900.2U Active CN211417440U (en) | 2019-12-10 | 2019-12-10 | Earthquake rescue robot |
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| Country | Link |
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| CN (1) | CN211417440U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112386842A (en) * | 2020-11-30 | 2021-02-23 | 安徽信息工程学院 | Forest fire prevention and disaster relief robot |
| CN113236947A (en) * | 2021-05-08 | 2021-08-10 | 国网新疆电力有限公司喀什供电公司 | Inspection device for transformer substation |
| CN113877112A (en) * | 2021-10-19 | 2022-01-04 | 徐敏 | Automatic climb building unmanned fire engine of clearance barrier |
| CN115285248A (en) * | 2022-08-25 | 2022-11-04 | 东北电力大学 | Automatic inspection robot for wind power plant |
-
2019
- 2019-12-10 CN CN201922198900.2U patent/CN211417440U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112386842A (en) * | 2020-11-30 | 2021-02-23 | 安徽信息工程学院 | Forest fire prevention and disaster relief robot |
| CN113236947A (en) * | 2021-05-08 | 2021-08-10 | 国网新疆电力有限公司喀什供电公司 | Inspection device for transformer substation |
| CN113877112A (en) * | 2021-10-19 | 2022-01-04 | 徐敏 | Automatic climb building unmanned fire engine of clearance barrier |
| CN115285248A (en) * | 2022-08-25 | 2022-11-04 | 东北电力大学 | Automatic inspection robot for wind power plant |
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