CN212497797U

CN212497797U - Multifunctional obstacle-surmounting rescue vehicle

Info

Publication number: CN212497797U
Application number: CN202021537827.3U
Authority: CN
Inventors: 陈晗; 王成湖; 黄安东; 吴雄; 叶啸天
Original assignee: Wenzhou University
Current assignee: Wenzhou University
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2021-02-09
Anticipated expiration: 2030-07-29

Abstract

The utility model relates to a multi-functional obstacle-surmounting rescue car, including running gear, chassis and exploration device, running gear installs and advances in chassis and driving chassis, the exploration device is located the chassis and is used for exploring road conditions and look for stranded personnel, the chassis is provided with the arm, the arm has the support end of installing in the installation end on chassis and offsetting with the obstacle eminence, support the end and offset the back with the obstacle eminence, raise the automobile body front end, the support end backward movement of arm, the drive chassis moves forward, make the running gear front end offset with the obstacle eminence, then running gear driving chassis crosses the obstacle. By adopting the scheme, the utility model provides a can stride across multi-functional obstacle rescue car of obstacle.

Description

Multifunctional obstacle-surmounting rescue vehicle

Technical Field

The utility model relates to an emergency rescue instrument technical field, concretely relates to multi-functional rescue car of crossing obstacles.

Background

At present, the demand of rescue and emergency equipment for dealing with geological disasters is urgent. Building wreckage piles with complex conditions can be left on disaster sites such as earthquakes and house collapse, rescue workers cannot directly enter rescue due to secondary collapse and secondary disasters, assistance of a small intelligent rescue vehicle is needed, the small intelligent rescue vehicle generally comprises a walking device, a chassis and a searching device, the walking device is installed on the chassis and drives the chassis to advance, and the searching device is located on the chassis and used for searching road conditions and searching trapped people.

At present, some developed obstacle-crossing rescue vehicles have better actual functions, but still have obvious defects. When the vehicle faces some step-type obstacles or higher obstacles, wheels of the rescue vehicle are difficult to cross, and the rescue exploration action is hindered.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a can stride across multi-functional obstacle-surmounting rescue car of multiple obstacle to the not enough of prior art existence.

In order to achieve the above purpose, the utility model provides a following technical scheme: the chassis is provided with the arm, and the arm has the installation end of installing in the chassis and supports the end with the support that the obstacle eminence offseted, supports the end and offsets the back with the obstacle eminence, raises the automobile body front end, and the support end of arm moves backward, drives the chassis and moves forward, makes running gear front end and obstacle eminence offset, and running gear drives the chassis and crosses the obstacle then.

Through adopting above-mentioned technical scheme, when multi-functional obstacle-surmounting rescue car met higher obstacle, it was difficult to surmount only to rely on running gear, installs the arm on the chassis, raises the automobile body front end through the extension of arm, then the arm shrink just with the chassis forward area, makes the running gear front end offset with the eminence of obstacle, then through running gear drive chassis, accomplishes the leap over to the obstacle, multi-functional obstacle-surmounting rescue car can go on multiple complicated road, the supplementary work of searching and rescuing that accomplishes.

The utility model discloses further set up to: the mechanical arm comprises a driving arm, an extension arm, a poking arm and a driving motor which are sequentially arranged, the driving motor is provided with a motor shaft in a driving mode, one end of the driving arm is fixed on the chassis, the other end of the driving arm is used for installing the extension arm, one end of the extension arm is provided with an extension shaft hinged with the driving arm, the other end of the extension arm is used for installing the poking arm, one end of the poking arm is provided with a poking shaft hinged with the extension arm, the other end of the poking arm is used as a supporting end in contact with the high position of the obstacle, the motor shaft is respectively provided with an extension motor belt wheel and a contraction motor belt wheel which synchronously rotate with the motor shaft, the poking shaft is provided with an extension poking belt wheel and a contraction poking belt wheel which synchronously rotate, the extension arm is provided with a first belt wheel, a second belt wheel, a third belt wheel and a fourth belt wheel which synchronously rotate with The wheel mechanism, between first band pulley and the extension motor band pulley, between second band pulley and the shrink motor band pulley, between third band pulley and the extension toggle band pulley and between fourth band pulley and the shrink toggle band pulley constitute the transmission cooperation of both through the hold-in range, and extension motor band pulley is the same with first band pulley radius, and the third band pulley radius is less than extension toggle band pulley, and shrink motor band pulley is the same with the second band pulley radius, and the fourth band pulley radius is greater than shrink toggle band pulley.

By adopting the technical scheme, the driving motor rotates forwards, the driving motor shaft rotates, then the extension motor belt wheel positioned on the motor shaft rotates, the extension motor belt wheel drives the first belt wheel to rotate through the extension synchronous belt, the extension shaft rotates along with the first belt wheel, the third belt wheel positioned on the extension shaft also starts to rotate, the fourth belt wheel positioned on the extension shaft cannot rotate along with the extension shaft due to the existence of the second ratchet mechanism, the third belt wheel also drives the extension toggle belt wheel to rotate through the extension synchronous belt, the dial shaft rotates along with the extension toggle belt wheel, so that the extension process of the whole mechanical arm is completed, in the process of mechanical arm contraction, the reverse rotation of the driving motor can be completed, and because the radius of the third belt wheel is smaller than that of the extension toggle belt wheel, the extension speed of the extension arm is faster than that of the dial arm in the extension process of the mechanical arm, the collision between the shifting arm and the driving arm in the extending process is avoided, the radius of the fourth belt wheel is larger than that of the retracting shifting belt wheel, so that the extending speed of the extending arm is slower than that of the shifting arm in the retracting process of the mechanical arm, the mechanical arm has the action of pulling backwards in the retracting process, the mechanical arm can drive the chassis to move forwards in the crossing process of the obstacle, the purpose of crossing the obstacle is achieved, the extending and retracting of the mechanical arm can be completed by using one driving motor, the cost is saved, the weight of the mechanical arm is reduced, the flexibility of the mechanical arm is enhanced, different transmission mechanisms are adopted for the extending and retracting processes, the rotating speeds of the shifting arm and the extending arm in the extending process are different, the shifting arm and the extending arm of the mechanical arm cannot collide in the extending process, and the shifting arm can drive the vehicle body to move forwards in the retracting process.

The utility model discloses further set up to: the retractable toggle belt wheel is sleeved on the toggle shaft, the linkage block is arranged on the periphery of the toggle shaft, a plurality of linkage grooves matched with the linkage block in shape are formed in the inner periphery of the retractable toggle belt wheel and are uniformly distributed on the inner periphery of the retractable toggle belt wheel to form circumferential transmission matching of the retractable toggle belt wheel and the toggle shaft, a clutch mechanism is arranged between the retractable toggle belt wheel and the toggle shaft and comprises a clutch linear motor, the clutch linear motor is mounted on the toggle arm and drives a telescopic rod which is arranged to extend relative to the retractable toggle belt wheel, a clutch linkage groove is formed in the end face, facing the clutch linear motor, of the retractable toggle belt wheel, the other end of the telescopic rod relative to the clutch linear motor is limited in the clutch linkage groove, and when the telescopic rod extends, the linkage state is switched between a release state in which the linkage block and the linkage groove are.

By adopting the technical scheme, because the radius of the third belt wheel is smaller than that of the extension toggle belt wheel, and the radius of the fourth belt wheel is larger than that of the retraction toggle belt wheel, the toggle arm is contracted first but the extension arm is not completely contracted when the toggle arm is contracted, the driving motor still runs, and the toggle arm can continuously impact the extension arm, so that the situation is avoided, a clutch mechanism is arranged on the toggle arm, after the toggle arm finishes the contraction action, the telescopic rod is driven by the clutch linear motor to extend, the telescopic rod pushes the retraction toggle belt wheel to separate the linkage block from the linkage groove, the toggle shaft does not rotate along with the retraction toggle belt wheel any more, the relative rotation of the toggle arm and the extension arm is stopped until the mechanical arm finishes the whole contraction action, the clutch linear motor drives the telescopic rod to retract when the mechanical arm starts to extend again, and the retraction toggle belt wheel can be brought back to the original position by the, the linkage block and the linkage groove are restored to the linkage state again, a clutch linear motor with low power is added, and on the premise that the flexibility of the mechanical arm is not greatly influenced, the problem that the poking arm completes the action earlier than the extending arm under the condition that the mechanical arm is contracted is solved.

The utility model discloses further set up to: the chassis is provided with towards the dish and towards the motor, and it is rotatory under the drive towards the motor towards the dish level rotation in the chassis towards the dish, and the arm is installed on towards the dish, is provided with coaxial pivoted first towards the band pulley towards the dish bottom, is provided with the second towards the band pulley towards the motor, is provided with towards the hold-in range between first towards the band pulley and the second towards the band pulley.

Through adopting above-mentioned technical scheme, because the radius ratio between the inside band pulley of arm is fixed, the action that leads to the extension of arm and shrink is fixed, so set up a orientation dish bottom the arm, make the arm can rotate on horizontal position, let the arm possess more actions, the arm can not only help strideing across the obstacle, the arm also can be used for cleaing away the obstacle in chassis the place ahead in addition.

The utility model discloses further set up to: the walking device comprises a crawler belt wheel set and other wheel sets, the crawler belt wheel set is arranged at the front end of the chassis, the crawler belt wheel set is symmetrically arranged at the left side and the right side of the front end of the chassis, the crawler belt wheel set comprises a crawler belt motor and a crawler belt fixing frame, the crawler belt fixing frame is respectively arranged at the left side and the right side of the front end of the chassis, the crawler belt motor is arranged at the inner side of the crawler belt fixing frame and is provided with a driving crawler belt shaft which is vertical and penetrates through the crawler belt fixing frame, the driving crawler belt shaft is provided with a driving wheel which rotates synchronously relative to the other end of the crawler belt motor, the front end of the crawler belt fixing frame relative to the position of the driving crawler belt shaft is provided with a driven crawler belt shaft, the driven crawler belt shaft is provided with a driven wheel which rotates synchronously relative to the other end of the crawler belt, the other wheel sets comprise a rear wheel fixing frame and a rear wheel motor, the rear wheel fixing frame is respectively fixed on the left side surface and the right side surface of the rear end of the chassis, the rear wheel motor is respectively arranged on the inner side of the rear wheel fixing frame and is provided with a rear wheel shaft rotating relative to the rear wheel fixing frame, the other end of the rear wheel shaft relative to the rear wheel motor is provided with a rear wheel, and the rear wheel motor drives the rear wheel shaft to drive the rear wheel to rotate.

Through adopting above-mentioned technical scheme, set up the track wheelset in chassis the place ahead, and the track is the inclination with ground for when meetting the obstacle, the track can have more area of contact with the obstacle, increases the ability of grabbing of track wheelset, and other wheelsets play the supporting role to the chassis, guarantee that the automobile body does not turn on one's side and backward slide.

The utility model discloses further set up to: the chassis is provided with a rollover-prevention linear motor and two sets of rollover-prevention mechanisms, the rollover-prevention mechanisms are symmetrically arranged on two sides of the chassis, the rollover-prevention linear motor is horizontally arranged in the middle of the chassis and is driven to be provided with a rollover-prevention telescopic rod, the rollover-prevention telescopic rod is provided with a rollover-prevention sliding block which synchronously moves with the rollover-prevention telescopic rod, the rollover-prevention mechanism comprises a rollover-prevention connecting rod and a rollover-prevention V-shaped crank, a V-shaped opening of the rollover-prevention V-shaped crank faces upwards, the V-shaped turn is hinged to the chassis, the V-shaped end of the rollover-prevention V-shaped crank serves as a supporting end for supporting the chassis to restore the original state when the chassis turns over, the other end of the rollover-prevention linear motor serves as a linkage end of the rollover-prevention linear.

By adopting the technical scheme, when the vehicle body is about to turn on one's side, the anti-rollover linear motor drives the anti-rollover telescopic rod to move to drive the anti-rollover sliding block to move towards the direction about to turn on one's side, so that the anti-rollover connecting rod moves correspondingly, the supporting end of the anti-rollover V-shaped crank rotates outwards towards the chassis until the supporting end contacts with the ground, the vehicle body stops turning on one's side, the supporting end of the anti-rollover V-shaped crank continues to rotate outwards, and the vehicle body is restored to the normal driving state through the interaction of the supporting end and the ground.

The utility model discloses further set up to: the exploration device comprises a holder, an infrared camera, an ultrasonic sensor and a temperature and humidity sensor, wherein the holder is arranged on a chassis, the infrared camera is mounted on the holder, and the ultrasonic sensor and the temperature and humidity sensor are respectively arranged on the chassis.

Through adopting above-mentioned technical scheme, set up the exploration device on the chassis, infrared camera can be rotatory in level and vertical direction through the cloud platform, provides more fields of vision and bigger possibility discovery survivor, and ultrasonic sensor can know the obstacle around the chassis, can select the optimal route of traveling, and temperature and humidity sensor obtains the temperature and the humidity condition around the automobile body, avoids getting into too abominable environment.

The utility model discloses further set up to: the first ratchet mechanism and the second ratchet mechanism both comprise a ratchet wheel and a reset spring, a stop block which is attached to the periphery of the ratchet wheel is arranged on an extension motor belt wheel or a contraction motor belt wheel corresponding to the ratchet wheel, the stop block has a linkage state and a slipping state, the stop block is clamped with the peripheral surface of the ratchet wheel when in the linkage state to form circumferential linkage matching of the ratchet wheel and the extension motor belt wheel or the contraction motor belt wheel, the stop block slides along the peripheral surface of the ratchet wheel when in the slipping state, the circumferential linkage matching of the ratchet wheel and the extension motor belt wheel or the contraction motor belt wheel is cancelled, and the reset spring resets the stop block to the peripheral surface of the ratchet wheel.

By adopting the technical scheme, when the first ratchet mechanism and the second ratchet mechanism enable the driving motor to rotate in the forward direction, the stop block on the first ratchet mechanism is in a linkage state, the first ratchet mechanism and the third belt wheel rotate synchronously to complete the stretching action, the stop block on the second ratchet mechanism is in a slipping state, the fourth belt wheel does not rotate, otherwise, when the driving motor rotates reversely, the third belt wheel does not rotate, and the fourth belt wheel and the second ratchet mechanism rotate synchronously.

Drawings

Fig. 1 is a schematic view of the overall structure of the multifunctional obstacle-surmounting rescue vehicle provided by the utility model;

fig. 2 is a schematic structural view of a mechanical arm according to the present invention;

fig. 3 is a schematic view of an internal structure of a robot arm according to the present invention;

fig. 4 is a schematic view of a clutch mechanism according to the present invention;

fig. 5 is a cross-sectional view of a clutch mechanism according to the present invention;

fig. 6 is a schematic view of a direction disk and a direction motor according to the present invention;

fig. 7 is a schematic structural view of a chassis and a traveling device according to the present invention;

fig. 8 is a schematic structural view of a side-turning prevention mechanism according to the present invention;

fig. 9 is a schematic structural view of a ratchet mechanism according to the present invention;

fig. 10 is a schematic view of a cradle head structure according to the present invention.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1-10, the utility model discloses a multifunctional obstacle-surmounting rescue vehicle, which comprises a chassis 1, wherein a mechanical arm 2 is arranged on the chassis 1, the mechanical arm 2 is provided with a mounting end 231 mounted on the chassis 1 and a supporting end 211 abutted against the high position of an obstacle, the front end of a vehicle body 10 is raised after the supporting end 211 is abutted against the high position of the obstacle, the supporting end 211 of the mechanical arm 2 moves backwards to drive the chassis 1 to move forwards, so that the front end of a walking device 8 is abutted against the high position of the obstacle, then the walking device 8 drives the chassis 1 to cross the obstacle, when the multifunctional obstacle-surmounting rescue vehicle encounters a higher obstacle, the walking device 8 is difficult to cross, the mechanical arm 2 is mounted on the chassis 1, the front end of the vehicle body 10 is raised by the extension of the mechanical arm 2, then the mechanical arm 2 is contracted and the chassis 1 is brought forwards, so that the front end of the walking device 8 is abutted against the high position of the, the multifunctional obstacle-crossing rescue vehicle can run on various complex roads to assist in completing search and rescue work.

The mechanical arm 2 comprises a driving arm 23, an extension arm 22, a toggle arm 21 and a driving motor 284 which are sequentially arranged, the driving motor 284 is provided with a motor shaft 281 in a driving manner, one end of the driving arm 23 is fixed on the chassis 1, the other end of the driving arm is used for installing the extension arm 22, one end of the extension arm 22 is provided with an extension shaft 282 hinged with the driving arm 23, the other end of the extension arm is used for installing the toggle arm 21, one end of the toggle arm 21 is provided with a toggle shaft 283 hinged with the extension arm 22, the other end of the toggle arm is used as a supporting end 211 contacted with a barrier high place, the motor shaft 281 is respectively provided with an extension motor belt wheel 261 and a contraction motor belt wheel 271 which rotate synchronously with the motor shaft 281, the toggle shaft 283 is provided with an extension toggle belt wheel 264 and a contraction toggle belt wheel 274 which rotate synchronously, the extension arm 22 is provided with a first belt wheel 262, a second belt wheel 272, a third belt wheel 263 and a fourth 251, a second ratchet mechanism 252 which is in circumferential linkage with the driving motor 284 when the driving motor 284 rotates reversely is arranged between the fourth pulley 273 and the extension shaft 282, transmission coordination of the first pulley 262 and the extension motor pulley 261, the second pulley 272 and the contraction motor pulley 271, the third pulley 263 and the extension toggle pulley 264 and the fourth pulley 273 and the contraction toggle pulley 274 are formed by a synchronous belt 29, the extension motor pulley 261 and the first pulley 262 have the same radius, the third pulley 263 has a smaller radius than the extension toggle pulley 264, the contraction motor pulley 271 and the second pulley 272 have the same radius, the fourth pulley 273 has a larger radius than the contraction toggle pulley 274, the driving motor 284 rotates positively, the driving motor 284 rotates, the extension motor pulley 261 on the motor shaft 281 rotates, the extension motor 261 drives the first pulley 262 to rotate through the synchronous belt 29, the extension shaft 282 rotates along with the first pulley 262, the third pulley 263 on the extending shaft 282 also starts to rotate, and the fourth pulley 273 on the extending shaft 282 will not rotate along with the extending shaft 282 due to the existence of the second ratchet mechanism 252, the third pulley 263 also drives the extending toggle pulley 264 to rotate through the synchronous belt 29, the toggle shaft 283 rotates along with the extending toggle pulley 264, so as to complete the extending process of the whole mechanical arm 2, and during the retracting process of the mechanical arm 2, the driving motor 284 rotates reversely, and because the radius of the third pulley 263 is smaller than that of the extending toggle pulley 264, the extending speed of the extending arm 22 is faster than that of the toggle arm 21 during the extending process of the mechanical arm 2, so as to avoid the collision between the toggle arm 21 and the driving arm 23 during the extending process, the radius of the fourth pulley 273 is larger than that of the retracting toggle pulley 274, and during the retracting process of the mechanical arm 2, the extending speed of the extending arm 22 is slower than that of the toggle arm 21, the mechanical arm 2 is retracted to move backwards, so that the mechanical arm 2 can drive the chassis 1 to move forwards when crossing obstacles, the purpose of crossing obstacles is achieved, the mechanical arm 2 can be extended and retracted by using one driving motor 284, the cost is saved, meanwhile, the weight of the mechanical arm 2 is reduced, the flexibility of the mechanical arm 2 is enhanced, different transmission mechanisms are adopted for extension and retraction, the rotation rates of the poking arm 21 and the extending arm 22 during extension and retraction are different, the poking arm 21 and the extending arm 22 of the mechanical arm 2 can not collide when being extended, and the poking arm 21 can drive the vehicle body 10 to move forwards when being retracted.

The retractable toggle belt wheel 274 is sleeved on the toggle shaft 283, the linkage block 2854 is arranged on the periphery of the toggle shaft 283, the inner periphery of the retractable toggle belt wheel 274 is provided with a plurality of linkage grooves 2855 matched with the linkage block 2854 in shape, the plurality of linkage grooves 2855 are uniformly distributed on the inner periphery of the retractable toggle belt wheel 274 to form circumferential transmission fit of the retractable toggle belt wheel 274 and the toggle shaft 283, a clutch mechanism 285 is arranged between the retractable toggle belt wheel 274 and the toggle shaft 283, the clutch mechanism 285 comprises a clutch linear motor 2851, the clutch linear motor 2851 is arranged on the toggle arm 21 and drives a telescopic rod 2852 which is arranged to extend and retract relative to the retractable toggle belt wheel 274, a clutch linkage groove 2853 is arranged on the end surface of the retractable toggle belt wheel 274 facing the clutch linear motor 2851, the other end of the telescopic rod 2852 relative to the clutch linear motor 2851 is limited in the clutch linkage groove 2853, when the telescopic rod 2852 extends and retracts, the linkage block 2854 is switched between a separation state where the linkage grooves, because the radius of the third belt wheel 263 is smaller than that of the extended toggle belt wheel 264, and the radius of the fourth belt wheel 273 is larger than that of the retracted toggle belt wheel 274, so that the toggle arm 21 finishes retraction first and the extension arm 22 is not yet fully retracted when retracting, the driving motor 284 is still running, and the toggle arm 21 continuously impacts the extension arm 22, therefore, to avoid this situation, the toggle arm 21 is provided with a clutch mechanism 285, so that after the toggle arm 21 finishes retraction, the clutch linear motor 2851 drives the telescopic rod 2852 to extend, the telescopic rod 2852 pushes the retracted toggle belt wheel 274 to separate the linkage block 2854 from the linkage groove 2855, the toggle shaft 21 does not rotate along with the retracted toggle belt wheel 274 any more, the relative rotation between the toggle arm 21 and the extension arm 22 is also stopped until the mechanical arm 2 finishes the entire retraction, and the clutch linear motor 2851 drives the telescopic rod 2852 to retract when the mechanical arm 2 starts to extend again, the retracting rod 2852 can bring the retracting toggle belt wheel 274 back to the original position, the linkage block 2854 and the linkage groove 2855 are restored to the linkage state again, the clutch linear motor 2851 with low power is added, and on the premise that the flexibility of the mechanical arm 2 is not greatly influenced, the problem that the toggle arm 21 completes the action earlier than the extending arm 22 under the condition that the mechanical arm 2 retracts is solved.

The chassis 1 is provided with a facing disc 24 and a facing motor 241, the facing disc 24 horizontally rotates on the chassis 1 and rotates under the driving of the facing motor 241, the mechanical arm 2 is mounted on the facing disc 24, the bottom of the facing disc 24 is provided with a first facing belt wheel 242 coaxially rotating, the facing motor 241 is provided with a second facing belt wheel 243, a facing synchronous belt 244 is arranged between the first facing belt wheel and the second facing belt wheel, and the extending and retracting actions of the mechanical arm 2 are fixed due to the fixed radius ratio between the belt wheels inside the mechanical arm 2, so the bottom of the mechanical arm 2 is provided with the facing disc 24, the mechanical arm 2 can rotate on the horizontal position, the mechanical arm 2 can have more actions, the mechanical arm 2 can help to cross obstacles, and the mechanical arm 2 can also be used for clearing obstacles in front of the chassis 1.

The walking device 8 comprises a crawler belt wheel group 82 and other wheel groups 81, the crawler belt wheel group 82 is arranged at the front end of the chassis 1, the crawler belt wheel group 82 is symmetrically arranged at the left and right sides of the front end of the chassis 1, the crawler belt wheel group 82 comprises a crawler motor 825 and a crawler fixing frame 826, the crawler fixing frame 826 is respectively arranged at the left and right sides of the front end of the chassis 1, the crawler motor 825 is arranged inside the crawler fixing frame 826 and is provided with a driving crawler shaft 824 which is vertical to and penetrates through the crawler fixing frame 826, the driving crawler shaft 824 is provided with a driving wheel 821 which synchronously rotates relative to the other end of the crawler motor 825, the front end of the crawler fixing frame 826 relative to the driving crawler shaft 824 is provided with a driven crawler shaft 823, the driven wheel 822 which synchronously rotates relative to the other end of the crawler fixing frame 826 is provided with a driven wheel 822, the position of the driven wheel 822 is higher than the, the crawler belt 827 forms an inclined angle with the horizontal plane, other wheel sets 81 are symmetrically arranged at the left side and the right side of the chassis 1, the other wheel set 81 comprises a rear wheel fixing frame 813 and a rear wheel motor 811, the rear wheel fixing frame 813 is respectively fixed on the left side surface and the right side surface of the rear end of the chassis 1, the rear wheel motor 811 is respectively arranged at the inner side of the rear wheel fixing frame 813 and is provided with a rear wheel shaft 814 which rotates relative to the rear wheel fixing frame 813, the other end of the rear wheel shaft 814 relative to the rear wheel motor 811 is provided with a rear wheel 812, the rear wheel shaft 814 is driven by the rear wheel motor 811 to drive the rear wheel 812 to rotate, the track roller set 82 is provided in front of the chassis 1, and the track 827 is inclined to the ground, so that when an obstacle is encountered, the track 827 provides more contact area with the obstacle, increasing the traction of the track roller set 82, and the other wheel sets 81 play a supporting role for the chassis 1, so as to ensure that the vehicle body 10 does not turn over and slide backwards.

The chassis 1 is provided with a rollover prevention linear motor 42 and two sets of rollover prevention mechanisms 41, the rollover prevention linear motors 41 are symmetrically arranged at two sides of the chassis 1, the rollover prevention linear motors 42 are horizontally arranged at the middle part of the chassis 1 and are provided with rollover prevention telescopic rods 43 in a driving manner, the rollover prevention telescopic rods 43 are provided with rollover prevention sliders 44 moving synchronously with the rollover prevention telescopic rods 43, the rollover prevention mechanisms 41 comprise rollover prevention connecting rods 412 and rollover prevention V-shaped cranks 411, V-shaped openings of the rollover prevention V-shaped cranks 411 face upwards, the V-shaped turns are hinged to the chassis 1, V-shaped ends of the rollover prevention V-shaped cranks 411 are used as support low ends 4111 for supporting the chassis 1 to restore when the chassis 1 rolls over, the other ends are used as linkage ends 4112 connected with the rollover prevention linear motors 42, rollover prevention connecting rods 412 hinged to the linkage ends 4112 and the rollover prevention sliders 44 are arranged between the linkage ends 4112 and the rollover prevention sliders 44, when, the anti-rollover linear motor 42 drives the anti-rollover telescopic rod 43 to move to drive the anti-rollover slider 44 to move towards the direction of about to rollover, so that the anti-rollover connecting rod 412 moves correspondingly, then the support low end 4111 of the anti-rollover V-shaped crank 411 rotates outwards towards the chassis 1 until the support low end 4111 contacts with the ground, the vehicle body 10 stops rollover, the support low end 4111 of the anti-rollover V-shaped crank 411 continues to rotate outwards, and the vehicle body 10 is restored to a normal driving state through interaction of the support low end 4111 and the ground.

Exploration device 3 includes cloud platform 32, infrared camera 31, ultrasonic sensor 5 and temperature and humidity sensor 6, cloud platform 32 sets up on chassis 1, install infrared camera 31 on cloud platform 32, be provided with ultrasonic sensor 5 and temperature and humidity sensor 6 on the chassis 1 respectively, set up exploration device 3 on the chassis 1, infrared camera 31 can be rotatory in level and vertical direction through cloud platform 32, provide more fields of vision and bigger possibility discovery survivors, ultrasonic sensor 5 can know the obstacle around the chassis 1, can select the optimal route of traveling, temperature and humidity sensor 6 obtains the temperature and the humidity condition around automobile body 10, avoid getting into too abominable environment.

The first ratchet mechanism 251 and the second ratchet mechanism 252 both comprise a ratchet 2512 and a return spring 2514, a stop block 2513 which is attached to the periphery of the ratchet 2512 is arranged on an extension motor belt pulley 261 or a contraction motor belt pulley 271 which corresponds to the ratchet 2512, the stop block 2513 has a linkage state and a slip state, the stop block 2513 is clamped with the peripheral surface of the ratchet 2512 when in the linkage state to form circumferential linkage fit of the ratchet 2512 and the extension motor belt pulley 261 or the contraction motor belt pulley 271, the stop block 2513 slides along the peripheral surface of the ratchet 2512 when in the slip state, the circumferential linkage fit of the ratchet 2512 and the extension motor belt pulley 261 or the contraction motor belt pulley 271 is cancelled, the return spring 2513 returns the stop block 2513 to the peripheral surface of the ratchet 2512, when the drive motor 284 is driven by the first ratchet mechanism 251 and the second ratchet mechanism 252 in forward rotation, the stop block 251 on the first ratchet mechanism 251 is in the linkage state, and the first ratchet mechanism 251 and the third belt pulley 263 rotate synchronously, the extending action is completed, and the stop block 2513 on the second ratchet mechanism 252 is in a slipping state, the fourth belt wheel 273 does not rotate, whereas when the driving motor 284 rotates reversely, the third belt wheel 263 does not rotate, and the fourth belt wheel 273 rotates synchronously with the second ratchet mechanism 252.

Claims

1. The utility model provides a multi-functional obstacle-surmounting rescue car, includes running gear, chassis and exploration device, running gear installs in the chassis and drives the chassis and gos forward, exploration device be located the chassis and be used for exploring the road conditions and look for stranded personnel, its characterized in that: the chassis be provided with the arm, the arm have the installation end of installing in the chassis and with the support end that the obstacle eminence offseted, support the end and offset the back with the obstacle eminence, raise the automobile body front end, the support end of arm moves backward, drives the chassis and moves forward, makes running gear front end and obstacle eminence offset, then running gear drive chassis crosses the obstacle.

2. The multifunctional obstacle-surmounting rescue vehicle as claimed in claim 1, characterized in that: the mechanical arm comprises a driving arm, an extension arm, a poking arm and a driving motor which are sequentially arranged, the driving motor is provided with a motor shaft in a driving mode, one end of the driving arm is fixed on the chassis, the other end of the driving arm is used for installing the extension arm, one end of the extension arm is provided with an extension shaft hinged with the driving arm, the other end of the extension arm is used for installing the poking arm, one end of the poking arm is provided with a poking shaft hinged with the extension arm, the other end of the poking arm is used as a supporting end in contact with the high part of the obstacle, the motor shaft is respectively provided with an extension motor belt wheel and a contraction motor belt wheel which rotate synchronously with the motor shaft, the poking shaft is provided with an extension poking belt wheel and a contraction poking belt wheel which rotate synchronously, the extension arm is provided with a first belt wheel, a second belt wheel, a third belt wheel and a fourth belt wheel which, and a second ratchet mechanism which is in circumferential linkage with the driving motor when the driving motor rotates reversely is arranged between the fourth belt wheel and the extension shaft, transmission matching between the first belt wheel and the extension motor belt wheel, between the second belt wheel and the retraction motor belt wheel, between the third belt wheel and the extension toggle belt wheel and between the fourth belt wheel and the retraction toggle belt wheel is formed by synchronous belts, the extension motor belt wheel and the first belt wheel have the same radius, the third belt wheel has the radius smaller than that of the extension toggle belt wheel, the retraction motor belt wheel and the second belt wheel have the same radius, and the fourth belt wheel has the radius larger than that of the retraction toggle belt wheel.

3. The multifunctional obstacle-surmounting rescue vehicle as claimed in claim 2, characterized in that: the retractable toggle belt wheel is sleeved on the toggle shaft, the periphery of the toggle shaft is provided with a linkage block, the inner periphery of the retractable toggle belt wheel is provided with a plurality of linkage grooves matched with the linkage blocks in shape, the plurality of linkage grooves are uniformly distributed on the inner periphery of the retractable toggle belt wheel to form circumferential transmission fit of the retractable toggle belt wheel and the toggle shaft, a clutch mechanism is arranged between the contraction toggle belt wheel and the toggle shaft, the clutch mechanism comprises a clutch linear motor, the clutch linear motor is arranged on the poking arm and drives a telescopic rod which is provided with a poking belt wheel which is relatively contracted and stretched, the end surface of the retractable toggle belt wheel facing the clutch linear motor is provided with a linkage groove, the other end of the retractable rod opposite to the clutch linear motor is limited in the linkage groove, when the telescopic rod stretches, the linkage block and the linkage groove are in a staggered separation state and a linkage state opposite to the linkage groove in position.

4. The multifunctional obstacle-surmounting rescue vehicle as claimed in claim 1, characterized in that: the chassis is provided with a facing disk and a facing motor, the facing disk horizontally rotates on the chassis and rotates under the driving of the facing motor, and the mechanical arm is installed on the facing disk.

5. The multifunctional obstacle-surmounting rescue vehicle as claimed in claim 1, characterized in that: the walking device comprises a crawler belt wheel set and other wheel sets, the crawler belt wheel set is arranged at the front end of the chassis, the crawler belt wheel set is symmetrically arranged at the left side and the right side of the front end of the chassis, the crawler belt wheel set comprises a crawler motor and a crawler belt fixing frame, the crawler belt fixing frame is respectively arranged at the left side and the right side of the front end of the chassis, the crawler motor is arranged at the inner side of the crawler belt fixing frame and is provided with a driving crawler shaft which is vertical to and penetrates through the crawler belt fixing frame, the driving crawler belt shaft is provided with a driving wheel which rotates synchronously relative to the other end of the crawler belt motor, the front end of the crawler belt fixing frame relative to the position of the driving crawler belt shaft is provided with a driven crawler belt shaft, the driven crawler belt shaft is provided with a driven wheel which rotates synchronously relative to the other end of the crawler belt fixing frame, the, the other wheel sets comprise a rear wheel fixing frame and a rear wheel motor, the rear wheel fixing frame is respectively fixed on the left side surface and the right side surface of the rear end of the chassis, the rear wheel motor is respectively installed on the inner side of the rear wheel fixing frame and drives a rear wheel shaft which rotates relative to the rear wheel fixing frame, a rear wheel is arranged at the other end, opposite to the rear wheel motor, of the rear wheel shaft, and the rear wheel shaft is driven by the rear wheel motor to drive the rear wheel to rotate.

6. The multifunctional obstacle-surmounting rescue vehicle as claimed in claim 1, characterized in that: the chassis on be provided with and prevent linear electric motor and two sets of mechanisms of turning on one's side, each the mechanism of turning on one's side symmetrical installation in chassis both sides, prevent that the linear electric motor horizontal installation of turning on one's side is provided with in chassis middle part and drive and prevent the telescopic link of turning on one's side, prevent that the telescopic link of turning on one's side is equipped with and prevents the slider of turning on one's side of the telescopic link synchronous motion of turning on one's side, the mechanism of turning on one's side including preventing the connecting rod of turning on one's side and preventing the V type crank of turning on one's side, the V-shaped opening of the V type crank of preventing turning on one's side towards the top, and the V-shaped turn is articulated in chassis, the V-shaped one end of preventing turning on one's side as the support end of supporting the chassis.

7. The multifunctional obstacle-surmounting rescue vehicle as claimed in claim 1, characterized in that: the exploration device comprises a holder, an infrared camera, an ultrasonic sensor and a temperature and humidity sensor, wherein the holder is arranged on a chassis, the infrared camera is mounted on the holder, and the ultrasonic sensor and the temperature and humidity sensor are respectively arranged on the chassis.

8. The multifunctional obstacle-surmounting rescue vehicle as claimed in claim 2, characterized in that: the first ratchet mechanism and the second ratchet mechanism both comprise a ratchet wheel and a reset spring, a stop block which is attached to the periphery of the ratchet wheel is arranged on an extension motor belt wheel or a contraction motor belt wheel corresponding to the ratchet wheel, the stop block has a linkage state and a slipping state, the stop block is clamped with the peripheral surface of the ratchet wheel when in the linkage state to form circumferential linkage matching of the ratchet wheel and the extension motor belt wheel or the contraction motor belt wheel, the stop block slides along the peripheral surface of the ratchet wheel when in the slipping state to cancel the circumferential linkage matching of the ratchet wheel and the extension motor belt wheel or the contraction motor belt wheel, and the reset spring resets the stop block to the peripheral surface of the ratchet wheel.