CN213852864U - Intelligent disaster relief robot - Google Patents
Intelligent disaster relief robot Download PDFInfo
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- CN213852864U CN213852864U CN202022010655.0U CN202022010655U CN213852864U CN 213852864 U CN213852864 U CN 213852864U CN 202022010655 U CN202022010655 U CN 202022010655U CN 213852864 U CN213852864 U CN 213852864U
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Abstract
An intelligent disaster relief robot comprises a machine body, a travelling mechanism, a climbing auxiliary mechanism and a control unit, wherein the travelling mechanism and the climbing auxiliary mechanism are arranged on the machine body, and is electrically connected with the control unit, the climbing auxiliary mechanism comprises a guide rod and a planet wheel component, one end of the guide rod is connected with the machine body, and extends downwards in an inclined manner in a direction away from the machine body, the planetary wheel assembly comprises a plurality of planetary wheels, a connecting rod and a rotary table, each planetary wheel is connected with the rotary table through the connecting rod, the plurality of planetary wheels are distributed along the circumferential direction of a circle taking the center of the rotary table as the center of the circle, the rotary table is rotatably arranged at one end of the guide rod away from the machine body, the planetary wheel assembly also comprises a first motor, the first motor is connected with the rotary table and controls the rotary table to rotate, so as to change the elevation angle of the machine body when encountering obstacles, and the advancing mechanism controls the advancing of the intelligent disaster relief robot. The intelligent disaster relief robot can rapidly walk in complex terrains, shorten the rescue time and ensure the safety of rescuers.
Description
Technical Field
The utility model belongs to the technical field of the lifesaving technique and specifically relates to an intelligence relief of disaster robot.
Background
Fires take thousands of people's health and life each year and cause hundreds of millions of economic losses. In the prior art, the disaster relief robot is limited by complicated terrain and narrow channel, so that the disaster relief robot is difficult to effectively move, and meanwhile, a hidden fire source and survivors cannot be accurately and timely extinguished, so that the rescue time is prolonged, and the rescue probability of survivors is reduced.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides an intelligence relief of disaster robot, this intelligence relief of disaster robot can walk in complicated topography comparatively swiftly, shortens the rescue time, ensures rescue personnel safety.
The utility model provides an intelligent disaster relief robot, which comprises a machine body, a traveling mechanism, a climbing auxiliary mechanism and a control unit, wherein the traveling mechanism and the climbing auxiliary mechanism are arranged on the machine body and are electrically connected with the control unit, the climbing auxiliary mechanism comprises a guide rod and a planetary wheel assembly, one end of the guide rod is connected with the machine body and extends downwards in an inclined way in a direction away from the machine body, the planetary wheel assembly comprises a plurality of planetary wheels, a connecting rod and a turntable, each planetary wheel is connected with the turntable through the connecting rod, the plurality of planetary wheels are arranged along the circumferential direction of a circle taking the center of the turntable as the center, the turntable is rotatably arranged on one end of the guide rod away from the machine body, the planetary wheel assembly also comprises a first motor, and the first motor is connected with the turntable, and the turntable is controlled to rotate so as to change the elevation angle of the machine body when encountering an obstacle, and the advancing mechanism controls the intelligent disaster relief robot to advance.
Furthermore, the guide rod is rotatably arranged on the machine body, a first gear is further arranged at one end, connected with the machine body, of the guide rod, a rotatable second gear is further arranged on the machine body, the first gear is meshed with the second gear, the second gear is connected with a second motor, and the second motor controls the second gear to rotate.
Further, the advancing mechanism comprises a driving wheel, a driven wheel and a track wound on the driving wheel and the driven wheel, the driving wheel is connected with a third motor, and the third motor drives the driving wheel to rotate.
Furthermore, the driven wheel is provided with a plurality of driven wheels, and an elastic support is further arranged on the driven wheel positioned on one side of the bottom surface.
Furthermore, the intelligent disaster relief robot comprises a detection device and a fire extinguishing device for extinguishing a fire source, wherein the detection device and the fire extinguishing device are connected with the control unit, and after the detection device finds out the position of the fire source, the control unit controls the fire extinguishing device to extinguish the fire.
Further, the detection device comprises a flame sensor and an infrared temperature sensor which are used for determining the center position and the radius of the fire source.
Further, extinguishing device includes fire extinguishing tank, body, fire extinguishing nozzle, fire extinguisher switch and turns to the steering wheel, fire extinguishing tank is fixed in on the organism, the one end of body with fire extinguishing tank links to each other, and the other end is provided with the fire extinguishing nozzle, fire extinguisher switch is right opening and closing of fire extinguisher controls, turn to the steering wheel set up in on the organism, and with the body links to each other, it is right to turn to the steering wheel through buckling of body, changes the orientation of fire extinguishing nozzle.
Furthermore, the disaster relief robot further comprises a camera and a support, wherein the support is arranged on the machine body, the camera is arranged at one end, away from the machine body, of the support, and the cameras are multiple and face different directions respectively.
Further, the detection device further comprises a life detector for detecting life, a distance detector for detecting the distance between an obstacle or a fire source, and/or a gas sensor for detecting dangerous gas.
Furthermore, the intelligent disaster relief robot also comprises a positioning module for positioning the position of the intelligent disaster relief robot and a wireless transmission module for transmitting information.
To sum up, the utility model discloses a climbing complementary unit and running gear's setting, when disaster relief robot meets the barrier, running gear control robot marches, set up one of them planet wheel on the barrier, first motor drives the rotation of planet wheel subassembly, the planet wheel is in the downward pivoted, can produce an ascending reaction force to the organism, running gear forward motion simultaneously, under the interact of planet wheel subassembly and running gear, the organism can upwards be raised, make running gear cross the barrier then, so that this intelligence disaster relief robot can be more for swiftly walk in complicated topography. When a fire source is detected, the intelligent disaster relief robot automatically extinguishes the fire, so that the rescue time is shortened, and the safety of rescuers is guaranteed. Furthermore, through the cooperation of each sensor, disaster relief personnel can better analyze the disaster situation, thereby carrying out more accurate rescue.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic side view of an axle of an intelligent disaster relief robot according to an embodiment of the present invention.
Fig. 2 is a schematic side view of the intelligent disaster relief robot in fig. 1.
Fig. 3 is a front view of the intelligent disaster relief robot in fig. 1.
Fig. 4 is a schematic top view of the intelligent disaster relief robot in fig. 1.
Fig. 5 is a schematic rear view of the intelligent disaster relief robot in fig. 1.
Fig. 6 is a schematic bottom view of the intelligent disaster relief robot in fig. 1.
Fig. 7 is a system block diagram of the intelligent disaster relief robot.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the intended purpose of the invention, the following detailed description is given with reference to the accompanying drawings and preferred embodiments.
The utility model provides an intelligence relief of disaster robot, this intelligence relief of disaster robot can walk in complicated topography comparatively swiftly, shortens the rescue time, ensures the rescuer safety.
Fig. 1 is a schematic axial-side structural view of an intelligent disaster relief robot according to an embodiment of the present invention, fig. 2 is a schematic side-view structural view of the intelligent disaster relief robot in fig. 1, fig. 3 is a schematic front-view structural view of the intelligent disaster relief robot in fig. 1, fig. 4 is a schematic top-view structural view of the intelligent disaster relief robot in fig. 1, fig. 5 is a schematic rear-view structural view of the intelligent disaster relief robot in fig. 1, fig. 6 is a schematic bottom-view structural view of the intelligent disaster relief robot in fig. 1, and fig. 7 is a system block diagram of the intelligent disaster relief robot. As shown in fig. 1 to 7, an intelligent disaster relief robot according to an embodiment of the present invention includes a body 10, a traveling mechanism 20, a climbing assistance mechanism 30, a detection device 40, a fire extinguishing device 50, and a control unit 90. The traveling mechanism 20, the climbing assisting mechanism 30, the detecting device 40 and the fire extinguishing device 50 are all disposed on the machine body 10, the control unit 90 is electrically connected to the traveling mechanism 20, the climbing assisting mechanism 30, the detecting device 40 and the fire extinguishing device 50, the climbing assisting mechanism 30 includes a guide rod 31 and a planetary wheel assembly 32, one end of the guide rod 31 is connected to the machine body 10, and extends obliquely and downwardly in a direction away from the machine body 10. The planetary wheel assembly 32 includes a plurality of planetary wheels 321, a connecting rod 322, and a rotating disk 323, where each planetary wheel 321 is connected to the rotating disk 323 through the connecting rod 322, the plurality of planetary wheels 321 are arranged along a circumferential direction of a circle using a center of the rotating disk 323 as a center of the circle, the rotating disk 323 is rotatably disposed on one end of the guide rod 31 away from the machine body 10, and the planetary wheel assembly 32 further includes a first motor 324, and the first motor 324 is connected to the rotating disk 323 and controls rotation of the rotating disk 323. The traveling mechanism 20 drives the rescue robot to move, the detection device 40 detects the position of the fire source and transmits the position to the control unit 90, and after the fire source is detected, the control unit 90 starts the fire extinguishing device 50 to extinguish the fire.
In this embodiment, through the arrangement of the climbing assistance mechanism 30 and the traveling mechanism 20, when the disaster relief robot encounters an obstacle, the traveling mechanism 20 controls the robot to travel, and sets one of the planet wheels 321 on the obstacle, the first motor 324 drives the planet wheel assembly 32 to rotate, while the planet wheel 321 rotates downward, an upward reaction force is generated on the machine body 10, and meanwhile, the traveling mechanism 20 moves forward, and under the interaction between the planet wheel assembly 32 and the traveling mechanism 20, the machine body 10 is lifted upward, so that the traveling mechanism 20 drives the intelligent disaster relief robot to cross the obstacle, so that the intelligent disaster relief robot can travel in a complex terrain relatively quickly. When a fire source is detected, the intelligent disaster relief robot automatically extinguishes the fire, so that the rescue time is shortened, and the safety of rescuers is guaranteed.
Further, the guide rod 31 is rotatably disposed on the machine body 10, a first gear 325 is disposed at an end of the guide rod 31 connected to the machine body 10, a second gear 326 is rotatably disposed on the machine body 10, the first gear 325 is engaged with the second gear 326, the second gear 326 is connected to a second motor 327, and the second motor 327 controls the second gear 326 to rotate. The second motor 327 drives the first gear 325 to rotate through the second gear 326, so as to change the included angle between the guide rod 31 and the horizontal plane. By changing the included angle between the guide rod 31 and the horizontal plane, the maximum climbing elevation angle of the robot can be increased, and the capability of the robot for crossing obstacles is improved.
Further, in this embodiment, two climbing assistance mechanisms 30 may be provided, which are respectively disposed on two sides of the machine body 10, so as to ensure the stress balance when the robot climbs a slope. Accordingly, there may be two second gears 326.
The traveling mechanism 20 further includes a driving pulley 21, a driven pulley 22, and a crawler belt 23 wound around the driving pulley 21 and the driven pulley 22. The driven wheel 22 may be plural, and an elastic support 24 is further provided on the driven wheel 22 on the ground side. By providing the crawler 23 type traveling mechanism 20, the robot's ability to cross an obstacle can be increased. The capstan 21 is connected to a third motor 25, and the third motor 25 powers the travel mechanism 20. The third motor 25 may be a dc motor with a reduction mechanism. The control unit 90 adjusts the rotation speeds of the third motors 25 on both sides of the machine body 10 by PWM, respectively, to generate a speed difference for steering and turning control. The voltage of the third motor 25 can be 12V, the speed reduction ratio is 1:100, the maximum torque is 1.0N.M, and the output rotating speed is 15rpm-20 rpm.
Further, the detecting device 40 includes a Flame sensor 41 and an infrared temperature sensor 42, such as a Flame sensor, and a MLX90614-BCC contactless infrared temperature sensor. The highest temperature point is obtained through the infrared temperature sensor, the center position of the fire source is determined by combining the flame sensor, and then the radius of the fire source is calculated.
Extinguishing device 50 includes fire extinguishing tank 51, body 52, fire extinguishing nozzle 53, fire extinguisher switch 54 and turns to steering wheel 55, on fire extinguishing tank 51 was fixed in organism 10, the one end of body 52 linked to each other with fire extinguishing tank 51, the other end is provided with fire extinguishing nozzle 53, fire extinguisher switch 54 controlled opening and closing of extinguishing device 50, turn to steering wheel 55 and set up on organism 10, and link to each other with body 52, through the buckling to body 52, control in order to realize the orientation to fire extinguishing nozzle 53.
Further, intelligence fire-fighting robot still includes camera 61 and lifting support 62, and lifting support 62 sets up on organism 10, and camera 61 sets up in lifting support 62 and keeps away from one of organism 10 and serve, and camera 61 has a plurality ofly, and the different directions of orientation respectively.
Further, the detection device 40 further comprises a life detector 43, which may be an infrared life detector and/or a radar life detector. To find the life in the fire. Specifically, the life detector 43 can detect various micro-movements caused by the life activities of the human body, and obtain information about respiration and heartbeat from the micro-movements, thereby identifying the living body. Wherein radar life detector can not receive the influence of factors such as temperature, humidity, noise, place topography, and the function that its regional was listened has more been increased to the continuous transmission mechanism of electromagnetic signal, has the advantage that the interference killing feature is strong, and the penetrability is strong, surveys the location accuracy etc..
Further, the detecting device 40 further includes a distance detector 44, and the distance detector 44 may include an ultrasonic distance measuring sensor and/or an infrared sensor. The ultrasonic ranging sensor may be located right in front of the robot, and specifically includes an ultrasonic transmitter and an ultrasonic receiver, and through the time difference between the transmission and reception of the ultrasonic wave and the propagation speed of the ultrasonic wave, the distance between the robot and the current obstacle may be calculated, so as to prepare to avoid in advance or cross the obstacle through the climbing assistance mechanism 30. The infrared sensor can also calculate the distance between the front obstacle and the fire source and the body 10 based on the time difference between the transmission and reception of the infrared signal and the infrared propagation speed.
Further, the probe device 40 further includes a Gas Sensor 45, such as an Analog Gas Sensor (MQ9), for detecting hazardous gases such as carbon monoxide, methane, and liquefied petroleum Gas.
Furthermore, the intelligent disaster relief robot further comprises a positioning module 46 for positioning the self position and a wireless transmission module 71 for transmitting information, wherein the wireless transmission module 71 transmits the detection information of each sensor and the self position information to disaster relief personnel, so that the disaster relief personnel can perform better disaster relief work.
To sum up, the utility model discloses a climbing complementary unit 30 and running gear 20's setting, when disaster relief robot runs into the barrier, running gear 20 control robot marches, set up one of them planet wheel 321 on the barrier, first motor 324 drives planet wheel subassembly 32 and rotates, planet wheel 321 is in the pivoted downwards time, can produce an ascending reaction force to organism 10, running gear 20 forward motion simultaneously, under planet wheel subassembly 32 and running gear 20's interact, organism 10 can upwards be raised up, then make running gear 20 cross the barrier, so that this intelligence disaster relief robot can walk in complicated topography for swiftly. When a fire source is detected, the intelligent disaster relief robot automatically extinguishes the fire, so that the rescue time is shortened, and the safety of rescuers is guaranteed. Furthermore, through the cooperation of each sensor, disaster relief personnel can better analyze the disaster situation, thereby carrying out more accurate rescue.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiments, and although the present invention has been disclosed with the preferred embodiments, it is not limited to the present invention, and any skilled person in the art can make some modifications or equivalent changes without departing from the technical scope of the present invention.
Claims (10)
1. An intelligent disaster relief robot, which is characterized in that: the climbing mechanism comprises a machine body, a travelling mechanism, a climbing auxiliary mechanism and a control unit, wherein the travelling mechanism and the climbing auxiliary mechanism are arranged on the machine body and are electrically connected with the control unit, the climbing auxiliary mechanism comprises a guide rod and a planetary wheel assembly, one end of the guide rod is connected with the machine body and extends downwards in an inclined manner in a direction far away from the machine body, the planetary wheel assembly comprises a plurality of planetary wheels, a connecting rod and a turntable, each planetary wheel is connected with the turntable through the connecting rod, the plurality of planetary wheels are arranged along the circumferential direction of a circle with the center of the turntable as the center of the circle, the turntable is rotatably arranged at one end of the guide rod far away from the machine body, the planetary wheel assembly further comprises a first motor, the first motor is connected with the turntable and controls the turntable to rotate so as to change the elevation angle of the machine body when encountering an obstacle, the advancing mechanism controls the intelligent disaster relief robot to advance.
2. The intelligent disaster relief robot of claim 1, wherein: the guide rod is rotatably arranged on the machine body, a first gear is further arranged at one end, connected with the machine body, of the guide rod, a rotatable second gear is further arranged on the machine body, the first gear is meshed with the second gear, the second gear is connected with a second motor, and the second motor controls the second gear to rotate.
3. The intelligent disaster relief robot of claim 1, wherein: the advancing mechanism comprises a driving wheel, a driven wheel and a track wound on the driving wheel and the driven wheel, the driving wheel is connected with a third motor, and the third motor drives the driving wheel to rotate.
4. The intelligent disaster relief robot of claim 3, wherein: the driven wheel is provided with a plurality of driven wheels, and an elastic support is further arranged on the driven wheel positioned on one side of the bottom surface.
5. The intelligent disaster relief robot of claim 1, wherein: the intelligent disaster relief robot comprises a detection device and a fire extinguishing device for extinguishing a fire source, wherein the detection device and the fire extinguishing device are connected with the control unit, and after the detection device detects the position of the fire source, the control unit controls the fire extinguishing device to extinguish the fire.
6. The intelligent disaster relief robot of claim 5, wherein: the detection device comprises a flame sensor and an infrared temperature sensor which are used for determining the central position and the radius of the fire source.
7. The intelligent disaster relief robot of claim 5, wherein: the fire extinguishing device comprises a fire extinguishing tank, a pipe body, a fire extinguishing nozzle, a fire extinguisher switch and a steering engine, wherein the fire extinguishing tank is fixed on the machine body, one end of the pipe body is connected with the fire extinguishing tank, the other end of the pipe body is provided with the fire extinguishing nozzle, the fire extinguisher switch is right for controlling the opening and closing of the fire extinguisher, the steering engine is arranged on the machine body and is connected with the pipe body, and the steering engine is right for bending the pipe body and changing the orientation of the fire extinguishing nozzle.
8. The intelligent disaster relief robot of claim 5, wherein: the disaster relief robot further comprises a camera and a support, wherein the support is arranged on the machine body, the camera is arranged at one end, away from the machine body, of the support, and the cameras are multiple and face different directions respectively.
9. The intelligent disaster relief robot of claim 5, wherein: the detection device further comprises a life detector for detecting life, a distance detector for detecting the distance between an obstacle or a fire source, and/or a gas sensor for detecting dangerous gas.
10. The intelligent disaster relief robot of claim 5, wherein: the intelligent disaster relief robot further comprises a positioning module for positioning the position of the intelligent disaster relief robot and a wireless transmission module for transmitting information.
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| CN202022010655.0U CN213852864U (en) | 2020-09-14 | 2020-09-14 | Intelligent disaster relief robot |
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| CN202022010655.0U CN213852864U (en) | 2020-09-14 | 2020-09-14 | Intelligent disaster relief robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114016362A (en) * | 2021-11-18 | 2022-02-08 | 孙建军 | Road and bridge construction distance marking and dotting equipment and method thereof |
| CN114992446A (en) * | 2022-05-31 | 2022-09-02 | 防灾科技学院 | Detection device for mineral exploration convenient to use |
-
2020
- 2020-09-14 CN CN202022010655.0U patent/CN213852864U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114016362A (en) * | 2021-11-18 | 2022-02-08 | 孙建军 | Road and bridge construction distance marking and dotting equipment and method thereof |
| CN114992446A (en) * | 2022-05-31 | 2022-09-02 | 防灾科技学院 | Detection device for mineral exploration convenient to use |
| CN114992446B (en) * | 2022-05-31 | 2024-02-13 | 防灾科技学院 | Detection device for mineral exploration convenient to use |
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