CN214818535U - Novel rescue robot - Google Patents

Abstract

A novel rescue robot relates to the field of fire rescue. Comprises a robot main body, a mechanical arm, a tool rack and an accessory. The mechanical arm and the tool rack are both arranged on the robot main body. The mechanical arm is provided with a connecting part which is detachably connected with the accessory. The tool rack is provided with a plurality of mounting positions, each mounting position comprises a positioning plate, and each positioning plate is provided with a notch which is formed by extending the edge of the positioning plate towards the middle part of the positioning plate. The accessory is provided with a matching part matched with the notch, and the accessory is fixedly connected with the positioning plate along the direction vertical to the positioning plate. The novel rescue robot is simple in structure, accessories can be replaced quickly and conveniently, the response capability of a complex fire scene is greatly improved, the monomer response capability of the novel rescue robot is improved, and the rescue efficiency of the novel rescue robot is obviously improved.

Description

Novel rescue robot

Technical Field

The utility model relates to a fire rescue field particularly, relates to a novel rescue robot.

Background

At present, the function of the rescue robot at home and abroad is single, the robot with different functions is needed to be used for rescue in some complex scenes, the work coordination difficulty among robots of different types is higher, and the execution efficiency of the whole rescue work is reduced. At present, different scenes can be dealt with by replacing the accessory of the robot, but at present, the efficiency of the robot is low when the accessory is replaced, and the rescue efficiency is directly influenced.

In view of this, the present application is specifically made.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a novel rescue robot, its simple structure can be fast, conveniently change the accessory, has improved the reply ability to complicated fire scene greatly, has improved novel rescue robot's monomer reply ability, makes novel rescue robot's rescue efficiency obtain obvious improvement like this.

The embodiment of the utility model is realized like this:

a novel rescue robot, comprising: the robot comprises a robot main body, a mechanical arm, a tool rack and an accessory. The mechanical arm and the tool rack are both arranged on the robot main body. The mechanical arm is provided with a connecting part which is detachably connected with the accessory. The tool rack is provided with a plurality of mounting positions, each mounting position comprises a positioning plate, and each positioning plate is provided with a notch which is formed by extending the edge of the positioning plate towards the middle part of the positioning plate. The accessory is provided with a matching part matched with the notch, and the accessory is fixedly connected with the positioning plate along the direction vertical to the positioning plate.

Furthermore, the accessory comprises a base and a working part arranged on the base, and the matching part is a groove arranged on the surface of the base.

Further, the connecting portion includes a mount, a movable rod, and a jaw. A plurality of jack catchs set up along the circumference interval of mount pad, and the bottom of jack catch all articulates in the mount pad. The movable rod is slidably matched with the mounting seat, the mounting seat is provided with a driving assembly for driving the movable rod to slide, and a connecting rod is arranged between the clamping jaw and the movable rod. One end of the connecting rod is hinged with the movable rod, and the other end of the connecting rod is hinged with the middle part of the clamping jaw. The driving component is used for driving the movable rod so as to drive the clamping jaw to tightly grasp the accessory, thereby realizing detachable connection with the accessory.

Further, the drive assembly includes: servo motor, rotor arm and driving arm. The servo motor is installed in the mount pad, and the rotor arm fixed connection is in servo motor's power output shaft, and the rotor arm sets up along servo motor's power output shaft radially, and transmission arm one end articulates in the one end of rotor arm keeping away from servo motor's power output shaft, and the other end of transmission arm articulates in the movable rod. The servo motor is used for driving the rotating arm to rotate, so that the movable rod is driven to slide.

Furthermore, the movable rod has an extension section that extends outward, and the base is seted up and is used for the mating holes with extension section complex.

Further, the lateral wall of extension section is provided with and is globular location pearl, and the pore wall of mating holes is offered and is used for and location pearl complex mating grooves, and the mating grooves is the heliciform by the oral area of mating holes along the axial of mating holes and extends.

Furthermore, the base is provided with a clamping groove used for being matched with the claw tip of the clamping jaw.

Furthermore, the walking part of the robot main body is a crawler wheel group, the robot main body is also provided with a swinging crawler belt, the swinging crawler belt is arranged at the front end of the robot main body, and the front end of the swinging crawler belt can swing up and down.

Further, the crawler wheel at the rearmost end of the swinging crawler belt and the crawler wheel at the foremost end of the crawler belt wheel set are coaxially arranged.

Further, the robot main body is provided with at least one of a camera, a temperature sensor, and a distance sensor.

The embodiment of the utility model provides a beneficial effect is:

the embodiment of the utility model provides a novel rescue robot is in the course of the work, and the tool rest is used for placing different accessories, accessory of installation of each installation position. The accessory is matched in the notch of the positioning plate, and the accessory can be taken out from the mounting position by sliding the accessory out of the opening part of the notch (namely the end part of the notch close to the edge of the positioning plate).

The attachment can be detachably connected with the connecting part of the mechanical arm, so that the attachment is installed on the mechanical arm. When accessories of different types need to be replaced, the accessories originally connected to the mechanical arm are moved to the tool rack by the mechanical arm, and the accessories slide into the notch from the opening of the notch of the controlled mounting position, so that the accessories are put back into the mounting position.

Subsequently, the connection between the accessory and the robot arm is released, and the robot arm moves in a direction perpendicular to the positioning plate, and since the accessory is fixedly connected to the positioning plate in the direction perpendicular to the positioning plate, the accessory is fixed in the mounting position in the direction, and the robot arm can be separated from the accessory in the direction.

After the mechanical arm is separated from the original accessory, the connecting part of the mechanical arm can be detachably connected with other accessories, and after the connecting part of the mechanical arm is connected with a required new accessory, the mechanical arm drives the accessory to slide out of the opening of the notch, so that the corresponding accessory can be taken out from the mounting position, and the accessory can be replaced.

When the accessory needs to be replaced again, the operation is repeated.

Through the improvement, the change of accessory is very simple, need not with the help of outside assistance, and the arm can oneself accomplish the change to the accessory, and is very high-efficient, simple, can change the accessory at any time in the course of the work to adapt to different rescue environment, improved novel rescue robot greatly in the rescue process to the reply ability and the adaptability of different environmental conditions, novel rescue robot's monomer working ability improves greatly.

Generally, the embodiment of the utility model provides a novel rescue robot simple structure can change the accessory fast, conveniently, has improved the reply ability to complicated fire scene greatly, has improved novel rescue robot's monomer reply ability, makes novel rescue robot's rescue efficiency obtain obvious improvement like this.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic view of an overall structure of a novel rescue robot provided by an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a tool holder of the novel rescue robot provided by the embodiment of the invention;

fig. 3 is a schematic view of an assembly structure of a mechanical arm and an accessory of the novel rescue robot provided by the embodiment of the invention;

fig. 4 is a schematic view of an assembly relationship between a mechanical arm and an accessory of the novel rescue robot;

FIG. 5 is an enlarged view of area A of FIG. 4;

FIG. 6 is an enlarged view of area B of FIG. 4;

fig. 7 is a schematic structural diagram of a base of an accessory of the novel rescue robot provided by the embodiment of the present invention.

Icon: a novel rescue robot 1000; a robot main body 100; a crawler belt wheel group 110; a swinging track 120; a robotic arm 200; a connecting portion 210; a mounting seat 211; a strip-shaped via hole 212; a movable lever 213; an extension section 214; a positioning bead 215; a jaw 220; a connecting rod 230; a servo motor 241; a power take-off shaft 242; the rotating arm 243; a drive arm 244; a tool holder 300; a mounting location 310; a positioning plate 320; a notch 330; an accessory 400; a base 410; a mating hole 420; a mating groove 430; a fitting portion 440; a working portion 450.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

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 the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, 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 the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "parallel," "perpendicular," and the like do not require that the components be absolutely parallel or perpendicular, but may be slightly inclined. For example, "parallel" merely means that the directions are more parallel relative to "perpendicular," and does not mean that the structures are necessarily perfectly parallel, but may be slightly tilted.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

The terms "substantially", "essentially", and the like are intended to indicate that the relative terms are not required to be absolutely exact, but may have some deviation. For example: "substantially equal" does not mean absolute equality, but it is difficult to achieve absolute equality in actual production and operation, and some deviation generally exists. Thus, in addition to absolute equality, "substantially equal" also includes the above-described case where there is some deviation. In this case, unless otherwise specified, terms such as "substantially", and the like are used in a similar manner to those described above.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Examples

Referring to fig. 1, fig. 2 and fig. 3, the present embodiment provides a novel rescue robot 1000, which includes: a robot main body 100, a robot arm 200, a tool holder 300, and an attachment 400.

The robot arm 200 and the tool rest 300 are mounted to the robot main body 100. The robot arm 200 has a coupling portion 210 for detachably coupling with the attachment 400.

The tool rack 300 has a plurality of mounting positions 310, each of the mounting positions 310 includes a positioning plate 320, the positioning plate 320 defines a notch 330, and the notch 330 is formed by extending an edge of the positioning plate 320 toward a middle portion thereof.

The accessory 400 has a fitting portion 440 for fitting with the notch 330, and the accessory 400 is fixedly connected with the positioning plate 320 along a direction perpendicular to the positioning plate 320.

In operation, the tool holder 300 is used to place different accessories 400, one accessory 400 being mounted at each mounting location 310. When the accessory 400 is engaged in the notch 330 of the positioning plate 320, the accessory 400 can be removed from the mounting position 310 by sliding the accessory 400 out of the mouth of the notch 330 (i.e., the end of the notch 330 near the edge of the positioning plate 320).

The attachment 400 may be detachably coupled to the coupling portion 210 of the robot arm 200, thereby mounting the attachment 400 to the robot arm 200. When the accessory 400 of different types needs to be replaced, the accessory 400 originally connected to the mechanical arm 200 is moved to the tool holder 300 by the mechanical arm 200, and the accessory 400 slides into the notch 330 from the opening of the notch 330 of the controlled mounting position 310, so that the accessory 400 is put back into the mounting position 310.

Subsequently, the connection between the accessory 400 and the robot arm 200 is released, and the robot arm 200 moves in a direction perpendicular to the positioning plate 320, and since the accessory 400 is fixedly connected to the positioning plate 320 in the direction perpendicular to the positioning plate 320, the accessory 400 is fixed to the mounting position 310 in the direction, and the robot arm 200 can be separated from the accessory 400 in the direction.

After the attachment portion 210 of the robot arm 200 is separated from the original accessory 400, the attachment portion 210 of the robot arm 200 can be detachably connected to another accessory 400, and when the attachment portion 210 of the robot arm 200 is connected to a desired new accessory 400, the robot arm 200 drives the accessory 400 to slide out of the opening of the notch 330, and the corresponding accessory 400 can be taken out of the mounting position 310, thereby completing the replacement of the accessory 400.

When the attachment 400 needs to be replaced again, the above operation is repeated.

Through the improvement, the change of accessory 400 is very simple, the accessory 400 does not need to be changed with the help of external assistance, the mechanical arm 200 can be used for completing the change of the accessory 400 by self, the operation process is very efficient and simple, the accessory 400 can be changed at any time in the operation process so as to adapt to different rescue environments, the coping ability and the adaptability of the novel rescue robot 1000 to different environmental conditions in the rescue process are greatly improved, and the single working capacity of the novel rescue robot 1000 is greatly improved.

Generally, the novel rescue robot 1000 has a simple structure, and can quickly and conveniently replace the accessory 400, thereby greatly improving the response capability to a complex fire scene, improving the monomer response capability of the novel rescue robot 1000, and thus obviously improving the rescue efficiency of the novel rescue robot 1000.

Further, please refer to fig. 4 to 7, in the present embodiment, the accessory 400 includes a base 410 and a working portion 450 mounted on the base 410, the engaging portion 440 is a groove opened on the surface of the base 410, the working portion 450 can be a grasping tool (e.g., a manipulator, a grasping clip), a hook, a clamp, a cutter, etc. for performing cutting, hooking, etc. in a rescue scene, and is not limited thereto, and the accessory 400 having different types of working portions 450 can be provided for the novel rescue robot 1000 according to different needs.

It should be noted that the groove extends continuously along the circumference of the base 410 to form a ring shape, which is more convenient for replacing the accessory 400 into the mounting position 310, and the groove can be smoothly matched with the notch 330 of the positioning plate 320 by rotating any angle in the circumference of the base 410, so that the accessory 400 can be replaced more smoothly and simply.

Further, the connection portion 210 includes a mounting seat 211, a movable rod 213, and a jaw 220.

A plurality of jack catchs 220 set up along the circumference interval of mount pad 211, and the bottom of jack catch 220 all articulates in mount pad 211.

The movable rod 213 is slidably fitted to the mounting seat 211, and a connection rod 230 is disposed between the jaws 220 and the movable rod 213. One end of the connecting rod 230 is hinged to the movable rod 213, and the other end is hinged to the middle of the jaw 220.

The mounting seat 211 is provided with a driving component for driving the movable rod 213 to slide, and the driving component is used for driving the movable rod 213, so as to drive the clamping jaw 220 to clamp the accessory 400, and thus, the accessory 400 can be detachably connected.

Specifically, the drive assembly includes: a servo motor 241, a rotary arm 243, and a transmission arm 244. The servo motor 241 is mounted on the mounting seat 211, the rotating arm 243 is fixedly connected to the power output shaft 242 of the servo motor 241, the rotating arm 243 is arranged along the radial direction of the power output shaft 242 of the servo motor 241, one end of the transmission arm 244 is hinged to one end of the rotating arm 243, which is far away from the power output shaft 242 of the servo motor 241, and the other end of the transmission arm 244 is hinged to the movable rod 213. The servo motor 241 is used for driving the rotating arm 243 to rotate, so that the rotating arm 243 can drive the transmission arm 244, and the transmission arm 244 drives the movable rod 213 to slide relative to the mounting portion. After the movable rod 213 slides, the connecting rod 230 is driven to move, and the connecting rod 230 drives the jaws 220 to move relative to the mounting base 211, so that the jaws 220 can be opened and closed, and the base 410 of the accessory 400 can be grasped or released.

In the present embodiment, the plurality of jaws 220 are uniformly spaced along the circumferential direction of the mounting seat 211, the mounting seat 211 has an inner cavity (not shown) for mounting the movable rod 213, the movable rod 213 is slidably accommodated in the inner cavity of the mounting seat 211, and the movable rod 213 is coaxially disposed with the mounting seat 211. The connecting rod 230 is located at a side of the jaw 220 adjacent to the movable rod 213. The side wall of the mounting seat 211 is provided with a strip-shaped through hole 212 for communicating with the inner cavity of the mounting seat, and the transmission arm 244 is hinged with the outer wall of the movable rod 213 through the strip-shaped through hole 212.

Further, the movable rod 213 has an extending section 214 extending outward, the extending section is cylindrical, the extending section is coaxially connected with the movable rod 213, and the base 410 is provided with a matching hole 420 for matching with the extending section 214.

The side wall of the extension section 214 is provided with a positioning ball 215 in a spherical shape, the hole wall of the fitting hole 420 is provided with a fitting groove 430 for fitting with the positioning ball 215, and the fitting groove 430 extends spirally from the mouth of the fitting hole 420 along the axial direction of the fitting hole 420.

In the process of connecting the connecting portion 210 and the accessory 400, before the jaws 220 are closed, the mechanical arm 200 is rotated with respect to the base 410 of the accessory 400, so that the positioning beads 215 are fully fitted into the fitting grooves 430, which can greatly improve the fitting stability.

In this embodiment, the base 410 is provided with a slot for engaging with the tip of the claw 220, and when the claw 220 is closed, the tip of the claw 220 engages with the slot, so as to further improve the fixing effect of the claw 220 on the base 410 and prevent the base from being loosened.

The robot body 100 has a crawler wheel group 110 as a traveling member, and the robot body 100 further has a swinging crawler 120, and the swinging crawler 120 is also a crawler traveling mechanism. The swing crawler 120 is provided at the front end of the robot body 100, and the front end of the swing crawler 120 can swing up and down. In the present embodiment, the rearmost track wheel of the swinging track 120 is coaxial with the foremost track wheel of the track roller set 110, and the front end of the swinging track 120 may be driven by the servo motor 241 to swing up and down to adapt to different slopes or to climb over obstacles.

Specifically, the swing angle of the swing track 120 can be flexibly set, and can be flexibly adjusted according to actual conditions.

Robot main part 100 is provided with camera, temperature sensor and distance sensor, is convenient for observe the on-the-spot particular case of rescue, and in this embodiment, novel rescue robot 1000 can be through the intelligent control module group unified control who sets up in robot main part 100, also can be through the unified remote control of remote control center.

Generally speaking, various post-disaster small-sized rescue robots with rescue functions have been researched and developed at home and abroad currently, but some problems and defects still exist in the actual research and development and application conditions, the main problem is that the existing rescue robots still cannot completely meet the requirements of the post-disaster small-sized rescue robots capable of adapting to post-disaster complex sites and environments, the number of rescue robots is more and more, but rescue tools of a plurality of robots are more specific, and the work which can be completed only by performing multifunctional matching work under some scenes is difficult to realize.

In terms of action, most of the traditional robots are in traditional crawler-type or wheel-type movement, and the traditional robots are difficult to advance in places with poor road conditions.

According to the technical scheme, the action problem and the problem of replacing the accessory 400 are solved, the swing tracks 120 additionally arranged on the two sides of the main track enable the novel rescue robot 1000 to adapt to more road conditions, and the detachable design is adopted at the tail end of the mechanical arm 200, so that the robot can conveniently and automatically replace the accessory 400.

In conclusion, the novel rescue robot 1000 is simple in structure, the accessory 400 can be replaced quickly and conveniently, the response capability to a complex fire scene is greatly improved, the single response capability of the novel rescue robot 1000 is improved, and the rescue efficiency of the novel rescue robot 1000 is obviously improved.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A novel rescue robot, characterized by comprising: the robot comprises a robot main body, a mechanical arm, a tool rack and an accessory; the mechanical arm and the tool rack are both arranged on the robot main body; the mechanical arm is provided with a connecting part which is detachably connected with the accessory; the tool rack is provided with a plurality of mounting positions, each mounting position comprises a positioning plate, each positioning plate is provided with a notch, and the notches are formed by extending the edges of the positioning plates towards the middle part of the positioning plates; the accessory is provided with a matching part matched with the notch, and the accessory is fixedly connected with the positioning plate along the direction perpendicular to the positioning plate.

2. The novel rescue robot as claimed in claim 1, wherein the accessory comprises a base and a working part mounted on the base, and the matching part is a groove formed in the surface of the base.

3. The novel rescue robot as claimed in claim 2, wherein the connecting portion includes a mounting seat, a movable rod and a jaw; the clamping jaws are arranged at intervals along the circumferential direction of the mounting seat, and the bottoms of the clamping jaws are hinged to the mounting seat; the movable rod is matched with the mounting seat in a sliding manner, the mounting seat is provided with a driving assembly for driving the movable rod to slide, and a connecting rod is arranged between the clamping jaw and the movable rod; one end of the connecting rod is hinged to the movable rod, and the other end of the connecting rod is hinged to the middle of the clamping jaw; the driving component is used for driving the movable rod so as to drive the clamping jaws to tightly grasp the accessory, and therefore the detachable connection with the accessory is realized.

4. The novel rescue robot as claimed in claim 3, wherein the drive assembly comprises: the servo motor, the rotating arm and the transmission arm; the servo motor is arranged on the mounting seat, the rotating arm is fixedly connected to a power output shaft of the servo motor, the rotating arm is arranged along the radial direction of the power output shaft of the servo motor, one end of the transmission arm is hinged to one end, far away from the power output shaft of the servo motor, of the rotating arm, and the other end of the transmission arm is hinged to the movable rod; the servo motor is used for driving the rotating arm to rotate, so that the movable rod is driven to slide.

5. The novel rescue robot as claimed in claim 3, wherein the movable rod has an extension section extending outward, and the base is opened with a fitting hole for fitting with the extension section.

6. The novel rescue robot as claimed in claim 5, wherein a positioning ball in a spherical shape is disposed on a side wall of the extension section, a fitting groove for fitting with the positioning ball is formed on a wall of the fitting hole, and the fitting groove extends spirally from an opening of the fitting hole along an axial direction of the fitting hole.

7. The novel rescue robot as claimed in claim 3, wherein the base is provided with a slot for engaging with the claw tip of the claw.

8. The rescue robot as claimed in claim 3, wherein the walking member of the robot body is a track wheel set, the robot body further has a swinging crawler, the swinging crawler is provided at a front end of the robot body, and the front end of the swinging crawler can swing up and down.

9. The novel rescue robot as claimed in claim 8, wherein the rearmost track wheel of the swinging track is coaxially disposed with the foremost track wheel of the track wheel set.

10. The novel rescue robot as claimed in claim 1, wherein the robot body is provided with at least one of a camera, a temperature sensor, and a distance sensor.

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