CN215608904U

CN215608904U - Underground rescue robot

Info

Publication number: CN215608904U
Application number: CN202121983511.1U
Authority: CN
Inventors: 孔德斌; 李占海; 李硕; 李国锋; 王浩宇; 王永偲; 刘世华; 田玥华
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2022-01-25
Anticipated expiration: 2031-08-23

Abstract

The utility model relates to the technical field of underground search and rescue, and discloses an underground rescue robot which comprises a control device, wherein two sides of the bottom end of the control device are connected with frames, a hoisting mechanism is connected between the frames, the rear side of the hoisting mechanism is connected with a crushing device, a conveying frame is connected between the bottom ends of the frames, a motor is arranged in one side of the conveying frame, one side of the motor is connected with a rotating shaft, one side of the rotating shaft is connected with a moving roller, two sides of each frame are provided with tracks, one side of the inside of each frame is connected with a rotating part, one end of the rotating part is connected with a gear, the gear is in transmission connection with a toothed cylinder, the bottom of the toothed cylinder is connected with a fixed plate, the top end of the inside of each frame is connected with a connecting rod, and the connecting rod is arranged in the toothed cylinder. This underground rescue robot can convey the garrulous sediment and the small-size stone that the ware of slagging tap was broken down to the robot both sides during rotation, prevents to influence the holistic marcing of robot in broken process.

Description

Underground rescue robot

Technical Field

The utility model relates to the technical field of underground search and rescue, in particular to an underground rescue robot.

Background

The rescue robot is a robot developed by adopting advanced science and technology for rescue, such as an earthquake rescue robot, and is specially used for searching survivors in the ruins of underground shopping malls to execute rescue tasks after a great earthquake. The robot is equipped with a color camera, a thermal imager and a communication system.

The existing underground rescue robot has the following defects:

1. the existing underground rescue robot is single in moving structure, so that the robot is easy to have an unstable condition in the advancing process, and the moving convenience is reduced.

2. The whole state that takes place the slope of robot, when the whole balanced state that does not have of robot, take place easily to turn on one's side, reduced the holistic factor of safety of robot, when receiving the striking, the condition of damage appears easily, reduction life.

Therefore, an underground rescue robot is designed.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects of the prior art, the utility model provides an underground rescue robot, which solves the problems of single moving structure, easy occurrence of side turning and short service life.

In order to achieve the purpose, the utility model adopts the technical scheme that:

the utility model provides an underground rescue robot, includes controlling means, controlling means bottom both sides are connected with the frame, and are connected with hoisting mechanism between the frame, the hoisting mechanism rear side is connected with breaker, be connected with the conveying frame between the frame bottom, and the inside motor that is equipped with in conveying frame one side, motor one side is connected with the pivot, and pivot one side is connected with the removal roller, every the frame both sides are equipped with the track, the inside one side of frame is connected with rotates the piece, and rotates a piece one end and connect the gear, gear drive connects a tooth section of thick bamboo, and tooth section of thick bamboo bottom is connected with the fixed plate, the inside top of frame is connected with the connecting rod, and the connecting rod setting is in a tooth section of thick bamboo, the connecting rod bottom is connected with the slider, the inside both sides of a tooth section of thick bamboo are equipped with the slide rail, and slide rail connection slider.

Further, the movable rollers are arranged between the conveying frames at equal intervals, the movable rollers are multiple in number, sleeve rods are arranged at the joints of the two ends of the movable rollers and the frames of the conveying frames, and the sleeve rods are sleeved on the movable rollers.

Furthermore, the gear is meshed with the gear cylinder, insections which are connected with the gear in a matching mode are arranged on one side of the gear cylinder, and protruding blocks are arranged at the bottom of the fixing plate.

Furthermore, the connecting rod moves up and down on the sliding rail through the sliding block, and the connecting rod is fixedly connected with the frame.

Further, the frame internal connection has the connecting plate, and connecting plate one side equidistance is connected with a plurality of springs, spring one end is connected with the clamp plate, and the clamp plate carries out fixed connection with frame inner wall one side, under normal conditions, and the spring is in natural state.

Further, breaker comprises slag extractor, dead lever and mount, dead lever one end fixed connection hoisting mechanism, and the dead lever other end fixed connection slag extractor, and the dead lever intermediate position cover is equipped with the mount.

Further, the ware of slagging tap is disc structure, and the plane one side fixed connection dead lever of the ware of just slagging tap, the ware of slagging tap keeps away from one side of dead lever for rotating the output, the ware of slagging tap rotates one side surface mounting of output and has multiunit rubble hobbing cutter.

The utility model has the beneficial effects that:

1. the utility model discloses a, remove the roller equidistance and set up between the conveying frame, and the quantity that removes the roller is a plurality of, it is provided with the loop bar with conveying frame junction to remove the roller both ends, and the loop bar cover is established on removing the roller, the motor drives the pivot and rotates, it rotates through the pivot to remove the roller, can convey the robot both sides with the broken slag that the ware of slagging tap was broken and small-size stone when rotating, prevent to influence the holistic marcing of robot in crushing process, certain auxiliary action has, the holistic stability of robot also improves simultaneously.

2. The utility model discloses a, intermeshing between gear and the tooth section of thick bamboo, tooth section of thick bamboo one side is equipped with the insection with gear phase-match connection, the fixed plate bottom is equipped with the lug line, it rotates to drive the gear through rotating, when gear revolve, it reciprocates to drive the tooth section of thick bamboo, can move down the fixed plate when the tooth section of thick bamboo removes, the fixed plate can be fixed subaerial, there is certain stability to the robot is whole, make the device also have certain equilibrium on the road of underground rugged nature, make things convenient for the holistic gos forward of robot and fixed, prevent when the rubble, the condition of turning on one's side appears, when the frame receives the striking, have certain cushioning effect through the spring, avoid the condition that the frame damaged, improve frame life.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a part of the structure of the transfer frame of the present invention;

FIG. 3 is a schematic view of the inner side structure of the frame of the present invention;

fig. 4 is a schematic front view of the connection plate of the present invention.

In the figure: 1. a control device; 2. a crawler belt; 3. a hoisting mechanism; 4. a crushing device; 5. a transfer frame; 6. a motor; 7. a rotating shaft; 8. a loop bar; 9. a moving roller; 10. a frame; 11. a rotating member; 12. a gear; 13. a gear cylinder; 14. a fixing plate; 15. a slide rail; 16. a connecting rod; 17. a slider; 18. a connecting plate; 19. a spring; 20. pressing a plate; 21. a slag extractor; 22. and (5) fixing the rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the 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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to FIGS. 1-4: the utility model provides an underground rescue robot, including controlling means 1, 1 bottom both sides of controlling means are connected with frame 10, and be connected with hoisting mechanism 3 between the frame 10, 3 rear sides of hoisting mechanism are connected with breaker 4, be connected with conveying frame 5 between the frame 10 bottom, and conveying frame 5 one side is inside to be equipped with motor 6, motor 6 one side is connected with pivot 7, and pivot 7 one side is connected with removes roller 9, every frame 10 both sides are equipped with track 2, the inside one side of frame 10 is connected with rotates piece 11, and rotate 11 one end connecting gear 12, gear 12 transmission connects tooth section of thick bamboo 13, and tooth section of thick bamboo 13 bottom is connected with fixed plate 14, the inside top of frame 10 is connected with connecting rod 16, and connecting rod 16 sets up in tooth section of thick bamboo 13, connecting rod 16 bottom is connected with slider 17, the inside both sides of tooth section of thick bamboo 13 are equipped with slide rail 15, and slide rail 15 connects slider 17.

Remove roller 9 equidistance and set up between conveying frame 5, and the quantity that removes roller 9 is a plurality of, remove roller 9 both ends and conveying frame 5 frame junction and be provided with loop bar 8, and loop bar 8 cover is established on removing roller 9, when the device needs to dismantle article, remove on hoisting mechanism 3 through breaker 4, it carries out the detritus processing to drive the assigned position with slag extractor 21, promote the holistic functionality of robot, improve current in hard bottom, motor 6 drives pivot 7 and rotates, remove roller 9 rotates through pivot 7, can convey the both sides of robot with the detritus that slag extractor 21 broken down and small-size stone during the rotation, prevent to influence the holistic marcing of robot in crushing process, certain auxiliary action has, also improve the holistic stability of robot simultaneously.

Intermeshing between gear 12 and the tooth section of thick bamboo 13, tooth section of thick bamboo 13 one side is equipped with the insection with gear 12 looks accordant connection, fixed plate 14 bottom is equipped with the lug line, it rotates to drive gear 12 through rotating piece 11, when gear 12 rotates, it reciprocates to drive tooth section of thick bamboo 13, can move down fixed plate 14 when tooth section of thick bamboo 13 removes, fixed plate 14 can be fixed subaerial, there is certain stability to the robot is whole, make the device also have certain equilibrium on the rugged road in the underground, make things convenient for the holistic advance of robot and fix, when preventing the rubble, the condition of turning on one's side appears.

The connecting rod 16 moves up and down on the sliding rail 15 through the sliding block 17, the connecting rod 16 is fixedly connected with the frame 10, and when the gear barrel 13 moves on the connecting rod 16, the sliding block 17 moves on the sliding rail 15, so that the stability of the device is improved.

Frame 10 internal connection has connecting plate 18, and connecting plate 18 one side equidistance is connected with a plurality of springs 19, and spring 19 one end is connected with clamp plate 20, and clamp plate 20 carries out fixed connection with frame 10 inner wall one side, and under normal condition, and spring 19 is in natural state, when frame 10 received the striking, has certain cushioning effect through spring 19, avoids the condition that frame 10 damaged, improves frame 10 life.

Breaker 4 comprises slag extractor 21, dead lever 22 and mount, and dead lever 22 one end fixed connection hoisting mechanism 3, and dead lever 22 other end fixed connection slag extractor 21, and dead lever 22 intermediate position cover is equipped with the mount, utilizes dead lever 22 to support, utilizes slag extractor 21 to carry out the breakage.

Slag tapping device 21 is disc-shaped structure, and the plane one side fixed connection dead lever 22 of slag tapping device 21, and one side that dead lever 22 was kept away from to slag tapping device 21 is for rotating the output, and one side surface mounting that slag tapping device 21 rotated the output has multiunit rubble hobbing cutter, and slag tapping device 21 carries out broken handle.

In conclusion, when the utility model is used, when the vehicle needs to be searched and rescued on a rugged road, the gear 12 is driven to rotate by the rotating part 11, the gear 12 drives the tooth cylinder 13 to move up and down when rotating, the fixed plate 14 can be moved down when the tooth cylinder 13 moves, the fixed plate 14 can be fixed on the ground, and the whole robot has certain stability, so that the device also has certain balance on the rugged road, the whole robot can conveniently move forward and fix, the phenomenon of side turning is prevented when the robot breaks stones, the motor 6 drives the rotating shaft 7 to rotate, the movable roller 9 rotates through the rotating shaft 7, the broken slag and small stones crushed by the slag discharger 21 can be conveyed to two sides of the robot, the influence on the whole robot moving in the crushing process is prevented, and certain auxiliary function is provided, in addition, when the vehicle frame 10 is impacted, the spring 19 has a certain buffering effect, so that the frame 10 is prevented from being damaged, and the service life of the frame 10 is prolonged.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An underground rescue robot comprising a control device (1), characterized in that: the automatic feeding device is characterized in that the two sides of the bottom end of the control device (1) are connected with frames (10), a lifting mechanism (3) is connected between the frames (10), the rear side of the lifting mechanism (3) is connected with a crushing device (4), a conveying frame (5) is connected between the bottoms of the frames (10), a motor (6) is arranged inside one side of the conveying frame (5), a rotating shaft (7) is connected to one side of the motor (6), a moving roller (9) is connected to one side of the rotating shaft (7), a crawler belt (2) is arranged on each of the two sides of the frames (10), a rotating piece (11) is connected to one side inside the frames (10), a gear (12) is connected to one end of the rotating piece (11), the gear (12) is in transmission connection with a toothed cylinder (13), a fixing plate (14) is connected to the bottom of the toothed cylinder (13), a connecting rod (16) is connected to the top end inside the frames (10), and the connecting rod (16) is arranged in the toothed cylinder (13), the bottom end of the connecting rod (16) is connected with a sliding block (17), sliding rails (15) are arranged on two sides of the interior of the gear cylinder (13), and the sliding rails (15) are connected with the sliding block (17).

2. An underground rescue robot as claimed in claim 1, wherein: remove roller (9) equidistance and set up between conveying frame (5), and the quantity that removes roller (9) is a plurality of, it is provided with loop bar (8) with conveying frame (5) frame junction to remove roller (9) both ends, and loop bar (8) cover is established on removing roller (9).

3. An underground rescue robot as claimed in claim 1, wherein: the gear (12) and the gear barrel (13) are meshed with each other, insections matched and connected with the gear (12) are arranged on one side of the gear barrel (13), and convex blocks are arranged at the bottom of the fixing plate (14).

4. An underground rescue robot as claimed in claim 1, wherein: the connecting rod (16) moves up and down on the sliding rail (15) through the sliding block (17), and the connecting rod (16) is fixedly connected with the frame (10).

5. An underground rescue robot as claimed in claim 1, wherein: frame (10) internal connection has connecting plate (18), and connecting plate (18) one side equidistance is connected with a plurality of springs (19), spring (19) one end is connected with clamp plate (20), and clamp plate (20) and frame (10) inner wall one side carry out fixed connection.

6. An underground rescue robot as claimed in claim 1, wherein: breaker (4) comprises slag discharging device (21), dead lever (22) and mount, dead lever (22) one end fixed connection hoisting mechanism (3), and dead lever (22) other end fixed connection slag discharging device (21), and dead lever (22) intermediate position cover is equipped with the mount.

7. An underground rescue robot as claimed in claim 6, wherein: slag tap ware (21) are disc structure, and the plane one side fixed connection dead lever (22) of the ware (21) of just slagging tap, the one side of keeping away from dead lever (22) of the ware (21) of slagging tap is for rotating the output, one side surface mounting that the ware (21) of slagging tap rotated the output has multiunit rubble hobbing cutter.