CN221114139U - Multi-terrain rescue robot driven by composite type - Google Patents

Abstract

The utility model discloses a compound-driven multi-terrain rescue robot which comprises a vehicle body box body and a bottom plate fixed below the vehicle body box body, wherein the lower end of the bottom plate is symmetrically provided with two front driving components and two rear driving components along the central axis of the vehicle body box body, the front driving components comprise a front driving motor fixed on the bottom plate, a front driving connecting component and a crawler component connected with the front driving connecting component, the front driving connecting component comprises a front driving main shaft, a front driving rigid shaft and a double synchronous belt bracket, the crawler component comprises a front driving belt pulley and a front driving driven belt pulley, the rear driving component comprises a rear driving motor fixed on the bottom plate, a rear driving connecting piece and wheels connected with the rear driving connecting piece, an output shaft of the rear driving motor is in meshed connection with one end of the rear driving connecting piece, the other end of the rear driving connecting piece is in meshed connection with the wheels, the crawler and the wheels are combined to walk, and the application range is wider.

Description

Multi-terrain rescue robot driven by composite type

Technical Field

The utility model relates to the technical field of emergency rescue of complex terrains and implementation operation of remote control robots, in particular to a compound-driven multi-terrain rescue robot.

Background

The existing mobile robot platforms in the market at present are roughly divided into three types, namely wheel type, multi-foot type and crawler type. The wheeled robot can ensure certain moving speed and certain obstacle surmounting capacity, also ensures the strength of the structure and has certain load capacity.

However, the common wheeled robots in the market have certain defects such as easy slipping, poor obstacle surmounting capability and poor terrain adaptability, and have narrower application scenes.

Disclosure of utility model

In view of the above, it is necessary to provide a multi-terrain rescue robot driven by a combination to solve the problem of the application scenario in the prior art.

The utility model discloses a compound-driven multi-terrain rescue robot, which comprises a vehicle body box body, a bottom plate fixed below the vehicle body box body, and further comprises: two front driving components and two rear driving components which are symmetrically arranged on the central axis of the body box body, wherein,

The front driving assembly comprises a front motor, a front connecting assembly and a crawler assembly, wherein the front motor is fixed on the bottom plate, the crawler assembly is connected with the front connecting assembly, the front connecting assembly comprises a front main shaft, a front rigid shaft and a double synchronous belt support, a first synchronous gear, a third synchronous gear and a second synchronous gear are sequentially arranged on the double synchronous belt support, the first synchronous gear and the third synchronous gear are connected through a first synchronous belt, the second synchronous gear and the third synchronous gear are connected through a second synchronous belt, the crawler assembly comprises a front driving belt wheel and a front driven belt wheel, the front driving belt wheel and the front driven belt wheel are connected through a crawler, one end of the front main shaft is in gear engagement connection with the front driving belt wheel, the other end of the front main shaft is in gear engagement connection with the first synchronous belt wheel, one end of the front rigid shaft is in gear engagement connection with the other end of the front driven belt wheel is in gear engagement connection with the second synchronous gear, and an output shaft of the front motor is in gear engagement with the third synchronous belt wheel.

The rear driving assembly comprises a rear driving motor and a rear driving connecting piece which are fixed on the bottom plate, and wheels connected to the rear driving connecting piece, an output shaft of the rear driving motor is in meshing connection with one end of the rear driving connecting piece, and the other end of the rear driving connecting piece is in meshing connection with the wheels.

The utility model adopts a mode of combining a front driving assembly and a rear driving assembly, and particularly, a front driving motor and a rear driving motor respectively and independently drive a crawler belt and wheels to walk simultaneously, a certain passing speed can be ensured when the robot moves on a flat terrain, compared with a single wheel type robot, when encountering complex terrains such as a ditch bank, a ramp and the like, the increased crawler belt has large self friction force and strong ground grabbing force, is not easy to sink the ditch bank deeply and skid on the ramp, and provides a single crawler belt power output in an increased way.

Furthermore, the multi-terrain rescue robot driven by the compound type is characterized in that the rear drive motor is a gear motor, and the front drive motor and the rear drive motor are both provided with two motors, so that independent control can be realized.

Furthermore, the compound-driven multi-terrain rescue robot is characterized in that guard plates are arranged on two sides of the crawler assembly, and the crawler is a metal rubber crawler.

When the crawler belt is used for climbing a slope or a gully, the contact surface of the crawler belt and the ground is large, the metal rubber crawler belt is adopted, the friction force is large, the grabbing force is strong, and the guard plate can effectively prevent the influence of sand stones or mud blocks on the normal running of the crawler belt. The crawler belt assembly is simple in structure, light in weight and convenient to install and detach, and daily maintenance and repair are more convenient.

Further, the multi-terrain rescue robot driven by the combination type comprises all-steel-wire meridian wheels arranged on the wheels.

When the crawler belt passes through complex terrains which cannot pass through quickly, the power output of the rear drive motor is controlled to be increased through the remote controller, and tires do not slip when torque is increased, so that the obstacle terrains are crossed.

Further, the multi-terrain rescue robot driven by the combination type comprises a lithium battery arranged in the middle of the bottom plate, a main board is arranged on one side of the lithium battery, and the lithium battery is electrically connected with the main board.

Further, the multi-terrain rescue robot driven by the combination type comprises a lithium battery, wherein the lithium battery is provided with a quick charging interface and can be electrically connected with an external mains supply circuit.

The lithium battery is adopted to supply power, so that the power supply is effectively ensured, the dead weight is lighter, and the use of the quick charging interface and the main board can reduce idle time and improve efficiency.

Further, the multi-terrain rescue robot driven by the combination mode is characterized in that a memory chip is arranged on the main board and used for storing and reading data.

The utility model stores data by using the memory chip real-time route, and can efficiently and quickly search the route by controlling the memory chip real-time route through the remote controller.

Further, the multi-terrain rescue robot driven by the combination type driving device is characterized in that a differential controller is arranged on one side of the main board, and the differential controller is electrically connected with the main board and the precursor motor.

The utility model utilizes the differential controller to send different rotating speed control instructions to the two precursor motors, thereby leading the tracks at two sides to generate speed difference and finally realizing the steering of the vehicle.

Further, the compound type driving multi-terrain rescue robot is characterized in that a cooling fan is arranged on one side of the differential controller, and the cooling fan is electrically connected with the main board and used for discharging heat generated around the differential controller.

The utility model can effectively discharge the heat generated around the differential controller by using the cooling fan, and ensure the efficient and normal operation.

Further, the multi-terrain rescue robot driven by the combination mode, wherein the car body box body is provided with a front box body, a middle box body and a rear box body, the upper end of the front box body is fixedly connected with a controllable rotating support and an infrared thermal sensor camera, two sides of the middle box body are provided with signal strength receivers, the upper end of the rear box body is fixedly provided with a satellite transmitter, and the infrared thermal sensor camera, the signal strength receivers and the signal receiving module main board are respectively and electrically connected with the lithium battery.

Further, the multi-terrain rescue robot driven by the combination type driving device is characterized in that the infrared thermal camera has an explosion-proof characteristic, and the remote controller can control the infrared thermal camera to rotate up and down and left and right and change a visual angle.

According to the utility model, by utilizing devices such as the infrared thermal camera, the signal powerful receiver and the satellite transmitter, operators can rescue danger personnel in all weather, rescue in a complex environment is realized, unnecessary injury to other personnel is reduced, and rescue efficiency is improved.

Further, a multi-terrain rescue robot driven by a compound mode, wherein an accommodating cavity is formed in the box body, a pressing type flip cover covering the accommodating cavity is arranged on the middle box body, emergency rescue materials and rescue equipment are arranged in the accommodating cavity, and the rescue equipment is electrically connected with the lithium battery.

Further, the multi-terrain rescue robot driven by the combination at least comprises three compressed biscuits, three bottles of water, a distress whistle, a flashlight, a pair of rough cotton gloves, a pair of ultra-light heat-preservation sleeping blanket and emergency medicines.

The utility model can greatly help trapped people under the condition that rescue workers cannot reach the emergency rescue materials and rescue equipment in the first time.

Drawings

Fig. 1 is a schematic overall structure of a first embodiment of the present utility model.

Fig. 2 is a schematic diagram of the front driving assembly and the rear driving assembly according to the first embodiment of the present utility model.

Fig. 3 is a schematic view of a base plate structure according to a first embodiment of the present utility model.

Fig. 4 is a schematic structural diagram of a dual timing belt bracket according to a first embodiment of the present utility model.

The reference numerals are as follows: 1. an infrared thermal camera; 2. a controllable rotating bracket; 3. a vehicle body case; 31. a front box; 32. a middle box body; 33. a rear case; 4. a front drive assembly; 41. a precursor motor; 42. a precursor connection assembly; 421. a precursor spindle; 422. a precursor rigid shaft; 423. a double synchronous belt bracket; 4231. a first synchronizing gear; 4232. a first synchronization belt; 4233. a second synchronizing gear; 4234. a second timing belt; 4235. a third synchronizing gear; 43. a track assembly; 431. a precursor driving pulley; 432. a precursor driven pulley; 433. a track; 5. a rear drive assembly; 51. a rear-drive motor; 52. a rear drive connection; 53. a wheel; 6. a satellite transmitter; 7. a push-type flip cover; 8. a signal strength receiver; 9. a bottom plate; 10. a differential controller; 11. a main board; 12. a memory chip; 13. a heat radiation fan; 14. a lithium battery;

Detailed Description

In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. Embodiments of the utility model are illustrated in the accompanying drawings. This utility model may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, this embodiment is provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items. In addition, the features of the embodiments, the embodiments and the features of the embodiments of the present utility model can be freely combined on the premise of no obvious conflict.

Referring to fig. 1 and 3, the multi-terrain rescue robot with combined driving provided by the utility model comprises a body box 3, a bottom plate 9 fixed below the body box, and two front driving components 4 and two rear driving components 5 which are arranged at the lower end of the bottom plate 9 and are symmetrical along the central axis of the body box.

Specifically, the body box 3 is mounted above the bottom plate 15, and three front box bodies 31, middle box bodies 32 and rear box bodies 33 which are distributed side by side are arranged on the body box 3. The upper end of the front box body 31 is fixedly connected with a controllable rotating bracket 2, and an infrared thermal camera 1 is fixed on the controllable rotating bracket 2. The two sides of the middle box 32 are provided with signal strength receivers 8, and the upper end of the rear box 33 is fixedly provided with a satellite transmitter 6. The middle part is installed to the last mid-mounting of bottom plate 15 and is used for supplying power to electrical equipment, and mainboard 11 is installed to one side of lithium cell 14, and lithium cell 14 and mainboard 11 electric connection are equipped with memory chip 12 above the mainboard 11, utilize memory chip 12 real-time route storage data.

The infrared thermal camera 1 carried on the top is used for personnel detection, can detect distress personnel on a rescue site and possible overheating hidden dangers near the rescue site, can send control signals through a remote controller under the condition that the visual field of the distress personnel cannot be directly observed, and sends out execution instructions through a main board 11 after the signal strength receiver 8 receives the control signals, and the controllable rotating bracket 2 and the infrared thermal camera 1 adjust the visual angle; by combining the related information sent back by the satellite transmitter 6 in the field situation, operators can develop all-weather rescue for danger personnel, rescue in a complex environment is realized, and unnecessary injury to other personnel is avoided. The emergency rescue material and the rescue equipment are arranged, so that trapped people can be greatly helped under the condition that rescue workers cannot arrive at the first time. The remote controller is used for controlling the system to search efficiently and quickly, and route evacuation or return is selected according to real-time conditions, so that precious time is won for rescue work.

The inside chamber that holds that is equipped with of automobile body box 3, be provided with the lid on the middle part box 32 hold the push type flip 7 in chamber, should hold the intracavity and be equipped with emergency rescue supplies and rescue equipment, this rescue equipment and lithium cell 14 electric connection.

Referring to fig. 2 to 4, the front drive assembly 4 includes a front drive motor 41 on a fixed base plate, a front drive link assembly 42, and a track assembly 43 connected to the front drive link assembly. The precursor connection assembly includes a precursor spindle 421, a precursor rigid spindle 422, and a dual timing belt support 423.

The double-timing belt bracket 423 is approximately in an inverted V shape, has a simple structure and high strength, and comprises a first timing gear 4231, a third timing gear 4235 and a second timing gear 4233 which are sequentially arranged, wherein the first timing gear 4231 and the third timing gear 4235 are connected through a first timing belt 4232, and the second timing gear 4233 and the third timing gear 4235 are connected through a second timing belt 4234. The first timing belt 4232 is sleeved on the first timing wheel 4231 and the third timing wheel 4235, and the second timing belt 4234 is sleeved on the second timing gear 4233 and the third timing gear 4235.

The track assembly 43 includes a precursor driving pulley 431 and a precursor driven pulley 432, and the precursor driving pulley 431 and the precursor driven pulley 432 are connected by a track 433. One end of the precursor spindle 421 is engaged with the precursor driving pulley 431, and the other end is engaged with the first synchronizing gear 4231. One end of the precursor rigid shaft 422 is in meshing connection with the precursor driven pulley 432, and the other end is in meshing connection with the second synchronizing gear 4233.

An output shaft of the precursor motor is in meshing connection with the third synchronizing gear 4235. When the precursor motor works, the output shaft of the precursor motor drives the third synchronous gear 4235 to rotate, and the third synchronous gear 4235 simultaneously drives the first synchronous belt 4232 and the second synchronous belt 4234 to rotate, so that the first synchronous gear 4231 and the second synchronous gear 4233 are driven to rotate simultaneously, and then the precursor driving belt wheel 431 and the precursor driven belt wheel 432 are driven to rotate, so that the walking of the rescue robot is realized.

The rear drive assembly 5 includes a rear drive motor 51 and a rear drive link 52 secured to the floor, and wheels 53 connected to the rear drive link 52. An output shaft of the rear drive motor 51 is engaged with one end of the rear drive link 52, and the other end of the rear drive link 52 is engaged with the wheel 53. When the rear drive motor 51 is started, the rear drive motor 51 drives the rear drive connecting piece 52 to rotate, and the rear drive connecting piece 52 drives the wheels 53 to rotate.

Further, a difference controller 10 is provided on the main board side for controlling the output rotation speed of the precursor motor 41. When the output rotational speeds of the two precursor motors 41 are the same, the straight forward can be realized, and when the output rotational speeds of the two precursor motors 41 are different, the steering can be realized.

It can be understood that, in practical application, when the rescue robot starts, the front drive motor 41 and the rear drive motor 51 work simultaneously, the front drive motor 41 drives the track 433 to work, the rear drive motor 50 drives the wheel 53 to move, when the flat terrain moves, the track 433 and the wheel 53 cooperate to ensure a certain passing speed, the track 433 adopts metal rubber material, the contact surface of the track 433 and the ground is large, the friction force is large, the ground grabbing force is strong, even when the road condition of a slope or a gully is crossed, the deep sink ridge is not easy to sink and skid on the slope, the wheel 53 adopts all-steel radial wheels, and the characteristic of not easy to skid is also realized.

Further, as shown in fig. 3, three heat dissipation fans 13 are installed in the vehicle body case at positions close to the differential controller 10, and the heat dissipation fans 13 are electrically connected to the main board 11 for exhausting heat generated around the differential controller 10.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing examples merely illustrate embodiments of the utility model and are described in more detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (7)

1. The utility model provides a many topography rescue robot of combined type drive, includes the automobile body box and is fixed in the bottom plate of automobile body box below, its characterized in that still includes: two front driving components and two rear driving components which are arranged at the lower end of the bottom plate and are symmetrical along the central axis of the body box, wherein,

The front driving assembly comprises a precursor motor, a precursor connecting assembly and a crawler assembly, wherein the precursor motor is fixed on the bottom plate, the precursor connecting assembly is connected with the precursor connecting assembly, the precursor connecting assembly comprises a precursor main shaft, a precursor rigid shaft and a double synchronous belt bracket, a first synchronous gear, a third synchronous gear and a second synchronous gear are sequentially arranged on the double synchronous belt bracket, the first synchronous gear and the third synchronous gear are connected through a first synchronous belt, the second synchronous gear and the third synchronous gear are connected through a second synchronous belt, the crawler assembly comprises a precursor driving pulley and a precursor driven pulley, the precursor driving pulley and the precursor driven pulley are connected through a crawler, one end of the precursor main shaft is in gear engagement connection with the precursor driving pulley, the other end of the precursor main shaft is in gear engagement connection with the first synchronous gear, one end of the precursor rigid shaft is in gear engagement connection with the precursor driven pulley, the other end of the precursor rigid shaft is in gear engagement with the second synchronous gear, and the output shaft of the precursor motor is in gear engagement with the third synchronous belt;

the rear driving assembly comprises a rear driving motor, a rear driving connecting piece and wheels, wherein the rear driving motor and the rear driving connecting piece are fixed on the bottom plate, the wheels are connected to the rear driving connecting piece, an output shaft of the rear driving motor is in meshing connection with one end of the rear driving connecting piece, and the other end of the rear driving connecting piece is in meshing connection with the wheels.

2. The compound driven multi-terrain rescue robot of claim 1, wherein: the middle part is installed with the lithium cell on the bottom plate, mainboard is installed to lithium cell one side, the lithium cell with mainboard electric connection.

3. The compound driven multi-terrain rescue robot of claim 2, wherein: the main board is provided with a memory chip, and the memory chip is used for storing and reading data.

4. The compound driven multi-terrain rescue robot of claim 2, wherein: and one side of the main board is provided with a differential controller, and the differential controller is electrically connected with the main board and the precursor motor.

5. The compound driven multi-terrain rescue robot of claim 4, wherein: and one side of the differential controller is provided with a cooling fan, and the cooling fan is electrically connected with the main board and is used for discharging heat generated around the differential controller.

6. The compound driven multi-terrain rescue robot of claim 2, wherein: the automobile body box includes front portion box body, middle part box body and rear portion box body, controllable runing rest of front portion box body upper end fixed connection and infrared thermal sensation camera, middle part box body both sides are equipped with the powerful receiver of signal, rear portion box body upper end fixed mounting satellite transmitter, the inside signal receiving module mainboard that is equipped with of satellite transmitter, infrared thermal sensation camera the powerful receiver of signal with the signal receiving module mainboard respectively with lithium cell electric connection.

7. The compound driven multi-terrain rescue robot of claim 6, wherein: the inside chamber that holds that is equipped with of automobile body box, be provided with the lid on the middle part box body and close hold the push type flip in chamber, hold intracavity and be equipped with emergency rescue supplies and rescue equipment, rescue equipment with lithium cell electric connection.