CN110652667B

CN110652667B - Rescue robot convenient to remove

Info

Publication number: CN110652667B
Application number: CN201910935821.7A
Authority: CN
Inventors: 赵延治; 啜佳帅; 张恒; 吴鹏; 肖子轩
Original assignee: Yanshan University
Current assignee: Yanshan University
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2021-04-23
Anticipated expiration: 2039-09-29
Also published as: CN110652667A

Abstract

The utility model provides a rescue robot convenient to remove, this rescue robot includes supporting component and sets up the motion subassembly at each tip of supporting component respectively to and set up the arm in the inside left and right sides of supporting component respectively. The supporting assembly comprises a rectangular top seat, supporting rods, horizontal frames and guide rails, the supporting rods are fixedly connected to two sides of the rectangular top seat at certain intervals, the bottoms of the supporting rods are fixedly connected with the horizontal frames, and the guide rails are fixedly connected between the end portions of the horizontal frames on two sides. The device has the advantages of convenience in moving, high efficiency and the like in the use process by arranging a series of structures, and is suitable for rescue places with flat road surfaces and difficult personnel entry.

Description

Rescue robot convenient to remove

Technical Field

The invention relates to the technical field of machinery, in particular to a rescue robot convenient to move.

Background

With the continuous development of the times, the rescue robot plays an important role in the process of rescuing various disasters. After disasters such as earthquake, fire disaster and the like occur, fire fighters and medical care personnel always appear in the first line of rescue and relief work, but because the limitation of equipment and instruments, the rescue efficiency is low, the existing rescue robot is large in size and inconvenient to move, the rescue efficiency of rescue workers is influenced, and the rescue robot is generally high in specificity and poor in universality.

The invention patent with the application number of CN101869745A discloses a rescue robot, which comprises a trunk, six legs, a traction rope, a control unit, a power supply and a conveying unit, wherein the six-legged robot has stronger obstacle crossing capability, is more complex to control and has a small size, can only provide a searching function and cannot convey a wounded person to the rear. The invention patent with the application number of CN107050708A discloses a fire rescue robot, which comprises a fire robot body and a remote control box, wherein a movable carrier component of the fire robot is a crawler-type mechanism, the efficiency is low, the failure rate is high, the stress of a breaking component structure is complex, the breaking component structure is not well controlled, and the structure adopted by a hydraulic component does not conform to the ergonomics. The invention patent with the application number of CN107486832A discloses a wheel type rescue robot, which comprises a rack, a walking mechanism, a grabbing mechanism, a control module, a remote controller and a power supply, wherein the use effect of a manipulator of the wheel type rescue robot in the rescue process can be influenced, the manipulator takes a second in a fire disaster, the manipulator efficiency is poor, the obstacle in the earthquake disaster is generally heavier, and the manipulator is difficult to deploy; therefore, the existing rescue robots have the defects and have great lifting and perfecting space.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a rescue robot which can realize the omnidirectional displacement of a robot, has strong versatility, and is suitable for various common disaster rescue tasks with flat ground.

The technical scheme adopted by the invention is as follows:

the rescue robot comprises a supporting component, moving components and mechanical arms, wherein the moving components are respectively arranged at the end parts of the supporting component, and the mechanical arms are respectively arranged at the left side and the right side in the supporting component.

The supporting assembly comprises a rectangular top seat, supporting rods, horizontal frames and guide rails, the supporting rods are fixedly connected to two sides of the rectangular top seat at certain intervals, the bottoms of the supporting rods are fixedly connected with the horizontal frames, and the guide rails are fixedly connected between the end portions of the horizontal frames on two sides.

The motion subassembly includes elevating system and the first slide rail of fixed connection in elevating system one side to and the motor support frame of fixed connection in the elevating system bottom, one side of motor support frame is provided with driving motor, and the opposite side is provided with by motor drive's moving mechanism, just driving motor's opposite side still is provided with the second slide rail, the motion subassembly is connected with the bracing piece through first slide rail and second slide rail.

The lifting mechanism is an electric push rod, and the moving mechanism is a Mecanum wheel.

The mechanical arm comprises a telescopic mechanism, a telescopic mechanism connecting piece, a synchronous belt motor, a connecting rod connecting piece, a sliding block, a synchronous belt wheel, a lower supporting shaft, a support plate and an upper supporting shaft; telescopic machanism connecting piece fixed connection is at the inboard both ends of rectangle footstock respectively to articulated with the telescopic machanism top, be provided with the supporting axle between two telescopic machanism bottoms, it has connecting rod and mounting panel respectively to go up the supporting axle and articulated respectively with telescopic machanism bottom junction, and the one end fixed mounting who goes up the supporting axle has synchronous belt motor, the connecting rod opposite side is articulated with the connecting rod connecting piece, and the connecting rod connecting piece is fixed connection at the inboard both ends of horizontal frame respectively, the under bracing axle hub connection is between two mounting panel bottoms, just the slider sets up the both ends at the under bracing axle respectively and is connected to the guide rail, go up the synchronous band pulley of interval certain distance is installed respectively to the mode through the key-type connection on.

The telescopic mechanism is an electric push rod.

Compared with the prior art, the invention has the following beneficial effects:

1. the rescue robot of the invention adopts Mecanum wheels as the transmission action mechanism, has higher flexibility and free maneuverability, and realizes the omnibearing displacement of the robot.

2. The electric push rod used by the rescue robot is small in size, high in precision, completely synchronous and good in self-locking performance, is directly driven by the motor, ensures the stability of the rescue robot to the maximum extent, and improves the rescue quality.

3. The rescue robot is moderate in size and suitable for various disaster rescue tasks with flat ground.

Drawings

Fig. 1 is a schematic overall structure diagram of an embodiment of a rescue robot convenient to move according to the present invention;

FIG. 2 is a schematic structural view of the support assembly of FIG. 1;

FIG. 3 is a schematic diagram of the motion assembly of FIG. 1;

fig. 4 is a schematic structural diagram of the robot arm in fig. 1.

Wherein, the reference numbers: 1. a support assembly; 1-1, a top seat; 1-2, supporting rods; 1-3, a horizontal frame; 1-4, guide rails; 2. a motion assembly; 2-1, a first slide rail; 2-2, a lifting mechanism; 2-3, Mecanum wheels; 2-4, a motor support frame; 2-5, driving a motor; 2-6, a second slide rail; 3. a mechanical arm; 3-1, an electric push rod connecting piece; 3-2, a telescopic mechanism; 3-3, synchronous belt motor; 3-4, connecting rod; 3-5, connecting rod connecting piece; 3-6, a sliding block; 3-7, synchronous belt wheel; 3-8, a lower supporting shaft; 3-9, a support plate; 3-10 and an upper supporting shaft.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

It should be noted that in the description of the present invention, it should be noted that the terms "upper", "lower", "top", "bottom", "one side", "the other side", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of describing the present invention and simplifying the description, but do not mean that a device or an element must have a specific orientation, be configured in a specific orientation, and be operated.

Referring to fig. 1, an overall structure of an embodiment of a rescue robot convenient to move according to the present invention is shown. The stereoscopic warehouse comprises a support assembly 1, a motion assembly 2 and a mechanical arm 3.

Referring to fig. 2, in this embodiment, a support assembly 1 is a cuboid structure as a whole, the support assembly 1 includes a rectangular top seat 1-1, support rods 1-2, a horizontal frame 1-3 and guide rails 1-4, the left and right sides of the rectangular top seat 1-1 are fixedly connected with the support rods 1-2 at certain intervals through bolts, the bottoms of the support rods 1-2 on the same side are fixedly connected with the horizontal frame 1-3 through bolts, the guide rails 1-4 are fixedly connected between the end portions of the horizontal frames on both sides through bolts, the number of the support rods 1-2 can be adjusted according to actual needs, in this embodiment, four support rods 1-2 are mounted on the left and right sides of the rectangular top seat; the supporting component 1 plays a role in fixing and supporting the whole device.

Referring to fig. 3, the moving assembly 2 includes a lifting mechanism 2-2, a first sliding rail 2-1 welded and fixed on one side of the lifting mechanism 2-2, and a motor support frame 2-4 welded and fixed at the bottom of the lifting mechanism 2-2, a driving motor 2-5 is installed on the inner side of the motor support frame 2-4, a moving mechanism 2-3 driven by the motor is arranged on the outer side of the motor support frame 2-4, and a second sliding rail 2-6 is also welded and fixed on the other side of the driving motor 2-5, in this embodiment, the lifting mechanism 2-2 is an electric push rod, and the mechanism is a mecanum wheel; the two sides of the first sliding rail 2-1 are respectively connected with the supporting rods 1-2 through bolts, the second sliding rail 2-6 is fixedly welded with the supporting rods 1-2, in the embodiment, the number of the moving assemblies 2 is four, and the moving assemblies are respectively fixed at the four end parts of the supporting assembly 1 through the first sliding rail 2-1 and the second sliding rail 2-6, so that the lifting of the whole supporting assembly 1 can be realized, and a space is reserved for a rescue target.

Referring to FIG. 4, the mechanical arm 3 comprises a telescopic mechanism connecting piece 3-1, a telescopic mechanism 3-2, a synchronous belt motor 3-3, a connecting rod 3-4, a connecting rod connecting piece 3-5, a sliding block 3-6, a synchronous belt pulley 3-7, a lower supporting shaft 3-8, a support plate 3-9 and an upper supporting shaft 3-10; one end of a telescopic mechanism connecting piece 3-1 is respectively welded and fixed at two ends of the inner side of a rectangular top seat 1-1, the other end of the telescopic mechanism connecting piece 3-1 is respectively hinged with the top of a telescopic mechanism 3-2, the bottoms of the telescopic mechanisms 3-2 at two sides are in clearance fit with an upper supporting shaft 3-10, a connecting rod 3-4 is also in clearance fit with the upper supporting shaft 3-10, the connecting rod 3-4 is positioned at two sides of the bottom of the telescopic mechanism 3-2, the other side of the connecting rod 3-4 is hinged with a connecting rod connecting piece 3-5, the connecting rod connecting piece 3-5 is fixed with a horizontal frame 1-3 by welding, a synchronous belt motor 3-3 is fixedly arranged at one side of the upper supporting shaft 3-10, support plates 3-9 are in clearance fit with two sides of the upper supporting shaft 3-10, and the bottoms of the support plates 3-9, the lower supporting shaft 3-8 is in clearance fit with the sliding block 3-6, the sliding block 3-6 is connected with the guide rail 1-4, the upper supporting shaft 3-10 and the lower supporting shaft 3-8 are respectively and uniformly provided with synchronous belt pulleys 3-7 in a key connection mode, in the embodiment, the telescopic mechanism 3-2 is an electric push rod, the upper supporting shaft 3-10 and the lower supporting shaft 3-8 are respectively provided with four synchronous belt pulleys 3-7, and the mechanical arm 3 is respectively welded and fixed on two sides inside the supporting component 1 through a telescopic mechanism connecting piece 3-1 and a connecting rod connecting piece 3-5 and used for linearly sliding inside the supporting component 1 to pick up a target.

The working principle of the specific implementation mode of the invention is as follows: before using the device, a user firstly detects the device and can use the device after confirming that no problem exists. When the device is used, firstly, the electric push rod 2-2 is driven to enable the whole device to ascend to vacate enough space for a target object, then the device is quickly moved right above the target object by utilizing the omnibearing displacement of the Mecanum wheel 2-3, and then the electric push rod 2-2 is driven to enable the whole device to descend; continuously driving the electric push rod 3-2 to act, driving the moving parts of the mechanical arms at two sides to move in the opposite direction, driving the synchronous belt motor 3-3 to drive the synchronous belt pulley 3-7 to rotate, completely extruding and dragging the target object through the lower support shafts 3-8 at two opposite sides, and stopping the action of the electric push rod 3-2 and the synchronous belt motor 3-3 at the moment; the friction direction of the synchronous belt wheels 3-7 and a person is the same as the movement direction of the human body, so that the resistance is reduced, the target object is picked up under the condition of avoiding secondary damage to the target object, and finally the electric push rod 2-2 is driven to lift the whole machine, move out of a working area and send the whole machine to a destination.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims

1. The utility model provides a rescue robot convenient to remove which characterized in that: the rescue robot comprises a supporting component, moving components and mechanical arms, wherein the moving components are respectively arranged at the end parts of the supporting component, and the mechanical arms are respectively arranged at the left side and the right side in the supporting component;

the supporting assembly comprises a rectangular top seat, supporting rods, horizontal frames and guide rails, wherein the supporting rods are fixedly connected to two sides of the rectangular top seat at certain intervals, the bottom of each supporting rod is fixedly connected with the corresponding horizontal frame, and the guide rails are fixedly connected between the end parts of the horizontal frames on the two sides;

the moving assembly comprises a lifting mechanism, a first slide rail fixedly connected to one side of the lifting mechanism and a motor support frame fixedly connected to the bottom of the lifting mechanism, a driving motor is arranged on one side of the motor support frame, a moving mechanism driven by the motor is arranged on the other side of the motor support frame, a second slide rail is further arranged on the other side of the driving motor, and the moving assembly is connected with the support rod through the first slide rail and the second slide rail;

2. Rescue robot convenient to move as claimed in claim 1, characterized in that: the lifting mechanism is an electric push rod, and the moving mechanism is a Mecanum wheel.

3. Rescue robot convenient to move as claimed in claim 1, characterized in that: the telescopic mechanism is an electric push rod.