CN105923060A - Multifunctional search and rescue robot - Google Patents

Abstract

The invention discloses a multifunctional search and rescue robot, which includes a probe, a probe rod, a connection assembly and a body, the probe includes a cone and a cylinder, the cone is welded and consolidated in front of the cylinder, and the probe includes a wedge block, a connecting rod And thread, the connecting rod is located in front of the wedge block, the thread is located in the building of the connecting rod, the probe rod is connected to the probe through the thread, the connecting assembly includes a spring and a guide rod, the spring is sleeved on the guide rod, and the body includes two mirror-symmetrical traveling mechanisms , the walking mechanism is composed of a crawler mechanism and a fuselage. The inner side of the fuselage is provided with a guide sleeve and a wedge-shaped block. The wedge-shaped block is matched with the wedge-shaped groove on the body. match. The invention has the advantages of simple control, high dexterity and strong penetrability, improves the operation ability of the search and rescue robot, expands the working range of the search and rescue robot, and provides new theoretical methods and technical equipment for the search and rescue work of urban disasters.

Description

A multifunctional search and rescue robot

technical field

The invention relates to the technical field of robots, in particular to a multifunctional search and rescue robot.

Background technique

After an urban disaster, the biggest challenge for search and rescue work is to search for survivors deep inside the ruins. The internal situation of the ruins is complicated, and there are passages partially or completely blocked by the ruins (such as concrete blocks, dust, gravel, mud, etc.) that are difficult for rescuers to pass through. It is difficult to pass through the narrow space of the passage that is partially blocked; the search and rescue robot with weak obstacle clearance and excavation ability is difficult to remove the larger obstacles in the passage, and does not have the ability to excavate, so it cannot pass through the passage completely blocked by the ruins. Therefore, in order to be able to carry out search and rescue work in the ruins, the robot must have the ability to pass through narrow spaces, remove obstacles and dig into the ruins.

In response to the robot technology needs of the ruins search and rescue team, researchers at home and abroad have carried out corresponding research on search and rescue robot technology, mainly focusing on snake-shaped search and rescue robots and tracked/wheeled obstacle-clearing search and rescue robots. The snake-like robot is slender, flexible, and highly reconfigurable; however, its movement is complex, its control is difficult, and its speed is slow. It cannot pass through completely blocked passages, nor can it remove larger obstacles on the way forward. The control performance and walking speed of tracked/wheeled obstacle-clearing search and rescue robots are better than those of snake-shaped robots, and the obstacle-clearing devices on the mobile platform can be used to remove building debris on the road; The passability is low; at the same time, it does not have the ability to excavate the building debris layer.

Contents of the invention

The purpose of the present invention is to provide a multifunctional search and rescue robot with simple control and good dexterity, so as to solve the problems raised in the background technology above.

To achieve the above object, the present invention provides the following technical solutions:

A multifunctional search and rescue robot includes a probe, a probe rod, a connection assembly and a body, the probe includes a cone and a cylinder, the cone is welded and consolidated in front of the cylinder, the probe includes a wedge, Connecting rod and thread, the connecting rod is located in front of the wedge block, the thread is located in the building of the connecting rod, the probe rod is connected to the probe through the thread, the connecting assembly includes a spring and a guide rod, and the spring is sleeved on the guide rod , the body includes two mirror-symmetrical running gears, the running gear is composed of a crawler mechanism and a fuselage, the inside of the fuselage is provided with a guide sleeve and a wedge block, and the wedge block is matched with a wedge-shaped groove on the body , the two ends of the spring are connected with the two traveling mechanisms, and the guide rod is matched with the guide sleeve.

As a further solution of the present invention: the material of the fuselage is nylon.

Compared with prior art, the beneficial effect of the present invention is:

The present invention is oriented to search and rescue work on urban disaster sites, which requires robots to pass through narrow spaces and penetrate building debris layers, etc., and explores a robot movement method with both dexterity and penetrability, which is simple in control, high in dexterity, and strong in penetrability. It improves the operation ability of the search and rescue robot, expands the working scope of the search and rescue robot, and provides new theoretical methods and technical equipment for the search and rescue work of urban disasters.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a structural schematic diagram of the probe in the present invention.

Fig. 3 is a structural schematic diagram of the probe rod in the present invention.

Fig. 4 is a schematic structural diagram of the connection assembly in the present invention.

Fig. 5 is a schematic diagram of the structure of the body in the present invention.

detailed description

The technical solution of this patent will be further described in detail below in conjunction with specific embodiments.

Please refer to Fig. 1-5, a kind of multifunctional search and rescue robot comprises probe 1, probe rod 2, connection assembly 3 and body 4, and described probe 1 comprises cone 11 and cylinder 12, and described cone 11 is fixed by welding. Knotted in front of the cylinder 12, the main function of the probe 1 is to remove obstacles and remove debris in front of the robot during excavation. The probe rod 2 includes a wedge block 21, a connecting rod 22 and a thread 23, and the connecting rod 22 is located at In front of the wedge block 21, the thread 23 is located at the building of the connecting rod 22, the probe rod 2 is connected to the probe 1 through the thread 23, the connecting assembly 3 includes a spring 31 and a guide rod 32, and the spring 31 is sleeved on the guide rod 32 Above, the body 4 includes two mirror-symmetric running gears 41, the running gear 41 is composed of a crawler mechanism 411 and a fuselage 412, and a guide sleeve 4121 and a wedge block 4122 are arranged on the inner side of the fuselage 412. The wedge-shaped block 21 cooperates with the wedge-shaped groove 4122 on the body 4 to form a coupled movement between the probe 1 and the body 4. The two ends of the spring 31 are connected with the two running gears 41. The spring 31, the running gear 41 and the probe rod 2 Together they form the contraction movement of the body 4, the guide rod 32 cooperates with the guide sleeve 4121 to enhance the connection rigidity of the body 4, and the material of the body 412 is nylon.

The multifunctional search and rescue robot must be able to carry out search and rescue work through the complex and changeable environment in the ruins. Different walking gaits must be adopted:

1. When encountering a narrow space, the robot adopts a passing gait, the probe 1 stretches forward, and the wedge-shaped block 21 of the probe rod 2 runs to the front end of the wedge-shaped groove 4122 in the body 4. Under the action of the spring 31 in the connecting component 3, the robot The guide sleeve 4121 of the body 4 moves along the guide rod 32, the cross-sectional area of the body 4 is reduced, and can pass through the narrow space, and the walking mechanism 41 drives the robot to pass through the narrow space.

2. When encountering an obstacle with a large size on the road ahead, the robot adopts the obstacle-clearing gait: a) the walking mechanism 41 stops walking; b) the probe 1 extends forward and recovers until the obstacle in front is removed; c) adopts the passing step state through.

3. When encountering a completely blocked passage, the robot adopts a digging posture: 1) The traveling mechanism 41 stops walking, and the probe 1 stretches forward. At this time, the body 4 contracts under the action of the wedge block 21 and the spring 31; 2) The probe 1 After the forward extension is completed, the running mechanism 41 starts, and the body 4 moves forward under the pull of the probe 1 and the drive of the running mechanism 41, and the body gradually recovers under the action of the wedge 21 and the spring 31; 3) After the pulling of the probe 1 is completed , the traveling mechanism 41 stops walking; 4) Start the next cycle of excavation progress.

The present invention is oriented to search and rescue work on urban disaster sites, which requires robots to pass through narrow spaces and penetrate building debris layers, etc., and explores a robot movement method with both dexterity and penetrability, which is simple in control, high in dexterity, and strong in penetrability. It improves the operation ability of the search and rescue robot, expands the working scope of the search and rescue robot, and provides new theoretical methods and technical equipment for the search and rescue work of urban disasters.

The preferred implementation of this patent has been described in detail above, but this patent is not limited to the above-mentioned implementation. Within the scope of knowledge possessed by those of ordinary skill in the art, various modifications can be made without departing from the purpose of this patent. kind of change.

Claims (2)

1. null1. a multi-functional search and rescue robot，It is characterized in that，Including probe (1)、Feeler lever (2)、Connect assembly (3) and body (4)，Described probe (1) includes cone (11) and cylinder (12)，Described cone (11) is fixedly arranged at the front of cylinder (12) by welding，Described feeler lever (2) includes wedge (21)、Connecting rod (22) and screw thread (23)，Described connecting rod (22) is positioned at the front of wedge (21)，Described screw thread (23) is positioned at building a house of connecting rod (22)，Described feeler lever (2) connects probe (1) by screw thread (23)，Described connection assembly (3) includes spring (31) and guide rod (32)，Spring (31) is enclosed within guide rod (32)，Described body (4) includes the walking mechanism (41) that two minute surfaces are symmetrical，Described walking mechanism (41) is made up of pedrail mechanism (411) and fuselage (412)，The inner side of described fuselage (412) is provided with guide pin bushing (4121) and wedge (4122)，Described wedge (21) coordinates with the wedge-shaped slot (4122) on body (4)，The two ends of described spring (31) are connected with two walking mechanisms (41)，Described guide rod (32) matches with guide pin bushing (4121).
2. Multi-functional search and rescue robot the most according to claim 1, it is characterised in that the material of described fuselage (412) is nylon.