Modularized disaster rescue robot

A rescue robot, modular technology, applied in the field of robotics, can solve problems such as small load capacity

Inactive Publication Date: 2011-05-04
李路
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to its own structural characteristics, the load capacity is small

Method used

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  • Modularized disaster rescue robot
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Examples

Experimental program
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Effect test

Embodiment 1

[0046] Such as figure 1 , image 3As shown, this embodiment includes a hexagonal main body module 1 and a mechanical arm 4 located on the main body module 1. The main body module 1 is connected to the moving mechanism 3 through an aviation plug. In this embodiment, the moving mechanism 3 adopts a wheeled mobile agency. Among them, the main body module 1 provides power and overall control for each mobile mechanism 3, and ensures the normal operation of the whole like the heart and the brain. And after the aviation plug is connected, the main module 1 will automatically recognize the mobile chassis mode of the mobile mechanism 3, so as to apply the corresponding mobile program to achieve the effect of "plug and play". This modular design can change the mobile mechanism according to different rescue environments, and select the mobile mechanism suitable for the environment, so as to maximize the effectiveness of the rescue robot and effectively improve its utilization efficienc...

Embodiment 2

[0105] The difference between this embodiment and Embodiment 1 is that in this embodiment, the physical structure of the main module 1 is made of photosensitive resin material, and the column and beam sections are embedded.

[0106] In the manufacturing process, the machining process of the main module 1 adopts advanced laser rapid prototyping technology, and uses Somos ProtoTool 20L photosensitive resin material to generate a digital three-dimensional model into a solid body through 3D laser rapid prototyping. The manufacturing process is fast and environmentally friendly, and the technical advantages of CAD and CAM are used to the greatest extent to enhance the performance of the mechanical structure and save costs. After calculation and analysis of the finite element structure, it was found that there were stress concentration points in the beams of the main frame, and defects such as poor pressure resistance of the pillars. In order to overcome this defect, the design adop...

Embodiment 3

[0109] The difference between this embodiment and Embodiment 1 is that in this embodiment, the moving mechanism 3 adopts a leg crawler type moving mechanism. Such as Figure 14 As shown, the moving mechanism 3 includes a footwear chassis module 7 and four footwear modules 8 connected thereto, the four footwear modules 8 are symmetrically distributed, and the motors controlling the footwear modules 8 are located on the footwear chassis module 7, and each Each leg module 8 corresponds to a control motor. In addition, various instruments and equipment can be loaded on the leg-tracking chassis module 7 to complete various tasks. It is a carrying platform and generally maintains a horizontal posture during motion. The leg module 8 is a motion unit, which can rotate around the main body of the robot to assist the robot to climb and overcome obstacles.

[0110] Such as Figure 14 As shown, the leg-tracking mobile robot has four degrees of freedom, the crawler itself rotates and th...

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Abstract

The invention discloses a modularized disaster rescue robot comprising a hexagonal main body module and a mechanical arm, wherein the mechanical arm is arranged on the main body module, and the main body module is connected with a moving mechanism. The main body module comprises an identifying unit, a motion control unit, a communication unit and a master control unit which are mutually communicated by a bus technology. The identifying unit is used for identifying the motion way of the moving mechanism, and the motion control unit is used for establishing a kinematics model according to the motion way and driving the moving mechanism to move; and a body of the mechanical arm is a robot operating arm with five degrees of freedom, a steering engine and a hand gripping mechanism are arranged on the operating arm, and the steering engine is connected with the master control unit. The invention finishes the plug and play function by utilizing a cordwood system type modularized mechanical connection scheme and a mechanical self-adaptive double-rail guide rail, realizes the multifunction of one object by taking the main body module as a platform and can fast assemble a plurality of task modules according to the environments and the types of tasks.

Description

technical field [0001] The invention relates to a robot, in particular to a modular robot that can be used in disaster rescue. Background technique [0002] In recent years, natural disasters such as earthquakes, fires, and floods have occurred frequently in my country and around the world. In particular, 69,207 people were killed in the magnitude 8.0 Wenchuan Earthquake that occurred on May 12 this year. During the earthquake relief process, many rescue operations were stranded due to the complex situation at the rescue site. Most of them are due to the inability of rescuers to enter the narrow and dangerous ruins to provide effective help to survivors. It is a challenging new field in robotics research, and it is the background of the new era. New problems that urgently need to be solved. [0003] As a result, many universities and research institutes at home and abroad have carried out research on rescue robot technologies such as rescue robots, autonomous rescue dron...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00A62B99/00
Inventor 李路张晨峰王清川李俊张凯
Owner 李路
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