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Small search-and-rescue robot with function of cutting off barrier

A robot and obstacle technology, applied in the field of search and rescue robots, can solve the problems of large size and difficult movement of the cutting robot arm, and achieve the effect of simple structure design, strong mobility and environmental adaptability, and reduced volume

Active Publication Date: 2014-03-26
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing cutting robot or cutting mechanical arm is mostly difficult to move, and the relative positional relationship between the components of the cutting arm is fixed, there is a problem that the volume is large, and the work cannot be carried out in a narrow and complicated space, and further provides a cutting Small search and rescue robot with obstacle function

Method used

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  • Small search-and-rescue robot with function of cutting off barrier
  • Small search-and-rescue robot with function of cutting off barrier
  • Small search-and-rescue robot with function of cutting off barrier

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0014] Specific implementation mode one: combine Figure 1 to Figure 5 Describe this embodiment. This embodiment includes a cutting robot arm A, a moving trolley B, a mobile telescopic mechanism C, and a cutting tool 4. The cutting robot arm A includes a cutting hand 1, a small arm 2 and a large arm 3, and the moving cart B includes a car shell. Body 21 and car body moving part D, car body 21 is a rectangular box with one end opening 21-1, cutting tool 4 is fixedly installed on one end of cutting hand 1, and the other end of cutting hand 1 is connected with one end of forearm 2 , the other end of the small arm 2 is rotatably connected with the large arm 3, and the large arm 3 is fixedly installed on the mobile telescopic mechanism C, and the mobile telescopic mechanism C and the large arm 3 are both arranged on the casing 21 through the opening 21-1 of the vehicle casing 21. Inside, the vehicle body moving part D is fixedly installed on the casing 21 .

specific Embodiment approach 2

[0015] Specific implementation mode two: combination figure 1 , figure 2 with Figure 5 Describe this embodiment, the cutting hand 1 of this embodiment comprises cutting motor 5, rotating arm body 5-1 and flange 7, and small arm 2 comprises small arm body 2-1, rotating motor 6, rotating motor seat 9 and two The first ball bearing 8, the boom 3 includes a telescopic arm body 3-1, a rotary motor 10, a connecting shaft 11, a bearing end cover 13, a rotary motor seat 14, a driving bevel gear 15, a passive bevel gear 34 and two second balls Bearing 12, rotating arm body 5-1, small arm body 2-1 and telescoping arm body 3-1 are all hollow shells, and an end face of flange 7 is processed with circular shaft 7-1, and on the circular shaft 7-1 There are two first ball bearings 8 in the suit, the cutting motor 5 is fixedly installed in the rotating arm body 5-1, the rotating motor 6 is fixedly installed in the rotating motor seat 9, and the rotating motor seat 9 is installed in the fo...

specific Embodiment approach 3

[0016] Specific implementation mode three: combination Figure 1 to Figure 4 Describe this embodiment, the car body moving part D of this embodiment includes two driving track wheels 22, two driven track wheels 23, two crawler belts 24, two baffle plates 25, two driving motors 27, two driven Gear 30, two driving gears 28, two support frames 33, four axles 29, eight third ball bearings 31 and eight bearing blocks 32, each bearing seat 32 is provided with a third ball bearing 31, each The two end surfaces of the third ball bearing 31 are provided with bearing retaining rings 36, and the front and rear ends of the car body 21 are respectively equipped with two wheel shafts 29, and the two wheel shafts 29 at the front end are symmetrical with the longitudinal centerline N-N of the car body 21. Be arranged on the outer sidewalls of both sides of the car shell 21, and the two axles 29 at the rear end are symmetrically arranged on the outer side walls of the two sides of the car shel...

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Abstract

The invention relates to a search-and-rescue robot, in particular to a small search-and-rescue robot with the function of cutting off a barrier. The small search-and-rescue robot solves the problems that most existing cutting robots or most existing cutting manipulators are hard to move and large in size and cannot work on an occasion where space is narrow and complex, and all members of the cutting manipulators are stable in relative position. The small search-and-rescue robot comprises a cutting manipulator, a mobile trolley, a mobile telescopic mechanism and a cutting tool; the cutting manipulator comprises a cutting hand, a small arm and a big arm; the mobile trolley comprises a trolley shell and a trolley body mobile part, and the trolley shell is a rectangular box with an opening in one end; the cutting tool is fixedly installed at one end of the cutting hand, the other end of the cutting hand is connected with one end of the small arm, and the other end of the small arm is in rotating connection with the big arm; the big arm is fixedly installed on the mobile telescopic mechanism; the mobile telescopic mechanism and the big arm are both arranged in the trolley shell through the opening of the trolley shell; the trolley body mobile part is fixedly installed on the trolley shell. The small search-and-rescue robot with the function of cutting off the barrier is used in a complex and severe cutting environment.

Description

technical field [0001] The invention relates to a search and rescue robot, in particular to a small search and rescue robot with the function of cutting off obstacles. Background technique [0002] With the development of society, many areas with complex and harsh environments, such as earthquake relief, urgently need special robots such as cutting robots to enter narrow deep spaces, realize cutting operations, cut off obstacles, and open up passages. Most of the existing cutting robots or cutting mechanical arms are difficult to move, and the relative positional relationship between the components of the cutting arm is fixed, the volume is large, it cannot work in narrow and complicated places, and the mobility is poor, so it is difficult to adapt to complex and harsh environments. Working environment; due to the large structure, it is not convenient to carry and move. Contents of the invention [0003] In order to solve the problem that the existing cutting robot or cut...

Claims

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Application Information

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IPC IPC(8): B62D55/06B25J5/00
Inventor 朱延河臧希喆赵杰王继斌尚红张涛
Owner HARBIN INST OF TECH