Active head deflecting mechanism for tubular search and rescue robot facing gaps

Abstract

The invention discloses an active head deflecting mechanism for a tubular search and rescue robot facing gaps. The head deflecting mechanism comprises a driving mechanism and a keel, wherein the driving mechanism drives the keel to defect vertically and horizontally, so that the deflection of the head of the tubular search and rescue robot is realized. The head deflecting mechanism disclosed by the invention can be used for a tubular search and rescue robot which is rigid or has certain flexibility, wherein the diameter phi of the tubular search and rescue robot is 10-14mm. The head deflecting mechanism can carry a Hall sensor, and can detect the head deflecting situations of the tubular search and rescue robot, so that the automatic control for the steering of the head of the robot is realized, and a detection distance is effectively lengthened; therefore, the head deflecting mechanism is particularly suitable for the fields of search and rescue, detection and the like in gaps in earthquake ruins.

Description

technical field [0001] The invention discloses an active deflection mechanism of the head of a tubular search and rescue robot facing a gap. The active deflection mechanism of the head is suitable for the tubular search and rescue robot used in earthquake and collapse sites. Background technique [0002] The development of search and rescue equipment that can penetrate deep into the crevices of ruins is slow, and there are few related documents and patents. At present, there is a wide demand for search and rescue equipment in ruins gaps, such as detection and storage of underground or irregular passages, especially in some special occasions, such as earthquakes, collapsed ruins, and the complex environment in ruins gaps , The equipment for detection and rescue goes deep into the crevices of the ruins and needs to have the ability to steer autonomously. Therefore, the head active deflection mechanism is extremely important in expanding the scope of search and rescue and stri...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the problem that the current search and rescue robot in the ruins gap is sent into the ruins gap, the adjustable range of the feeding direction is small, the active deflection cannot be realized, and the feeding distance is limited. The present invention provides a tubular search and rescue robot facing the gap. Deflection mechanism, the head active deflection mechanism can be used for rigid or flexible tubular search and rescue robots with a diameter of Φ10-14mm. It can be equipped with sensors to detect the deflection of the head of the tubular search and rescue robot, and realize the automatic control of the robot's head steering

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