A Parallel Rescue Robot with Adjustable Attitude and Three Degrees of Freedom

Abstract

The invention relates to a three-degree-of-freedom parallel rescue robot with adjustable attitude. The robot includes a moving platform, a motion branch, an obstacle surmounting mechanism and an indication actuator; the moving platform includes a rectangular top seat and a vertical beam, and the vertical beam is fixed Connected under the beams on both sides of the middle of the rectangular top base; the motion branch includes a rotating pair, a moving pair and a ball pair, and under the action of the motion branch, the rescue robot can be rotated along the X and Y axes and moved along the Z axis ; The obstacle crossing mechanism includes a short track chassis and a long track chassis, which can realize the rescue robot stably crossing certain obstacles. The invention applies the 3-SPR parallel mechanism with the symmetrical layout of R pairs to the structural design of the rescue robot, so that it can adjust the posture according to different human postures during the rescue process, and always keep the moving platform facing the ground during the transfer process. Parallel, so that the rescued avoid the secondary injury during the transfer process.

Description

technical field [0001] The invention relates to the technical field of rescue robots, in particular to an attitude-adjustable three-degree-of-freedom parallel rescue robot. Background technique [0002] Natural and man-made disasters occur frequently around the world, seriously threatening human security and social stability. Among the victims after the disaster, a considerable number of people lost their lives due to lack of timely rescue. For example, in earthquake rescue, house collapses and landslides will delay the time for rescuers to enter the disaster area, resulting in untimely rescue; in fire rescue, the rescue environment is high in temperature and oxygen is thin, prone to poisonous gas or even explosion, which seriously threatens rescuers life; therefore, the research and development of rescue robots for search and rescue has important theoretical and practical significance. However, the existing rescue robots are large in size, and most of them cannot rescue h...

AI Technical Summary

Problems solved by technology

For example, in earthquake rescue, house collapses and landslides will delay the time for rescuers to enter the disaster area, resulting in untimely rescue; in fire rescue, the rescue environment is high in temperature and oxygen is thin, prone to poisonous gas or even explosion, which seriously threatens rescuers life; therefore, research and development of rescue robots for search and rescue has important theoretical and practical significance

However, the existing rescue robots are large in size, and most of them cannot rescue human bodies in different postures through the adjustment of their own postures, and rescue robots are generally strong in specificity and poor in versatility

[0003] The invention patent with the publication number CN107486832A discloses a wheeled rescue robot, including a frame, a walking mechanism, a grabbing mechanism, a control module, a remote controller and a power supply; during the actual operation of the robot, due to the complexity of the external environment, It may affect the actual use performance of the wheeled rescue robot manipulator. The obstacles in the earthquake disaster are generally heavy, and the manipulator is difficult to display; the invention patent with the publication number of CN107336213A discloses a fire scene rescue robot, which adopts active walking unit and auxiliary walking The walking mode of unit combination adopts crawler to grasp the ground; however, there may be a lot of scattered debris in the fire scene, and at the same time, it lacks the necessary clearance, which will inevitably affect the action and affect the speed of search and rescue; the invention patent with the publication number CN101869745A A rescue robot is disclosed, including a torso, six legs, a traction rope, a control unit, a power supply, and a delivery unit; the hexapod robot has a relatively strong ability to overcome obstacles, but its control is relatively complicated and its volume is too small, so it can only provide a search function and cannot Transport the wounded to the rear

[0004] Therefore, all kinds of rescue robots in the prior art have certain defects and deficiencies, and whether they can play an important role in the rescue process and produce ideal technical effects remains to be further explored.

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