Search and rescue robot suitable for complex terrains

Abstract

The invention belongs to the related technical field of robots and discloses a search and rescue robot suitable for complex terrains. The robot comprises a box body, two front planet wheel sets and two rear planet wheel sets, wherein the two front planet wheel sets are symmetrically arranged on the left side and the right side of the front part of the box body, the two rear planet wheel sets are symmetrically arranged on the left side and the right side of the rear part of the box body, each of the front planet wheel sets and the rear planet wheel sets comprises a driving motor, a gear box and a planet wheel, the gear box is of an equilateral triangle box body structure, three corners of the gear box are respectively connected with one planet wheel, a gear is arranged in the gear box, a rotating shaft of each planet wheel is meshed with the gear, and an output shaft of the driving motor is connected with an input shaft of the gear box; the rear planet wheel sets further comprise a steering motor, a driving gear and a driven gear, wherein the driven gear is fixed to a gear box of the rear planet wheel sets, the driving gear is arranged on an output shaft of the steering motor of the rear planet wheel sets, and the driving gear is meshed with the driven gear. The robot has a higher obstacle-crossing capability and is of high applicability to complex terrains.

Description

technical field [0001] The invention belongs to the technical field related to robots, and more specifically relates to a search and rescue robot suitable for complex terrain. Background technique [0002] In the rescue work of earthquakes, fires and other accidents, the complexity and danger of the search and rescue scene are often high. Rescuers directly enter the dangerous environment to carry out rescue work, often need to face very high risks, so that the search and rescue robot replaces the rescue personnel to enter the dangerous scene Carrying out situation investigation and wounded search and rescue can effectively reduce the danger of rescuers, and has been extensively studied in recent years. [0003] The topographical conditions of disaster sites are often complex, requiring search and rescue robots to have a high ability to overcome obstacles and have high stability under different terrain conditions. The current search and rescue robots are mainly wheeled, craw...

AI Technical Summary

Problems solved by technology

The tracked obstacle-crossing robot has a large support area, small subsidence, and strong terrain adaptability, but its structure is complex and heavy, and its energy utilization rate is low; the footed obstacle-crossing robot has flexible movement and strong terrain adaptability, but its load is relatively low and its structure and control are very complex, and its gait control algorithm is difficult to meet the movement requirements under complex terrain conditions; bionic robots, such as snake robots, are currently only used for specific tasks or specific terrain conditions, and their versatility is not strong

Wheeled robots have simple structure, convenient control, high load-to-weight ratio, and high energy efficiency. They have absolute advantages over other types of robots when traveling with loads on flat roads, but their obstacle-surmounting performance is poor on rough terrain. This type of robot is also the most researched. robot

[0004] Chinese patent CN109911052A proposes a wheel-leg composite robot, which takes into account the fast sliding on flat ground and the obstacle avoidance ability in complex environments through the switching of wheel-leg modes, but the mode switching needs to be performed manually, and the gait control of legged robots Algorithm is not yet mature

Chinese patent CN105035204A proposes another wheel-leg composite mobile robot. Its legs have only one degree of freedom and can overcome obstacles by swinging. However, its wheel diameter is large and the weight of the legs is heavy. If it swings, it needs a larger motor power. , but it still requires human remote control, and cannot make independent judgments based on its own movement under terrain conditions

Chinese patent CN101890986A proposes a six-wheel mechanism, four of which are fixed and the other two swing, similar to the swing arm of a crawler robot, which has good terrain adaptability, but this patent also faces the problem of being unable to control itself , the process of overcoming obstacles requires the active participation of people, and it is impossible to make autonomous adaptive movements to the terrain

Chinese patent CN106892014B proposes a planetary wheel type obstacle-surmounting robot, which all adopts four sets of planetary wheel structures, and can make adaptive movements for various terrains. However, when crossing higher single-level steps or multi-level steps, the rear The rotation of the planetary wheel drive motor is all converted into the rotation of the small wheel, and it is difficult for the front planetary wheel to provide enough pulling force to make the planetary carrier of the rear planetary wheel rotate. wheel can't climb the steps

Chinese patent CN205632713U proposes an active planetary gear system obstacle-surmounting robot chassis. The transmission mechanism adopts the shaft sleeve shaft structure to realize the active rotation of the planetary wheel, which has higher obstacle-surmounting ability, but a large number of cones are used in the transmission mechanism. Gear transmission mechanism, the transmission mechanism is too complicated, and it is difficult to guarantee the stability of use

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