A door-opening mechanical arm of a rescue robot

Abstract

The present invention relates to a rescue robot door opening mechanical arm, comprising: a vertical lifting assembly, a horizontal rotating assembly and a terminal door opening assembly connected in sequence, wherein the vertical lifting assembly is used to drive the horizontal rotating assembly to move up and down to realize the height position control of the terminal door opening assembly; the horizontal rotating assembly is used to realize the horizontal position control of the terminal door opening assembly; the horizontal rotating assembly comprises a first motion joint and a second motion joint, the first motion joint and the second motion joint are rotatably connected, the first motion joint is connected to the vertical lifting assembly, and the second motion joint is connected to the terminal door opening assembly; the terminal door opening assembly comprises a door opening device to realize the door opening function. The rescue robot door opening mechanical arm of the present invention is provided with four degrees of freedom, and through the precise control of the four degrees of freedom, the door opening operation of an L-shaped door handle, a disc-shaped door handle or a ball-shaped handle can be realized in various complex situations.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical arms, and in particular relates to a door-opening mechanical arm of a rescue robot. Background Art

[0002] With the progress of social economy and technology, robotics technology has gradually been applied to various fields, especially in the field of rescue robot technology. In terms of emergency rescue, compared with manual rescue, some complex environments such as fire scenes may cause harm to rescuers, so rescue requirements are higher. In view of such situations, various rescue robots have been developed, and most rescue robots have realized functions such as obstacle avoidance, on-site information collection, and dangerous environment processing.

[0003] When robots participate in rescue missions, they often need to open doors that are obstacles to rescue, and the delicate operation of the door opening process is a complex part of the robot design. At present, rescue robots are implemented using general commercial robotic arms, so the integration cost is high, the weight is large, the adaptability of the unlocking action is poor, and the operation is difficult. In view of the above shortcomings of the robotic arm, in actual door opening, it will take too long to open the door, or even fail to open a door with greater resistance. In addition, the entire mechanical equipment is easy to damage and difficult to repair, so it is not suitable for rescue occasions with harsh environments. Summary of the invention

[0004] In order to solve the above problems existing in the prior art, the present invention provides a door-opening mechanical arm of a rescue robot. The technical problem to be solved by the present invention is achieved through the following technical solutions:

[0005] The present invention provides a door-opening mechanical arm of a rescue robot, comprising: a vertical lifting component, a horizontal rotating component and a terminal door-opening component connected in sequence, wherein:

[0006] The vertical lifting assembly is used to drive the horizontal rotating assembly to move up and down, so as to achieve the height position setting of the end door opening assembly;

[0007] The horizontal rotating assembly is used to realize the horizontal position setting of the end door opening assembly;

[0008] The horizontal rotation assembly includes a first motion joint and a second motion joint, the first motion joint and the second motion joint are rotatably connected, the first motion joint is connected to the vertical lifting assembly, and the second motion joint is connected to the end door opening assembly;

[0009] The end door opening assembly includes a door opening device to realize the door opening function.

[0010] In one embodiment of the present invention, the vertical lifting assembly includes a lifting bracket and a guide rail, a screw rod and a guide shaft arranged on the lifting bracket, wherein the guide rail, the screw rod and the guide shaft are both connected to the horizontal rotation assembly.

[0011] In one embodiment of the present invention, the vertical lifting assembly also includes a guide rail, which is arranged on the side of the lifting bracket, and a slider that is connected to the guide rail is provided on the guide rail, and a connecting piece is provided on the slider, and the connecting piece is connected to the end door opening assembly.

[0012] In one embodiment of the present invention, the vertical lifting assembly further includes a camera, and the camera is disposed on the top of the lifting bracket.

[0013] In one embodiment of the present invention, the first motion joint comprises a first joint component, wherein:

[0014] A linear bearing is disposed at the first end of the first joint component to achieve connection with the guide shaft;

[0015] A screw rod connector is provided in the middle of the first joint component to achieve connection with the guide rail screw rod;

[0016] The second end of the first joint is provided with a first connecting shaft connected with the second motion joint, and a transmission motor is provided inside the first connecting shaft.

[0017] In one embodiment of the present invention, the second motion joint comprises a second joint component and a first servo motor disposed thereon, wherein:

[0018] The first end of the second joint component is connected to the first connecting shaft;

[0019] A second connecting shaft is disposed at the second end of the second joint, and the second connecting shaft is connected to the first servo motor via a synchronous transmission mechanism.

[0020] In one embodiment of the present invention, the end opening door assembly comprises an end bracket, wherein:

[0021] The bottom of the end bracket is connected to the second connecting shaft;

[0022] The door opening device is installed on the end bracket.

[0023] In one embodiment of the present invention, the door opening device includes a second servo motor, a first door opening mechanism and a second door opening mechanism, wherein the second servo motor is connected to the first door opening mechanism and the second door opening mechanism respectively through bevel gears to realize the rotation of the first door opening mechanism and the second door opening mechanism.

[0024] In one embodiment of the present invention, the first door opening mechanism is an L-shaped and disc-shaped door handle joint, and the second door opening mechanism is a ball-shaped door handle joint.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The door-opening mechanical arm of the rescue robot of the present invention is provided with four degrees of freedom, including one degree of freedom in the vertical direction, two degrees of freedom in the horizontal direction, and a rotational degree of freedom. With only the above four degrees of freedom, functions such as door opening and rescue can be completed.

[0027] 2. The rescue robot door opening mechanical arm of the present invention has an end door opening component and a horizontal rotation component that are connected through assembly. The end door opening component can be replaced according to the actual door opening situation to adapt to different door handle situations. Moreover, the structure of the end door opening component has a large load capacity and is compact and flexible in design, which facilitates the door opening action.

[0028] 3. The door-opening mechanical arm of the rescue robot of the present invention can operate each degree of freedom independently to complete positioning and door-opening actions, and the operation difficulty is low.

[0029] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following specifically cites a preferred embodiment and describes it in detail with the accompanying drawings as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a right side view of a door opening mechanical arm of a rescue robot provided by an embodiment of the present invention;

[0031] Figure 2 This is a front view of a door-opening mechanical arm of a rescue robot provided by an embodiment of the present invention;

[0032] Figure 3 is a right side view of a vertical lifting assembly provided by an embodiment of the present invention;

[0033] Figure 4 is a schematic diagram of a horizontal rotating assembly provided by an embodiment of the present invention;

[0034] Figure 5 It is a schematic diagram of an end-opening door assembly provided in an embodiment of the present invention.

[0035] Icons: 1-vertical lifting assembly; 101-lifting bracket; 102-guide rail and screw; 103-guide shaft; 104-guide rail; 105-slider; 106-connecting piece; 107-camera; 2-horizontal rotation assembly; 201-first motion joint; 2011-first joint part; 2012-linear bearing; 2013-screw connecting piece; 2014-first connecting shaft; 202-second motion joint; 2021-second joint part; 2022-first servo motor; 2023-second connecting shaft; 2024-synchronous pulley; 2025-synchronous belt; 3-end door opening assembly; 301-end bracket; 302-second servo motor; 303-first door opening mechanism; 304-second door opening mechanism. DETAILED DESCRIPTION

[0036] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, a rescue robot door opening mechanical arm proposed in accordance with the present invention is described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0037] The above and other technical contents, features and effects of the present invention are clearly presented in the following detailed description of the specific implementation modes in conjunction with the accompanying drawings. Through the description of the specific implementation modes, the technical means and effects adopted by the present invention to achieve the predetermined purpose can be more deeply and specifically understood. However, the attached drawings are only for reference and explanation purposes and are not used to limit the technical solutions of the present invention.

[0038] Embodiment 1

[0039] Please refer to Figure 1 and Figure 2 , Figure 1 It is a right side view of a door opening mechanical arm of a rescue robot provided by an embodiment of the present invention; Figure 2 This is a front view of a rescue robot door opening mechanical arm provided by an embodiment of the present invention. As shown in the figure, the rescue robot door opening mechanical arm of this embodiment includes: a vertical lifting component 1, a horizontal rotation component 2 and a terminal door opening component 3 connected in sequence, wherein the vertical lifting component 1 is used to drive the horizontal rotation component 2 to move up and down to achieve the height position setting of the terminal door opening component 3; the horizontal rotation component 2 is used to achieve the horizontal position setting of the terminal door opening component 3; the terminal door opening component 3 includes a door opening device to achieve the door opening function.

[0040] Specifically, see Figure 3 , Figure 3It is a right view of a vertical lifting assembly provided by an embodiment of the present invention. As shown in the figure, in this embodiment, the vertical lifting assembly 1 includes a lifting bracket 101 and a guide screw 102 and a guide shaft 103 arranged on the lifting bracket 101, wherein the guide screw 102 and the guide shaft 103 are both connected to the horizontal rotation assembly 2.

[0041] In this embodiment, the lifting bracket 101 can be assembled with a mobile robot. The mobile robot can be an unmanned vehicle with obstacle avoidance and movement function. The unmanned vehicle has a remote control function and can remotely control a mechanical arm to complete the door opening operation.

[0042] It should be noted that if the body of the unmanned vehicle is tilted, then the horizontal rotating component 2 is used to achieve position control of the end door opening component 3 in a horizontal plane parallel to the body.

[0043] Furthermore, the vertical lifting assembly 1 also includes a guide rail 104, which is arranged on the side of the lifting bracket 101, and a slider 105 is provided on the guide rail 104 and is connected to the guide rail 104. The slider 105 is provided with a connecting piece 106, and the connecting piece 106 is connected to the end door opening assembly 3.

[0044] Optionally, the guide screw 102 and the motor are connected through gears and transmission belts, and the motor is controlled by a PLC drive inverter to transmit the power. Under the horizontal support of the guide rail 104 and the guide shaft 103 and the vertical guidance, the horizontal rotating component 2 connected to the guide screw 102 is driven to slide up and down to complete the height position setting of the end door opening component 3.

[0045] Furthermore, the vertical lifting assembly 1 further includes a camera 107, which is disposed at the top of the lifting bracket 101. The position of the door lock can be observed through the camera 107 to adjust the position of the end door opening assembly 3 to the corresponding position of the door lock.

[0046] See also Figure 4 , Figure 4 Schematic diagram of a horizontal rotation assembly provided by an embodiment of the present invention. As shown in the figure, in this embodiment, the horizontal rotation assembly 2 includes a first motion joint 201 and a second motion joint 202, the first motion joint 201 and the second motion joint 202 are rotatably connected, the first motion joint 201 is connected to the vertical lifting assembly 1, and the second motion joint 202 is connected to the end door opening assembly 3.

[0047] Specifically, the first motion joint 201 includes a first joint component 2011, wherein a linear bearing 2012 is provided at the first end of the first joint component 2011 to connect with the guide shaft 103; a screw connector 2013 is provided in the middle of the first joint component 2011 to connect with the guide rail screw 102; a first connecting shaft 2014 connected to the second motion joint 202 is provided at the second end of the first joint component 2011, and a transmission motor (not shown in the figure) is provided inside the first connecting shaft 2014.

[0048] In this embodiment, a linear bearing 2012 is used to connect with the guide shaft 103 , which can reduce the friction resistance of the horizontal rotating component 2 when the guide shaft 103 moves up and down under the drive of the vertical lifting component 1 .

[0049] Furthermore, the second motion joint 202 includes a second joint component 2021 and a first servo motor 2022 arranged thereon, wherein the first end of the second joint component 2021 is connected to the first connecting shaft 2014; the second end of the second joint component 2021 is provided with a second connecting shaft 2023, and the second connecting shaft 2023 is connected to the first servo motor 2022 through a synchronous transmission mechanism.

[0050] In this embodiment, the transmission motor rotates to drive the first connecting shaft 2014 to rotate, thereby setting the horizontal position of the second motion joint 202. The synchronous transmission mechanism is composed of a synchronous pulley 2024 and a synchronous belt 2025. The first servo motor 2022 and the second motion joint 202 are connected by the synchronous transmission mechanism to achieve 360-degree rotation, thereby completing the horizontal position setting of the end door opening assembly 3 connected thereto. The first motion joint 201 and the second motion joint 202 of this embodiment can achieve two-degree-of-freedom horizontal rotation.

[0051] For further information, see Figure 5 , Figure 5 is a schematic diagram of an end door opening assembly provided by an embodiment of the present invention. The end door opening assembly 3 of this embodiment includes an end bracket 301, wherein the bottom of the end bracket 301 is connected to the second connecting shaft 2023, and in this embodiment, the end bracket 301 is fixedly connected to the second connecting shaft 2023 through a screw hole; and a door opening device is installed on the end bracket 301. Specifically, the door opening device includes a second servo motor 302, a first door opening mechanism 303 and a second door opening mechanism 304, wherein the second servo motor 302 is respectively connected to the first door opening mechanism 303 and the second door opening mechanism 304 through a bevel gear to realize the rotation of the first door opening mechanism 303 and the second door opening mechanism 304. In this embodiment, the first door opening mechanism 303 is an L-shaped and disc-shaped door handle joint, which can complete the door opening function of L-shaped, gate-shaped and other handles, and the second door opening mechanism 304 is a ball-shaped door handle joint, which can complete the door opening function of a ball-shaped handle.

[0052] It should be noted that different types of end door opening components 3 can be replaced according to some actual situations, such as the door being locked, the door being blocked by an object, etc., to solve various door opening obstacles.

[0053] The door opening mechanical arm of the rescue robot of this embodiment is provided with four degrees of freedom, including one degree of freedom in the vertical direction, two degrees of freedom in the horizontal direction, and a degree of freedom of rotation. Through the above four degrees of freedom, functions such as door opening rescue can be completed. The terminal door opening component 3 is connected with the horizontal rotation component 2 through assembly. The terminal door opening component 3 can be replaced according to the actual door opening situation to adapt to different door handle situations. In addition, the structure of the terminal door opening component 3 has a large load, and the design is compact and flexible, which is convenient for completing the door opening action.

[0054] The door-opening mechanical arm of the rescue robot of this embodiment can operate each degree of freedom independently to complete positioning and door-opening actions, with low operating difficulty, and the mechanical arm has the characteristics of being resistant to impact and not easily damaged.

[0055] Taking the L-shaped handle double door as an example, the working process of the door opening mechanical arm of the rescue robot in this embodiment is specifically described.

[0056] First, rotate the first motion joint 201 of the horizontal rotation component 2 to the front, and then adjust the second motion joint 202 so that the end door opening component 3 faces the L-shaped handle double door. Then, adjust the end door opening component 3 so that the hook of the first door opening mechanism 303 is located exactly at the L-shaped handle double door. Through the vertical lifting component 1, adjust the overall height of the mechanical arm so that the hook of the first door opening mechanism 303 is located exactly at the L-shaped handle, and move the rescue robot forward a certain distance or adjust the horizontal rotation component 2 so that the hook of the first door opening mechanism 303 buckles the handle. Secondly, lower the height of the entire mechanical arm through the vertical lifting component 1, thereby driving the L-shaped handle to rotate downward and the door lock is opened. Finally, move the rescue robot back a certain distance or adjust the end door opening component 3, and at the same time, the horizontal rotation component 2 rotates toward the exit direction of the L-shaped handle double door, and the double door can be opened.

[0057] During the unlocking process, the situation is observed through the camera 107. If the door lock is not opened, it can be determined that the door lock is faulty. By adjusting the end door opening component 3 or replacing other types of end door opening components 3, the obstructed door lock can be opened again through the above-mentioned coordinated operations.

[0058] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "include", "comprise" or any other variant is intended to cover non-exclusive inclusion, so that the article or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the article or device including the elements. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The orientation or position relationship indicated by "up", "down", "left", "right", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0059] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A door-opening mechanical arm of a rescue robot, characterized in that: include: A vertical lifting assembly (1), a horizontal rotating assembly (2) and an end door opening assembly (3) are connected in sequence, wherein: The vertical lifting assembly (1) is used to drive the horizontal rotating assembly (2) to move up and down, so as to achieve height position control of the end door opening assembly (3); The horizontal rotating assembly (2) is used to realize the horizontal position control of the end door opening assembly (3); The horizontal rotation assembly (2) comprises a first motion joint (201) and a second motion joint (202), the first motion joint (201) and the second motion joint (202) are rotatably connected, the first motion joint (201) is connected to the vertical lifting assembly (1), and the second motion joint (202) is connected to the end door opening assembly (3); The end door opening assembly (3) comprises a door opening device to realize the door opening function; The vertical lifting assembly (1) comprises a lifting bracket (101) and a guide screw (102) and a guide shaft (103) arranged on the lifting bracket (101), wherein the guide screw (102) and the guide shaft (103) are both connected to the horizontal rotating assembly (2); The first motion joint (201) comprises a first joint component (2011), wherein: A linear bearing (2012) is provided at the first end of the first joint component (2011) to achieve connection with the guide shaft (103); A screw rod connector (2013) is provided in the middle of the first joint component (2011) to achieve connection with the guide rail screw rod (102); The second end of the first joint component (2011) is provided with a first connecting shaft (2014) connected to the second motion joint (202), and a transmission motor is provided inside the first connecting shaft (2014); The second motion joint (202) comprises a second joint component (2021) and a first servo motor (2022) arranged thereon, wherein: The first end of the second joint component (2021) is connected to the first connecting shaft (2014); A second connecting shaft (2023) is provided at the second end of the second joint component (2021), and the second connecting shaft (2023) is connected to the first servo motor (2022) via a synchronous transmission mechanism; The end door opening assembly (3) comprises an end bracket (301), wherein: The bottom of the end bracket (301) is connected to the second connecting shaft (2023); The door opening device is mounted on the end bracket (301); The door opening device comprises a second servo motor (302), a first door opening mechanism (303) and a second door opening mechanism (304), wherein the second servo motor (302) is respectively connected to the first door opening mechanism (303) and the second door opening mechanism (304) through bevel gears to realize the rotation of the first door opening mechanism (303) and the second door opening mechanism (304); The first door opening mechanism (303) is an L-shaped and disc-shaped door handle joint, and the second door opening mechanism (304) is a ball-shaped door handle joint.

2. The door-opening mechanical arm of the rescue robot according to claim 1, characterized in that: The vertical lifting assembly (1) further comprises a guide rail (104), wherein the guide rail (104) is arranged on a side of the lifting bracket (101), wherein a slider (105) is arranged on the guide rail (104) and is connected to the guide rail (104), wherein a connecting piece (106) is arranged on the slider (105), and wherein the connecting piece (106) is connected to the end door opening assembly (3).

3. The door-opening mechanical arm of the rescue robot according to claim 1, characterized in that: The vertical lifting assembly (1) further comprises a camera (107), wherein the camera (107) is arranged at the top end of the lifting bracket (101).

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