Dual-arm tracked reconnaissance and rescue robot

Abstract

The present invention relates to a double-arm tracked reconnaissance and rescue robot, the structure of which includes a mobile platform, on which a clamping manipulator and a scissor manipulator are arranged; the scissor manipulator includes a first arm, and a scissor end effector is arranged on the first arm, the clamping manipulator includes a second manipulator, and a reconfigurable mechanical claw is arranged on the second manipulator, and the clamping manipulator and the scissor manipulator cooperate to perform bomb disposal or other operations. The mobile platform can realize the conversion between tracked drive and wheeled drive through an umbrella-type lifting mechanism, so as to adapt to different road conditions. The present invention has excellent obstacle-crossing ability, can adapt to various road conditions, can quickly reach the rescue site, the scissor manipulator and the clamping manipulator can cooperate to quickly perform bomb disposal operations, with high efficiency, and the present invention has a wide range of uses and is also applicable to conventional reconnaissance and rescue work.

Description

Technical Field

[0001] The present invention relates to a robot, specifically a double-arm tracked reconnaissance and rescue robot. Background Art

[0002] Natural disasters and various emergencies can cause disasters. In disaster rescue, rescuers only have a very short time to search for survivors in the ruins. Otherwise, the probability of finding survivors will be greatly reduced. In such an urgent and dangerous environment, reconnaissance and rescue robots can help rescuers. In recent years, urban search and rescue robots have played an increasingly important role in military or urban emergencies and have played an important role in detecting bombs, searching for hostages and other dangerous operations.

[0003] Using robots to replace personnel for bomb disposal operations can reduce casualties. However, existing reconnaissance and rescue robots for bomb disposal still have many problems, resulting in the inability to successfully complete bomb disposal tasks. Most existing robots use wheeled or tracked mobile platforms, with relatively low obstacle-crossing ability and terrain adaptability. And they are relatively large in size, difficult to work in narrow spaces, difficult to adapt to environmental changes during the execution of reconnaissance and rescue tasks, with relatively low flexibility, limited ability to grasp and move objects. At the same time, they cannot handle the situation where the bomb wire is inside the bomb casing, with low work efficiency and small application range. Summary of the Invention

[0004] The purpose of the present invention is to provide a double-arm tracked reconnaissance and rescue robot to solve the problems of poor obstacle-crossing ability, low flexibility, low work efficiency and small application range of existing reconnaissance and rescue robots.

[0005] The present invention is implemented as follows: A double-arm tracked reconnaissance and rescue robot includes a mobile platform, on which a clamping manipulator and a scissor manipulator are provided; the scissor manipulator includes a first arm, on which a scissor end effector is provided, the scissor end effector includes an actuator frame body, on both sides of the actuator frame body, telescopic drive mechanisms are respectively provided, on both sides of the front end of the actuator frame body, connecting rods are respectively hinged, one end of the telescopic drive mechanism is hinged to the rear end of the actuator frame body, and the other end is hinged to the connecting rod. A shear head extending forward is provided inside the connecting rod. The telescopic drive mechanisms drive the butting and opening of the two shear heads. A screwing mechanism is provided between the two shear heads.

[0006] The mobile platform includes a vehicle body. On both sides of the vehicle body, crawler drive mechanisms are respectively provided. At the end of each crawler drive mechanism, a swing arm crawler mechanism is provided. On the vehicle body, an umbrella-type lifting mechanism is provided. On the umbrella-type lifting mechanism, a driving wheel is provided, and the driving wheel is driven by the umbrella-type lifting mechanism to extend downward or retract into the vehicle body.

[0007] The screwing mechanism includes a rotary drive mechanism provided on the actuator frame. At the front end of the actuator frame, a rotary shaft is provided. At the end of the rotary shaft, a screwdriver is detachably installed, and the rotary shaft is driven by the rotary drive mechanism.

[0008] A cutting edge is provided on one of the shearing heads, an arc-shaped notch is provided on the other shearing head, a cutting groove is provided on the top surface of the arc-shaped notch, the cutting edge corresponds to the cutting groove, and a semi-circular groove is provided at the center of the arc-shaped notch.

[0009] The umbrella-type lifting mechanism includes a vertical lifting column. An elevating platform is sleeved on the lifting column. A first connecting rod is hinged on the elevating platform. A second connecting rod is hinged at the top of the lifting column. The end of the first connecting rod is hinged to the second connecting rod. On the vehicle body, a horizontal slideway is provided. A slider is slidably arranged on the slideway. A telescopic rod is hinged on the slider. The lower end of the telescopic rod and the lower end of the second connecting rod are hinged to each other. The driving wheel is arranged at the lower end of the second connecting rod. A driving element is provided at the lower end of the lifting column, and the driving element drives the elevating platform to move along the lifting column.

[0010] The vehicle body includes a bottom plate and a top plate. The bottom plate and the top plate are connected to each other by connecting columns. A through hole for the driving wheel to extend out is opened on the bottom plate.

[0011] The clamping robotic arm includes a second arm. A reconfigurable robotic claw is provided on the second arm. The reconfigurable robotic claw includes a connecting plate. A driving rod is inserted through the center of the connecting plate. A connecting cap is threadedly connected to the driving rod. Four end brackets are fixed around the center of the connecting plate. A first swing rod and a second swing rod are hinged on the end brackets. Claw jaws are simultaneously hinged to the ends of the first swing rod and the second swing rod. A third swing rod is hinged on the connecting cap, and the end of the third swing rod is hinged to the second swing rod.

[0012] A disc is sleeved at the end of the driving rod, and a spring is provided between the disc and the connecting cap.

[0013] An arc-shaped groove and a rubber protrusion are provided on the inner side of the claw jaw, and the rubber protrusion is located behind the arc-shaped groove.

[0014] The present invention relates to a reconnaissance and rescue robot, especially suitable for bomb disposal tasks. The mobile platform is used to quickly enter the interior of the scene through the obstacles at the scene for rescue. The scissor manipulator and the clamping manipulator are installed on the mobile platform and move with the mobile platform. The scissor manipulator and the clamping manipulator cooperate with each other to remove the obstacles at the scene and perform bomb disposal operations.

[0015] The two shearing heads of the scissor end effector on the scissor manipulator are driven by the telescopic drive mechanisms on both sides to close or open relative to each other. Shearing or clamping is achieved through the closing of the shearing heads. The end of the screwing mechanism is exposed by the opening of the shearing heads for unscrewing screws. When performing shearing or clamping, since the screwing mechanism is located behind the shearing heads, the screwing mechanism does not affect the normal clamping and shearing work of the shearing heads. When screws need to be removed, the opened shearing heads do not affect the screwing work of the screws. The screwdriver can be replaced to be suitable for screws of different specifications. When performing shearing, the circular cable slides into the arc-shaped notch under extrusion, thereby restricting the cable at the shearing position and preventing the cable from slipping off the shearing part during the shearing process.

[0016] The mobile platform includes two driving modes: tracked and wheeled, and the track includes two modes: ordinary track drive and swing-arm track. When the terrain is relatively complex and there are many obstacles, the track is used for driving. The track structure can pass through rough roads and can also cross some obstacles. In relatively flat terrain, due to the large contact area between the track and the ground, the resulting frictional loss is large, and the resistance to be overcome during the turning process is large. In order to be able to pass quickly, at this time, the umbrella-type lifting mechanism extends multiple driving wheels downward, and the extended driving wheels lift the vehicle body, so that the track leaves the ground. At this time, the vehicle body is driven by the driving wheels. The contact area between the driving wheels and the ground is small, so the friction is also small, and the vehicle body can quickly pass through the flat road with less energy loss. When it is necessary to pass through large obstacles or stairs, the swing-arm track can pass through large obstacles or climb stairs by swinging and cooperating with the track drive. The present invention can pass through various terrains and has a strong obstacle-crossing ability, enabling the mobile platform to quickly reach the scene.

[0017] The reconfigurable mechanical claw of the clamping manipulator drives the connecting cap to move through the rotation of the drive rod, thereby driving the four jaws to open or clamp. The reconfigurable mechanical claw can realize the clamping of objects of different volumes. When clamping small and irregular items, the rubber protrusions on the inner side of the jaws undergo elastic deformation to adapt to the shape of the object and increase the friction to clamp the object. When clamping larger-volume objects, the object first contacts the disc, and the disc and the spring buffer the object, and then the motor drives the drive rod to rotate to make the jaws retract and clamp the object.

[0018] The present invention has excellent obstacle-crossing ability, can adapt to various road conditions, can quickly reach the rescue site. The scissor robotic arm and the clamping robotic arm can quickly perform bomb disposal operations with high efficiency. Moreover, the present invention has a wide range of applications and is also suitable for conventional reconnaissance and rescue work. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the structural diagram of the present invention.

[0020] Figure 2 、 Figure 3 is the perspective view of the mobile platform of the present invention.

[0021] Figure 4 is the structural diagram when the scissor end effector of the present invention is clamped.

[0022] Figure 5 is the structural diagram when the scissor end effector of the present invention is opened.

[0023] Figure 6 is the structural diagram of the reconfigurable robotic claw of the present invention.

[0024] In the figure: 1, vehicle body; 2, umbrella-type lifting mechanism; 3, driving wheel; 4, crawler driving mechanism; 5, swing-arm crawler mechanism; 6, first arm; 7, scissor end effector; 8, second arm; 9, reconfigurable robotic claw; 1-1, top plate; 1-2, bottom plate; 1-3, connecting column; 1-4, slideway; 1-5, through hole; 2-1, lifting column; 2-2, first connecting rod; 2-3, second connecting rod; 2-4, telescopic rod; 2-5, slider; 2-6, lifting platform; 2-7, driving element; 2-8, connecting piece; 4-1, crawler wheel; 4-2, first crawler; 5-1, swing-arm frame; 5-2, swing-arm wheel; 5-3, second crawler; 7-1, actuator frame body; 7-2, telescopic driving mechanism; 7-3, connecting rod; 7-4, shear head; 7-5, rotary driving mechanism; 7-6, rotary shaft; 7-7, screwdriver; 7-8, clamping block; 7-9, cutting groove; 7-10, blade; 7-11, arc-shaped notch; 7-12, semi-circular groove; 9-1, connecting plate; 9-2, driving rod; 9-3, connecting cap; 9-4, end bracket; 9-5, first swing rod; 9-6, second swing rod; 9-7, third swing rod; 9-8, clamping jaw; 9-9, disc; 9-10, spring; 9-11, arc-shaped groove; 9-12, rubber protrusion. DETAILED DESCRIPTION OF THE INVENTION

[0025] As Figure 1 shown, the present invention includes a mobile platform, on which a clamping robotic arm and a scissor robotic arm are arranged. The clamping robotic arm and the scissor robotic arm move with the mobile platform, and the clamping robotic arm and the scissor robotic arm cooperate with each other to complete tasks such as bomb disposal.

[0026] As Figure 2 , Figure 3 shown, the passability of the mobile platform is an important factor determining whether the robot can reach the rescue site. The mobile platform includes a vehicle body 1, on both sides of the vehicle body 1, a crawler drive mechanism 4 is respectively installed, and a swing arm crawler mechanism 5 is installed at the end of the crawler drive mechanism 4. The mobile platform mainly moves by the crawler drive mechanism 4. At the same time, an umbrella-type lifting mechanism 2 is arranged on the vehicle body 1, and a driving wheel 3 is arranged on the umbrella-type lifting mechanism 2. The driving wheel 3 is driven by the umbrella-type lifting mechanism 2 to extend downward or retract into the vehicle body 1. When it is necessary to convert from crawler drive to wheel drive, the umbrella-type lifting mechanism 2 extends the driving wheel 3 out of the bottom of the vehicle body 1.

[0027] Among them, the vehicle body 1 includes a bottom plate 1-2 and a top plate 1-1. The bottom plate 1-2 and the top plate 1-1 are connected to each other through a connecting column 1-3. A through hole 1-5 for the driving wheel 3 to extend is opened on the bottom plate 1-2.

[0028] The umbrella-type lifting mechanism 2 is located between the bottom plate 1-2 and the top plate 1-1. The umbrella-type lifting mechanism 2 includes a vertically arranged lifting column 2-1. The lifting column 2-1 is located at the center of the vehicle body 1, and its upper and lower ends are respectively connected to the top plate 1-1 and the bottom plate 1-2. A lifting platform 2-6 is sleeved on the lifting column 2-1. A first connecting rod 2-2 is hinged on the lifting platform 2-6. A second connecting rod 2-3 is hinged at the top of the lifting column 2-1. The end of the first connecting rod 2-2 is hinged on the second connecting rod 2-3. A horizontal slideway 1-4 is provided on the vehicle body 1. A slider 2-5 is slidably arranged on the slideway 1-4. A telescopic rod 2-4 is hinged on the slider 2-5. The lower end of the telescopic rod 2-4 and the lower end of the second connecting rod 2-3 are hinged to each other. The driving wheel 3 is arranged at the lower end of the second connecting rod 2-3. A driving element 2-7 is arranged at the lower end of the lifting column 2-1. The driving element 2-7 drives the lifting platform 2-6 to move along the lifting column 2-1. The up and down movement of the lifting platform 2-6 drives the opening and closing of the first connecting rod 2-2 and the second connecting rod 2-3. When the second connecting rod 2-3 opens, the driving wheel 3 at its lower end not only moves outwards but also moves upwards, so as to retract the driving wheel 3 from below the vehicle body 1. When the second connecting rod 2-3 closes, the driving wheel 3 at its lower end not only moves inwards but also moves downwards, so as to extend the driving wheel 3 out of the bottom plate 1-2 of the vehicle body 1.

[0029] A connecting piece 2-8 is arranged at the lower end of the second connecting rod 2-3. The driving wheel 3 is installed on the connecting piece 2-8. The connecting piece 2-8 has a certain angle, so that when the lifting platform 2-6 reaches a certain position, the driving wheel 3 is at the lowest position and its rotating shaft is just in a horizontal state. At the same time, the lower end of the telescopic rod 2-4 is hinged on the connecting piece 2-8, and the connecting piece 2-8 is supported by the telescopic rod 2-4.

[0030] Since the driving wheel 3 moves horizontally while lifting, the through hole 1-5 is an elongated hole, and the length direction of the through hole 1-5 is consistent with the horizontal movement direction of the driving wheel 3.

[0031] Among them, there are at least three driving wheels 3 distributed around the lifting column 2-1. The number and positions of the first connecting rod 2-2, the second connecting rod 2-3, the slideway 1-4, the slider 2-5, and the telescopic rod 2-4 correspond to those of the driving wheel 3. Multiple driving wheels 3 can stably support the vehicle body 1, and multiple driving wheels 3 are simultaneously driven by the umbrella-type lifting mechanism 2, thus ensuring the consistency of the actions of the driving wheels 3. The orientations of the driving wheels 3 are the same, all facing forward, and each driving wheel 3 is driven by a separate motor.

[0032] Preferably, the number of the driving wheels 3 is four. The four driving wheels 3 jointly support the vehicle body 1, and the steering of the vehicle body 1 is controlled by the speed difference between the rotations of the driving wheels 3 on the left and right sides, thereby realizing the turning of the vehicle body 1.

[0033] The umbrella-type lifting structure only requires one driving element 2-7 to achieve the synchronous lifting of all driving wheels 3, thereby ensuring the stability and coordination during the conversion between the crawler and wheel types.

[0034] The crawler driving mechanism 4 includes a crawler wheel 4-1, and a first crawler 4-2 is installed on the crawler wheel 4-1. The crawler wheel 4-1 is driven by a driving motor installed on the bottom plate 1-2.

[0035] The swing-arm crawler mechanism 5 includes a swing-arm frame 5-1. Swing-arm wheels 5-2 are respectively arranged at both ends of the swing-arm frame 5-1, and a second crawler 5-3 is installed on the swing-arm wheels 5-2. The swing-arm crawler mechanism 5 is installed outside the front crawler wheel 4-1, and a driving motor is arranged on the swing-arm frame 5-1 to drive the rotation of the swing-arm wheels 5-2.

[0036] The driving element 2-7 can be an electric push rod or the like.

[0037] The mobile platform includes two driving methods: caterpillar track and wheel. The caterpillar track includes two methods: ordinary caterpillar drive and swing-arm caterpillar. When the terrain is relatively complex and there are many obstacles, the caterpillar track is used for driving. The caterpillar track structure can pass through rough roads and can also cross some obstacles. In relatively flat terrain of the platform, since the contact area between the caterpillar track and the ground is large, the resulting frictional loss is large, and the resistance to be overcome during the turning process is large. In order to be able to pass quickly, at this time, the umbrella-type lifting mechanism 2 is used to extend multiple drive wheels 3 downward. The extended drive wheels 3 lift the vehicle body 1, so that the caterpillar track leaves the ground. At this time, the vehicle body 1 is driven by the drive wheels 3. The contact area between the drive wheels 3 and the ground is small, so the frictional force is also small. The vehicle body 1 can quickly pass through flat roads with less energy loss. When passing large obstacles or stairs, the swing-arm caterpillar can swing and cooperate with the drive of the caterpillar track to pass large obstacles or climb stairs. The present invention can pass through various terrains, has a strong obstacle-crossing ability, and enables the mobile platform to quickly reach the scene.

[0038] The scissor manipulator includes a first arm 6, and a scissor end effector 7 is provided on the first arm 6. As Figure 4 , Figure 5 shown, the scissor end effector 7 includes an actuator frame body 7-1. On both sides of the actuator frame body 7-1, telescopic drive mechanisms 7-2 are respectively provided. On both sides of the front end of the actuator frame body 7-1, connecting rods 7-3 are respectively hinged. One end of the telescopic drive mechanism 7-2 is hinged to the rear end of the actuator frame body 7-1, and the other end is hinged to the connecting rod 7-3. Inside the connecting rod 7-3, a shearing head 7-4 extending forward is provided. The two shearing heads 7-4 are driven by the two telescopic drive mechanisms 7-2 to close and open. A screwing mechanism is provided between the two shearing heads 7-4.

[0039] After the two shearing heads 7-4 are closed, they form a herringbone shape, and the screwing mechanism is hidden behind the shearing heads 7-4. When the two shearing heads 7-4 are fully opened, the screwing mechanism is exposed. When performing shearing or clamping, since the screwing mechanism is located behind the shearing heads 7-4, the screwing mechanism will not affect the normal clamping and shearing work of the shearing heads 7-4. When it is necessary to remove screws, the opened shearing heads 7-4 will not affect the screwing work of the screws.

[0040] The telescoping of the two telescopic drive mechanisms 7-2 is used to drive the swinging of the two shearing heads 7-4. When performing shearing or clamping, sufficient force can be provided to make the two shearing heads 7-4 approach each other, so as to cut the cable located between the two shearing heads 7-4 or clamp an object by the ends of the shearing heads 7-4.

[0041] Among them, the connecting rod 7-3 is an H-shaped frame. One end of the H-shaped frame is hinged to the front end of the actuator frame body 7-1, and the other end is hinged to the front end of the telescopic rod 2-4 of the telescopic driving mechanism 7-2. The shearing head 7-4 is connected to the middle of the H-shaped frame. The distance between the part of the H-shaped frame connected to the telescopic rod 2-4 is greater than the contour dimension of the telescopic driving mechanism 7-2. When the H-shaped frame swings around the hinge axis, it has a large swinging range, so that the opening angle of the two shearing heads 7-4 is as large as possible, thereby exposing the screwing mechanism.

[0042] The telescopic driving mechanism 7-2 can be a micro electric push rod, a micro cylinder or a micro hydraulic cylinder.

[0043] A cutting edge 7-10 is provided on one of the shearing heads 7-4, an arc-shaped notch 7-11 is provided on the other shearing head 7-4, and a cutting groove 7-9 is provided on the top surface of the arc-shaped notch 7-11. The cutting edge 7-10 corresponds to the cutting groove 7-9.

[0044] A semi-circular groove 7-12 is provided at the center of the arc-shaped notch 7-11.

[0045] During shearing, the cable is located in the arc-shaped notch 7-11 and will not come out of the arc-shaped notch 7-11 under the extrusion of the cutting edge 7-10. Moreover, the cable will slide into the semi-circular groove 7-12 to fix the position of the cable, thereby restricting the cable at the shearing position and avoiding the cable slipping from the shearing part during the shearing process. The cutting edge 7-10 gradually enters the cutting groove 7-9, thereby realizing the cutting of the cable.

[0046] The screwing mechanism includes a rotary driving mechanism 7-5 arranged on the actuator frame body 7-1. A rotary shaft 7-6 is arranged at the front end of the actuator frame body 7-1. A screwdriver 7-7 is detachably installed at the end of the rotary shaft 7-6. The rotary shaft 7-6 is driven by the rotary driving mechanism 7-5.

[0047] When removing a screw, the two shearing heads 7-4 are opened to both sides, thereby exposing the front end of the screwdriver 7-7. After the screwdriver 7-7 is aligned with the screw, it is driven by the rotary driving mechanism 7-5 to rotate, thereby removing the screw.

[0048] Among them, the screwdriver 7-7 can be replaced to be applicable to screws of different specifications.

[0049] The rotary driving mechanism 7-5 can be a motor, a pneumatic motor or a hydraulic motor.

[0050] A clamping block 7-8 is provided at the front end of the shearing head 7-4. The clamping block 7-8 is made of a material with a high surface friction coefficient, which is convenient for stably clamping an object.

[0051] The scissor end effector 7 integrates a shearing head 7-4 with clamping and shearing functions and a screwing mechanism with screwing functions. Through a multifunctional scissor end effector 7, three functions of shearing cables, screwing screws, and clamping and moving can be achieved, enabling operations such as unscrewing the screws of the bomb casing, removing the bomb casing, and cutting the internal wires of the bomb during the bomb disposal task, thus completing the bomb disposal task.

[0052] On the scissor manipulator, the two shearing heads 7-4 of the scissor end effector 7 are driven by the telescopic drive mechanisms 7-2 on both sides to close or open relative to each other. Shearing or clamping is achieved through the closing of the shearing heads 7-4, and the end of the screwing mechanism is exposed by the opening of the shearing heads 7-4 for screw disassembly. When shearing or clamping, since the screwing mechanism is located at the rear of the shearing heads 7-4, the screwing mechanism does not affect the normal clamping and shearing work of the shearing heads 7-4. When screws need to be disassembled, the opened shearing heads 7-4 do not affect the screwing work of the screws. The screwdriver 7-7 can be replaced to suit screws of different specifications. When shearing, the circular cable slides into the arc-shaped notch 7-11 under extrusion, thereby restricting the cable at the shearing position and preventing the cable from slipping off the shearing part during the shearing process.

[0053] The clamping manipulator includes a second arm 8, and a reconfigurable mechanical claw 9 is installed at the end of the second arm 8. As Figure 6 shown, the reconfigurable mechanical claw 9 includes a connecting plate 9-1. A drive rod 9-2 is inserted through the center of the connecting plate 9-1. A connecting cap 9-3 is threadedly connected to the drive rod 9-2. Four end brackets 9-4 are fixed around the center of the connecting plate 9-1. A first swing rod 9-5 and a second swing rod 9-6 are hinged to the end brackets 9-4. Claw fingers 9-8 are simultaneously hinged to the ends of the first swing rod 9-5 and the second swing rod 9-6. A third swing rod 9-7 is hinged to the connecting cap 9-3, and the end of the third swing rod 9-7 is hinged to the second swing rod 9-6.

[0054] A disc 9-9 is sleeved on the end of the drive rod 9-2, and a spring 9-10 is arranged between the disc 9-9 and the connecting cap 9-3.

[0055] An arc-shaped groove 9-11 and a rubber protrusion 9-12 are provided on the inner side edge of the claw finger 9-8, and the rubber protrusion 9-12 is located behind the arc-shaped groove 9-11.

[0056] The reconfigurable robotic claw 9 of the clamping robotic arm drives the movement of the connecting cap 9-3 through the rotation of the driving rod 9-2, thereby driving the four claws 9-8 to open or clamp. The reconfigurable robotic claw 9 can achieve the clamping of objects with different volumes. When clamping small and irregular items, the rubber protrusions 9-12 on the inner side of the claws 9-8 undergo elastic deformation to adapt to the shape of the object and increase the friction to clamp the object. When clamping an object with a larger volume, the object first contacts the disc 9-9, and the disc 9-9 and the spring 9-10 buffer the object, and then the driving rod 9-2 is rotated by the motor to retract the claws 9-8 to clamp the object.

[0057] The present invention is a reconnaissance and rescue robot, especially suitable for bomb disposal tasks. The mobile platform is used to quickly enter the interior of the scene through the obstacles at the scene for rescue. The scissor robotic arm and the clamping robotic arm are installed on the mobile platform and move with the mobile platform. The scissor robotic arm and the clamping robotic arm cooperate with each other to remove the obstacles at the scene and perform bomb disposal operations.

[0058] The present invention has excellent obstacle-crossing ability, can adapt to various road conditions, can quickly reach the rescue scene. The scissor robotic arm cooperating with the clamping robotic arm can quickly perform bomb disposal operations with high efficiency. Moreover, the present invention has a wide range of applications and is also suitable for conventional reconnaissance and rescue work.

Claims

1. A two-armed tracked reconnaissance and rescue robot, characterized in that, it includes a mobile platform, on which a clamping manipulator and a scissor manipulator are arranged; the scissor manipulator includes a first arm, on which a scissor end effector is arranged, the scissor end effector includes an actuator frame body, on both sides of the actuator frame body, telescopic drive mechanisms are respectively arranged, on both sides of the front end of the actuator frame body, connecting rods are respectively hinged, one end of the telescopic drive mechanism is hinged to the rear end of the actuator frame body, and the other end is hinged to the connecting rod. On the inner side of the connecting rod, a shearing head extending forward is arranged. The telescopic drive mechanisms drive the butting and opening of the two shearing heads. A screwing mechanism is arranged between the two shearing heads; the mobile platform includes a vehicle body, on both sides of the vehicle body, track drive mechanisms are respectively arranged, at the end of the track drive mechanism, swing arm track mechanisms are arranged, on the vehicle body, an umbrella-type lifting mechanism is arranged, on the umbrella-type lifting mechanism, a driving wheel is arranged, and the driving wheel is driven by the umbrella-type lifting mechanism to extend downward or retract into the vehicle body; the umbrella-type lifting mechanism includes a vertical lifting column, on which a lifting platform is sleeved, on the lifting platform, a first connecting rod is hinged, at the top of the lifting column, a second connecting rod is hinged, the end of the first connecting rod is hinged to the second connecting rod, on the vehicle body, a horizontal slideway is arranged, on the slideway, a slider is slidably arranged, on the slider, a telescopic rod is hinged, the lower end of the telescopic rod and the lower end of the second connecting rod are hinged to each other, the driving wheel is arranged at the lower end of the second connecting rod, and at the lower end of the lifting column, a driving element is arranged, and the driving element drives the lifting platform to move along the lifting column.

2. The two-armed tracked reconnaissance and rescue robot according to claim 1, characterized in that, the screwing mechanism includes a rotary drive mechanism arranged on the actuator frame body, at the front end of the actuator frame body, a rotary shaft is arranged, at the end of the rotary shaft, a screwdriver is detachably installed, and the rotary shaft is driven by the rotary drive mechanism.

3. The two-armed tracked reconnaissance and rescue robot according to claim 1, characterized in that, a cutting edge is arranged on one of the shearing heads, an arc-shaped notch is arranged on the other shearing head, a cutting groove is arranged on the top surface of the arc-shaped notch, the cutting edge corresponds to the cutting groove, and a semi-circular groove is arranged at the center of the arc-shaped notch.

4. The two-armed tracked reconnaissance and rescue robot according to claim 1, characterized in that, the vehicle body includes a bottom plate and a top plate, the bottom plate and the top plate are connected to each other through connecting columns, and a through hole for the driving wheel to extend out is opened on the bottom plate.

5. The two-armed tracked reconnaissance and rescue robot according to claim 1, characterized in that, The clamping robotic arm includes a second arm, and a reconfigurable robotic claw is arranged on the second arm. The reconfigurable robotic claw includes a connecting plate, a driving rod is inserted through the center of the connecting plate, a connecting cap is threadedly connected to the driving rod, four end brackets are fixedly arranged around the center of the connecting plate, a first swing rod and a second swing rod are hinged to the end brackets, claws are simultaneously hinged to the ends of the first swing rod and the second swing rod, a third swing rod is hinged to the connecting cap, and the end of the third swing rod is hinged to the second swing rod.

6. The dual-arm tracked reconnaissance and rescue robot according to claim 5, characterized in that, a disc is sleeved on the end of the driving rod, and a spring is arranged between the disc and the connecting cap.

7. The dual-arm tracked reconnaissance and rescue robot according to claim 5, characterized in that, an arc-shaped groove and a rubber protrusion are arranged on the inner side of the claw, and the rubber protrusion is located behind the arc-shaped groove.

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