A vehicle carrying a rescue robot

Abstract

The application discloses a kind of carrying rescue robot's carrier, including car body, control cabinet, storage cabinet, car body bottom is equipped with wheel, storage cabinet includes vertical plate and ground box, vertical plate is vertically telescopic arrangement in car body bottom, vertical plate can be extended to with car wheel bottom flush, vertical plate is driven up and down telescopic by motor. Ground box is reversely connected in the extension end of vertical plate, and ground box is driven up and down by motor. Box cavity is equipped in ground box, robot is stored in box cavity, box cavity is equipped with lid, lid is equipped on the upper surface of ground box in horizontal placement state, lid side reversely connected with box cover, and box cover is driven up and down by motor. Control cabinet is arranged in car body, and vertical plate, ground box and box cover are electrically connected with control cabinet respectively. The application is convenient to carry robot to go to disaster area and release and retract, to prevent robot from being damaged by collision.

Description

Technical Field

[0001] This invention relates to vehicles, specifically a vehicle carrying a rescue robot. Background Technology

[0002] Conducting reconnaissance, detection, and search and rescue operations at hazardous disaster sites such as those involving toxic substances, oxygen deficiency, or dense smoke is a core task of fire and emergency rescue. However, rescue personnel often face threats to their personal safety, and manual operations frequently encounter problems such as insufficient information gathering. Utilizing mobile robots, especially legged robots, to replace or assist rescue personnel in entering high-risk scenarios is of great significance. Currently, legged robots exhibit excellent adaptability to complex terrains such as ruins, piles of stones, and staircases. They can traverse high obstacles or penetrate indoor environments, demonstrating high flexibility in confined spaces. Legged robots can detect toxic, dense smoke, and oxygen-deficient environments, track heat sources, and detect distant, small targets. Fire reconnaissance solutions integrate application modules such as visible light and infrared dual-spectrum gimbals, gas sensors, omnidirectional cameras, rotating laser scanners, and microphones. Combined with an intelligent information backend, they provide visualized information for rescue decision-making and can transport rescue supplies, assisting fire and emergency rescue personnel in post-disaster search and rescue and reconnaissance operations. Furthermore, through comprehensive on-site data collection, including residue sampling, gas sampling, and 3D terrain construction, combined with intelligent algorithms and analysis, they provide crucial references for disaster tracing and predictive prevention measures.

[0003] Currently, firefighters use trucks, vans, and other vehicles with a certain capacity to carry the robots and remote controls. However, because some robots are quite large, especially large robot dogs, multiple people are needed to carry them or cranes are used to load them. For some smaller robots, especially small robot dogs, they are carried manually.

[0004] Because the ground is relatively unstable during earthquakes or other disasters, legged robots are prone to collisions and damage inside the vehicle if they are not properly secured. Furthermore, quickly unloading the legged robots from the vehicle after reaching the destination remains a challenge.

[0005] Therefore, how to facilitate the deployment and retrieval of robots after they arrive in disaster areas, and how to prevent damage caused by robot collisions, have become urgent problems to be solved for the vehicles. Summary of the Invention

[0006] The purpose of this invention is to provide a vehicle for carrying rescue robots, which facilitates the deployment and retrieval of the robots after they arrive in disaster areas, and prevents damage caused by collisions.

[0007] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0008] A vehicle carrying a rescue robot includes a body, a control console, and a storage cabinet. The body has wheels on its underside. The storage cabinet includes a vertical panel and a storage box. The vertical panel is vertically extendable from the underside of the body, extending to be flush with the bottom of the wheels. The vertical panel is driven by a motor to extend and retract vertically. The storage box is flipped and connected to the extended end of the vertical panel. The storage box is also driven by a motor to flip vertically: when the storage box flips upwards to be parallel to the vertical panel, it is in a vertical position; when it flips downwards to be perpendicular to the vertical panel, it is in a horizontal position. The storage box has a cavity containing the robot. The cavity has a lid located on top of the horizontally positioned storage box. A flip-up lid is attached to the edge of the lid and is driven by a motor to flip vertically: when the lid flips upwards, the lid opens; when the lid flips downwards, the lid closes. The control console is located on the vehicle body. The upright plate, the ground box, and the lid are electrically connected to the control console. The specific structure of the motor that drives the ground box to flip and the motor that drives the lid to flip can refer to the structure of the motor that drives the lid to flip on the existing smart trash can. The specific structure of the motor that drives the upright plate to extend and retract can refer to the structure of the motor of the existing conveyor belt.

[0009] Compared to existing technologies, the vehicle carrying the rescue robot using the above-mentioned technical solution allows firefighters to extend the storage compartment from the vehicle body after the fire truck arrives at the disaster area. The storage box is then placed horizontally on the ground, and the lid is opened to release the robot. Firefighters then guide the robot to stand up and climb out of the box to patrol the disaster area, detecting life signs and assisting in rescue efforts. After the patrol, firefighters guide the robot back into the box and lie down, preparing to retrieve it. Firefighters then operate the control panel to close the lid, flip the storage box to an upright position, and retract the storage compartment into the vehicle body, thus retrieving the robot. This eliminates the need for firefighters to hold the robot, facilitating its deployment and retrieval after transport to the disaster area and preventing damage from collisions.

[0010] Preferably, the control console is equipped with an electronic control unit and an eject button. The eject button is electrically connected to the upright panel. A ground sensor is installed between the upright panel and the vehicle body, and a cover-opening sensor is installed between the landing box and the upright panel. The eject button, ground sensor, and cover-opening sensor are all electrically connected to the electronic control unit. The electronic control unit sends commands to the upright panel, landing box, and cover via the eject button, ground sensor, and cover-opening sensor, respectively: when the eject button is triggered, the upright panel is commanded to extend from the vehicle body; when the upright panel extends to be flush with the bottom of the wheels, the ground sensor receives a signal, commanding the upright panel to stop extending and commanding the landing box to flip downwards; when the landing box flips to a horizontal position, the cover-opening sensor receives a signal, commanding the landing box to stop flipping and commanding the cover to flip upwards. Firefighters press the eject button to easily release the robot.

[0011] Preferably, the control panel also includes a cover closing button, which is electrically connected to the box cover. A grounding sensor is installed between the box cover and the grounding box, and a return sensor is installed between the grounding box and the upright plate. The cover closing button, grounding sensor, and return sensor are all electrically connected to the electronic control unit. The electronic control unit sends commands to the box cover, grounding box, and upright plate via the cover closing button, grounding sensor, and return sensor, respectively: when the cover closing button is triggered, the box cover is commanded to flip downwards; when the box cover closes, the grounding sensor receives a signal, commanding the box cover to stop flipping and commanding the grounding box to flip upwards; when the grounding box is flipped to an upright position, the return sensor receives a signal, commanding the grounding box to stop flipping and commanding the upright plate to retract into the vehicle body. Firefighters can press the cover closing button to facilitate the retrieval of the robot.

[0012] Preferably, the storage box has several partitions inside, which divide the box into several storage compartments. The robots are stored in these compartments, and the partitions are located on both sides of the robots. This allows multiple robots to be stored separately inside the storage box, and the partitions limit the movement of the robots, preventing them from shifting to the sides.

[0013] Preferably, the storage cavity is equipped with two head anti-sway components. Each head anti-sway component includes a head pressing member, a head linkage member, a head clamp, and a head slider. Two grooves are provided on the inner side of the storage cavity near the robot's head. The head sliders of the two head anti-sway components extend and retract within the two grooves respectively. A head spring is provided at the retracted end of the head slider, with the extension and retraction direction of the head spring being the same as that of the head slider. One end of the head pressing member is fixed to the extended end of the head slider, and the other end presses against the robot's head. The head linkage member is flip-connected to the head pressing member. The head clamp is located on the side of the robot, with one end fixed to the head linkage member and the other end pressing against the side of the robot. A head pivot is provided at the junction of the head clamp and the head linkage member, and the head pivot is rotatably connected to the bottom surface of the storage cavity. The two head anti-sway components are horizontally symmetrically arranged on both sides of the robot, with the head clamps of the two head anti-sway components moving closer and further apart. The robot is clamped between the head clamps of the two head anti-sway components. This prevents the robot's head from shaking and colliding with the side wall of the storage box, causing damage.

[0014] Preferably, the storage cavity is equipped with two tail anti-sway components. Each tail anti-sway component includes a tail pressing member, a tail linkage member, a tail clamping member, and a tail slider. The inner side of the storage cavity near the tail end of the robot has two grooves. The tail sliders of the two tail anti-sway components are respectively telescopically arranged in the two grooves. The retracted end of the tail slider is equipped with a tail spring, and the telescopic direction of the tail spring is the same as that of the tail slider. One end of the tail pressing member is fixed to the extended end of the tail slider, and the other end of the tail pressing member presses against the robot. At the robot's tail end, the tail linkage and tail pressing component are flipped and connected. A tail clamp is located on the side of the robot, with one end fixed to the tail linkage and the other end pressing against the robot's side. A tail pivot is located at the junction of the tail clamp and the tail linkage, rotatably connected to the bottom surface of the storage cavity. Two tail anti-sway components are horizontally symmetrically arranged on both sides of the robot, with the tail clamps of the two anti-sway components moving closer and further apart. The robot is clamped between the tail clamps of the two anti-sway components. This prevents the robot's tail end from swaying and colliding with the side wall of the storage box, thus preventing damage.

[0015] Preferably, the lid has a sponge pad on the side of the lid facing the opening. When the lid is closed, the sponge pad presses down on the robot. The sponge pad is elastic to prevent the lid from damaging the robot.

[0016] Preferably, the inner wall of the storage cavity is provided with silicone pads, which are located on both sides of the robot. The silicone pads are elastic to prevent the robot from colliding with the side wall of the storage cavity and causing damage.

[0017] Preferably, a camera is installed on the underside of the vehicle, and a monitor is installed on the control panel. The monitor is electrically connected to the camera and displays the camera's view. Firefighters can easily observe the retraction and deployment of the robot from the storage compartment under the vehicle via the monitor. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the vehicle carrying the rescue robot in Example 1.

[0019] Figure 2 This is a schematic diagram of the robot climbing under the vehicle body in Example 1.

[0020] Figure 3 This is a cross-sectional view of the vehicle when the ground box is placed on the ground in Example 1.

[0021] Figure 4 This is a schematic diagram illustrating the use of the locker when releasing the robot in Example 1.

[0022] Figure 5 This is a schematic diagram illustrating the use of the locker when retrieving the robot in Example 1.

[0023] Figure 6This is a schematic diagram of the console structure in Example 1.

[0024] Figure 7 This is a schematic diagram of the horizontally placed box in Example 1 when the lid is open.

[0025] Figure 8 This is a schematic diagram of the horizontally placed box in Example 1 when the lid is closed.

[0026] Figure 9 This is a schematic diagram of the vertically placed floor box in Example 1.

[0027] Figure 10 This is a schematic diagram of the structure of the robot in the storage cavity in Example 2 when it is not clamped.

[0028] Figure 11 This is a schematic diagram of the structure when the robot's head is clamped inside the storage cavity in Example 2.

[0029] Figure 12 This is a schematic diagram of the structure when the tail end of the robot is clamped inside the storage cavity in Example 2.

[0030] Figure 13 This is a cross-sectional view of the floor box in Example 3.

[0031] Figure 14 This is a cross-sectional view of the storage cavity in Example 3.

[0032] Figure 15 This is a schematic diagram of the structure when the tail end of the robot is clamped inside the storage cavity in Example 4.

[0033] Figure 16 for Figure 15 A magnified view of a portion of point A in the middle.

[0034] Figure 17 This is a schematic diagram of the clamp in Example 4 (the contact plate is not compressed).

[0035] Figure 18 This is a schematic diagram of the clamp in Example 4 (the contact plate is compressed).

[0036] Figure 19 This is a schematic diagram of the clamp in Example 4.

[0037] Figure 20 This is a schematic diagram of the clamp in Example 4.

[0038] Figure 21 This is a schematic diagram of the clamp spring force adjustment in Example 4.

[0039] Reference numerals: 1. Vehicle body; 11. Control panel; 12. Cabinet exit button; 13. Close lid button; 14. Indicator light; 15. Monitor; 16. Camera; 2. Storage cabinet; 21. Stand panel; 3. Floor box; 30. Box cavity; 31. Box lid; 32. Lid opening; 34. Divider; 35. Storage cavity; 4. Sponge pad; 41. Silicone pad; 5. Robot; 51. Ground; 6. Head anti-sway component; 62. Head pressure component; 63. Head linkage component; 64. Head clamp; 65. Head pivot; 66. Head spring; 67. Head 68. Head slide groove; 7. Tail anti-sway assembly; 72. Tail contact element; 73. Tail linkage element; 74. Tail clamp; 75. Tail pivot; 76. Tail spring; 77. Tail slider; 78. Tail slide groove; 8. Clamp; 81. Clamp rod; 810. Clamp housing; 811. Through hole; 812. Clamp base plate; 813. Threaded seat; 82. Chuck; 820. Movable rod; 821. Upper pressure plate; 83. Clamp spring; 84. Lower pressure plate; 840. Tail plate; 841. Enlarged hole; 85. Adjusting bolt. Detailed Implementation

[0040] The present invention will now be further described with reference to the accompanying drawings.

[0041] Example 1

[0042] like Figures 1 to 9 The vehicle shown carries a rescue robot. It includes a vehicle body 1, a control console 11, and a storage cabinet 2. The vehicle body 1 has wheels on its underside. The storage cabinet 2 includes a vertical panel 21 and a floor box 3. The vertical panel 21 is vertically extendable from the underside of the vehicle body 1, and can extend to be flush with the underside of the wheels. The vertical panel 21 is driven to extend and retract vertically by a motor. The floor box 3 is flipped and connected to the extended end of the vertical panel 21. The floor box 3 is driven to flip vertically by a motor: when the floor box 3 flips upwards to be parallel to the vertical panel 21, the floor box 3 is in a vertical position; when the floor box 3 flips downwards to be perpendicular to the vertical panel 21, the floor box 3 is in a horizontal position. The placement box 3 has a cavity 30 inside, which houses the robot 5. The cavity 30 has a cover 32, which is located on top of the horizontally placed placement box 3. The cover 32 is connected to a flip-top lid 31, which is driven by a motor to flip up and down: when the lid 31 flips upward, the cover 32 opens; when the lid 31 flips downward, the cover 32 closes. The control console 11 is located on the vehicle body 1. The upright plate 21, the placement box 3, and the lid 31 are electrically connected to the control console 11. The specific structures of the motors driving the flipping of the placement box 3 and the lid 31 can refer to the structure of the motors driving the lid flipping on existing smart trash cans. The specific structure of the motor driving the extension and retraction of the upright plate 21 can refer to the structure of the motors on existing conveyor belts.

[0043] After the fire truck arrives at the disaster area, the following are the steps for the movement of each component on the vehicle:

[0044] 1. The firefighter operates the control panel 11 to extend the storage cabinet 2 downwards out of the vehicle body 1.

[0045] 2. After the storage cabinet 2 touches the ground, the floor box 3 flips over to be placed horizontally and adheres to the ground 51.

[0046] 3. The lid 32 is opened, and the firefighters operate the robot 5 to climb out of the box cavity 30 and patrol the disaster area to carry out rescue work.

[0047] After the patrol, firefighters maneuvered robot 5 into the box cavity 30 and then lay down, preparing to retrieve robot 5. The firefighters operated control panel 11 to close the cover 32, then flipped the floor box 3 to an upright position, and retracted the storage cabinet 2 into the vehicle body 1, thus retrieving robot 5. This method eliminates the need for firefighters to hold robot 5, facilitating its deployment and retrieval after transporting it to the disaster area and preventing damage from collisions.

[0048] The aforementioned storage cabinet 2 is designed to maximize the capacity of a single vehicle for accommodating robots by moving up and down. In this embodiment, the robot is a quadrupedal robot dog. When the robot dog lies on the ground, its limbs are close to its torso, and its height is relatively low. Therefore, the landing box 3 is used to retrieve the robot in a horizontally lying position. Then, the landing box 3 is flipped up to a vertical position and enters the storage cabinet 2. Finally, the storage cabinet 2 is folded up and enters the vehicle. Multiple rows of storage cabinets 2 can be arranged side by side, resulting in a relatively high capacity.

[0049] refer to Figure 4 and Figure 6 The control console 11 is equipped with an electronic control unit and an exit button 12. The exit button 12 is electrically connected to the upright plate 21. A landing sensor is installed between the upright plate 21 and the vehicle body 1, and a cover-opening sensor is installed between the ground box 3 and the upright plate 21. The exit button 12, the landing sensor, and the cover-opening sensor are all electrically connected to the electronic control unit. The electronic control unit sends commands to the upright plate 21, the ground box 3, and the cover 31 through the exit button 12, the landing sensor, and the cover-opening sensor, respectively: When the exit button 12 is triggered, the upright plate 21 is commanded to extend out of the vehicle body 1 (as shown in Figure b); when the upright plate 21 extends to be flush with the bottom of the wheel, the landing sensor receives a signal, commands the upright plate 21 to stop extending, and commands the ground box 3 to flip downwards (as shown in Figure c); when the ground box 3 is flipped to a horizontal position, the cover-opening sensor receives a signal, commands the ground box 3 to stop flipping, and commands the cover 31 to flip upwards (as shown in Figure d). Firefighters press the exit button 12 to release the robot 5.

[0050] refer to Figure 5 and Figure 6The control panel 11 is also equipped with a cover button 13, which is electrically connected to the box cover 31. A ground sensor is installed between the box cover 31 and the ground box 3, and a return sensor is installed between the ground box 3 and the upright plate 21. The cover button 13, the ground sensor, and the return sensor are electrically connected to the electronic control unit. The electronic control unit sends commands to the box cover 31, the ground box 3, and the upright plate 21 through the cover button 13, the ground sensor, and the return sensor, respectively: when the cover button 13 is triggered, the box cover 31 is commanded to flip downwards (as shown in Figure f); when the box cover 31 closes its opening 32, the ground sensor receives a signal, commands the box cover 31 to stop flipping, and commands the ground box 3 to flip upwards (as shown in Figure g); when the ground box 3 is flipped to the vertical position, the return sensor receives a signal, commands the ground box 3 to stop flipping, and commands the upright plate 21 to retract into the vehicle body 1 (as shown in Figure h). Firefighters press the cover button 13 to facilitate the retrieval of the robot 5.

[0051] refer to Figure 6 The control panel is also equipped with an indicator light 14, which is electrically connected to the exit button 12 and the close button 13. When the exit button 12 is triggered, the indicator light 14 illuminates; when the close button 13 is triggered, the indicator light 14 goes out. Firefighters can easily confirm whether the locker has been retracted into the vehicle by observing the indicator light 14 turning on and off.

[0052] refer to Figure 1 and Figure 6 A camera 16 is installed on the underside of the vehicle body 1, and a monitor 15 is installed on the control console 11. The monitor 15 is electrically connected to the camera 16 and displays the footage captured by the camera 16. Firefighters can easily observe the retraction and deployment of the robot 5 from the storage cabinet 2 under the vehicle through the monitor 15.

[0053] refer to Figures 7 to 9 The storage box 3 has several partitions 34 inside its cavity 30. The partitions 34 divide the cavity 30 into several storage cavities 35, and the robots 5 are stored in the storage cavities 35 respectively. The partitions 34 are located on both sides of the robots 5. This allows multiple robots 5 to be stored separately in the storage box 3, and the partitions 34 limit the movement of the robots 5 to prevent them from shifting to the sides.

[0054] Example 2

[0055] like Figures 10 to 12 The vehicle carrying the rescue robot shown in this embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the storage cavity 35 is provided with two head anti-sway components 6 and two tail anti-sway components 7.

[0056] refer to Figure 11The storage cavity 35 is equipped with two head anti-sway components 6. Each head anti-sway component 6 includes a head pressing member 62, a head linkage member 63, a head clamping member 64, and a head slider 67. The inner side of the storage cavity 35 near the head end of the robot 5 has two sliding grooves. The head sliders 67 of the two head anti-sway components 6 are respectively telescopically arranged in the two sliding grooves. The retracted end of the head slider 67 is equipped with a head spring 66. The telescopic direction of the head spring 66 is the same as that of the head slider 67. One end of the head pressing member 62 is fixed to the extended end of the head slider 67, and the other end of the head pressing member 62 presses against the head of the robot 5. At the end, the head linkage 63 and the head pressing component 62 are flipped and connected. The head clamp 64 is located on the side of the robot 5. One end of the head clamp 64 is fixed to the head linkage 63, and the other end of the head clamp 64 is pressed against the side of the robot 5. A head pivot 65 is provided at the junction of the head clamp 64 and the head linkage 63. The head pivot 65 is rotatably connected to the bottom surface of the storage cavity 35. Two head anti-sway components 6 are horizontally symmetrically arranged on both sides of the robot 5. The head clamps 64 of the two head anti-sway components 6 are close to each other and far away from each other. The robot 5 is clamped between the head clamps 64 of the two head anti-sway components 6. During the flipping, lifting and lowering process of the storage box 3 and when it lands on the ground 51, the robot 5 in the storage cavity 35 is prone to shaking. When the head contact parts 62 of the two head anti-shake components 6 are simultaneously subjected to the pressure of the head end of the robot 5, the head spring 66 is compressed, and the head clamp 64 clamps the robot 5 from both sides to prevent the head end of the robot 5 from shaking and colliding with the side wall of the storage box 3 and causing damage. When the head spring 66 returns to its original position, the head contact parts 62 of the two head anti-shake components 6 respectively drive the head clamp 64 to release the robot 5.

[0057] refer to Figure 12The storage cavity 35 is equipped with two tail anti-sway components 7. Each tail anti-sway component 7 includes a tail pressing member 72, a tail linkage member 73, a tail clamping member 74, and a tail slider 77. The inner side of the storage cavity 35 near the tail end of the robot 5 is provided with two grooves. The tail sliders 77 of the two tail anti-sway components 7 are respectively telescopically arranged in the two grooves. The retracted end of the tail slider 77 is provided with a tail spring 76. The telescopic direction of the tail spring 76 is the same as the telescopic direction of the tail slider 77. One end of the tail pressing member 72 is fixed to the extended end of the tail slider 77, and the other end of the tail pressing member 72 presses against the tail of the robot 5. At the end, the tail linkage 73 and the tail pressing member 72 are flipped and connected. The tail clamp 74 is located on the side of the robot 5. One end of the tail clamp 74 is fixed to the tail linkage 73, and the other end of the tail clamp 74 is pressed against the side of the robot 5. A tail pivot 75 is provided at the junction of the tail clamp 74 and the tail linkage 73. The tail pivot 75 is rotatably connected to the bottom surface of the storage cavity 35. Two tail anti-sway components 7 are horizontally symmetrically arranged on both sides of the robot 5. The tail clamps 74 of the two tail anti-sway components 7 are close to each other and far away from each other. The robot 5 is clamped between the tail clamps 74 of the two tail anti-sway components 7. During the flipping, lifting, and landing of the storage box 3 on the ground 51, the robot 5 in the storage cavity 35 is prone to shaking. When the tail contact parts 72 of the two tail anti-sway components 7 are simultaneously subjected to the pressure of the tail end of the robot 5, the tail spring 76 is compressed, and the tail clamp 74 clamps the robot 5 from both sides to prevent the tail end of the robot 5 from shaking and colliding with the side wall of the storage box 3 and causing damage. When the tail spring 76 returns to its original position, the tail contact parts 72 of the two tail anti-sway components 7 respectively drive the tail clamp 74 to release the robot 5.

[0058] After the robot 5 moves towards the head end within the storage cavity 35, the head spring 66 can drive the head pressing component 62 to move, pushing the robot 5 back to its original position; after the robot 5 moves towards the tail end within the storage cavity 35, the tail spring 76 can drive the tail pressing component 72 to move, pushing the robot 5 back to its original position, automatically correcting the position of the robot 5 within the storage cavity 35, making it easier for the robot 5 to enter and exit the storage cavity 35.

[0059] Example 3

[0060] like Figures 13 to 14 The vehicle carrying the rescue robot shown in this embodiment is based on Embodiment 1. The difference between this embodiment and Embodiment 1 is that the lid 31 is provided with a sponge pad 4. The sponge pad 4 is located on the side of the lid 31 that faces the opening 32. When the lid 31 closes the opening 32, the sponge pad 4 presses on top of the robot 5. The sponge pad 4 is elastic to prevent the lid 31 from crushing the robot 5.

[0061] The storage cavity 35 has a silicone pad 41 on its inner wall, which is located on both sides of the robot 5. The silicone pad 41 is elastic and prevents the robot 5 from being damaged by impacting the side wall of the storage cavity 35.

[0062] Example 4

[0063] like Figures 15 to 20 As shown, this embodiment is based on embodiment 2, with further improvements made to the clamping parts 8 of the tail clamp 74 and the head clamp 64.

[0064] The clamp 8 includes a clamping rod 81, a clamping head 82, a clamping spring 83, a lower pressure plate 84, and an adjusting bolt 85. The clamping spring 83 is a spring with a variable spring constant, and the spring constant of the clamping spring 83 increases with the increase of the compression distance.

[0065] The clamping rod 81 has a clamping housing 810 and a clamping base plate 812, and the chuck 82 has a movable rod 820 and an upper pressure plate 821. The clamping housing 810 has a groove, into which the chuck 82 is inserted. The clamping housing 810 has a through hole 811 at the bottom, through which the movable rod 820 passes, allowing the chuck 82 to move within the groove of the clamping housing 810.

[0066] The lower pressure plate 84 is located on the end face of the clamping base plate 812 facing the clamping housing 810. The upper pressure plate 821, the clamping spring 83, and the lower pressure plate 84 are all sleeved on the clamping rod 81. The clamping spring 83 is located between the upper pressure plate 821 and the lower pressure plate 84.

[0067] See Figure 18 When the clamp 8 clamps toward the robot 5, the chuck 82 contacts the hip joint of the robot 5 and moves downward under pressure, causing the upper pressure plate 821 to compress the clamp spring 83, so as to avoid rigid damage to the robot 5 due to the clamping action of the clamp 8, and the clamp spring 83 provides buffering.

[0068] The clamp base plate 812 is provided with multiple threaded seats 813. The threaded seats 813 cooperate with the adjusting bolts 85 to adjust the position of the lower pressure plate 84. The lower pressure plate 84 is provided with a tail plate 840. The tail plate 840 has an enlarged hole 841, which is aligned with the threaded seat 813.

[0069] See Figure 21 (a) When the adjusting bolt 85 is short, the clamping spring 83 is not pre-compressed. When the chuck 82 is fully compressed, the clamping force provided is relatively low.

[0070] See Figure 21 (b) When the adjusting bolt 85 is longer, the clamping spring 83 is pre-compressed by the adjusting bolt 85 for a longer distance. At this time, the stiffness coefficient of the clamping spring 83 is larger, and the clamping force generated by the clamping member 8 clamping the hip joint of the robot 5 is larger, which can provide a greater clamping force.

[0071] Therefore, the pre-compression distance of the clamping spring 83 can be adjusted by adjusting bolt 85, and the corresponding clamping force can be selected according to the surface material of the robot. If the surface material of the robot is plastic, the clamping spring 83 needs to be released to make the clamping force relatively low to avoid surface damage. If the surface material of the robot is alloy steel, the adjusting bolt 85 can be tightened to pre-compress the clamping spring 83. When vibration or shaking occurs, a greater clamping force can be generated to ensure that the robot 5 is fixed in the storage cavity 35.

[0072] The above description is a preferred embodiment of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the principle of the present invention, and these should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle carrying a rescue robot, characterized by: Including car body (1), control platform (11), storage cabinet (2), the bottom surface of car body (1) is equipped with wheel, the storage cabinet (2) includes vertical plate (21) and ground box (3), the vertical plate (21) is vertically telescopic setting in the bottom surface of car body (1), vertical plate (21) can be stretched to be flush with the bottom surface of wheel, vertical plate (21) is driven up and down telescopic by motor, The ground box (3) is reversely connected in the extension end of vertical plate (21), and the ground box (3) is driven up and down by motor: when the ground box (3) is turned up to be parallel to vertical plate (21), the ground box (3) is in vertical placement state; when the ground box (3) is turned down to be perpendicular to vertical plate (21), the ground box (3) is in horizontal placement state, The ground box (3) is reversely connected in the extension end of vertical plate (21), and the ground box (3) is driven up and down by motor: when the ground box (3) is turned up to be parallel to vertical plate (21), the ground box (3) is in vertical placement state; when the ground box (3) is turned down to be perpendicular to vertical plate (21), the ground box (3) is in horizontal placement state, The control platform (11) is arranged in car body (1), and the vertical plate (21), the ground box (3) and the box cover (31) are electrically connected with the control platform (11) respectively; The ground box (3) is reversely connected in the extension end of vertical plate (21), and the ground box (3) is driven up and down by motor: when the ground box (3) is turned up to be parallel to vertical plate (21), the ground box (3) is in vertical placement state; when the ground box (3) is turned down to be perpendicular to vertical plate (21), the ground box (3) is in horizontal placement state, The ground box (3) is reversely connected in the extension end of vertical plate (21), and the ground box (3) is driven up and down by motor: when the ground box (3) is turned up to be parallel to vertical plate (21), the ground box (3) is in vertical placement state; when the ground box (3) is turned down to be perpendicular to vertical plate (21), the ground box (3) is in horizontal placement state, Two head anti-shaking assemblies (6) are arranged in the storage cavity (35), the head anti-shaking assembly (6) is provided with a head touch pressure piece (62), a head linkage (63), a head clamping piece (64) and a head sliding block (67), the inner side of the storage cavity (35) close to the head end of the robot (5) is provided with two sliding grooves, the head sliding block (67) of the two head anti-shaking assemblies (6) is arranged in the two sliding grooves respectively, the head sliding block (67) is provided with a head spring (66) at the retracted end, the extension direction of the head spring (66) is the same as the extension direction of the head sliding block (67), one end of the head touch pressure piece (62) is fixed to the extended end of the head sliding block (67), the other end of the head touch pressure piece (62) is pressed to the head end of the robot (5), the head linkage (63) is reversely connected with the head touch pressure piece (62), the head clamping piece (64) is arranged on the side of the robot (5), one end of the head clamping piece (64) is fixed to the head linkage (63), the other end of the head clamping piece (64) is pressed to the side surface of the robot (5), the head clamping piece (64) and the head linkage (63) are provided with a head rotating shaft (65) at the joint, the head rotating shaft (65) is rotatably connected with the bottom surface of the storage cavity (35), the two head anti-shaking assemblies (6) are horizontally symmetrically arranged on the two sides of the robot (5), the head clamping pieces (64) of the two head anti-shaking assemblies (6) are close to and away from each other, and the robot (5) is clamped between the head clamping pieces (64) of the two head anti-shaking assemblies (6).

2. The vehicle carrying a rescue robot according to claim 1, characterized by: The control console (11) is provided with an electronic control unit and a cabinet opening button (12), the cabinet opening button (12) is electrically connected with the vertical plate (21), a floor landing sensor is arranged between the vertical plate (21) and the vehicle body (1), an opening cover sensor is arranged between the floor box (3) and the vertical plate (21), the cabinet opening button (12), the floor landing sensor and the opening cover sensor are electrically connected with the electronic control unit respectively, and the electronic control unit sends instructions to the vertical plate (21), the floor box (3) and the box cover (31) respectively through the cabinet opening button (12), the floor landing sensor and the opening cover sensor: when the cabinet opening button (12) is pressed, the vertical plate (21) is commanded to extend out of the vehicle body (1); when the vertical plate (21) extends to the bottom surface of the wheel, the floor landing sensor receives a signal, the vertical plate (21) is commanded to stop extending and the floor box (3) is commanded to turn down; when the floor box (3) is turned to a horizontal placement state, the opening cover sensor receives a signal, the floor box (3) is commanded to stop turning and the box cover (31) is commanded to turn up.

3. The vehicle carrying a rescue robot according to claim 2, characterized by: The control console (11) is also provided with a cover button (13), the cover button (13) is electrically connected with the box cover (31), the box cover (31) and the ground box (3) are provided with a ground sensor, the ground box (3) and the vertical plate (21) are provided with a back cabinet sensor, the cover button (13), the ground sensor and the back cabinet sensor are electrically connected with the electronic control unit respectively: when the cover button (13) is triggered, the box cover (31) is commanded to turn down; when the box cover (31) closes the cover opening (32), the ground sensor receives a signal, the box cover (31) is commanded to stop turning and the ground box (3) is commanded to turn up; when the ground box (3) is turned to the vertical placement state, the back cabinet sensor receives a signal, the ground box (3) is commanded to stop turning and the vertical plate (21) is commanded to retract into the vehicle body (1).

4. The vehicle carrying a rescue robot according to claim 1, characterized by: Two tail anti-shaking assemblies (7) are arranged in the storage cavity (35), the tail anti-shaking assembly (7) is provided with a tail touch pressure piece (72), a tail linkage (73), a tail clamping piece (74) and a tail sliding block (77), the inner side of the storage cavity (35) close to the tail end of the robot (5) is provided with two sliding grooves, the tail sliding block (77) of the two tail anti-shaking assemblies (7) is respectively arranged in the two sliding grooves in an extendible manner, the tail sliding block (77) is provided with a tail spring (76) at the retraction end, the extension direction of the tail spring (76) is the same as the extension direction of the tail sliding block (77), one end of the tail touch pressure piece (72) is fixed to the extension end of the tail sliding block (77), the other end of the tail touch pressure piece (72) is pressed against the tail end of the robot (5), the tail linkage (73) is connected with the tail touch pressure piece (72) in a turning manner, the tail clamping piece (74) is arranged on the side of the robot (5), one end of the tail clamping piece (74) is fixed to the tail linkage (73), the other end of the tail clamping piece (74) is pressed against the side of the robot (5), the tail clamping piece (74) and the tail linkage (73) are provided with a tail rotating shaft (75) at the joint, the tail rotating shaft (75) is rotatably connected with the inner bottom surface of the storage cavity (35), the two tail anti-shaking assemblies (7) are horizontally symmetrically arranged on the two sides of the robot (5), the tail clamping pieces (74) of the two tail anti-shaking assemblies (7) are close to and away from each other, and the robot (5) is clamped between the tail clamping pieces (74) of the two tail anti-shaking assemblies (7).

5. The vehicle carrying a rescue robot according to claim 1, characterized by: The box cover (31) is provided with a sponge pad (4) for preventing the box cover (31) from damaging the robot (5), the sponge pad (4) is arranged on the surface of the box cover (31) turned to the cover opening (32), and when the box cover (31) covers the cover opening (32), the sponge pad (4) is pressed on the upper surface of the robot (5).

6. The vehicle carrying a rescue robot according to claim 1, characterized by: The inner side wall of the storage cavity (35) is provided with a silica gel pad (41) for preventing the robot (5) from being damaged, and the silica gel pad (41) is arranged on the two sides of the robot (5).

7. The vehicle carrying a rescue robot according to claim 1, characterized by: The bottom surface of the vehicle body (1) is provided with a camera (16) for shooting the storage cabinet (2), the control console (11) is provided with a display (15), the display (15) is electrically connected with the camera (16), and the display (15) displays the shooting picture of the camera (16).

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