Small Automatic Obstacle Clearing and Rescue Robot

Abstract

The present invention discloses a small automatic obstacle clearing and rescue robot, which includes an inclined plate mechanism (1), a grasping mechanism (2, 3), a vehicle body (4), a traveling mechanism (5, 6), a sliding mechanism (7), an image acquisition mechanism (8) and a wireless remote control mechanism (9). The traveling mechanisms (5, 6) are arranged on both sides of the vehicle body (4); the inclined plate mechanism (1) is arranged at the front end of the vehicle body (4); the grasping mechanism (2, 3), the sliding mechanism (7), the image acquisition mechanism (8) and the wireless remote control mechanism (9) are arranged on the vehicle body (4). The obstacle clearing and rescue robot of the present invention completes clearing or moving obstacles through the cooperation between the robotic arm on the grasping mechanism (2, 3) and the inclined plate mechanism (1).

Description

Technical Field

[0001] The present invention relates to obstacle clearance and rescue equipment used in natural disasters, and specifically to a miniaturized automatic obstacle clearance and rescue robot. Background Art

[0002] Natural disasters occur frequently in our country, with a wide variety of disaster types, wide distribution, and harsh disaster site environments, as well as many secondary disasters, seriously endangering the lives and safety of the people and rescue workers. Currently, rescue work mainly relies on large construction machinery and equipment, which has problems such as difficult transportation of large construction machinery and low intelligent level.

[0003] By comparing the obstacle clearance and rescue equipment used in natural disasters with the obstacle clearance and rescue equipment used in road traffic, the natural disaster obstacle clearance and rescue equipment is more lightweight and intelligent than the road obstacle clearance and rescue equipment.

[0004] Road obstacle clearance and rescue equipment generally includes a vehicle, a crane, and a lifting mechanism. Refer to the "New Type of Obstacle Clearance and Rescue Vehicle for Responding to Complex Road Environments" published in the first issue of "Labor Protection" in 2019, authors Jiang Huifu and Ren Chunxiao.

[0005] Based on China's geographical environment, centering on improving the efficiency and professionalism of obstacle clearance and rescue operations, strengthening the application of intelligent technology in obstacle clearance and rescue equipment, and promoting the development of natural disaster obstacle clearance and rescue equipment towards modularization, lightweight, and intelligence. Among them, modularization means achieving personalized operation requirements by combining equipment modules; lightweight is achieved by applying new materials and new processes to reach the lightweight goal; intelligence is mainly reflected in aspects such as early warning and intervention during the rescue operation process.

[0006] Currently, most natural disaster obstacle clearance and rescue equipment has a single function. For example, it can only push obstacles away and cannot complete complex handling tasks; the walking mechanism cannot fit well with the ground to complete obstacle crossing; the self-weight of natural disaster obstacle clearance and rescue equipment is too large, and the obstacle clearance ability is limited, etc. It can be seen that improving the obstacle clearance ability and intelligent level of natural disaster obstacle clearance and rescue robots is a realistic demand that needs to be solved urgently. Summary of the Invention

[0007] Aiming at the deficiencies existing in the existing technology of obstacle clearance and rescue equipment used in natural disasters, the purpose of the present invention is to provide a small automatic obstacle clearance and rescue robot that is easy to transport, can transmit real-time on-site images, has a remote control automatic obstacle clearance operation mode, can effectively remove or carry (required pulling force of 1000N) obstacles, can complete all-terrain travel, and has an operation distance of up to 3000 meters.

[0008] A small automatic obstacle clearing and rescue robot of the present invention includes an inclined plate mechanism (1), a right grasping mechanism (2), a left grasping mechanism (3), a vehicle body (4), a right traveling mechanism (5), a left traveling mechanism (6), a sliding mechanism (7), an image acquisition mechanism (8) and a wireless remote control mechanism (9).

[0009] The vehicle body (4) is used, on the one hand, to carry the inclined plate mechanism (1), the right grasping mechanism (2), the left grasping mechanism (3), the sliding mechanism (7), the image acquisition mechanism (8) and the wireless remote control mechanism (9); on the other hand, to store the right grasping mechanism (2) and the left grasping mechanism (3). The right traveling mechanism (5) is installed on the right side plate (4F) of the vehicle body (4), and the left traveling mechanism (6) is installed on the left side plate (4E); the traveling mechanism uses a servo motor to drive the crawler wheels to rotate to complete the forward movement of the vehicle body. The vehicle body ring beam (4J) is an integrated structure of a welded upper ring beam (4J1), a lower ring beam (4J2) and a vertical beam (4J3).

[0010] The inclined plate mechanism (1) is arranged at the front end of the vehicle body (4) and is used to complete approaching obstacles, moving obstacles, placing obstacles, and unloading obstacles. The inclined plate mechanism (1) includes a left link assembly (1A), a right link assembly (1B), an inclined frame assembly (1C), a rolling transmission assembly (1D), a left inclined plate (1E), a right inclined plate (1F) and a front grounding plate (1G). The link assembly is a four-bar mechanism driven by a link electric push rod; one ends of the upper link and the lower link of the four-bar mechanism are respectively hinged to the upper connecting block and the lower connecting block at the front end of the vehicle body, and the other ends are respectively hinged to the longitudinal beams of the inclined frame; the fixed end of the link electric push rod is hinged to the side plate of the vehicle body, and the telescopic end is hinged to the middle of the lower link. The inclined frame assembly (1C) is composed of two cross beams and four longitudinal beams bolted together. The rolling transmission assembly (1D) is bolted to the middle of the inclined assembly through two left and right links, and the two left and right links are respectively connected to the driving roller (1D2) and the driven roller (1D3) through upper plugs and lower plugs, and a belt is sleeved between the two rollers. The front grounding plate (1G) is bolted to the front ends of the left inclined plate (1E) and the right inclined plate (1F).

[0011] The sliding mechanism (7) is arranged at an intermediate position above the vehicle body (4) and is used to drive the right grasping mechanism (2) and the left grasping mechanism (3) to slide back and forth to complete the operation of obstacles. The sliding mechanism (7) includes a linear guide rail module (7A), a slider (7B), a sliding mechanism motor (7C), and a G base plate (7D); the G base plate (7D) is bolted to the front U-shaped support frame (4J4) and the rear U-shaped support frame (4J5); the linear guide rail module (7A) is bolted to the G base plate (7D), and the slider (7B) is bolted to the linear guide rail module (7A).

[0012] The structures of the right grasping mechanism (2) and the left grasping mechanism (3) are the same and they are symmetrically arranged. In order to achieve proper weight balance, the right grasping mechanism (2) is located above the right traveling mechanism (5), and the left grasping mechanism (3) is located above the left traveling mechanism (6). The grasping mechanism is used to grasp or release obstacles. The grasping mechanism includes a grasping arm base, a fixed base, a grasping boom, a grasping boom electric push rod, a grasping forearm, and a grasping forearm electric push rod; the grasping arm base is bolted to the slider (7B); the grasping boom is hinged to the parallel vertical plates of the grasping arm base through a self-lubricating shaft; the fixed end of the grasping electric push rod is hinged to the fixed base, and the telescopic end is hinged to the upper end of the grasping boom; the grasping forearm is hinged to the front end of the grasping boom through a self-lubricating shaft; the fixed end of the grasping forearm electric push rod is hinged to the upper end of the grasping boom, and the telescopic end is hinged to the rear end of the grasping forearm.

[0013] The image acquisition mechanism (8) is used to capture images of the obstacle clearing and rescue environment in natural disasters. The image acquisition mechanism (8) includes a camera support, a camera, a lighting lamp, and lidar around the vehicle body.

[0014] The wireless remote control mechanism (9) is used to achieve wireless communication. The wireless remote control mechanism (9) includes an embedded control module, a high-speed communication radio station, and a video transmission module.

[0015] When the small automatic obstacle clearing and rescue robot designed by the present invention is working, it collects the surrounding environment information of the obstacle clearing and rescue through the camera and lidar, and automatically navigates to the rescue area; rescue personnel can remotely monitor through the video transmitted back by the image acquisition mechanism (8) and perform manual remote control operations when necessary. When clearing obstacles, the electric push rod of the inclined plate mechanism extends, driving the inclined plate mechanism (1) to slowly tilt until the front grounding plate (1G) abuts against the lower inner edge of the obstacle, and at the same time driving the roller (1D2) to start driving the belt (1D1) to rotate; the linear guide rail module (7A) of the sliding mechanism (7) moves the slider (7B) to the front end of the vehicle body; the boom electric push rods of the left and right grasping mechanisms retract, and the forearm electric push rods retract, so that the robotic arm hooks the lower outer edge of the obstacle; the linear guide rail module (7A) moves the slider (7B) to the rear end of the vehicle body, and at the same time the boom push rods (2D6, 3D6) extend, and the forearm push rods (2D4, 3D4) extend, dragging the obstacle onto the vehicle body; finally, the inclined plate mechanism retracts the electric push rods (1A3, 1B3) of the link assembly, driving the inclined plate to move parallel to the front end of the vehicle body, and the robot carries the obstacle away from the obstacle clearing and rescue site.

[0016] The advantages of the small automatic obstacle clearing and rescue robot designed by the present invention are as follows:

[0017] ① The robot of the present invention adopts the combination of a linear guide module and a robotic arm, which can output a pulling force of 1000 N, and can effectively remove or even carry large-weight obstacles in cooperation with the inclined plate structure, having a powerful obstacle-removing ability. On the one hand, traditional obstacle-removing and rescue equipment can only push obstacles away and cannot complete complex carrying tasks. In addition, the robotic arms used on traditional obstacle-removing and rescue equipment are high-degree-of-freedom robotic arms, resulting in poor rigidity of the robotic arms, reducing the load capacity of the robotic arms, and leading to a low obstacle-removing ability of the rescue equipment. Third, compared with the operation distance of 1000 meters of traditional wheeled obstacle-removing and rescue equipment, the robot of the present invention has a first combination formed by the sliding mechanism (7) and the robotic arms (2, 3), and a second combination formed by the tracked walking mechanism (5, 6) and the first combination, with an operation distance of 3000 meters.

[0018] ② For traditional grippers that can be retracted into the storage box, the design of retracting the grippers into the storage box limits the size of the grippers and restricts the obstacle-removing ability of the robot. The robot of the present invention adopts a grasping mechanism arranged symmetrically left and right, having a powerful obstacle-removing ability.

[0019] ③ The tracked walking mechanism adopted by the robot of the present invention has good stability and strong load-bearing capacity, is equipped with a built-in low-speed and high-torque motor walking reducer, has high passability, and can enable the whole machine to achieve convenient movement, turning, climbing, etc., having high mobility. Traditional wheeled obstacle-removing and rescue equipment has poor passability and is limited by the size of the mechanical gripper, and the obstacle-removing ability of this equipment is limited, with a theoretical operation distance of 1000 meters.

[0020] ④ The sliding mechanism in the robot of the present invention can move the robotic arm to the rear end of the vehicle body, and at the same time, the inclined plate mechanism is erected, which can reduce the space occupied by the robot and is convenient for transportation.

[0021] ⑤ The robot of the present invention has a high degree of intelligence. Through a full-angle high-definition camera and lidar around the vehicle body, automatic obstacle avoidance of the robot can be realized. Through the video transmission module, real-time on-site pictures can be transmitted. Through wifi wireless communication, Beidou navigation and positioning, embedded module control, and computer-aided decision-making technology, automatic navigation and automatic obstacle removal of the robot can be realized, and remote operation can also be carried out. Description of the Drawings

[0022] Figure 1 is the external structure diagram of the small automatic obstacle-removing and rescue robot of the present invention.

[0023] Figure 1A is the structure diagram of another perspective of the small automatic obstacle-removing and rescue robot of the present invention.

[0024] Figure 1B is the structure diagram of yet another perspective of the small automatic obstacle-removing and rescue robot of the present invention.

[0025] Figure 1C It is the front view structure diagram of the small automatic obstacle-clearing and rescue robot of the present invention.

[0026] Figure 1D It is the rear view structure diagram of the small automatic obstacle-clearing and rescue robot of the present invention.

[0027] Figure 1E It is the right view structure diagram of the small automatic obstacle-clearing and rescue robot of the present invention.

[0028] Figure 2 It is the front view structure diagram of the inclined plate mechanism in the small automatic obstacle-clearing and rescue robot of the present invention.

[0029] Figure 2A It is the structure diagram of another perspective of the inclined plate mechanism in the small automatic obstacle-clearing and rescue robot of the present invention.

[0030] Figure 2B It is the structure diagram of yet another perspective of the inclined plate mechanism in the small automatic obstacle-clearing and rescue robot of the present invention.

[0031] Figure 2C It is the exploded view of the inclined plate mechanism in the small automatic obstacle-clearing and rescue robot of the present invention.

[0032] Figure 2D It is the structure diagram of the rolling transmission component of the inclined plate mechanism in the small automatic obstacle-clearing and rescue robot of the present invention.

[0033] Figure 2E It is the exploded view of the rolling transmission component of the inclined plate mechanism in the small automatic obstacle-clearing and rescue robot of the present invention.

[0034] Figure 2F It is the structure diagram of the left and right connecting rods and the inclined frame of the inclined plate mechanism in the small automatic obstacle-clearing and rescue robot of the present invention in the extended state.

[0035] Figure 2G It is the structure diagram of the left and right connecting rods and the inclined frame of the inclined plate mechanism in the small automatic obstacle-clearing and rescue robot of the present invention in the contracted state.

[0036] Figure 2H It is the structure diagram of the left connecting rod of the inclined plate mechanism in the small automatic obstacle-clearing and rescue robot of the present invention.

[0037] Figure 2I It is the structure diagram of another perspective of the left connecting rod of the inclined plate mechanism in the small automatic obstacle-clearing and rescue robot of the present invention.

[0038] Figure 2J It is the front view of the left connecting rod of the inclined plate mechanism in the small automatic obstacle-clearing and rescue robot of the present invention.

[0039] Figure 2K It is the structure diagram of the right connecting rod of the inclined plate mechanism in the small automatic obstacle-clearing and rescue robot of the present invention.

[0040] Figure 2L It is another perspective structure diagram of the right connecting rod of the inclined plate mechanism in the small automatic obstacle clearing and rescue robot of the present invention.

[0041] Figure 2M It is the front view structure diagram of the right connecting rod of the inclined plate mechanism in the small automatic obstacle clearing and rescue robot of the present invention.

[0042] Figure 2N It is the structure diagram of the left inclined plate of the inclined plate mechanism in the small automatic obstacle clearing and rescue robot of the present invention.

[0043] Figure 2O It is the structure diagram of the right inclined plate of the inclined plate mechanism in the small automatic obstacle clearing and rescue robot of the present invention.

[0044] Figure 3 It is the structure diagram of the left and right grasping mechanisms and the image acquisition mechanism in the small automatic obstacle clearing and rescue robot of the present invention.

[0045] Figure 3A It is another perspective structure diagram of the left and right grasping mechanisms and the image acquisition mechanism in the small automatic obstacle clearing and rescue robot of the present invention.

[0046] Figure 3B It is the structure diagram of the right grasping mechanism in the small automatic obstacle clearing and rescue robot of the present invention.

[0047] Figure 3C It is the distribution structure diagram of the rotating shafts in the right grasping mechanism of the small automatic obstacle clearing and rescue robot of the present invention.

[0048] Figure 3D It is the exploded view of the right grasping mechanism in the small automatic obstacle clearing and rescue robot of the present invention.

[0049] Figure 3E It is the structure diagram of the left grasping mechanism in the small automatic obstacle clearing and rescue robot of the present invention.

[0050] Figure 3F It is the distribution structure diagram of the rotating shafts in the left grasping mechanism of the small automatic obstacle clearing and rescue robot of the present invention.

[0051] Figure 3G It is the exploded view of the left grasping mechanism in the small automatic obstacle clearing and rescue robot of the present invention.

[0052] Figure 4 It is the structure diagram of the vehicle body main body in the small automatic obstacle clearing and rescue robot of the present invention.

[0053] Figure 4A It is another perspective structure diagram of the vehicle body main body in the small automatic obstacle clearing and rescue robot of the present invention.

[0054] Figure 4BIt is an exploded view of the vehicle body main body in the small automatic obstacle clearing and rescue robot of the present invention.

[0055] Figure 4C It is a structural diagram of the body girdle beam in the small automatic obstacle clearing and rescue robot of the present invention.

[0056] Figure 4D It is a structural diagram of the body girdle beam in the small automatic obstacle clearing and rescue robot of the present invention from another perspective.

[0057] Figure 5 It is a structural diagram of the right traveling mechanism in the small automatic obstacle clearing and rescue robot of the present invention.

[0058] Figure 5A It is a structural diagram of the right traveling mechanism in the small automatic obstacle clearing and rescue robot of the present invention from another perspective.

[0059] Figure 6 It is a structural diagram of the left traveling mechanism in the small automatic obstacle clearing and rescue robot of the present invention.

[0060] Figure 6A It is a structural diagram of the left traveling mechanism in the small automatic obstacle clearing and rescue robot of the present invention from another perspective.

[0061] Figure 7 It is a structural diagram of the sliding mechanism in the small automatic obstacle clearing and rescue robot of the present invention.

[0062] Figure 7A It is a structural diagram of the sliding mechanism in the small automatic obstacle clearing and rescue robot of the present invention from another perspective.

[0063]

[0064] Detailed implementation manners

[0065] The present invention will be further described in detail below with reference to the accompanying drawings.

[0066] See Figure 1 、 Figure 1A 、 Figure 1B 、 Figure 1C 、 Figure 1D 、 Figure 1E As shown, a small automatic obstacle clearing and rescue robot designed by the present invention includes an inclined plate mechanism 1, a right grasping mechanism 2, a left grasping mechanism 3, a vehicle body main body 4, a right traveling mechanism 5, a left traveling mechanism 6, a sliding mechanism 7, an image acquisition mechanism 8, and a wireless remote control mechanism 9.

[0067] Among them, the right grasping mechanism 2 and the left grasping mechanism 3 have the same structure and are installed in parallel.

[0068] Among them, the right traveling mechanism 5 has the same structure as the left traveling mechanism 6, and they are respectively arranged on both sides of the vehicle body 4.

[0069] In the present invention, taking the forward direction of the automatic obstacle clearing and rescue robot as the front view, as Figure 1C shown.

[0070] Parameters of the electric push rod:

[0071]

[0072] Inclined Plate Mechanism 1

[0073] See Figure 2 、 Figure 2A 、 Figure 2B 、 Figure 2C 、 Figure 2D 、 Figure 2E shown, the inclined plate mechanism 1 includes a left link assembly 1A, a right link assembly 1B, an inclined frame assembly 1C, a rolling transmission assembly 1D, a left inclined plate 1E, a right inclined plate 1F, a front grounding plate 1G, a left angle steel 1H, and a right angle steel 1J. Among them, the left link assembly 1A has the same structure as the right link assembly 1B. The left angle steel 1H has the same structure as the right angle steel 1J. The left inclined plate 1E has the same structure as the right inclined plate 1F.

[0074] Left link assembly 1A

[0075] See Figure 2C 、 Figure 2F 、 Figure 2G 、 Figure 2H 、 Figure 2I 、 Figure 2J shown, the left link assembly 1A includes an upper left link 1A1, a lower left link 1A2, and a left link electric push rod 1A3.

[0076] One end of the left electric output rod 1A31 of the left link electric push rod 1A3 is installed in the left electric push rod sleeve 1A32, and the other end of the left electric output rod 1A31 is connected to the left E link shaft 1A45, and the left E link shaft 1A45 is fixed in the middle of the lower left link 1A2. The other end of the left electric output rod 1A31 moves relative to the lower left link 1A2, that is, the other end of the left electric output rod 1A31 moves around the left E link shaft 1A45.

[0077] One end of the upper left link 1A1 is connected to the upper left connecting block 1A11 through the left A link shaft 1A41, and the other end of the upper left link 1A1 is connected to the upper left triangular connecting plate 1A12 through the left B link shaft 1A42. The upper left triangular connecting plate 1A12 is installed on the outside of the CA longitudinal beam 1C3 of the inclined frame assembly 1C.

[0078] One end of the lower left connecting rod 1A2 is connected to the lower left connecting block 1A21 through the left C connecting rod shaft 1A43, and the other end of the lower left connecting rod 1A2 is connected to the lower left triangular connecting plate 1A22 through the left D connecting rod shaft 1A44. The lower left triangular connecting plate 1A22 is installed on the outer side of the CA longitudinal beam 1C3 of the inclined frame assembly 1C.

[0079] The left electric output rod 1A31 of the left connecting rod electric push rod 1A3 is installed on the lower left connecting rod 1A2.

[0080] In Figure 2J the dotted line describes a four-bar linkage of a double rocker, and the relative motion connection between the connecting rods adopts the shaft connection method of a self-lubricating shaft. The connecting line of AD is the frame represented by the inclined plate mechanism 1, the connecting line of DC is the lower left connecting rod 1A2, the connecting line of BC is a connecting rod body formed by the upper left triangular connecting plate 1A12, the lower left triangular connecting plate 1A22 and the CA longitudinal beam 1C3, and the connecting line of BA is the upper left connecting rod 1A1. The E point (left E connecting rod shaft 1A45) is the connection point between the left electric output rod 1A31 of the left connecting rod electric push rod 1A3 and the lower left connecting rod 1A2. A bearing is installed at this connection point and can rotate. The telescopic motion of the left connecting rod assembly 1A is completed by the driving force provided by the left connecting rod electric push rod 1A3, so that the lower left connecting rod 1A2 rotates around the D point (left D connecting rod shaft 1A44), realizing the tilting motion of the inclined frame assembly 1C, and further driving the expansion or retraction of the rolling transmission assembly 1D, the left inclined plate 1E, the right inclined plate 1F and the front grounding plate 1G.

[0081] Right connecting rod assembly 1B

[0082] See Figure 2C 、 Figure 2F 、 Figure 2G 、 Figure 2K 、 Figure 2L 、 Figure 2M As shown in

[0083] One end of the right electric output rod 1B31 of the right connecting rod electric push rod 1B3 is installed in the right electric push rod sleeve 1B32, and the other end of the right electric output rod 1B31 is connected to the right E connecting rod shaft 1B45. The right E connecting rod shaft 1B45 is fixed in the middle of the lower right connecting rod 1B2. The other end of the right electric output rod 1B31 moves relative to the lower right connecting rod 1B2, that is, the other end of the right electric output rod 1B31 rotates around the right E connecting rod shaft 1B45.

[0084] One end of the upper right connecting rod 1B1 is connected to the upper right connecting block 1B11 through the right A connecting rod shaft 1B41, and the other end of the upper right connecting rod 1B1 is connected to the upper right triangular connecting plate 1B12 through the right B connecting rod shaft 1B42. The upper right triangular connecting plate 1B12 is installed on the outer side of the CA longitudinal beam 1C3 of the inclined frame assembly 1C.

[0085] One end of the lower right connecting rod 1B2 is connected to the lower right connecting block 1B21 through the right C connecting rod shaft 1B43, and the other end of the lower right connecting rod 1B2 is connected to the lower right triangular connecting plate 1B22 through the right D connecting rod shaft 1B44. The lower right triangular connecting plate 1B22 is installed on the outer side of the CA longitudinal beam 1C3 of the inclined frame assembly 1C.

[0086] The right electric output rod 1B31 of the right connecting rod electric push rod 1B3 is installed on the lower right connecting rod 1B2.

[0087] In Figure 2M it, the dotted line describes a four-bar linkage of a double rocker, and the relative motion connection between the connecting rods adopts the shaft connection method of a self-lubricating shaft. The connecting line of AD is the frame represented by the inclined plate mechanism 1, the connecting line of DC is the lower right connecting rod 1B2, the connecting line of BC is a connecting rod body formed by the upper right triangular connecting plate 1B12, the lower right triangular connecting plate 1B22 and the CA longitudinal beam 1C3, and the connecting line of BA is the upper right connecting rod 1B1. The E point (right E connecting rod shaft 1B45) is the connection point of the right electric output rod 1B31 of the right connecting rod electric push rod 1B3 and the lower right connecting rod 1B2. A bearing is installed at this connection point and can rotate. The telescopic motion of the right connecting rod assembly 1B is completed by the driving force provided by the right connecting rod electric push rod 1B3, so that the lower right connecting rod 1B2 rotates around the D point (right D connecting rod shaft 1B44), realizing the tilting motion of the inclined frame assembly 1C, and then driving the extension or retraction of the rolling transmission assembly 1D, the left inclined plate 1E, the right inclined plate 1F and the front grounding plate 1G.

[0088] Inclined frame assembly 1C

[0089] See Figure 2C 、 Figure 2F 、 Figure 2G As shown, the inclined frame assembly 1C is obtained by overlapping profiles made of steel. The inclined frame assembly 1C first places the CA cross beam 1C1 and the CB cross beam 1C2 in parallel, and then keeps the four longitudinal beams parallel and fixes them between the CA cross beam 1C1 and the CB cross beam 1C2.

[0090] Both ends of the CA longitudinal beam 1C3 are respectively installed between the parallel CA cross beam 1C1 and the CB cross beam 1C2. The upper left triangular connecting plate 1A12 and the lower left triangular connecting plate 1A22 of the left connecting rod assembly 1A are installed on the outer side of the CA longitudinal beam 1C3.

[0091] Both ends of the CB longitudinal beam 1C4 are respectively installed between the parallel CA cross beam 1C1 and the CB cross beam 1C2, and the DA vertical plate 1D6B of the transmission cross beam 1D6 is also installed on the inner side of the CB longitudinal beam 1C4.

[0092] Both ends of the CC longitudinal beam 1C5 are respectively installed between the parallel CA cross beam 1C1 and the CB cross beam 1C2, and the DB vertical plate 1D6C of the transmission cross beam 1D6 is also installed on the inner side of the CC longitudinal beam 1C5.

[0093] Both ends of the CD longitudinal beam 1C6 are respectively installed between the parallel CA cross beam 1C1 and the CB cross beam 1C2. The upper right triangular connecting plate 1B12 and the lower right triangular connecting plate 1B22 of the right connecting rod assembly 1B are installed on the outer side of the CD longitudinal beam 1C6.

[0094] Rolling transmission assembly 1D

[0095] See Figure 2D 、 Figure 2E As shown in

[0096] The belt 1D1 is between the upper roller 1D2 and the lower roller 1D3.

[0097] One end of the DA upper plug 1D7 is provided with a front fork 1D7A, and the front fork 1D7A is sleeved on the left end of the roller shaft 1D2A of the upper roller 1D2; the other end of the DA upper plug 1D7 is provided with a rear fork 1D7B, and the upper end of the DA connecting rod 1D4 is connected to the rear fork 1D7B.

[0098] One end of the DB upper plug 1D8 is provided with a front fork 1D8A, and the front fork 1D8A is sleeved on the right end of the roller shaft 1D2A of the upper roller 1D2; the other end of the DB upper plug 1D8 is provided with a rear fork 1D8B, and the upper end of the DB connecting rod 1D5 is connected to the rear fork 1D8B.

[0099] One end of the DA lower plug 1D9 is provided with an elliptical front end 1D9A, and the elliptical front end 1D9A is sleeved on the left end of the roller shaft 1D3A of the lower roller 1D3; the other end of the DA lower plug 1D9 is provided with a rear fork 1D9B, and the lower end of the DA connecting rod 1D4 is connected to the rear fork 1D9B.

[0100] One end of the DB lower plug 1D10 is provided with an elliptical front end 1D10A, and the elliptical front end 1D10A is sleeved on the right end of the roller shaft 1D3A of the lower roller 1D3; the other end of the DB lower plug 1D10 is provided with a rear fork 1D10B, and the lower end of the DB connecting rod 1D5 is connected to the rear fork 1D10B.

[0101] The transmission cross beam 1D6 is of U-shaped structure. There is a transverse connecting plate 1D6A on the transmission cross beam 1D6. One end of the transverse connecting plate 1D6A is a DA vertical plate 1D6B, and the DA vertical plate 1D6B is fixed on the CB longitudinal beam 1C4 of the inclined frame 1C; the other end of the transverse connecting plate 1D6A is a DB vertical plate 1D6C, and the DB vertical plate 1D6C is fixed on the CC longitudinal beam 1C5 of the inclined frame 1C.

[0102] Left inclined plate 1E

[0103] See Figure 2 、 Figure 2N As shown, the left inclined plate 1E is made of lightweight aluminum profile and is used to cooperate with the belt 1D1 on the rolling transmission assembly 1D to complete the handling of objects in an inclined state. The front end of the left sliding plate 1E1 of the left inclined plate 1E is a left front panel 1E2, and the left end of the front grounding plate 1D is installed on the left front panel 1E2. The left end of the CB cross beam 1C2 is installed on the lower left connecting plate 1E3 below the left inclined plate 1E. The left end of the CA cross beam 1C1 is installed on the upper left connecting plate 1E4 below the left inclined plate 1E.

[0104] Right inclined plate 1F

[0105] See Figure 2 、 Figure 2O As shown, the right inclined plate 1F is made of lightweight aluminum profile and is used to cooperate with the belt 1D1 on the rolling transmission assembly 1D to complete the handling of objects in an inclined state. The front end of the right sliding plate 1F1 of the right inclined plate 1F is a right front panel 1F2, and the right end of the front grounding plate 1D is installed on the right front panel 1F2. The right end of the CB cross beam 1C2 is installed on the lower right connecting plate 1F3 below the right inclined plate 1F. The right end of the CA cross beam 1C1 is installed on the upper right connecting plate 1F4 below the right inclined plate 1F.

[0106] Front grounding plate 1G

[0107] See Figure 2B 、 Figure 2C As shown, the front grounding plate 1G is installed at the front ends of the left inclined plate 1E and the right inclined plate 1F. In the present invention, by contacting the front grounding plate 1G with the ground, the working position is reached and a supporting role is played.

[0108] Left angle steel 1H

[0109] See Figure 2C As shown, there are a left angle steel A panel 1H1 and a left angle steel B panel 1H2 on the left angle steel 1H. The rectangular through hole on the left angle steel A panel 1H1 is for the left connecting rod electric push rod 1A3 of the left connecting rod assembly 1A to pass through. The left angle steel B panel 1H2 is installed on the vehicle body ring beam 4J.

[0110] Right angle steel 1J

[0111] See Figure 2CAs shown, a right angle steel 1J is provided with a right angle steel A panel 1J1 and a right angle steel B panel 1J2. The rectangular through hole on the right angle steel A panel 1J1 is for the right connecting rod electric push rod 1B3 of the right connecting rod assembly 1B to pass through. The right angle steel B panel 1J2 is installed on the body ring beam 4J.

[0112] Right Gripping Mechanism 2

[0113] See Figure 1 、 Figure 1A 、 Figure 1B 、 Figure 1C 、 Figure 1E 、 Figure 3 、 Figure 3A 、 Figure 3B 、 Figure 3C 、 Figure 3D As shown, the right grasping mechanism 2 includes a right grasping large arm 2A, a right grasping small arm 2B, a right grasping arm seat 2C, a right grasping electric push rod 2D and a right fixed seat 2E. The relative motion connection on the right grasping mechanism 2 adopts the shaft connection method of a self-lubricating shaft.

[0114] The right grasping small arm 2B is an integrally formed structural member. In order to elaborate on the connection relationship between the right grasping small arm 2B and other components, the right grasping small arm 2B is divided into a right grasping small arm front end 2B1, a right grasping small arm rear end 2B2 and a right grasping small arm joint 2B3. The right grasping small arm front end 2B1 is designed with a fan-shaped curved surface shovel for grasping obstacles or carrying obstacles for pushing, pulling and other actions. The two ends of the electric push rod BA shaft 2D1 are installed at the right grasping small arm rear end 2B2, and the electric push rod BA shaft 2D1 is sleeved at one end of the right small arm push rod 2D4 of the right grasping electric push rod 2D, and the other end of the right small arm push rod 2D4 is placed in the right B sleeve 2D5. The BA self-lubricating shaft 21 is sleeved at the right grasping small arm joint 2B3, and the two ends of the BA self-lubricating shaft 21 are installed on the front end 2A1 of the right grasping large arm.

[0115] The right grasping large arm 2A is an integrally formed structural member. In order to elaborate on the connection relationship between the right grasping large arm 2A and other components, the right grasping large arm 2A is divided into a right grasping large arm front end 2A1, a right grasping large arm rear end 2A2 and a right grasping large arm joint 2A3. The two ends of the BA self-lubricating shaft 21 are installed at the right grasping large arm front end 2A1. The BC self-lubricating shaft 23 is sleeved at the right grasping large arm rear end 2A2, and the two ends of the BC self-lubricating shaft 23 are installed on the parallel vertical plate 2C1 of the right grasping arm seat 2C. The two ends of the electric push rod BB shaft 2D2 are installed at the upper part of the right grasping large arm joint 2A3, and the electric push rod BB shaft 2D2 is installed at the rear end of the upper right push rod cylinder 2D5. The two ends of the electric push rod BC shaft 2D3 are installed at the lower part of the right grasping large arm joint 2A3, and the electric push rod BC shaft 2D3 is installed at one end of the right large arm push rod 2D6, and the other end of the right large arm push rod 2D6 is placed in the right A sleeve 2D7.

[0116] The right grasping arm base 2C is in an L-shaped configuration, and a parallel vertical plate 2C1 and a horizontal plate 2C2 are provided on the right grasping arm base 2C; both ends of the BC self-lubricating shaft 23 are installed on both ends of the parallel vertical plate 2C1; the bottom plate 2E1 of the right fixed seat 2E is fixed on the horizontal plate 2C2 of the right grasping arm base 2C.

[0117] The right fixed seat 2E is in a U-shaped configuration, and a bottom plate 2E1 and parallel support arms 2E2 are provided on the right fixed seat 2E; the bottom plate 2E1 is fixed on the horizontal plate 2C2 of the right grasping arm base 2C; both ends of the BB self-lubricating shaft 22 are installed on both ends of the parallel support arms 2E2.

[0118] The fixed seat 2D8 of the right grasping electric push rod 2D is sleeved with the BB self-lubricating shaft 22, and both ends of the BB self-lubricating shaft 22 are installed on the parallel support arms 2E2 of the right fixed seat 2E.

[0119] Left Gripping Mechanism 3

[0120] See Figure 1 、 Figure 1A 、 Figure 1B 、 Figure 1C 、 Figure 1E 、 Figure 3 、 Figure 3A 、 Figure 3E 、 Figure 3F 、 Figure 3G As shown in

[0121] The left grasping small arm 3B is an integrally formed structural member. To elaborate on the connection relationship between the left grasping small arm 3B and other components, the left grasping small arm 3B is divided into a left grasping small arm front end 3B1, a left grasping small arm rear end 3B2, and a left grasping small arm joint 3B3. A fan-shaped curved surface shovel is designed at the left grasping small arm front end 3B1 for grasping obstacles or handling obstacles in pushing, pulling and other actions. Both ends of the electric push rod BA shaft 3D1 are installed on the left grasping small arm rear end 3B2, and the electric push rod BA shaft 3D1 is sleeved on one end of the left small arm push rod 3D4 of the left grasping electric push rod 3D, and the other end of the left small arm push rod 3D4 is placed inside the left B sleeve 3D5. The left grasping small arm joint 3B3 is sleeved with the BA self-lubricating shaft 31, and both ends of the BA self-lubricating shaft 31 are installed on the left grasping large arm front end 3A1.

[0122] The left grasping boom 3A is an integrally formed structural member. To elaborate on the connection relationship between the left grasping boom 3A and other components, the left grasping boom 3A is divided into the front end 3A1 of the left grasping boom, the rear end 3A2 of the left grasping boom, and the joint 3A3 of the left grasping boom. The two ends of the BA self-lubricating shaft 31 are installed at the front end 3A1 of the left grasping boom. The BC self-lubricating shaft 33 is sleeved on the rear end 3A2 of the left grasping boom, and the two ends of the BC self-lubricating shaft 33 are installed on the parallel vertical plates 3C1 of the left grasping arm seat 3C. The two ends of the electric push rod BB shaft 3D2 are installed on the upper part of the joint 3A3 of the left grasping boom, and the electric push rod BB shaft 3D2 is installed at the rear end of the upper left push rod cylinder 3D5. The two ends of the electric push rod BC shaft 3D3 are installed on the lower part of the joint 3A3 of the left grasping boom, and the electric push rod BC shaft 3D3 is installed at one end of the left boom push rod 3D6, and the other end of the left boom push rod 3D6 is placed in the left A sleeve 3D7.

[0123] The left grasping arm seat 3C is in an L-shaped configuration, and the left grasping arm seat 3C is provided with parallel vertical plates 3C1 and a horizontal plate 3C2; the two ends of the BC self-lubricating shaft 33 are installed on the two ends of the parallel vertical plates 3C1; the bottom plate 3E1 of the left fixed seat 3E is fixed on the horizontal plate 3C2.

[0124] The left fixed seat 3E is in a U-shaped configuration, and the left fixed seat 3E is provided with a bottom plate 3E1 and parallel support arms 3E2; the bottom plate 3E1 is fixed on the horizontal plate 3C2 of the left grasping arm seat 3C; the two ends of the BB self-lubricating shaft 32 are installed on the two ends of the parallel support arms 3E2.

[0125] The BB self-lubricating shaft 32 is sleeved on the fixed seat 3D8 of the left grasping electric push rod 3D, and the two ends of the BB self-lubricating shaft 32 are installed on the parallel support arms 3E2 of the left fixed seat 3E.

[0126] Vehicle Body Main Body 4

[0127] See Figure 1 、 Figure 4 、 Figure 4A 、 Figure 4B 、 Figure 4C 、 Figure 4D As shown in

[0128] The body girt 4J is divided into an upper girt 4J1, a lower girt 4J2, a front U-shaped support beam 4J4 and a rear U-shaped support beam 4J5. The upper girt 4J1 and the lower girt 4J2 are connected by a vertical beam 4J3. The front U-shaped support beam 4J4 and the rear U-shaped support beam 4J5 are fixed on the lower girt 4J2, and a G base 7D of the sliding mechanism 7 is installed above the front U-shaped support beam 4J4 and the rear U-shaped support beam 4J5.

[0129] A front cover plate 4G is installed at the front end of the body girt 4J.

[0130] A rear cover plate 4H is installed at the rear end of the body girt 4J.

[0131] A left side plate 4E is installed at the left end of the body girt 4J. A left transmission gear train 6B of the left traveling mechanism 6 is installed on the outer panel of the left side plate 4E. A left traveling motor 6A of the left traveling mechanism 6 and the tail of a left electric push rod sleeve 1A32 of a left link electric push rod 1A3 are installed on the inner panel of the left side plate 4E. A plurality of left right-angle connectors 4E1 (as Figure 4A shown) are installed above the left side plate 4E, and a left guard plate 4A is fixed on the left right-angle connector 4E1.

[0132] A right side plate 4F is installed at the right end of the body girt 4J. A right crawler gear train 5B of the right traveling mechanism 5 is installed on the outer panel of the right side plate 4F. A right traveling servo motor 5A of the right traveling mechanism 5 and the tail of a right electric push rod sleeve 1B32 of a right link electric push rod 1B3 are installed on the inner panel of the right side plate 4F. A plurality of right right-angle connectors 4F1 are installed above the right side plate 4F, and a right guard plate 4B is fixed on the right right-angle connector 4F1.

[0133] A left cover plate 4C and a right cover plate 4D are installed on the upper girt 4J1 of the body girt 4J; a left guard plate 4A is installed above the left cover plate 4C; a right guard plate 4B is installed above the right cover plate 4D. An empty slot is provided between the left cover plate 4C and the right cover plate 4D, and this empty slot is used for the slider 7B of the sliding mechanism 7 to slide back and forth here, thereby driving the right grasping mechanism 2 and the left grasping mechanism 3 to move back and forth to complete the obstacle clearing of the object.

[0134] A body bottom plate 4I is installed below the lower girt 4J2 of the body girt 4J.

[0135] A G base 7D of the sliding mechanism 7 is installed above the front U-shaped support beam 4J4 and the rear U-shaped support beam 4J5 of the body girt 4J. A plurality of G supports 7E are installed on both sides of the G base 7D, and a left cover plate 4C and a right cover plate 4D are installed above the G supports 7E, as Figure 4 shown.

[0136] In the present invention, the body girt 4J is made of steel material and can bear weight. The remaining components of the body 4 are made of aluminum profiles to reduce the total weight of the breakdown rescue robot.

[0137] Right Traveling Mechanism 5

[0138] See Figure 1 、 Figure 1A 、 Figure 1B 、 Figure 1E 、 Figure 5 、 Figure 5A As shown, the structures of the right traveling mechanism 5 and the left traveling mechanism 6 are the same. The right traveling mechanism 5 includes a right traveling servo motor 5A, a right track wheel system 5B, and a right track 5C.

[0139] The axle of the right drive wheel 5B1 of the right track wheel system 5B is installed on the output shaft of the right traveling servo motor 5A. The right traveling servo motor 5A is installed at the rear end of the right side plate 4F of the body 4. On the outer panel of the right side plate 4F, the axles of the right drive wheel 5B1, the right driven wheel 5B2, and the right transmission wheel 5B3 in the right track wheel system 5B are installed. The right track 5C cooperates with the right drive wheel 5B1, the right transmission wheel 5B3, and the right driven wheel 5B2 in the right track wheel system 5B to realize the walking of the robot. On the inner panel of the right side plate 4F, the tail of the right electric push rod sleeve 1B32 of the right link electric push rod 1B3 is installed, and one end of the right electric output rod 1B31 is sleeved inside the right electric push rod sleeve 1B32.

[0140] Left Traveling Mechanism 6

[0141] See Figure 1 、 Figure 1A 、 Figure 6 、 Figure 6A As shown, the structures of the right traveling mechanism 5 and the left traveling mechanism 6 are the same. The left traveling mechanism 6 includes a left traveling servo motor 6A, a left track wheel system 6B, and a left track 6C.

[0142] The axle of the left drive wheel 6B1 of the left track wheel system 6B is installed on the output shaft of the left traveling servo motor 6A. The left traveling servo motor 6A is installed at the rear end of the left side plate 4E of the body 4. On the outer panel of the left side plate 4E, the axles of the left drive wheel 6B1, the left driven wheel 6B2, and the left transmission wheel 6B3 in the left track wheel system 6B are installed. The left track 6C cooperates with the left drive wheel 6B1, the left transmission wheel 6B3, and the left driven wheel 6B2 in the left track wheel system 6B to realize the walking of the robot. On the inner panel of the left side plate 4E, the tail of the left electric push rod sleeve 1A32 of the left link electric push rod 1A3 is installed, and one end of the left electric output rod 1A31 is sleeved inside the left electric push rod sleeve 1A32.

[0143] In the present invention, the traveling mechanism is selected from Dezhou Zhengding Machinery Equipment Co., Ltd., and the chassis load is 600 kg.

[0144] Sliding Mechanism 7

[0145] See Figure 4C 、 Figure 4D 、 Figure 7 、 Figure 7A As shown in, the sliding mechanism 7 includes a linear guide rail module 7A, a slider 7B, a G base plate 7D, and a sliding mechanism motor 7C. The slider 7B is movably sleeved on the linear guide rail module 7A. The guide rail 7A and the sliding mechanism motor 7C are installed on the G base plate 7D, and the G base plate 7D is installed on the front U-shaped support frame 4J4 and the rear U-shaped support frame 4J5 of the vehicle body ring beam 4J (as shown in Figure 4D ). A plurality of G support members 7E for fixing and supporting the left cover plate 4C and the right cover plate 4D are respectively installed on both sides of the G base plate 7D (as shown in Figure 4C ). In the present invention, the linear guide rail module 7A drives the slider 7B to move relative to the linear guide rail module 7A under the drive of the sliding mechanism motor 7C. An H connecting plate 8D, a right grasping arm seat 2C, and a left grasping arm seat 3C are installed above the slider 7B.

[0146] Technical parameters of the linear guide rail module:

[0147] Model FSL120E80010C7 Motor Holding Torque [N·m] 7 Ball Screw Diameter [mm] 16 Ball Screw Lead [mm] 10 Horizontal Maximum Load [kg] 100 Vertical Maximum Load [kg] 50 Horizontal Full Load Speed [mm / s] 360 Positioning Accuracy [mm] 0.05 Maximum Thrust [N] 1572 Dynamic Allowable Torque [N·m] 550 Traveling Life [km] 20000

[0148] Image Acquisition Mechanism 8

[0149] See Figure 7 、 Figure 7A As shown in, the image acquisition mechanism 8 is used to complete the acquisition of the picture of the obstacle clearing and rescue environment in natural disasters. The image acquisition mechanism 8 includes a camera 8A, a lighting lamp, and lidar around the vehicle body. The H connecting plate 8D is fixed to the slider 7B of the sliding mechanism 7. A camera 8A, an HA lighting lamp 8B, and an HB lighting lamp 8C are installed on the H connecting plate 8D, and the HA lighting lamp 8B and the HB lighting lamp 8C are distributed on both sides of the camera 8A. The right grasping arm seat 2C of the right grasping mechanism 2 is installed outside the HA lighting lamp 8B. The cross plate 2C2 of the right grasping arm seat 2C is fixed to the right end of the slider 7B of the sliding mechanism 7, and the bottom plate 2E1 of the right fixing seat 2E is fixed above the cross plate 2C2. The left grasping arm seat 3C of the left grasping mechanism 3 is installed outside the HB lighting lamp 8C. The cross plate 3C2 of the left grasping arm seat 3C is fixed to the left end of the slider 7B of the sliding mechanism 7, and the bottom plate 3E1 of the left fixing seat 3E is fixed above the cross plate 3C2.

[0150] In the present invention, the image acquisition mechanism 8 moves on the slider 7B of the sliding mechanism 7. On the one hand, it is used to record the working process of the right grasping mechanism 2 and the left grasping mechanism 3. On the other hand, it is used to record the states of obstacles being grasped, pushed, pulled, dragged, etc.

[0151] In the present invention, the camera 8A selects a Hikvision camera, model: DS-2CD3146FWD-I, with 4 million pixels and an infrared night vision distance of 30m.

[0152] In the present invention, the lighting lamp selects a Guangrunda led floodlight with a light projection distance of 100m.

[0153] In the present invention, the lidar is produced by Shanghai Slamtec Co., Ltd., model RPLIDAR S1, with 360-degree scanning and a measurement radius of 40m.

[0154] Wireless Remote Control Mechanism 9

[0155] See Figure 1 、 Figure 1A 、 Figure 1D 、 Figure 1E As shown in, the wireless remote control mechanism 9 is installed at the rear end of the vehicle body 4. The wireless remote control mechanism 9 includes an embedded control module, a high-speed communication radio station, and a video transmission module. The wireless remote control mechanism 9 is used to achieve wireless communication, such as receiving control instructions for the robot, etc.

[0156] Obstacle removal process:

[0157] 1. The robot travels to the front of the obstacle in its initial state.

[0158] 2. The left electric push rod 1A3 and the right electric push rod 1B3 that control the movement of the inclined plate extend simultaneously, causing the left inclined plate 1E, the rolling transmission component 1D, and the right inclined plate 1F to tilt simultaneously until the lower edge of the front grounding plate 1G abuts against the obstacle.

[0159] 3. The slider 7B of the sliding mechanism 7 drives the right grasping mechanism 2, the image acquisition mechanism 8, and the left grasping mechanism 3 to move forward simultaneously, causing the right grasping small arm 2B of the right grasping mechanism 2 and the left grasping small arm 3B of the left grasping mechanism 3 to approach the upper edge of the front grounding plate 1G.

[0160] 4. Under the control of the right gripper electric push rod 2D of the right gripper mechanism 2, the right large arm push rod 2D6 of the right gripper electric push rod 2D contracts, and the right small arm push rod 2D4 contracts in the right upper push rod sleeve 2D5, completing the descent of the right gripper large arm 2A and the lifting of the right gripper small arm 2B; at the same time, under the control of the left gripper electric push rod 3D of the left gripper mechanism 3, the left large arm push rod 3D6 of the left gripper electric push rod 3D contracts, and the left small arm push rod 2D4 contracts in the left upper push rod sleeve 3D5, completing the descent of the left gripper large arm 3A and the lifting of the left gripper small arm 3B; at this time, the obstacle is between the lower edge of the front floor 1G and the right gripper small arm 2B and the left gripper small arm 3B.

[0161] 5. The belt 1D1 in the rolling transmission component 1D starts to rotate, the push rods of the right gripper large arm 2A and the right gripper small arm 2B of the right gripper mechanism 2 extend synergistically, the push rods of the left gripper large arm 3A and the left gripper small arm 3B of the left gripper mechanism 3 extend synergistically, and at the same time, the slider 7B of the sliding mechanism 7 drives the right gripper mechanism 2, the image acquisition mechanism 8 and the left gripper mechanism 3 to move backward simultaneously, realizing the recovery and hooking movement of the entire robotic arm, and grabbing the obstacle into the vehicle body.

[0162] 6. The robot leaves with the obstacle.

[0163] Unloading process:

[0164] 1. The robot arrives at the unloading location with the obstacle.

[0165] 2. The left electric push rod 1A3 and the right electric push rod 1B3 that control the movement of the inclined plate extend simultaneously, causing the left inclined plate 1E, the rolling transmission component 1D and the right inclined plate 1F to tilt simultaneously until the lower edge of the front floor 1G abuts against the ground, and at the same time, the belt 1D1 in the rolling transmission component 1D starts to rotate.

[0166] 3. The right large arm push rod 2D6 extends, and the right small arm push rod 2D4 contracts; at the same time, the left large arm push rod 3D6 extends, and the left small arm push rod 3D4 contracts, causing the robotic arms of the right gripper mechanism 2 and the left gripper mechanism 3 to lift.

[0167] 4. The slider 7B of the sliding mechanism 7 drives the right gripper mechanism 2, the image acquisition mechanism 8 and the left gripper mechanism 3 to move forward simultaneously, pushing out the obstacle and completing the unloading.

Claims

1. A small automatic obstacle-clearing rescue robot, comprising an inclined plate mechanism (1), a right grasping mechanism (2), a left grasping mechanism (3), a vehicle body (4), a right traveling mechanism (5), a left traveling mechanism (6), a sliding mechanism (7), an image acquisition mechanism (8), and a wireless remote control mechanism (9); On both sides of the vehicle body (4) are the right traveling mechanism (5) and the left traveling mechanism (6); On the vehicle body (4) are provided the right grasping mechanism (2), the left grasping mechanism (3), the sliding mechanism (7), the image acquisition mechanism (8), and the wireless remote control mechanism (9); It is characterized in that: At the front end of the vehicle body (4) is the inclined plate mechanism (1); The inclined plate mechanism (1) is arranged at the front end of the vehicle body (4) and is used to complete approaching an obstacle, moving an obstacle, placing an obstacle, and unloading an obstacle; the inclined plate mechanism (1) includes a left connecting rod assembly (1A), a right connecting rod assembly (1B), an inclined frame assembly (1C), a rolling transmission assembly (1D), a left inclined plate (1E), a right inclined plate (1F), and a front connecting floor (1G); the connecting rod assembly is a four-bar mechanism driven by a connecting rod electric push rod; one ends of the upper connecting rod and the lower connecting rod of the four-bar mechanism are respectively hinged to the upper connecting block and the lower connecting block at the front end of the vehicle body, and the other ends are respectively hinged to the longitudinal beams of the inclined frame; the fixed end of the connecting rod electric push rod is hinged to the side plate of the vehicle body, and the telescopic end is hinged to the middle of the lower connecting rod; the inclined frame assembly (1C) is composed of two cross beams and four longitudinal beams bolted together; the rolling transmission assembly (1D) is bolted to the middle of the inclined assembly through two left and right connecting rods, and the two left and right connecting rods are respectively connected to the driving roller (1D2) and the driven roller (1D3) through upper plugs and lower plugs, and a belt is sleeved between the two rollers; the front connecting floor (1G) is bolted to the front ends of the left inclined plate (1E) and the right inclined plate (1F); The structures of the right grasping mechanism (2) and the left grasping mechanism (3) are the same and are symmetrically arranged; in order to achieve a proper weight balance, above the right traveling mechanism (5) is the right grasping mechanism (2), and above the left traveling mechanism (6) is the left grasping mechanism (3); the grasping mechanism is used to complete grasping or releasing an obstacle; the grasping mechanism includes a grasping arm seat, a fixed seat, a grasping large arm, a grasping large arm electric push rod, a grasping small arm, and a grasping small arm electric push rod; the grasping arm seat is bolted to the slider (7B); the grasping large arm is hinged to the parallel vertical plate of the grasping arm seat through a self-lubricating shaft; the fixed end of the grasping electric push rod is hinged to the fixed seat, and the telescopic end is hinged to the upper end of the grasping large arm; the grasping small arm is hinged to the front end of the grasping large arm through a self-lubricating shaft; the fixed end of the grasping small arm electric push rod is hinged to the upper end of the grasping large arm, and the telescopic end is hinged to the rear end of the grasping small arm.

2. The small automatic obstacle clearing and rescue robot according to claim 1, wherein: The vehicle body main body (4) is used, on the one hand, to carry the inclined plate mechanism (1), the right grasping mechanism (2), the left grasping mechanism (3), the sliding mechanism (7), the image acquisition mechanism (8) and the wireless remote control mechanism (9); on the other hand, to accommodate the right grasping mechanism (2) and the left grasping mechanism (3); the right traveling mechanism (5) is installed on the right side plate (4F) of the vehicle body main body (4), and the left traveling mechanism (6) is installed on the left side plate (4E); the traveling mechanism uses a servo motor to drive the crawler wheels to rotate to complete the forward movement of the vehicle body; the vehicle body ring beam (4J) is an integrated structure of a welded upper ring beam (4J1), a lower ring beam (4J2) and a vertical beam (4J3).

3. The small automatic obstacle clearing and rescue robot according to claim 1, wherein: The sliding mechanism (7) is arranged at an intermediate position above the vehicle body main body (4) and is used to drive the right grasping mechanism (2) and the left grasping mechanism (3) to slide back and forth to complete the operation on obstacles; the sliding mechanism (7) includes a linear guide rail module (7A), a slider (7B), a sliding mechanism motor (7C), and a G base plate (7D); the G base plate (7D) is connected to the front U-shaped support frame (4J4) and the rear U-shaped support frame (4J5) by bolts; the linear guide rail module (7A) is connected to the G base plate (7D) by bolts, and the slider (7B) is connected to the linear guide rail module (7A) by bolts.

4. The small automatic obstacle-clearing and rescue robot according to claim 1, characterized in that: The image acquisition mechanism (8) is used to complete the picture acquisition of the obstacle clearing and rescue environment in natural disasters; the image acquisition mechanism (8) includes a camera support, a camera and a lighting lamp, and lidar around the vehicle body main body.

5. The small automatic obstacle clearing and rescue robot according to claim 1, characterized in that: The wireless remote control mechanism (9) is used to realize wireless communication; the wireless remote control mechanism (9) includes an embedded control module, a high-speed communication radio station and a video transmission module.

6. The small automatic obstacle-clearing rescue robot according to any one of claims 1 to 5, characterized in that: When the small automatic obstacle clearing and rescue robot is working, it collects the surrounding environment information of the obstacle clearing and rescue through the camera and lidar, and automatically navigates to the rescue area; the rescue personnel can remotely monitor through the video transmitted back by the image acquisition mechanism (8) and perform manual remote control operations when necessary; when clearing obstacles, the electric push rod of the inclined plate mechanism extends, driving the inclined plate mechanism (1) to slowly tilt until the front grounding plate (1G) abuts against the lower inner edge of the obstacle, and at the same time driving the roller (1D2) to start driving the belt (1D1) to rotate; the linear guide rail module (7A) of the sliding mechanism (7) moves the slider (7B) to the front end of the vehicle body main body; the large arm electric push rods of the left and right grasping mechanisms retract, and the small arm electric push rods extend, so that the robotic arm hooks the lower outer edge of the obstacle; the linear guide rail module (7A) moves the slider (7B) to the rear end of the vehicle body main body, and at the same time the large arm push rods (2D6, 3D6) extend and the small arm push rods (2D4, 3D4) retract, dragging the obstacle onto the vehicle body main body; finally, the inclined plate mechanism retracts the electric push rods (1A3, 1B3) of the link assembly, driving the inclined plate to move to be parallel to the front end of the vehicle body main body, and the robot carries the obstacle away from the obstacle clearing and rescue site.

7. The small automatic obstacle clearing and rescue robot according to any one of claims 1 to 5, characterized in that: The operation distance completed by the first combination formed by the sliding mechanism and the grasping mechanism and the second combination formed by the crawler-type traveling mechanism and the first combination is 3000 meters.

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