A remotely controlled rescue robot based on tracked walking dual-drive system

Abstract

This invention discloses a remote-controlled rescue robot based on a tracked walking dual-drive system, comprising a body, tracked wheels, a camera, a rescue mechanism, a stair-climbing mechanism, and an adjustment mechanism. Two tracked wheels are positioned on either side of the lower end of the body. The camera is mounted on the body. The rescue mechanism includes an inflatable bladder mounted on the body. The stair-climbing mechanism is located in a slot at the bottom of the body and includes two sets of walking plates and a drive mechanism. The drive mechanism controls the alternating reciprocating motion of the two sets of walking plates. The adjustment mechanism is connected to both the body and the stair-climbing mechanism. The adjustment mechanism is used to adjust the angle of the body and to control the rotation angle and rotation state of the two sets of walking plates during stair climbing, enabling the stair-climbing mechanism to climb up and down. This invention can gradually transport trapped personnel to lower floors via stairs, ensuring their safety.

Description

Technical Field

[0001] This invention belongs to the field of rescue robot technology, specifically relating to a remote-controlled rescue robot based on a tracked walking dual-drive system. Background Technology

[0002] Numerous fire emergencies occur every year. During a fire, elevators must be shut down to prevent people from being trapped inside and hindering rescue efforts, requiring firefighters to climb stairs to reach the rescue location. When the fire is severe, firefighters must risk their lives to rush into the smoke to rescue trapped individuals, significantly increasing their own safety. Therefore, remote-controlled rescue robots are increasingly being used in handling emergency fire situations.

[0003] Existing remote-controlled rescue robots have relatively limited functionality. After reaching a designated floor, they need to traverse the critical fire area to reach the trapped individuals and then transport them downwards. However, current remote-controlled rescue robots struggle to transport trapped individuals down stairs, resulting in low rescue efficiency and difficulty in safely rescuing them. Summary of the Invention

[0004] The main objective of this invention is to provide a remote-controlled rescue robot based on a tracked, dual-drive system. This robot can gradually transport trapped personnel down stairs to lower levels, ensuring their safety.

[0005] The technical solution adopted in this invention is:

[0006] A remote-controlled rescue robot based on tracked walking dual-drive system includes a body, tracked wheels, camera, rescue mechanism, stair-climbing mechanism, and adjustment mechanism;

[0007] The robot has two track wheels, which are located on both sides of the lower end of the body and are used for the robot's movement.

[0008] The camera is mounted on the machine body and is used to capture images of the rescue scene and transmit the images to the control terminal;

[0009] The rescue mechanism includes an inflatable bladder, which is installed on the body and used to rescue trapped personnel. When a trapped person is found, the control terminal opens the inflatable bladder, the trapped person enters the inflatable bladder, and the control terminal closes the inflatable bladder.

[0010] The stair-climbing mechanism is installed in the device slot at the bottom of the machine body, and includes two sets of walking plates and a driving component; the driving component controls the two sets of walking plates to move back and forth alternately.

[0011] The adjustment mechanism is connected to the main body and the stair-climbing mechanism respectively; the adjustment mechanism is used to adjust the angle of the main body, and to control the rotation angle of the two sets of walking boards and the rotation state when climbing up and down the stairs, so that the stair-climbing mechanism can climb up and down.

[0012] Preferably, the adjusting mechanism includes a first air cylinder, a delivery pipe, and a lifting rod;

[0013] The first air cylinder is placed inside the machine body, and the output end of the first air cylinder is connected to one end of the delivery pipe; the control terminal controls the inflation and deflation of the first air cylinder.

[0014] The lower end of the lifting rod extends out of the machine body and is connected to the roller, while the upper end of the lifting rod extends into the other end of the conveying pipe and is slidably connected to the inner wall of the conveying pipe.

[0015] When the first air cylinder is inflated, the lifting rod slides downwards, lifting the machine body at a certain angle.

[0016] Preferably, the lifting rod is vertically equipped with multiple laser rangefinders. The laser rangefinders transmit the collected stair data to the control terminal, which determines the inclination angle of the staircase based on the data, thereby controlling the flip angle of the walkway.

[0017] Preferably, the adjustment mechanism further includes a walking board adjustment unit, with one walking board adjustment unit corresponding to each group of walking boards;

[0018] The walking board adjustment unit includes a device box, an electric telescopic rod, a sliding block, a connecting plate, and a walking board angle adjustment structure. The device box is placed inside the device slot and is slidably connected to the slot, allowing it to slide horizontally within the slot. The electric telescopic rod and the sliding block are placed inside the device box, with the output end of the electric telescopic rod connected to the sliding block. The sliding block is slidably connected to the device box and can slide horizontally. The sliding block is connected to the walking board angle adjustment structure via the connecting plate, and the walking board angle adjustment structure is connected to the walking board.

[0019] The control terminal controls the electric telescopic pole to work, which in turn controls the swing angle and swing state of the walking platform, enabling the robot to go up and down stairs.

[0020] Preferably, the walking board angle adjustment structure includes a second air cylinder, a connecting pipe, a communicating pipe, a guide pipe, an air groove, a trapezoidal block, a connector, a tension spring, and a fixing plate;

[0021] The second air cylinder is placed inside the machine body, and its output end is connected to the connecting pipe through a connecting pipe; the connecting pipe is placed inside the sliding block, and it is connected to the air groove on the connecting plate through a guide pipe; the trapezoidal block is placed inside the air groove and is slidably connected to the air groove; each side of the trapezoidal block is provided with a beveled connector, which is adapted to the side of the trapezoidal block, and the trapezoidal block is slidably connected to the two connectors; both ends of the tension spring are connected to the two connectors respectively; there are two fixing plates, which are installed on the walking board and are located outside the connectors respectively. A connector groove is provided on the inner side of the fixing plate, which is adapted to the connector rod on the connector;

[0022] The inflation and deflation of the second air cylinder causes the trapezoidal block to slide within the inflation groove, thereby moving the connectors on both sides of the trapezoidal block and controlling the swing angle and swing state of the walking board.

[0023] Preferably, the second air cylinder is controlled to inflate and deflate via an inflation button and an air extraction button located on the device box; or the second air cylinder is controlled to inflate and deflate via a control terminal.

[0024] Preferably, two fixing plates are respectively placed on both sides of the guide groove on the walking board; each of the two connectors is provided with a connecting block, and each end of the connecting block is connected to one end of a spring, the other end of the spring being connected to the inner wall of the guide groove. The spring is used to hold the connecting block in place, preventing the connecting block from sliding without resistance in the guide groove and sliding all the way to the other end of the guide groove, making it impossible to adjust the angle of the walking board.

[0025] Preferably, the driving component includes a drive motor, a gear, and a rack;

[0026] The drive motor is installed inside the machine body, and its output end is coaxially fixedly connected to a gear; there are two racks that mesh with the gears and are respectively installed on the device box of the walking plate adjustment unit of the adjustment mechanism.

[0027] The control terminal controls the drive motor to work, thereby controlling the two device boxes to move back and forth alternately, and thus controlling the robot to move forward.

[0028] Preferably, the machine body is equipped with an air pump, and the control terminal controls the operation of the air pump, thereby controlling the inflation state of the airbag.

[0029] Preferably, the machine body is equipped with an oxygen tank, and the control terminal controls the oxygen tank to replenish oxygen to the inflatable bladder.

[0030] The beneficial effects of this invention are as follows:

[0031] By setting up an inflatable airbag, the trapped person is placed inside the airbag during rescue, ensuring their safety.

[0032] By setting up a stair-moving mechanism to drive two sets of walking boards to move alternately up and down stairs, the robot can move up and down stairs and gradually transport trapped people to the lower level through the stairs to ensure the safety of the trapped people.

[0033] By setting an adjustment mechanism, the angle of the walking platform of the stair-climbing mechanism can be controlled, thereby enabling the robot to go up and down stairs;

[0034] By setting connecting blocks and springs, the angle of the walking board can be better adjusted;

[0035] With its simple structure and convenient operation, it eliminates the need for firefighters to rush into smoke to rescue people, thereby improving rescue efficiency, reducing the danger to firefighters during the rescue process, and ensuring the safety of firefighters.

[0036] This invention solves the problem that existing remote-controlled rescue robots are difficult to automatically transport trapped people up stairs, resulting in low rescue efficiency. By setting up a stair-climbing mechanism, an adjustment mechanism, and a rescue mechanism, the robot can automatically climb and descend stairs.

[0037] By setting up an inflatable bladder to form a wrapped space, trapped personnel can be wrapped up and transported out, thus improving the safety of the rescue.

[0038] Supported by lifting rods, one end of the robot is lifted up, and the tilt angle of the stairs is determined by a laser rangefinder, thereby controlling the flip angle of the walking board. This allows the walking board to move and climb horizontally with the stair steps during the process of going up and down the stairs, making the robot's ascent and descent stable and reliable. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the overall structure of a remotely controlled rescue robot based on a tracked walking dual-drive system.

[0041] Figure 2 A schematic diagram of the overall structure of a remotely controlled rescue robot based on a tracked walking dual-drive system from another perspective;

[0042] Figure 3 This is a schematic diagram of the bottom structure of a remotely controlled rescue robot based on a tracked walking dual-drive system.

[0043] Figure 4 for Figure 3 Enlarged view of region A in the middle;

[0044] Figure 5 This is a schematic diagram of the internal structure of a remotely controlled rescue robot based on a tracked walking dual-drive system.

[0045] Figure 6 for Figure 5 Enlarged view of region B in the middle;

[0046] Figure 7 This is a schematic diagram of the internal structure of a remotely controlled rescue robot based on a tracked walking dual-drive system, from another perspective.

[0047] Figure 8 A partial structural diagram of the driving component and adjustment mechanism;

[0048] Figure 9 This is a schematic diagram of the connection structure between the adjustment mechanism and the walking board;

[0049] Figure 10 This is a partial structural cross-sectional view of the adjustment mechanism;

[0050] Figure 11 for Figure 10 Enlarged view of region C.

[0051] In the diagram: 1-Main body; 2-Track wheel; 3-Camera; 4-Device slot; 5-Up / down mechanism; 6-Walking board; 7-Adjustment mechanism; 8-Lifting rod; 9-Rescue mechanism; 10-Inflatable bag; 11-Device box; 12-Drive component; 13-First air cylinder; 14-Conveyor pipe; 15-Laser rangefinder; 16-Sliding block; 17-Connecting plate; 18-Electric telescopic rod; 19-Walking board angle adjustment mechanism; 2 0-Connecting block; 21-Guide groove; 22-Spring; 24-Fixing plate; 25-Insertion groove; 26-Inflation groove; 27-Insertion piece; 28-Tension spring; 29-Trapezoidal block; 31-Second inflation cylinder; 32-Connecting pipe; 33-Connecting pipe; 34-Guide pipe; 35-Inflation key; 36-Ejection key; 37-Drive motor; 38-Gear; 39-Rack; 40-Inflation pump; 41-Oxygen tank; 42-Roller. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0053] See Figures 1-11 A remote-controlled rescue robot based on tracked walking dual-drive system includes a body 1, tracked wheels 2, camera 3, rescue mechanism 9, stair-climbing mechanism 5, and adjustment mechanism 7.

[0054] There are two track wheels 2, located on both sides of the lower end of the body 1, for the robot to walk. Cameras 3 are fixedly connected to the side of the body 1 to collect images of the rescue scene and transmit the images to the control terminal to control the robot's movement.

[0055] The rescue mechanism 9 includes an inflatable bladder 10 and an air pump 40 mounted on the body 1 for rescuing trapped personnel. A control terminal controls the air pump 40, thereby controlling the inflation state of the inflatable bladder 10. Once the robot reaches the designated location and locates the trapped personnel, the control terminal opens the inflatable bladder 10, allowing the trapped personnel to enter. The control terminal then closes the inflatable bladder 10. The inflatable bladder 10 forms a protective enclosure, enveloping the trapped personnel before transporting them outwards, improving rescue safety and facilitating climbing up and down stairs. In a preferred embodiment, an oxygen tank 41 is fixed inside the body 1. The control terminal controls the oxygen tank to replenish oxygen to the inflatable bladder, further enhancing the safety of the rescue process.

[0056] The stair-climbing mechanism 5 is installed in the device slot 4 at the bottom of the body 1. It includes two sets of walking plates 6 and a drive unit 12. The drive unit 12 controls the two sets of walking plates 6 to move back and forth alternately. The drive unit 12 includes a drive motor 77, a gear 38, and a rack 39. The drive motor 37 is fixedly installed inside the body 1, and the output end of the drive motor 37 is coaxially fixedly connected to the gear 38. There are two racks 39, which mesh with the gears 38 and are respectively installed on the device box 11 of the walking plate adjustment unit of the adjustment mechanism 7. The control terminal controls the drive motor 37 to work, thereby controlling the two device boxes 11 to move back and forth alternately, and thus controlling the robot to move forward.

[0057] The adjustment mechanism 7 is connected to the machine body 1 and the stair-climbing mechanism 5 respectively. The adjustment mechanism 7 is used to adjust the angle of the machine body 1 and to control the rotation angle and rotation state of the two sets of walking boards 6 when climbing up and down the stairs, so that the stair-climbing mechanism 5 can climb up and down, making it easier to drive the walking boards 6 to climb and making it more stable. Preferably, the adjustment mechanism 7 includes a first air cylinder 13, a conveying pipe 14, a lifting rod 8, and a walking board adjustment unit, with each set of walking boards 6 corresponding to one walking board adjustment unit. The first air cylinder 13 is placed inside the machine body 1, and the output end of the first air cylinder 13 is connected to one end of the conveying pipe 14; the control terminal controls the inflation and deflation of the first air cylinder 13. The bottom end of the lifting rod 8 extends out of the machine body 1 and is rotatably connected to the roller 42. The function of the roller 42 is to reduce the friction between the machine body and the ground when the machine body is lifted, so that the track wheel 2 can push the machine body 1 to move; the top end of the lifting rod 8 extends into the other end of the conveying pipe 14 and is slidably connected to the inner wall of the conveying pipe 14. When the first air cylinder 13 is inflated, the lifting rod 8 slides downward, lifting one end of the machine body 1 for support. In a preferred embodiment, multiple laser rangefinders 15 can be vertically and evenly fixedly connected to the lifting rod 8. The laser rangefinders 15 transmit the collected stair data to the control terminal. The control terminal determines the inclination angle of the stairs based on the data, thereby controlling the flip angle of the walking board 6, so that the walking board 6 can move and climb horizontally with the stair treads during the process of going up and down the stairs.

[0058] Preferably, the walking board adjustment unit includes a device box 11, an electric telescopic rod 18, a sliding block 16, a connecting plate 17, and a walking board angle adjustment structure 19. The device box 11 is placed inside the device slot 4 and slidably connected to it, allowing it to slide horizontally within the slot 4. The electric telescopic rod 18 and the sliding block 16 are placed inside the device box 11, with the output end of the electric telescopic rod 18 fixedly connected to the side of the sliding block 16. The sliding block 16 is slidably connected to the device box 11 and can slide horizontally. The sliding block 16 is rotatably connected to the connecting plate 17 and connected to the walking board angle adjustment structure 19 via the connecting plate 17. The walking board angle adjustment structure 19 is connected to the walking board 6 and adjusts the swing angle and swing state of the walking board. The control terminal controls the electric telescopic rod 18 to operate, thereby controlling the swing angle and swing state of the walking board 6, enabling the robot to move up and down stairs.

[0059] Preferably, the walking board angle adjustment structure 19 includes a second air cylinder 31, a connecting pipe 32, a connecting pipe 33, a guide pipe 34, an inflation groove 26, a trapezoidal block 29, a connector 27, a tension spring 28, and a fixing plate 24. The second air cylinder 31 is placed inside the body 1, and its output end is connected to the connecting pipe 33 on the sliding block 16 through the connecting pipe 32. The connecting pipe 33 is connected to the inflation groove 26 on the connecting plate 17 through the guide pipe 34 on the connecting plate 17; the trapezoidal block 29 is placed inside the inflation groove 26 and is slidably connected to the inflation groove 26. The trapezoidal block 29 has two inclined plug-in parts 27 on its sides, which are adapted to the sides of the trapezoidal block 29. The trapezoidal block 29 is slidably connected to the two plug-in parts 27 (the inclined surfaces of the trapezoidal block 29 are used to push the two plug-in rods 27 to slide into the connection). The two ends of the tension spring 28 are respectively connected to the inner side of the two plug-in parts 27. There are two fixing plates 24, which are fixedly installed on both sides of the guide groove 21 on the walking board 6 and are located on the outer side of the plug-in parts 27. Multiple sets of plug-in grooves 25 are provided on the inner side of the fixing plate 24, which are adapted to the plug-in rods on the plug-in parts 27. Each plug-in part 27 is rotatably connected to a connecting block 20, which is slidably connected to the guide groove 21. Each end of the connecting block 20 is fixedly connected to one end of a spring 22, and the other end of the spring 22 is fixedly connected to the inner wall of the guide groove 21. The second air cylinder 31, fixing plate 24, insertion slot 25, inflation slot 26, insertion piece 27, tension spring 28, trapezoidal block 29, spring 22, connecting block 20, etc., are used to adjust the swing state of the walking board 6 when going up and down stairs. The second air cylinder 31 is controlled to inflate and deflate via the inflation button 35 and the deflation button 36 set on the device box 11; it can also be controlled to inflate and deflate via the control terminal. The inflation and deflation of the second air cylinder 31 causes the trapezoidal block 29 to slide in the inflation slot 26, thereby causing the insertion pieces 27 on both sides of the trapezoidal block 29 to move, thus controlling the swing angle and swing state of the walking board 6.

[0060] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0061] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A remotely controlled rescue robot based on a tracked walking dual-drive system, characterized in that: This includes the body, tracked wheels, cameras, rescue mechanisms, stair-climbing mechanisms, and adjustment mechanisms; The robot has two track wheels, which are located on both sides of the lower end of the body and are used for the robot to move. The camera is mounted on the machine body and is used to capture images of the rescue scene and transmit the images to the control terminal; The rescue mechanism includes an inflatable bladder, which is installed on the body and used to rescue trapped personnel. When a trapped person is found, the control terminal opens the inflatable bladder, the trapped person enters the inflatable bladder, and the control terminal closes the inflatable bladder. The stair-climbing mechanism is installed in the device slot at the bottom of the machine body, and includes two sets of walking plates and a driving component; the driving component controls the two sets of walking plates to move back and forth alternately. The adjustment mechanism is connected to the main body and the stair-climbing mechanism respectively; the adjustment mechanism is used to adjust the angle of the main body, and to control the rotation angle of the two sets of walking boards and the rotation state when climbing up and down the stairs, so that the stair-climbing mechanism can climb up and down. The adjustment mechanism includes a first air cylinder, a delivery pipe, a lifting rod, and a walking board adjustment unit; the first air cylinder is placed inside the machine body, and the output end of the first air cylinder is connected to one end of the delivery pipe; the control terminal controls the inflation and deflation of the first air cylinder; the lower end of the lifting rod extends out of the machine body and is connected to a roller, and the upper end of the lifting rod extends into the other end of the delivery pipe and is slidably connected to the inner wall of the delivery pipe; when the first air cylinder is inflated, the lifting rod slides downward and lifts the machine body at a certain angle; Each set of walking boards corresponds to a walking board adjustment unit; the walking board adjustment unit includes a device box, an electric telescopic rod, a sliding block, a connecting plate, and a walking board angle adjustment structure; the device box is placed in the device slot and slidably connected to the device slot, and the device box can slide horizontally in the device slot; the electric telescopic rod and the sliding block are placed in the device box, and the output end of the electric telescopic rod is connected to the sliding block; the sliding block is slidably connected to the device box, and the sliding block can slide horizontally; the sliding block is connected to the walking board angle adjustment structure through the connecting plate, and the walking board angle adjustment structure is connected to the walking board; the control terminal controls the electric telescopic rod to work, thereby controlling the swing angle and swing state of the walking board, completing the robot's ascent and descent.

2. The remote-controlled rescue robot based on tracked walking dual-drive as described in claim 1, characterized in that: The lifting rod is vertically equipped with multiple laser rangefinders. The laser rangefinders transmit the collected stair data to the control terminal. The control terminal determines the inclination angle of the staircase based on the data, thereby controlling the flip angle of the walking board.

3. The remote-controlled rescue robot based on tracked walking dual-drive as described in claim 1, characterized in that: The walking board angle adjustment structure includes a second air cylinder, a connecting pipe, a connecting pipe, a guide pipe, an air groove, a trapezoidal block, a connector, a tension spring, and a fixing plate; The second air cylinder is placed inside the machine body, and its output end is connected to the connecting pipe through a connecting pipe; the connecting pipe is placed inside the sliding block, and it is connected to the air groove on the connecting plate through a guide pipe; the trapezoidal block is placed inside the air groove and is slidably connected to the air groove; each side of the trapezoidal block is provided with a beveled connector, which is adapted to the side of the trapezoidal block, and the trapezoidal block is slidably connected to the two connectors; both ends of the tension spring are connected to the two connectors respectively; there are two fixing plates, which are installed on the walking board and are located outside the connectors respectively. A connector groove is provided on the inner side of the fixing plate, which is adapted to the connector rod on the connector; The inflation and deflation of the second air cylinder causes the trapezoidal block to slide within the inflation groove, thereby moving the connectors on both sides of the trapezoidal block and controlling the swing angle and swing state of the walking board.

4. The remote-controlled rescue robot based on tracked walking dual-drive as described in claim 3, characterized in that: The second air cylinder is controlled to inflate and deflate via an inflation button and an air extraction button located on the device box; or the second air cylinder is controlled to inflate and deflate via a control terminal.

5. The remote-controlled rescue robot based on tracked walking dual-drive as described in claim 3, characterized in that: Two fixing plates are respectively placed on both sides of the guide groove on the walking board; each of the two plug-in parts is provided with a connecting block, and both ends of the connecting block are respectively connected to one end of a spring, and the other end of the spring is connected to the inner wall of the guide groove.

6. The remote-controlled rescue robot based on tracked walking dual-drive as described in claim 1, characterized in that: The driving components include a drive motor, gears, and racks; The drive motor is installed inside the machine body, and its output end is coaxially fixedly connected to a gear; there are two racks that mesh with the gears and are respectively installed on the device box of the walking plate adjustment unit of the adjustment mechanism. The control terminal controls the drive motor to work, thereby controlling the two device boxes to move back and forth alternately, and thus controlling the robot to move forward.

7. The remote-controlled rescue robot based on tracked walking dual-drive as described in claim 1, characterized in that: The machine body is equipped with an air pump, and the control terminal controls the operation of the air pump, thereby controlling the inflation state of the airbag.

8. The remote-controlled rescue robot based on tracked walking dual-drive as described in claim 1, characterized in that: The machine body is equipped with an oxygen tank, which is controlled by a control terminal to replenish oxygen to the inflatable bladder.

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