Tracked earthquake emergency rescue robot with strong adaptability to multiple environments

Abstract

The present invention relates to the technical field of rescue robots, and discloses a crawler-type earthquake emergency rescue robot with strong adaptability to multiple environments, comprising: a robot body, a walking crawler mechanism is arranged on both sides of the robot body, two auxiliary arm crawler mechanisms are arranged on the walking crawler mechanism, and the auxiliary arm crawler mechanism is used to support the robot body so that the walking crawler mechanism is away from the ground; an auxiliary moving mechanism is arranged inside the robot body, and the auxiliary moving mechanism can be extended from the bottom of the robot body. The auxiliary arm crawler mechanism cooperates with the walking crawler mechanism to drive the robot body to cross higher obstacles, and the auxiliary moving mechanism can drive the robot body to move in any direction in a shorter time and a shorter route to change the moving direction of the robot body, so that the rescue robot can adapt to more complex environments to improve the search and rescue efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of rescue robots, and more specifically, to a crawler-type earthquake emergency rescue robot with strong adaptability to multiple environments. Background Art

[0002] A rescue robot is a robot that assists rescue workers in search and rescue operations during earthquake rescue operations. It can monitor the environment in real time and plan walking paths to walk on the ruins after the earthquake. It can use the search and rescue equipment carried on it to find disaster victims, and can transmit the detected search and rescue information to rescue workers to shorten the search and rescue time.

[0003] There are many forms of rescue robots, such as tracked robots, wheeled robots, bionic robots, etc.; wheeled robots have poor adaptability to the environment and are easily obstructed when walking on rugged roads. Bionic robots have strong adaptability to the environment, but they are easy to tip over. There are many types of tracked robots, which have strong adaptability to the environment and are widely used, but they are easy to get stuck when changing direction in special and complex environments (for example, when errors occur in monitoring environmental information), or when they need to change paths in parallel in rugged ruins, it takes a long time to change paths.

[0004] Therefore, it is necessary to propose a tracked earthquake emergency rescue robot with strong adaptability to multiple environments to at least partially solve the problems existing in the prior art. Summary of the invention

[0005] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0006] In order to at least partially solve the above-mentioned problems, the present invention provides a tracked earthquake emergency rescue robot with strong adaptability to multiple environments, comprising: a robot body, on both sides of which walking track mechanisms are provided, two auxiliary arm track mechanisms are provided on the walking track mechanisms, and the auxiliary arm track mechanisms are used to support the robot body so that the walking track mechanisms are away from the ground; an auxiliary moving mechanism is provided inside the robot body, and the auxiliary moving mechanism can be extended from the bottom of the robot body.

[0007] Preferably, it also includes: a first driving mechanism for driving the walking crawler mechanism to drive the robot body to walk; a second driving mechanism for driving the auxiliary arm crawler mechanism to rotate as a whole to change the rotation angle of the auxiliary arm crawler mechanism relative to the horizontal plane.

[0008] Preferably, a receiving cavity is provided inside the robot body, and an auxiliary movement mechanism is provided inside the receiving cavity;

[0009] The auxiliary moving mechanism comprises: a telescopic component and a moving body arranged in the accommodating cavity, and the moving body is arranged on the movable end of the telescopic component.

[0010] Preferably, the working modes of the auxiliary movement mechanism include: a movement mode and a conveying mode;

[0011] The movement mode is: the robot body can be driven to move as a whole by moving the main body;

[0012] The conveying mode is: the object can be clamped by the mobile body and conveyed to a designated location.

[0013] Preferably, the mobile body includes: a connecting part for connecting to the movable end of the telescopic assembly; an opening and closing drive assembly, which is arranged on the side of the connecting part away from the telescopic assembly; a plurality of moving parts, each moving part being connected to the opening and closing drive assembly via a movable drive assembly; the opening and closing drive assembly is used to drive the plurality of moving parts to open or retract synchronously, and the movable drive assembly is used to drive the moving parts to rotate in the vertical direction.

[0014] Preferably, the opening and closing drive assembly comprises: a first mounting plate and a second mounting plate arranged at intervals, a driving gear and a plurality of driven gears meshing with the driving gear are provided on the side of the first mounting plate away from the second mounting plate, the driven gears are evenly arranged along the circumference of the driving gear, and a first driving part for driving the driving gear to rotate is provided on the first mounting plate; a first rod body is coaxially connected to the driven gear, both ends of the first rod body are connected to movable plates, and the two ends of the first rod body are rotatably connected to the first mounting plate and the second mounting plate respectively; two movable plates are correspondingly arranged, and the two are connected by at least one second rod body; the movable drive assembly is connected to two correspondingly arranged movable plates.

[0015] Preferably, the movable driving assembly includes: a second driving part and a third driving part, the second driving part is connected to the movable plate through a first connecting member, the second driving part and the third driving part are connected through a second connecting member, and the third driving part is connected to the moving part through a third connecting member; the second driving part is used to drive the first connecting member and the movable plate to produce relative movement, and the third driving part is used to drive the moving part and the second connecting member to produce relative movement.

[0016] Preferably, the outer side surface of the moving part is an arc-shaped surface.

[0017] Preferably, the telescopic assembly comprises: a multi-section telescopic rod and a fourth driving part for driving the multi-section telescopic rod to work, the fixed end of the multi-section telescopic rod is arranged in the accommodating cavity, and the movable end thereof is connected to the connecting part.

[0018] Preferably, the telescopic assembly comprises: a plurality of telescopic units, the telescopic units comprising a first hinged rod and a second hinged rod, the middle parts of the first hinged rod and the second hinged rod are hinged, the end of the first hinged rod of one telescopic unit is hinged to the second hinged rod of another adjacent telescopic unit; the ends of the first hinged rod and the second hinged rod at the top are both provided with a first movable block, the top of the accommodating cavity is provided with a screw threadedly connected to the first movable block, the screw is connected to the fifth driving part, the top of the accommodating cavity is provided with a sliding groove for limiting the sliding of the first movable block; the ends of the first hinged rod and the second hinged rod at the bottom are both provided with a second movable block, and the top surface of the connecting part is provided with a limiting groove for sliding the second movable block.

[0019] Compared with the prior art, the present invention has at least the following beneficial effects:

[0020] The crawler-type earthquake emergency rescue robot with strong adaptability to multiple environments described in the present invention can drive the robot body to cross higher obstacles through the cooperation of the auxiliary arm crawler mechanism with the walking crawler mechanism, and can drive the robot body to move in any direction within a shorter time and along a shorter route through the auxiliary moving mechanism to change the moving direction of the robot body, so that the rescue robot can adapt to more complex environments to improve the search and rescue efficiency.

[0021] The tracked earthquake emergency rescue robot with strong multi-environment adaptability described in the present invention, and other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technicians in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 This is a schematic structural diagram of the crawler-type earthquake emergency rescue robot with strong multi-environment adaptability according to the present invention;

[0024] Figure 2 It is a structural schematic diagram of the crawler-type earthquake emergency rescue robot with strong multi-environment adaptability described in the present invention when the robot body is lifted;

[0025] Figure 3 It is a structural schematic diagram of the walking crawler mechanism of the crawler-type earthquake emergency rescue robot with strong multi-environment adaptability described in the present invention;

[0026] Figure 4 It is a structural schematic diagram of the crawler-type earthquake emergency rescue robot with strong adaptability to multiple environments according to the present invention, in which the auxiliary moving mechanism is retracted and located in the accommodating cavity;

[0027] Figure 5 It is a structural schematic diagram of the crawler-type earthquake emergency rescue robot with strong adaptability to multiple environments according to the present invention, in which the auxiliary moving mechanism is opened and located in the accommodating cavity;

[0028] Figure 6 It is a structural schematic diagram of the auxiliary moving mechanism of the crawler-type earthquake emergency rescue robot with strong adaptability to multiple environments of the present invention, which clamps an object and is located in the accommodating cavity;

[0029] Figure 7 It is a structural schematic diagram of the crawler-type earthquake emergency rescue robot with strong adaptability to multiple environments described in the present invention, in which the telescopic assembly of the first structure is used to drive the mobile body to extend out of the accommodating cavity;

[0030] Figure 8 It is a structural schematic diagram of a mobile body of the crawler-type earthquake emergency rescue robot with strong adaptability to multiple environments of the present invention, which clamps an object and extends out of a receiving cavity;

[0031] Fig. 9 It is a partial structural schematic diagram of the auxiliary moving mechanism of the crawler-type earthquake emergency rescue robot with strong multi-environment adaptability described in the present invention;

[0032] Fig.10 It is a structural schematic diagram of the opening and closing drive assembly of the crawler-type earthquake emergency rescue robot with strong multi-environment adaptability described in the present invention;

[0033] Fig.11 It is a structural schematic diagram of the movable driving assembly and the moving part of the crawler-type earthquake emergency rescue robot with strong multi-environment adaptability described in the present invention;

[0034] Fig.12 This is a second structural schematic diagram of the telescopic component in the tracked earthquake emergency rescue robot with strong multi-environment adaptability described in the present invention. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0036] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0037] like Figure 1-Figure 4As shown, the present invention provides a tracked earthquake emergency rescue robot with strong adaptability to multiple environments, comprising: a robot body 1, with walking track mechanisms 2 on both sides thereof, two auxiliary arm track mechanisms 3 being provided on the walking track mechanisms 2, and the auxiliary arm track mechanisms 3 being used to support the robot body 1 so that the walking track mechanisms 2 are away from the ground; an auxiliary moving mechanism 4 is provided inside the robot body 1, and the auxiliary moving mechanism 4 can be extended from the bottom of the robot body 1.

[0038] The robot body 1 can be driven to walk by the walking track mechanism 2. With the cooperation of the walking track mechanism 2 and the auxiliary arm track mechanism 3, the auxiliary arm track mechanism 3 located in the front of the movement can be lifted to a certain height, and can cross higher obstacles, thereby driving the robot body 1 to walk in a complex environment; and when the walking path needs to be changed in a complex environment, the robot body 1 can be driven to turn by the walking track mechanism 2, and the auxiliary moving mechanism 4 can also be extended from the bottom of the robot body 1 to drive the robot body 1 to move in any direction within a shorter time and along a shorter route, which can save time for changing the path; and when the current environment is not conducive to the movement of the walking track mechanism 2 and the auxiliary arm track mechanism 3, for example, an environment where the walking track mechanism 2 and the auxiliary arm track mechanism 3 are easily stuck, the robot body 1 can be driven to move by the auxiliary moving mechanism 4 to move away from the current environment, and then continue to walk through the cooperation of the walking track mechanism 2 and the auxiliary arm track mechanism 3.

[0039] The present invention can drive the robot body 1 to cross higher obstacles through the auxiliary arm track mechanism 3 in cooperation with the walking track mechanism 2, and can drive the robot body 1 to move in any direction in a shorter time and along a shorter route through the auxiliary moving mechanism 4 to change the moving direction of the robot body 1, so that the rescue robot can adapt to more complex environments to improve the search and rescue efficiency.

[0040] like Figure 1-Figure 3 As shown, in one embodiment, it also includes: a first driving mechanism, used to drive the walking crawler mechanism 2 to drive the robot body 1 to walk; a second driving mechanism, used to drive the auxiliary arm crawler mechanism 3 to rotate as a whole, so as to change the rotation angle of the auxiliary arm crawler mechanism 3 relative to the horizontal plane.

[0041] Furthermore, the walking crawler mechanism 2 includes: a driving wheel 21 and a driven wheel 22, which are connected by a first crawler 23; the first driving mechanism is used to drive the driving wheel 21 to rotate;

[0042] The auxiliary arm crawler mechanism 3 includes a first pulley 31 and a second pulley 32 , which are connected via a second crawler 33 . The first pulley 31 is coaxially arranged with the driving wheel 21 or the driven wheel 22 .

[0043] The first driving mechanism can drive the driving wheel 21 and the driven wheel 22 to rotate, drive the first crawler 23 to move, and can also drive the first pulley 31 and the second pulley 32 to rotate, drive the second crawler 33 to move; the second driving mechanism can change the rotation angle of the auxiliary arm crawler mechanism 3 according to the walking road conditions, so that the contact area between the first crawler 23 and the second crawler 33 and the road can be increased, thereby improving the walking ability;

[0044] When the auxiliary arm track mechanism 3 is not needed to work, for example, when walking on a plane, the auxiliary arm track mechanism 3 is driven by the second driving mechanism, and one end where the second pulley 32 is located rotates upward to a vertical state. When the robot body 1 needs to be lifted, the auxiliary arm track mechanism 3 is driven by the second driving mechanism, and one end where the second pulley 32 is located rotates downward to a set angle with the horizontal plane. The above two states are the extreme positions of the rotation of the auxiliary arm track mechanism 3.

[0045] like Figure 4 and Figure 5 As shown, in one embodiment, a receiving cavity 11 is provided inside the robot body 1, and an auxiliary moving mechanism 4 is provided inside the receiving cavity 11;

[0046] The auxiliary moving mechanism 4 includes: a telescopic component 5 and a moving body 6 arranged in the accommodating cavity 11 . The moving body 6 is arranged on the movable end of the telescopic component 5 .

[0047] When the auxiliary mobile mechanism 4 is not needed, the telescopic assembly 5 is in a retracted state, so that the auxiliary mobile mechanism 4 is stored in the accommodating cavity 11 and does not affect the walking of the rescue robot; when the auxiliary mobile mechanism 4 is needed, the telescopic assembly 5 is in an extended state, and the mobile body 6 extends out of the accommodating cavity 11 and can come into contact with the current walking road.

[0048] In one embodiment, the working modes of the auxiliary movement mechanism 4 include: a movement mode and a conveying mode;

[0049] The movement mode is: the robot body 1 can be driven to move as a whole by the moving body 6;

[0050] The conveying mode is: the object 7 can be clamped by the mobile body 6 and conveyed to a designated location.

[0051] In this embodiment, the moving mode is that the moving body 6 is in a retracted state when it is in the accommodating cavity 11, and when the moving body 6 needs to be extended out of the accommodating cavity 11, the telescopic component 5 drives the moving body 6 to extend out of the accommodating cavity 11, and the moving body 6 is in an open state; the moving body 6 in the open state can move in multiple directions, so as to drive the robot body 1 to change the path in a shorter time and a shorter route;

[0052] The conveying mode is: the mobile body 6 holds the article 7 in the accommodating cavity 11, and when it reaches the designated position, the telescopic component 5 drives the mobile body 6 to extend out of the accommodating cavity 11, and places the article 7 at the designated position; when conveying the article 7 (such as water and food, etc.), the designated position is known in advance, and then the path is planned (the path that can be smoothly passed by the auxiliary arm crawler mechanism 3 and the walking crawler mechanism 2), and the materials can be conveyed according to the planned path;

[0053] For example, when it is necessary to transport materials to a relatively narrow space, the rescue personnel cannot transport the object 7 to the designated location. In this case, the mobile body 6 can first clamp the object 7 and temporarily store the object 7 in the accommodating cavity 11 (such as Figure 6 As shown in FIG. 1 ), after the rescue robot walks along the planned path and reaches the designated location, the robot body 1 can be lifted to a certain height by the auxiliary arm crawler mechanism 3, and then the telescopic component 5 is extended, as shown in FIG. Figure 8 As shown, the mobile body 6 is driven to extend out of the accommodating cavity 11, and then the mobile body 6 releases the object 7, and then the robot body 1 can leave, completing the work of transporting materials.

[0054] The above technical solution enables the robot body 1 to complete search and rescue work in mobile mode to enhance its ability to adapt to various environments and improve search and rescue efficiency; complete the work of transporting materials in transport mode to provide temporary relief materials to disaster victims in complex environments to maintain physical strength, assist rescue personnel in carrying out rescue work, and improve the rescue success rate.

[0055] like Fig. 9 As shown, in one embodiment, the mobile body 6 includes: a connecting portion 61, which is used to connect with the movable end of the telescopic component 5; an opening and closing driving component 62, which is arranged on the side of the connecting portion 61 away from the telescopic component 5; a plurality of moving portions 63, each moving portion 63 is connected to the opening and closing driving component 62 through a movable driving component 64; the opening and closing driving component 62 is used to drive the plurality of moving portions 63 to open or retract synchronously, and the movable driving component 64 is used to drive the moving portion 63 to rotate in the vertical direction.

[0056] There are at least eight moving parts 63, and each moving part 63 can be independently controlled to move by the movable driving component 64 to drive the robot body 1 to move in a specified direction; the opening and closing driving component 62 can drive multiple moving parts 63 to open or retract at the same time, and through the degree of opening or retraction and the angle of rotation of each moving part 63 in the vertical direction, it is possible to clamp and convey different objects 7, and through the control of the opened multiple moving parts 63, it is possible to realize the movement of the mobile body 6 in multiple directions.

[0057] like Fig. 9 and Fig.10As shown, in one embodiment, the opening and closing drive assembly 62 includes: a first mounting plate 621 and a second mounting plate 622 arranged at intervals, the second mounting plate 622 is used to connect with the connecting portion 61, a driving gear 623 and a plurality of driven gears 624 meshing and connected with the driving gear 623 are provided on the side of the first mounting plate 621 away from the second mounting plate 622, the driven gears 624 are evenly arranged along the circumference of the driving gear 623, and a first driving portion 625 for driving the driving gear 623 to rotate is provided on the first mounting plate 621; a first rod body 626 is coaxially connected to the driven gear 624, both ends of the first rod body 626 are connected to movable plates 627, and the two ends of the first rod body 626 are respectively rotatably connected to the first mounting plate 621 and the second mounting plate 622; two movable plates 627 are correspondingly arranged, and the two are connected by at least one second rod body 628; the movable drive assembly 64 is connected to two corresponding movable plates 627.

[0058] The first driving part 625 drives the driving gear 623 to rotate, and the driving gear 623 drives the driven gear 624 to rotate, and the multiple movable plates 627 are opened or retracted with the rotation of the driven gear 624. During the opening process, the multiple movable plates 627 will not affect each other. After retraction, the multiple movable plates 627 can be close to each other; the movable plates 627 located above and below are correspondingly arranged and connected by the first rod body 626 and the second rod body 628. In this way, each movable driving component 64 can be opened or retracted synchronously with the movable plate 627 connected thereto, thereby driving the moving part 63 to open or retract.

[0059] like Fig.11 As shown, in one embodiment, the movable driving component 64 includes: a second driving part 641 and a third driving part 642, the second driving part 641 is connected to the movable plate 627 through a first connecting member 643, the second driving part 641 and the third driving part 642 are connected through a second connecting member 644, and the third driving part 642 is connected to the moving part 63 through a third connecting member 645; the second driving part 641 is used to drive the first connecting member 643 and the movable plate 627 to produce relative movement, and the third driving part 642 is used to drive the moving part 63 and the second connecting member 644 to produce relative movement.

[0060] The second driving part 641 is fixedly connected to the movable plate 627 through the first connecting member 643, and the third driving part 642 is fixedly connected to the moving part 63 through the third connecting member 645. The connection relationship between the second driving part 641, the second connecting member 644 and the third driving part 642 enables the movable driving component 64 to have two movable joints, and both joints can drive the moving part 63 to rotate in the vertical direction, so that multiple moving parts 63 can move in multiple directions.

[0061] like Fig.11 As shown, further, the outer side surface of the moving portion 63 is an arc-shaped surface.

[0062] The outer side surface of the moving part 63 is set to an arc surface, so that after the multiple moving parts 63 are retracted, the surfaces of the multiple moving parts 63 can form a hemispherical surface, such as Figure 4 As shown, after retraction, they are not affected by each other; when the multiple moving parts 63 are walking, the moving parts 63 which are arc-shaped as a whole can form a better support capability for the robot body 1 and can reduce the collision force with external obstacles;

[0063] In addition, the interior of the movable portion 63 is in a concave state, which is convenient for clamping the article 7, and the internal space of the movable portion 63 is relatively large, so a structure that is convenient for clamping the article 7 can be added to improve the clamping ability.

[0064] like Figure 7-Figure 8 As shown, in one embodiment, the telescopic assembly 5 includes: a multi-section telescopic rod 51 and a fourth driving part for driving the multi-section telescopic rod 51 to work, the fixed end of the multi-section telescopic rod 51 is arranged in the accommodating cavity 11, and the movable end thereof is connected to the connecting part 61.

[0065] This embodiment provides a first structure of the telescopic assembly 5. The telescopic assembly 5 can be in the form of a multi-section telescopic rod 51, such as Figure 7 The figure shows the mobile mode. When the multi-section telescopic rod 51 drives the mobile body 6 to extend out of the accommodating cavity 11, the mobile body 6 is in an open state. At this time, the mobile body 6 can drive the entire rescue robot to move in multiple directions. Figure 8 The figure shows the conveying mode. When the auxiliary arm crawler mechanism 3 lifts the robot body 1 to a certain height, the mobile body 6 holding the object 7 is driven downward by the multi-section telescopic rod 51 to place the object 7 at the designated position, thereby completing the work of conveying materials.

[0066] like Figure 4 , Figure 5 , Figure 6 , Fig.12As shown, in one embodiment, the telescopic assembly 5 includes: a plurality of telescopic units, the telescopic units including a first hinged rod 52 and a second hinged rod 53, the middle parts of the first hinged rod 52 and the second hinged rod 53 are hinged, and the end of the first hinged rod 52 of one telescopic unit is hinged to the second hinged rod 53 of another adjacent telescopic unit; the ends of the first hinged rod 52 and the second hinged rod 53 at the top are both provided with a first movable block 55, the top of the accommodating chamber 11 is provided with a screw rod 56 threadedly connected to the first movable block 55, the screw rod 56 is connected to the fifth driving part 57, and the top of the accommodating chamber 11 is provided with a slide groove 12 for limiting the sliding of the first movable block 55; the ends of the first hinged rod 52 and the second hinged rod 53 at the bottom are both provided with a second movable block 58, and the top surface of the connecting part 61 is provided with a limiting groove for the sliding of the second movable block 58.

[0067] Further, the first hinged rod 52 at the top is hinged to one end of the third hinged rod 13, the second hinged rod 53 at the top is hinged to one end of the fourth hinged rod 14, and the other end of the third hinged rod 13 is hinged to the other end of the fourth hinged rod 14; the hinge axes of the third hinged rod 13 and the fourth hinged rod 14 are rotatably connected to the top of the accommodating chamber 11;

[0068] The first hinged rod 52 at the bottom is hinged to one end of the fifth hinged rod 15, the second hinged rod 53 at the bottom is hinged to one end of the sixth hinged rod 16, and the other end of the fifth hinged rod 15 is hinged to the other end of the sixth hinged rod 16; the hinge axes of the fifth hinged rod 15 and the sixth hinged rod 16 are rotatably connected to the top of the connecting part 61.

[0069] This embodiment provides a second structure of the telescopic assembly 5;

[0070] The threads on the left and right sides of the screw rod 56 are in opposite directions. When the fifth driving part 57 drives the screw rod 56 to rotate, it can drive the two first movable blocks 55 to move closer to or farther from each other, thereby driving the ends of the first hinge rod 52 and the second hinge rod 53 to move closer to or farther from each other, so that the multiple telescopic units are extended or shortened, thereby driving the mobile body 6 to move; due to the limiting effect of the slide groove 12 on the first movable block 55, the first movable block 55 can only move in a straight line along the slide groove 12;

[0071] The third hinge rod 13 , the fourth hinge rod 14 , the fifth hinge rod 15 and the sixth hinge rod 16 can always maintain a vertical state when driving the mobile body 6 to extend or retract, thereby ensuring the working stability of the mobile body 6 .

[0072] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0073] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the present invention, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A crawler-type earthquake emergency rescue robot with strong adaptability to multiple environments, characterized in that: include: A robot body (1) is provided with walking crawler mechanisms (2) on both sides thereof, and two auxiliary arm crawler mechanisms (3) are provided on the walking crawler mechanisms (2), and the auxiliary arm crawler mechanisms (3) are used to support the robot body (1) so that the walking crawler mechanisms (2) are away from the ground; an auxiliary moving mechanism (4) is provided inside the robot body (1), and the auxiliary moving mechanism (4) can extend from the bottom of the robot body (1); The robot body (1) is provided with a receiving chamber (11) inside, and an auxiliary movement mechanism (4) is provided inside the receiving chamber (11); The auxiliary movement mechanism (4) comprises: a telescopic component (5) and a moving body (6) arranged in the accommodating cavity (11); the moving body (6) is arranged on the movable end of the telescopic component (5); The working modes of the auxiliary movement mechanism (4) include: a movement mode and a conveying mode; The movement mode is: the robot body (1) can be driven to move as a whole by the moving main body (6); The conveying mode is: the object (7) can be clamped by the mobile body (6) and conveyed to a designated location; The mobile body (6) comprises: a connecting portion (61) for connecting to a movable end of the telescopic assembly (5); an opening and closing driving assembly (62) arranged on a side of the connecting portion (61) away from the telescopic assembly (5); a plurality of mobile portions (63), each mobile portion (63) being connected to the opening and closing driving assembly (62) via a movable driving assembly (64); the opening and closing driving assembly (62) being used to drive the plurality of mobile portions (63) to open or retract synchronously, and the movable driving assembly (64) being used to drive the mobile portions (63) to rotate in a vertical direction; By adjusting the degree of opening or retracting each moving part (63) and the angle of rotation of each moving part (63) in the vertical direction, it is possible to clamp and convey different objects (7), and by controlling the opened multiple moving parts (63), it is possible to move the moving body (6) in multiple directions.

2. The crawler-type earthquake emergency rescue robot with strong adaptability to multiple environments according to claim 1 is characterized in that: Also includes: A first driving mechanism, used for driving the walking crawler mechanism (2) to drive the robot body (1) to walk; The second driving mechanism is used to drive the auxiliary arm crawler mechanism (3) to rotate as a whole, so as to change the rotation angle of the auxiliary arm crawler mechanism (3) relative to the horizontal plane.

3. The crawler-type earthquake emergency rescue robot with strong adaptability to multiple environments according to claim 1 is characterized in that: The opening and closing drive assembly (62) comprises: a first mounting plate (621) and a second mounting plate (622) which are arranged at an interval; a driving gear (623) and a plurality of driven gears (624) meshingly connected to the driving gear (623) are provided on a side of the first mounting plate (621) away from the second mounting plate (622); the driven gears (624) are evenly arranged along the circumference of the driving gear (623); a first driving gear (623) for driving the driving gear (623) to rotate is provided on the first mounting plate (621); The driven gear (624) is coaxially connected to a first rod body (626), both ends of the first rod body (626) are connected to movable plates (627), and the two ends of the first rod body (626) are rotatably connected to a first mounting plate (621) and a second mounting plate (622), respectively; the two movable plates (627) are correspondingly arranged, and are connected to each other via at least one second rod body (628); the movable driving assembly (64) is connected to the two correspondingly arranged movable plates (627).

4. The crawler-type earthquake emergency rescue robot with strong adaptability to multiple environments according to claim 3 is characterized in that: The movable driving assembly (64) comprises: a second driving part (641) and a third driving part (642); the second driving part (641) is connected to the movable plate (627) via a first connecting member (643); the second driving part (641) and the third driving part (642) are connected via a second connecting member (644); the third driving part (642) is connected to the moving part (63) via a third connecting member (645); the second driving part (641) is used to drive the first connecting member (643) and the movable plate (627) to generate relative movement; the third driving part (642) is used to drive the moving part (63) and the second connecting member (644) to generate relative movement.

5. The crawler-type earthquake emergency rescue robot with strong adaptability to multiple environments according to claim 1, characterized in that: The outer side surface of the moving portion (63) is an arc-shaped surface.

6. The crawler-type earthquake emergency rescue robot with strong adaptability to multiple environments according to claim 1, characterized in that: The telescopic assembly (5) comprises: a multi-section telescopic rod (51) and a fourth driving portion for driving the multi-section telescopic rod (51) to work; a fixed end of the multi-section telescopic rod (51) is arranged in the accommodating cavity (11), and a movable end thereof is connected to the connecting portion (61).

7. The tracked earthquake emergency rescue robot with strong adaptability to multiple environments according to claim 1, characterized in that: The telescopic assembly (5) comprises: a plurality of telescopic units, wherein the telescopic units comprise a first hinge rod (52) and a second hinge rod (53), wherein the middle parts of the first hinge rod (52) and the second hinge rod (53) are hinged, and the end of the first hinge rod (52) of one telescopic unit is hinged to the second hinge rod (53) of another adjacent telescopic unit; the ends of the first hinge rod (52) and the second hinge rod (53) located at the top are both provided with a first movable block (55); the top of the accommodating cavity (11) is provided with a screw rod (56) threadedly connected to the first movable block (55), and the screw rod (56) is connected to a fifth driving part (57); the top of the accommodating cavity (11) is provided with a slide groove (12) for limiting the sliding of the first movable block (55); the ends of the first hinge rod (52) and the second hinge rod (53) located at the bottom are both provided with a second movable block (58), and the top surface of the connecting part (61) is provided with a limiting groove for the sliding of the second movable block (58).

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