Rescue robot

Abstract

The invention discloses a rescue robot, which relates to the technical field of emergency rescue and comprises a frame, a first front wheel, a second front wheel, a first rear wheel, a second rear wheel, a support plate, a first carrying platform and a second carrying platform, the supporting plate is fixedly arranged in the middle of the frame, the first carrying table is arranged on one side of the supporting plate, and the second carrying table is arranged on the other side of the supporting plate; a wheel track adjusting driving device is arranged on the supporting plate, the wheel track adjusting driving device can drive the first carrying table to move in the direction close to or away from the supporting plate, and the wheel track adjusting driving device can drive the second carrying table to move in the direction close to or away from the supporting plate; a first axle distance adjusting driving device is arranged on the first carrying table and can drive the first front wheel and the first rear wheel to get close to each other or get away from each other; a second axle distance adjusting driving device is arranged on the second carrying table and can drive the second front wheel and the second rear wheel to be close to each other or away from each other; the method can conveniently adapt to complex and changeable environments.

Description

Technical Field

[0001] The present invention relates to the technical field of emergency rescue, and in particular to a rescue robot. Background Art

[0002] Frequent natural disasters and accidents seriously threaten human safety and social stability. Rescue robots can complete tasks such as search and detection, material transportation, and escort of the wounded in dangerous areas, effectively improving the efficiency of rescue and reconnaissance, and ensuring the safety of mission personnel and the wounded.

[0003] As a type of rescue robot, wheeled rescue robots have the advantages of low driving resistance, strong maneuverability and high speed, and can reach the disaster site faster. However, disaster and accident sites are often complex and changeable environments, and most wheeled rescue robots in the prior art use traditional wheeled driving systems, with fixed wheelbase, wheel track and center of mass height, and fixed configuration. They are not adaptable to complex environments. In case of common disaster scenes such as steep slopes, narrow spaces, and collapsed areas, their traffic capacity and maneuverability will be greatly limited, thereby reducing the efficiency of disaster rescue. Summary of the invention

[0004] The purpose of the present invention is to provide a rescue robot to solve the problems existing in the above-mentioned prior art and to facilitate adaptation to complex and changing environments.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a rescue robot, comprising a frame, a first front wheel, a second front wheel, a first rear wheel, a second rear wheel, a support plate, a first platform and a second platform;

[0007] The support plate is fixedly arranged at the middle part of the frame, the first platform and the second platform are both arranged on the frame, and the first platform is arranged on one side of the support plate, and the second platform is arranged on the other side of the support plate;

[0008] A wheel-track adjustment driving device is provided on the support plate, and the wheel-track adjustment driving device is transmission-connected with the first platform and the second platform, and the wheel-track adjustment driving device can drive the first platform to move toward or away from the support plate, and the wheel-track adjustment driving device can drive the second platform to move toward or away from the support plate;

[0009] A first wheelbase adjustment driving device is provided on the first carrier, the first wheelbase adjustment driving device is drivingly connected to the first front wheel and the first rear wheel, and the first wheelbase adjustment driving device can drive the first front wheel and the first rear wheel to move closer to or away from each other;

[0010] The second carrier is provided with a second wheelbase adjustment driving device, which is transmission-connected to the second front wheel and the second rear wheel, and can drive the second front wheel and the second rear wheel to move closer to or away from each other.

[0011] Preferably, it also includes a front guide rail and a rear guide rail, the front guide rail is fixedly arranged at the front end of the frame, and the rear guide rail is fixedly arranged at the rear end of the frame; the front end of the first platform is arranged on the front guide rail, and the front end of the first platform can slide along the front guide rail, and the rear end of the first platform is arranged on the rear guide rail, and the rear end of the first platform can slide along the rear guide rail; the front end of the second platform is arranged on the front guide rail, and the front end of the second platform can slide along the front guide rail, and the rear end of the second platform is arranged on the rear guide rail, and the rear end of the second platform can slide along the rear guide rail.

[0012] Preferably, the front end of the first platform is sleeved on the front guide rail, the rear end of the first platform is sleeved on the rear guide rail, the front end of the second platform is sleeved on the front guide rail, and the rear end of the second platform is sleeved on the rear guide rail, and sliding bearings are sleeved between the front end of the first platform and the front guide rail, between the rear end of the first platform and the rear guide rail, between the front end of the second platform and the front guide rail, and between the rear end of the second platform and the rear guide rail.

[0013] Preferably, it also includes a wheelbase adjustment swing arm, a first wheelbase adjustment arm, and a second wheelbase adjustment arm, wherein one end of the first wheelbase adjustment arm is hinged to the first platform, the other end of the first wheelbase adjustment arm is hinged to the wheelbase adjustment swing arm, one end of the second wheelbase adjustment arm is hinged to the second platform, the other end of the second wheelbase adjustment arm is hinged to the wheelbase adjustment swing arm, the wheelbase adjustment drive device is transmission-connected to the wheelbase adjustment swing arm, the wheelbase adjustment drive device can drive the wheelbase adjustment swing arm to rotate, and the rotation of the wheelbase adjustment swing arm can drive the first platform and the second platform to move closer to or farther away from each other.

[0014] Preferably, the wheel-track adjustment drive device is a wheel-track adjustment motor, a housing of the wheel-track adjustment drive device is fixedly disposed on the support plate, and a power output shaft of the wheel-track adjustment drive device is fixedly connected to the wheel-track adjustment swing arm.

[0015] Preferably, the frame is square, the frame is bisected symmetrically by a first longitudinal plane, the support plate is disposed symmetrically about the first longitudinal plane, and the first platform and the second platform can move symmetrically about the first longitudinal plane.

[0016] Preferably, it also includes a first wheelbase adjustment swing arm, a first front adjustment arm, a first front leg, a first rear adjustment arm and a first rear leg; the first front leg is rotatably arranged on the first platform around a first axis, one end of the first front leg is hinged to the first front wheel, the other end of the first front leg is hinged to one end of the first front adjustment arm, and the other end of the first front adjustment arm is hinged to the first wheelbase adjustment swing arm; the first rear leg is rotatably arranged on the first platform around a second axis, one end of the first rear leg is hinged to the first rear wheel, the other end of the first rear leg is hinged to one end of the first rear adjustment arm, and the other end of the first rear adjustment arm is hinged to the first wheelbase adjustment swing arm; the first wheelbase adjustment drive device is transmission-connected to the first wheelbase adjustment swing arm, the first wheelbase adjustment drive device can drive the first wheelbase adjustment swing arm to rotate, and the rotation of the first wheelbase adjustment swing arm can drive the first front wheel and the first rear wheel to move closer to or away from each other.

[0017] Preferably, it also includes a second wheelbase adjustment swing arm, a second front adjustment arm, a second front leg, a second rear adjustment arm and a second rear leg; the second front leg is rotatably arranged on the second platform around a third axis, one end of the second front leg is hinged to the second front wheel, the other end of the second front leg is hinged to one end of the second front adjustment arm, and the other end of the second front adjustment arm is hinged to the second wheelbase adjustment swing arm; the second rear leg is rotatably arranged on the second platform around a fourth axis, one end of the second rear leg is hinged to the second rear wheel, the other end of the second rear leg is hinged to one end of the second rear adjustment arm, and the other end of the second rear adjustment arm is hinged to the second wheelbase adjustment swing arm; the second wheelbase adjustment drive device is transmission-connected to the second wheelbase adjustment swing arm, the second wheelbase adjustment drive device can drive the second wheelbase adjustment swing arm to rotate, and the rotation of the second wheelbase adjustment swing arm can drive the second front wheel and the second rear wheel to move closer to or away from each other.

[0018] Preferably, the first wheelbase adjustment swing arm and the second wheelbase adjustment swing arm are symmetrical about the first longitudinal plane, the first front adjustment arm and the second front adjustment arm are symmetrical about the first longitudinal plane, the first front leg and the second front leg are symmetrical about the first longitudinal plane, the first rear adjustment arm and the second rear adjustment arm are symmetrical about the first longitudinal plane, the first rear leg and the second rear leg are symmetrical about the first longitudinal plane, and the first wheelbase adjustment drive device and the second wheelbase adjustment drive device are symmetrical about the first longitudinal plane.

[0019] Preferably, it also includes a controller and a battery, wherein the controller is communicatively connected with the wheel-width adjustment drive device, the first wheelbase adjustment drive device and the second wheelbase adjustment drive device, and the controller can control the operation of the wheel-width adjustment drive device, the first wheelbase adjustment drive device and the second wheelbase adjustment drive device; the battery is electrically connected with the controller, the wheel-width adjustment drive device, the first wheelbase adjustment drive device and the second wheelbase adjustment drive device, and the battery can supply power to the controller, the wheel-width adjustment drive device, the first wheelbase adjustment drive device and the second wheelbase adjustment drive device.

[0020] Compared with the prior art, the present invention has achieved the following technical effects:

[0021] The rescue robot provided by the present invention is provided with a first wheelbase adjustment drive device which is transmission-connected with the first front wheel and the first rear wheel, and a second wheelbase adjustment drive device which is transmission-connected with the second front wheel and the second rear wheel. The first wheelbase adjustment drive device is used to drive the first front wheel and the first rear wheel to move closer to or farther away from each other, and the second wheelbase adjustment drive device is used to drive the second front wheel and the second rear wheel to move closer to or farther away from each other, thereby realizing the wheelbase adjustment between the first front wheel and the first rear wheel and the wheelbase adjustment between the second front wheel and the second rear wheel, and realizing the adjustment of the center of mass height at the same time. A wheelbase adjustment drive device is provided which is transmission-connected with the first carrier and the second carrier. The wheelbase adjustment drive device is used to drive the first carrier to move in a direction close to or away from a support plate, and the wheelbase adjustment drive device is used to drive the second carrier to move in a direction close to or away from a support plate, and the wheelbase adjustment drive device is used to drive the second carrier The platform moves in the direction of approaching or moving away from the support plate, thereby realizing the distance adjustment between the first platform and the second platform, and then realizing the wheelbase adjustment between the first front wheel and the second front wheel and the wheelbase adjustment between the first rear wheel and the second rear wheel. Therefore, the wheelbase, wheelbase and center of mass height of the rescue robot provided by the present invention can be flexibly changed, the configuration is changeable, and it can be easy to adapt to complex and changeable environments. In common disaster scenes such as steep slopes, narrow spaces, and collapsed areas, selecting appropriate wheelbase, wheelbase and center of mass height can improve the traffic capacity and maneuverability on obstacle conditions and complex roads, thereby improving disaster rescue efficiency. It has the advantages of simple structure and the ability to adjust structural parameters (wheelbase, wheelbase, center of mass height) according to disaster rescue scenes to improve scene adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1A schematic diagram of a rescue robot provided by the present invention;

[0024] Figure 2 for Figure 1 Schematic diagram of the first carrier;

[0025] Figure 3 for Figure 1 A schematic diagram of another direction of the rescue robot;

[0026] Figure 4 for Figure 3 A schematic diagram of a wheelbase adjustment drive device;

[0027] In the figure: 1. frame; 2. front guide rail; 3. support plate; 4. first carrier; 5. sliding bearing; 6. first front leg; 7. docking bolts; 8. first front adjusting arm; 9. first wheelbase adjusting drive device; 10. first wheelbase adjusting swing arm; 11. shock-absorbing bushing; 12. first rear adjusting arm; 13. first rear leg; 14. first track adjusting arm; 15. track adjusting swing arm; 16. track adjusting drive device; 17. second track adjusting arm. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] The purpose of the present invention is to provide a rescue robot to solve the problems existing in the above-mentioned prior art and to facilitate adaptation to complex and changing environments.

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] like Figure 1-Figure 4As shown, the present invention provides a rescue robot, including a frame 1, a first front wheel, a second front wheel, a first rear wheel, a second rear wheel, a support plate 3, a first platform 4 and a second platform; the support plate 3 is fixedly arranged in the middle of the frame 1, the first platform 4 and the second platform are both arranged on the frame 1, and the first platform 4 is placed on one side of the support plate 3, and the second platform is placed on the other side of the support plate 3; a wheelbase adjustment driving device 16 is provided on the support plate 3, and the wheelbase adjustment driving device 16 is transmission-connected with the first platform 4 and the second platform, and the wheelbase adjustment driving device 16 can drive the first platform 4 to approach or move away from the support plate The first platform 4 is provided with a first wheelbase adjusting drive device 9, which is transmission-connected with the first front wheel and the first rear wheel, and can drive the first front wheel and the first rear wheel to move closer to or away from each other; the second platform is provided with a second wheelbase adjusting drive device, which is transmission-connected with the second front wheel and the second rear wheel, and can drive the second front wheel and the second rear wheel to move closer to or away from each other.

[0032] The rescue robot provided by the present invention is provided with a first wheelbase adjustment drive device 9 which is transmission-connected with the first front wheel and the first rear wheel, and a second wheelbase adjustment drive device which is transmission-connected with the second front wheel and the second rear wheel. The first wheelbase adjustment drive device 9 is used to drive the first front wheel and the first rear wheel to approach or move away from each other, and the second wheelbase adjustment drive device is used to drive the second front wheel and the second rear wheel to approach or move away from each other, thereby realizing the wheelbase adjustment between the first front wheel and the first rear wheel and the wheelbase adjustment between the second front wheel and the second rear wheel, and realizing the adjustment of the center of mass height at the same time. A wheelbase adjustment drive device 16 is provided which is transmission-connected with the first carrier 4 and the second carrier, and the wheelbase adjustment drive device 16 is used to drive the first carrier 4 to move toward or away from the support plate 3, and the wheelbase adjustment drive device 16 is used to drive the second carrier to move toward or away from the support plate 3, thereby The distance adjustment between the first platform 4 and the second platform is realized, and then the wheelbase adjustment between the first front wheel and the second front wheel and the wheelbase adjustment between the first rear wheel and the second rear wheel are realized. Therefore, the wheelbase, track and center of mass height of the rescue robot provided by the present invention can be flexibly changed, and the configuration is changeable, which can be convenient for adapting to complex and changeable environments. In common disaster scenes such as steep slopes, narrow spaces, and collapsed areas, selecting appropriate track, wheelbase and center of mass height can improve the traffic capacity and maneuverability on obstacle conditions and complex roads, thereby improving disaster rescue efficiency. It has the advantages of simple structure and the ability to adjust structural parameters (wheelbase, wheelbase, center of mass height) according to the disaster rescue scene to improve scene adaptability. As a more preferred implementation manner of this embodiment, the support plate 3 is fixed to the middle part of the frame 1 by screws to constitute the main load-bearing structure of the whole vehicle.

[0033] Furthermore, the rescue robot provided by the present invention also includes a front guide rail 2 and a rear guide rail, the front guide rail 2 is fixedly arranged at the front end of the frame 1, and the rear guide rail is fixedly arranged at the rear end of the frame 1; the front end of the first platform 4 is arranged on the front guide rail 2, and the front end of the first platform 4 can slide along the front guide rail 2, and the rear end of the first platform 4 is arranged on the rear guide rail, and the rear end of the first platform 4 can slide along the rear guide rail; the front end of the second platform is arranged on the front guide rail 2, and the front end of the second platform can slide along the front guide rail 2, and the rear end of the second platform is arranged on the rear guide rail, and the rear end of the second platform can slide along the rear guide rail, wherein the front guide rail 2 is parallel to the rear guide rail, and the first platform 4 is parallel to the second platform, so that the first platform 4 and the second platform can move smoothly; as a more preferred implementation manner of this embodiment, the front guide rail 2 and the rear guide rail are both positioned and clamped on the frame 1 by locking nuts at both ends, with a simple structure and easy to manufacture.

[0034] Furthermore, the front end of the first platform 4 is sleeved on the front guide rail 2, the rear end of the first platform 4 is sleeved on the rear guide rail, the front end of the second platform is sleeved on the front guide rail 2, and the rear end of the second platform is sleeved on the rear guide rail, and sliding bearings 5 ​​are sleeved between the front end of the first platform 4 and the front guide rail 2, between the rear end of the first platform 4 and the rear guide rail, between the front end of the second platform and the front guide rail 2, and between the rear end of the second platform and the rear guide rail, so as to enable the first platform 4 and the second platform to move stably and smoothly.

[0035] Furthermore, the rescue robot provided by the present invention also includes a wheel-track adjustment swing arm 15, a first wheel-track adjustment arm 14, and a second wheel-track adjustment arm 17. One end of the first wheel-track adjustment arm 14 is hinged to the first platform 4, the other end of the first wheel-track adjustment arm 14 is hinged to the wheel-track adjustment swing arm 15, one end of the second wheel-track adjustment arm 17 is hinged to the second platform, the other end of the second wheel-track adjustment arm 17 is hinged to the wheel-track adjustment swing arm 15, and the wheel-track adjustment drive device 16 is transmission-connected to the wheel-track adjustment swing arm 15. The wheel-track adjustment drive device 16 can drive the wheel-track adjustment swing arm 15 to rotate, and the rotation of the wheel-track adjustment swing arm 15 can drive the first platform 4 and the second platform to move closer to or away from each other, which is convenient for use. It should be noted here that in order to avoid interference between the first wheel-track adjustment arm 14 and the second wheel-track adjustment arm 17 when the wheel-track adjustment drive device 16 performs wheel-track adjustment, a structural anti-interference design needs to be performed according to actual conditions.

[0036] As a more preferred implementation manner of this embodiment, the wheel-track adjustment drive device 16 is a wheel-track adjustment motor, the housing of the wheel-track adjustment drive device 16 is fixedly arranged on the support plate 3, the power output shaft of the wheel-track adjustment drive device 16 is fixedly connected to the wheel-track adjustment swing arm 15 for easy control, the housing of the inverted wheel-track adjustment motor is fixedly connected to the support plate 3, the wheel-track adjustment swing arm 15 is installed in conjunction with the first wheel-track adjustment arm 14 and the second wheel-track adjustment arm 17 through a shock-absorbing bushing, and the first wheel-track adjustment arm 14 and the second wheel-track adjustment arm 17 are respectively connected to the first carrier 4 and the second carrier through docking bolts and letter nails.

[0037] Furthermore, the frame 1 is square and is equally divided by a first longitudinal plane. The support plate 3 is symmetrically arranged about the first longitudinal plane. The first platform 4 and the second platform can move symmetrically about the first longitudinal plane, thereby ensuring the structural balance and driving stability of the rescue robot and facilitating manufacture and use.

[0038] Furthermore, the rescue robot provided by the present invention also includes a first wheelbase adjustment swing arm 10, a first front adjustment arm 8, a first front leg 6, a first rear adjustment arm 12 and a first rear leg 13; the first front leg 6 is rotatably arranged on the first carrier 4 around the first axis, one end of the first front leg 6 is hinged to the first front wheel, the other end of the first front leg 6 is hinged to one end of the first front adjustment arm 8, and the other end of the first front adjustment arm 8 is hinged to the first wheelbase adjustment swing arm 10; the first rear leg 13 is rotatably arranged on the first carrier 4 around the second axis, one end of the first rear leg 13 is hinged to the first rear wheel, the other end of the first rear leg 13 is hinged to one end of the first rear adjustment arm 12, and the other end of the first rear adjustment arm 12 is hinged to the first wheelbase adjustment swing arm 10; the first wheelbase adjustment drive device 9 is transmission connected with the first wheelbase adjustment swing arm 10, the first wheelbase adjustment driving device 9 can drive the first wheelbase adjustment swing arm 10 to rotate, and the rotation of the first wheelbase adjustment swing arm 10 can drive the first front wheel and the first rear wheel to move closer to or away from each other, which is convenient for use; as a more preferred implementation manner of this embodiment, the first carrier 4 is provided with corresponding mounting shafts of the first front leg 6 and the first rear leg 13, and the mounting holes on the first front leg 6 and the first rear leg 13 are installed with the corresponding mounting shafts through rolling bearings, the first wheelbase adjustment swing arm 10 is matched with the first front adjustment arm 8 and the first rear adjustment arm 12 through the shock-absorbing bushing 11, and the first front adjustment arm 8 and the first front leg 6, the first rear adjustment arm 12 and the first rear leg 13 are all connected by docking bolts 7.

[0039] As a more preferred implementation manner of this embodiment, the first wheelbase adjustment drive device 9 is a first wheelbase adjustment motor, the shell of the first wheelbase adjustment drive device 9 is fixedly arranged on the first carrier 4, and the power output shaft of the first wheelbase adjustment drive device 9 is fixedly connected to the first wheelbase adjustment swing arm 10 for easy control.

[0040] Furthermore, the rescue robot provided by the present invention also includes a second wheelbase adjustment swing arm, a second front adjustment arm, a second front leg, a second rear adjustment arm and a second rear leg; the second front leg is rotatably arranged on the second platform around a third axis, one end of the second front leg is hinged to the second front wheel, the other end of the second front leg is hinged to one end of the second front adjustment arm, and the other end of the second front adjustment arm is hinged to the second wheelbase adjustment swing arm; the second rear leg is rotatably arranged on the second platform around a fourth axis, one end of the second rear leg is hinged to the second rear wheel, the other end of the second rear leg is hinged to one end of the second rear adjustment arm, and the other end of the second rear adjustment arm is hinged to the second wheelbase adjustment swing arm; the second wheelbase adjustment drive device The second wheelbase adjustment swing arm is transmission-connected to the second wheelbase adjustment swing arm, and the second wheelbase adjustment driving device can drive the second wheelbase adjustment swing arm to rotate. The rotation of the second wheelbase adjustment swing arm can drive the second front wheel and the second rear wheel to move closer to or farther away from each other, which is convenient for use. As a more preferred implementation manner of this embodiment, the second carrier is provided with mounting shafts corresponding to the second front leg and the second rear leg, and the mounting holes on the second front leg and the second rear leg are matched with the corresponding mounting shafts through rolling bearings. The second wheelbase adjustment swing arm is matched with the second front adjustment arm and the second rear adjustment arm through shock-absorbing bushings, and the second front adjustment arm and the second front leg, as well as the second rear adjustment arm and the second rear leg are connected by butt bolts and letter nails.

[0041] As a more preferred implementation manner of this embodiment, the second wheelbase adjustment drive device is a second wheelbase adjustment motor, the shell of the second wheelbase adjustment drive device is fixedly arranged on the second carrier, and the power output shaft of the second wheelbase adjustment drive device is fixedly connected to the second wheelbase adjustment swing arm for easy control.

[0042] Furthermore, the first wheelbase adjustment swing arm 10 is symmetrical with the second wheelbase adjustment swing arm about the first longitudinal plane, the first front adjustment arm 8 is symmetrical with the second front adjustment arm about the first longitudinal plane, the first front leg 6 is symmetrical with the second front leg about the first longitudinal plane, the first rear adjustment arm 12 is symmetrical with the second rear adjustment arm about the first longitudinal plane, the first rear leg 13 is symmetrical with the second rear leg about the first longitudinal plane, and the first wheelbase adjustment drive device 9 is symmetrical with the second wheelbase adjustment drive device about the first longitudinal plane, which ensures the structural balance and driving stability of the rescue robot and facilitates its manufacture and use.

[0043] Furthermore, the rescue robot provided by the present invention also includes a controller and a battery. The controller is communicatively connected with the wheelbase adjustment drive device 16, the first wheelbase adjustment drive device 9 and the second wheelbase adjustment drive device, and the controller can control the wheelbase adjustment drive device 16, the first wheelbase adjustment drive device 9 and the second wheelbase adjustment drive device to work; the battery is electrically connected with the controller, the wheelbase adjustment drive device 16, the first wheelbase adjustment drive device 9 and the second wheelbase adjustment drive device, and the battery can power the controller, the wheelbase adjustment drive device 16, the first wheelbase adjustment drive device 9 and the second wheelbase adjustment drive device.

[0044] When adjusting the wheelbase, the wheelbase adjustment drive device 16 receives the electrical signal sent by the controller and starts to respond, driving the wheelbase adjustment swing arm 15 to rotate a certain angle, and the first wheelbase adjustment arm 14 and the second wheelbase adjustment arm 17 connected to the wheelbase adjustment swing arm 15 transmit the force to the first platform 4 and the second platform. The first platform 4 and the second platform are affected by the lateral pulling force or thrust, and are laterally displaced along the front guide rail 2 and the rear guide rail. The first front wheel, the first rear wheel, the second front wheel, and the second rear wheel connected to the first platform 4 and the second platform are laterally displaced along the first platform 4 and the second platform, so that the wheelbase of the rescue robot increases or decreases, thereby realizing the function of changing the wheelbase.

[0045] In order to obtain the largest possible wheelbase variation range, the rotation angle of the wheelbase adjustment swing arm 15 is selected to be 180°. At the same time, in order to avoid interference between the first wheelbase adjustment arm 14 and the second wheelbase adjustment arm 17 when the wheelbase adjustment driving device 16 rotates to adjust the wheelbase, the first wheelbase adjustment arm 14 and the second wheelbase adjustment arm 17 need to be designed with an anti-interference structure.

[0046] When adjusting the wheelbase and center of mass height, the first wheelbase adjustment drive device 9 and the second wheelbase adjustment drive device receive the electrical signal from the controller and start to respond, driving the first wheelbase adjustment swing arm 10 and the second wheelbase adjustment swing arm to rotate a certain angle, so that the wheelbase of the rescue robot becomes larger and the center of mass becomes lower, or the wheelbase becomes smaller and the center of mass becomes higher, thereby realizing the change of wheelbase and center of mass height.

[0047] In actual applications, in order to ensure that when the wheelbase is adjusted, the angle of rotation of the first front leg 6 around the first axis, the angle of rotation of the first rear leg 13 around the second axis, the angle of rotation of the second front leg around the third axis, and the angle of rotation of the second rear leg around the fourth axis are basically consistent, so that the body of the rescue robot is basically level after the wheelbase changes and does not pitch too much, reasonable adaptive size and structural design are required, and structural anti-interference design is required.

[0048] In order to ensure the carrying capacity and driving stability of the rescue robot, the wheelbase adjustment drive device 16, the first wheelbase adjustment drive device 9 and the second wheelbase adjustment drive device preferably use large torque joint motors.

[0049] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A rescue robot, characterized in that: It includes a frame, a first front wheel, a second front wheel, a first rear wheel, a second rear wheel, a support plate, a first platform and a second platform; The support plate is fixedly arranged at the middle part of the frame, the first platform and the second platform are both arranged on the frame, and the first platform is arranged on one side of the support plate, and the second platform is arranged on the other side of the support plate; A wheel-track adjustment driving device is provided on the support plate, and the wheel-track adjustment driving device is transmission-connected with the first platform and the second platform, and the wheel-track adjustment driving device can drive the first platform to move toward or away from the support plate, and the wheel-track adjustment driving device can drive the second platform to move toward or away from the support plate; A first wheelbase adjustment driving device is provided on the first carrier, the first wheelbase adjustment driving device is drivingly connected to the first front wheel and the first rear wheel, and the first wheelbase adjustment driving device can drive the first front wheel and the first rear wheel to move closer to or away from each other; The second carrier is provided with a second wheelbase adjustment driving device, which is transmission-connected to the second front wheel and the second rear wheel, and can drive the second front wheel and the second rear wheel to move closer to or away from each other.

2. The rescue robot according to claim 1, characterized in that: It also includes a front guide rail and a rear guide rail, the front guide rail is fixedly arranged at the front end of the frame, and the rear guide rail is fixedly arranged at the rear end of the frame; the front end of the first platform is arranged on the front guide rail, and the front end of the first platform can slide along the front guide rail, and the rear end of the first platform is arranged on the rear guide rail, and the rear end of the first platform can slide along the rear guide rail; the front end of the second platform is arranged on the front guide rail, and the front end of the second platform can slide along the front guide rail, and the rear end of the second platform is arranged on the rear guide rail, and the rear end of the second platform can slide along the rear guide rail.

3. The rescue robot according to claim 2, characterized in that: The front end of the first platform is sleeved on the front guide rail, the rear end of the first platform is sleeved on the rear guide rail, the front end of the second platform is sleeved on the front guide rail, and the rear end of the second platform is sleeved on the rear guide rail. Sliding bearings are sleeved between the front end of the first platform and the front guide rail, between the rear end of the first platform and the rear guide rail, between the front end of the second platform and the front guide rail, and between the rear end of the second platform and the rear guide rail.

4. The rescue robot according to claim 2, characterized in that: It also includes a wheel-track adjustment swing arm, a first wheel-track adjustment arm, and a second wheel-track adjustment arm, wherein one end of the first wheel-track adjustment arm is hinged to the first platform, the other end of the first wheel-track adjustment arm is hinged to the wheel-track adjustment swing arm, one end of the second wheel-track adjustment arm is hinged to the second platform, the other end of the second wheel-track adjustment arm is hinged to the wheel-track adjustment swing arm, the wheel-track adjustment drive device is transmission-connected to the wheel-track adjustment swing arm, the wheel-track adjustment drive device can drive the wheel-track adjustment swing arm to rotate, and the rotation of the wheel-track adjustment swing arm can drive the first platform and the second platform to move closer to or farther away from each other.

5. The rescue robot according to claim 4, characterized in that: The wheel-track adjustment driving device is a wheel-track adjustment motor, a housing of the wheel-track adjustment driving device is fixedly arranged on the support plate, and a power output shaft of the wheel-track adjustment driving device is fixedly connected to the wheel-track adjustment swing arm.

6. The rescue robot according to claim 1, characterized in that: The frame is square, and is bisected symmetrically by a first longitudinal plane. The support plate is disposed symmetrically about the first longitudinal plane, and the first platform and the second platform can move symmetrically about the first longitudinal plane.

7. The rescue robot according to claim 6, characterized in that: It also includes a first wheelbase adjustment swing arm, a first front adjustment arm, a first front leg, a first rear adjustment arm and a first rear leg; the first front leg is rotatably arranged on the first carrier around a first axis, one end of the first front leg is hinged to the first front wheel, the other end of the first front leg is hinged to one end of the first front adjustment arm, and the other end of the first front adjustment arm is hinged to the first wheelbase adjustment swing arm; the first rear leg is rotatably arranged on the first carrier around a second axis, one end of the first rear leg is hinged to the first rear wheel, the other end of the first rear leg is hinged to one end of the first rear adjustment arm, and the other end of the first rear adjustment arm is hinged to the first wheelbase adjustment swing arm; the first wheelbase adjustment drive device is transmission-connected to the first wheelbase adjustment swing arm, the first wheelbase adjustment drive device can drive the first wheelbase adjustment swing arm to rotate, and the rotation of the first wheelbase adjustment swing arm can drive the first front wheel and the first rear wheel to move closer to or away from each other.

8. The rescue robot according to claim 7, characterized in that: It also includes a second wheelbase adjustment swing arm, a second front adjustment arm, a second front leg, a second rear adjustment arm and a second rear leg; the second front leg is rotatably arranged on the second carrier around a third axis, one end of the second front leg is hinged to the second front wheel, the other end of the second front leg is hinged to one end of the second front adjustment arm, and the other end of the second front adjustment arm is hinged to the second wheelbase adjustment swing arm; the second rear leg is rotatably arranged on the second carrier around a fourth axis, one end of the second rear leg is hinged to the second rear wheel, the other end of the second rear leg is hinged to one end of the second rear adjustment arm, and the other end of the second rear adjustment arm is hinged to the second wheelbase adjustment swing arm; the second wheelbase adjustment drive device is transmission-connected to the second wheelbase adjustment swing arm, the second wheelbase adjustment drive device can drive the second wheelbase adjustment swing arm to rotate, and the rotation of the second wheelbase adjustment swing arm can drive the second front wheel and the second rear wheel to move closer to or away from each other.

9. The rescue robot according to claim 8, characterized in that: The first wheelbase adjustment swing arm and the second wheelbase adjustment swing arm are symmetrical about the first longitudinal plane, the first front adjustment arm and the second front adjustment arm are symmetrical about the first longitudinal plane, the first front leg and the second front leg are symmetrical about the first longitudinal plane, the first rear adjustment arm and the second rear adjustment arm are symmetrical about the first longitudinal plane, the first rear leg and the second rear leg are symmetrical about the first longitudinal plane, and the first wheelbase adjustment drive device and the second wheelbase adjustment drive device are symmetrical about the first longitudinal plane.

10. The rescue robot according to claim 1, characterized in that: It also includes a controller and a battery, wherein the controller is in communication connection with the wheelbase adjustment drive device, the first wheelbase adjustment drive device, and the second wheelbase adjustment drive device, and the controller can control the wheelbase adjustment drive device, the first wheelbase adjustment drive device, and the second wheelbase adjustment drive device to work; The battery is electrically connected to the controller, the wheelbase adjustment drive device, the first wheelbase adjustment drive device and the second wheelbase adjustment drive device, and the battery can supply power to the controller, the wheelbase adjustment drive device, the first wheelbase adjustment drive device and the second wheelbase adjustment drive device.

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