Earthquake obstacle removing robot

Abstract

The invention provides a rescue obstacle removing robot which is mainly used for removing road obstacles in an earthquake environment. The structure of the obstacle removing robot is composed of an obstacle removing mechanism, a lifting mechanism and a moving mechanism, and the obstacle removing robot has the stable moving capacity and the efficient obstacle removing capacity. The obstacle removing mechanism is controlled by a hydraulic cylinder, and the obstacle removing angle can be efficiently adjusted. The lifting mechanism stretches out and draws back through a spring so that the shell can move up and down and then drive the barrier removing mechanism to move up and down. The moving mechanism moves on a complex road through belt wheels installed at the four corners of the bottom of the moving mechanism and a crawler belt installed on the outer sides of the belt wheels, and the obstacle removing robot can flexibly move in the severe earthquake environment through the crawler belt. Through mutual cooperation of the three mechanisms, the obstacle removing robot can complete the efficient obstacle removing task in the severe earthquake environment.

Description

Technical Field

[0001] The present invention belongs to the field of obstacle-removing robots, and particularly relates to an earthquake rescue obstacle-removing robot. Background Art

[0002] With the rapid development of the world's technology industry, this has enabled rescue obstacle-removing technology to achieve higher automation. Because as a sign of intelligent robots, obstacle-removing robots have high stability and rescue obstacle-removing efficiency. If obstacle-removing robots are used, the difficulty of the rescue environment can be greatly reduced, and the rescue work in the earthquake area can be quickly promoted. Obstacle-removing robots can work continuously, and at the same time, the cost is also greatly reduced. It solves the influence of environmental factors on rescue. Although obstacle-removing robots have improved people's rescue environment, they have not improved the efficiency of clearing obstacles.

[0003] Therefore, people need to assist through external equipment to help the obstacle-removing robot reach the predetermined obstacle-removing position and complete the set target tasks. The current solution is to use the work of obstacle-removing robots to replace human rescue obstacle-removing work. Although the problem of manual rescue has been solved, using a large amount of resources not only greatly increases the cost of rescue, but also consumes a large amount of resources. In addition to the above problems, when encountering large obstacles in the rescue area, it is necessary to consider calling equipment such as large cranes to remove the obstacles or re-plan the rescue route. The obstacle-removing equipment is equipped with a lidar, which can accurately detect the distance and contour of obstacles and provide basic data for path planning. It is also equipped with infrared ranging sensors evenly distributed at the front end, which can quickly respond in close-range detection to prevent the robot from colliding with obstacles. A clearing mechanism is assembled at the front end to clear the obstacles on the path; a clearing mechanism is also equipped at the bottom to ensure normal forward movement. During operation, the staff remotely controls the work of the robot. Summary of the Invention

[0004] In view of the above problems, the content of the present invention is an earthquake rescue obstacle-removing robot. The main research goal is to complete the road cleaning in the earthquake area to facilitate the subsequent rescue work to proceed quickly and smoothly.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] The specific structure of the obstacle-removing mechanism is as follows: The motor (12) is connected to the hydraulic cylinder (13), the hydraulic cylinder (13) is connected to the hydraulic rod (15), the motor (12) is connected to the lower side plate of the bottom of the housing (10) by bolts, the left plate (1) is connected to the right plate (3) by a hinge (2), the lidar (25) is connected to the upper side of the bottom of the housing (10) by bolts, the infrared ranging sensors (24) are evenly distributed around the housing (10), and the bottom obstacle-clearing integrated mechanism (8) is connected to the lower side of the bottom of the housing (10) through the lower support rod (21);

[0007] The specific structure of the lifting mechanism is as follows: The electromagnet (23) and the spring (19) are connected by an iron core. The spring (19) is connected to the lifter (18). The lifter (18) is connected to the bottom of the casing (10) by bolts. The motor (14) is connected to the bottom of the casing (22) by bolts. The spring (13) is connected to the bottom casing (22).

[0008] The specific structure of the moving mechanism is as follows: The motor (9) is connected to the transmission shaft (4). The transmission shaft (4) is connected to the belt pulley (16) by meshing. The gear (6) is connected to the belt pulley (16) through the transmission shaft (4). The belt pulley (16) is connected to the crawler (7) by meshing. The transmission shaft (4) is connected to the gear (6) by meshing. The transmission shaft (4) is connected to the side plate (5). The beneficial effects of the present invention are as follows:

[0009] (1) For the rescue and obstacle removal robot of the present invention, the obstacle removal mechanism is the basic structure during the movement of the obstacle removal robot. The design of the obstacle removal mechanism determines that the obstacle removal robot clears obstacles on the selected path and reflects the high efficiency of clearing obstacles, which plays a key role in the subsequent rescue work. The upper obstacle clearing mechanism adopts a double-plate design with adjustable angles, which can adjust the angles in the face of obstacles of different sizes. The bottom integrated obstacle clearing mechanism has the same width as the bottom body of the vehicle, ensuring normal forward movement.

[0010] (2) For the obstacle removal robot of the present invention, through the analysis of the rescue work, the obstacle removal robot moves in the earthquake area. Therefore, the bottom moving device adopts a double-crawler type, which can show good adaptability and flexibility in various environments, can maintain balance, and adapt to the undulations of different ground surfaces. A lidar is installed on the top, which can accurately detect the distance and contour of obstacles and provide basic data for path planning. Description of the Drawings

[0011] Figure 1 It is the main view of the structure of the rescue and obstacle removal robot;

[0012] Figure 2 It is the side view of the structure of the rescue and obstacle removal robot;

[0013] Figure 3 It is the top view of the structure of the rescue and obstacle removal robot;

[0014] Figure 4 It is the overall three-dimensional schematic diagram of the rescue and obstacle removal robot;

[0015] Figure 5 It is the working flow chart of the rescue and obstacle removal robot;

[0016] In the figure, 1 is the left plate; 2 is the hinge; 3 is the right plate; 4 is the transmission shaft; 5 is the side disc; 6 is the gear; 7 is the crawler; 8 is the integrated bottom obstacle clearing mechanism; 9 is the motor; 10 is the housing; 11 is the hinge; 12 is the motor; 13 is the hydraulic cylinder; 14 is the support rod; 15 is the hydraulic rod; 16 is the pulley; 17 is the motor; 18 is the lifter; 19 is the spring; 20 is the support column; 21 is the lower support rod; 22 is the bottom housing; 23 is the electromagnet; 24 is the infrared ranging sensor; 25 is the lidar. Specific implementation method

[0018] The specific implementation process of the method of the present invention will be further described in conjunction with the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0019] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , during the movement of the robot, the data measured by the lidar is fed back to the staff, and the staff determines the lifting height of the lifting mechanism through remote control. After the height is determined, the robot moves along the planned route under the movement of the moving mechanism to clear the obstacles on the route. When the encountered obstacles hinder the movement of the robot, the staff adjusts the angle between the two plates of the obstacle clearing mechanism to be able to clear larger obstacles and ensure the smooth progress of the obstacle clearing work.

[0020] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , the obstacle clearing mechanism is driven by the motor (12) to drive the hydraulic cylinder (13), and the hydraulic cylinder (13) drives the hydraulic rod (15) to expand and contract. The expansion and contraction of the hydraulic rod (15) drives the left plate (1) and the right plate (3) to swing. The support rod (14) slides along the grooves in the left plate (1) and the right plate (3) under the push of the hydraulic rod (15) and provides support. The encountered obstacles are cleared along both sides of the left plate (1) and the right plate (3) to achieve the purpose of obstacle clearing. The lidar (25) accurately detects the distance and contour of the obstacles and provides basic data for path planning. At the same time, the infrared ranging sensors (24) are evenly distributed at the front end and quickly respond in close-range detection to prevent the robot from colliding with obstacles.

[0021] Please refer to Figure 1 , Figure 2 , Figure 3, the lifting mechanism is driven by the rotation of the motor (17) to stretch and compress the spring (19). The stretching and compression of the spring (19) drive the lifting of the lifter (18). The lifting of the lifter (18) drives the up and down movement of the machine housing (10). The up and down movement of the machine housing (10) drives the up and down movement of the hydraulic cylinder (13). The up and down movement of the hydraulic cylinder (13) drives the up and down movement of the hydraulic rod (15). The up and down movement of the hydraulic rod (15) drives the up and down movement of the left plate (1) and the right plate (3).

[0022] Please refer to Figure 1 , Figure 2 , Figure 3 , the moving mechanism is driven by the motor (9) to drive the gear (6). The rotation of the gear (6) drives the rotation of the belt pulley (16), and then the belt pulley (16) drives the crawler belt (7) to realize the movement of the rescue and obstacle removal robot in the earthquake environment.

[0023] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A rescue and obstacle-removing robot, characterized in that It includes an obstacle removal mechanism, a lifting mechanism, and a moving mechanism; The specific structure of the described obstacle removal mechanism is as follows: The motor (12) is connected to the hydraulic cylinder (13), the hydraulic cylinder (13) is connected to the hydraulic rod (15), the motor (12) is connected to the lower side plate at the bottom of the outer shell (10) by bolts. The left plate (1) is connected to the right plate (3) by a hinge (2). The lidar (25) is connected to the upper side plate at the bottom of the outer shell (10) by bolts. The infrared ranging sensors (24) are evenly distributed around the outer shell (10). The bottom obstacle removal integrated mechanism (8) is connected to the lower side of the bottom of the outer shell (10) through the lower support rod (21); The specific structure of the described lifting mechanism is as follows: The electromagnet (23) is connected to the spring (19) through the iron core. The spring (19) is connected to the lifter (18). The lifter (18) is connected to the bottom plate of the machine shell (10) by bolts. The motor (17) is connected to the bottom plate of the machine shell (22) by bolts. The spring (19) is connected to the bottom plate of the machine shell (22); The specific structure of the described moving mechanism is as follows: The motor (9) is connected to the transmission shaft (4). The transmission shaft (4) is connected to the belt pulley (16) through meshing. The gear (6) is connected to the belt pulley (16) through the transmission shaft (4). The belt pulley (16) is connected to the crawler (7) through meshing. The transmission shaft (4) is connected to the gear (6) through meshing. The transmission shaft (4) is connected to the side plate (5).

2. The rescue and obstacle-removing robot according to claim 1, wherein, The described obstacle removal mechanism is driven by the motor (12) to drive the hydraulic cylinder (13). The hydraulic cylinder (13) drives the hydraulic rod (15) to extend and retract. The extension and retraction of the hydraulic rod (15) drive the swing of the left plate (1) and the right plate (3). The support rod (14) slides along the grooves in the left plate (1) and the right plate (3) under the push of the hydraulic rod (15).

3. The rescue and obstacle-removing robot according to claim 1, wherein, The described lifting mechanism is driven by the motor (17) to drive the electromagnet (23). The iron core of the electromagnet (23) drives the elongation and compression of the spring (19). The compression of the spring (19) drives the lifting of the lifter (18). The lifting of the lifter (18) drives the machine shell (10) to move up and down. The up and down movement of the machine shell (10) drives the up and down movement of the hydraulic cylinder (13). The up and down movement of the hydraulic cylinder (13) drives the up and down movement of the hydraulic rod (15). The up and down movement of the hydraulic rod (15) drives the up and down movement of the left plate (1) and the right plate (3).

4. The rescue and obstacle-removing robot according to claim 1, wherein The described moving mechanism is driven by the motor (9) to drive the gear (6). The rotation of the gear (6) drives the rotation of the belt pulley (16). Then, the belt pulley (16) drives the crawler (7) to realize the movement of the rescue and obstacle removal robot in the earthquake environment.

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