Exploration rescue robot

Abstract

The exploration rescue robot comprises a machine body, a transmission mechanism and a rescue mechanism, wherein the transmission mechanism and the rescue mechanism are arranged on the machine body; the transmission mechanism comprises a transmission wheel assembly and a propelling assembly arranged on the side, close to the transmission wheel assembly, of the machine body, the transmission wheel assembly is connected with the machine body through a damping assembly, and the propelling assembly comprises a floating piece and a propeller arranged on the two sides of the machine body; the rescue mechanism comprises a functional assembly wall breaking assembly arranged on the side, away from the transmission wheel assembly, of the machine body, and the functional assembly comprises a positioning piece and a camera which are arranged on the machine body. According to the underwater exploration robot, the machine body is driven to advance on the road surface through the transmission wheel assembly, obstacles are broken through the wall breaking assembly for trapped persons, when the underwater exploration robot works underwater, buoyancy can be provided for the machine body through the floating piece, power is provided through the propeller so that the underwater exploration function can be achieved, and the positioning piece and the camera can obtain information of the disaster environment in real time; and rescue personnel can be replaced to carry out rescue actions under some emergency conditions.

Description

Technical Field

[0001] The utility model relates to the field of rescue, in particular to an exploration and rescue robot. Background Art

[0002] In recent years, natural disasters and man-made accidents have occurred frequently around the world, seriously affecting people's lives and property safety, and have attracted widespread attention from the society. After a disaster occurs, if the on-site situation can be obtained as soon as possible and the location of the survivors can be found, it is of great significance for further rescue work and reducing casualties.

[0003] At present, during the fire training survey, it was found that the current fire rescue work methods are relatively backward. The rescue work still relies on firefighters to enter the disaster-stricken areas, conduct carpet surveys of each area to find trapped people, and then implement rescue measures.

[0004] However, in some emergency situations, manual rescue work by firefighters is very dangerous, takes a long time, is inefficient, and may even make it impossible to enter the disaster-stricken areas, which greatly hinders the rescue work. Utility Model Content

[0005] Based on this, the purpose of the utility model is to provide an exploration and rescue robot, which aims to solve the problem that in some emergency situations, firefighters' manual rescue work is very dangerous, has a long rescue cycle, is inefficient, and may even be unable to enter the disaster area.

[0006] To achieve the above-mentioned purpose, the utility model is implemented through the following technical solutions: an exploration and rescue robot, comprising a body, a transmission mechanism and a rescue mechanism arranged on the body;

[0007] The transmission mechanism comprises a transmission wheel assembly symmetrically arranged on both sides of the machine body, and a propulsion assembly arranged on a side of the machine body close to the transmission wheel assembly, wherein the transmission wheel assembly is connected to the machine body through a shock absorbing assembly, and the propulsion assembly comprises floating parts arranged on both sides of the machine body, and a propeller arranged on a side of the machine body close to the road surface;

[0008] The rescue mechanism includes a functional component arranged on a side of the machine body away from the transmission wheel component, and a wall breaking component arranged on the same side as the propulsion component, wherein the functional component includes a positioning member and a camera arranged on the machine body;

[0009] Among them, the transmission wheel assembly drives the body to move on the road surface and breaks down obstacles through the wall-breaking assembly. The propeller and the floating component are used to drive the body for underwater exploration. The positioning component and the camera are used to obtain environmental information in real time.

[0010] In summary, according to the above utility model, an exploration and rescue robot is proposed. The transmission wheel assembly drives the machine body to move on the road surface, and the wall breaking assembly removes obstacles for trapped persons. When working underwater, the floating member can provide buoyancy for the machine body, and the propeller can provide power to realize the function of underwater exploration. The positioning member and the camera can obtain information about the disaster environment in real time, and can replace rescue personnel to perform rescue operations in some emergency situations. Specifically, the exploration and rescue robot includes a machine body, a transmission mechanism and a rescue mechanism arranged on the machine body. The transmission mechanism includes a transmission wheel assembly symmetrically arranged on both sides of the machine body, and a propulsion assembly arranged on one side of the machine body close to the transmission wheel assembly. The transmission wheel assembly is connected to the machine body through a shock absorbing assembly. The propulsion assembly includes a floating member arranged on both sides of the machine body, and a propeller arranged on one side of the machine body close to the road surface. The transmission wheel assembly drives the machine body to move on the road surface. When underwater, the floating member can provide buoyancy for the machine body, and the propeller can provide power to realize the function of underwater exploration. The rescue mechanism includes a functional component arranged on the side of the body away from the transmission wheel component, and a wall breaking component arranged on the same side as the propulsion component to break obstacles for trapped persons. The functional component includes a positioning piece and a camera arranged on the body to obtain information about the disaster environment in real time.

[0011] Furthermore, the transmission wheel assembly includes a first transmission wheel, a second transmission wheel and a third transmission wheel which are symmetrically arranged on both sides of the body, the first transmission wheel and the second transmission wheel are connected to the side of the body through a shock absorbing assembly, and the third rotating wheel is connected to the side of the body through a connecting bolt.

[0012] Furthermore, the shock absorbing assembly includes a connecting plate, a cylinder arranged on the connecting plate, a connecting bracket movably connected to the cylinder, and a hydraulic cylinder movably connected to the cylinder, and the hydraulic cylinder and the connecting bracket are both rotatably connected to the machine body at one end away from the cylinder to adjust the distance between the first transmission wheel, the second transmission wheel and the machine body.

[0013] Furthermore, the first transmission wheel, the second transmission wheel, and the third transmission wheel are all provided with motors for use with them.

[0014] Furthermore, the first transmission wheel and the second transmission wheel are connected via a transmission belt.

[0015] Furthermore, the propeller is rotatably connected to the body via a bearing.

[0016] Furthermore, the wall breaking assembly includes a plurality of guide rails arranged on the body, racks and gears arranged in the guide rails, and a mechanical arm movably connected to the gears, and the racks reciprocate along the length direction of the guide rails to drive the gears to rotate.

[0017] Furthermore, a drill bit or a manipulator is provided at one end of the manipulator arm away from the gear, and the gear drives the drill bit and the manipulator to rotate.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0020] Figure 1 This is a schematic diagram of the structure of an exploration and rescue robot in one embodiment of the utility model;

[0021] Figure 2 for Figure 1 Side view of the exploration and rescue robot;

[0022] Figure 3 It is a structural schematic diagram of the shock absorbing component;

[0023] Figure 4 This is a schematic diagram of the rescue organization's structure;

[0024] Figure 5 It is a schematic diagram of the structure of the propulsion assembly;

[0025] Figure 6 It is the transmission diagram of the wall breaking component.

[0026] Component symbol description:

[0027] Body 100, transmission mechanism 200, transmission wheel assembly 210, first transmission wheel 211, second transmission wheel 212, third transmission wheel 213, connecting bolt 214, motor 215, transmission belt 216, propulsion assembly 220, floating member 221, propeller 222, bearing 223, shock absorbing assembly 230, connecting plate 231, cylinder 232, connecting bracket 233, hydraulic cylinder 234, rescue mechanism 300, functional assembly 310, positioning member 311, camera 312, wall breaking assembly 320, guide rail 321, rack 322, gear 323, robotic arm 324, drill bit 325, robotic arm 326. DETAILED DESCRIPTION

[0028] In order to make the purpose, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. Several embodiments of the utility model are given in the accompanying drawings. However, the utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and comprehensive.

[0029] It should be noted that when an element is referred to as being "fixed on" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right", "upper", "lower" and similar expressions used herein are for illustrative purposes only and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model.

[0030] 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 connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0031] See also Figure 1-Figure 6 , shown is an exploration and rescue robot provided in one embodiment of the utility model, the exploration and rescue robot comprises a body 100, a transmission mechanism 200 and a rescue mechanism 300 arranged on the body 100, wherein:

[0032] In order to provide a power source for the machine body 100, the transmission mechanism 200 includes a transmission wheel assembly 210 symmetrically arranged on both sides of the machine body 100, and a propulsion assembly 220 arranged on one side of the machine body 100 close to the transmission wheel assembly 210. The transmission wheel assembly 210 is used to drive the machine body 100 to move on land, and the propulsion assembly 220 is used to conduct underwater exploration to obtain disaster information in the disaster area, so as to effectively carry out rescue.

[0033] In order to facilitate the fixing of the machine body 100, a fixing bracket can be provided on the lower end surface of the machine body 100 for connecting the transmission wheel assembly 210 and the propulsion assembly 220. The transmission wheel assembly 210 includes a pair of first transmission wheels 211, a pair of second transmission wheels 212, and a pair of third transmission wheels 213 symmetrically arranged on both sides of the machine body 100. Each transmission wheel is equipped with a motor 215 to drive the paired transmission wheels. The third transmission wheel 213 is directly connected to the rear side of the fixing bracket through a connecting bolt 214, one end of the connecting bolt 214 is fixed to both sides of the machine body 100 by fasteners such as nuts or screws, and the other end is directly arranged between the third transmission wheel 213 and the motor 215, so that the third transmission wheel 213 supplies driving force for the machine body 100.

[0034] The first transmission wheel 211 and the second transmission wheel 212 arranged on the same side of the machine body 100 are connected to the fixed bracket through the shock absorbing assembly 230. The shock absorbing assembly 230 includes a connecting plate 231, a cylinder 232 arranged on the connecting plate 231, a connecting bracket 233 movably connected to the cylinder 232, and a hydraulic cylinder 234 movably connected to the cylinder 232. The front and rear ends of the connecting plate 231 are respectively used to install the first transmission wheel 211 and the second transmission wheel 212. The first transmission wheel 211 and the second transmission wheel 212 and the motor 215 equipped therewith are respectively arranged on both sides of the connecting plate 231, and one end of the cylinder 232 is directly fixed to the center of the connecting plate 231 for connecting the cylinder 232 and the first transmission wheel 211 and the second transmission wheel 212. Two V-shaped connecting brackets 233 are arranged at one end of the cylinder 232 away from the connecting plate 231 for connecting to the fixed bracket. In addition, one of the connecting brackets 233 is directly connected to the side of the body 100 through a hydraulic cylinder 234. The hydraulic cylinder 234, the two connecting brackets 233, and the cylinder 232 together form a four-bar linkage. The hydraulic cylinder 234 is an actuator of the four-bar linkage. The hydraulic cylinder 234 drives the four-bar linkage to rise and fall and retract. The cylinder 232 reduces the vibration of the vehicle body by controlling the air pressure to improve the shock absorption performance of the frame and the vehicle body. The four-bar linkage controls the rise and fall and retraction of the first transmission wheel 211 and the second transmission wheel 212, thereby adjusting the height of the body 100 from the ground, so that the exploration and rescue robot can be applied to a variety of complex geographical environments, thereby improving its versatility and reliability. At the same time, the design of the cylinder 232 and the hydraulic cylinder 234 can make the exploration and rescue robot have a good shock absorption effect and keep the body 100 as stable as possible.

[0035] In order to increase its gripping area, a transmission belt 216 is further provided on the periphery of the first transmission wheel 211 and the second transmission wheel 212. The transmission belt 216 is meshedly connected with the first transmission wheel 211 and the second transmission wheel 212. The transmission belts 216 on both sides increase the contact area with the ground, thereby increasing its traveling ability and gripping ability. The transmission belt 216 in this embodiment adopts a neoprene pedal track.

[0036] When the exploration and rescue robot is underwater, the propulsion assembly 220 provides power so that the exploration and rescue robot can also collect disaster information underwater. The propulsion assembly 220 includes a floating member 221 arranged on both sides of the body 100, and a propeller 222 arranged on the side of the body 100 close to the road surface. The robot sinks quickly by changing the weight of the fuselage based on the "buoyancy law" (the principle of the sinking and floating of submarines). A pressure chamber, an air valve, an exhaust port and a drain port are provided in the floating member 221, which discharges the water in the floating member 221 to enhance its buoyancy, thereby allowing it to float in the water for operation; and when it needs to dive, it exhausts the air and absorbs water to increase its own weight, so that the gravity is greater than the buoyancy, so that it dives, thereby realizing the function of underwater operation. The air valve is used for the intake and exhaust of air, and the pressure chamber is used to display the current air pressure inside the floating member 221.

[0037] In order to provide power to the exploration and rescue robot and help the exploration and rescue robot realize steering function during underwater operation, a bearing 223 is provided on the fixed bracket, one end of the propeller 222 is connected to the fixed bracket through the bearing 223, and a propeller is provided at the end of the propeller 222 away from the bearing 223. By controlling the rotation of the propeller and adjusting the propulsion angle of the propeller 222, the exploration and rescue robot can be propulsed 360 degrees without dead angles. It is helpful to collect rescue information.

[0038] In order to collect the current environmental information in real time, a rescue mechanism 300 is provided on the body 100. The rescue mechanism 300 includes a functional component 310 provided on the upper end surface of the body 100, and a wall breaking component 320 provided on the lower end surface. The functional component 310 includes a positioning member 311 and a camera 312 provided on the body 100. The positioning member 311 is used to locate the current position of the exploration rescue robot in real time, and the camera 312 is a 360° infrared camera 312, which adopts infrared thermal imaging technology and three-dimensional laser scanning technology, has a concealed detection function, is suitable for any lighting environment, and realizes 24-hour monitoring day and night to collect current environmental information.

[0039] The wall breaking assembly 320 includes a plurality of guide rails 321 disposed on the machine body 100, a rack 322 and a gear 323 disposed in the guide rails 321, and a mechanical arm 324 movably connected to the gear 323. The guide rail 321 is disposed in the center of the fixed bracket and is arranged parallel to the first transmission wheel 211 and the second transmission wheel 212. A rack 322 is disposed in the guide rail 321 along its length direction, and the gear 323 is meshed and connected with the rack 322. A mechanical arm 324 is disposed on the gear 323. In this embodiment, the number of the guide rails 321 is two, and correspondingly, the number of the mechanical arms 324 is also two, and the two mechanical arms 324 are respectively provided with a drill 325 and a mechanical hand 326. Compared with the mode in which the transmission gear 323 rotates on the rack 322, in this embodiment, the rotary motion of the gear 323 is converted into the reciprocating motion of the rack 322, thereby increasing the power of the drill 325, so that the drill 325 can scrape the surface of the object better and penetrate the object better. At the same time, it is convenient for the manipulator 326 to grab and remove obstacles. The above-mentioned mechanical arm 324 is a six-degree-of-freedom mechanical arm 324, which can be connected to the flexible manipulator 326 and the electric drill 325. Through hierarchical control, the external movement of the robot is assisted to improve the flexibility and stability of grasping.

[0040] It should be emphasized that a lithium battery pack, a centrifugal pump, a DSP processing chip and a photosensitive chip are arranged inside the body 100. The centrifugal pump transfers energy by utilizing the change in the volume of its working chamber. Under the action of inertial centrifugal force, the water in the pump is ejected, and a vacuum area is formed in the center of the impeller.

[0041] In summary, according to the above utility model, an exploration and rescue robot is proposed. The transmission wheel assembly drives the machine body to move on the road surface, and the wall breaking assembly removes obstacles for trapped persons. When working underwater, the floating member can provide buoyancy for the machine body, and the propeller can provide power to realize the function of underwater exploration. The positioning member and the camera can obtain information about the disaster environment in real time, and can replace rescue personnel to perform rescue operations in some emergency situations. Specifically, the exploration and rescue robot includes a machine body, a transmission mechanism and a rescue mechanism arranged on the machine body. The transmission mechanism includes a transmission wheel assembly symmetrically arranged on both sides of the machine body, and a propulsion assembly arranged on one side of the machine body close to the transmission wheel assembly. The transmission wheel assembly is connected to the machine body through a shock absorbing assembly. The propulsion assembly includes a floating member arranged on both sides of the machine body, and a propeller arranged on one side of the machine body close to the road surface. The transmission wheel assembly drives the machine body to move on the road surface. When underwater, the floating member can provide buoyancy for the machine body, and the propeller can provide power to realize the function of underwater exploration. The rescue mechanism includes a functional component arranged on the side of the body away from the transmission wheel component, and a wall breaking component arranged on the same side as the propulsion component to break obstacles for trapped persons. The functional component includes a positioning piece and a camera arranged on the body to obtain information about the disaster environment in real time.

[0042] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0043] The above-mentioned embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. An exploration and rescue robot, characterized in that: It comprises a machine body, a transmission mechanism and a rescue mechanism arranged on the machine body; The transmission mechanism comprises a transmission wheel assembly symmetrically arranged on both sides of the machine body, and a propulsion assembly arranged on a side of the machine body close to the transmission wheel assembly, wherein the transmission wheel assembly is connected to the machine body through a shock absorbing assembly, and the propulsion assembly comprises floating parts arranged on both sides of the machine body, and a propeller arranged on a side of the machine body close to the road surface; The rescue mechanism includes a functional component arranged on a side of the machine body away from the transmission wheel component, and a wall breaking component arranged on the same side as the propulsion component, wherein the functional component includes a positioning member and a camera arranged on the machine body; Among them, the transmission wheel assembly drives the body to move on the road surface and breaks down obstacles through the wall-breaking assembly. The propeller and the floating component are used to drive the body for underwater exploration. The positioning component and the camera are used to obtain environmental information in real time.

2. The exploration and rescue robot according to claim 1, characterized in that: The transmission wheel assembly includes a first transmission wheel, a second transmission wheel and a third transmission wheel which are symmetrically arranged on both sides of the body. The first transmission wheel and the second transmission wheel are connected to the side of the body through a shock absorbing assembly, and the third transmission wheel is connected to the side of the body through a connecting bolt.

3. The exploration and rescue robot according to claim 2, characterized in that: The shock absorbing assembly includes a connecting plate, a cylinder arranged on the connecting plate, a connecting bracket movably connected to the cylinder, and a hydraulic cylinder movably connected to the cylinder. The hydraulic cylinder and the connecting bracket are both rotatably connected to the machine body at one end away from the cylinder to adjust the distance between the first transmission wheel, the second transmission wheel and the machine body.

4. The exploration and rescue robot according to claim 3, characterized in that: The first transmission wheel, the second transmission wheel, and the third transmission wheel are all provided with motors for use with them.

5. The exploration and rescue robot according to claim 4, characterized in that: The first transmission wheel and the second transmission wheel are also connected via a transmission belt.

6. The exploration and rescue robot according to claim 1, characterized in that: The propeller is rotatably connected to the machine body via a bearing.

7. The exploration and rescue robot according to claim 1, characterized in that: The wall breaking assembly includes a plurality of guide rails arranged on the machine body, racks and gears arranged in the guide rails, and a mechanical arm movably connected to the gears. The racks reciprocate along the length direction of the guide rails to drive the gears to rotate.

8. The exploration and rescue robot according to claim 7, characterized in that: A drill bit or a manipulator is provided at one end of the manipulator arm away from the gear, and the gear drives the drill bit and the manipulator to rotate.

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