Bionic spider search and rescue robot after disaster

Abstract

The utility model relates to the technical field of search and rescue robots, and provides a bionic spider post-disaster search and rescue robot which comprises a robot head, an abdomen jack and six leg hydraulic mechanisms. A head connecting frame is arranged on the abdomen jack, and a robot head is mounted on the head connecting frame; the two sides of the abdomen jack are each provided with three sets of leg hydraulic mechanisms. The leg hydraulic mechanism comprises a first joint, a first joint hydraulic device, a first joint connecting piece, a second joint connecting piece, a second joint hydraulic device, a joint connecting rod, a second joint, a third joint, a leg and a foot. The rescue robot can quickly move in narrow ruins to carry out search and rescue after disasters, barriers such as broken stones in the search process can be cleaned, and the search and rescue efficiency and the safety of search and rescue personnel are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of search and rescue robots, in particular to a bionic spider post-disaster search and rescue robot. Background Art

[0002] my country has a vast territory and a wide variety of geological disasters. If an earthquake occurs, search and rescue must be carried out immediately. However, the space in the ruins is small, manual search and rescue is difficult, the search and rescue progress is slow, and it is easy to miss the best rescue time. Therefore, the search and rescue process needs to be equipped with search and rescue equipment.

[0003] Tracked search and rescue robots are relatively common search and rescue equipment. They have certain obstacle-crossing capabilities, but they are relatively large in size and not flexible enough to move freely in the ruins. Their limited movements and low environmental adaptability make search and rescue difficult after geological disasters, especially earthquake disasters. In addition, current search and rescue robots can only search but not clear obstacles. Utility Model Content

[0004] The utility model mainly solves the technical problems that the crawler search and rescue robots in the prior art are relatively large in size, not flexible enough in walking, cannot move freely in the ruins, and have limited movements. A bionic spider post-disaster search and rescue robot is proposed, which can move quickly in narrow ruins to carry out post-disaster search and rescue, and can clear obstacles such as rubble encountered during the search process, thereby improving the search and rescue efficiency and the safety of the search and rescue personnel.

[0005] The utility model provides a bionic spider post-disaster search and rescue robot, comprising: a robot head, an abdominal jack and six groups of leg hydraulic mechanisms;

[0006] A head connecting frame is arranged on the abdominal jack, and a robot head is mounted on the head connecting frame;

[0007] Three sets of leg hydraulic mechanisms are installed on each side of the abdominal jack;

[0008] The leg hydraulic mechanism comprises: a first joint, a first joint hydraulic device, a first joint connecting piece, a second joint connecting piece, a second joint hydraulic device, a joint connecting rod, a second joint, a third joint, a leg and a foot;

[0009] The first joint is movably connected to the first joint connecting piece, and the second joint connecting piece and the joint connecting rod are respectively fixedly connected to the first joint; the second joint connecting piece is movably connected to the first joint hydraulic device; the first joint hydraulic device is movably connected to the first joint connecting piece; the top of the first joint connecting piece is connected to the abdominal jack;

[0010] An articulated frame is provided on the joint connecting rod, and a mounting plate is provided at the end of the joint connecting rod, and the mounting plate is movably connected to the second joint; the articulated frame is movably connected to the second joint hydraulic device, and the second joint hydraulic device is movably connected to the second joint;

[0011] The second joint is fixedly connected to the leg, the leg is provided with a third joint, and the third joint is fixedly connected to the foot.

[0012] Preferably, two sides of the belly jack are respectively fixedly connected to a mounting frame.

[0013] Preferably, three groups of leg hydraulic mechanisms are installed on each mounting frame, and the three groups of leg hydraulic mechanisms are respectively located at both ends and a middle position of the mounting frame.

[0014] Preferably, the leg shell is mounted on the leg by screws.

[0015] Preferably, a set of mechanical clamping mechanisms is installed on each mounting frame, and the mechanical clamping mechanisms are located in the middle of the mounting frame.

[0016] Preferably, the mechanical gripper mechanism comprises: an upper limb connecting member, a gripper transmission unit, a gripper connecting member and a mechanical gripper;

[0017] The upper limb connecting piece is connected to the mounting frame;

[0018] The upper limb connecting piece is connected to the clamping claw connecting piece through the clamping claw transmission unit;

[0019] A mechanical clamp is installed on the clamp connector.

[0020] Preferably, the clamping jaw transmission unit comprises: a cam, a rocker rod, a first rotating shaft, a second rotating shaft, a first clamping jaw mechanism connecting rod, a triangular connecting member, a second clamping jaw mechanism connecting rod, a third clamping jaw mechanism connecting rod, a fourth clamping jaw mechanism connecting rod and a third rotating shaft;

[0021] The cam is mounted on the upper limb connecting piece via a first rotating shaft; a swing rod is movably connected to the cam; two first clamping mechanism connecting rods are movably connected to the swing rod via a second rotating shaft; the first clamping mechanism connecting rod is movably connected to the triangular connecting piece, and the end of the first clamping mechanism connecting rod is movably connected to the clamping connecting piece;

[0022] One end of the triangular connector is movably connected to the second clamping mechanism connecting rod, and the other end is movably connected to the third clamping mechanism connecting rod; the third clamping mechanism connecting rod is movably mounted on the upper limb connector;

[0023] Two fourth clamping mechanism connecting rods are installed on the first rotating shaft through bearings, and the fourth clamping mechanism connecting rods are movably connected to the triangular connecting member through the third rotating shaft.

[0024] Preferably, the mechanical gripper is equipped with an electric push rod.

[0025] Preferably, the robot head is equipped with an environment information collection system, and the environment information collection system is connected to an external control center signal.

[0026] The utility model provides a bionic spider post-disaster search and rescue robot, which has a leg hydraulic mechanism and a mechanical gripper mechanism; through six groups of leg hydraulic mechanisms, it can quickly move in narrow ruins to carry out post-disaster search and rescue, and two groups of mechanical gripper mechanisms can clear obstacles such as gravel encountered during the search process. The jack can push away obstacles in front, behind, left and right, and further assist in obstacle removal. It has a small shape, ingenious design, and reasonable layout. After the disaster occurs, the product is put into the disaster-stricken area. The combination of multiple groups of flexible lower limbs and a tiny body can shuttle freely in the narrow ruins to find trapped people and clear obstacles encountered during the search process, so as to achieve a simple rescue function and alleviate the situation of the trapped people. It can perform more dangerous tasks in the process of post-disaster search and rescue, ensure the personal safety of rescuers, improve search and rescue efficiency, and reduce casualties; the above effects have greatly improved the existing situation and greatly improved the post-disaster rescue capabilities. Therefore, it can be said that it has multiple advantages, is particularly suitable for promotion and application in this field, and has a very broad market prospect.

[0027] The utility model is small in size, agile in action, and multifunctional. It imitates the form and behavior of spiders and has flexibility, mobility, and adaptability. It can be used for investigation and rescue in dangerous environments and narrow spaces such as earthquakes and fires, and assist rescuers in positioning and search and rescue; it can also be used in military, archaeological and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of the bionic spider post-disaster search and rescue robot provided by the utility model;

[0029] Figure 2 This is a top view of the bionic spider post-disaster search and rescue robot provided by the utility model;

[0030] Figure 3 It is a structural schematic diagram of the belly jack and the mounting frame provided by the utility model;

[0031] Figure 4 It is a structural schematic diagram of the leg hydraulic mechanism provided by the utility model;

[0032] Figure 5 This is a schematic diagram of the structure of the mechanical clamp mechanism provided by the utility model. Figure 1 ;

[0033] Figure 6This is a schematic diagram of the structure of the mechanical clamp mechanism provided by the utility model. Figure 2 .

[0034] 1-leg hydraulic mechanism; 2-mechanical gripper mechanism; 3-first joint hydraulic device; 4-first joint connecting piece; 5-second joint hydraulic device; 6-second joint; 7-leg shell; 8-leg; 9-first joint; 10-joint connecting rod; 11-third joint; 12-foot; 13-upper limb connecting piece; 14-cam; 15-rocker rod; 16-fourth gripper mechanism connecting rod; 17-triangular connecting piece; 18-grip connecting piece; 19-mechanical gripper; 20-abdominal jack; 21-robot head; 22-head connecting frame; 23-articulated frame; 24-mounting plate; 25-second gripper mechanism connecting rod; 26-second joint connecting piece; 27-second rotating shaft; 28-first gripper mechanism connecting rod; 29-third gripper mechanism connecting rod; 30-mounting frame; 31-first rotating shaft; 32-third rotating shaft; 33-electric push rod. DETAILED DESCRIPTION

[0035] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the sake of ease of description, only the parts related to the present invention are shown in the accompanying drawings, rather than all of the contents.

[0036] like Figure 1-2 As shown, a bionic spider post-disaster search and rescue robot provided by an embodiment of the utility model includes: a robot head 21, an abdominal jack 20 and six groups of leg hydraulic mechanisms 1.

[0037] The abdominal jack 20 is provided with a head connecting frame 22 , and the robot head 21 is mounted on the head connecting frame 22 .

[0038] Three sets of leg hydraulic mechanisms 1 are installed on both sides of the abdominal jack 20. Specifically, Figure 3 As shown, the two sides of the belly jack 20 are respectively fixedly connected to a mounting frame 30. Three sets of leg hydraulic mechanisms 1 are installed on each mounting frame, and the three sets of leg hydraulic mechanisms 1 are respectively located at the two ends and the middle position of the mounting frame 30.

[0039] like Figure 4 As shown, the leg hydraulic mechanism 1 includes: a first joint 9, a first joint hydraulic device 3, a first joint connecting part 4, a second joint connecting part 26, a second joint hydraulic device 5, a joint connecting rod 10, a second joint 6, a third joint 11, a leg 8 and a foot 12.

[0040] The first joint 9 is movably connected to the first joint connector 4, and the first joint 9 is respectively fixedly connected to the second joint connector 26 and the joint connector rod 10; the second joint connector 26 is movably connected to the first joint hydraulic device 3; the first joint hydraulic device 3 is movably connected to the first joint connector 4; the top of the first joint connector 4 is connected to the abdominal jack 20; specifically, the first joint connector 4 is connected to the abdominal jack 20 through the mounting frame 30. The abdominal jack 20 can work according to the instructions of the remote control center, and can be extended to push away the obstacles in front when necessary.

[0041] The articulated frame 23 is provided on the articulated connecting rod 10, and a mounting plate 24 is provided at the end of the articulated connecting rod 10, and the mounting plate 24 is movably connected to the second joint 6; the articulated frame 23 is movably connected to the second joint hydraulic device 5, and the second joint hydraulic device 5 is movably connected to the second joint 6;

[0042] The second joint 6 is fixedly connected to the leg 8, the leg 8 is provided with a third joint 11, and the third joint 11 is fixedly connected to the foot 12. The leg housing 7 is mounted on the leg 8 by screws.

[0043] In the leg hydraulic mechanism 1, the piston rod of the first joint hydraulic device 3 can be extended downward to drive the second joint connector 26 and the first joint 9 to rotate, and then drive the joint connecting rod 10 and the components thereon to rotate; the piston rod of the second joint hydraulic device 5 can be extended obliquely upward to drive the second joint 6 to rotate on the mounting plate 24, and the rotation of the mounting plate 24 can drive the leg 8, leg housing 7, third joint 11 and foot 12 thereon to rotate. The rotation of the two parts works together to realize the rotation of the leg hydraulic mechanism 1, and the six groups of leg hydraulic mechanisms 1 cooperate to realize the walking of the robot.

[0044] On the basis of the above solution, a set of mechanical gripper mechanisms 2 is installed on each mounting frame 30 , and the mechanical gripper mechanisms 2 are located in the middle position of the mounting frame 30 .

[0045] like Figure 5-6 As shown, the mechanical gripper mechanism 2 comprises: an upper limb connection member 13, a gripper transmission unit, a gripper connection member 18 and a mechanical gripper 19. The upper limb connection member 13 is connected to a mounting frame 30; the upper limb connection member 13 is connected to the gripper connection member 18 through the gripper transmission unit; and the gripper connection member 18 is provided with a mechanical gripper 19. The mechanical gripper 19 is provided with an electric push rod 33, and the opening and closing of the two jaws of the mechanical gripper 19 can be realized by the electric push rod 33.

[0046] The clamping jaw transmission unit includes: a cam 14, a rocker rod 15, a first rotating shaft 31, a second rotating shaft 27, a first clamping jaw mechanism connecting rod 28, a triangular connecting member 17, a second clamping jaw mechanism connecting rod 25, a third clamping jaw mechanism connecting rod 29, a fourth clamping jaw mechanism connecting rod 16 and a third rotating shaft 32.

[0047] The cam 14 is mounted on the upper limb connecting member 13 via a first rotating shaft 31; a swing rod 15 is movably connected to the cam 14; two first clamping mechanism connecting rods 28 are movably connected to the swing rod 15 via a second rotating shaft 27; the first clamping mechanism connecting rod 28 is movably connected to the triangular connecting member 17, and the end of the first clamping mechanism connecting rod 28 is movably connected to the clamping mechanism connecting member 18;

[0048] One end of the triangular connector 17 is movably connected to the second clamping mechanism connecting rod 25, and the other end is movably connected to the third clamping mechanism connecting rod 29; the third clamping mechanism connecting rod 29 is movably mounted on the upper limb connector 13;

[0049] Two fourth clamping mechanism connecting rods 16 are mounted on the first rotating shaft 31 through bearings, and the first rotating shaft 31 rotates while the fourth clamping mechanism connecting rods 16 do not rotate. The fourth clamping mechanism connecting rods 16 are movably connected to the triangular connecting member 17 through the third rotating shaft 32 .

[0050] In the mechanical gripper mechanism 2, the rotation of the first rotating shaft 31 drives the cam 14 and the swing rod 15 to rotate, and then the rotation of the second rotating shaft 27 and the first gripper mechanism connecting rod 28 drives the gripper connecting member 18 and the mechanical gripper 19 to swing up and down; during the movement, the second gripper mechanism connecting rod 25 follows; this process realizes the up and down movement of the mechanical gripper 19. The rotation of the third gripper mechanism connecting rod 29 drives the triangular connecting member 17 to rotate, and then the actions of the fourth gripper mechanism connecting rod 16 and the first gripper mechanism connecting rod 28 drive the gripper connecting member 18 and the mechanical gripper 19 to swing left and right; during the movement, the cam 14, the swing rod 15, the second rotating shaft 27, the first gripper mechanism connecting rod 28, and the second gripper mechanism connecting rod 25 follow; this process realizes the left and right movement of the mechanical gripper 19. The mechanical gripper mechanism 2 can clear obstacles.

[0051] The rotational power of the first rotating shaft 31 and the third clamping mechanism connecting rod 29 can be provided by steering gears respectively. The output shaft of one steering gear is connected to the first rotating shaft 31 , and the output shaft of the other steering gear is connected to the third clamping mechanism connecting rod 29 .

[0052] In addition, the robot head 21 is equipped with an environmental information collection system, which is connected to the external control center signal and can collect environmental information and send it to the control center, so that the control center can understand the situation and remotely control the robot.

[0053] The search and rescue robot of the utility model can be used in disaster areas where geological disasters (such as earthquake disasters) have occurred. The six groups of leg hydraulic mechanisms 1 can quickly move in narrow ruins to carry out post-disaster search and rescue, and at the same time cooperate with two groups of mechanical gripper mechanisms 2 to clear obstacles such as gravel encountered during the search. The environmental information collected by the environmental information collection system can be fed back to the remote control center in a timely manner, so that the remote control center can understand the situation in the ruins and carry out rescue. If necessary, multiple groups of robots can carry out search and rescue at the same time to improve the rescue efficiency.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in the field should understand that modifying the technical solutions recorded in the aforementioned embodiments, or replacing part or all of the technical features therein by equivalents, does not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A bionic spider post-disaster search and rescue robot, characterized in that: include: A robot head (21), an abdominal jack (20) and six sets of leg hydraulic mechanisms (1); A head connecting frame (22) is provided on the abdominal jack (20), and a robot head (21) is mounted on the head connecting frame (22); Three sets of leg hydraulic mechanisms (1) are installed on both sides of the abdominal jack (20); The leg hydraulic mechanism (1) comprises: a first joint (9), a first joint hydraulic device (3), a first joint connecting piece (4), a second joint connecting piece (26), a second joint hydraulic device (5), a joint connecting rod (10), a second joint (6), a third joint (11), a leg (8) and a foot (12); The first joint (9) is movably connected to the first joint connecting member (4); the first joint (9) is respectively fixedly connected to the second joint connecting member (26) and the joint connecting rod (10); the second joint connecting member (26) is movably connected to the first joint hydraulic device (3); the first joint hydraulic device (3) is movably connected to the first joint connecting member (4); the top of the first joint connecting member (4) is connected to the abdominal jack (20); An articulated frame (23) is provided on the joint connecting rod (10), and a mounting plate (24) is provided at the end of the joint connecting rod (10), and the mounting plate (24) is movably connected to the second joint (6); the articulated frame (23) is movably connected to the second joint hydraulic device (5), and the second joint hydraulic device (5) is movably connected to the second joint (6); The second joint (6) is fixedly connected to the leg (8), the leg (8) is provided with a third joint (11), and the third joint (11) is fixedly connected to the foot (12).

2. The bionic spider post-disaster search and rescue robot according to claim 1, characterized in that: Both sides of the belly jack (20) are respectively fixedly connected to a mounting frame (30).

3. The bionic spider post-disaster search and rescue robot according to claim 2, characterized in that: Three groups of leg hydraulic mechanisms (1) are installed on each mounting frame, and the three groups of leg hydraulic mechanisms (1) are respectively located at both ends and a middle position of the mounting frame (30).

4. The bionic spider post-disaster search and rescue robot according to claim 1, characterized in that: The leg shell (7) is mounted on the leg (8) by means of screws.

5. The bionic spider post-disaster search and rescue robot according to claim 2, characterized in that: A set of mechanical gripper mechanisms (2) is installed on each mounting frame (30), and the mechanical gripper mechanisms (2) are located in the middle of the mounting frame (30).

6. The bionic spider post-disaster search and rescue robot according to claim 5, characterized in that: The mechanical gripper mechanism (2) comprises: an upper limb connecting member (13), a gripper transmission unit, a gripper connecting member (18) and a mechanical gripper (19); The upper limb connecting piece (13) is connected to the mounting frame (30); The upper limb connecting piece (13) is connected to the clamping claw connecting piece (18) via a clamping claw transmission unit; A mechanical clamp (19) is installed on the clamp connecting piece (18).

7. The bionic spider post-disaster search and rescue robot according to claim 6, characterized in that: The clamping jaw transmission unit comprises: a cam (14), a swing rod (15), a first rotating shaft (31), a second rotating shaft (27), a first clamping jaw mechanism connecting rod (28), a triangular connecting member (17), a second clamping jaw mechanism connecting rod (25), a third clamping jaw mechanism connecting rod (29), a fourth clamping jaw mechanism connecting rod (16) and a third rotating shaft (32); The cam (14) is mounted on the upper limb connecting member (13) via a first rotating shaft (31); a swing rod (15) is movably connected to the cam (14); two first clamping mechanism connecting rods (28) are movably connected to the swing rod (15) via a second rotating shaft (27); the first clamping mechanism connecting rod (28) is movably connected to the triangular connecting member (17), and an end of the first clamping mechanism connecting rod (28) is movably connected to the clamping mechanism connecting member (18); One end of the triangular connecting member (17) is movably connected to the second clamping mechanism connecting rod (25), and the other end is movably connected to the third clamping mechanism connecting rod (29); the third clamping mechanism connecting rod (29) is movably mounted on the upper limb connecting member (13); Two fourth clamping mechanism connecting rods (16) are mounted on the first rotating shaft (31) via bearings, and the fourth clamping mechanism connecting rods (16) are movably connected to the triangular connecting member (17) via a third rotating shaft (32).

8. The bionic spider post-disaster search and rescue robot according to claim 6 or 7, characterized in that: The mechanical clamp (19) is equipped with an electric push rod (33).

9. The bionic spider post-disaster search and rescue robot according to claim 1, characterized in that: The robot head (21) is equipped with an environmental information collection system, and the environmental information collection system is connected to an external control center signal.

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