Earthquake rescue robot

Abstract

The utility model discloses an earthquake rescue robot, which relates to the technical field of earthquake rescue and comprises a base, a case is fixedly mounted on the top surface of the base, an extrusion device and a rotating device are respectively mounted in the case, a transmission device is fixedly mounted on the bottom surface of the base, a first mechanical arm is mounted on one side of the case, and a second mechanical arm is mounted on the other side of the case. A first mechanical arm is installed on the side, away from the first mechanical arm, of the machine box, a second mechanical arm is installed on the side, away from the first mechanical arm, of the machine box, the first mechanical arm and the second mechanical arm are matched with each other, and a collecting box is installed at the position, located at the bottom of the extrusion device, in the machine box. The device can be used for searching and rescuing in a mountain scene, walking on a mud land, transporting materials, searching and rescuing in a fire scene, searching and rescuing in a collapsed house, lifting a floor slab, crushing broken stones, overcoming obstacles in ground cracks, collapsed trees, landslide huge stones, crossing obstacles, avoiding obstacles and clearing obstacles, and the rescue efficiency is improved.

Description

Technical Field

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

[0002] Earthquakes occur because the earth is constantly moving and changing, gradually accumulating huge amounts of energy, causing sudden ruptures in rock layers in certain fragile areas of the earth's crust, or triggering shifts in existing faults. This is an earthquake, and most earthquakes occur in the earth's crust.

[0003] However, after an earthquake disaster occurs, due to the influence of road damage, river traffic obstruction, and building collapse, it is not easy for traditional rescue vehicles to drive directly to the ruins of buildings for rescue, or to deliver rescue materials and rescue patients to high-rise buildings that have not collapsed. Under traffic conditions that rely solely on air transport, it is difficult to complete manual search and rescue on the scene in the first time of life-saving, and the rescue efficiency is low. Therefore, it is necessary to design an earthquake rescue robot with a compact structure, multi-functions, and the ability to improve rescue efficiency to solve the above problems. Summary of the invention

[0004] In order to solve the problem that traditional rescue vehicles are not easy to drive directly to the ruins of buildings for rescue, or to transport rescue materials and rescue patients to high-rise buildings that have not collapsed, and it is difficult to complete manual search and rescue on the scene in the first time of life-saving under traffic conditions that rely mainly on air transportation, and the rescue efficiency is low; the purpose of the utility model is to provide an earthquake rescue robot.

[0005] To solve the above technical problems, the utility model adopts the following technical solutions: an earthquake rescue robot, comprising a base, a chassis is fixedly installed on the top surface of the base, a squeezing device and a rotating device are respectively installed in the chassis, a transmission device is fixedly installed on the bottom surface of the base, a first mechanical arm is installed on one side of the chassis, a second mechanical arm is installed on the side of the chassis away from the first mechanical arm, the first mechanical arm and the second mechanical arm cooperate with each other, a collection box is installed at the bottom of the squeezing device in the chassis, a pushing rod and a pushing motor are respectively installed on the bottom surface of the base, the collection box cooperates with the pushing rod and the pushing motor, an open groove is opened on the bottom surface of the base, the squeezing device comprises a pushing motor, a rotating shaft, a baffle, a pressure device and a connecting rod, the rotating device comprises a stone crushing motor, a ratchet, a rotating shaft, a fixed plate and a ratchet, the transmission device comprises a crawler, a driving motor, a moving wheel, a transmission wheel and a fixed wheel, a folding device is installed in one end of the crawler, and the folding device cooperates with the transmission device;

[0006] The driving motor controls the moving wheel, the transmission wheel and the fixed wheel to drive the crawler to run, so as to complete the movement of the device. The transmission wheel is programmed through the control of the single-chip microcomputer to make the transmission wheel turn. When facing cracked terrain, the folding device is controlled to make the two crawlers change, so that the robot can cross obstacles and climb stairs, etc. The first mechanical arm and the second mechanical arm are controlled by the single-chip microcomputer to accurately grab objects. The stone crushing motor drives the ratchet, the rotating shaft, and the pawl to run to complete the stone crushing work. The crushed gravel is transported to the extrusion device through the fixed plate, and the pushing motor drives the rotating shaft to cooperate with the baffle to extrude the gravel. After the extrusion of the gravel and other materials is completed, it is pressed into the collection box through the pressure device. The gravel entering the collection box drives the collection box to shake up and down under the work of the pushing rod and the pushing motor, and the gravel is discharged through the opening slot.

[0007] Preferably, a sensing device is installed in the middle of one side of the chassis on the top surface of the base, the sensing device includes a sensor, a steering shaft is installed at the bottom end of the sensor, the steering shaft and the sensor cooperate with each other, and alarms are symmetrically installed on both sides of the sensing device on the top surface of the base, the alarms and the sensing device cooperate with each other, and the vital signs of people crushed under the rubble by the earthquake are obtained through the sensor of the sensing device, and the sensor is controlled by the steering shaft to monitor the other party. There are two alarms, and when the life signs of the person are detected, the alarm is processed through the alarm on the right. At the same time, the weight that the robot's mechanical arm cannot grasp will trigger the alarm on the left for alarm processing through the control of the single-chip microcomputer.

[0008] Preferably, the first robotic arm includes a right arm motor and a right arm grabbing assembly, which cooperate with each other, and the right arm grabbing assembly is controlled by the right arm motor to operate, thereby completing the gravel grabbing work; the second robotic arm includes a left arm motor and a left arm grabbing assembly, and the left arm motor and the left arm grabbing assembly cooperate with each other, and the left arm grabbing assembly is controlled by the left arm motor to operate, thereby completing the gravel grabbing work.

[0009] Preferably, a cover is detachably installed on the top surface of the chassis, a servo gimbal is installed on the top surface of the cover, a single chip and a software control device are installed in the servo gimbal, the servo gimbal cooperates with the extrusion device, the rotating device, the first mechanical arm and the second mechanical arm, the folding device and the sensing device respectively through the single chip and the software control device, and instructions are issued through the single chip and the software control device installed in the servo gimbal to control the extrusion device, the rotating device, the first mechanical arm and the second mechanical arm, the folding device and the sensing device to work, fixed connection components are installed on both sides of the chassis, the fixed connection components cooperate with the first mechanical arm and the second mechanical arm, the fixed connection components are made of AISI material, which improves the stability of the first mechanical arm and the second mechanical arm when grasping, a folding plate is installed in the middle of one side of the top surface of the cover, the folding plate cooperates with the rotating device, by opening the folding plate, the gravel grasped by the first mechanical arm and the second mechanical arm is put into the chassis and crushed by the rotating device.

[0010] Compared with the prior art, the beneficial effects of the utility model are:

[0011] 1. In the utility model, with the cooperation of the squeezing device, the rotating device, the first mechanical arm and the second mechanical arm, the folding device and the sensing device installed in the device, the device can be used for search and rescue in mountain scenes, walking on muddy ground, transporting materials, search and rescue in fire scenes, search and rescue in collapsed houses, lift floor slabs, crush gravel, cross obstacles, avoid obstacles, and clear obstacles in ground cracks, fallen trees, and boulders from landslides, thereby improving rescue efficiency;

[0012] 2. In the utility model, the vital signs of people crushed under the rubble by the earthquake are obtained through the induction of the induction device, and the steering shaft controls the sensor to monitor the other party. There are two alarms. When the vital signs of a person are detected, the alarm is processed through the alarm on the right. At the same time, the weight that the robot's mechanical arm cannot grasp will trigger the alarm on the left for alarm processing through the control of the single-chip microcomputer. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 This is a schematic diagram of the overall structure of the robot of the utility model.

[0015] Figure 2 This is a schematic diagram of the internal structure of the chassis of the utility model.

[0016] Figure 3 This is a cross-sectional view of the overall structure of the robot of this utility model.

[0017] Figure 4 This is a schematic diagram of the bottom structure of the robot of the utility model.

[0018] Figure 5 This is a schematic diagram of the structure of the fixed connection component of the utility model.

[0019] In the figure: 1, base; 11, chassis; 111, cover; 12, collection box; 13, folding plate; 14, push rod; 15, push motor; 16, fixed connection assembly; 17, opening slot; 2, extrusion device; 21, push motor; 211, rotating shaft; 22, baffle; 23, pressure device; 24, connecting rod; 3, rotating device; 31, crushing motor; 32, ratchet; 33, rotating shaft; 34, fixed plate; 35, pawl; 4, transmission device; 41, crawler; 42, drive motor; 43, moving wheel; 44, transmission wheel; 45, fixed wheel; 5, first mechanical arm; 51, right arm motor; 52, right arm grab assembly; 6, second mechanical arm; 61, left arm motor; 62, left arm grab assembly; 7, folding device; 8, sensing device; 81, sensor; 82, steering shaft; 9, alarm; 10, servo gimbal. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] Example: Figure 1-5As shown, the utility model provides an earthquake rescue robot, including a base 1, a chassis 11 is fixedly installed on the top surface of the base 1, an extrusion device 2 and a rotation device 3 are respectively installed in the chassis 11, a transmission device 4 is fixedly installed on the bottom surface of the base 1, a first mechanical arm 5 is installed on one side of the chassis 11, a second mechanical arm 6 is installed on the side of the chassis 11 away from the first mechanical arm 5, the first mechanical arm 5 and the second mechanical arm 6 cooperate with each other, a collection box 12 is installed at the bottom of the extrusion device 2 in the chassis 11, and a push rod 14 and a push motor are respectively installed on the bottom surface of the base 1. The machine 15, the collecting box 12 cooperates with the pushing rod 14 and the pushing motor 15, the bottom surface of the base 1 is provided with an opening groove 17, the squeezing device 2 includes a pushing motor 21, a rotating shaft 211, a baffle 22, a pressure device 23 and a connecting rod 24, the rotating device 3 includes a crushing motor 31, a ratchet 32, a rotating shaft 33, a fixing plate 34 and a ratchet 35, the transmission device 4 includes a crawler 41, a driving motor 42, a moving wheel 43, a transmission wheel 44 and a fixed wheel 45, and a folding device 7 is installed in one end of the crawler 41, and the folding device 7 cooperates with the transmission device 4;

[0022] The driving motor 42 controls the moving wheel 43, the transmission wheel 44 and the fixed wheel 45 to drive the crawler 41 to run, so as to complete the movement of the device. The transmission wheel 44 is programmed by the control of the single-chip microcomputer to make the transmission wheel 44 turn. When facing the cracked terrain, the folding device 7 is controlled to make the two crawlers 41 change, so that the robot can cross obstacles and climb stairs. The first mechanical arm 5 and the second mechanical arm 6 are controlled by the single-chip microcomputer to accurately grab objects. 31 drives the ratchet 32, the rotating shaft 33, and the pawl 35 to operate to complete the stone crushing work, and the crushed gravel is transported to the extrusion device 2 through the fixed plate 34. The push motor 21 drives the rotating shaft 211 to cooperate with the baffle 22 to extrude the gravel. After the crushed stone and other materials are extruded, they are pressed into the collection box 12 through the pressure device 23. The gravel entering the collection box 12 drives the collection box 12 to shake up and down under the operation of the push rod 14 and the push motor 15, and the gravel is discharged through the opening groove 17.

[0023] The top surface of the base 1 is located in the middle of one side of the chassis 11 and is equipped with a sensing device 8, the sensing device 8 includes a sensor 81, a steering shaft 82 is installed at the bottom end of the sensor 81, the steering shaft 82 and the sensor 81 cooperate with each other, and the top surface of the base 1 is symmetrically equipped with alarms 9 on both sides of the sensing device 8, and the alarms 9 and the sensing device 8 cooperate with each other;

[0024] By adopting the above technical solution, the vital signs of people crushed under the rubble by the earthquake are obtained through the sensor 81 of the sensing device 8, and the sensor 81 is controlled by the steering shaft 82 to monitor the other party. There are two alarms 9. When the vital signs of a person are detected, the alarm is processed through the alarm 9 on the right. At the same time, the weight that the robot arm cannot grasp will trigger the alarm 9 on the left for alarm processing through the control of the single-chip microcomputer.

[0025] The first mechanical arm 5 includes a right arm motor 51 and a right arm grabbing assembly 52, and the right arm motor 51 and the right arm grabbing assembly 52 cooperate with each other;

[0026] By adopting the above technical solution, the right arm grabbing assembly 52 is controlled by the right arm motor 51 to operate, thereby completing the gravel grabbing work.

[0027] The second mechanical arm 6 includes a left arm motor 61 and a left arm grabbing assembly 62, and the left arm motor 61 and the left arm grabbing assembly 62 cooperate with each other;

[0028] By adopting the above technical solution, the left arm grabbing assembly 62 is controlled by the left arm motor 61 to operate and complete the gravel grabbing work.

[0029] A cover 111 is detachably mounted on the top surface of the chassis 11, a steering gear platform 10 is mounted on the top surface of the cover 111, a single chip and a software control device are mounted inside the steering gear platform 10, and the steering gear platform 10 cooperates with the extrusion device 2, the rotation device 3, the first mechanical arm 5 and the second mechanical arm 6, the folding device 7 and the sensing device 8 through the single chip and the software control device;

[0030] By adopting the above technical solution, instructions are issued through the single chip and software control device installed in the servo gimbal 10 to control the extrusion device 2, the rotation device 3, the first mechanical arm 5 and the second mechanical arm 6, the folding device 7 and the sensing device 8 to work.

[0031] Both sides of the chassis 11 are equipped with fixed connection components 16, which cooperate with the first mechanical arm 5 and the second mechanical arm 6;

[0032] By adopting the above technical solution, the fixed connection component 16 is made of AISI material, which improves the stability of the first robotic arm 5 and the second robotic arm 6 during grasping.

[0033] A folding plate 13 is installed in the middle of one side of the top surface of the cover 111, and the folding plate 13 cooperates with the rotating device 3;

[0034] By adopting the above technical solution, the folding plate 13 is opened, and the crushed stones grabbed by the first mechanical arm 5 and the second mechanical arm 6 are put into the chassis 11 and crushed by the rotating device 3.

[0035] Working principle: The driving motor 42 controls the moving wheel 43, the transmission wheel 44 and the fixed wheel 45 to drive the crawler 41 to run, so as to complete the movement of the device. Through the control of the single-chip microcomputer, the transmission wheel 44 is programmed to make the transmission wheel 44 turn. When facing the cracked terrain, the folding device 7 is controlled to make the two crawlers 41 change, so that the robot can cross obstacles and climb stairs. The first mechanical arm 5 and the second mechanical arm 6 are controlled by the single-chip microcomputer to accurately grab objects and crush stones. The motor 31 drives the ratchet wheel 32, the rotating shaft 33, and the ratchet pawl 35 to operate, and completes the stone crushing work. The crushed gravel is transported to the extrusion device 2 through the fixed plate 34. The push motor 21 drives the rotating shaft 211 to cooperate with the baffle 22 to squeeze the gravel. After the crushed stone and other materials are squeezed, they are pressed into the collection box 12 through the pressure device 23. The crushed stone in the collection box 12 is driven by the push rod 14 and the push motor 15 to shake the collection box 12 up and down, and the crushed stone is discharged through the opening slot 17.

[0036] The sensor 81 of the sensing device 8 is used to sense and obtain the vital signs of the person crushed under the rubble by the earthquake. The sensor 81 is controlled by the steering shaft 82 to monitor the other party. There are two alarms 9. When the vital signs of the person are detected, the alarm is processed through the alarm 9 on the right. At the same time, the weight that the robot arm cannot grasp will trigger the alarm 9 on the left for alarm processing through the control of the single-chip microcomputer.

[0037] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An earthquake rescue robot, comprising a base (1), characterized in that: A chassis (11) is fixedly mounted on the top surface of the base (1), and an extrusion device (2) and a rotation device (3) are respectively mounted in the chassis (11), a transmission device (4) is fixedly mounted on the bottom surface of the base (1), a first mechanical arm (5) is mounted on one side of the chassis (11), and a second mechanical arm (6) is mounted on a side of the chassis (11) away from the first mechanical arm (5), the first mechanical arm (5) and the second mechanical arm (6) cooperate with each other, a collection box (12) is mounted at the bottom of the extrusion device (2) in the chassis (11), a push rod (14) and a push motor (15) are respectively mounted on the bottom surface of the base (1), the collection box (12) cooperates with the push rod (14) and the push motor (15), and an opening groove (17) is provided on the bottom surface of the base (1); The squeezing device (2) comprises a pushing motor (21), a rotating shaft (211), a baffle (22), a pressure device (23) and a connecting rod (24); the rotating device (3) comprises a stone crushing motor (31), a ratchet wheel (32), a rotating shaft (33), a fixing plate (34) and a ratchet pawl (35); the transmission device (4) comprises a crawler belt (41), a driving motor (42), a moving wheel (43), a transmission wheel (44) and a fixing wheel (45); a folding device (7) is installed in one end of the crawler belt (41); the folding device (7) cooperates with the transmission device (4).

2. An earthquake rescue robot as claimed in claim 1, characterized in that: A sensing device (8) is installed on the top surface of the base (1) in the middle of one side of the chassis (11), the sensing device (8) comprising a sensor (81), a steering shaft (82) is installed at the bottom end of the sensor (81), the steering shaft (82) and the sensor (81) cooperate with each other, and alarms (9) are symmetrically installed on the top surface of the base (1) on both sides of the sensing device (8), the alarms (9) and the sensing device (8) cooperate with each other.

3. An earthquake rescue robot as claimed in claim 1, characterized in that: The first mechanical arm (5) comprises a right arm motor (51) and a right arm grabbing assembly (52), and the right arm motor (51) and the right arm grabbing assembly (52) cooperate with each other.

4. An earthquake rescue robot as claimed in claim 1, characterized in that: The second mechanical arm (6) comprises a left arm motor (61) and a left arm grabbing assembly (62), and the left arm motor (61) and the left arm grabbing assembly (62) cooperate with each other.

5. The earthquake rescue robot according to claim 1, characterized in that: The top surface of the chassis (11) is detachably provided with a cover (111), the top surface of the cover (111) is provided with a steering gear platform (10), a single chip and a software control device are installed in the steering gear platform (10), and the steering gear platform (10) cooperates with the extrusion device (2), the rotation device (3), the first mechanical arm (5), the second mechanical arm (6), the folding device (7) and the sensing device (8) respectively through the single chip and the software control device.

6. The earthquake rescue robot according to claim 1, characterized in that: Fixed connection components (16) are installed on both sides of the chassis (11), and the fixed connection components (16) cooperate with the first mechanical arm (5) and the second mechanical arm (6).

7. An earthquake rescue robot as claimed in claim 5, characterized in that: A folding plate (13) is installed in the middle of one side of the top surface of the machine cover (111), and the folding plate (13) cooperates with the rotating device (3).

Images