Multifunctional post-disaster reconstruction robot

Abstract

The utility model discloses a multifunctional post-disaster reconstruction robot. The multifunctional post-disaster reconstruction robot comprises a ship-shaped vehicle body structure, a crawler belt, a supporting rod, tires, a five-axis mechanical arm, a paw placing frame, a hydraulic shovel, an unmanned aerial vehicle case, a multifunctional storage box, a water pipe connector and the like, wherein the crawler belt, the supporting rod, the tires, the five-axis mechanical arm, the paw placing frame, the hydraulic shovel, the unmanned aerial vehicle case, the multifunctional storage box, the water pipe connector and the like are installed on the ship-shaped vehicle body structure. The post-disaster multifunctional reconstruction robot can be suitable for ruins after earthquake disasters, rescue workers are helped to conduct post-disaster reconstruction work and remote rescue tasks, and the application range of the post-disaster multifunctional reconstruction robot is expanded. The multifunctional post-disaster reconstruction robot can complete the functions of cleaning of the surface of complex ruins, post-disaster water transportation, post-disaster disaster area detection and the like during post-disaster reconstruction.

Description

Technical Field

[0001] The utility model relates to the technical field of post-disaster reconstruction equipment, in particular to a multifunctional post-disaster reconstruction robot. Background Art

[0002] In recent years, natural disasters such as earthquakes, fires, typhoons, etc. that have occurred frequently around the world have posed a threat to the safety of people's lives and property. For example, many secondary disasters that follow earthquakes, such as barrier lakes, landslides, mudslides, tsunamis, etc., will affect the production and life of residents. In recent years, as the country has continuously increased its research efforts on post-disaster reconstruction machinery and equipment, my country has carried out relevant research on post-disaster reconstruction robots and has achieved some results. At present, some post-disaster reconstruction robots on the market have been found to have the following technical defects during use: the existing post-disaster reconstruction robots have relatively single functions and cannot be used in complex and diverse post-disaster environments, resulting in a narrow scope of use for post-disaster reconstruction robots. Summary of the invention

[0003] The utility model aims to provide a multifunctional post-disaster robot which is mainly used for cleaning the surface of complex ruins, post-disaster water transportation and post-disaster disaster area detection during post-disaster reconstruction.

[0004] The purpose of the utility model is achieved in this way:

[0005] A multifunctional post-disaster reconstruction robot comprises a boat-shaped body structure, and tracks, support rods, tires, a five-axis mechanical arm, a gripper placement frame, a hydraulic shovel, a drone chassis, a multifunctional storage box, and a water pipe interface installed on the boat-shaped body structure.

[0006] As a further preferred embodiment of the present invention, the crawler tracks and leg wheels together constitute a leg-crawler type walking mechanism. The crawler tracks have a large contact area with the ground, and have excellent traction adhesion, climbing and ditch crossing performance. The leg wheels have both a wheel structure and leg movement capabilities, and can adapt to almost all complex environments.

[0007] As a further preferred embodiment of the present invention, the tire is an amphibious tire, and a paddle wheel structure is added to the hub part, which generates forward thrust when rotating, so that the robot can also move forward on the water surface.

[0008] As a further preferred solution of the utility model, the five-axis manipulator end effector is connected to a robot gripper quick-change device, and different grippers placed on the gripper placement rack are replaced by the robot gripper quick-change device to cope with different scenarios.

[0009] As a further preferred embodiment of the present invention, there is a water pipe interface under the multifunctional storage box on the back, which can be connected to a fire hydrant. The internal pipeline is connected to the quick-change device of the robot gripper at the end of the five-axis robotic arm. By replacing the gripper with a high-pressure water gun, water is sprayed from the mouth of the water gun to extinguish the fire source.

[0010] As a further preferred embodiment of the present invention, the interior of the drone chassis is composed of a lifting platform base, a ball screw, a cylinder, and a drone chassis door, and can carry a drone. When in use, the motor connected to the ball screw is started, causing the lifting platform base to extend outward. After it is extended into place, the drone takes off and can complete the corresponding disaster area detection mission.

[0011] As a further preferred embodiment of the present invention, the multifunctional storage box is installed above the UAV lifting compartment to store necessary materials according to demand.

[0012] As a further preferred embodiment of the present invention, the hydraulic shovel can quickly clean up the debris generated by the claws to improve the cleaning efficiency.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] 1. The walking mechanism of the multifunctional post-disaster reconstruction robot adopts a leg-foot mechanism, which makes the multifunctional post-disaster reconstruction robot more flexible in the face of different road conditions.

[0015] 2. The multifunctional post-disaster reconstruction robot can float on the water through its boat-shaped body structure. A paddle wheel structure is added to the wheel hub, which generates forward thrust when rotating, allowing the robot to move forward on the water.

[0016] 3. This multifunctional post-disaster reconstruction robot is equipped with a five-axis robotic arm. The end effector of the five-axis robotic arm is connected to the robot's quick-change gripper, which can realize rapid gripper change when dealing with different tasks.

[0017] 4. The multifunctional post-disaster reconstruction robot is equipped with a drone chassis and a drone. When in use, the ball screw connected to the lifting platform base moves to push the lifting platform base out. After the lifting platform base is pushed into place, the drone takes off and can complete the corresponding disaster area detection tasks.

[0018] 5. The multifunctional post-disaster reconstruction robot is equipped with a hydraulic shovel installed at the front end of the ship-shaped body, which can quickly clean up the debris generated by the claws and improve the cleaning efficiency.

[0019] 6. The multifunctional post-disaster reconstruction robot is equipped with a multifunctional storage box, which is installed above the drone lift to store necessary materials as needed.

[0020] 7. The multifunctional post-disaster reconstruction robot is equipped with a water pipe interface that can be connected to a fire hydrant. Its internal pipe is connected to the robot gripper quick-change device at the end of the five-axis robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the technical description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 It is a schematic diagram of the structure of the utility model.

[0023] Figure 2 It is a schematic diagram of the leg-crawler structure and the boat-type body structure.

[0024] Figure 3 Schematic diagram of the five-axis robot arm and gripper placement frame.

[0025] Figure 4 This is a schematic diagram of the UAV chassis structure.

[0026] Among them: 1. Tracks; 2. Support rods; 3. Tires; 4. Five-axis robotic arms; 5. Gripper racks; 6. Hydraulic shovels; 7. UAV chassis; 8. Multi-function storage box; 9. Water pipe interface; 11. Track wheels; 12. Connecting shafts; 13. Connecting racks; 14. Wheel hubs; 15. Robot gripper quick-change device; 17. Different types of grippers; 18. Lifting platform base; 19. Ball screws; 20. Cylinders; 21. UAV chassis door. DETAILED DESCRIPTION

[0027] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] like Figure 1-4As shown, the utility model provides a multifunctional post-disaster reconstruction robot, including tracks 1, support rods 2 and tires 3 on both sides of a boat-shaped body to form a leg-track structure, a five-axis robotic arm 4 end effector connected to a robot gripper quick-change device 15 carried at the front end of the boat-shaped body, a gripper placement rack 5 and different types of grippers 17 and a water pipe interface 9 carried in the middle of the boat-shaped body, a drone chassis 7 carried at the rear of the boat-shaped body, a multifunctional storage box 8 carried above the drone chassis 7, and a hydraulic shovel 6 carried at the tail of the boat-shaped body.

[0029] Preferably, the leg-crawler structure includes a crawler track 1 and a support rod 2 mounted on a crawler wheel 11 , a connecting shaft 12 inside the support rod 2 is connected to a connecting frame 13 , and a motor inside the connecting frame 13 is connected to a wheel hub 14 of the tire 3 .

[0030] Preferably, the end effector of the five-axis robot arm 4 is connected to a robot gripper quick-change device 15 , and different types of grippers 17 are placed on the gripper placement frame 5 , and the grippers are equipped with a robot gripper quick-change device 15 , so that the five-axis robot arm 4 can quickly change grippers.

[0031] Preferably, the UAV chassis 7 includes a lifting platform base 18, a ball screw 19 is connected below the lifting platform base 18, the ball screw 19 is installed on the side wall of the UAV chassis 7, and a cylinder 20 is installed at the lower part of the UAV chassis 7, and the cylinder 20 is connected to the UAV chassis door 21 through a hinge.

[0032] Preferably, a multifunctional storage box is installed above the UAV chassis 7, and a hydraulic shovel 6 is installed at the end of the boat-shaped body below the UAV chassis 7. Example

[0033] Specific usage of the leg-track structure: When the multifunctional post-disaster reconstruction robot (hereinafter referred to as the robot) encounters an obstacle, the motor inside the track wheel 11 starts, driving the support rod 2 to rotate and support the robot. After the support is in place, the motor inside one of the track wheels 11 close to the obstacle starts to lift the support rod 2. After it is lifted into place, the motors connected to the wheel hub 14 inside the remaining three connecting frames 13 start, driving the wheels to rotate, so that the robot moves forward. When the track 1 contacts the obstacle, the motor in contact with the track drive wheel starts, causing the track 1 to move and cross the obstacle. Example

[0034] Method for realizing fast gripper replacement: A robot gripper quick-change device 15 is connected to the end of the five-axis robot arm 4. When the gripper needs to be replaced, the five-axis robot arm 4 can place the currently connected gripper on the gripper placement rack 5, and then select the required gripper from the gripper placement rack 5, and realize fast gripper replacement by utilizing the quick-change principle of the robot gripper quick-change device 15. Example

[0035] Specific usage of the drone chassis: the cylinder 20 is connected to the drone chassis door 21 through a hinge. After the cylinder is started, it pushes the drone chassis door 21 to open. After it is fully opened, the motor connected to the ball screw 19 is started, causing the lifting platform base to extend outward. After it is fully extended, the drone can be controlled to rise or land.

[0036] The above is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by technicians familiar with the field within the technical scope disclosed in the present invention should be covered by the protection scope of the present invention.

Claims

1. A multifunctional post-disaster reconstruction robot, characterized in that: The multifunctional post-disaster reconstruction robot has a boat-shaped body structure, and tracks (1), support rods (2), tires (3), a five-axis mechanical arm (4), a gripper placement frame (5), a hydraulic shovel (6), a drone chassis (7), a multifunctional storage box (8), and a water pipe interface (9) installed on the boat-shaped body structure.

2. The multifunctional post-disaster reconstruction robot according to claim 1, characterized in that: The crawler track (1), the support rod (2) and the tire (3) form a leg crawler structure.

3. The multifunctional post-disaster reconstruction robot according to claim 1, characterized in that: The tire (3) is an amphibious tire, and a paddle wheel structure is added to the wheel hub (14).

4. The multifunctional post-disaster reconstruction robot according to claim 1, characterized in that: The end effector of the five-axis robot arm (4) is connected to a robot gripper quick-change device (15) and can replace grippers of different types (17). Different gripper types can be replaced via the gripper placement rack (5).

5. The multifunctional post-disaster reconstruction robot according to claim 1, characterized in that: The interior of the drone chassis is composed of a lifting platform base (18), a ball screw (19), a cylinder (20), and a drone chassis door (21), and can carry a drone.

6. The multifunctional post-disaster reconstruction robot according to claim 1, characterized in that: The multifunctional storage box (8) is installed above the drone chassis (7), and the water pipe interface (9) is also installed in front of the drone chassis.

7. The multifunctional post-disaster reconstruction robot according to claim 1, characterized in that: The hydraulic shovel (6) is installed at the front end of the boat-shaped body structure.

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