Search and rescue robot

Abstract

The utility model relates to a search and rescue robot, and relates to the field of small walking robots. The robot comprises a robot body and six legs surrounding the robot body, the robot body comprises two protection plates arranged in parallel up and down and a control box located between the two protection plates, and the upper ends of the legs are installed between the edges of the upper protection plate and the lower protection plate; the control box comprises a box body, and a control circuit board, a camera and a storage battery which are accommodated in the box body; the box body is a rectangular groove body, a mounting plate is arranged on the outer edge of the long side of an opening of the box body, mounting holes are formed in the two ends of the mounting plate, bolts penetrate through the mounting holes to tightly connect the box body with the upper-layer protection plate, wiring holes are formed in the side wall of the box body, a camera port is formed in one end face of the box body, and the control circuit board and the legs are connected through wires penetrating through the wiring holes. A lens of the camera penetrates through the camera shooting opening. According to the robot, collision between the camera and electronic components on the circuit board can be avoided, and the effects of protecting the components and reducing damage are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of small robots, and in particular to a search and rescue robot. Background Art

[0002] Due to the complex situation at the search and rescue site, it is difficult for rescuers to be allowed to enter the site to carry out rescue work when their own safety cannot be guaranteed. As a small and flexible robot, the search and rescue robot is very suitable for special situations and scenes such as disaster relief. At present, a commonly used search and rescue robot is a hexapod robot, which can flexibly and quickly enter various spaces for search and rescue by imitating the appearance and movement of a bionic spider. However, some existing hexapod robots have cameras and even electronic components such as control circuit boards installed on the top of the fuselage. In order to reduce weight, some even adopt an exposed layout. In this case, the camera and other electronic components are likely to collide, which brings the risk of wear and even damage. Utility Model Content

[0003] The technical problem to be solved by this application is to provide a search and rescue robot that can avoid damage to cameras and various electronic components. To this end, this application provides the following technical solutions:

[0004] A search and rescue robot comprises a body and six legs for walking surrounding the body, the body comprising two upper and lower parallel guard plates, a control box located between the two guard plates, and the upper ends of the legs are installed between the edges of the upper and lower guard plates; the control box comprises a box body and a control circuit board, a camera and a battery contained in the box body, the control circuit board is electrically connected to the camera, the battery and the legs; the box body is a rectangular trough body, and a mounting plate is provided on the outer edge of the long side of the opening thereof, and notch-shaped mounting holes are provided at both ends of the mounting plate, and bolts are passed through the mounting holes to fasten the box body to the upper guard plates, the side walls of the box body are provided with wiring holes, and one of the end faces of the box body is provided with a camera port, the control circuit board and the legs are connected by wires passing through the wiring holes, and the lens of the camera passes through the camera port.

[0005] In at least one embodiment, a plurality of support columns are provided at the bottom of the box body, which are used to support the control circuit board. The electronic components on the control circuit board are located between the control circuit board and the bottom surface of the box body. The camera and the battery are arranged in the box body above the control circuit board.

[0006] In at least one embodiment, the leg includes a first short arm, a second short arm and a third short arm connected in series in sequence; a first joint is provided between the first short arm and the fuselage, and the first short arm can rotate in a horizontal plane around the first joint; a second joint is provided between the second short arm and the first short arm, and the second short arm can rotate in a vertical plane around the second joint; a third joint is provided between the third short arm and the second short arm, the third short arm is supported on the ground, and can rotate in a vertical plane around the third joint.

[0007] Compared with the prior art, the present application achieves at least the following beneficial effects: the present application sets a control box between the upper and lower protective plates of the fuselage, and the control box consists of a box body and a control circuit board, a camera and a battery arranged in the box body. This can prevent the camera and the electronic components on the circuit board from being bumped against each other, thereby protecting the components and reducing the chance of damage. In addition, a camera port and a large number of wiring holes are provided on the box body. The camera port is used to expose the camera lens, and the wiring holes are used for routing the wires between the circuit board and the foot. This does not affect the normal use of the equipment and can also reduce weight and facilitate heat dissipation. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] One or more embodiments of the present application will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0009] Figure 1 A three-dimensional diagram of a search and rescue robot provided in an embodiment of the present application;

[0010] Figure 2 A three-dimensional diagram of a control box according to an embodiment of the present application;

[0011] Figure 3 for Figure 2 A cross-sectional view of the control box;

[0012] Figure 4 for Figure 2 A cross-sectional view of a box body of the control box;

[0013] Figure 5 It is a three-dimensional diagram of the leg of an embodiment of the present application.

[0014] The numbers in the figure are: 100, fuselage; 110, guard plate; 111, wing plate; 120, control box; 121, box body; 122, control circuit board; 123, camera; 124, battery; 125, mounting plate; 126, mounting hole; 127, wiring hole; 128, camera port; 129, support column; 200, leg; 210, first short arm; 220, second short arm; 230, third short arm; 240, first joint; 241, first servo; 242, first pair of splints; 250, second joint; 251, second servo; 252, second pair of splints; 260, third joint; 261, third servo; 262, third pair of splints. DETAILED DESCRIPTION

[0015] The present application will be described in detail below with reference to the exemplary embodiments in the accompanying drawings. However, it should be understood that the present application can be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. These embodiments are provided here to make the disclosure of the present application more complete and to fully convey the concept of the present application to those skilled in the art.

[0016] In the description of the present application, it should be understood that the terms "center", "lateral", "longitudinal", "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, 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 should not be understood as limiting the scope of protection of the present application.

[0017] like Figures 1 to 4As shown, in at least one search and rescue robot of this embodiment, it includes a body 100 and six legs 200 for walking around the body 100. The body 100 includes two upper and lower parallel guard plates 110, a control box 120 located between the two guard plates 110, and the upper end of the leg 200 is installed between the edges of the upper and lower guard plates 110. The control box 120 includes a box body 121 and a control circuit board 122, a camera 123 and a battery 124 contained in the box body 121. The control circuit board 122 is electrically connected to the camera 123, the battery 124 and the leg 200. The box body 121 is a rectangular trough body, and a mounting plate 125 is provided on the outer edge of the long side of the opening thereof, and the mounting plate 125 is provided with notch-shaped mounting holes 126 at both ends, and bolts are passed through the mounting holes 126 to fasten the box body 121 to the upper guard plate 110. The side wall of the box body 121 is provided with a wiring hole 127. One end surface of the box body 121 is provided with a camera port 128. The control circuit board 122 and the leg 200 are connected by a wire (the wire is not shown in the figure) passing through the wiring hole 127. The lens of the camera 123 passes through the camera port 128.

[0018] It is easy to understand that the control circuit board 122 is generally provided with various electronic components for controlling the movement of the leg 200 and receiving and transmitting the shooting data of the camera 123. Since these electronic components, models, connection methods, etc. are not unique and are conventional choices in the field, this application will not describe them in detail.

[0019] The above-mentioned structure and connection method of the control box 120 can prevent the electronic components on the camera 123 and the control circuit board 122 from colliding, thereby protecting the components and reducing damage. In addition, a camera port 128 and a large number of wiring holes 127 are also provided on the box body 121. The camera port 128 is used to expose the lens of the camera 123, and the wiring holes 127 are used for routing the wires. This does not affect the normal use of the equipment and can also reduce weight and facilitate heat dissipation.

[0020] The bottom of the box body 121 is provided with a plurality of support columns 129, which are used to support the control circuit board 122. The electronic components on the control circuit board 122 are located between the control circuit board 122 and the bottom surface of the box body 121. The camera 123 and the battery 124 are arranged in the box body 121 above the control circuit board 122. In this way, the space can be fully utilized, and the electronic components can be prevented from touching the box body 121, which also plays a certain protective role.

[0021] The structures and control methods of the legs of various hexapod robots are similar to each other. Figure 1 and Figure 5In an optional embodiment, the leg 200 includes a first short arm 210, a second short arm 220 and a third short arm 230 which are connected in series in sequence; a first joint 240 is provided between the first short arm 210 and the fuselage 100, and the first short arm 210 can rotate around the first joint 240 in a horizontal plane; a second joint 250 is provided between the second short arm 220 and the first short arm 210, and the second short arm 220 can rotate around the second joint 250 in a vertical plane; a third joint 260 is provided between the third short arm 230 and the second short arm 220, and the third short arm 230 is supported on the ground and can rotate around the third joint 260 in a vertical plane.

[0022] More specifically, the first joint 240 includes a first steering gear 241 and a first pair of clamping plates 242. The first pair of clamping plates 242 are fixedly connected to the end of the first short arm 210 and are parallel to the horizontal plane. One end of the first steering gear 241 is fixedly connected between the edges of the two guard plates 110, and the other end is rotatably connected between the first pair of clamping plates 242. Further, the edge of the guard plate 110 is provided with a lateral convex wing plate 111, and one end of the first steering gear 241 is fixed between the upper and lower wing plates 111.

[0023] More specifically, the second joint 250 includes a second servo 251 and a second pair of splints 252 , wherein the second pair of splints 252 are fixedly connected to the end of the first short arm 210 and are parallel to the vertical plane, and one end of the second servo 251 is fixedly connected to the end of the second short arm 220 , and the other end is rotatably connected between the second pair of splints 252 .

[0024] More specifically, the third joint 260 includes a third servo 261 and a third pair of splints 262. The third pair of splints 262 are fixedly connected to the upper end of the third short arm 230 and are parallel to the vertical plane. One end of the third servo 261 is fixedly connected to the end of the second short arm 220, and the other end is rotatably connected between the third pair of splints 262.

[0025] The first, second and third servos can be considered as a motor with two output shafts, the rotating connection part is the output shaft of the motor, and the fixed connection part is the body of the motor. When in use, the control circuit board 122 can realize the movement of the legs in various dimensions and directions by controlling the operation of the first, second and third servos, thereby controlling the movement of the robot as a whole.

[0026] It should be understood that all the above embodiments are illustrative rather than restrictive, and various modifications or variations made by those skilled in the art to the specific embodiments described above based on the concept of the present application, such as adding electric functions to the existing structure, should all be within the scope of protection of the present application.

Claims

1. A search and rescue robot, comprising a body (100) and six legs (200) surrounding the body (100) for walking, characterized in that: The body (100) comprises two upper and lower parallel protective plates (110), and a control box (120) located between the two protective plates (110); the upper end of the leg (200) is installed between the edges of the upper and lower protective plates (110); the control box (120) comprises a box body (121) and a control circuit board (122), a camera (123) and a battery (124) contained in the box body (121); the control circuit board (122) is electrically connected to the camera (123), the battery (124) and the leg (200); the box body (121) is a rectangular trough body The outer edge of the long side of the opening is provided with a mounting plate (125), and the two ends of the mounting plate (125) are provided with notch-shaped mounting holes (126), and bolts are passed through the mounting holes (126) to fasten the box body (121) and the upper protective plate (110). The side wall of the box body (121) is provided with wiring holes (127), and one of the end faces of the box body (121) is provided with a camera port (128). The control circuit board (122) and the leg (200) are connected by a wire passing through the wiring hole (127), and the lens of the camera (123) passes through the camera port (128).

2. The search and rescue robot according to claim 1, characterized in that: The bottom of the box body (121) is provided with a plurality of support columns (129), the support columns (129) being used to support the control circuit board (122), the electronic components on the control circuit board (122) being located between the control circuit board (122) and the bottom surface of the box body (121), and the camera (123) and the storage battery (124) being arranged in the box body (121) above the control circuit board (122).

3. The search and rescue robot according to claim 1, characterized in that: The leg part (200) comprises a first short arm (210), a second short arm (220) and a third short arm (230) which are connected in series in sequence; a first joint (240) is provided between the first short arm (210) and the fuselage (100), and the first short arm (210) can rotate around the first joint (240) in a horizontal plane; a second joint (250) is provided between the second short arm (220) and the first short arm (210), and the second short arm (220) can rotate around the second joint (250) in a vertical plane; a third joint (260) is provided between the third short arm (230) and the second short arm (220), and the third short arm (230) is supported on the ground and can rotate around the third joint (260) in a vertical plane.

4. The search and rescue robot according to claim 3, characterized in that: The first joint (240) comprises a first steering gear (241) and a first pair of clamping plates (242), wherein the first pair of clamping plates (242) are fixedly connected to the ends of the first short arm (210) and are parallel to the horizontal plane, and one end of the first steering gear (241) is fixedly connected between the edges of the two guard plates (110), and the other end is rotatably connected between the first pair of clamping plates (242); The second joint (250) comprises a second steering gear (251) and a second pair of clamping plates (252); the second pair of clamping plates (252) are fixedly connected to the end of the first short arm (210) and are parallel to the vertical plane; one end of the second steering gear (251) is fixedly connected to the end of the second short arm (220), and the other end is rotatably connected between the second pair of clamping plates (252); The third joint (260) comprises a third steering gear (261) and a third pair of clamping plates (262); the third pair of clamping plates (262) are fixedly connected to the upper end of the third short arm (230) and are parallel to the vertical plane; one end of the third steering gear (261) is fixedly connected to the end of the second short arm (220), and the other end is rotatably connected between the third pair of clamping plates (262).

5. The search and rescue robot according to claim 4, characterized in that: The edge of the guard plate (110) is provided with a lateral convex wing plate (111), and one end of the first steering gear (241) is fixed between the upper and lower wing plates (111).

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