Spherical robot for emergency rescue and disaster relief

Abstract

The utility model discloses a spherical robot for rescue and relief work, which belongs to the technical field of robots and comprises a spherical shell, a telescopic multi-foot sucker mechanical leg is arranged on the outer surface of the spherical shell, and the telescopic multi-foot sucker mechanical leg comprises a telescopic supporting foot, a fixed sliding block, a metal protective shell, an elastic metal elastic sheet and a sucker. The telescopic supporting feet are arranged on the surface of the spherical shell, the fixed sliding blocks are arranged in the inner areas of the telescopic supporting feet, and the metal protection shell is fixed to the upper ends of the telescopic supporting feet. The gravity center of the robot is changed through the mechanical structure of the telescopic multi-foot suction cup mechanical legs and the multiple telescopic suction cup supporting feet evenly distributed on the spherical shell and the length change of the telescopic feet, so that the robot can smoothly and flexibly turn over and roll in various complex and severe environments, and the robot can stably and stably turn over and roll in various complex and severe environments. Due to the unique space topological structure of the supporting feet of the robot, the robot can be endowed with the function of moving in all directions, and the passing performance is high.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a spherical robot for emergency rescue. Background Art

[0002] Destructive earthquakes often cause a large number of people to be buried in the ruins of buildings. Therefore, the search and rescue of trapped people is an important task of emergency work at the earthquake site. The search efficiency at the earthquake site is directly related to the success rate of earthquake rescue work and is an important factor in improving the survival rate of trapped people. However, after a strong earthquake occurs, the earthquake site often has frequent aftershocks and the environment in the ruins is dangerous and complex, which brings great difficulties to rescuers and threatens their lives.

[0003] For the firefighting industry, although the application of robots has begun very early, various types of fire-fighting robots are currently the routine configuration of fire rescue teams at all levels, but such robots are mainly wheeled or tracked, and are very restricted by the terrain environment. They can only work in specific scenarios during firefighting and rescue. Faced with more complex fire investigation scenes, existing equipment is not competent for auxiliary investigation work. The use of wheeled or tracked robots is not convenient for complex activities in multi-obstacle three-dimensional spaces such as crossing obstacles, climbing stairs and gentle slopes, and passing through narrow gaps.

[0004] Therefore, there is a need for a spherical robot for disaster rescue. Introducing a spherical robot as a rescue robot will effectively solve various problems of terrain adaptability at the rescue site. Utility Model Content

[0005] The utility model aims to provide a spherical robot for emergency rescue to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a spherical emergency rescue robot, comprising a spherical shell, the outer surface of the spherical shell is provided with a telescopic multi-legged suction cup mechanical leg, the telescopic multi-legged suction cup mechanical leg comprises a telescopic supporting foot, a fixed slider, a metal protective shell, an elastic metal spring and a suction cup, the telescopic supporting foot is arranged on the surface of the spherical shell, the fixed slider is arranged in the inner area of ​​the telescopic supporting foot, the metal protective shell is fixed to the upper end of the telescopic supporting foot, the elastic metal spring is arranged on the upper part of the metal protective shell, and the suction cup is fixed to the upper end surface of the metal protective shell.

[0007] It should be noted in the solution that a guide rail is provided on the inner side wall of the telescopic support foot, and the anti-slip T-shaped block of the fixed slider is slidably connected to the guide rail of the telescopic support foot.

[0008] It is further worth noting that one end of the positioning screw rod is threadedly inserted into the inner area of ​​the telescopic support foot, and the positioning screw rod is rotatably inserted into the interior of the fixed sliding block.

[0009] It should be further explained that a driving motor is fixed to one end of the positioning screw rod extending out of the telescopic supporting foot, and the driving motor is fixed inside the spherical housing.

[0010] As a preferred implementation, the suction cup cover is arranged outside the elastic metal spring, and one end of the elastic metal spring extends out of the suction port of the suction cup.

[0011] As a preferred embodiment, the interior of the spherical shell is hollow, a telescopic opening is provided on the surface of the spherical shell, and the telescopic support foot is slidably connected in the telescopic opening of the spherical shell.

[0012] As a preferred implementation, a positioning screw hole is provided on the upper surface of the fixed sliding block, and positioning screws are threadedly connected to the spherical housing and the positioning screw hole.

[0013] As a preferred implementation, fixed brackets are fixed between the inner walls of the spherical shell, and a sensor carrying box is fixed between the fixed brackets.

[0014] Compared with the prior art, the spherical rescue robot provided by the utility model has at least the following beneficial effects:

[0015] ⑴ By setting up telescopic multi-legged suction cup mechanical legs and the mechanical structure of the multi-telescopic suction cup support feet evenly distributed on the spherical shell, the center of gravity of the robot can be changed by changing the length of the telescopic feet. This enables the robot to flip and roll smoothly and flexibly in various complex and harsh environments. Due to the unique spatial topological structure of the robot's support feet, it can be endowed with the function of omnidirectional movement and strong passing performance.

[0016] ⑵ By setting up a metal protective shell, elastic metal shrapnel and suction cup, a multi-legged structure, and combining the suction cup on the supporting foot, the vibration of the sphere caused by the movement is reduced, making the movement extremely stable, which can ensure the stability of the robot under complex terrain conditions, and then realize the sampling of life information in various positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are 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 creative work.

[0018] Figure 1 This is a three-dimensional diagram of the overall structure of a spherical emergency rescue robot of the utility model;

[0019] Figure 2 This is a three-dimensional diagram of the telescopic multi-legged suction cup mechanical leg structure of a spherical emergency rescue robot of the utility model;

[0020] Figure 3 The utility model is a three-dimensional diagram of the cross-sectional structure of a spherical shell of a spherical emergency rescue robot.

[0021] In the figure: 1. Spherical shell; 2. Telescopic multi-legged suction cup mechanical legs; 3. Fixed bracket; 4. Sensor carrying box; 5. Telescopic opening; 6. Telescopic supporting foot; 7. Guide rail; 8. Fixed slider; 9. Metal protective shell; 10. Elastic metal shrapnel; 11. Suction cup; 12. Adjustment screw; 13. Driving motor; 14. Positioning screw hole; 15. Positioning screw. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the embodiments.

[0023] See also Figure 1-3 The utility model provides a spherical robot for emergency rescue, including a spherical shell 1, the outer surface of the spherical shell 1 is provided with a telescopic multi-legged suction cup mechanical leg 2, the telescopic multi-legged suction cup mechanical leg 2 includes a telescopic supporting foot 6, a fixed slider 8, a metal protective shell 9, an elastic metal spring 10 and a suction cup 11, the telescopic supporting foot 6 is arranged on the surface of the spherical shell 1, the fixed slider 8 is arranged in the inner area of ​​the telescopic supporting foot 6, the metal protective shell 9 is fixed to the upper end of the telescopic supporting foot 6, the elastic metal spring 10 is arranged on the upper part of the metal protective shell 9, and the suction cup 11 is fixed to the upper end surface of the metal protective shell 9.

[0024] Further as Figure 1 , Figure 2 and Figure 3 As shown, it is worth explaining in detail that a guide rail 7 is provided on the inner side wall of the telescopic support foot 6 , and an anti-slip T-shaped block of a fixed slider 8 is slidably connected to the guide rail 7 of the telescopic support foot 6 .

[0025] Further as Figure 3 As shown, it is worth explaining in detail that one end of the positioning screw rod 12 is threadedly inserted into the inner area of ​​the telescopic support foot 6, and the positioning screw rod 12 is rotatably inserted into the interior of the fixed slider 8.

[0026] This solution has the following working process: the rescue agency presses the power button of the spherical robot, the spherical robot starts up, and retracts all the telescopic multi-legged suction cup mechanical legs 2 pointing in different spaces to the half-stroke position of the stepping drive motor 13 to complete the zeroing. The sensor carrying box 4 is equipped with various functional modules and sensors. The operator inputs commands to the robot through the terminal, specifies the rescue area, and inputs cluster operation commands when necessary. The positioning module intelligently plans the path according to the user's commands and the disaster area map to complete the path pre-design. The user throws the robot, and the elastic metal spring 10 at the end of its supporting foot undergoes elastic deformation when the robot lands. The suction cup 11 attached to the supporting foot plays the role of adsorbing the ground and plays a shock-absorbing role, reducing the damage to internal components caused by vibration. After the robot lands, it uses the positioning module to automatically position itself and plan and correct the pre-designed path. The sensor carried on the supporting foot automatically detects vital signs information, and then by changing the length of the supporting foot extension, the robot rolls towards the target direction in multiple postures. The suction cup 11 reduces the friction of the ground and The robot accelerates the body movement, and when the movement speed reaches a specified value, all legs stop retracting and rolling along the target path in a spherical posture. When steering adjustment is required, the retractable multi-legged suction cup mechanical leg 2 supporting the ground quickly extends to push the robot to complete the change of movement direction, and collect information in the designated area. After arriving at the designated area, the sensor starts working to sense the vital signs around it, and continuously collects information according to the pre-planned path. Through the self-organizing network communication function, the sensor information with location information is transmitted back to the terminal. The intelligent algorithm inside the terminal completes the drawing of the location map of the disaster area life information data according to the disaster area map and the data information transmitted back; after arriving at the designated point and braking, the sensor starts working and transmits back the relevant data of the point, and then moves around the designated point for a circle to collect the vital signs data nearby as the preliminary data and transmits it back to the terminal; when the predetermined position is about to be reached, the cell transformation process runs, and according to the pre-calculated algorithm, the length of the extension and shortening of each supporting foot is controlled to reconstruct the robot shape into a cube, so that the robot completes braking and can stop at the designated position more stably.

[0027] When controlling the extension and retraction of the telescopic multi-legged suction cup mechanical leg 2, the stepper drive motor 13 drives the adjusting screw 12 to rotate, and the telescopic support foot 6 threadedly connected to the adjusting screw 12 extends along the fixed slider 8 to the inside or outside of the spherical shell 1 to achieve the purpose of retracting the support foot. The robot realizes all-round movement by giving the multi-legged structure. The support foot is a telescopic structure with variable length. The change of its length is controlled by the stepper drive motor 13, so that the offset of the center of gravity generates sufficient heating torque to drive the robot to rotate and roll around its fulcrum. This multi-legged structure, combined with the suction cup 11 on the supporting foot, reduces the vibration of the sphere caused by the movement, makes the movement have extremely high stability, can ensure the stability of the robot under complex terrain conditions, and thus realize the collection of information of life forms in various positions.

[0028] The control system part that controls the movement of the robot uses the acceleration values ​​collected by the inertial component to calculate which groups of legs are in contact with the ground, and then executes the corresponding action groups according to the requirements of the motion instructions, controlling the extension between the legs with different numbers, thereby achieving its movement in a specific direction.

[0029] Realize the self-organizing network communication mode between devices and the host computer, and realize the division of labor and cooperation of robots in different states. When a robot exceeds the transmission distance of the communication module, it will communicate with the nearby robots in a network. This robot will then communicate with the nearby robots in a network and package the source address of the previous robot together and send it to the host computer system. The host computer retrieves the corresponding robot according to the unique address of each robot. When some robots are out of range, it will send instructions to other robots to retrieve the robots out of range according to their identity numbers.

[0030] Further as Figure 1 , Figure 2 and Figure 3 As shown, it is worth explaining in detail that a driving motor 13 is fixed to one end of the positioning screw rod 12 extending out of the telescopic support foot 6 , and the driving motor 13 is fixed inside the spherical housing 1 .

[0031] Further as Figure 2 As shown, it is worth to explain in detail that the suction cup 11 is covered on the outside of the elastic metal spring sheet 10 , and one end of the elastic metal spring sheet 10 extends out of the suction port of the suction cup 11 .

[0032] Further as Figure 1 As shown, it is worth to explain in detail that the interior of the spherical shell 1 is hollow, a telescopic opening 5 is opened on the surface of the spherical shell 1, and the telescopic support foot 6 is slidably connected in the telescopic opening 5 of the spherical shell 1.

[0033] Further as Figure 1 As shown, it is worth to explain in detail that a positioning screw hole 14 is opened on the upper surface of the fixed sliding block 8, and a positioning screw 15 is threadedly connected at both the spherical housing 1 and the positioning screw hole 14.

[0034] Further as Figure 1 As shown, it is worth to explain in detail that the fixing brackets 3 are fixed between the inner walls of the spherical shell 1, and the sensor carrying box 4 is fixed between the fixing brackets 3.

[0035] In summary: the mechanical structure of the multi-retractable suction cup supporting feet evenly distributed on the spherical shell 1 realizes the change of the robot's center of gravity by changing the length of the retractable feet, so that the robot can flip and roll smoothly and flexibly in various complex and harsh environments. Due to the unique spatial topological structure of the robot's supporting feet, it can be endowed with the function of omnidirectional movement and strong passing performance; the multi-legged structure, combined with the suction cups on the supporting feet, reduces the vibration of the sphere caused by the movement, making the movement extremely stable, which can ensure the stability of the robot under complex terrain conditions, and then realize the sampling of life information in various positions.

[0036] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A spherical robot for disaster rescue, comprising a spherical housing (1), characterized in that: The outer surface of the spherical shell (1) is provided with a telescopic multi-legged suction cup mechanical leg (2), and the telescopic multi-legged suction cup mechanical leg (2) comprises a telescopic support foot (6), a fixed slider (8), a metal protective shell (9), an elastic metal spring (10) and a suction cup (11), wherein the telescopic support foot (6) is arranged on the surface of the spherical shell (1), the fixed slider (8) is arranged in the inner area of ​​the telescopic support foot (6), the metal protective shell (9) is fixed to the upper end of the telescopic support foot (6), the elastic metal spring (10) is arranged on the upper part of the metal protective shell (9), and the suction cup (11) is fixed to the upper end surface of the metal protective shell (9).

2. A spherical rescue robot according to claim 1, characterized in that: The inner side wall of the telescopic support foot (6) is provided with a guide rail (7), and the anti-slip T-shaped block of the fixed slide block (8) is slidably connected to the guide rail (7) of the telescopic support foot (6).

3. A spherical rescue robot according to claim 2, characterized in that: One end of the position adjusting screw rod (12) is threadedly inserted into the inner area of ​​the telescopic support foot (6), and the position adjusting screw rod (12) is rotatably inserted into the interior of the fixed sliding block (8).

4. A spherical rescue robot according to claim 3, characterized in that: A driving motor (13) is fixed to one end of the positioning screw rod (12) extending out of the telescopic support foot (6), and the driving motor (13) is fixed inside the spherical housing (1).

5. A spherical rescue robot according to claim 4, characterized in that: The suction cup (11) is covered on the outside of the elastic metal spring (10), and one end of the elastic metal spring (10) extends out of the suction port of the suction cup (11).

6. A spherical rescue robot according to claim 5, characterized in that: The interior of the spherical shell (1) is hollow, a telescopic opening (5) is provided on the surface of the spherical shell (1), and the telescopic support foot (6) is slidably connected in the telescopic opening (5) of the spherical shell (1).

7. A spherical rescue robot according to claim 6, characterized in that: A positioning screw hole (14) is provided on the upper surface of the fixed sliding block (8), and a positioning screw (15) is threadedly connected to the spherical housing (1) and the positioning screw hole (14).

8. A spherical rescue robot according to claim 7, characterized in that: A fixing bracket (3) is fixed between the inner walls of the spherical housing (1), and a sensor carrying box (4) is fixed between the fixing brackets (3).

Images