Rescue robot under multi-terrain complex environment

Abstract

The utility model discloses a rescue robot in a multi-terrain complex environment, which comprises a vehicle body, a driving shaft, a steering shaft and a manipulator are mounted on the vehicle body, and traveling wheels are mounted at the end parts of the driving shaft and the steering shaft; the walking wheel comprises a shell, an inner disc is installed at one end of the shell, three rotating shafts are installed on the inner disc, hubs are installed on the rotating shafts, arc-shaped guide seams are formed in the hubs, fixing pins are installed on the shell, and the fixing pins penetrate through the guide seams. The rescue robot in the multi-terrain complex environment is provided with the shell, the inner disc, the hub, the rotating shaft, the guide seam, the fixing pin and the traveling wheel of the driving assembly, so that the traveling wheel can be deformed according to needs, meanwhile, the rescue robot has the advantages of a wheel type traveling mechanism and a crawler type traveling mechanism, and has higher environment adaptability.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a rescue robot in a multi-terrain complex environment. Background Art

[0002] With the continuous advancement of science and technology, rescue robots play an increasingly important role in responding to various emergency situations. Rescue robots can perform search and rescue tasks in complex and dangerous environments, reduce the burden on rescuers, and improve rescue efficiency.

[0003] The walking mechanisms of existing rescue robots are mostly wheeled or tracked. The wheeled walking mechanism has certain advantages in walking speed, but its ability to overcome obstacles in complex terrain is average. On the contrary, the tracked walking mechanism is stronger than the wheeled one in obstacle crossing ability, but the tracked mechanism itself has certain defects in moving speed.

[0004] Therefore, it is necessary to provide a rescue robot in a multi-terrain complex environment to solve the above technical problems. Utility Model Content

[0005] In view of the above situation, in order to overcome the defects of the prior art, the utility model provides a rescue robot for complex terrain environments which has the advantages of both wheeled and tracked walking mechanisms.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0007] A rescue robot for complex terrain environments includes: a vehicle body, a driving shaft and a steering shaft are installed on the vehicle body, and running wheels are installed at the ends of the driving shaft and the steering shaft. The driving shaft is driven by a motor or a motor on the vehicle body. A manipulator is installed on the vehicle body, and the manipulator has six degrees of freedom and is used to grab objects for rescue. A steering control mechanism is installed on the vehicle body, and the steering control mechanism is used to control the rotation of the steering shaft. The movement, steering, stop of the vehicle body and the movement of the manipulator are all controlled by remote control. The running wheel includes a shell, one end of the shell is fixedly connected to the end of the driving shaft or the steering shaft, one end of the shell is installed with an inner disk through rotation on a bearing, three rotating shafts are installed on the inner disk, an arc-shaped wheel hub is installed at the end of the rotating shaft, an arc-shaped guide slot is opened on the wheel hub, and a fixing pin installed on the shell passes through the guide slot. A driving assembly is installed in the shell, and the driving assembly is used to drive the relative rotation between the shell and the inner disk.

[0008] Preferably, a protruding clamping portion is provided at the end of the wheel hub, and the wheel hubs are overlapped by the clamping portion to form a circle.

[0009] Preferably, the driving assembly includes a driving motor fixedly installed in the outer shell, a driving gear is installed on the output shaft of the driving motor, a driven gear is installed on the inner side of the inner disk, a mounting hole is opened in the middle of the driven gear, and the driving gear is meshed with the driven gear.

[0010] Preferably, a battery is installed in the shell, and the battery supplies power to the drive motor and other electronic components in the shell. A charging port is installed on the inner disk, and the connecting wire of the charging port passes through the mounting hole to be connected to the circuit board of the battery.

[0011] Preferably, a remote control panel is installed in the housing, the remote control panel is connected to the driving motor, and the control end is wirelessly connected to the remote control panel.

[0012] Preferably, a flange is installed at one end of the housing, and the housing is flange-connected to the end of the drive shaft or the steering shaft through the flange.

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

[0014] (1) The utility model provides a traveling wheel including an outer shell, an inner disk, a wheel hub, a rotating shaft, a guide slot, a fixing pin and a driving assembly, so that the traveling wheel can be deformed as needed, and has the advantages of both wheel-type and crawler-type traveling mechanisms, and has stronger environmental adaptability;

[0015] (2) The utility model can conveniently make three hubs form a circle by providing a clamping portion at the end of the hub;

[0016] (3) The utility model can conveniently drive the inner disk and the outer shell to rotate relative to each other by providing a driving assembly including a driving motor, a driving gear and a driven gear;

[0017] (4) The utility model can conveniently power the drive motor by installing a battery in the outer shell, and can recharge the battery through a charging port installed on the inner disk;

[0018] (5) The utility model can conveniently remotely control the deformation of the traveling wheel by installing a remote control panel in the housing;

[0019] (6) The utility model can facilitate the installation and fixation of the traveling wheel by installing a flange at one end of the shell. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the top view of the rescue robot in a multi-terrain complex environment provided by the utility model;

[0021] Figure 2 for Figure 1 The side view structural diagram of the rescue robot in a complex multi-terrain environment is shown;

[0022] Figure 3 for Figure 1 The schematic diagram of the structure of the driving wheels of the rescue robot in a complex multi-terrain environment is shown;

[0023] Figure 4 for Figure 1 The schematic diagram of deformation of the driving wheels of the rescue robot in a multi-terrain complex environment is shown;

[0024] Figure 5 for Figure 1 The figure shows a schematic diagram of the structure of the driving components in a rescue robot in a complex multi-terrain environment.

[0025] Among them, the names corresponding to the figure numbers are: 1-body, 2-drive shaft, 3-steering shaft, 4-travel wheel, 5-manipulator, 6-steering control mechanism, 7-outer shell, 8-inner disk, 9-wheel hub, 10-rotating shaft, 11-guide slot, 12-fixing pin, 13-clamping part, 14-drive motor, 15-drive gear, 16-driven gear, 17-installation hole, 18-battery, 19-remote control panel, 20-flange, 21-charging port. DETAILED DESCRIPTION

[0026] The present invention is further described below in conjunction with the accompanying drawings and embodiments. The present invention includes but is not limited to the following embodiments.

[0027] Embodiment 1:

[0028] like Figure 1-5 As shown, the rescue robot for complex terrain environments provided by the utility model includes: a body 1, a driving shaft 2 and a steering shaft 3 are installed on the body 1, and walking wheels 4 are installed at the ends of the driving shaft 2 and the steering shaft 3. The driving shaft 2 is driven by a motor or a motor on the body 1, and a manipulator 5 is installed on the body 1. The manipulator 5 has six degrees of freedom and is used to grab objects for rescue. A steering control mechanism 6 is installed on the body 1, and the steering control mechanism 6 is used to control the rotation of the steering shaft 3. It is worth noting that the walking, steering, stopping of the body 1 and the actions of the manipulator 5 are all The specific communication and control components are controlled by remote control, and will not be described here. The travel wheel 4 includes a shell 7, one end of which is fixedly connected to the end of the drive shaft 2 or the steering shaft 3, and one end of the shell 7 is installed with an inner disk 8 through a bearing rotation, and three rotating shafts 10 are installed on the inner disk 8. An arc-shaped wheel hub 9 is installed at the end of the rotating shaft 10, and an arc-shaped guide slot 11 is opened on the wheel hub 9. The fixing pin 12 installed on the shell 7 passes through the guide slot 11. A driving assembly is installed in the shell 7, and the driving assembly is used to drive the relative rotation between the shell 7 and the inner disk 8. When in use, when the device is traveling on a straight road, the travel wheel 4 is in a Figure 3In the style shown in the figure, the three wheel hubs 9 are combined into a circle, which is more suitable for fast movement so that rescue can be carried out in time. When encountering obstacles and needing to climb, at this time, under the drive of the driving assembly in the shell 7, the inner disk 8 and the shell 7 are relatively rotated, thereby pulling the wheel hub 9 to rotate. Since the fixing pin 12 is located in the guide slot 11, the fixing pin 12 slides in the guide slot 11, thereby causing the wheel hub 9 to deflect, and the two ends of the wheel hub 9 are high on one side and low on the other side, so that the driving wheel 4 is Figure 4 In the style shown in the figure, the intersection of the three hubs 9 is not closed and has a height difference, which makes it easier to grasp the raised parts of the steps or walls. When climbing, it has stronger adaptability and is more suitable for climbing, thereby crossing obstacles and performing rescue.

[0029] By providing a traveling wheel 4 including an outer shell 7, an inner disc 8, a wheel hub 9, a rotating shaft 10, a guide slot 11, a fixing pin 12 and a driving assembly, the traveling wheel 4 can be deformed as needed, while having the advantages of both wheeled and tracked walking mechanisms and having stronger environmental adaptability.

[0030] Embodiment 2:

[0031] like Figure 4 As shown, a protruding clamping portion 13 is provided at the end of the wheel hub 9, and the wheel hubs 9 are overlapped by the clamping portion 13 to form a circle.

[0032] By providing the clamping portion 13 at the end of the wheel hub 9, the three wheel hubs 9 can be easily formed into a circle.

[0033] Embodiment 3:

[0034] like Figure 5 As shown, the driving assembly includes a driving motor 14 fixedly installed in the outer shell 7, a driving gear 15 is installed on the output shaft of the driving motor 14, a driven gear 16 is installed on the inner side of the inner disk 8, and a mounting hole 17 is opened in the middle of the driven gear 16. The driving gear 15 is meshed with the driven gear 16. When the driving motor 14 is started, the driving gear 15 is driven to rotate, and then the inner disk 8 is driven to rotate through the driven gear 16 meshed with it, so that the inner disk 8 and the outer shell 7 rotate relative to each other.

[0035] By providing a driving assembly including a driving motor 14 , a driving gear 15 and a driven gear 16 , the inner disk 8 and the outer shell 7 can be driven to rotate relative to each other.

[0036] Embodiment 4:

[0037] like Figure 4-5As shown, a battery 18 is installed in the outer shell 7, and the battery 18 supplies power to the drive motor 14 and other electronic components in the outer shell 7. A charging port 21 is installed on the inner disk 8. The connecting line of the charging port 21 passes through the mounting hole 17 and is connected to the circuit board of the battery 18. When in use, the battery 18 supplies power to the drive motor 14 and can be charged through the charging port 21.

[0038] By installing the battery 18 in the outer shell 7 , the drive motor 14 can be easily powered, and the battery can be recharged through the charging port 21 installed on the inner disk 8 .

[0039] Embodiment 5:

[0040] like Figure 5 As shown, a remote control panel 19 is installed in the housing 7, and the remote control panel 19 is connected to the driving motor 14. The control end is wirelessly connected to the remote control panel 19, and the start and stop and forward and reverse rotation of the driving motor 14 are controlled by the remote control panel 9, thereby realizing remote control to deform the driving wheel 4.

[0041] By installing the remote control panel 19 in the housing 7 , the deformation of the travel wheel 4 can be conveniently controlled remotely.

[0042] Embodiment 6:

[0043] like Figure 5 As shown, a flange 20 is installed at one end of the housing 7, and the housing 7 is flange-connected to the end of the drive shaft 2 or the steering shaft 3 through the flange 20, thereby fixing the travel wheel 4.

[0044] By installing the flange 20 at one end of the housing 7 , the installation and fixation of the traveling wheel 4 can be facilitated.

[0045] Working principle: When in use, when driving on a straight road, the walking wheel 4 is Figure 3 In the style shown in the figure, the three wheel hubs 9 are combined into a circle, which is more suitable for fast movement so that rescue can be carried out in time. When encountering obstacles, it is necessary to climb over them. At this time, under the drive of the driving assembly, the inner disk 8 and the outer shell 7 rotate relative to each other, thereby pulling the wheel hub 9 to rotate. Since the fixing pin 12 is located in the guide slot 11, the fixing pin 12 slides in the guide slot 11, thereby causing the wheel hub 9 to deflect, and the two ends of the wheel hub 9 are high on one side and low on the other side, so that the driving wheel 4 is Figure 4 In the style shown in the figure, the intersection of the three wheel hubs 9 is not closed, and has a height difference, which makes it easier to grasp the raised part of the steps or walls. When climbing, it has stronger adaptability and is more suitable for climbing, so as to facilitate crossing obstacles and performing rescue. It is worth noting that when climbing, the running wheel at the end of the drive shaft 2 can be deformed from a circle to another shape, while the running wheel 4 at the end of the steering shaft 3 can remain in a circular state.

Claims

1. A rescue robot for complex terrain environments, characterized in that: include: A vehicle body (1), wherein a drive shaft (2), a steering shaft (3) and a manipulator (5) are mounted on the vehicle body (1), and travel wheels are mounted at the ends of the drive shaft (2) and the steering shaft (3); The travel wheel comprises an outer shell (7), an inner disk (8) is mounted on one end of the outer shell (7), three rotating shafts (10) are mounted on the inner disk (8), a wheel hub (9) is mounted on the rotating shaft (10), an arc-shaped guide slot (11) is provided on the wheel hub (9), a fixing pin (12) is mounted on the outer shell (7), the fixing pin (12) passes through the guide slot (11), and a driving assembly is mounted in the outer shell (7), the driving assembly is used to drive the outer shell (7) and the inner disk (8) to rotate relative to each other.

2. The rescue robot for complex terrain environments according to claim 1, characterized in that: A clamping portion (13) is provided at the end of the wheel hub (9).

3. The rescue robot for complex terrain environments according to claim 1, characterized in that: The driving assembly comprises a driving motor (14) installed in the housing (7), a driving gear (15) being installed on the output shaft of the driving motor (14), a driven gear (16) being installed on the inner side of the inner disk (8), and the driving gear (15) being meshed with the driven gear (16).

4. The rescue robot for complex terrain environments according to claim 1, characterized in that: A battery (18) is installed in the outer shell (7), and a charging port (21) is installed on the inner plate (8).

5. The rescue robot for complex terrain environments according to claim 1, characterized in that: A remote control panel (19) is installed in the housing (7).

6. The rescue robot for complex terrain environments according to claim 1, characterized in that: A flange (20) is installed at one end of the housing (7).

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