Multi-wheel rescue robot

Abstract

The utility model discloses a multi-wheel rescue robot which comprises a suspension chassis, a protective shell is arranged on the top of the suspension chassis, and a folding solar photovoltaic panel, a communication base station, a retractable communication antenna and an illuminating lamp are arranged on the protective shell. The suspension chassis comprises a box-type main beam, a suspension adjusting mechanism and a suspension, and the box-type main beam is fixedly connected with a frame connecting piece in the suspension adjusting mechanism; the suspension adjusting mechanism comprises a wheel set connecting piece, a hoisting connecting rod, a supporting connecting rod and a frame connecting piece, one ends of the hoisting connecting rod and the supporting connecting rod are movably connected with the wheel set connecting piece, and the other ends are movably connected with the frame connecting piece; the suspension comprises a wheel, a suspension shock absorber support, a cantilever, a spring shock absorber and a suspension fixing plate, the wheel is fixedly connected with an output shaft of the driving motor, the driving motor is fixed on the suspension shock absorber support, the center end of the cantilever is hinged to the wheel set connecting piece, and the two ends of the cantilever are fixedly connected with the suspension fixing plate. The robot is high in advancing speed, good in obstacle crossing capacity in complex terrains, good in damping effect and low in energy consumption.

Description

Technical Field

[0001] The utility model relates to a rescue robot, in particular to a multi-wheel rescue robot. Background Technique

[0002] After a disaster occurs, the on-site environment is often extremely dangerous at the first time, with various potential safety hazards. The rescue task is a life-related task that requires racing against time. The sooner the location of the survivors is determined, the greater the chance of the survivors being rescued. Rescue robots cooperate with and assist rescue personnel in searching, which can reduce the danger of rescue tasks and improve rescue efficiency. The main tasks of rescue robots are: replacing and accompanying rescue personnel and search dogs into dangerous post-disaster environments. Therefore, rescue robots need to have functions such as high sensitivity, high driving speed, certain obstacle-crossing ability, adaptability to soft and rough ground, and the ability to detect disaster victims in the post-disaster environment.

[0003] However, currently existing robots have problems such as poor obstacle-crossing ability, poor movement ability on complex terrains, and poor shock absorption effect; tracked robots have a certain adaptability to complex terrains, but have problems such as slow traveling speed, large weight, and high energy consumption. Content of the Utility Model

[0004] Purpose of the Invention: In order to overcome the deficiencies of the prior art, the purpose of the utility model is to provide a multi-wheel rescue robot with independent drive, strong adaptability to complex road surfaces, and strong rescue ability.

[0005] Technical Solution: A multi-wheel rescue robot described in the utility model includes a suspension chassis. A protective shell is arranged on the top of the suspension chassis, and a folding solar photovoltaic panel, a communication base station, a retractable communication antenna, and a lighting lamp are arranged on the protective shell; the suspension chassis includes a box-shaped main beam, a suspension adjustment mechanism, and a suspension. The box-shaped main beam is fixedly connected to a frame connecting piece in the suspension adjustment mechanism; the suspension adjustment mechanism includes a wheel group connecting piece, a lifting connecting rod, a support connecting rod, and a frame connecting piece. One end of the lifting connecting rod and the support connecting rod is movably connected to the wheel group connecting piece, and the other end is movably connected to the frame connecting piece; the suspension includes a wheel, a suspension shock absorber bracket, a cantilever, a spring shock absorber, a suspension fixing plate, and a driving motor. The wheel is fixedly connected to the output shaft of the driving motor. The driving motor is fixed on the suspension shock absorber bracket. The central end of the cantilever is hinged to the wheel group connecting piece, and both ends are fixedly connected to the suspension fixing plate. Both ends of the spring shock absorber are respectively hinged to the suspension shock absorber bracket and the suspension fixing plate. The suspension shock absorber bracket is hinged to the suspension fixing plate.

[0006] Furthermore, a worm and worm gear motor is arranged on the frame connecting piece, and the output end of the worm and worm gear motor is fixedly connected to one end of the lifting connecting rod close to the frame connecting piece.

[0007] Furthermore, the frame connecting piece is fixedly connected to the box-shaped main beam.

[0007]

[0008] Further, the number of the suspension adjustment mechanisms and the suspensions is multiple, and they are respectively perpendicular and parallel to the central axis of the box girder.

[0009] Further, the foldable solar photovoltaic panel includes a base, a first gear link, a first connecting link, an S-shaped connecting plate, a second connecting link, a photovoltaic glass plate, a second gear link, an L-shaped connecting plate, and a third gear link. The first gear link and the first connecting link are hinged to the base. The first gear link meshes with the second gear link. The third gear link meshes with the second gear link. Photovoltaic glass plates are arranged on the first gear link, the second connecting link, and the third gear link.

[0010] Further, the first gear link, the first connecting link, the second connecting link, and the second gear link are rotatably connected to the S-shaped connecting plate through a shaft pin. The second connecting link, the second gear link, and the third gear link are rotatably connected to the L-shaped connecting plate through a shaft pin.

[0011] Further, the foldable solar photovoltaic panels are symmetrically arranged on the surface of the protective housing.

[0012] Further, the retractable communication antenna includes a receiving antenna, a telescopic motor, a coupling, a telescopic slider, a lead screw slide, a connecting lead screw, and a flipping motor. The telescopic slider can slide along the connecting lead screw. The lead screw slide is slidably connected to the telescopic slider. The lead screw slide is fixedly connected to the output end of the flipping motor. The connecting lead screw is connected to the output shaft of the telescopic motor through a coupling. The receiving antenna is fixedly connected to the telescopic slider.

[0013] Further, the telescopic motor is fixed on the lead screw slide, and the flipping motor is fixed on the protective housing.

[0014] Further, the drive motor is a waterproof motor.

[0015] Working principle: Each wheel is driven by an independent drive motor. By adjusting the output power of the wheels, basic functions such as forward movement, backward movement, and steering are ensured. Additionally, according to the actual ground contact situation, the output power of the wheels can be dynamically adjusted to achieve high-intensity off-road driving. If there are minor obstacles on the front road section, the suspension can achieve adaptive obstacle crossing. If there are moderate obstacles on the front road section, the suspension adjustment mechanism can control the telescoping of the suspension to make the suspension move up and down to achieve evasive obstacle crossing. If there are severe obstacles on the front road section, the suspension and the suspension adjustment mechanism work together to achieve strong obstacle crossing. The functional modules on the protective shell ensure the progress of rescue work. In the foldable solar photovoltaic panel, the photovoltaic glass plate can be folded and unfolded by the link folding mechanism. It is in a folded state during transportation and unfolded during use to generate and store solar energy to meet the emergency power supply requirements; the communication base station cooperates with the retractable communication antenna to ensure emergency communication; in the retractable communication antenna, the telescoping motor drives the telescoping of the receiving antenna, and the flipping motor drives the entire mechanism to be laid down and erected. The retractable function of the receiving antenna facilitates transportation; the lighting lamp can complete emergency lighting and remote monitoring.

[0016] Advantageous effects: Compared with the prior art, the present utility model has the following characteristics:

[0017] 1. Fast traveling speed, good obstacle-crossing ability, strong movement ability on complex terrains, good shock absorption effect, and low energy consumption;

[0018] 2. Design an independently driven retractable multi-wheel adaptive suspension chassis, which has strong road adaptability and obstacle-crossing ability. It can dynamically adjust the output power of the wheels according to the actual ground contact situation to achieve high-intensity off-road driving and obstacle crossing. The wheeled operation has high efficiency and speed, and the multi-wheel combination will have the adhesion and off-road ability of a crawler chassis;

[0019] 3. Set up an independent suspension and a suspension adjustment structure. The two cooperate to enable the robot to have a strong obstacle-crossing ability, increase the flexibility of the chassis, and improve the ground adhesion ability and adaptability to complex road conditions;

[0020] 4. Mount the solar photovoltaic panel through a single-degree-of-freedom link folding mechanism to achieve folding, which facilitates the operation of the whole vehicle and meets the emergency power demand;

[0021] 5. Ensure emergency communication by retracting and extending the communication signal amplification antenna and cooperating with the communication signal base station;

[0022] 6. Mounting the lighting lamp can complete emergency lighting and remote monitoring to ensure the rescue work of the robot. Description of the drawings

[0023] Figure 1 is the structural schematic diagram of the present utility model;

[0024] Figure 2 is the structural schematic diagram of the communication base station 4 of the present utility model;

[0025] Figure 3 is a schematic structural diagram of the lighting lamp 6 of the present utility model;

[0026] Figure 4 is a schematic structural diagram of the suspension chassis 1 of the present utility model;

[0027] Figure 5 is a schematic structural diagram of the suspension adjustment mechanism 12 and the suspension 13 of the present utility model;

[0028] Figure 6 is a schematic structural diagram of the protective housing 2 of the present utility model;

[0029] Figure 7 is a schematic structural diagram of the foldable solar photovoltaic panel 3 of the present utility model;

[0030] Figure 8 is a schematic structural diagram of the retractable communication antenna 5 of the present utility model. Detailed implementation manners

[0031] As Figures 1 to 3 , on the top of the suspension chassis 1 of the multi-wheeled rescue robot, there is a protective housing 2, and on the protective housing 2, there are function component mounting brackets or platforms, carrying a foldable solar photovoltaic panel 3, a communication base station 4, a retractable communication antenna 5, and a lighting lamp 6. The rich function modules ensure the rescue work of the robot. The communication base station 4 cooperates with the retractable communication antenna 5 to ensure emergency communication, and the lighting lamp 6 can complete emergency lighting. The foldable solar photovoltaic panels 3 are symmetrically arranged on the surface of the protective housing 2, using solar energy to improve the battery life of the robot body. The foldable solar photovoltaic panel 3, the retractable communication antenna 5, and the lighting lamp 6 are all directly driven by motors. The folding mechanism of the foldable solar photovoltaic panel 3 is a single-degree-of-freedom retractable mechanism. The first gear link 32 is hinged to the base 31, and at the hinge, a driving motor is installed. The driving motor drives the first gear link 32 to rotate, thereby realizing retraction and extension. The retractable communication antenna 5 is installed on a lead screw slide table. The tilting motor 57 controls the angle of the antenna, and the telescopic motor 52 drives the connected lead screw 56 to rotate to realize the telescoping of the receiving antenna 51.

[0032] As Figures 4 to 6, the suspension chassis 1 includes a box-shaped main beam 11, two sets of suspension adjustment mechanisms 12, and four sets of suspensions 13. The box-shaped main beam 11 adopts a sealed cabin and is used to support the protective shell 2. The suspension adjustment mechanism 12 includes two wheel group connectors 121, two lifting connecting rods 122, two support connecting rods 123, a frame connector 124, and two worm and gear motors 125. One end of the lifting connecting rod 122 and the support connecting rod 123 is movably connected to the wheel group connector 121, and the other end is movably connected to the frame connector 124. The worm and gear motor 125 is arranged on the frame connector 124, and the output end of the worm and gear motor 125 is fixedly connected to one end of the lifting connecting rod 122 close to the frame connector 124. The frame connector 124 is fixedly connected to the box-shaped main beam 11. The suspension 13 includes two wheels 131, two suspension shock absorber brackets 132, a cantilever 133, four spring shock absorbers 134, two suspension fixing plates 135, and two drive motors 136. The wheel 131 is fixedly connected to the output shaft of the drive motor 136, and the drive motor 136 is fixed on the suspension shock absorber bracket 132. The central end of the cantilever 133 is hinged to the wheel group connector 121, and both ends are fixedly connected to the suspension fixing plate 135. The two ends of the spring shock absorber 134 are respectively hinged to the suspension shock absorber bracket 132 and the suspension fixing plate 135, and the suspension shock absorber bracket 132 is hinged to the suspension fixing plate 135. The drive motor 136 is preferably a waterproof motor.

[0033] The numbers of the suspension adjustment mechanism 12 and the suspension 13 are two sets and four sets respectively, and they are arranged perpendicular and parallel to the central axis of the box-shaped main beam 11 respectively. Each two sets of suspensions 13 are equipped with one set of suspension adjustment mechanism 12. The suspension adjustment mechanism 12 is a parallelogram mechanism, independently driven by the worm and gear motor 125, with a reverse mechanical self-locking function. The rotation angle is controlled within ±30 degrees, which can make the ground clearance of each set of suspensions 13 different, so that the obstacle-crossing ability during operation becomes stronger and the ground adhesion is improved. Each set of suspensions 13 is installed on the suspension adjustment mechanism 12 in a hinged form, which can adapt to the undulating road surface. At the same time, in order to prevent excessive rotation, the rotation angle of the suspension 13 assembly is limited within ±20 degrees in the form of mechanical limit. The protective shell 2 is arranged above the retractable multi-wheel adaptive suspension chassis 1, and the protective shell 2 is fixedly connected to the box-shaped main beam 11 to ensure the safety of the robot. The protective shell 2 is formed by sheet metal cutting and welding, and is supported by the box-shaped main beam 11, which can wrap the suspension chassis 1 to reduce the running resistance.

[0034] As Figure 7, The foldable solar photovoltaic panel 3 includes three groups of photovoltaic glass panels 36 and a link folding mechanism. It is in a folded state during transportation and unfolds during use to generate and store electricity using solar energy. Two sets of foldable solar photovoltaic panels 3 are assembled on the robot and symmetrically arranged on the surface of the protective housing 2 to ensure the emergency power supply demand. The link folding mechanism includes a base 31, a first gear link 32, a first connecting link 33, an S-shaped connecting plate 34, a second connecting link 35, a second gear link 37, an L-shaped connecting plate 38, and a third gear link 39. It has only one degree of freedom, which is convenient for operation and can be directly driven by a driving motor. The first gear link 32, the first connecting link 33 are hinged to the base 31. The first gear link 32 meshes with the second gear link 37, and the third gear link 39 meshes with the second gear link 37. Photovoltaic glass panels 36 are provided on the first gear link 32, the second connecting link 35, and the third gear link 39. The first gear link 32, the first connecting link 33, the second connecting link 35, and the second gear link 37 are rotatably connected to the S-shaped connecting plate 34 through a pin. The second connecting link 35, the second gear link 37, and the third gear link 39 are rotatably connected to the L-shaped connecting plate 38 through a pin.

[0035] As Figure 8 , The retractable communication antenna 5 includes a receiving antenna 51, a retractable motor 52, a coupling 53, a retractable slider 54, a lead screw slide 55, a connecting lead screw 56, and a flipping motor 57. The retractable motor 52 drives the retraction and extension of the receiving antenna 51, and the flipping motor 57 drives the entire mechanism to be laid down and erected. The retracting and extending function facilitates transportation. The retractable slider 54 can slide along the connecting lead screw 56. The lead screw slide 55 is slidably connected to the retractable slider 54. The lead screw slide 55 is fixedly connected to the output end of the flipping motor 57. The connecting lead screw 56 is connected to the output shaft of the retractable motor 52 through the coupling 53. The receiving antenna 51 is fixedly connected to the retractable slider 54. The retractable motor 52 is fixed on the lead screw slide 55, and the flipping motor 57 is fixed on the protective housing 2.

Claims

1. A multi-wheeled rescue robot, characterized in that: The invention comprises a suspension chassis (1), a protective shell (2) is arranged on the top of the suspension chassis (1), and a foldable solar photovoltaic panel (3), a communication base station (4), a retractable communication antenna (5) and a lighting lamp (6) are arranged on the protective shell (2); the suspension chassis (1) comprises a box-type main beam (11), a suspension adjustment mechanism (12) and a suspension (13), and the box-type main beam (11) is fixedly connected to a frame connecting member (124) in the suspension adjustment mechanism (12); the suspension adjustment mechanism (12) comprises a wheel group connecting member (121), a lifting connecting rod (122), a supporting connecting rod (123) and a frame connecting member (124), and one end of the lifting connecting rod (122) and the supporting connecting rod (123) is movably connected to the wheel group connecting member (121), and the other end is movably connected to the wheel group connecting member (121). The suspension (13) is movably connected to the vehicle frame connecting member (124); the suspension (13) comprises a wheel (131), a suspension shock absorber bracket (132), a cantilever (133), a spring shock absorber (134), a suspension fixing plate (135) and a drive motor (136); the wheel (131) is fixedly connected to the output shaft of the drive motor (136); the drive motor (136) is fixed to the suspension shock absorber bracket (132); the center end of the cantilever (133) is hinged to the wheel assembly connecting member (121); the two ends are fixedly connected to the suspension fixing plate (135); the two ends of the spring shock absorber (134) are respectively hinged to the suspension shock absorber bracket (132) and the suspension fixing plate (135); the suspension shock absorber bracket (132) is hinged to the suspension fixing plate (135).

2. A multi-wheeled rescue robot according to claim 1, characterized in that: A worm gear motor (125) is disposed on the frame connecting member (124), and an output end of the worm gear motor (125) is fixedly connected to an end of the lifting connecting rod (122) close to the frame connecting member (124).

3. A multi-wheeled rescue robot according to claim 1, characterized in that: The vehicle frame connecting member (124) is fixedly connected to the box-type main beam (11).

4. A multi-wheeled rescue robot according to claim 1, characterized in that: The suspension adjustment mechanisms (12) and the suspensions (13) are multiple in number and are respectively arranged perpendicularly and parallel to the central axis of the box-type main beam (11).

5. The multi-wheeled rescue robot according to claim 1, characterized in that: The foldable solar photovoltaic panel (3) comprises a base (31), a first gear connecting rod (32), a first connecting rod (33), an S-shaped connecting plate (34), a second connecting rod (35), a photovoltaic glass plate (36), a second gear connecting rod (37), an L-shaped connecting plate (38) and a third gear connecting rod (39); the first gear connecting rod (32) and the first connecting rod (33) are hinged to the base (31); the first gear connecting rod (32) and the second gear connecting rod (37) are meshed; the third gear connecting rod (39) and the second gear connecting rod (37) are meshed; and the photovoltaic glass plate (36) is arranged on the first gear connecting rod (32), the second connecting rod (35) and the third gear connecting rod (39).

6. A multi-wheeled rescue robot according to claim 5, characterized in that: The first gear connecting rod (32), the first connecting rod (33), the second connecting rod (35), and the second gear connecting rod (37) are rotatably connected to the S-shaped connecting plate (34) via an axle pin, and the second connecting rod (35), the second gear connecting rod (37), and the third gear connecting rod (39) are rotatably connected to the L-shaped connecting plate (38) via an axle pin.

7. The multi-wheeled rescue robot according to claim 1, characterized in that: The foldable solar photovoltaic panels (3) are symmetrically arranged on the surface of the protective housing (2).

8. The multi-wheeled rescue robot according to claim 1, characterized in that: The retractable communication antenna (5) comprises a receiving antenna (51), a telescopic motor (52), a coupling (53), a telescopic slider (54), a lead screw slide (55), a connecting screw (56) and a flip motor (57); the telescopic slider (54) is capable of sliding along the connecting screw (56); the lead screw slide (55) is slidably connected to the telescopic slider (54); the lead screw slide (55) is fixedly connected to the output end of the flip motor (57); the connecting screw (56) is connected to the output shaft of the telescopic motor (52) via the coupling (53); and the receiving antenna (51) is fixedly connected to the telescopic slider (54).

9. The multi-wheeled rescue robot according to claim 8, characterized in that: The telescopic motor (52) is fixed on the lead screw slide (55), and the flip motor (57) is fixed on the protective housing (2).

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