Small unmanned multifunctional rescue device

Abstract

The utility model relates to the technical field of rescue equipment, and particularly discloses a small unmanned multifunctional rescue device which comprises a vehicle body structure, a triangular track driving mechanism, a horizontal track driving mechanism, a headlight, an infrared camera, a side manipulator mechanism, a side mechanical drill bit arm mechanism, a water cannon mechanism and a photovoltaic panel power supply assembly. The water cannon mechanism comprises a water cannon nozzle, a water conveying pipe communicated with the water cannon nozzle and a rotating base supporting the water cannon nozzle. According to the technical scheme, the functions of lighting, searching, forcible entry, grabbing, fire extinguishing and the like are integrated, a high-capacity battery is arranged to be combined with a photovoltaic panel power supply assembly to provide high-endurance electric power, the trafficability of the device is improved through cooperation of the triangular track driving mechanism 1 and the horizontal track driving mechanism, and the device is suitable for search and rescue work in complex terrains; the device is remotely controlled by a remote controller or a network beyond a safe distance through a wireless control technology, so that the risk of rescue workers is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of rescue equipment, in particular to a small unmanned multifunctional rescue device. Background Art

[0002] After some disasters, people will feel troubled by some out-of-reach obstacles, and there are certain residual dangers. In order to avoid casualties, special machinery is needed to help. We solve these difficulties. With the participation of these robots, we can achieve twice the result with half the effort in rescue and post-disaster reconstruction. The manpower required will be reduced a lot, thereby greatly reducing the danger of rescue workers and better protecting people's lives. The current rescue robots are wheel-driven, have poor passability in complex terrain, and are only equipped with search and rescue cameras. They have a single function, and actual firefighting and demolition work still require manual operation. Therefore, we propose a small unmanned multi-functional rescue device. Utility Model Content

[0003] The purpose of the utility model is to provide a small unmanned multifunctional rescue device, which solves the problems raised in the background technology.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a small unmanned multifunctional rescue device, comprising a vehicle body structure, a triangular crawler drive mechanism, a horizontal crawler drive mechanism, a headlight, an infrared camera, a side manipulator mechanism, a side mechanical drill arm mechanism, a water cannon mechanism, and a photovoltaic panel power supply assembly, wherein the water cannon mechanism comprises a water cannon nozzle, a water pipe connected to the water cannon nozzle, and a rotating base supporting the water cannon nozzle, wherein the rotating base is connected to the driving motor A through a gear meshing transmission structure;

[0005] The side manipulator mechanism includes a manipulator structure and a driving arm structure A. The side mechanical drill arm mechanism includes a drill device and a driving arm structure B. Both the driving arm structure A and the driving arm structure B include a driving motor B, a swing arm A, a U-shaped seat, a stepping motor and a swing arm B.

[0006] The manipulator structure includes an outer shell, inside which two gears meshing with each other are rotatably arranged, and both gears are connected to a crank rod A. The outer shell is provided with a servo motor for driving any gear to rotate, and inside which two cranks B are rotatably arranged, and the crank rod A and crank B on the same side are hinged to a rocker arm, and a clamping arm is fixedly provided on the outside of the rocker arm.

[0007] Furthermore, the triangular track drive mechanism includes a drive motor C fixed to the bottom of the vehicle body structure and a drive shaft rotatably arranged at the bottom of the vehicle body structure. The motor shaft of the drive motor C is dynamically connected to the drive shaft through a right-angle bevel gear transmission structure. Both ends of the drive shaft are connected to the center gear. The triangular track drive mechanism also includes side covers on both sides. The side covers are each provided with three planetary gears surrounding the center gear, and the outsides of the three planetary gears are all meshed with the inner wall of the track A.

[0008] Furthermore, the horizontal crawler drive mechanism includes a drive motor D fixed on both sides of the bottom of the vehicle body structure, the motor shaft of the drive motor D is coaxially provided with a track wheel A, a horizontal axis is rotatably provided at the bottom of the vehicle body structure, and track wheels B are coaxially provided at both ends of the horizontal axis, and the track wheel A and the track wheel B on the same side are engaged with the inner wall of the track B.

[0009] Furthermore, the headlights and infrared cameras are located at the head of the vehicle body structure, the rotating base and photovoltaic panel power supply components are close to the rear of the vehicle body structure, the headlights include two groups of LED lights, and the infrared camera is located in the middle area between the two groups of LED lights.

[0010] Furthermore, a storage structure is provided at the rear of the vehicle body structure, and the storage structure includes a cavity, a partition separating the cavities, and a cover hingedly provided at the open end of the cavity.

[0011] Furthermore, a controller module and a wireless communication module are provided inside the vehicle body structure. The controller module is electrically connected to the headlights, infrared camera, drive motor A, drive motor B, drive motor C, drive motor D, servo motor and drill equipment respectively, and the wireless communication module is communicatively connected to the wireless control equipment.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0013] The technical solution of this application integrates functions such as lighting, searching, demolition, grabbing, and fire extinguishing, and is equipped with a large-capacity battery combined with a photovoltaic panel power supply component to provide long-lasting power. The triangular track drive mechanism 1 cooperates with the horizontal track drive mechanism to improve the passability of the device, making it suitable for search and rescue work in complex terrain. Through wireless control technology, the device can be remotely controlled through a remote control or the Internet at a safe distance, reducing the risk to rescue personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Other features, objects and advantages of the present invention will become more apparent from the detailed description of the non-limiting embodiments with reference to the following drawings:

[0015] Figure 1 This is the main view of the small unmanned multifunctional rescue device;

[0016] Figure 2 It is a structural diagram of the side manipulator mechanism;

[0017] Figure 3 is the position distribution diagram of the driving motor B;

[0018] Figure 4 This is a bottom view of the small unmanned multifunctional rescue device;

[0019] Figure 5 This is a structural diagram of the side robot mechanism's gripper arm when displayed.

[0020] In the figure: 1. Triangular crawler drive mechanism; 101. Drive motor C; 102. Drive shaft; 103. Crawler track A; 104. Central gear; 105. Planetary gear; 106. Side cover; 2. Vehicle body structure; 3. Horizontal crawler drive mechanism; 301. Drive motor D; 302. Crawler track B; 303. Track wheel A; 304. Track wheel B; 305. Horizontal axis; 4. Headlight; 5. Infrared camera; 6. Side manipulator mechanism; 6 01. Drive motor B; 602. U-shaped seat; 603. Stepper motor; 604. Swing arm B; 605. Outer shell; 606. Crank rod A; 607. Rocker arm; 608. Crank B; 609. Gripper arm; 610. Gear; 611. Swing arm A; 7. Side mechanical drill arm mechanism; 8. Water cannon mechanism; 801. Water pipe; 9. Rotating base; 901. Drive motor A; 10. Photovoltaic panel power supply component; 11. Storage structure. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below 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, rather than all the embodiments.

[0022] Example 1, as Figure 1-5 As shown, the utility model provides a technical solution: a small unmanned multifunctional rescue device, including a vehicle body structure 2, a triangular crawler drive mechanism 1, a horizontal crawler drive mechanism 3, a headlight 4, an infrared camera 5, a side manipulator mechanism 6, a side mechanical drill arm mechanism 7, a water cannon mechanism 8 and a photovoltaic panel power supply assembly 10, the water cannon mechanism 8 including a water cannon nozzle, a water pipe 801 connected to the water cannon nozzle, and a rotating base 9 supporting the water cannon nozzle. The rotating base 9 is connected to the drive motor A901 through a gear meshing transmission structure.

[0023] The side manipulator mechanism 6 includes a manipulator structure and a drive arm structure A. The side mechanical drill arm mechanism 7 includes a drill device and a drive arm structure B. Both the drive arm structure A and the drive arm structure B include a drive motor B601, a swing arm A611, a U-shaped seat 602, a stepper motor 603 and a swing arm B604.

[0024] The manipulator structure includes an outer shell 605, inside which two mutually meshing gears 610 are rotatably provided, and both gears 610 are connected to a crank rod A606. The outer shell 605 is provided with a servo motor for driving any gear 610 to rotate, and inside the outer shell 605 two cranks B608 are rotatably provided, and the crank rod A606 and crank B608 on the same side are hinged to a rocker arm 607, and a clamping arm 609 is fixedly provided on the outside of the rocker arm 607.

[0025] In a specific embodiment of the present invention, the driving principle of the triangular crawler drive mechanism 1 is as follows: the motor shaft of the drive motor C101 is equipped with a right-angle bevel gear, and the middle part of the drive shaft 102 is equipped with a right-angle bevel gear. The two right-angle bevel gears are meshed with each other, so that the drive motor C101 can drive the drive shaft 102 to rotate, and the central gear 104 drives the planetary gears 105 to rotate, thereby driving the crawler A103 to move on the ground;

[0026] The driving principle of the horizontal crawler drive mechanism 3 is as follows: the drive motor D301 drives the track wheel A303 to rotate, and the track wheel A303 cooperates with the track wheel B304 to drive the track B302 to move on the ground. The horizontal shaft 305 only supports the rotation of the track wheel B304. The track wheels B304 on both sides do not rotate synchronously through the horizontal shaft 305. Therefore, when steering is required, it is only necessary to control the speed of the drive motors D301 on both sides to be inconsistent to achieve steering through the differential principle.

[0027] The driving principle of the side manipulator mechanism 6 is that the driving motor B601 is connected to the swing arm A611 through a flange plate, which is used to control the rotation of the swing arm A611. One end of the swing arm A611 is connected to a U-shaped seat 602. The swing arm B604 is installed inside the U-shaped seat 602 through an axis. The rotation of the swing arm B604 is driven and regulated by a stepper motor 603. The rotation of the swing arm A611 and the swing arm B604 can adjust the position of the manipulator mechanism. The opening and closing of the manipulator mechanism is controlled by a servo motor that drives any gear 610 to rotate. The gear 610, the crank rod A606, the rocker arm 607, and the crank B608 form a parallelogram crank rocker mechanism. When the servo motor drives any gear 610 to rotate, the two gears 610 move relative to each other, as shown in FIG. Figure 5 As shown, when the upper gear 610 rotates counterclockwise, the lower gear 610 rotates clockwise, and then drives the clamping arm 609 to expand through the parallelogram crank rocker mechanism, and vice versa, the clamping arm 609 can be closed, and the side manipulator mechanism 6 is used for clamping;

[0028] The driving principle of the side mechanical drill arm mechanism 7 is as follows: since the side mechanical drill arm mechanism 7 includes a drill bit device and a driving arm structure B, the driving arm structure A and the driving arm structure B both include a driving motor B601, a swing arm A611, a U-shaped seat 602, a stepping motor 603 and a swing arm B604, the rocker arm structure principle of the side mechanical drill arm mechanism 7 is consistent with the driving principle of the above-mentioned side manipulator mechanism 6, except that the manipulator is replaced with a device with a drill bit for drilling and demolition.

[0029] The photovoltaic panel power supply assembly 10 is composed of photovoltaic panels, photovoltaic inverters, cables, batteries, etc., which can convert sunlight into electrical energy for storage, supply power to the device, and improve the driving range;

[0030] A controller module and a wireless communication module are provided inside the vehicle body structure 2. The controller module is electrically connected to the headlight 4, infrared camera 5, drive motor A901, drive motor B601, drive motor C101, drive motor D301, servo motor and drill equipment respectively. The controller module controls the above-mentioned electrical equipment separately through an independent control module. The wireless communication module is communicatively connected with the wireless control equipment. The wireless control equipment remotely controls the above-mentioned electrical equipment through the wireless communication module and the controller module, thereby achieving the effect of remote unmanned multi-functional rescue.

[0031] In the preferred technical solution, the triangular track drive mechanism 1 includes a drive motor C101 fixed to the bottom of the vehicle body structure 2 and a drive shaft 102 rotatably arranged at the bottom of the vehicle body structure 2. The motor shaft of the drive motor C101 is power-connected to the drive shaft 102 through a right-angle bevel gear transmission structure. Both ends of the drive shaft 102 are connected to the center gear 104. The triangular track drive mechanism 1 also includes side covers 106 on both sides. The side covers 106 are each provided with three planetary gears 105 surrounding the center gear 104. The outsides of the three planetary gears 105 are all meshed with the inner wall of the track A103. When encountering an obstacle, the triangular track of the triangular track drive mechanism 1 adapts to the surface of the obstacle by adaptively tilting the track forward, thereby passing through the obstacle.

[0032] In the preferred technical solution, the horizontal track drive mechanism 3 includes a drive motor D301 fixed on both sides of the bottom of the vehicle body structure 2, the motor shaft of the drive motor D301 is coaxially provided with a track wheel A303, a horizontal axis 305 is rotatably provided at the bottom of the vehicle body structure 2, and track wheels B304 are coaxially provided at both ends of the horizontal axis 305, the track wheel A303 and the track wheel B304 on the same side are engaged with the inner wall of the track B302, and the horizontal track drive mechanism 3 realizes flexible steering of the device through differential operation.

[0033] In the preferred technical solution, the headlights 4 and the infrared camera 5 are both located at the head of the vehicle body structure 2, the rotating base 9 and the photovoltaic panel power supply assembly 10 are close to the rear of the vehicle body structure 2, the headlights 4 include two groups of LED lights, and the infrared camera 5 is located in the middle area between the two groups of LED lights. The headlights 4 provide lighting when turned on, and the infrared camera 5 is used for infrared imaging shooting for post-disaster search and rescue.

[0034] In the preferred technical solution, a storage structure 11 is provided at the rear of the vehicle body structure 2. The storage structure 11 includes a cavity, a partition separating the cavities, and a cover hingedly provided at the open end of the cavity. The storage structure 11 is used to store rescue supplies, such as tents, food, etc.

[0035] In summary, the triangular crawler drive mechanism 1 cooperates with the horizontal crawler drive mechanism to improve the passability of the device. The headlight 4 provides lighting when turned on. The infrared camera 5 is used for infrared imaging and is used for post-disaster search and rescue. The side manipulator mechanism 6 realizes flexible adjustment of the manipulator position through a multi-rocker structure and cooperates with the parallelogram crank rocker mechanism to control the opening and closing of the manipulator for grabbing objects. The side mechanical drill arm mechanism 7 realizes flexible adjustment of the mechanical drill position through a multi-rocker structure. The mechanical drill equipment breaks obstacles by drilling holes and cooperates with the manipulator to clear obstacles. The drive motor A90 The rotating base 9 is driven to rotate by a gear transmission structure. The water cannon head of the water cannon mechanism 8 can be installed above the rotating base 9 via a multi-jointed support structure or a gooseneck structure, both of which are used to adjust the spray angle of the water cannon head. The water cannon head is connected to the water pipe via a water pipe 801, providing a continuous water spray effect for post-disaster firefighting. It integrates functions such as lighting, searching, demolition, grabbing, and firefighting. It is equipped with a large-capacity battery combined with a photovoltaic panel power supply component to provide long-term power. In addition, it uses wireless control technology to remotely control the device from a safe distance via a remote control or the Internet, reducing the risk to rescue personnel.

Claims

1. A small unmanned multifunctional rescue device, characterized by: The vehicle comprises a vehicle body structure (2), a triangular crawler drive mechanism (1), a horizontal crawler drive mechanism (3), a vehicle headlight (4), an infrared camera (5), a side manipulator mechanism (6), a side mechanical drill arm mechanism (7), a water cannon mechanism (8) and a photovoltaic panel power supply assembly (10), wherein the water cannon mechanism (8) comprises a water cannon nozzle, a water pipe (801) connected to the water cannon nozzle, and a rotating base (9) supporting the water cannon nozzle, wherein the rotating base (9) is connected to the driving motor A (901) through a gear meshing transmission structure; The side manipulator mechanism (6) includes a manipulator structure and a drive arm structure A, and the side mechanical drill arm mechanism (7) includes a drill device and a drive arm structure B. The drive arm structure A and the drive arm structure B each include a drive motor B (601), a swing arm A (611), a U-shaped seat (602), a stepper motor (603), and a swing arm B (604); The manipulator structure includes an outer shell (605), two mutually meshing gears (610) are rotatably provided inside the outer shell (605), the two gears (610) are both connected to a crank rod A (606), the outer shell (605) is provided with a servo motor for driving any of the gears (610) to rotate, two cranks B (608) are rotatably provided inside the outer shell (605), the crank rod A (606) and crank B (608) on the same side are both hinged to a rocker arm (607), and a clamping arm (609) is fixedly provided on the outside of the rocker arm (607).

2. The small unmanned multifunctional rescue device according to claim 1, characterized in that: The triangular crawler drive mechanism (1) comprises a drive motor C (101) fixed to the bottom of the vehicle body structure (2), and a drive shaft (102) rotatably arranged at the bottom of the vehicle body structure (2). The motor shaft of the drive motor C (101) is connected to the drive shaft (102) through a right-angle bevel gear transmission structure. Both ends of the drive shaft (102) are connected to a central gear (104). The triangular crawler drive mechanism (1) also includes side covers (106) on both sides. The side covers (106) are each provided with three planetary gears (105) surrounding the central gear (104). The outer surfaces of the three planetary gears (105) are meshed with the inner wall of the crawler A (103).

3. The small unmanned multifunctional rescue device according to claim 1, characterized in that: The horizontal crawler drive mechanism (3) comprises a drive motor D (301) fixed to both sides of the bottom of the vehicle body structure (2), the motor shaft of the drive motor D (301) is coaxially provided with a crawler wheel A (303), a horizontal shaft (305) is rotatably provided at the bottom of the vehicle body structure (2), and crawler wheels B (304) are coaxially provided at both ends of the horizontal shaft (305), and the crawler wheel A (303) and the crawler wheel B (304) on the same side are both engaged with the inner wall of the crawler B (302).

4. The small unmanned multifunctional rescue device according to claim 1, characterized in that: The headlight (4) and the infrared camera (5) are both located at the head of the vehicle body structure (2); the rotating base (9) and the photovoltaic panel power supply assembly (10) are close to the rear of the vehicle body structure (2); the headlight (4) includes two groups of LED lights, and the infrared camera (5) is located in the middle area between the two groups of LED lights.

5. The small unmanned multifunctional rescue device according to claim 1, characterized in that: A storage structure (11) is provided at the rear of the vehicle body structure (2), and the storage structure (11) comprises a cavity, a partition separating the cavities, and a cover hingedly provided at an open end of the cavity.

6. The small unmanned multifunctional rescue device according to claim 1, characterized in that: A controller module and a wireless communication module are provided inside the vehicle body structure (2). The controller module is electrically connected to the vehicle headlight (4), the infrared camera (5), the drive motor A (901), the drive motor B (601), the drive motor C (101), the drive motor D (301), the servo motor and the drill device, respectively. The wireless communication module is communicatively connected to the wireless control device.

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