Microminiature search and rescue robot moving platform

Abstract

The utility model belongs to the technical field of building collapse ruins search and rescue equipment, and particularly relates to a microminiature search and rescue robot moving platform which comprises two moving modules and a load module which are connected end to end to form a snake-shaped robot moving platform. The two motion modules are the same in structure and each comprise a driving joint, a deflection joint and a fixed shell, the driving joints provide power for walking of the robot moving platform, and the deflection joints control the walking direction of the robot moving platform and guarantee that the robot moving platform successfully avoids obstacles in the walking process; a life detector and a battery are arranged in the load module, search and rescue can be conducted in ruins, and a power source is provided for the wireless communication robot to achieve functions. The micro snakelike robot moving platform has good adaptability in the complex environment in building collapsing ruins, is particularly suitable for penetrating through narrow gaps, and has the advantages of being modularized in structure, light in weight, flexible in walking, easy to install and replace and accurate in control.

Description

Technical Field

[0001] The utility model belongs to the technical field of building collapsed ruins search and rescue equipment, in particular to a micro-sized search and rescue robot mobile platform. Background Art

[0002] Accidents like earthquakes and tsunamis often cause building collapses and create debris, necessitating the rescue of survivors buried beneath the rubble. To improve rescue efficiency, significant efforts are being made to develop rescue technologies, particularly for those trapped within the confined spaces of rubble. This presents an urgent need for miniaturized search and rescue equipment capable of entering and rescuing trapped personnel. Consequently, search and rescue robotic mobile platforms must be extremely compact and adaptable to diverse terrains and environments. Designing highly adaptable miniaturized robotic mobile platforms to address these challenges is of significant research significance. Utility Model Content

[0003] In order to understand the specific situation of people trapped in the narrow space inside the ruins and improve the robot's movement ability and environmental adaptability in an uncertain unstructured environment, the purpose of this utility model is to provide a micro search and rescue robot mobile platform for search and rescue work in ruins.

[0004] The purpose of this utility model is achieved through the following technical solutions:

[0005] The utility model comprises a load module and motion modules connected to the front and rear ends of the load module respectively. The three modules are connected end to end to form a robot mobile platform capable of forming a snake shape.

[0006] The motion module includes a motion module fixed part and a driving joint and a deflection joint respectively installed on the motion module fixed part, the driving joint includes a walking power source, a walking transmission mechanism and a driving wheel with a grouser structure on the outer peripheral surface, the driving wheel can rotate relative to the motion module fixed part, the output end of the walking power source provides rotational power to the driving wheel through the walking transmission mechanism, thereby driving the robot mobile platform to walk; the deflection joint includes a deflection power source, a deflection transmission mechanism and a deflection output part, the deflection output part is connected to the load module, the output end of the deflection power source provides deflection power to the deflection output part through the deflection transmission mechanism, thereby changing the relative angle between the motion module and the load module to form a serpentine configuration;

[0007] The payload module includes a payload module fixing portion and a life detector and a battery respectively installed in the payload module fixing portion. The battery is connected to the life detector to power the life detector. The detection surface of the life detector is exposed outside the payload module fixing portion.

[0008] Among them: the walking transmission mechanism includes a bevel gear transmission mechanism and a pulley transmission mechanism, and driving wheels are provided on the left and right ends of the front and rear ends of the fixed part of the motion module. The driving wheels on the left and right sides of each end are coaxial, and the shafts at the front and rear ends are connected through the pulley transmission mechanism. The output end of the walking power source is connected to the shaft at either end through the bevel gear transmission mechanism, thereby realizing synchronous and unidirectional rotation of each driving wheel.

[0009] The front and rear ends of the fixed part of the motion module are respectively rotatably installed with a drive shaft A and a drive shaft B, and the left and right ends of the drive shaft A and the left and right ends of the drive shaft B both extend out of the fixed part of the motion module and are connected to the drive wheel; the pulley transmission mechanism includes an input pulley, an output pulley and a transmission belt, and the bevel gear transmission mechanism includes an input bevel gear and an output bevel gear, and the output bevel gear and the input pulley are both installed on the drive shaft A or the drive shaft B, and the output pulley is installed on the drive shaft B or the drive shaft A, and is connected to the input pulley through the transmission belt, and the output end of the walking power source is installed with an input bevel gear meshing with the output bevel gear.

[0010] The walking power source is installed in the motion module fixing part through the walking power source support, and the input bevel gear is rotatably connected to the walking power source support through a bearing.

[0011] The axial direction of the output end of the walking power source is perpendicular to the axial direction of the shaft where the driving wheel is located.

[0012] The deflection transmission mechanism is a worm gear transmission mechanism, including a worm shaft, a worm, a worm wheel and a deflection shaft. The output end of the deflection power source is connected to the inner hole of one end of the worm, the inner hole of the other end of the worm is connected to one end of the worm shaft, and the other end of the worm shaft is rotatably connected to a bearing base fixed in the fixed part of the motion module; the deflection shaft is rotatably installed in the fixed part of the motion module, and both ends extend out of the fixed part of the motion module and are connected to the deflection output part. A worm wheel meshing with the worm is fixed on the deflection shaft.

[0013] The axial direction of the output end of the deflection power source is perpendicular to the axial direction of the deflection axis.

[0014] The deflection output portion is a "U"-shaped deflection connecting plate, and both sides of the "U"-shaped opening are respectively connected to the two ends of the deflection shaft.

[0015] The load module and the motion modules at the front and rear ends are respectively connected into a snake shape through the deflection output part in the deflection joint, and the walking direction of the robot mobile platform is controlled by the deflection joint to ensure that the robot mobile platform successfully avoids obstacles during walking; when the robot mobile platform rolls over 90 degrees, under the action of the deflection joint and the robot mobile platform's own gravity, it can be tilted and restored to its initial state.

[0016] The entire front-to-back direction and the up-down direction of the robot mobile platform are symmetrically distributed, so that the entire robot mobile platform can drive normally after a 180-degree rollover.

[0017] The advantages and positive effects of this utility model are:

[0018] 1. The utility model robot mobile platform has an overall serpentine structure, which is suitable for search and rescue work in ruins, especially in narrow spaces that rescue workers cannot reach. It has strong environmental adaptability and good adaptability to non-structural environments.

[0019] 2. The robot of the utility model is composed of three modules. When the robot rolls over 90 degrees, it can be reset to its initial state.

[0020] 3. The robot of the utility model is symmetrically distributed in the upper and lower directions, so that the entire robot mobile platform can drive normally after a 180-degree rollover without affecting its function.

[0021] 4. The robot mobile platform of this utility model is symmetrical, lightweight, modular, easy to install and has high control precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0023] Figure 2 This is a schematic structural diagram of the motion module of the present utility model;

[0024] Figure 3 This is a schematic diagram of the cross-sectional structure of the drive joint of the utility model;

[0025] Figure 4 This is one of the cross-sectional structural diagrams of the deflection joint of the present invention;

[0026] Figure 5 This is the second schematic cross-sectional structure diagram of the deflection joint of the present invention;

[0027] Figure 6 This is a schematic structural diagram of the payload module of the present utility model;

[0028] Figure 7 It is a structural schematic diagram of the utility model in a serpentine state;

[0029] Figure 8 This is a schematic diagram of the tilting and resetting process of the utility model;

[0030] Among them: 1 is the motion module, 2 is the load module, 3 is the fixed housing, 4 is the drive joint, 5 is the deflection joint, 6 is the drive motor, 7 is the drive motor base, 8 is the input bevel gear, 9 is the output bevel gear, 10 is the drive shaft A, 11 is the input pulley, 12 is the output pulley, 13 is the transmission belt, 14 is the drive shaft B, 15 is the drive wheel, 16 is the deflection motor, 17 is the deflection motor base, 18 is the bearing base, 19 is the worm shaft, 20 is the worm, 21 is the worm wheel, 22 is the deflection shaft, 23 is the deflection connecting plate, 24 is the load housing, 25 is the life detector, and 26 is the battery. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] like Figure 1 、 Figure 2 As shown, the utility model includes two motion modules 1 and a load module 2. The front and rear ends of the load module 2 are each connected to a motion module 1. The three modules are connected end to end to form a robot mobile platform that can be serpentine.

[0033] like Figures 1 to 3 As shown, each motion module 1 includes a motion module fixed portion and a drive joint 4 and a deflection joint 5 respectively mounted within the motion module fixed portion. The drive joint 4 includes a travel power source, a travel transmission mechanism, and a drive wheel 15 with a grouser structure on its outer circumference. The drive wheel 15 is rotatable relative to the motion module fixed portion. The output end of the travel power source provides rotational power to the drive wheel 15 through the travel transmission mechanism, thereby driving the robot mobile platform to move. The travel transmission mechanism includes a bevel gear transmission mechanism and a pulley transmission mechanism. Drive wheels 15 are provided on both the left and right ends of the front and rear ends of the motion module fixed portion. The left and right drive wheels 15 on each end are coaxial, and the shafts at the front and rear ends are connected by a pulley transmission mechanism. The output end of the travel power source is connected to the shaft at either end through a bevel gear transmission mechanism, thereby achieving synchronous and unidirectional rotation of each drive wheel 15.

[0034] The fixed portion of the motion module in this embodiment is a fixed housing 3, which is a hollow rectangular parallelepiped. The travel power source is mounted within the fixed housing 3 via a travel power source support. In this embodiment, the travel power source is a drive motor 6, and the travel power source support is a drive motor base 7, which is secured within the fixed housing 3 via the drive motor base 7. Drive shaft A10 and drive shaft B14 are rotatably mounted on the front and rear ends of the fixed housing 3, respectively, via bearings. Drive shaft A10 and drive shaft B14 are arranged parallel to each other. The left and right ends of drive shaft A10 and drive shaft B14 extend out of the fixed housing 3 and are connected to drive wheels 15.

[0035] The bevel gear transmission mechanism of this embodiment includes an input bevel gear 8 and an output bevel gear 9, and the pulley transmission mechanism includes an input pulley 11, an output pulley 12, and a transmission belt 13. The output end (i.e., the output shaft) of the drive motor 6 is connected to the input bevel gear 8, and the input bevel gear 8 is rotatably mounted on the drive motor base 7 via a bearing. The output bevel gear 9 and the input pulley 11 are both mounted on the drive shaft A10 or the drive shaft B14, and the output pulley 12 is mounted on the drive shaft B14 or the drive shaft A10. In this embodiment, the two ends of the drive shaft A10 are respectively mounted on the side plates of the fixed housing 3 via bearings. The output bevel gear 9 and the input pulley 11 are respectively fixed on the drive shaft A10 inside the fixed housing 3, and the output bevel gear 9 and the input bevel gear 8 are meshed. The axis of the output shaft of the drive motor 6 is perpendicular to the axis of the drive shaft A10, achieving the requirement of precise meshing of the input bevel gear 8 and the output bevel gear 9. Similarly, both ends of the drive shaft B14 are mounted on the side plates of the fixed housing 3 through bearings. An output pulley 12 is mounted on the drive shaft B14 inside the fixed housing 3 . The output pulley 12 is connected to the input pulley 11 through a transmission belt 13 .

[0036] like Figure 1 、 Figure 2 and Figure 4 、 Figure 5 As shown, the deflection joint 5 includes a deflection power source, a deflection transmission mechanism and a deflection output part. The deflection output part is connected to the load module 2. The output end of the deflection power source provides deflection power to the deflection output part through the deflection transmission mechanism, thereby changing the relative angle between the motion module 1 and the load module 2 to form a serpentine configuration.

[0037] The deflection power source in this embodiment is a deflection motor 16, which is mounted within the fixed housing 3 via a deflection motor base 17. The deflection transmission mechanism in this embodiment is a worm gear transmission mechanism, comprising a worm shaft 19, a worm 20, a worm wheel 21, and a deflection shaft 22. The output end (i.e., the output shaft) of the deflection motor 16 is connected to the inner bore of one end of the worm 20. The inner bore of the other end of the worm 20 is connected to one end of the worm shaft 19. The other end of the worm shaft 19 (i.e., the mounting end of the worm shaft 19) is rotationally connected to a bearing base 18 via a bearing. The bearing base 18 is fixed within the fixed housing 3. The deflection shaft 22 is mounted on the upper and lower base plates of the fixed housing 3 via bearings. A worm wheel 21 is fixed to the deflection shaft 22 within the fixed housing 3, and the worm wheel 21 and worm 20 are meshed. The axis of the output shaft of the deflection motor 16 is perpendicular to the axis of the deflection shaft 22, ensuring precise meshing between the worm 20 and worm wheel 21. The deflection output portion of this embodiment is a “U”-shaped deflection connecting plate 23 . Both ends of the deflection shaft 22 extend from the fixed housing 3 , and both sides of the “U”-shaped opening are connected to the two ends of the deflection shaft 22 .

[0038] like Figure 1 and Figure 6 As shown, the payload module 2 includes a payload module mounting portion, a life detector 25, and a battery 26, each mounted within the mounting portion. The battery 26 is connected to the life detector 25 and provides power to the life detector 25. In this embodiment, the payload module mounting portion is a payload housing 24. Both the life detector 25 and the battery 26 are mounted within the payload housing 24, with the detection surface of the life detector 25 exposed outside the payload housing 24 to facilitate life detection.

[0039] like Figure 7 、 Figure 8 As shown, the two motion modules 1 and the payload module 2 of this embodiment are connected in a serpentine shape via deflection connecting plates 23 in deflection joints 5. The deflection joints 5 control the direction of travel of the robotic platform and ensure that the platform successfully avoids obstacles during travel. When the robotic platform rolls over 90 degrees, the deflection joints 5 and the platform's own gravity enable it to reset to its initial state. The overall symmetry of the robotic platform in this embodiment, both in the front-to-back and up-to-down directions, allows it to continue operating normally after a 180-degree rollover without affecting its functionality.

[0040] The working principle of this utility model is:

[0041] This embodiment is a snake-like robot mobile platform formed by connecting three modules end to end. The drive motor 6 in the drive joint 4 provides power to the drive shaft A10 through the precise engagement of the input bevel gear 8 and the output bevel gear 9, thereby driving the input pulley 11 to rotate. Under the action of the transmission belt 13, the output pulley 12 and the drive shaft B14 connected to it rotate accordingly, providing rotational power to the four drive wheels 15 installed at the ends of the drive shaft A10 and the drive shaft B14, thereby driving the mobile platform to move.

[0042] The outer circumference of the driving wheel 15 in the driving joint 4 is a grouser structure, which realizes wheel rotation when walking on horizontal ground; when encountering obstacles during the movement process, the driving wheel 15 plays the role of a crawler and can successfully cross the obstacle.

[0043] The deflection motor 16 in the deflection joint 5 provides power to the worm 20. The precise engagement of the worm 20 and the worm wheel 21 causes the deflection shaft 22 to rotate accordingly, driving the deflection connecting plate 23 connected to the end of the deflection shaft 22 to deflect, thereby changing the relative angle between the motion module 1 and the load module 2, forming a serpentine configuration, and achieving the purpose of turning or avoiding obstacles.

[0044] The detection surface of the life detector 25 in the payload module 2 is exposed to the outside, which is convenient for life detection; the battery 26 provides power for the wireless communication robot to realize its functions.

[0045] When the snake-like robot of this embodiment rolls over 90 degrees, the deflection motors 16 in the front and rear driving joints 4 work synchronously, causing the two deflection connecting plates 23 to deflect synchronously in the same direction, so that the robot's mobile platform is arched. Under the action of the deflection joints 5 and the gravity of the robot's mobile platform itself, the rollover can be reset to the initial state; since the robot's mobile platform is symmetrically distributed in the upper and lower directions, it can still drive normally after a 180-degree rollover as a whole, and its function is not affected.

[0046] The utility model enables the robot to walk arbitrarily in the narrow and unstructured environment inside the collapsed ruins, and reach unknown areas that rescue workers cannot reach, providing strong guarantee for search and rescue.

Claims

1. A miniature search and rescue robot mobile platform, characterized by: It comprises a load module (2) and motion modules (1) respectively connected to the front and rear ends of the load module (2), wherein the three modules are connected end to end to form a robot mobile platform capable of forming a snake shape; The motion module (1) includes a motion module fixed part and a driving joint (4) and a deflection joint (5) respectively mounted on the motion module fixed part. The driving joint (4) includes a walking power source, a walking transmission mechanism and a driving wheel (15) with a grouser structure on the outer circumference. The driving wheel (15) is rotatable relative to the motion module fixed part. The output end of the walking power source provides rotational power to the driving wheel (15) through the walking transmission mechanism, thereby driving the robot mobile platform to walk. The deflection joint (5) includes a deflection power source, a deflection transmission mechanism and a deflection output part. The deflection output part is connected to the load module (2). The output end of the deflection power source provides deflection power to the deflection output part through the deflection transmission mechanism, thereby changing the relative angle between the motion module (1) and the load module (2) to form a serpentine configuration. The payload module (2) comprises a payload module fixing portion, and a life detector (25) and a battery (26) respectively mounted in the payload module fixing portion. The battery (26) is connected to the life detector (25) and supplies power to the life detector (25). The detection surface of the life detector (25) is exposed outside the payload module fixing portion.

2. The miniature search and rescue robot mobile platform according to claim 1, characterized in that: The travel transmission mechanism includes a bevel gear transmission mechanism and a pulley transmission mechanism. Drive wheels (15) are provided at both the left and right ends of the front and rear ends of the fixed part of the motion module. The drive wheels (15) on the left and right sides of each end are coaxial. The shafts at the front and rear ends are connected through the pulley transmission mechanism. The output end of the travel power source is connected to the shaft at either end through the bevel gear transmission mechanism, thereby realizing synchronous and unidirectional rotation of each of the drive wheels (15).

3. The micro-sized search and rescue robot mobile platform according to claim 2, characterized in that: The front and rear ends of the motion module fixed part are respectively rotatably mounted with a drive shaft A (10) and a drive shaft B (14); the left and right ends of the drive shaft A (10) and the left and right ends of the drive shaft B (14) both extend out of the motion module fixed part and are both connected to the drive wheel (15); the pulley transmission mechanism includes an input pulley (11), an output pulley (12) and a transmission belt (13); the bevel gear transmission mechanism includes an input bevel gear (8) and an output bevel gear (9); the output bevel gear (9) and the input pulley (11) are both mounted on the drive shaft A (10) or the drive shaft B (14); the output pulley (12) is mounted on the drive shaft B (14) or the drive shaft A (10) and is connected to the input pulley (11) through the transmission belt (13); the output end of the walking power source is mounted with an input bevel gear (8) meshing with the output bevel gear (9).

4. The micro-sized search and rescue robot mobile platform according to claim 3, characterized in that: The walking power source is installed in the motion module fixing part through a walking power source support, and the input bevel gear (8) is rotatably connected to the walking power source support through a bearing.

5. The micro-sized search and rescue robot mobile platform according to claim 2, characterized in that: The axial direction of the output end of the walking power source is perpendicular to the axial direction of the shaft where the driving wheel (15) is located.

6. The micro-sized search and rescue robot mobile platform according to claim 1, characterized in that: The deflection transmission mechanism is a worm gear transmission mechanism, comprising a worm shaft (19), a worm (20), a worm wheel (21) and a deflection shaft (22); the output end of the deflection power source is connected to the inner hole of one end of the worm (20); the inner hole of the other end of the worm (20) is connected to one end of the worm shaft (19); the other end of the worm shaft (19) is rotatably connected to a bearing base (18) fixed in the fixed part of the motion module; the deflection shaft (22) is rotatably installed in the fixed part of the motion module, and its two ends respectively extend from the fixed part of the motion module and are connected to the deflection output part; the deflection shaft (22) is fixed with a worm wheel (21) meshing with the worm (20).

7. The micro-sized search and rescue robot mobile platform according to claim 6, characterized in that: The axial direction of the output end of the deflection power source is perpendicular to the axial direction of the deflection axis (22).

8. The micro-sized search and rescue robot mobile platform according to claim 6, characterized in that: The deflection output portion is a "U"-shaped deflection connecting plate (23), and both sides of the "U"-shaped opening are respectively connected to the two ends of the deflection shaft (22).

9. The micro-sized search and rescue robot mobile platform according to claim 1, characterized in that: The load module (2) and the motion modules (1) at the front and rear ends are respectively connected in a serpentine shape via a deflection output portion in a deflection joint (5). The deflection joint (5) controls the walking direction of the robot mobile platform and ensures that the robot mobile platform successfully avoids obstacles during walking. When the robot mobile platform rolls over 90 degrees, under the action of the deflection joint (5) and the robot mobile platform's own gravity, the tilting can be restored to an initial state.

10. The micro-sized search and rescue robot mobile platform according to claim 1, characterized in that: The entire front-to-back direction and the up-down direction of the robot mobile platform are symmetrically distributed, so that the entire robot mobile platform can drive normally after a 180-degree rollover.

Images