Multi-joint connection type snakelike exploration and search-and-rescue robot
Through the multi-joint connection design and dynamic track adjustment components, the problems of insufficient passability and friction of the snake-like exploration and rescue robot on complex terrain are solved, the optimal working angle and contact area of the track are achieved, the service life of the robot is extended and wear and maintenance costs are reduced.
Patent Information
- Application Number
- CN202423124791.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-18
- Publication Date
- 2025-10-24
- Estimated Expiration
- 2034-12-18
AI Technical Summary
The track working angle of existing snake-like exploration and rescue robots is fixed, resulting in limited maneuverability on complex terrain, insufficient friction, and severe track wear.
It adopts a multi-joint connection design, and realizes dynamic adjustment of the track working angle through adjustment components and drive components, including suspension rods, buffer frames, damping, drive wheels, fine-tuning motors, etc., to ensure that the track maintains the best working angle and contact area on different terrains.
It improves the robot's passability and friction on complex terrain, reduces track wear, extends service life and reduces maintenance costs.
Smart Images
Figure CN223467225U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to the technical field of search and rescue robots, and particularly relates to a multi-joint connecting type snake-shaped exploration search and rescue robot. BACKGROUND
[0002] Search and rescue robots are specifically designed for search and rescue tasks in disaster sites. They are equipped with various high-tech devices such as cameras, sensors, and unmanned aerial vehicle technology, enabling them to locate trapped personnel in complex and dangerous environments, providing critical information and support for rescue teams.
[0003] When designing a snake-shaped exploration search and rescue robot, the working angle of its track is often fixed, which means that its adaptability to different terrains is limited. Specifically: terrain adaptability is limited: in complex terrains such as mountains, deserts, or ruins, the inclination angle, hardness, and roughness of the ground vary, and the fixed track working angle limits the robot's passability in these terrains, making it difficult to maintain stable movement and sufficient traction, insufficient friction: on some smooth or slippery surfaces, the fixed track angle may result in insufficient friction, causing the robot to easily slip or lose control, track wear is aggravated: due to the inability to adjust the track angle according to the terrain, the robot may experience excessive wear or even damage when driving on some extreme terrains, which not only reduces the service life of the robot but also increases maintenance costs. SUMMARY
[0004] The utility model aims to provide a multi-joint connecting type snake-shaped exploration search and rescue robot, aiming to solve the problems raised in the background art.
[0005] A multi-joint connecting type snake-shaped exploration search and rescue robot, comprising,
[0006] A mobile station, a drive wheel, a universal joint, and a traction station, the drive wheel is rotatably inserted into the outer wall of the mobile station on both sides, one end of the universal joint is fixedly arranged on the outer wall of the mobile station on both sides, the other end of the universal joint is fixedly arranged on the outer wall of the traction station;
[0007] An adjustment assembly is provided on the outer wall of the traction station, wherein: the adjustment assembly comprises a suspension rod, a buffer bracket, a damper, a mounting bracket, a drive wheel set, a track, a linkage rod, a drive rod, and a drive assembly, the suspension rod is rotatably inserted into the outer wall of the traction station on both sides, the buffer bracket is rotatably inserted into the outer wall of the suspension rod, the damper is fixedly arranged on the top of the outer wall of the suspension rod, the mounting bracket is rotatably inserted into the outer wall of the other end of the suspension rod, the drive wheel set is rotatably inserted into the inner wall opening of the mounting bracket, the track is engagedly sleeved on the outer wall of the drive wheel set, one end of the drive rod is rotatably sleeved on the outer wall of the linkage rod, the other end of the drive rod is rotatably inserted into the inner wall of the mounting bracket.
[0008] Further, the driving assembly comprises a fine adjustment motor, a lead screw, a limiting rod and a limiting frame.
[0009] Further, the fine adjustment motor is fixedly arranged at the inner wall of the traction table, and one end of the lead screw is fixedly arranged at the outer wall of the output end of the fine adjustment motor.
[0010] Further, the lead screw is threadedly connected to the inner wall of the linkage rod, the limiting rod is fixedly arranged at the outer wall of the limiting frame, and the linkage rod is slidingly sleeved at the outer wall of the limiting rod.
[0011] Further, one end of the damping is matched with the traction table.
[0012] Further, the limiting frame is fixedly arranged at the bottom of the outer wall of the traction table.
[0013] Compared with the prior art, the utility model has the beneficial effects that:
[0014] Through the adjusting assembly, the working angle of the track on the bottom of the traction table can be adjusted, the track is ensured to be always at the best working angle, the passability thereof in various environments is facilitated, the contact area of the track is ensured to be always at the maximum state, and the pressure on the ground is reduced. BRIEF DESCRIPTION OF DRAWINGS
[0015] The accompanying drawings are included to provide a further understanding of the utility model, and constitute a part of the specification, and are used to explain the utility model together with embodiments of the utility model, and do not constitute a limitation on the utility model. In the drawings:
[0016] Fig. 1 It is a perspective view of the utility model;
[0017] Fig. 2 It is a perspective view of the damping of the utility model;
[0018] Fig. 3 It is a perspective view of the universal joint of the utility model.
[0019] In the drawings: 1, mobile table; 2, driving wheel; 3, universal joint; 4, traction table; 5, suspension rod; 6, buffer frame; 7, damping; 8, mounting frame; 9, driving wheel set; 10, track; 11, fine adjustment motor; 12, lead screw; 13, limiting rod; 14, limiting frame; 15, linkage rod; 16, driving rod. DETAILED DESCRIPTION
[0020] Clearly and completely describe the technical scheme in the embodiments of the utility model with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model.
[0021] In the description of the utility model, it should be pointed out that the terms "upper", "lower", "inner", "outer", "top / bottom end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.
[0022] In the description of the utility model, it should be pointed out that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be broadly understood, for example, "connected" can be fixedly connected, can also be detachably connected, or integrally connected; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium; can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.
[0023] Please refer to Figs. 1-3 The technical scheme provided by the embodiment is as follows:
[0024] A multi-joint connecting type snake-shaped exploration and search robot, comprising,
[0025] The mobile station 1, the driving wheel 2, the universal joint 3 and the traction station 4, the driving wheel 2 is rotatably inserted at the outer wall of the mobile station 1, one end of the universal joint 3 is fixedly arranged at the outer wall of the mobile station 1, the other end of the universal joint 3 is fixedly arranged at the outer wall of the traction station 4, the adjusting assembly is arranged at the outer wall of the traction station 4, wherein: the adjusting assembly comprises a suspension rod 5, a buffer frame 6, a damper 7, a mounting frame 8, a driving wheel set 9, a track 10, a linkage rod 15, a driving rod 16 and a driving assembly, the suspension rod 5 is rotatably inserted at the outer wall of the traction station 4, the buffer frame 6 is rotatably inserted at the outer wall of the suspension rod 5, the damper 7 is fixedly arranged at the top of the outer wall of the suspension rod 5, the mounting frame 8 is rotatably inserted at the outer wall of the other end of the suspension rod 5, the driving wheel set 9 is rotatably inserted at the opening of the inner wall of the mounting frame 8, the track 10 is engagedly sleeved at the outer wall of the driving wheel set 9, one end of the driving rod 16 is rotatably sleeved at the outer wall of the linkage rod 15, and the other end of the driving rod 16 is rotatably inserted at the inner wall of the mounting frame 8.
[0026] In the embodiment of the utility model, through the adjusting assembly, the track 10 at the bottom of the traction station 4 can be adjusted in working angle, the track 10 is ensured to be at the best working angle all the time, the passability is improved in various environments, the contact area of the track 10 is ensured to be at the maximum state all the time, and the ground pressure is reduced. First, the mobile station 1 and the traction station 4 are connected through the universal joint 3, the high-torque reduction motor is installed on the mounting frame 8, the driving wheel set 9 is driven to rotate, and the track 10 is driven to rotate. When moving to complex terrain, the two tracks 10 cannot uniformly contact the ground, the ground contact area is reduced, the power output is unstable, the fine adjustment motor 11 is started at this time, the linkage rod 15 is lifted, the driving rod 16 drives the mounting frame 8 to adjust the angle, the track 10 is adjusted in working angle, and the track 10 is ensured to be in plane contact with the ground. Through the damper 7 and the buffer frame 6, the stable buffering function can be ensured.
[0027] Specifically, the driving assembly comprises a fine adjustment motor 11, a lead screw 12, a limiting rod 13 and a limiting frame 14.
[0028] In the embodiment of the utility model, through the driving assembly, the stable fine adjustment power output can be ensured.
[0029] Specifically, the fine adjustment motor 11 is fixedly arranged at the inner wall of the traction station 4, and one end of the lead screw 12 is fixedly arranged at the outer wall of the output end of the fine adjustment motor 11.
[0030] In the embodiment of the utility model, one end of the lead screw 12 is fixedly arranged at the outer wall of the output end of the fine adjustment motor 11, and the moving precision can be ensured.
[0031] Specifically, the screw rod 12 is threadedly connected to the inner wall of the linkage rod 15, and the limiting rod 13 is fixedly arranged on the outer wall of the limiting frame 14.
[0032] In the embodiments of the utility model, the linkage rod 15 is slidably sleeved on the outer wall of the limiting rod 13, so that stable limiting can be realized.
[0033] Specifically, one end of the damping 7 is matched with the traction platform 4.
[0034] In the embodiments of the utility model, one end of the damping 7 is matched with the traction platform 4, so that stable buffering can be ensured.
[0035] Specifically, the limiting frame 14 is fixedly arranged on the outer wall bottom of the traction platform 4.
[0036] In the embodiments of the utility model, the limiting frame 14 is fixedly arranged on the outer wall bottom of the traction platform 4, so that the fixing of the limiting rod 13 can be realized.
[0037] Working principle:
[0038] Through the adjusting assembly, the working angle of the track 10 at the bottom of the traction platform 4 can be adjusted, so that the track 10 is always at the best working angle, the passability thereof in various environments is improved, the contact area of the track 10 is always in the maximum state, and the ground pressure is reduced. First, the universal joint 3 is used to connect the moving platform 1 and the traction platform 4, the high-torque reduction motor is installed on the mounting frame 8, the driving wheel set 9 is driven to rotate, and then the track 10 is driven to rotate. When moving to a complex terrain, the two tracks 10 cannot uniformly contact the ground, the ground contact area is reduced, the power output is unstable, at this time, the fine adjustment motor 11 is started, the linkage rod 15 is lifted, the driving rod 16 drives the mounting frame 8 to adjust the angle, the track 10 is adjusted in working angle, and the planar contact of the track 10 with the ground is ensured. Through the damping 7 and the buffer frame 6, the stable buffering function can be ensured.
[0039] Finally, it should be noted that: the above only for the preferred embodiments of the utility model, and not for limiting the utility model, although the utility model has been described in detail with reference to the foregoing embodiments, for the person skilled in the art, it still can modify the technical scheme recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model should be included in the protection scope of the utility model.
Claims
1. A multi-joint connected snake-shaped exploration and rescue robot, characterized in that, Including, Mobile station (1), drive wheel (2), universal joint (3) and traction platform (4), the drive wheel (2) is rotatably inserted in the outer wall of the mobile station (1) on both sides, one end of the universal joint (3) is fixedly arranged on the outer wall of the mobile station (1) on both sides, the other end of the universal joint (3) is fixedly arranged on the outer wall of the traction platform (4); Adjusting assembly is arranged on the outer wall of the traction platform (4), wherein: the adjusting assembly comprises suspension rod (5), buffer bracket (6), damping (7), mounting bracket (8), drive wheel group (9), track (10), linkage rod (15), drive rod (16) and drive assembly, the suspension rod (5) is rotatably inserted in the outer wall of the traction platform (4) on both sides, the buffer bracket (6) is rotatably inserted in the outer wall of the suspension rod (5), the damping (7) is fixedly arranged on the top of the outer wall of the suspension rod (5), the mounting bracket (8) is rotatably inserted in the outer wall of the other end of the suspension rod (5), the drive wheel group (9) is rotatably inserted in the inner wall opening of the mounting bracket (8), the track (10) is engagedly sleeved on the outer wall of the drive wheel group (9), one end of the drive rod (16) is rotatably sleeved on the outer wall of the linkage rod (15), the other end of the drive rod (16) is rotatably inserted in the inner wall of the mounting bracket (8).
2. The multi-articulated jointed snake-shaped exploration and rescue robot according to claim 1, characterized in that, The drive assembly comprises fine adjustment motor (11), screw rod (12), limiting rod (13) and limiting bracket (14).
3. The multi-articulated jointed snake-like exploration and rescue robot according to claim 2, characterized in that, The fine adjustment motor (11) is fixedly arranged on the inner wall of the traction platform (4), one end of the screw rod (12) is fixedly arranged on the output end of the fine adjustment motor (11).
4. The multi-articulated jointed snake-like exploration and rescue robot according to claim 3, characterized in that, The screw rod (12) is threadedly connected to the inner wall of the linkage rod (15), the limiting rod (13) is fixedly arranged on the outer wall of the limiting bracket (14), and the linkage rod (15) is slidably sleeved on the outer wall of the limiting rod (13).
5. The multi-articulated snake-shaped search and rescue robot according to claim 4, characterized in that, One end of the damping (7) matches the traction platform (4).
6. The multi-articulated snake-shaped search and rescue robot according to claim 5, wherein, The limiting bracket (14) is fixedly arranged on the bottom of the outer wall of the traction platform (4).