Post-disaster rescue robot

Abstract

According to the post-disaster rescue robot, a storage box is adopted for storing materials needing to be transported, meanwhile, a binding frame facilitating hanging and air transportation of an unmanned aerial vehicle is arranged, so that the robot can be hung by the unmanned aerial vehicle, and the robot automatically walks to a destination after the unmanned aerial vehicle is air-transported to a designated position. As the unmanned aerial vehicle directly conveys materials from the air, the road surface is not cleaned, and normal material putting is not affected. In addition, the robot is independently controlled by the four walking modules, so that the flexibility is high; meanwhile, the walking module can walk in a rolling mode through a first walking wheel and a second walking wheel, so that the moving speed is high, meanwhile, the walking arm can rotate, the whole rack can be lifted, the road block lifting device can adapt to road blocks of different heights, and the road block lifting device can walk in a rolling mode through the first walking wheel after being lifted, and the walking speed is still high. When the robot cannot walk, the four walking arms are matched to realize a mode similar to walking of a robot dog, so that the robot can adapt to walking up and down stairs, grassland and the like.

Description

TECHNICAL FIELD

[0001] The utility model relates to a robot, in particular to a post-disaster rescue robot. BACKGROUND

[0002] When the road is damaged, the house collapses or is soaked after the disaster, large machinery cannot enter in time to carry out rescue, and currently unmanned aerial vehicles are mostly used to survey, drop emergency supplies and the like. However, the unmanned aerial vehicle can only fly in an open area and is difficult to enter an indoor area or a covered area (covered in the sky direction). The disaster victims urgently need medicines, food, water and the like, and for the personnel inconvenient to move, the supplies need to be sent in time to carry out emergency rescue, at this time, if in an indoor area or a covered area, the unmanned aerial vehicle cannot be used to drop, and can only be transported by ground machinery. The ground machinery currently mainly aims at rescue assistance, such as hoisting, cutting and excavating, and does not aim at supply transportation, and most of them only adapt to land and do not adapt to water rescue, which all lead to that the emergency supplies cannot be transported in time to the disaster victims for emergency rescue in the current post-disaster rescue.

[0003] For this, how to realize the post-disaster emergency supply transportation to the disaster victims in an indoor area or a covered area is a technical problem to be solved at present. CONTENT OF THE UTILITY MODEL

[0004] In view of the above defects of the prior art, the technical problem to be solved by the utility model is to provide a post-disaster rescue robot which can quickly transport supplies to disaster victims.

[0005] In order to realize the above purpose, the utility model provides a post-disaster rescue robot, which comprises a rack, a storage box and four walking modules, wherein the storage box and the four walking modules are all installed on the rack; the walking module comprises a first walking wheel and a second walking wheel, the first walking wheel is installed on a walking arm through a first wheel shaft, the walking arm is assembled with the rack through a driving gear shaft, the driving gear shaft is directly or indirectly driven to rotate through a walking motor, and the walking motor is directly or indirectly installed on the rack;

[0006] The walking arm is sleeved on the driving gear shaft, a worm wheel is installed on the walking arm, the worm wheel is in meshing transmission with a worm gear, the worm gear is installed on a worm gear shaft, the worm gear shaft is installed on a support, the worm gear shaft is directly or indirectly driven to rotate through a rotary motor, and the rotary motor is directly or indirectly installed on the rack.

[0007] As a further improvement of the utility model, a first bevel gear is installed on the worm gear shaft, the first bevel gear is in meshing transmission with a second bevel gear, and the second bevel gear is installed on a rotary motor shaft of the rotary motor.

[0008] As a further improvement of the utility model, the driving gear shaft is connected with the first wheel shaft through the second belt and constitutes a belt transmission mechanism, the driving gear shaft is connected with the walking motor shaft through the first belt and constitutes a belt transmission mechanism, and the walking motor shaft is installed on the walking motor.

[0009] As a further improvement of the utility model, the driving gear shaft is connected with the first wheel shaft through the second belt and constitutes a belt transmission mechanism, the driving gear shaft is connected with the walking motor shaft through the first belt and constitutes a belt transmission mechanism, and the walking motor shaft is installed on the walking motor.

[0010] As a further improvement of the utility model, the storage cavity is open at the top and hollow inside, an opening frame is arranged at the top opening of the storage cavity, the opening frame is sealingly assembled with the top cover, and the bolt is assembled with the opening frame after penetrating through the top cover to fix the top cover on the opening frame.

[0011] As a further improvement of the utility model, a kidnapping is further installed on the top cover.

[0012] As a further improvement of the utility model, the second belt is installed on the inner side of the walking arm.

[0013] As a further improvement of the utility model, the walking arm is provided with a walking arm groove, the limiting rod penetrates through the walking arm groove and is screwed with the nut at the two ends of the walking arm to clamp and fix the limiting rod on the walking arm; the limiting rod cannot penetrate through the rack, so that the limiting rod limits the maximum angle of rotation of the walking arm to the rack.

[0014] As a further improvement of the utility model, the walking motor shaft is connected with the impeller shaft through the clutch assembly, one end of the impeller shaft is assembled with the impeller after penetrating through the shaft sleeve, and the shaft sleeve is installed on the rack;

[0015] The clutch assembly comprises a fixing seat, a sleeve and an intermediate ring, the fixing seat is installed on the rack, the sleeve is installed on the fixing seat and is provided with a first sleeve hole and a second sleeve hole inside, and the second sleeve hole is arranged in the middle of the first sleeve hole; the walking motor shaft and one end of the impeller shaft are sleeved and fixed with a motor clutch ring and an impeller clutch ring respectively on one end of the first sleeve hole;

[0016] The intermediate ring is mounted in the second pipe sleeve hole, and a plurality of intermediate ring holes are arranged through the side wall of the intermediate ring, and the two ends of the intermediate ring are respectively assembled with different end rings, the end rings are mounted and fixed on one end of the telescopic sleeve, and the end rings are mounted in the second pipe sleeve hole; the other end of the telescopic sleeve is assembled with corresponding friction discs, and the two ends of the spring are assembled with the two friction discs at the inner side end of the telescopic sleeve, the spring applies elastic force to the two friction discs to make the two friction discs close to each other, the two friction discs are clamped and slidably mounted in the first pipe sleeve hole, and in the initial state, the two friction discs do not contact the motor clutch ring and the impeller clutch ring; the second pipe sleeve hole can be connected with pressurized fluid to drive the two friction discs to move away from each other until the two friction discs are pressed and transmitted with the motor clutch ring and the impeller clutch ring respectively.

[0017] As a further improvement of the utility model, the second pipe sleeve hole is communicated with one end of the pipeline, the other end of the pipeline is communicated with the first outlet of the reversing valve, the inlet of the reversing valve is communicated with the gas source, and the second outlet is communicated with the atmosphere, and the reversing valve is used for selectively connecting one of the first outlet, the inlet and the second outlet.

[0018] The utility model discloses the beneficial effects are:

[0019] The utility model discloses adopt the storage box to store the material that needs to be transported, and set up the binding frame of unmanned aerial vehicle suspension air transport conveniently, so that unmanned aerial vehicle can suspend this robot and air transport to the specified position, and then the robot walks to the destination by itself, which is very fast, because unmanned aerial vehicle directly transports from the air, and the road surface is not cleaned, which does not affect normal material delivery. In addition, the robot adopts four walking modules to be controlled independently, and the flexibility is very high. The walking module can roll and walk through the first walking wheel and the second walking wheel, so that the moving speed is fast, and the walking arm can rotate, so that the whole rack can be lifted, so that different height roadblocks can be adapted, and the first walking wheel can roll and walk after being lifted, and the walking speed is still very fast. When not walking, four walking arms can realize the walking mode similar to the robot dog, so that stairs, grassland and the like can be adapted. In addition, personnel can sit on the top cover and move through the robot to realize the function of emergency transfer and rescue. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is the structure diagram of the utility model Figure One ;

[0021] Figure 2 It is the structure diagram of the utility model Figure Two ;

[0022] Figure 3Structure schematic diagram of the present utility model Figure Three (top cover 130 is opened);

[0023] Figure 4 Structure schematic diagram of the present utility model

[0024] Figure 5 Figure 4 Enlarged view of A in the middle

[0025] Figure 6 Structure schematic diagram of the present utility model after removing storage box 130 and part of electrical box 160

[0026] Figure 7 Structure schematic diagram of the present utility model after removing storage box 130 and electrical box 160

[0027] Figure 8 Structure schematic diagram of part of walking module 300 and rack 110

[0028] Figure 9 Structure schematic diagram of walking module 300

[0029] Figure 10 Structure schematic diagram of part of walking module 300

[0030] Figure 11 Structure schematic diagram of clutch assembly DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model.

[0032] Referring to Figures 1-5 The post-disaster rescue robot of the present embodiment comprises a rack 110, an electrical box 160, a storage box 120, and four walking modules 300, wherein the electrical box 160, the storage box 130, and the four walking modules 300 are all installed on the rack 110. The electrical box 160 is used for placing electrical equipment required by the entire device, such as CPU (or PLC, MCU), relay, motor driver, and battery.

[0033] The storage box 120 is used for storing articles, and the inside of the storage box 120 is a hollow storage cavity 121. The top of the storage cavity 121 is open, and an opening frame 122 is arranged at the opening. The opening frame 122 is sealingly assembled with a top cover 130, and a bolt 140 is assembled with the opening frame 122 after penetrating through the top cover 130 to fix the top cover 130 on the opening frame 122 (storage box 120).

[0034] ​The top cover 130 is also provided with a kidnapping 131, which is used to facilitate the suspension of the unmanned aerial vehicle so that the entire robot can be air transported. Specifically, some electrically controlled clamps can be provided on the unmanned aerial vehicle, the electrically controlled clamps clamping the kidnapping 131 to carry the entire robot to fly, and after flying to the position, the electrically controlled clamps are opened to release the robot. Of course, a binding belt can also be provided on the unmanned aerial vehicle, the binding belt passing through the kidnapping 131 and one end being controlled by an electrically controlled lock to control whether it is separated from the unmanned aerial vehicle, and after the unmanned aerial vehicle reaches the preset position, the electrically controlled lock is opened to release the robot. The specific unmanned aerial vehicle mounting method directly uses the existing technology, and such technology has been widely used in the military and logistics industries.

[0035] Referring to Figures 1-11 The walking module 300 includes a first walking wheel 310, a second walking wheel 320, and an impeller 330. The first walking wheel 310 is installed on a walking arm 340 through a first wheel shaft 311. The walking arm 340 is circumferentially rotatable assembled with the frame 110 through a driving gear shaft 431. The driving gear shaft 431 is sleeved with a driving gear 430. The driving gear 430 is in meshing transmission with an intermediate gear 460. The intermediate gear 460 is in meshing transmission with a driven gear 470. The driven gear 470 is sleeved on a second wheel shaft 321. The second wheel shaft 321 is installed on the frame 110 and is sleeved with the second walking wheel 320. The intermediate gear 460 is sleeved on an intermediate gear shaft 461. The intermediate gear shaft 461 is installed on the frame 110.

[0036] The driving gear shaft 431 is connected with the first wheel shaft 311 through a second belt 450 and constitutes a belt transmission mechanism. The driving gear shaft 431 is connected with a walking motor shaft 231 through a first belt 440 and constitutes a belt transmission mechanism. The walking motor shaft 231 is installed on a walking motor 230. The walking motor 230 is installed in the frame or the electrical box 160. The walking motor 230 can drive the driving gear shaft 431 to rotate after being started. The driving gear shaft 431 drives the first wheel shaft 311 and the second wheel shaft 321 to rotate, respectively, so as to drive the corresponding first walking wheel 310 and the second walking wheel 320 to rotate and move the entire robot.

[0037] The second belt 450 is installed on the inner side of the walking arm 340, so as to protect the second belt 450 by the walking arm 340.

[0038] The walking arm 340 is circumferentially sleeved on the driving gear shaft 431, so that the rotation of the driving gear shaft 431 does not affect the walking arm 340 and does not drive the walking arm 340 to rotate relative to the driving gear shaft 431. The worm wheel 410 is installed on the walking arm 340, the worm wheel 410 is in meshing transmission with the worm 420, the worm 420 is installed on the worm shaft 630, the worm shaft 630 is circumferentially rotatable and axially immovable, and is installed on the support 110, and the first bevel gear 451 is installed on the worm shaft 630, the first bevel gear 451 is in meshing transmission with the second bevel gear 452, the second bevel gear 452 is installed on the motor shaft of the motor 240, and the motor 240 is installed in the frame or the electrical box. The motor 240 can drive the worm to rotate when started, so as to drive the worm wheel 410 to rotate, and drive the walking arm 340 to rotate relative to the frame 110 with the driving gear shaft 431 as the center.

[0039] In some embodiments, the walking arm 340 is provided with a walking arm groove 341, the limiting rod 350 passes through the walking arm groove 341 and extends out of both ends of the walking arm 340, and is screwed with nuts respectively, so as to clamp and fix the limiting rod 350 on the walking arm 340. In use, the limiting rod 350 cannot pass through the frame 110, so as to limit the maximum angle of rotation of the walking arm 340 relative to the frame 110 by the limiting rod 350.

[0040] In use, the four walking modules 300 are matched to realize rolling walking by the first walking wheels and / or the second walking wheels, and the four walking arms 340 are matched to realize walking in a manner similar to the walking of a robot dog. This design is mainly to adapt to different road conditions. When the road condition is flat, the rolling walking by the first walking wheels and / or the second walking wheels is more energy-saving and faster, and when the road condition is poor (such as pits, obstacles, stairs, etc.), the four walking arms 340 are matched to simulate four-limb walking to realize the crossing of obstacles by the whole robot, so as to adapt to different road conditions after a disaster. Of course, the height of the four first walking wheels can be adjusted according to the road condition, so as to flexibly adapt to different inclination degrees and obstacle heights of the road condition. On relatively flat ground, the walking arm 340 can be adjusted to be in a horizontal direction, so that the first walking wheel and the second walking wheel are in contact with the ground to walk, which can increase the grip and greatly reduce the probability of slipping, and the load can be increased, so that personnel can sit on the upper cover to assist personnel to move.

[0041] Referring to Figure 2Specifically, when walking with four limbs, the front left and rear right, and the front right and rear left (cross direction) can be used as a pair to walk in coordination, such as the front left and rear right walking arms 340 lifting up and rotating forward to the ground, and then the front right and rear left lifting up and rotating forward to the ground, and continuously reciprocating to achieve a walking mode similar to that of a robot dog. The specific walking mode can directly use the control mode of the existing robot dog. In addition, when walking in a mode similar to that of a robot dog, the walking motor can be stopped, so that the first walking wheel and / or the second walking wheel do not rotate, so that the walking is more stable.

[0042] The walking motor shaft 231 is connected to the impeller shaft 610 through a clutch assembly, so that the impeller shaft 610 can be driven to rotate as needed. One end of the impeller shaft 610 passes through the shaft sleeve 620 and is assembled with the impeller 330. After the robot is submerged in water, when the water flows over the impeller 330, the robot can be driven to walk on the water surface by the rotation of the impeller 330. Four impellers 330 cooperate to control the direction of the robot.

[0043] The clutch assembly includes a fixed seat 150, a sleeve 740, and an intermediate ring 760. The fixed seat 150 is installed on the frame 110. The sleeve 740 is installed on the fixed seat 150, and the inside of the sleeve 740 is provided with a first sleeve hole 741 and a second sleeve hole 742. The second sleeve hole 742 is arranged in the middle of the first sleeve hole 741. The walking motor shaft 231 and one end of the impeller shaft 610 are respectively sleeved and fixed with a motor clutch ring 232 and an impeller clutch ring 611 at one end of the first sleeve hole 741.

[0044] The second sleeve hole 742 is in communication with one end of a pipe 750. The other end of the pipe 750 is in communication with a first outlet of a reversing valve. The inlet of the reversing valve is in communication with a gas source, and the second outlet is in communication with the atmosphere. The reversing valve is used to selectively connect one of the first outlet and the inlet, and the second outlet. The gas source can be a gas pump. The gas pump and the reversing valve are both installed in the frame or the electrical box.

[0045] The intermediate ring 760 is installed in the second sleeve hole 742, and a plurality of intermediate ring holes 761 are arranged on the side wall of the intermediate ring 760. The two ends of the intermediate ring 760 are respectively assembled with different end rings 731. The end rings 731 are installed and fixed on one end of the telescopic sleeve 730. The end rings 731 are circumferentially rotatable and installed in the second sleeve hole 742. The other end of the telescopic sleeve 730 is assembled with a corresponding friction disc 710. Two friction discs 710 are located on the inside end of the telescopic sleeve 730 and are assembled with the two ends of the spring 720. The spring 720 applies a spring force to the two friction discs 710 to move closer to each other. The two friction discs 710 are clamped and axially slidably installed in the first sleeve hole 741 and do not contact the motor clutch ring 232 and the impeller clutch ring 611 in the initial state. The telescopic sleeve 730 has axial telescopic elasticity.

[0046] When the robot floats on the water surface, the air source can be introduced into the pipeline 750 to inflate the telescopic sleeve 730, thereby increasing the air pressure in the telescopic sleeve 730, and the air pressure drives the two friction discs 710 to move away from each other to overcome the elastic force of the spring 720, and finally press the motor clutch ring 232 and the impeller clutch ring 611 to drive the impeller shaft to rotate, thereby driving the impeller to rotate. In this embodiment, the robot needs to be optimized in structure and material so that it can float on the water surface and the impeller is immersed in water when it floats on the water surface. Of course, this can be achieved by reasonable adjustment of the prior art or by limited tests. When the impeller does not need to rotate, the reversing valve is connected with the second outlet to exhaust the gas in the telescopic sleeve 730, so that the spring pulls the two friction discs to reset.

[0047] In some embodiments, the electrical box and / or storage box are respectively provided with a radar 210 and a camera 220. The radar 210 is used to sense the surrounding obstacles, and the camera 220 is used to obtain the surrounding image to guide the robot to walk. Specifically, the existing robot automatic identification technology or car intelligent driving technology can be combined to identify the road condition, and then the robot can automatically walk. Alternatively, the robot can be remotely controlled by a person to walk. Of course, these are prior art, and the existing related technical solutions can be used.

[0048] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in the present application should be understood as the usual meaning understood by the skilled person in the field to which the present application belongs.

[0049] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A disaster relief robot, characterized by: The device includes a frame, a storage box, and four walking modules, all of which are mounted on the frame. Each walking module includes a first walking wheel and a second walking wheel. The first walking wheel is mounted on a walking arm via a first wheel axle. The walking arm is assembled to the frame via a drive gear shaft. The drive gear shaft is directly or indirectly driven to rotate by a walking motor, which is directly or indirectly mounted on the frame. The traveling arm is mounted on the outside of the drive gear shaft. A worm wheel is installed on the traveling arm. The worm wheel meshes with the worm and drives the transmission. The worm is mounted on the worm shaft, which is mounted on the bracket. The worm shaft is driven to rotate directly or indirectly by a rotary motor, which is directly or indirectly mounted on the frame.

2. The disaster relief robot as described in claim 1, characterized in that: A first bevel gear is mounted on the worm shaft, and the first bevel gear meshes with a second bevel gear for transmission. The second bevel gear is mounted on the rotating motor shaft of the rotating motor.

3. The disaster relief robot as described in claim 1, characterized in that: The drive gear shaft is connected to the first wheel shaft via a second belt to form a belt drive mechanism. The drive gear shaft is connected to the travel motor shaft via a first belt to form a belt drive mechanism. The travel motor shaft is mounted on the travel motor.

4. The disaster relief robot as described in any one of claims 1-3, characterized in that: The drive gear is mounted on the drive gear shaft. The drive gear meshes with the intermediate gear for transmission. The intermediate gear meshes with the driven gear for transmission. The driven gear is mounted on the second wheel shaft. The second wheel shaft is mounted on the frame and has a second traveling wheel mounted on it. The intermediate gear is mounted on the intermediate gear shaft, which is mounted on the frame.

5. The disaster relief robot as described in any one of claims 1-3, characterized in that: The storage cavity has an opening at the top and is hollow inside. An opening frame is provided at the opening at the top of the storage cavity. The opening frame is sealed and assembled with the top cover. Bolts pass through the top cover and are assembled with the opening frame to fix the top cover to the opening frame.

6. The disaster relief robot as described in claim 5, characterized in that: The top cover is also equipped with a kidnapping device.

7. The disaster relief robot as described in claim 3, characterized in that: The second belt is installed on the inside of the walking arm.

8. The disaster relief robot as described in any one of claims 1-3, characterized in that: The traveling arm is provided with a traveling arm groove. The limiting rod passes through the traveling arm groove and protrudes from both ends of the traveling arm, and is tightened with nuts to secure the limiting rod to the traveling arm. The limit bar cannot pass through the frame, thus limiting the maximum angle at which the traveling arm rotates towards the frame.

9. The disaster relief robot as described in claim 3, characterized in that: The walking motor shaft is connected to the impeller shaft through a clutch assembly. One end of the impeller shaft passes through the bushing and is assembled with the impeller. The bushing is mounted on the frame. The clutch assembly includes a fixed base, a sleeve, and an intermediate ring. The fixed base is mounted on the frame, and the sleeve is mounted on the fixed base. The sleeve has a first sleeve hole and a second sleeve hole inside, with the second sleeve hole located in the middle of the first sleeve hole. A motor clutch ring and an impeller clutch ring are respectively fitted and fixed on one end of the walking motor shaft and the end of the impeller shaft that are inserted into the first sleeve hole. The intermediate ring is installed inside the second sleeve hole, and several through intermediate ring holes are provided on the side wall of the intermediate ring. The two ends of the intermediate ring are respectively assembled with different end rings. The end rings are fixed on one end of the telescopic sleeve and installed inside the second sleeve hole. The other end of the telescopic sleeve is assembled with the corresponding friction disc. The two friction discs are located on the inner end of the telescopic sleeve and are respectively assembled with the two ends of the spring. The spring applies a spring force to the two friction discs to bring them closer together. The two friction discs are engaged and slidably installed in the first sleeve hole. In the initial state, the two friction discs do not contact the motor clutch ring and the impeller clutch ring. Pressurized fluid can be connected to the second sleeve hole to drive the two friction discs to move away from each other until they are pressed and driven by the motor clutch ring and the impeller clutch ring respectively.

10. The disaster relief robot as described in claim 9, characterized in that: The second sleeve hole is connected to one end of the pipeline, and the other end of the pipeline is connected to the first outlet of the reversing valve. The inlet of the reversing valve is connected to the air source, and the second outlet is connected to the atmosphere. The reversing valve is used to select one of its first outlets to be connected to either the inlet or the second outlet.

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