Rescue robot

Abstract

The utility model discloses a rescue robot, and relates to the field of rescue equipment, and the rescue robot comprises a main body frame, a walking mechanism, a capturing mechanism and an ejection mechanism; the rescue robot can be suitable for the working condition of first-aid repair and rescue, target objects (such as obstacles and rescue substances) are collected in front of the ejection push plate through the two capturing arms, and then the ejection push plate is ejected and pushed forwards through elastic energy stored by the elastic energy storage assembly; according to the rescue robot, rescue work such as obstacle breaking and rescue material transporting can be conducted in the environment with obstacles, casualties of rescue workers can be avoided when the rescue robot faces dangerous environments such as high temperature, toxicity and collapse, and the rescue efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of rescue equipment, and more particularly to a rescue robot. Background Technology

[0002] With the impact of global climate change and human activities, the frequency and intensity of natural disasters such as earthquakes, floods, and forest fires are constantly increasing. At the same time, man-made accidents such as chemical explosions and mine collapses also occur frequently. In these disasters and accidents, the environment is often extremely dangerous and complex, posing enormous challenges to rescue efforts.

[0003] Traditional emergency rescue methods have significant limitations when facing dangerous environments such as high temperatures, toxic substances, and collapses, which may result in injuries or fatalities to rescue personnel and make it difficult to meet the needs of rescue efforts. Utility Model Content

[0004] This application provides a rescue robot to enable rescue operations in dangerous environments.

[0005] This application provides a rescue robot, including a main frame, a walking mechanism, a capture mechanism, and a catapult mechanism; the walking mechanism is mounted on the main frame; the capture mechanism includes two capture components mounted opposite each other on the main frame, each capture component including a first rotary drive and a capture arm, the first rotary drive being mounted on the main frame, and one end of the capture arm being connected to the output end of the first rotary drive; the catapult mechanism includes a catapult push plate and an elastic energy storage component; the catapult push plate is located between the two capture components and is connected to the elastic energy storage component, which is mounted on the main frame and can release elastic force to push the catapult push plate forward.

[0006] The rescue robot of this application has at least the following beneficial effects:

[0007] The rescue robot of this application is applicable to emergency repair and rescue operations. It uses two capture arms to gather the target object (such as obstacles, rescue materials, etc.) in front of the ejector plate, and then uses the elastic energy stored in the elastic energy storage component to eject the ejector plate forward. The ejector plate thus carries the target object forward to the target area. The rescue robot of this application can perform rescue work such as obstacle breaking and transporting rescue materials in environments with obstacles. When facing dangerous environments such as high temperature, toxicity, and collapse, it can avoid injury or death to rescue personnel and improve rescue efficiency. Attached Figure Description

[0008] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0009] Figure 1 This is a structural schematic diagram of the rescue robot of this application;

[0010] Figure 2 yes Figure 1 Structural diagram of the main frame and traveling mechanism;

[0011] Figure 3 yes Figure 1 Top view of the base plate, capture mechanism, and ejection mechanism;

[0012] Figure 4 yes Figure 3 Schematic diagram of the capture mechanism and ejection mechanism;

[0013] Figure 5 yes Figure 4 Side view ( Figure 5 The middle arrow F1 indicates the direction of rotation of the cam, and the arrow F2 indicates the direction of compression of the elastic element.

[0014] Figure 6 This is another schematic diagram of the rescue robot described in this application;

[0015] The reference numerals in the attached drawings are explained as follows: 100, main frame; 110, base plate; 120, top plate; 130, side guard plate; 100a, hollowed-out weight-reducing hole; 200, walking mechanism; 210, walking unit; 211, walking wheel; 212, walking motor;

[0016] 300. Capture mechanism; 310. Capture assembly; 311. First rotary drive; 312. Capture arm; 313. First bracket; 314. First connecting plate; 314a. First connecting hole;

[0017] 400. Ejection mechanism; 410. Ejection push plate; 420. Elastic energy storage component; 421. Guide block; 422. Slider; 4221. Contact roller; 423. Elastic element; 424. Second rotary drive element; 425. Cam; 4251. Arc surface; 4252. Avoidance slope; 426. Guide link; 427. Second bracket; 430. Limiting frame;

[0018] 500. Target object;

[0019] 600. Camera module; 610. Third rotary drive component; 620. Rotary bracket; 630. Camera;

[0020] 700. Control unit; 710. Control unit cover plate. Detailed Implementation

[0021] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0022] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0023] like Figure 1 As shown, this embodiment discloses a rescue robot, which includes a main frame 100, a walking mechanism 200, a capture mechanism 300, and a catapult mechanism 400, as described below:

[0024] like Figure 2 As shown, the main frame 100 is the main structure of the rescue robot, providing installation and connection positions for various components. The main frame 100 includes a base plate 110, a top plate 120, and multiple side guard plates 130. The base plate 110 and the top plate 120 are arranged at intervals relative to each other in the height direction. The shape of both the base plate 110 and the top plate 120 is preferably circular. There are multiple side guard plates 130, which are arranged around the circumference of the base plate 110 or the top plate 120. The side guard plates 130 are connected to the edges of the base plate 110 and the top plate 120, and can seal the edges of the base plate 110 and the top plate 120.

[0025] like Figure 2As shown, in some preferred embodiments, both the base plate 110 and the top plate 120 are provided with hollow weight-reduction holes 100a, and the number of hollow weight-reduction holes 100a is selected according to the actual situation. The design of hollow weight-reduction holes 100a can reduce material usage and reduce the robot's own weight, thereby increasing flexibility.

[0026] like Figure 2 As shown, the walking mechanism 200 is mounted on the main frame 100, enabling the main frame 100 to move on the ground or other working surfaces. The walking mechanism 200 includes walking units 210 symmetrically arranged on the main frame 100; this symmetrical design enhances the overall structural stability. Each walking unit 210 includes walking wheels 211 and a walking motor 212. The walking wheels 211 are rotatably mounted on the main frame 100, specifically on the base plate 110. The walking motor 212 is mounted on the base plate 110, and its output end is coaxially connected to the walking wheels 211, driving the wheels 211 to move. In this embodiment, the symmetrical arrangement of the two walking wheels 211 and the two walking motors 212 allows the robot to rotate while maintaining its overall base position during the search for the target object 500. This facilitates determining the robot's current position and automatically executing the next operation while searching for the target object 500.

[0027] like Figure 3 As shown, the capture mechanism 300 includes two capture components 310 disposed opposite to each other on the main frame 100. The two capture components 310 are disposed opposite to each other at both ends of the base plate 110 in a horizontal direction (second horizontal direction). The capture component 310 includes a first rotary drive 311 and a capture arm 312. The first rotary drive 311 is disposed on the base plate 110. One end of the capture arm 312 is connected to the output end of the first rotary drive 311. The first rotary drive 311 can drive the capture arm 312 to move closer to or further away from the ejection push plate 410 in the horizontal direction. In a top view, the two capture arms 312 resemble the two pincers of a crab. By swinging the capture arms 312 in the horizontal direction, the target object 500 can be gathered into the area between the two capture arms 312.

[0028] like Figure 3 As shown, in some preferred embodiments, the first rotary drive 311 (e.g., a rotary servo motor) is detachably mounted on the base plate 110 via a first bracket 313. Specifically, the first bracket 313 is detachably connected to the base plate 110, and the first rotary drive 311 is detachably connected to the first bracket 313. The detachable connection between the first rotary drive 311 and the capture arm 312 in this embodiment facilitates the replacement of capture components with other structural forms at any time.

[0029] like Figure 4As shown, in some preferred embodiments, the output end of the first rotary drive 311 is provided with a first connecting plate 314. The first connecting plate 314 is provided with a plurality of first connecting holes 314a along its length direction (horizontal direction). One end of the capture arm 312 is provided with a plurality of second connecting holes. The first connecting holes 314a and the second connecting holes are connected by connectors (such as bolts, not shown). In this embodiment, the capture arm 312 can be selectively connected to any one or more of the first connecting holes 314a, thereby changing the initial position of the capture arm 312 and the range of horizontal swing, which is convenient to adapt to different working requirements.

[0030] like Figure 4 and Figure 5 As shown, the ejection mechanism 400 includes an ejection push plate 410 and an elastic energy storage component 420. The ejection push plate 410 is slidably disposed at the front end of the main frame 100 and is located between two capture arms 312. The two capture arms 312 can swing horizontally to bring the target object 500 to the front of the ejection push plate 410. The rear end of the ejection push plate 410 is connected to the elastic energy storage component 420. The elastic energy storage component 420 is disposed on the main frame 100 and can store energy and release it at an appropriate time. The elastic force released by the elastic energy storage component 420 can eject the ejection push plate 410 forward, thereby ejecting the target object 500 at its front end forward.

[0031] like Figure 4As shown, in this embodiment, the elastic energy storage component 420 includes a guide block 421, a slider 422, an elastic element 423, a second rotary drive element 424, and a cam 425. The guide block 421 is disposed on the base plate 110. The guide block 421 is a block structure with a certain length. The guide block 421 is provided with a guide groove along its length direction. In this embodiment, the length direction of the guide block 421 is defined as the first horizontal direction, while the two capture arms 312 are symmetrically arranged in the second horizontal direction (i.e., the axial direction of the walking wheel 211). The first horizontal direction and the second horizontal direction intersect perpendicularly in the horizontal plane. The slider 422 is slidably disposed in the guide groove along the length direction of the guide block 421. The slider 422 is directly or indirectly connected to the ejector plate 410. In some embodiments, the slider 422 is indirectly connected to the ejector plate 410. The indirect connection is achieved by providing a guide hole on the guide block 421, which is opened along the length direction of the guide block 421 and leads to the guide groove. A guide rod 426 is provided in the guide hole, and the two ends of the guide rod 426 are respectively connected to the slider 422 and the ejector plate 410. The sliding cooperation between the guide hole and the guide rod 426 can ensure the movement accuracy of the slider 422 and the ejector plate 410 in the first horizontal direction. The elastic element 423 is disposed in the guide groove, and its two ends abut against the slider 422 and the inner wall of the guide groove, respectively. The extension and retraction direction of the elastic element 423 is consistent with the sliding direction of the slider 422. When the elastic element 423 releases its elastic force, the elastic force of the elastic element 423 drives the slider 422 to move. The slider 422 then drives the ejector plate 410 to push the target object 500 forward along the movement direction of the slider 422. In this embodiment, the elastic element 423 is preferably a spring. The second rotary drive element 424 is disposed on the base plate 110, specifically disposed on the base plate 110 through the second bracket 427. The second rotary drive element 424 is detachably disposed on the second bracket 427, and the second bracket 427 is detachably connected to the base plate 110. The detachable connection method facilitates quick replacement and assembly. In this embodiment, the second rotary drive element 424 is preferably a rotary servo. The cam 425 is coaxially connected to the output end of the second rotary drive 424. The outer peripheral surface of the cam 425 slides in contact with the slider 422 (specifically, the slider 422 is provided with a contact roller, and the outer peripheral surface of the contact roller contacts the outer peripheral surface of the cam 425). When the second rotary drive 424 drives the cam 425 to rotate to the first angle, the cam 425 drives the slider 422 away from the ejector plate 410 by a certain distance. During this process, the elastic element 423 is compressed and stores energy. When the cam 425 rotates to the second angle, the slider 422 has space to move toward the axis of the cam 425. The elastic element 423 releases its elastic force, so that the slider 422 has the power to eject the ejector plate 410 forward.

[0032] like Figure 5As shown, in this embodiment, the outer peripheral surface of the cam 425 includes an arc surface 4251 and a clearance slope 4252 arranged adjacent to each other along its circumference. When the arc surface 4251 of the cam 425 slides into contact with the slider 422, under the drive of the second rotary drive member 424, the arc surface 4251 gradually pushes the slider 422 away from the ejector plate 410. During this process, the elastic member 423 is compressed and stores energy. When the cam 425 rotates to the second angle, the slider 422 passes the arc surface 4251. The slider 422 contacts the avoidance slope 4252 of the cam 425. The avoidance slope 4252 passes through the axis of the cam 425. When the elastic element 423 releases its elastic force, the slider 422 can move along the avoidance slope 4252 toward the axis of the cam 425, that is, move toward the ejector plate 410. At the same time, the elastic element 423 releases its elastic force to provide the reset power for the movement of the slider 422, so that the slider 422 can drive the ejector plate 410 forward to eject the target object 500. Specifically, the second rotary drive 424 drives the cam 425 to rotate. The cam 425 has a special shape with a large push angle and a return angle of 0. The push stroke of the cam 425 corresponds to the compression stroke (energy storage) of the elastic element 423, and the sudden change point of the return stroke of the cam 425 corresponds to the reset time of the elastic element 423, that is, ejection, thereby ejecting the target object 500 to the designated area.

[0033] like Figure 5 As shown, in some preferred embodiments, the ejection mechanism 400 further includes a limiting frame 430 disposed on the main frame 100. The limiting frame 430 is connected to the base plate 110. In the second horizontal direction, the limiting frame 430 is located between the two capture arms 312 and is located below the ejection push plate 410. At least a portion of the limiting frame 430 extends in front of the ejection push plate 410 along the first horizontal direction (i.e., the ejection direction). The function of the limiting frame 430 is to restrict the range of motion of the target object 500 within its defined area to prevent the target object 500 from escaping control. When it is necessary to eject the target object 500, the thrust of the ejection push plate 410 is sufficient to push the target object 500 out of the limiting frame 430 and eject it. Therefore, it can be understood that the height or thickness of the limiting frame 430 should not be too thick. For example, the thickness of the limiting frame 430 can be 0.5cm to 3cm.

[0034] like Figure 6As shown, in this embodiment, the rescue robot also includes a camera module 600; the camera module 600 includes a third rotary drive 610, a rotary support 620, and a camera 630; the third rotary drive 610 (e.g., a rotary servo motor) is mounted on the top plate 120 of the main frame 100; the output end of the third rotary drive 610 is connected to the rotary support 620, and the second rotary drive 424 can drive the rotary support 620 to rotate around a second horizontal direction, that is, it can drive the rotary support 620 to perform pitch motion; the camera 630 is mounted on the rotary support 620. In this embodiment, the camera 630 facilitates the identification of the target object 500, thereby facilitating rescue or other work, and the pitch motion of the rotary support 620 can adjust the working angle of the camera 630.

[0035] like Figure 6 As shown, in some other embodiments, the rescue robot also includes a control unit 700 and a control unit guard plate 710. The control unit 700 is disposed on the top plate 120, and the control unit guard plate 710 is disposed on the top plate 120, with the guard plate surrounding the control unit. The control unit is electrically connected to the first rotary drive member 311, the second rotary drive member 424, the third rotary drive member 610, and the camera 630, respectively. Simultaneously, the control unit is also electrically connected to an external control system.

[0036] The working principle of the rescue robot in this embodiment is as follows:

[0037] First, the second rotary drive 424 drives the cam 425 to rotate, causing the slider 422 to move backward and the elastic element 423 to be compressed and store energy.

[0038] Second, the capture arm 312 swings horizontally under the drive of the first rotary drive 311 and gathers the target 500 into the area between the two capture arms 312. At this time, the target 500 is located in front of the ejection push plate 410.

[0039] Third, the second rotary drive 424 drives the cam 425 to continue rotating, so that the avoidance slope 4252 on the cam 425 contacts the slider 422. At this time, the elastic element 423 releases the elastic force and drives the ejector plate 410 to move forward, thereby ejecting the target object 500 forward to the target area.

[0040] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A rescue robot, characterized in that, It includes a main frame (100), a walking mechanism (200), a capture mechanism (300), and a catapult mechanism (400); The walking mechanism (200) is mounted on the main frame (100); The capture mechanism (300) includes two capture components (310) disposed opposite to each other on the main frame (100). Each capture component (310) includes a first rotary drive (311) and a capture arm (312). The first rotary drive (311) is disposed on the main frame (100), and one end of the capture arm (312) is connected to the output end of the first rotary drive (311). The ejection mechanism (400) includes an ejection push plate (410) and an elastic energy storage component (420); the ejection push plate (410) is located between two capture components (310) and is connected to the elastic energy storage component (420), which is mounted on the main frame (100) and can release elastic force to push the ejection push plate (410) forward.

2. The rescue robot according to claim 1, characterized in that, The main frame (100) includes a base plate (110), a top plate (120), and multiple side guard plates (130); the base plate (110) and the top plate (120) are arranged opposite to each other, and the multiple side guard plates (130) are arranged along the circumference of the base plate (110) or the top plate (120), and the side guard plates (130) are connected to the edge positions of the base plate (110) and the top plate (120); the walking mechanism (200), the capturing mechanism (300), and the ejection mechanism (400) are all arranged on the base plate (110).

3. The rescue robot according to claim 2, characterized in that, Both the bottom plate (110) and the top plate (120) are provided with hollow weight-reducing holes (100a).

4. The rescue robot according to claim 1, characterized in that, The walking mechanism (200) includes walking units (210) symmetrically arranged on the main frame (100); the walking unit (210) includes walking wheels (211) and walking motor (212); the walking wheels (211) are rotatably arranged on the main frame (100); the walking motor (212) is arranged on the main frame (100) and the output end of the walking motor (212) is connected to the walking wheels (211).

5. The rescue robot according to claim 1, characterized in that, The first rotary drive (311) is detachably mounted on the main frame (100) via the first bracket (313).

6. The rescue robot according to claim 5, characterized in that, The output end of the first rotary drive (311) is provided with a first connecting plate (314), and the first connecting plate (314) is provided with a plurality of first connecting holes (314a). One end of the capture arm (312) is provided with a plurality of second connecting holes, and the first connecting holes (314a) and the second connecting holes are connected by a connector.

7. The rescue robot according to any one of claims 1 to 6, characterized in that, The elastic energy storage assembly (420) includes a guide block (421), a slider (422), an elastic element (423), a second rotary drive element (424), and a cam (425); the guide block (421) is mounted on the main frame (100); the slider (422) is slidably mounted on the guide block (421); the elastic element (423) is disposed between the guide block (421) and the slider (422); the ejector push plate (410) is connected to the slider (422) and is connected to the elastic band of the elastic element (423). The moving ejector plate (410) pushes the target object (500) forward along the movement direction of the slider (422); the second rotary drive (424) is set on the main frame (100), and the cam (425) is connected to the output end of the second rotary drive (424). The outer peripheral surface of the cam (425) slides in contact with the slider (422). When the cam (425) rotates to the first angle, the elastic element (423) is compressed and stores energy. When the cam (425) rotates to the second angle, the elastic element (423) releases the elastic force.

8. The rescue robot according to claim 7, characterized in that, The outer peripheral surface of the cam (425) includes an adjacent arc surface (4251) and a relief slope (4252). The arc surface (4251) is used to push the slider (422) to compress the elastic element (423), and the relief slope (4252) is used to avoid the slider (422) when the elastic element (423) releases its elastic force.

9. The rescue robot according to claim 7, characterized in that, The ejection mechanism (400) also includes a limiting frame (430) disposed on the main frame (100). The limiting frame (430) is located between the two capture components (310) and below the ejection push plate (410). The limiting frame (430) protrudes in front of the ejection push plate (410) along the sliding direction of the slider (422).

10. The rescue robot according to claim 1, characterized in that, It also includes a camera module (600); the camera module (600) includes a third rotation drive (610), a rotation bracket (620) and a camera (630); the third rotation drive (610) is mounted on the main frame (100); the output end of the third rotation drive (610) is connected to the rotation bracket (620), and the rotation bracket (620) is driven to perform pitch movement by the third rotation drive (610); the camera (630) is mounted on the rotation bracket (620).

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