Earthquake module detection rescue mechanical device

Abstract

The utility model relates to the technical field of earthquake rescue, and discloses an earthquake module detection rescue mechanical device, which is characterized in that a searchlight and a sensor are arranged at the front end of a mainframe box, a lifting rear arm is rotationally arranged in the middle of the front end of the mainframe box, and the lifting rear arm is connected with a lifting front arm through a hinge structure; a first electric cylinder connected with the lifting front arm is arranged on a shell at the lower end of the lifting rear arm; the lifting front arm is connected with a mechanical front arm through a hinge structure, a second electric cylinder connected with the mechanical front arm is arranged on a front arm upper bracket at the upper end of the lifting front arm, an on-arm searchlight is installed outside the middle section of the mechanical front arm, and the free end of the mechanical front arm is rotationally connected with a mechanical gripper. A trunk structure internally provided with a movement control system is rotationally installed on the lower portion of the center of the main machine box through a steering head, steering engine connecting positions are arranged at the positions, close to the four corners, of the edge of the trunk structure, first supporting legs are connected into the steering engine connecting positions through hip knee joints, and ankle joints connected with second supporting legs are installed at the tail ends of the first supporting legs.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of earthquake rescue, especially the technical field of detection and rescue equipment for earthquake disaster sites, and specifically relates to an earthquake module detection and rescue mechanical device. BACKGROUND

[0002] In disaster rescue scenarios such as earthquakes and collapses, rescue robots serve as important auxiliary tools and play an irreplaceable role. However, existing rescue robots still have many problems and shortcomings in practical application, especially in terms of complex terrain adaptability, control accuracy, environmental perception, and comprehensive rescue capability.

[0003] 1. Rescue robots are heavy:

[0004] Transportation is inconvenient: existing rescue robots are often too heavy and inconvenient to be quickly delivered to disaster areas by air transport and other means in the first time, which delays valuable rescue time.

[0005] Poor environmental adaptability: heavy robots are prone to secondary collapse in complex rescue environments, increasing the difficulty and danger of rescue.

[0006] 2. Insufficient adaptability to complex terrain:

[0007] Most existing rescue robots use wheeled or tracked designs, which can adapt to complex terrain to some extent, but when encountering steep, rugged, or rocky extreme terrain, they often cannot maintain sufficient stability and passability, limiting their application range.

[0008] 3. Single function and insufficient flexibility:

[0009] Limited rescue equipment function: Many existing rescue robots can only perform single rescue tasks such as detection or handling, lack multi-functional integration, and are difficult to cope with complex and variable rescue environments.

[0010] Inflexible movement: Some rescue robots cannot adapt to narrow or complex spaces when performing rescue tasks due to inflexible movement, limiting their rescue capabilities.

[0011] 4. Control accuracy and response speed:

[0012] The control system of traditional rescue robots usually uses simple single-chip microcomputers or PLC control, making it difficult to achieve high-precision control and fast response of complex actions. In addition, remote control systems often have signal delay and instability problems, affecting rescue efficiency.

[0013] 5. Limited environmental perception capability:

[0014] Existing rescue robots mostly rely on a single sensor for environmental perception, such as infrared sensors, ultrasonic sensors, etc. These sensors are easily disturbed in complex environments, leading to inaccurate or failed perception. At the same time, there is a lack of comprehensive perception modules such as odor perception, target detection, and living body detection, which limits the comprehensive rescue capabilities of the robot.

[0015] 6. Lack of comprehensive rescue modules:

[0016] Rescue tasks often require multiple functional modules to work together, such as lighting, communication, and demolition. However, existing rescue robots often have single functions and lack comprehensive rescue modules, making it difficult to meet the needs of complex rescue scenarios.

[0017] 7. System control is complex:

[0018] Low level of automation and intelligence: Rescue robots are a multi-degree-of-freedom, highly coupled nonlinear system, and their kinematics and dynamics have a significant impact on system control. Existing control systems often have low levels of automation and intelligence, making it difficult to efficiently complete rescue tasks.

[0019] Insufficient theoretical and experimental research: Research on the kinematics and dynamics of rescue robots is not deep enough, and there is a lack of systematic theoretical and experimental support, leading to many difficulties in practical applications. Practical new content

[0020] The utility model provides a kind of earthquake module detection rescue mechanical device to solve the current rescue robot in complex terrain environment under the operation ability limited, when facing rugged uneven, soft muddy, or complex terrain full of gravel and obstacles, traditional robot is difficult to efficiently arrive at rescue site due to the insufficient moving performance, thereby seriously restrict the speed and efficiency of rescue action, in addition, traditional robot is heavy, inconvenient transportation, activity ability declines under complex environment, etc.

[0021] The utility model realizes the following technical solutions:

[0022] The utility model provides a kind of seismic module detection rescue mechanical device, including mainframe box, searchlight and sensor are installed in the front end of mainframe box, hoist rear arm is rotatably installed in the middle part of the front end of mainframe box, hoist rear arm is connected with hoist front arm by hinge structure, first electric cylinder that hoist rear arm's lower end shell is provided with is connected hoist front arm;Hoist front arm is connected with mechanical front arm by hinge structure, second electric cylinder that hoist front arm's upper end forearm upper bracket is provided with is connected mechanical front arm, arm searchlight is installed on the middle segment outside of mechanical front arm, and mechanical gripper is rotatably connected to the free end of mechanical front arm;The central lower part of mainframe box is rotatably installed with the trunk structure of being equipped with mobile control system by steering head, the edge of trunk structure is close to the place of four corners and is equipped with rudder connecting position, first branch leg is connected in rudder connecting position by hip joint, and ankle joint that second branch leg is installed in the end of first branch leg.

[0023] When implementing, including the mainframe box of carrying MPU6050 sensor, searchlight and sensor are installed in the front end of mainframe box, MPU6050 sensor integrates three-axis gyroscope and three-axis accelerometer, provides accurate measurement to object posture and motion, to keep balance in this way;Hoist rear arm is rotatably installed in the middle part of the front end of mainframe box, hoist rear arm is connected with hoist front arm by hinge structure, first electric cylinder that hoist rear arm's lower end shell is provided with is connected hoist front arm, i.e., the cylinder bottom side of first electric cylinder is combined in the rear arm bracket of hoist rear arm with pin, and the rod side of first electric cylinder is combined on the forearm upper bracket of hoist front arm with pin;Hoist front arm is connected with mechanical front arm by hinge structure, second electric cylinder that hoist front arm's upper end forearm upper bracket is provided with is connected mechanical front arm, i.e., the cylinder bottom side of second electric cylinder is combined in the forearm lower bracket of hoist front arm with pin, and the rod side of second electric cylinder is combined in the end of mechanical front arm with pin;Hoist front arm, hoist rear arm are connected by electric cylinder and have higher precision and resolution, can realize more accurate control and motion;Arm searchlight is installed on the middle segment outside of mechanical front arm, realizes the illumination of operating area, and mechanical gripper is rotatably connected to the free end of mechanical front arm;

[0024] The central lower part of mainframe box is rotatably installed with the trunk structure of being equipped with mobile control system by steering head, and the trunk structure includes bolted upper bottom plate and lower bottom plate, and the top of upper bottom plate is installed steering head by bolt.

[0025] The edge of trunk structure is close to the place of four corners and is equipped with rudder connecting position, and rudder connecting position includes a pair of installation support that is arranged in upper bottom plate, and fixed lug that cooperates with installation support is installed on the two sides of hip joint rudder, and the output shaft of hip joint rudder is matched with the rotation shaft mounting bracket that is arranged in the middle part below two installation supports, and rotation shaft mounting bracket is fixed on lower bottom plate.

[0026] The steering engine is connected with the first supporting leg through the hip-knee joint, and the end of the first supporting leg is provided with the ankle joint connected with the second supporting leg; the hip joint steering engine, the knee joint steering engine and the ankle joint steering engine are digital steering engines controlled by PWM signals, the hip-knee joint and the ankle joint are connected with the infrared receiving module through the Raspberry Pi, signals sent by the mobile phone software are received to transmit the signals to the hip joint steering engine, the knee joint steering engine and the ankle joint steering engine, the rotating angle of the steering engine is controlled through the PWM signal, the digital steering engine is controlled to realize the function of controlling the mechanical movement, the control signal can be quickly responded, and the accurate and rapid movement from the initial position to the target position is realized.

[0027] Specifically, the hip-knee joint comprises a hip joint steering engine installed on the trunk structure, an output end of the hip joint steering engine is connected with a hip frame, a free end of the hip frame is provided with the first supporting leg through a knee joint steering engine, an output shaft of the hip joint steering engine is perpendicular to an output shaft of the knee joint steering engine, and an end of the first supporting leg is provided with the second supporting leg through an ankle joint steering engine, both sides of the second supporting leg are provided with the guard plates, and the output shaft of the ankle joint steering engine is parallel to the output shaft of the knee joint steering engine.

[0028] The control principle of the device is that: a user sends a control instruction through a mobile phone software, and an infrared receiving module receives a signal instruction from the customized mobile phone software. The mobile phone software interface is friendly and easy to operate, the user can send the control instruction through a simple gesture or button operation to realize remote and real-time robot control; the instruction is transmitted to the Raspberry Pi through the infrared receiving module, the high-performance Raspberry Pi is selected as the central processor, is responsible for data processing, algorithm operation and instruction sending, the powerful computing capacity and rich interface resources of the Raspberry Pi provide a stable control platform and expansion capacity for the robot; after the Raspberry Pi analyzes the instruction, the rotation of the hip joint steering engine, the knee joint steering engine and the ankle joint steering engine is controlled through the PWM signal to realize the motion control of the robot.

[0029] Compared with the prior art, the device has the following beneficial effects:

[0030] The earthquake module detection and rescue mechanical device provided by the utility model takes scorpion shape as inspiration, works by referring to the shape characteristics of a scorpion, utilizes the excellent terrain adaptability and unique body structure (such as multi-foot support, flexible joint and strong grip) of the scorpion in an extreme environment to adapt to complex terrain, can cooperate with search and rescue personnel, matches various module rescue systems and effectively improves the rescue rate.

[0031] The device integrates the unique gait pattern of scorpion, the multi-legged coordinated movement mechanism and the efficient energy utilization strategy, has excellent terrain adaptability and flexible moving ability, realizes fast response, stable marching and efficient operation in the complex and changeable rescue environment, thereby overcoming the defects in the prior art, and significantly improves the success rate and efficiency of rescue operation.

[0032] Compared with the analog steering engine, the digital steering engine has higher control precision and more stable operation performance, improves the motion precision and stability of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0033] Fig. 1 It is an overall structure explosion schematic view of the utility model.

[0034] Fig. 2 It is a structure schematic view of the utility model.

[0035] In the figure: 1-mainframe box, 2-lifting rear arm, 3-lifting front arm, 4-first electric cylinder, 5-second electric cylinder, 6-mechanical front arm, 7-mechanical gripper, 8-steering head, 9-hip frame, 10-first supporting leg, 11-second supporting leg, 12-upper bottom plate, 13-lower bottom plate, 14-hip joint steering engine, 15-knee joint steering engine, 16-ankle joint steering engine, 17-protective plate, 18-searching light, 19-sensor, 20-arm searching light, 21-mounting support, 22-rotating shaft mounting frame. DETAILED DESCRIPTION

[0036] The specific embodiments of the utility model will be described below in combination with the drawings.

[0037] A seismic module detection rescue mechanical device, like Figs. 1-2As shown: including the mainframe 1 with MPU6050 sensor, the mainframe 1 front end is provided with a searchlight 18 and a sensor 19, the MPU6050 sensor integrates three-axis gyroscope and three-axis accelerometer, provides accurate measurement of object posture and motion, so as to keep balance; the mainframe 1 front end middle part is rotatably provided with a lifting rear arm 2, the lifting rear arm 2 is connected with a lifting front arm 3 through a hinge structure, a first electric cylinder 4 connecting the lifting front arm 3 is arranged on the lower end shell of the lifting rear arm 2, that is, the cylinder bottom side of the first electric cylinder 4 is combined with the rear arm bracket of the lifting rear arm 2 through a pin, and the rod side of the first electric cylinder 4 is combined with the front arm upper bracket of the lifting front arm 3 through a pin; the lifting front arm 3 is connected with a mechanical front arm 6 through a hinge structure, a second electric cylinder 5 connecting the mechanical front arm 6 is arranged on the upper end of the front arm upper bracket of the lifting front arm 3, that is, the cylinder bottom side of the second electric cylinder 5 is combined with the front arm lower bracket of the lifting front arm 3 through a pin, and the rod side of the second electric cylinder 5 is combined with the end of the mechanical front arm 6 through a pin; the lifting front arm 3 and the lifting rear arm 2 are connected by the electric cylinder, have higher precision and resolution, and can realize more accurate control and motion; the arm searchlight 20 is arranged on the middle part of the mechanical front arm 6, the lighting of the operation area is realized, and the mechanical gripper 7 is rotatably connected to the free end of the mechanical front arm 6.

[0038] The central lower part of the mainframe 1 is rotatably provided with a trunk structure with a mobile control system arranged inside through a steering head 8, the trunk structure includes a bolted upper bottom plate 12 and a lower bottom plate 13, and the steering head 8 is bolted and arranged on the top of the upper bottom plate 12.

[0039] The edge of the trunk structure is provided with a rudder connecting position near the four corners, the rudder connecting position includes a pair of mounting brackets 21 arranged on the upper bottom plate 12, the hip joint rudder 14 is provided with a fixed lug matched with the mounting bracket 21 on both sides, a rotating shaft mounting bracket 22 matched with the output shaft of the hip joint rudder 14 is arranged on the middle part of the two mounting brackets 21, and the rotating shaft mounting bracket 22 is fixed on the lower bottom plate 13.

[0040] The first branch leg 10 is connected through the hip-knee joint in the rudder connecting position, and the end of the first branch leg 10 is provided with an ankle joint connecting the second branch leg 11; the hip joint rudder 14, the knee joint rudder 15 and the ankle joint rudder 16 are digital rudders controlled by PWM signals, the hip-knee joint and the ankle joint are connected with an infrared receiving module through a raspberry pie, signals are accepted from the mobile phone software, the signals are transmitted to the hip joint rudder, the knee joint rudder and the ankle joint rudder, the rotating angle of the rudder is controlled through the PWM signal, the digital rudder is controlled to realize the function of controlling the mechanical motion, the control signal can be quickly responded, and the accurate and rapid movement from the initial position to the target position is realized.

[0041] Specifically, the hip-knee joint comprises a hip joint steering engine 14 mounted on the trunk structure, the output end of the hip joint steering engine 14 is connected with a hip frame 9, the free end of the hip frame 9 is mounted with a first supporting leg 10 through a knee joint steering engine 15, the output shaft of the hip joint steering engine 14 is in a spatial vertical relationship with the output shaft of the knee joint steering engine 15, the end of the first supporting leg 10 is mounted with a second supporting leg 11 through an ankle joint steering engine 16, the two sides of the second supporting leg 11 are mounted with a guard plate 17, and the output shaft of the ankle joint steering engine 16 is in a parallel relationship with the output shaft of the knee joint steering engine 15.

[0042] The mechanical device is used for simulating rescue.

[0043] One: complex terrain search and rescue

[0044] Application scenario:

[0045] In the earthquake disaster area, the collapse of buildings causes many people to be trapped, and due to the complex terrain, the traditional rescue equipment is difficult to enter.

[0046] Implementation:

[0047] Place the device at the entrance of the disaster area, control the robot to enter the disaster area along the predetermined path or autonomously navigate, and the device can successfully cross the complex terrain by using flexible joints, can cross narrow gaps and ruins, and accurately identify and locate the trapped personnel.

[0048] It is proved that the device can effectively reach the area that the traditional equipment cannot reach, obviously shortens the rescue time, improves the rescue efficiency, and reduces the risk of personnel casualties.

[0049] Two: night forest search and rescue

[0050] Application scenario:

[0051] At night in the forest, a hiker gets lost and is injured, and due to limited visibility, the search and rescue is extremely difficult.

[0052] Implementation:

[0053] Place the device at the entrance of the forest. Control the device to enter the forest along the preset route, and the device keeps balance on uneven terrain, guides the rescuer to approach the target, and successfully locates the injured hiker in the night forest.

[0054] It is proved that the device is effective and reliable in the night and low light environment, can effectively shorten the search and rescue time, improve the search and rescue efficiency, and ensure that the hiker receives timely rescue.

[0055] Three: urban ruins search and rescue

[0056] Application scenario:

[0057] Urban explosion accidents cause multiple building collapses, and people are trapped, and due to the complex structure of the ruins, there is a risk of secondary collapse.

[0058] Implementation:

[0059] Deploy the device to the edge of the ruins, and control the robot to enter the interior of the ruins. The flexible joint is used to pass through the narrow space in the ruins, and the MPU6050 sensor is used to monitor the attitude of the robot in real time, so that the robot is prevented from overturning due to the unstable structure of the ruins. The device can effectively find trapped personnel and immediately send position information to rescue personnel.

[0060] It is proved that the device can successfully locate the trapped personnel in the ruins, avoid the risk of secondary collapse, improve the rescue efficiency, and reduce the risk of the rescue personnel themselves, and further prove the effectiveness and practicality of the robot in the urban ruins search and rescue.

[0061] The scope of the utility model is not limited to the above specific embodiments, and for those skilled in the art, the utility model can have various modifications and changes, and any modification, improvement and equivalent replacement within the concept and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A seismic module detection rescue mechanical device, characterized in that: The utility model provides a kind of mechanical arm, including the mainframe box (1) of loading MPU6050 sensor, the mainframe box (1) front end is equipped with searchlight (18) and sensor (19), the mainframe box (1) front end middle part is rotatably equipped with hoist rear arm (2), hoist rear arm (2) is connected with hoist front arm (3) by hinge structure, the lower end shell of hoist rear arm (2) is equipped with the first electric cylinder (4) of connecting hoist front arm (3);Hoist front arm (3) is connected with mechanical front arm (6) by hinge structure, the upper end front arm of hoist front arm (3) is equipped with the second electric cylinder (5) of connecting mechanical front arm (6) on bracket, the external installation of mechanical front arm (6) middle segment is equipped with arm searchlight (20), the free end of mechanical front arm (6) is rotatably connected with mechanical gripper (7); The central lower part of the mainframe box (1) is rotatably equipped with the trunk structure with a mobile control system inside by a steering head (8), the edges of the trunk structure are close to the corners and are each equipped with a rudder connecting position, a first supporting leg (10) is connected in the rudder connecting position by a hip-knee joint, and an ankle joint connecting a second supporting leg (11) is mounted at the end of the first supporting leg (10).

2. The mechanical device for rescue according to claim 1, characterized in that: The trunk structure includes a bolted upper bottom plate (12) and a lower bottom plate (13), and the steering head (8) is mounted on the top of the upper bottom plate (12) by bolts.

3. The mechanical device for rescue according to claim 1, characterized in that: The hip-knee joint includes a hip joint rudder (14) mounted on the trunk structure, a hip frame (9) connected to the output end of the hip joint rudder (14), a first supporting leg (10) mounted on the free end of the hip frame (9) by a knee joint rudder (15), and a second supporting leg (11) mounted at the end of the first supporting leg (10) by an ankle joint rudder (16). The output shaft of the hip joint rudder (14) is perpendicular to the output shaft of the knee joint rudder (15), and the output shaft of the ankle joint rudder (16) is parallel to the output shaft of the knee joint rudder (15).

4. The mechanical device for rescue according to claim 3, characterized in that: The rudder connecting position includes a pair of mounting brackets (21) provided on the upper bottom plate (12), fixed ears cooperating with the mounting brackets (21) are mounted on both sides of the hip joint rudder (14), a shaft mounting bracket (22) cooperating with the output shaft of the hip joint rudder (14) is provided below the middle part of the two mounting brackets (21), and the shaft mounting bracket (22) is fixed on the lower bottom plate (13).

5. The mechanical device for rescue according to claim 1, characterized in that: Guard plates (17) are mounted on both sides of the second supporting leg (11).

6. The mechanical device for rescue according to claim 1, characterized in that: The cylinder bottom side of the first electric cylinder (4) is pinned to the rear arm bracket of the hoist rear arm (2), and the rod side of the first electric cylinder (4) is pinned to the forearm upper bracket of the hoist front arm (3).

7. The mechanical device for rescue according to claim 1, characterized in that: The cylinder bottom side of the second electric cylinder (5) is pinned to the forearm lower bracket of the hoist front arm (3), and the rod side of the second electric cylinder (5) is pinned to the end of the mechanical front arm (6).

8. The mechanical device for rescue according to claim 3, characterized in that: The hip joint rudder (14), the knee joint rudder (15), and the ankle joint rudder (16) are digital rudders controlled by PWM signals.

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