Wheel-track combined type rescue robot

Abstract

The wheel-track combined type rescue robot comprises a robot body, moving tracks are symmetrically installed on the two sides of the robot body, walking wheel mechanisms are symmetrically and rotationally connected to the left side and the right side of the robot body, and an end effector is installed on the front side of the upper portion of the robot body. A water gun mechanism is installed on the rear side of the upper portion of the robot body. The robot is reasonable in design, switching between wheel type movement and crawler type movement is achieved through folding and unfolding of the supporting arms, the problems that a traditional rescue instrument is single in function and movement form and cannot effectively cross obstacles can be solved, the environment adaptability is high, and specialized and efficient rescue work is facilitated.

Description

TECHNICAL FIELD

[0001] The utility model relates to a wheel-track composite rescue robot. BACKGROUND

[0002] Rescue robots are specially designed for use in modern rescue operations, and with the occurrence of natural disasters and industrial accidents, the demand for rescue robots is growing. Such robots are usually used to replace rescue personnel to perform dangerous and complex rescue tasks, but such rescue robots often need to have high mobility and obstacle crossing performance at the same time to adapt to different terrain environments, including steep slopes, steps and gullies. At present, such rescue robots cannot meet the smooth execution of rescue tasks and cannot effectively cross obstacles when encountering difficult-to-cross terrain, difficult-to-cross obstacles and some fires caused by accidents. SUMMARY

[0003] Therefore, the utility model aims at overcoming the defects of the prior art and providing a wheel-track composite rescue robot, which is reasonable in design and can realize the switching of wheel type and track type movement through the extension and retraction of the support arm, solve the problems of single function and single movement form of traditional rescue equipment and the inability to effectively cross obstacles, has strong environmental adaptability and facilitates professional and efficient rescue work.

[0004] The utility model adopts the following scheme: a wheel-track composite rescue robot: including robot body, the action track belt is symmetrically installed to the both sides of robot body, the walking wheel mechanism is symmetrically connected to the left and right sides of robot body, the end effector is installed to the front side of the upper part of robot body, the water gun mechanism is installed to the rear side of the upper part of robot body.

[0005] Further, the action track belt includes front and rear symmetrically installed track wheels, two track wheels are sleeved in a synchronous track belt, track drive sleeves are rotatably connected to the both sides of the upper part of the robot body corresponding to the track wheels, the track wheels are installed outside the track drive sleeves and rotate synchronously with the track drive sleeves.

[0006] Further, the robot body is provided with a sleeve drive motor for driving the rotation of the track drive sleeve, one end of the track drive sleeve extends into the robot body, and the other end penetrates the track wheel, a sleeve drive driven gear is installed on the end of the track drive sleeve extending into the robot body, and a sleeve drive driving gear is installed on the motor shaft of the sleeve drive motor and engages with the sleeve drive driven gear.

[0007] Further, the walking wheel mechanism comprises support arms symmetrically arranged front and back, a support arm rotating shaft is rotatably connected in the track driving sleeve, both ends of the support arm rotating shaft extend out of the track driving sleeve, one end of the support arm rotating shaft is fixedly connected with one end of the support arm, and the other end extends into the robot body, a swing motor for driving the support arm rotating shaft to swing is installed in the robot body, and a wheel is rotatably connected on the outer end of the support arm.

[0008] Further, a rotating shaft driving driven bevel gear is installed on the end of the support arm rotating shaft extending into the robot body, and a rotating shaft driving driving bevel gear is installed on the motor shaft of the swing motor and engages with the rotating shaft driving driven bevel gear.

[0009] Further, the support arm comprises an arm swinging sleeve, the end of the support arm rotating shaft away from the robot body is fixed in the arm swinging sleeve, the arm swinging sleeve rotates synchronously with the support arm rotating shaft, arm branch plates are symmetrically installed on both ends of the arm swinging sleeve, the wheel is rotatably connected between the end portions of the two arm branch plates, and the wheel is an electric wheel.

[0010] Further, the robot body comprises a chassis, a cover is installed on the chassis, rotating mounting seats are arranged on the left and right sides of the chassis corresponding to the track driving sleeves, the sleeve driving motor and the swing motor are both installed on the chassis, and a visual detector is installed on the front side of the cover.

[0011] Further, the end effector comprises industrial mechanical arms symmetrically arranged left and right, a grabbing gripper is installed on the execution end of one industrial mechanical arm, and a shearing gripper is installed on the execution end of the other industrial mechanical arm, mounting grooves are arranged on the cover corresponding to the industrial mechanical arms, the bases of the industrial mechanical arms are installed in the mounting grooves, and a mechanical arm driving machine box is installed on the chassis below the two industrial mechanical arms.

[0012] Further, the water gun mechanism comprises a water inlet pipe, the water inlet pipe is fixed on the chassis, the input end of the water inlet pipe extends out of the robot body through the rear side of the chassis, a quick connector is connected on the input end of the water inlet pipe, the output end of the water inlet pipe extends out upward through the cover, a vertical rotary joint is connected on the output end of the water inlet pipe, a transition elbow is connected on the output end of the vertical rotary joint, a horizontal rotary joint is connected on the output end of the transition elbow, an output elbow is connected on the output end of the horizontal rotary joint, the output end of the output elbow faces forward, and a water gun head is installed on the output end of the output elbow.

[0013] Further, a water gun fixing support is installed on the rear side of the chassis, and the water inlet pipe is fixed on the water gun fixing support through a clamp.

[0014] Compared with the prior art, this utility model has the following advantages: it is reasonably designed and can switch between wheeled and tracked movement by extending and retracting the support arm. It can solve the problems of traditional rescue equipment having single function, single movement form and inability to effectively cross obstacles. It has strong environmental adaptability and facilitates professional and efficient rescue work. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of an embodiment of the present utility model;

[0016] Figure 2 This is a schematic diagram of an embodiment of the present invention (with the cover and end effector removed).

[0017] Figure 3 This is a schematic diagram of an embodiment of the present invention (without the cover, end effector, robotic arm drive housing, and water gun mechanism).

[0018] Figure 4 for Figure 3 Enlarged structural diagram at point A in the middle;

[0019] Figure 5 This is a schematic diagram of the composite structure of the track wheel and traveling wheel mechanism in an embodiment of this utility model;

[0020] Figure 6 This is a schematic diagram of the composite structure of the track drive sleeve and the traveling wheel mechanism in an embodiment of this utility model;

[0021] Figure 7 This is a schematic diagram of the walking wheel mechanism structure of an embodiment of this utility model;

[0022] Figure 8 This is a schematic diagram of the water gun mechanism structure in an embodiment of the present invention. Figure 1 ;

[0023] Figure 9 This is a schematic diagram of the water gun mechanism structure in an embodiment of the present invention. Figure 2 .

[0024] In the diagram: 1-Robot body; 2-Track; 3-Wheel mechanism; 4-End effector; 5-Water gun mechanism; 6-Track wheel; 7-Synchronous track; 8-Track drive sleeve; 9-Sleeve drive motor; 10-Sleeve drive driven gear; 11-Sleeve drive drive gear; 12-Robot arm drive housing; 13-Support arm; 14-Support arm rotary shaft; 15-Swing motor; 16-Wheel; 17-Rotary shaft drive driven bevel gear; 18-Rotary shaft drive main... 19-Moving bevel gear; 20-Swing arm sleeve; 21-Swing arm branch plate; 22-Chassis; 23-Machine cover; 24-Rotating mounting base; 25-Vision detector; 26-Industrial robotic arm; 27-Gripping gripper; 28-Shearing gripper; 29-Mounting groove; 30-Base; 31-Water inlet pipe; 32-Quick connector; 33-Vertical rotary joint; 34-Transition bend; 35-Horizontal rotary joint; 36-Output bend; 37-Water gun head; 38-Water gun mounting bracket. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0027] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] like Figures 1-9 As shown, a wheeled-tracked hybrid rescue robot includes a robot body 1, with symmetrically mounted tracks 2 on both sides of the robot body. Walking wheel mechanisms 3 are symmetrically rotatably connected to the left and right sides of the robot body. An end effector 4 is mounted on the upper front side of the robot body, and a water gun mechanism 5 is mounted on the upper rear side of the robot body. In use, switching between wheeled and tracked movement is achieved by changing the contact between the walking wheel mechanism and the walking tracks and the ground. This solves the problems of traditional rescue equipment having limited functionality, limited movement, and inability to effectively overcome obstacles. It has strong environmental adaptability and facilitates professional and efficient rescue work. The end effector is used to coordinate rescue work, and the water gun mechanism can be connected to fire hoses for easy fire extinguishing.

[0029] In this embodiment, for reasonable design and to realize the tracked movement of the robot body, the track includes track wheels 6 symmetrically installed at the front and rear. Two track wheels are fitted inside a synchronous track 7, that is, the two tracks and one synchronous track form a track on one side. The track wheels on both sides jointly drive the robot body to move. Track drive sleeves 8 are rotatably connected to the track wheels on both sides of the robot body. The track wheels are installed outside the track drive sleeves and rotate synchronously with the track drive sleeves. That is, the rotation of the track drive sleeves drives the rotation of the track wheels, thereby driving the synchronous track to move, thus realizing the tracked movement of the robot body.

[0030] In this embodiment, more specifically, in order to achieve the rotation of the track drive sleeve, a sleeve drive motor 9 for driving the track drive sleeve to rotate is installed on the robot body. One end of the track drive sleeve extends into the robot body, and the other end passes through the track wheel. A sleeve drive driven gear 10 is installed on the end of the track drive sleeve that extends into the robot body. A sleeve drive driving gear 11 that meshes with the sleeve drive driven gear is installed on the motor shaft of the sleeve drive motor. In use, the sleeve drive motor drives the sleeve drive driving gear to rotate, which in turn drives the meshing sleeve drive driven gear to rotate, and finally achieves the rotation of the track drive sleeve.

[0031] In this embodiment, to achieve the switching between the walking wheel mechanism and the tracked motion, the walking wheel mechanism includes symmetrically arranged support arms 13. A support arm rotary shaft 14 is rotatably connected inside the track drive sleeve. Both ends of the support arm rotary shaft extend out of the track drive sleeve. One end of the support arm rotary shaft is fixedly connected to one end of the support arm, and the other end extends into the robot body. A swing motor 15 for driving the swing shaft of the support arm is installed inside the robot body. A wheel 16 is rotatably connected to the outer end of the support arm. That is, through the rotational connection between the support arm rotary shaft and the track drive sleeve, a bearing that cooperates with the support arm rotary shaft can be provided inside the track drive sleeve to achieve the combination of the walking wheel mechanism and the tracked motion without mutual interference. In use, the swing motor drives the support arm rotary shaft to swing, thereby driving the support arm to swing around the axis, realizing the contact or separation of the end wheel of the support arm with the ground, and realizing the switching between wheeled and tracked motion.

[0032] In this embodiment, in order to specifically realize the driving of the support arm rotation shaft, a rotation shaft drive driven bevel gear 17 is installed on one end of the support arm rotation shaft that extends into the robot body, and a rotation shaft drive driving bevel gear 18 that meshes with the rotation shaft drive driven bevel gear is installed on the motor shaft of the swing motor. The swing motor drives the rotation shaft drive driving bevel gear to rotate, thereby driving the meshed rotation shaft drive driven bevel gear to rotate, and finally realizing the rotation of the support arm rotation shaft.

[0033] In this embodiment, to achieve the specific installation of the support arm and the wheel, the support arm includes a swing arm sleeve 19. The end of the support arm rotation shaft away from the robot body extends out of the track drive sleeve and is fixed inside the swing arm sleeve. The swing arm sleeve rotates synchronously with the support arm rotation shaft, which can be a key connection or a direct bolt connection. Swing arm branch plates 20 are symmetrically installed on both ends of the swing arm sleeve. The wheel is rotatably connected between the ends of the two swing arm branch plates. The wheel is an existing electric vehicle wheel, that is, a wheel with a hub motor. The sleeve drive motor, the swing motor, and the wheel hub motor do not interfere with each other, and can achieve rapid switching and coordinated movement during driving to achieve the purpose of obstacle crossing.

[0034] In this embodiment, for the sake of reasonable design, the robot body includes a chassis 21, on which a cover 22 is installed. Rotary mounting seats 23 are provided on the left and right sides of the chassis corresponding to the track drive sleeves. Rotary bearings can be installed in the rotary mounting seats corresponding to the track drive sleeves. The sleeve drive motor and the swing motor are both installed on the chassis. An existing vision detector 24 is installed on the front side of the cover, which can provide real-time feedback on its working environment.

[0035] In this embodiment, to achieve collaborative operation of the end effector, the end effector includes industrial robotic arms 25 symmetrically arranged on the left and right sides. The industrial robotic arms can be existing multi-axis industrial robots. One industrial robotic arm has an existing industrial robot gripper 26 installed on its execution end, and the other industrial robotic arm has an existing industrial robot shearing claw 27 installed on its execution end. The cover is provided with mounting slots 28 corresponding to the industrial robotic arms. The base 29 of the industrial robotic arms is installed in the mounting slots. The chassis is equipped with a robotic arm drive housing 12 under the two industrial robotic arms. The robotic arm drive housing is equipped with an existing power supply and an existing controller for driving the movement of the industrial robotic arms, industrial robot gripper, and industrial robot shearing claw. Through the two industrial robotic arms, it is possible to mimic the collaborative operation of human arms.

[0036] In this embodiment, for rational design, the water gun mechanism includes a water inlet pipe 30, which is fixed to the chassis. The input end of the water inlet pipe extends through the rear side of the chassis and out of the robot body. A quick-connect connector 31 is connected to the input end of the water inlet pipe. The quick-connect connector is an existing structure used for quick connection with fire hoses. The output end of the water inlet pipe extends upward through the machine cover. A vertical rotary connector 32 is connected to the output end of the water inlet pipe. A transition bend 33 is connected to the output end of the vertical rotary connector. A horizontal rotary connector 34 is connected to the output end of the transition bend. The transition bend is used to... The pipeline is oriented horizontally to facilitate the installation of a horizontal rotary joint. An output bend 35 is connected to the output end of the horizontal rotary joint, with the output end of the output bend facing forward. A water nozzle 36 is installed on the output end of the output bend. The water nozzle can have a built-in electromagnetic switch valve. The rotary joint can be an existing electric rotary joint to adjust the output angle of the transition bend and the output bend, making it easy to adjust the output position of the water nozzle as needed, thus making its fire extinguishing range wider and more flexible. Of course, the water nozzle mechanism can be an existing fire hose, which also has the function of adjusting the position of the output port as needed.

[0037] In this embodiment, in order to fix the water inlet pipe, a water gun fixing bracket 37 is installed on the rear side of the chassis, and the water inlet pipe is fixed to the water gun fixing bracket by a clamp.

[0038] In this embodiment, the overall structure can be made of high-temperature resistant material.

[0039] Unless otherwise stated, if any of the technical solutions disclosed in this utility model discloses a numerical range, then the disclosed numerical range is a preferred numerical range. Any person skilled in the art should understand that the preferred numerical range is merely one among many feasible numerical values ​​that has a more obvious or representative technical effect. Because there are many numerical values, it is impossible to list them all. Therefore, this utility model discloses only some numerical values ​​to illustrate the technical solutions of this utility model. Furthermore, the numerical values ​​listed above should not constitute a limitation on the scope of protection of this utility model.

[0040] If the terms "first" or "second" are used in this document to specify components, those skilled in the art should know that the use of "first" or "second" is merely for the purpose of distinguishing components in description, and unless otherwise stated, the above terms have no special meaning.

[0041] If this utility model discloses or relates to mutually fixedly connected parts or structural components, then unless otherwise stated, a fixed connection can be understood as: a detachable fixed connection (e.g., using bolts or screws), or a non-detachable fixed connection (e.g., riveting, welding). Of course, mutually fixed connections can also be replaced by an integral structure (e.g., manufactured by integral molding using a casting process) (except where it is obviously impossible to use an integral molding process).

[0042] Furthermore, the orientations or positional relationships indicated by terms such as "longitudinal," "lateral," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" used in any of the technical solutions disclosed in this utility model are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this patent. They are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this patent. In addition, unless otherwise stated, the terms used to indicate shape in any of the technical solutions disclosed in this utility model include shapes that are similar to, close to, or approximate with it.

[0043] Any component provided by this utility model can be assembled from multiple individual components, or it can be a single component manufactured by a one-piece molding process.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it; although the utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this utility model or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solution of this utility model, and all such modifications and substitutions should be covered within the scope of the technical solution claimed by this utility model.

Claims

1. A wheeled-tracked hybrid rescue robot, characterized in that: The robot includes a robot body, on which symmetrical tracks are mounted on both sides. The robot body is symmetrically connected to a walking wheel mechanism on the left and right sides. An end effector is mounted on the upper front side of the robot body, and a water gun mechanism is mounted on the upper rear side of the robot body.

2. The wheeled-tracked composite rescue robot according to claim 1, characterized in that: The track includes track wheels symmetrically installed at the front and rear, with two track wheels fitted inside a synchronous track. Track drive sleeves are rotatably connected to the track wheels on both sides of the robot body. The track wheels are installed outside the track drive sleeves and rotate synchronously with the track drive sleeves.

3. The wheeled-tracked composite rescue robot according to claim 2, characterized in that: The robot body is equipped with a sleeve drive motor for driving the track drive sleeve to rotate. One end of the track drive sleeve extends into the robot body, and the other end passes through the track wheel. A sleeve drive driven gear is installed on the end of the track drive sleeve that extends into the robot body. A sleeve drive driving gear that meshes with the sleeve drive driven gear is installed on the motor shaft of the sleeve drive motor.

4. The wheeled-tracked composite rescue robot according to claim 3, characterized in that: The walking wheel mechanism includes support arms symmetrically arranged front and rear. A support arm rotary shaft is rotatably connected inside the track drive sleeve. Both ends of the support arm rotary shaft extend out of the track drive sleeve. One end of the support arm rotary shaft is fixedly connected to one end of the support arm, and the other end extends into the robot body. A swing motor for driving the support arm rotary shaft to swing is installed inside the robot body. A wheel is rotatably connected to the outer end of the support arm.

5. The wheeled-tracked composite rescue robot according to claim 4, characterized in that: The support arm's rotary shaft is fitted with a driven bevel gear at one end that extends into the robot body, and the oscillating motor's motor shaft is fitted with a driving bevel gear that meshes with the driven bevel gear.

6. The wheeled-tracked composite rescue robot according to claim 4, characterized in that: The support arm includes a swing arm sleeve. The end of the support arm rotation shaft away from the robot body is fixed inside the swing arm sleeve. The swing arm sleeve rotates synchronously with the support arm rotation shaft. Swing arm branch plates are symmetrically installed on both ends of the swing arm sleeve. The wheel is rotatably connected between the ends of the two swing arm branch plates. The wheel is an electric vehicle wheel.

7. The wheeled-tracked composite rescue robot according to claim 4, characterized in that: The robot body includes a chassis, on which a cover is mounted. Rotary mounting seats are provided on the left and right sides of the chassis corresponding to the track drive sleeves. The sleeve drive motor and the swing motor are both mounted on the chassis. A vision detector is mounted on the front side of the cover.

8. The wheeled-tracked composite rescue robot according to claim 7, characterized in that: The end effector includes industrial robotic arms arranged symmetrically on the left and right. One industrial robotic arm is equipped with a gripping claw at its execution end, and the other industrial robotic arm is equipped with a shearing claw at its execution end. The cover is provided with mounting grooves corresponding to the industrial robotic arms. The base of the industrial robotic arms is installed in the mounting grooves. The robotic arm drive housing is installed on the chassis under the two industrial robotic arms.

9. The wheeled-tracked composite rescue robot according to claim 7, characterized in that: The water gun mechanism includes a water inlet pipe fixed to the chassis. The input end of the water inlet pipe extends through the rear of the chassis and out of the robot body. A quick-connect coupling is connected to the input end of the water inlet pipe. The output end of the water inlet pipe extends upward through the cover. A vertical rotary joint is connected to the output end of the water inlet pipe. A transition bend is connected to the output end of the vertical rotary joint. A horizontal rotary joint is connected to the output end of the transition bend. An output bend is connected to the output end of the horizontal rotary joint. The output end of the output bend faces forward, and a water gun head is installed on the output end of the output bend.

10. The wheeled-tracked composite rescue robot according to claim 9, characterized in that: A water gun mounting bracket is installed on the rear side of the chassis, and the water inlet pipe is fixed to the water gun mounting bracket by clamps.

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