Search and rescue snakelike robot with heat source detection function

Abstract

The utility model provides a search and rescue snakelike robot with heat source detection, which comprises snakelike body sections, driving structures, connecting nodes, a storage battery pack, a snakelike head electrical box, a camera and a heat source sensing structure, the driving structures are mounted on two sides of the snakelike body sections, the connecting nodes are connected between the snakelike body sections, and the storage battery pack is mounted on the snakelike head electrical box. The storage battery pack is mounted on all the snake body sections except the first group of snake body sections; the snake head electrical box is mounted on the first group of snake body sections, and the camera and the heat source sensing structure are fixedly mounted on the snake head electrical box; due to the arrangement of the snake body sections and the connecting nodes, the snake body sections and the connecting nodes can be flexibly matched in a modularized mode according to needs, complex terrains can be effectively traversed, and the overall flexibility is high.

Description

TECHNICAL FIELD

[0001] The utility model discloses search and rescue robot technical field especially relates to a search and rescue snake robot with heat source detection. BACKGROUND

[0002] The snake robot is a new bionic robot that can imitate the movement of biological snakes. Because it can achieve "limbless movement" like a living creature, it is applied to military purposes such as battlefield detection in military reconnaissance, tree climbing, post-disaster survivor search and rescue investigation, etc. In the field of disaster rescue, traditional search and rescue equipment is often limited by its rigid structure and limited freedom of movement, making it difficult to move flexibly in complex terrain such as ruins and narrow gaps. The existing search and rescue robots mainly rely on visual sensors for environmental detection, but in smoky, dark or heavily obstructed environments, single visual detection methods are prone to failure, resulting in reduced search and rescue efficiency. In addition, the power supply system of most robots uses a centralized design, and once the power fails, the entire system will be paralyzed, lacking reliability. However, the existing search and rescue snake robots still have the problems of being unable to be modularized and flexibly matched according to needs, being unable to effectively traverse complex terrain, and poor overall flexibility.

[0003] Therefore, it is necessary to invent a search and rescue snake robot with heat source detection. CONTENT OF THE UTILITY MODEL

[0004] To solve the above technical problems, the utility model provides a search and rescue snake robot with heat source detection to solve the problem that the existing structure still cannot be modularized and flexibly matched according to needs, cannot effectively traverse complex terrain, and has poor overall flexibility. A search and rescue snake robot with heat source detection includes snake body segments, a driving structure, a connection node, a battery pack, a snake head electrical box, a camera and a heat source sensing structure, wherein: the driving structure is installed on both sides of the snake body segments, and the connection node is connected between the snake body segments, the battery pack is installed on all snake body segments except the first group of snake body segments; the snake head electrical box is installed on the first group of snake body segments, and the camera and the heat source sensing structure are fixedly installed on the snake head electrical box.

[0005] The snake body segment includes a segment bracket, a mounting plate, a mounting interface, a power frame and a side auxiliary wheel, and the mounting plate is fixedly installed on the surface of the segment bracket, and the mounting interface is arranged on the surface of the mounting plate; the power frame is fixedly installed on both sides of the segment bracket, and the side auxiliary wheel is rotatably installed on the outside of the power frame.

[0006] The connecting node comprises a first connecting rod, a connecting ball seat, a connecting ball head, a second connecting rod and a connecting clamping column, one end of the first connecting rod is fixedly provided with the connecting ball seat, the other end of the first connecting rod is fixedly provided with the connecting clamping column and is fixedly arranged in the interior of the snake body segment through the connecting clamping column, one end of the second connecting rod is fixedly provided with the connecting ball head, the other end of the second connecting rod is fixedly provided with the connecting clamping column and is fixedly arranged in the interior of the snake body segment through the connecting clamping column, and the connecting ball head is embedded in the interior of the connecting ball seat.

[0007] The snake body segments are adopted in multiple groups, and are connected through the connecting nodes to form an arbitrary bending "snake body".

[0008] The first connecting rod and the second connecting rod in the connecting node can be relatively rotated through the connecting ball seat and the connecting ball head, the connecting clamping column can be connected with the snake body segments, and the connecting node can make the two adjacent snake body segments bend through the bending of the connecting node.

[0009] Compared with the prior art, the utility model has the advantages of the following:

[0010] 1. The snake body segments are adopted in multiple groups, and are connected through the connecting nodes to form an arbitrary bending "snake body".

[0011] 2. The connecting node is adopted, the connecting ball head and the connecting ball seat are adopted to realize the flexible motion of the adjacent snake body segments in multiple degrees of freedom, the flexibility of the bionic motion is guaranteed, the stability of the overall structure is maintained through the rigid fixing of the connecting clamping column, the modular expansion can be supported to adapt to different task requirements, external impact can be effectively buffered, and the motion performance and durability of the robot in the complex environment are remarkably improved. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is the structure schematic diagram of the utility model.

[0013] Figure 2 It is the A place enlarged view of the utility model.

[0014] Figure 3 It is the B place enlarged view of the utility model.

[0015] In the drawings:

[0016] Segment 1, segment support 11, mounting plate 12, mounting interface 13, power frame 14, side auxiliary wheel 15, drive structure 2, connection node 3, first connecting rod 31, connecting ball seat 32, connecting ball head 33, second connecting rod 34, connecting clamping column 35, battery pack 4, snake head electrical box 5, camera 6, heat source sensing structure 7. DETAILED DESCRIPTION

[0017] In order to make the person skilled in the art better understand the technical scheme of the present application, the technical scheme in the embodiments of the present application will be described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the present application.

[0018] As shown in the accompanying Figure 1 to the accompanying Figure 3 drawings.

[0019] The search and rescue snake-shaped robot with heat source detection provided by the present application comprises a snake body segment 1, a drive structure 2, a connection node 3, a battery pack 4, a snake head electrical box 5, a camera 6 and a heat source sensing structure 7, wherein the drive structure 2 is installed on both sides of the snake body segment 1, and the connection node 3 is connected between the snake body segments 1, and the battery pack 4 is installed on all snake body segments 1 except the first group of snake body segments 1; the snake head electrical box 5 is installed on the first group of snake body segments 1, and the camera 6 and the heat source sensing structure 7 are fixedly installed on the snake head electrical box 5.

[0020] The snake body segment 1 comprises a segment support 11, a mounting plate 12, a mounting interface 13, a power frame 14 and a side auxiliary wheel 15, and the mounting plate 12 is fixedly installed on the surface of the segment support 11, and the mounting interface 13 is arranged on the surface of the mounting plate 12; the power frame 14 is fixedly installed on both sides of the segment support 11, and the side auxiliary wheel 15 is rotatably installed on the outside of the power frame 14.

[0021] The connecting node 3 comprises a first connecting rod 31, a connecting ball seat 32, a connecting ball head 33, a second connecting rod 34 and a connecting clamping column 35, one end of the first connecting rod 31 is fixedly installed with the connecting ball seat 32, the other end of the first connecting rod 31 is fixedly installed with the connecting clamping column 35 and is fixedly installed in the interior of the snake body segment 1 through the connecting clamping column 35, one end of the second connecting rod 34 is fixedly installed with the connecting ball head 33, the other end of the second connecting rod 34 is fixedly installed with the connecting clamping column 35 and is fixedly installed in the interior of the snake body segment 1 through the connecting clamping column 35, and the connecting ball head 33 is embedded in the interior of the connecting ball seat 32.

[0022] The snake body segment 1 adopts a plurality of groups, and is connected through the connecting nodes 3 to form an arbitrary bending "snake body", the segment support 11 and the power frame 14 are connected as a whole and are made of stainless steel, the two ends of the power frame 14 are provided with driving wheels, the driving wheels at the two ends of the power frame 14 can drive the driving structure 2 to rotate, the side auxiliary wheels 15 adopt two groups of horizontally rotating rubber wheels, and the mounting plate 12 and the mounting interface 13 can add the battery pack 4 and the snake head electrical box 5 as required.

[0023] The first connecting rod 31 and the second connecting rod 34 in the connecting node 3 can relatively rotate through the connecting ball seat 32 and the connecting ball head 33, the connecting clamping column 35 can be connected with the snake body segment 1, and the connecting node 3 can make the two adjacent groups of snake body segments 1 bend through the bending of the connecting node 3.

[0024] The snake-shaped search and rescue robot realizes bionic motion through the modular snake body segment 1 and the ball hinge connecting node 3, each segment is cooperatively controlled by the driving structure 2 and the side auxiliary wheels 15, so that the robot has multi-degree-of-freedom motion capability, the camera 6 and the heat source sensing structure 7 integrated in the snake head electrical box 5 form a multi-modal detection system and can accurately identify the characteristics of a living body in a harsh environment, the battery pack 4 distributed on the snake body segment 1 provides stable power for the system, and the central control system coordinates the motion and detection functions, so that the snake-shaped search and rescue robot becomes intelligent equipment capable of efficiently performing a search and rescue task in a debris gap.

[0025] The technical scheme disclosed by the utility model, or the technical scheme designed by the person skilled in the art under the inspiration of the technical scheme of the utility model, achieves the above technical effects, and falls within the protection scope of the utility model.

Claims

1. A search and rescue snake-like robot with heat source detection, characterized in that: The device includes a snake-body segment (1), a drive structure (2), a connecting node (3), a battery pack (4), a snake-head electrical box (5), a camera (6), and a heat source sensing structure (7), wherein: the drive structure (2) is installed on both sides of the snake-body segment (1), and the connecting node (3) is connected between the snake-body segments (1); the battery pack (4) is installed on all snake-body segments (1) except for the first group of snake-body segments (1); the snake-head electrical box (5) is installed on the first group of snake-body segments (1), and the camera (6) and the heat source sensing structure (7) are fixedly installed on the snake-head electrical box (5).

2. The search and rescue snake robot with heat source detection as described in claim 1, characterized in that: The snake-body segment (1) includes a segment bracket (11), a mounting plate (12), a mounting interface (13), a power frame (14), and a side auxiliary wheel (15). The mounting plate (12) is fixedly mounted on the surface of the segment bracket (11), and the mounting interface (13) is located on the surface of the mounting plate (12). The power frame (14) is fixedly mounted on both sides of the segment bracket (11), and the side auxiliary wheel (15) is rotatably mounted on the outside of the power frame (14).

3. A search and rescue snake robot with heat source detection as described in claim 1, characterized in that: The connecting node (3) includes a first connecting rod (31), a connecting ball seat (32), a connecting ball head (33), a second connecting rod (34), and a connecting pin (35). One end of the first connecting rod (31) is fixedly installed with the connecting ball seat (32), and the other end of the first connecting rod (31) is fixedly installed with the connecting pin (35), and is fixedly installed inside the snake-body segment (1) through the connecting pin (35). One end of the second connecting rod (34) is fixedly installed with the connecting ball head (33), and the other end of the second connecting rod (34) is fixedly installed with the connecting pin (35), and is fixedly installed inside the snake-body segment (1) through the connecting pin (35). The connecting ball head (33) is embedded inside the connecting ball seat (32).

4. A search and rescue snake robot with heat source detection as described in claim 2, characterized in that: The snake-body segments (1) are in multiple sets, which are connected by connecting nodes (3) to form an arbitrarily bent "snake body"; the segment bracket (11) and the power frame (14) are connected as one piece, made of stainless steel, and the two ends of the power frame (14) are provided with drive wheels, which can drive the drive structure (2) to rotate; the side auxiliary wheels (15) are two sets of horizontally rotating rubber wheels; the mounting plate (12) and the mounting interface (13) can add battery packs (4) and snake head electrical boxes (5) as needed.

5. A search and rescue snake robot with heat source detection as described in claim 3, characterized in that: The first connecting rod (31) and the second connecting rod (34) inside the connecting node (3) can rotate relative to each other through the connecting ball seat (32) and the connecting ball head (33), and the connecting pin (35) can be connected to the snake body segment (1). The connecting node (3) can bend the two adjacent snake body segments (1) by bending itself.

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