Modularized rescue robot power structure

Abstract

The utility model relates to the technical field of disaster relief exploration machines, and discloses a modularized rescue robot power structure which comprises an exploration robot body, power assemblies are arranged on the two sides of the outer wall of the exploration robot body, and connecting frames are fixedly connected to the two sides of the inner wall of the exploration robot body. The sides, away from the center of the exploration robot body, of the connecting frames are fixedly connected with gear motors, and the output ends of the gear motors are fixedly connected with cushioning body frames. Two shock absorbers capable of bearing 250 pounds are further arranged in each unit, when the robot shakes, leaps, lands and the like in the moving process, pressure borne by the independent power unit can be rapidly transmitted to the shock absorbers, springs in the shock absorbers are deformed, and meanwhile, the shock absorbers are driven by the independent power unit to rotate. And the opening and closing angle of the hybrid power unit is correspondingly changed, so that the robot and the power unit are effectively protected.

Description

Technical Field

[0001] This utility model relates to the field of disaster relief exploration machine technology, and in particular to the power structure of a modular rescue robot. Background Technology

[0002] In today's era, natural disasters such as earthquakes, floods, and fires occur frequently, causing incalculable damage and losses to human society. During various rescue operations, rescuers often find themselves in extremely dangerous and complex environments. This harsh reality has powerfully driven the development of modular rescue robots and promoted their widespread application in the rescue field. The design of the power structure of modular rescue robots stems from multiple background considerations. Currently, most rescue robots use ordinary springs or shock-absorbing rods directly connected to the motion unit for shock absorption. This design can only meet the needs of ordinary wheeled and tracked robots. However, when faced with a more complex and specialized structure—a composite power unit composed of independent power units—traditional shock absorption methods become inadequate, failing to effectively cope with the various complex mechanical conditions and special protection requirements generated during operation.

[0003] Therefore, those skilled in the art have provided modular power structures for rescue robots to address the problems mentioned in the background section. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a modular rescue robot power structure. Each unit is equipped with two shock absorbers capable of bearing 250 pounds. When the robot encounters shaking, leaping, or landing during movement, the pressure borne by the independent power unit is quickly transmitted to the shock absorbers, causing the springs in the shock absorbers to deform. At the same time, the opening and closing angle of the composite power unit also changes accordingly, thereby effectively protecting the robot and the power unit itself. Its transmission system ensures that the power generated by the DC motor is evenly transmitted to each wheel. In addition, the multi-wheel layout design helps the robot adapt to various complex and changing terrain environments.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A modular rescue robot power structure includes an exploration robot body. Power components are provided on both sides of the outer wall of the exploration robot body. Connecting frames are fixedly connected to both sides of the inner wall of the exploration robot body. A reduction motor is fixedly connected to the side of the connecting frame away from the center of the exploration robot body. A shock-absorbing main frame is fixedly connected to the output end of the reduction motor. A second hinge rod is hinged to the middle of the front and rear ends of the outer wall of the shock-absorbing main frame. A first hinge rod is hinged to the lower part of the front and rear ends of the outer wall of the shock-absorbing main frame. A shock absorber is hinged to the upper part of the front and rear ends of the outer wall of the shock-absorbing main frame. A slider is slidably connected to the upper end of the second hinge rod.

[0007] The first and second hinge rods are both hinged to a connecting block at the end away from the shock-absorbing main frame. The connecting block is fixedly connected to a connecting shell at the end away from the exploration robot body. A DC motor is fixedly connected to the inner wall of the connecting block. A drive wheel is fixedly connected to the output end of the DC motor. A second fixing plate is fixedly connected to the end of the connecting shell away from the exploration robot body. A secondary driven wheel is rotatably connected to the four corners of the second fixing plate away from the connecting shell. A driven wheel is rotatably connected to one corner of the second fixing plate away from the connecting shell.

[0008] Through the above technical solution, the power structure of the rescue robot is closely built around the body of the exploration robot. Power components are set on both sides of the outer wall of the exploration robot body. Each power component contains a composite power unit, which is composed of two independent power units. The independent power units rely on DC motors with Hall sensors to provide power. The DC motor drives the drive wheel to rotate. The drive wheel drives the driven wheel to rotate through the first toothed belt. The driven wheel further drives the second toothed belt to move, thereby driving multiple secondary driven wheels to work together. Furthermore, the two independent power units are uniformly powered by a geared motor. The output end of the geared motor is connected to the shock-absorbing main frame. The shock-absorbing main frame is connected to the outer wall of the exploration robot body by a hinge.

[0009] Furthermore, the secondary driven wheel and the driven wheel are both distributed at the corner of the second fixed plate, and a connecting tooth is fixedly connected to the middle of the inner wall of the driven wheel. The outer walls of the driving wheel and the connecting tooth are tightly fitted with a first toothed belt.

[0010] The above technical solution enables power to be transmitted efficiently and stably from the driving wheel to the driven wheel and each secondary driven wheel. This layout is conducive to the even distribution of power to the wheels in different positions, improving the robot's balance and stability when walking on complex terrain.

[0011] Furthermore, the outer walls of the shock-absorbing main frame are all hinged to the outer walls of the exploration robot body;

[0012] The above technical solution gives the shock-absorbing main frame a relatively flexible degree of freedom of movement. When the robot travels on uneven ground or suffers external impact, the shock-absorbing main frame can adaptively adjust its angle according to the force, so as to better disperse and buffer the impact force.

[0013] Furthermore, the side of the second fixed plate away from the connecting shell is fixedly connected to the first fixed plate by bolts, and the secondary driven wheel and the end of the driven wheel away from the second fixed plate are rotatably connected to the inner wall of the first fixed plate.

[0014] The above technical solution enhances the stability of the wheel mounting structure. When the robot is carrying heavy rescue equipment or operating in extreme terrain conditions, the double fixation of the first and second fixing plates can effectively prevent the wheels from shifting, deforming, or falling off, ensuring that the robot's walking system is always in a reliable working state.

[0015] Furthermore, the end of the shock absorber furthest from the damping main frame is hinged to the slider;

[0016] Through the above technical solution, a multi-dimensional buffer and shock absorption system is constructed. When the robot is subjected to impact forces from different directions and intensities, the hinged connection between the shock absorber and the slider can flexibly adjust the buffer angle and force, and cooperate with the overall movement of the shock-absorbing main frame to absorb and dissipate the impact force to the maximum extent.

[0017] Furthermore, a binocular depth camera is provided on the upper part of the rear end of the inner wall of the exploration robot body, a lidar is provided on the middle part of the upper end of the inner wall of the exploration robot body, and a soft robotic arm unit is provided on the lower part of the front end of the inner wall of the exploration robot body.

[0018] The above technical solutions achieve an organic combination of robot perception, movement and operation functions. The binocular depth camera and lidar can provide the robot with comprehensive environmental perception information, help the robot plan a reasonable movement path, avoid obstacles and quickly locate the rescue target.

[0019] Furthermore, the outer walls of both the secondary driven wheel and the driven wheel are tightly fitted with a second toothed belt, and the outer walls of the second toothed belt are fixedly connected with multiple fixing blocks;

[0020] Through the above technical solution, the second toothed belt can further optimize the power transmission relationship between the wheels under certain conditions. For example, when it is necessary to adjust the speed ratio of different wheels to adapt to special terrain, the second toothed belt can play an auxiliary transmission role, while the fixed block increases the friction and grip between the wheels and the ground, enabling the robot to drive better on soft, slippery or steep terrain. For example, on snow, sand or sloping ruins after an earthquake, the robot can move more stably and is less likely to slip or lose control, thus enabling it to carry out rescue work smoothly.

[0021] This utility model has the following beneficial effects:

[0022] 1. The modular rescue robot power structure proposed in this utility model is constructed closely around the exploration robot body. Power components are set on both sides of the outer wall of the exploration robot body. Each power component includes a composite power unit, which is composed of two independent power units. The independent power units rely on DC motors with Hall sensors to provide power. The DC motor drives the active wheel to rotate. The active wheel drives the driven wheel to rotate through the first toothed belt. The driven wheel further drives the second toothed belt to move, thereby driving multiple secondary driven wheels to work together. Furthermore, the two independent power units are uniformly powered by a reduction motor. The output end of the reduction motor is connected to the shock-absorbing main frame. The shock-absorbing main frame is connected to the outer wall of the exploration robot body by a hinge.

[0023] 2. The modular rescue robot power structure proposed in this utility model is equipped with two shock absorbers in each unit, each capable of bearing 250 pounds. When the robot encounters shaking, leaping, or landing during movement, the pressure borne by the independent power unit will be quickly transmitted to the shock absorber, causing the spring in the shock absorber to deform. At the same time, the opening and closing angle of the composite power unit will also change accordingly, thereby achieving effective protection for the robot and the power unit itself. Its transmission system can ensure that the power generated by the DC motor is evenly transmitted to each wheel. In addition, the multi-wheel layout design helps the robot adapt to various complex and changing terrain environments. Attached Figure Description

[0024] Figure 1 This is an isometric view of the power structure of the modular rescue robot proposed in this utility model;

[0025] Figure 2 This is an exploded view of the power structure of the modular rescue robot proposed in this utility model;

[0026] Figure 3 This is a schematic diagram of the power component of the modular rescue robot power structure proposed in this utility model;

[0027] Figure 4 This is an isometric view of the power component of the modular rescue robot power structure proposed in this utility model;

[0028] Figure 5 This is a partial structural diagram of the power component of the modular rescue robot power structure proposed in this utility model;

[0029] Figure 6 This is a partial structural diagram of the power component of the modular rescue robot power structure proposed in this utility model.

[0030] Figure 7 This is a partial exploded view of the power component of the modular rescue robot power structure proposed in this utility model;

[0031] Figure 8 This is a partial exploded view of the power component of the modular rescue robot power structure proposed in this utility model.

[0032] Legend:

[0033] 1. The exploration robot itself;

[0034] 2. Power Components; 201. Shock Absorber Frame; 202. First Hinge Rod; 203. First Fixing Plate; 204. Second Hinge Rod; 205. Shock Absorber; 206. Connecting Shell; 207. Slider; 208. DC Motor; 209. Connecting Block; 210. Gear Motor; 211. Connecting Frame; 212. First Toothed Belt; 213. Fixing Block; 214. Secondary Driven Gear; 215. Second Fixing Plate; 216. Second Toothed Belt; 217. Driven Gear; 218. Driving Gear; 219. Connecting Gear;

[0035] 3. Soft robotic arm unit; 4. Binocular depth camera; 5. LiDAR. Detailed Implementation

[0036] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of specific embodiments. Obviously, the described specific embodiments are only a part of the specific embodiments of the present invention, and not all of them. Based on the specific embodiments of the present invention, all other specific embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Reference Figure 1-8 One specific embodiment provided by this utility model:

[0038] The modular rescue robot power structure includes an exploration robot body 1. Power components 2 are provided on both sides of the outer wall of the exploration robot body 1. Connecting frames 211 are fixedly connected to both sides of the inner wall of the exploration robot body 1. A reduction motor 210 is fixedly connected to the side of the connecting frame 211 away from the center of the exploration robot body 1. A shock-absorbing main frame 201 is fixedly connected to the output end of the reduction motor 210. A second hinge rod 204 is hinged to the middle of the front and rear ends of the outer wall of the shock-absorbing main frame 201. A first hinge rod 202 is hinged to the lower part of the front and rear ends of the outer wall of the shock-absorbing main frame 201. A shock absorber 205 is hinged to the upper part of the front and rear ends of the outer wall of the shock-absorbing main frame 201. A slider 207 is slidably connected to the upper end of the second hinge rod 204.

[0039] The first hinge rod 202 and the second hinge rod 204 are both hinged to the end away from the shock-absorbing main frame 201 with a connecting block 209. The end of the connecting block 209 away from the exploration robot body 1 is fixedly connected to a connecting shell 206. The inner wall of the connecting block 209 is fixedly connected to a DC motor 208. The output end of the DC motor 208 is fixedly connected to a drive wheel 218. The end of the connecting shell 206 away from the exploration robot body 1 is fixedly connected to a second fixing plate 215. The four corners of the second fixing plate 215 away from the connecting shell 206 are rotatably connected to secondary driven wheels 214. The corner of the second fixing plate 215 away from the connecting shell 206 is rotatably connected to a driven wheel 217.

[0040] The power structure of the rescue robot is closely built around the exploration robot body 1. Power components 2 are set on both sides of the outer wall of the exploration robot body 1. Each power component 2 contains a composite power unit, which is composed of two independent power units. The independent power units rely on DC motors 208 with Hall sensors to provide power. DC motors 208 drive the drive wheel 218 to rotate. The drive wheel 218 drives the driven wheel 217 to rotate through the first toothed belt 212. The driven wheel 217 further drives the second toothed belt 216 to move, thereby driving multiple secondary driven wheels 214 to work together. Furthermore, the two independent power units are uniformly powered by a reduction motor 210. The output end of the reduction motor 210 is connected to the shock-absorbing main frame 201. The shock-absorbing main frame 201 is connected to the outer wall of the exploration robot body 1 by a hinge.

[0041] The secondary driven wheels 214 and 217 are both located at the corners of the second fixed plate 215. A connecting tooth 219 is fixedly connected to the middle of the inner wall of the driven wheel 217. The outer walls of the driving wheel 218 and the connecting tooth 219 are tightly fitted with a first toothed belt 212, which enables the power to be transmitted efficiently and stably from the driving wheel 218 to the driven wheel 217 and each secondary driven wheel 214. This layout is conducive to the even distribution of power to the wheels in different positions, improving the balance and stability of the robot when walking on complex terrain.

[0042] The outer walls of the shock-absorbing main frame 201 are all hinged to the outer walls of the exploration robot body 1, giving the shock-absorbing main frame 201 a relatively flexible degree of freedom of movement. When the robot travels on uneven ground or suffers external impact, the shock-absorbing main frame 201 can adaptively adjust its angle according to the force conditions to better disperse and buffer the impact force.

[0043] The second fixed plate 215 is bolted to the side of the connecting shell 206 where the first fixed plate 203 is located. The ends of the secondary driven wheel 214 and the driven wheel 217 that are away from the second fixed plate 215 are rotatably connected to the inner wall of the first fixed plate 203, which enhances the stability of the wheel installation structure. When the robot is carrying heavy rescue equipment or operating in extreme terrain conditions, the double fixing of the first fixed plate 203 and the second fixed plate 215 can effectively prevent the wheels from shifting, deforming or falling off, ensuring that the robot's walking system is always in a reliable working state.

[0044] The end of the shock absorber 205 away from the main shock-absorbing frame 201 is hinged to the slider 207, forming a multi-dimensional buffer and shock absorption system. When the robot is subjected to impact forces from different directions and intensities, the hinged connection between the shock absorber 205 and the slider 207 can flexibly adjust the buffer angle and force, and cooperate with the overall movement of the main shock-absorbing frame 201 to absorb and dissipate the impact force to the maximum extent.

[0045] A binocular depth camera 4 is installed on the upper part of the rear end of the inner wall of the exploration robot body 1, a lidar 5 is installed on the middle part of the upper end of the inner wall of the exploration robot body 1, and a soft robotic arm unit 3 is installed on the lower part of the front end of the inner wall of the exploration robot body 1. This realizes the organic combination of robot perception, movement and operation functions. The binocular depth camera 4 and lidar 5 can provide the robot with comprehensive environmental perception information, help the robot plan a reasonable movement path, avoid obstacles and quickly locate the rescue target.

[0046] The outer walls of both the secondary driven wheel 214 and the driven wheel 217 are tightly fitted with a second toothed belt 216. The outer walls of the second toothed belt 216 are fixedly connected with multiple fixing blocks 213. Under certain circumstances, the second toothed belt 216 can further optimize the power transmission relationship between the wheels. For example, when it is necessary to adjust the speed ratio of different wheels to adapt to special terrain, the second toothed belt 216 can play an auxiliary transmission role. The fixing blocks 213 increase the friction and grip between the wheels and the ground, enabling the robot to move better on soft, slippery or steep terrain. For example, on snow, sand or sloping ruins after an earthquake, the robot can move more stably and is less likely to slip or lose control, thus enabling it to carry out rescue work smoothly.

[0047] Working principle: The robot's power is provided by the geared motor 210 installed on the connecting frame 211 on both sides of the inner wall of the exploration robot body 1. The output end of the geared motor 210 is connected to the shock-absorbing main frame 201. The shock-absorbing main frame 201 is hinged to the outer wall of the exploration robot body 1. This connection method allows the power to adapt to various posture changes when the robot travels in complex terrain during the power transmission process.

[0048] Starting from the shock-absorbing main frame 201, the power is further transmitted to the DC motor 208 in the connecting block 209. The DC motor 208 in each connecting block 209 drives the active wheel 218 to rotate. The active wheel 218 is connected to the connecting teeth 219 on the inner wall of the driven wheel 217 through the first toothed belt 212, thereby driving the driven wheel 217 to rotate. The secondary driven wheels 214 distributed at the corner of the second fixed plate 215, supported by the rotational connection structure of the second fixed plate 215 and the first fixed plate 203, together with the driven wheel 217, form a complete wheel power transmission system. The first toothed belt 212 evenly distributes the power to each wheel, ensuring that the robot can move smoothly under different terrain conditions.

[0049] During the robot's movement, the front and rear ends of the shock-absorbing main frame 201 are hinged to the first hinge rod 202, the second hinge rod 204, and the shock absorber 205, respectively. When the robot encounters bumps, such as when it travels through protruding rocks or potholes in earthquake ruins, the impact force is first applied to the wheels and then transmitted to the shock-absorbing main frame 201 through the connecting shell 206 and the connecting block 209. At this time, the first hinge rod 202, the second hinge rod 204, and the shock absorber 205 work together. The end of the shock absorber 205 away from the shock-absorbing main frame 201 is hinged to the slider 207. This structure allows the shock absorber 205 to flexibly adjust the buffer angle and force according to the direction and magnitude of the impact force, effectively reducing the vibration and preventing damage to the robot body and its internal components.

[0050] In addition, the two 250-pound shock absorbers 205 in each composite power unit play a role when the robot experiences violent movements such as shaking, jumping, and landing. When the independent power unit is subjected to greater pressure, the pressure will be transmitted to the shock absorber 205, and the adaptive adjustment further reduces the damage of the impact force to the entire power structure, ensuring that the robot can still maintain basic operating performance after suffering extreme impacts, and improving the reliability and durability of the robot in harsh environments.

[0051] In the structure of the second toothed belt 216 tightly fitted on the outer wall of the driven wheel 214 and the driven wheel 217, and the multiple fixing blocks 213 fixedly connected to its outer wall, the second toothed belt 216 can assist in adjusting the power transmission relationship between the wheels under certain special terrain or rescue mission requirements. The fixing blocks 213 are mainly used to increase the friction and grip between the wheels and the ground. When the robot travels on soft ground such as sand, mud, or smooth surfaces such as snow-covered areas, the fixing blocks 213 can embed into the ground or generate greater frictional resistance with the ground to prevent the wheels from slipping, ensure the robot moves stably, and successfully complete the rescue mission.

[0052] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0053] Finally, it should be noted that in the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0054] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing specific embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A modular rescue robot power structure, comprising an exploration robot body (1), characterized in that: Power components (2) are provided on both sides of the outer wall of the exploration robot body (1). Connecting frames (211) are fixedly connected to both sides of the inner wall of the exploration robot body (1). A reduction motor (210) is fixedly connected to the side of the connecting frame (211) away from the center of the exploration robot body (1). A shock-absorbing main frame (201) is fixedly connected to the output end of the reduction motor (210). A second hinge rod (204) is hinged to the middle of the front and rear ends of the outer wall of the shock-absorbing main frame (201). A first hinge rod (202) is hinged to the lower part of the front and rear ends of the outer wall of the shock-absorbing main frame (201). A shock absorber (205) is hinged to the upper part of the front and rear ends of the outer wall of the shock-absorbing main frame (201). A slider (207) is slidably connected to the upper end of the second hinge rod (204). The first hinge rod (202) and the second hinge rod (204) are both hinged to a connecting block (209) at the end away from the shock-absorbing main frame (201). The connecting block (209) is fixedly connected to a connecting shell (206) at the end away from the exploration robot body (1). The inner wall of the connecting block (209) is fixedly connected to a DC motor (208). The output end of the DC motor (208) is fixedly connected to a drive wheel (218). The connecting shell (206) is fixedly connected to a second fixing plate (215) at the end away from the exploration robot body (1). The second fixing plate (215) is rotatably connected to a secondary driven wheel (214) at the four corners away from the connecting shell (206). The second fixing plate (215) is rotatably connected to a driven wheel (217) at one corner away from the connecting shell (206).

2. The modular rescue robot power structure according to claim 1, characterized in that: The secondary driven wheel (214) and the driven wheel (217) are both located at the corner of the second fixed plate (215). The middle part of the inner wall of the driven wheel (217) is fixedly connected with a connecting tooth (219). The outer walls of the driving wheel (218) and the connecting tooth (219) are tightly fitted with a first toothed belt (212).

3. The modular rescue robot power structure according to claim 1, characterized in that: The outer walls of the shock-absorbing main frame (201) are all hinged to the outer walls of the exploration robot body (1).

4. The modular rescue robot power structure according to claim 1, characterized in that: The second fixing plate (215) is fixedly connected to the first fixing plate (203) by bolts on the side away from the connecting shell (206). The secondary driven wheel (214) and the driven wheel (217) are rotatably connected to the inner wall of the first fixing plate (203) at the ends away from the second fixing plate (215).

5. The modular rescue robot power structure according to claim 1, characterized in that: The end of the shock absorber (205) away from the damping main frame (201) is hinged to the slider (207).

6. The modular rescue robot power structure according to claim 1, characterized in that: A binocular depth camera (4) is provided on the upper part of the rear end of the inner wall of the exploration robot body (1), a lidar (5) is provided on the middle part of the upper end of the inner wall of the exploration robot body (1), and a soft robotic arm unit (3) is provided on the lower part of the front end of the inner wall of the exploration robot body (1).

7. The modular rescue robot power structure according to claim 4, characterized in that: The outer walls of the secondary driven wheel (214) and the driven wheel (217) are tightly fitted with a second toothed belt (216), and the outer walls of the second toothed belt (216) are fixedly connected with a plurality of fixing blocks (213).

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