Rescue robot

Abstract

The utility model discloses a rescue robot which comprises a robot body, a multi-shaft driving arm and a clamping jaw assembly. The multi-axis driving arms are mounted on the two sides of the machine body in pairs, and each multi-axis driving arm is provided with a movable end moving at least in the first direction; the clamping jaw assemblies are installed at the movable ends of the multi-axis driving arms in a one-to-one correspondence mode and comprise a first clamp, a second clamp and an opening and closing mechanism, the opening and closing mechanism is arranged between the first clamp and the second clamp, the second clamp is arranged on the side close to the machine body, and the opening and closing mechanism is arranged on the side close to the machine body. The opening and closing mechanism drives the first clamp and the second clamp to rotate to be folded or unfolded. The first clamp and the second clamp are driven to be opened and closed through the opening and closing mechanism of the clamping jaw assemblies, the single clamping jaw can clamp and carry obstacles, then the second clamp moves to an avoiding position, the clamping jaw assemblies are displaced in cooperation with the multi-shaft driving arm, the two clamping jaw assemblies are made to be close to each other and combined into one, and the clamping efficiency is improved. And a double-claw clamping structure consisting of the two first clamps is switched.

Description

Technical Field

[0001] This utility model relates to the field of rescue robot technology, specifically to a rescue robot. Background Technology

[0002] Rescue robots are typically deployed at disaster sites, such as earthquake rubble or fire scenes, where the environment is complex and the space is confined. Direct entry by rescue personnel could be dangerous, necessitating the use of robots.

[0003] Currently, biomimetic rescue robots are the mainstream solution for rescuing people in confined spaces. Examples include biomimetic spider robots or biomimetic mantis robots, which mimic the structures of small insects. Chinese patent 202221234533.2 discloses a biomimetic mantis rescue robot, whose head is mounted on the front of the abdomen via the neck; the left and right forelimbs are mirror-symmetrically mounted on both sides of the neck; the left and right midlimbs are mirror-symmetrically mounted on both sides of the front of the abdomen; and the left and right hindlimbs are mirror-symmetrically mounted on both sides of the rear of the abdomen. The head includes a head skeleton, a camera, a searchlight, and an object gripping device. The camera is fixedly mounted on the front of the head skeleton; the searchlight is fixedly mounted on the front of the head skeleton and located on both sides of the camera; the object gripping device is located below the camera and on the head skeleton; and a wireless intercom is built into the abdominal shell.

[0004] Regarding the existing technologies mentioned above, when encountering scenarios requiring the gripping and moving of objects, such as grasping and removing obstacles or debris, the biomimetic mantis robot faces challenges. Because the size of the objects being gripped is not uniform, and the gripping range of the clamps is limited, small clamps with a small gripping range are suitable for small objects, allowing for precise and accurate gripping. However, small clamps cannot accommodate larger objects exceeding their gripping range. Large clamps, with a larger gripping range than small clamps, can handle slightly larger objects, but they are prone to deviations, have larger gaps, and longer gripping strokes, making them difficult to operate when gripping small objects. Therefore, current biomimetic mantis robots still suffer from poor adaptability between the clamps and the objects being gripped. Utility Model Content

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a rescue robot that solves the technical problem of poor compatibility between the clamps and the objects being clamped in existing bionic mantis robots.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0007] This utility model provides a rescue robot, comprising:

[0008] body;

[0009] Multi-axis drive arms, mounted in pairs on both sides of the machine body, each multi-axis drive arm having a movable end that moves along at least a first direction; and

[0010] The gripper assembly, which is installed one-to-one on the movable end of the multi-axis drive arm, includes a first gripper, a second gripper, and an opening and closing mechanism. The opening and closing mechanism is located between the first gripper and the second gripper, and the second gripper is arranged on the side close to the machine body. The opening and closing mechanism drives the first gripper and the second gripper to rotate and close or open, and makes the second gripper have an avoidance position that flips to the outside of the multi-axis drive arm, for switching to the two first grippers for dual-jaw gripping.

[0011] In some embodiments, the two second clamps are provided with a protrusion and a groove on opposite sides, and in the avoidance position, the protrusion is inserted into the groove.

[0012] In some embodiments, magnets are provided on both the protrusion and the groove, and the two magnets are magnetically connected when in the avoidance position.

[0013] In some embodiments, the multi-axis drive arm includes a first arm, a second arm, and a first drive member. The first drive member is mounted on the first arm, and the movable end of the first drive member is connected to the second arm. The second arm is connected to the gripper assembly. The first drive member drives the second arm to rotate in a first direction, thereby driving the two gripper assemblies to approach or separate.

[0014] In some embodiments, the multi-axis drive arm further includes a second drive member, which is mounted on the second support arm. The second support arm is connected to the gripper assembly via the second drive member. The second drive member drives the gripper assembly to rotate, thereby adjusting the included angle between the two gripper assemblies.

[0015] In some embodiments, the opening and closing mechanism includes a frame, a first drive motor, and a second drive motor. The first drive motor and the second drive motor are both mounted on the frame, and the rotation axes of the first drive motor and the second drive motor are parallel. The output shaft of the first drive motor is connected to the first clamp, and the output shaft of the second drive motor is connected to the second clamp.

[0016] In some embodiments, the opening and closing mechanism further includes a rotary drive motor, the output shaft of which is connected to the frame. The rotation axis of the rotary drive motor is parallel to the second arm and perpendicular to the rotation axis of the first drive motor or the second drive motor. The rotary drive motor drives the frame to rotate the first drive motor and the second drive motor around the axis.

[0017] In some embodiments, a third drive unit is mounted on the first arm, the movable end of the third drive unit being connected to the fuselage, for driving the first arm to rotate and adjust the pitch angle.

[0018] In some embodiments, the bottom of the fuselage is provided with a walking mechanism for moving position.

[0019] In some embodiments, the body has a cavity, and the top of the cavity has a rotatable cover.

[0020] Compared with the prior art, the rescue robot provided by this utility model drives the opening and closing of the first and second clamps through the opening and closing mechanism of the gripper assembly. It can clamp and transport obstacles with a single gripper, and then move the second clamp to an avoidance position. With the help of the multi-axis drive arm, the gripper assembly is displaced so that the two gripper assemblies come together and become one, switching to a double-claw gripping structure composed of two first clamps. This increases the range of sizes that can be clamped and can handle larger and heavier obstacles that cannot be effectively clamped by a single gripper assembly. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the rescue robot provided in this embodiment of the utility model;

[0022] Figure 2 This is a structural diagram of the multi-axis drive arm of the rescue robot provided in this embodiment of the utility model;

[0023] Figure 3 This is a three-dimensional top-view of the rescue robot provided in this embodiment of the utility model;

[0024] Figure 4 This is a utility model Figure 3 A magnified view of part A.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1. Fuselage; 101. Walking mechanism; 102. Cavity; 103. Cover plate; 104. Jet nozzle; 105. Rotation drive structure;

[0027] 2. Multi-axis drive arm; 21. First support arm; 22. Second support arm; 23. First drive component; 24. Second drive component; 25. Third drive component;

[0028] 3. Gripper assembly; 31. First gripper; 32. Second gripper; 321. Protrusion; 322. Groove; 323. Magnet; 33. Opening and closing mechanism; 331. Frame; 332. First drive motor; 333. Second drive motor; 334. Rotary drive motor;

[0029] 4. Camera;

[0030] 5. Radar;

[0031] 6. Wings. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0033] To address the technical problem that robot gripper structures are only used for carrying materials and have a limited maximum gripping range, making it impossible to grip and transport obstacles that exceed the maximum gripping range of a single gripper, this invention provides a rescue robot. This robot can open and close the first and second grippers via a gripper assembly's opening and closing mechanism. It can grip and transport obstacles with a single gripper, and then move the second gripper to an avoidance position. In conjunction with a multi-axis drive arm, the gripper assembly is displaced, causing the two gripper assemblies to come together and merge into a dual-grip structure composed of the two first grippers. This increases the gripping size range, enabling the robot to handle larger and heavier obstacles that a single gripper assembly cannot effectively grip.

[0034] It should be noted that the rescue robot described in this utility model is used in, but not limited to, bionic mantises. For ease of explanation, this utility model only uses the application of the rescue robot in a bionic mantis as an example. The principle of the rescue robot applied to other types of equipment is essentially the same as that applied to a bionic mantis, and will not be elaborated here.

[0035] Please see Figure 1-4 This utility model provides a rescue robot, which is a biomimetic mantis rescue robot, including a body 1, multi-axis drive arms 2, and gripper assemblies 3. The multi-axis drive arms 2 are installed in pairs on both sides of the body 1. Each multi-axis drive arm 2 has a movable end that moves along at least a first direction, which can drive the two gripper assemblies 3 to move closer or further apart, and can move linearly or rotate. The gripper assemblies 3 are installed one-to-one on the movable ends of the multi-axis drive arms 2, and include a first gripper 31, a second gripper 32, and an opening and closing mechanism 33. The opening and closing mechanism 33 is disposed on the first gripper. Between the first clamp 31 and the second clamp 32, with the second clamp 32 positioned near the side of the machine body 1, the opening and closing mechanism 33 drives the first clamp 31 and the second clamp 32 to rotate and close or open, and allows the second clamp 32 to flip to an avoidance position outside the multi-axis drive arm 2, for switching to two first clamps 31 for double-jaw gripping. When the first clamp 31 and the second clamp 32 close, a clamping action is formed; when the first clamp 31 and the second clamp 32 separate, a loosening action is formed; when the second clamp 32 flips to an avoidance position outside the robotic arm, such as... Figure 1 As shown, there is no obstruction between the two first clamps 31. When the two gripper assemblies 3 are close together and pressed together, the two first clamps 31 can form a larger gripper than a single gripper assembly 3, thereby increasing the size and weight of the obstacles that can be gripped, realizing dual-claw cooperation, and encircling and grabbing larger and heavier obstacles.

[0036] In one embodiment, please refer to Figure 2 , Figure 3 and Figure 4 In order to improve the stability of the structure when switching to dual-jaw combination clamping, the two second clamps 32 are provided with protrusions 321 and grooves 322 on opposite sides to form an insertion structure. In the avoidance position, the protrusions 321 and the grooves 322 are inserted to improve the stability of the structure.

[0037] For further details, please refer to Figure 4 Magnets 323 are provided on both the protrusion 321 and the groove 322. When in the avoidance position, the two magnets 323 are magnetically connected. The strong magnets attract the two magnets to form a large gripper.

[0038] In one embodiment, please refer to Figure 2 In order to perform the movement of the biomimetic mantis arms and achieve the most basic double gripper closing action, the multi-axis drive arm 2 includes a first support arm 21, a second support arm 22 and a first drive member 23. The first drive member 23 is mounted on the first support arm 21, and the movable end of the first drive member 23 is connected to the second support arm 22. The second support arm 22 is connected to the gripper assembly 3. The first drive member 23 drives the second support arm 22 to rotate in a first direction, driving the two gripper assemblies 3 to approach or separate.

[0039] Understandably, the first driving component 23 can be a servo motor. The output end of the servo motor is connected to the second arm 22, which can drive the second arm 22 to rotate, either forward or reverse, and control the two second arms 22 to move closer or further apart.

[0040] It should be noted that the first drive unit 23 can also be a multi-degree-of-freedom articulated servo, consisting of at least two servos. The two servos are responsible for the rotation of the X-axis and Y-axis respectively, which can provide greater range of motion and adjustable angle. That is, the first servo is mounted on the first support arm 21, the second servo is mounted on the output end of the first servo, and the output end of the second servo is connected to the second support arm 22. The rotation axes of the two servos are perpendicular to each other.

[0041] Furthermore, in order to ensure that the two second clamps 32 can be adjusted to be parallel so that the grooves 322 and protrusions 321 can be accurately engaged when the two gripper assemblies 3 come together, the multi-axis drive arm 2 also includes a second drive member 24. The second drive member 24 is mounted on the second support arm 22, and the second support arm 22 is connected to the gripper assembly 3 through the second drive member 24. The second drive member 24 drives the gripper assembly 3 to rotate, thereby adjusting the included angle between the two gripper assemblies 3 so that the two second clamps 32 are aligned when they are closed.

[0042] Understandably, the first driving component 23 can be a drive motor to drive the gripper assembly 3 to rotate.

[0043] Furthermore, in order to drive the first clamp 31 and the second clamp 32 to rotate independently, the opening and closing mechanism 33 includes a frame 331, a first drive motor 332 and a second drive motor 333. The first drive motor 332 and the second drive motor 333 are both mounted on the frame 331, and the rotation axes of the first drive motor 332 and the second drive motor 333 are parallel. The output shaft of the first drive motor 332 is connected to the first clamp 31, and the output shaft of the second drive motor 333 is connected to the second clamp 32. By driving the first clamp 31 and the second clamp 32 to rotate through the first drive motor 332 and the second drive motor 333 respectively, the closing and opening actions between the first clamp 31 and the second clamp 32 can be formed. Alternatively, the second clamp 32 can be flipped backward, allowing the first clamp 31 to rotate independently and cooperate with the other first clamp 31 to form a large gripping action.

[0044] Furthermore, in order to adjust the clamping angle during the clamping action of a single gripper, the opening and closing mechanism 33 also includes a rotary drive motor 334, the output shaft of which is connected to the frame 331. The rotation axis of the rotary drive motor 334 is parallel to the second support arm 22 and perpendicular to the rotation axis of the first drive motor 332 or the second drive motor 333. The rotary drive motor 334 drives the frame 331 to rotate the first drive motor 332 and the second drive motor 333 around the axis. By adjusting the rotation of the frame 331 through the rotary drive motor 334, the first drive motor 332, the second drive motor 333 and the first clamp 31 and the second clamp 32 on them can be rotated to adjust the clamping angle from the horizontal left-right gripper position to the vertical up-down gripper position.

[0045] Furthermore, in order to adjust the height of the gripper's holding position, a third drive component 25 is installed on the first support arm 21. The movable end of the third drive component 25 is connected to the machine body 1 and is used to drive the first support arm 21 to rotate and adjust the pitch angle, thereby adjusting the height position of the gripper assembly 3.

[0046] Understandably, the third drive unit 25 can be a servo motor, with its output connected to the fuselage 1. It can drive the second arm 22 to rotate in the opposite direction, allowing for forward or reverse rotation, and control the pitch rotation of the two first arms 21 to adjust the pitch angle. Alternatively, the third drive unit 25 can be a multi-degree-of-freedom articulated servo motor, consisting of at least two servos, each responsible for rotation along the X and Y axes respectively, providing greater range of motion and angle adjustment.

[0047] It should be noted that the first drive component 23, the second drive component 24, and the third drive component 25 on the multi-axis drive arm 2 are mainly used to realize the arm movement of the multi-axis drive arm 2. Among them, the third drive component 25 has at least a pitch rotation adjustment drive, the first drive component 23 has at least a left-right rotation adjustment drive, and the second drive component 24 also has at least a left-right rotation adjustment drive. The left-right adjustment is achieved by deflecting to the left or right on both sides of the axis of the multi-axis drive arm 2, which can realize the approach and distance of the gripper assembly 3, and switch between the two grippers. The pitch adjustment is achieved by driving the entire multi-axis drive arm 2 to rotate up and down, adjusting the height position of the end away from the fuselage 1, thereby adjusting the height position of the gripper assembly 3. Furthermore, in order to make the gripper horizontal after the height adjustment, the first drive component 23 can be equipped with dual servos, which can be used to adjust the pitch angle and the horizontal angle respectively.

[0048] In one embodiment, please refer to Figure 1 The bottom of the fuselage 1 is equipped with a walking mechanism 101 for moving position. The walking mechanism 101 can adopt an existing mature walking mechanical leg structure. Multiple mechanical legs are arranged at the bottom of the fuselage 1, that is, each joint has one degree of freedom and is rotated by a servo motor. The mechanical leg can have a first leg, a second leg, and a third leg. The first leg is connected to the fuselage by a servo motor and rotates back and forth. The first leg is connected to the second leg by a servo motor and is used for pitch rotation. The second leg is connected to the third leg by a servo motor and is also used for pitch rotation. This is an existing mature and simple mechanical leg structure, which will not be described in detail here.

[0049] Understandably, the walking mechanism 101 can use existing mature mechanical feet to meet the purpose of walking, or it can use structural components with walking or moving functions such as tracks and wheels.

[0050] In one embodiment, please refer to Figure 3 To facilitate the carrying of supplies, the fuselage 1 is provided with a cavity 102, and the top of the cavity 102 is provided with a rotatable cover 103. The fuselage 1 has a hollow structure in the belly, and the upper part is equipped with a cover 103 that can be opened and closed flexibly. The cavity 102 can be used to store rescue supplies, such as emergency flashlights, bottled water, first aid kits, etc., providing additional convenience for use.

[0051] In addition, the biomimetic mantis robot's body 1 has a high-definition camera 4 on its head, which is used for remote real-time switching between multiple perspectives, facilitating remote monitoring and control. Furthermore, the neck of the body 1 can also be equipped with a high-definition noise-canceling microphone and a directional speaker for real-time voice interaction.

[0052] Furthermore, a detection radar can be installed on the top of fuselage 1, located at the head position of the mantis, to scan the surrounding terrain. The head can also be equipped with modules for detecting temperature and humidity, chemical fumes, air pressure, and solid-liquid properties.

[0053] Furthermore, the wings 6 equipped on the sides of the fuselage 1 at the belly and tail can launch the fuselage 1 into the air to glide in complex terrain, enabling aerial visual observation via the camera 4 and transmitting images back. Simultaneously, when moving on the ground, the launch and glide can overcome various obstacles. The fuselage 1 can be equipped with jet nozzles 104, and the jet assembly can be a compressed air tank built into the fuselage for launching the fuselage 1 and then gliding via the wings 6, providing obstacle-jumping capabilities. The wings 6 can be adjusted to a horizontal gliding position and retracted vertically using a rotating drive structure 105 mounted on the fuselage 1. The rotating drive structure 105 can be a motor-driven worm gear structure, with its output end connected to a rotating shaft mounted on the wings 6 to drive the wings 6 to swing.

[0054] To better understand this utility model, the following is combined with... Figures 1 to 4 The technical solution of this utility model is described in detail as follows: The opening and closing mechanism 33 of the gripper assembly 3 drives the first clamp 31 and the second clamp 32 to open and close. A single gripper can clamp and transport obstacles. Then, the second clamp 32 moves to an avoidance position and, in conjunction with the multi-axis drive arm 2, displaces the gripper assembly, causing the two gripper assemblies 3 to come together and merge into one, switching to a double-claw gripping structure composed of two first clamps 31. This increases the range of sizes that can be clamped and allows for the handling of larger and heavier obstacles that cannot be effectively clamped by a single gripper assembly 3.

[0055] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A rescue robot, characterized in that, include: body; A multi-axis drive arm is mounted in pairs on both sides of the machine body, and the multi-axis drive arm has at least one movable end that moves along a first direction; as well as The gripper assembly, which is installed one-to-one on the movable end of the multi-axis drive arm, includes a first gripper, a second gripper, and an opening and closing mechanism. The opening and closing mechanism is located between the first gripper and the second gripper, and the second gripper is arranged on the side close to the machine body. The opening and closing mechanism drives the first gripper and the second gripper to rotate and close or open, and makes the second gripper have an avoidance position that flips to the outside of the multi-axis drive arm, for switching to the two first grippers for dual-jaw gripping.

2. The rescue robot according to claim 1, characterized in that, The two second clamps are provided with a protrusion and a groove on opposite sides, and in the avoidance position, the protrusion is inserted into the groove.

3. The rescue robot according to claim 2, characterized in that, Magnets are provided on the protrusion and in the groove, and the two magnets are magnetically connected when in the avoidance position.

4. The rescue robot according to claim 1, characterized in that, The multi-axis drive arm includes a first arm, a second arm, and a first drive member. The first drive member is mounted on the first arm, and the movable end of the first drive member is connected to the second arm. The second arm is connected to the gripper assembly. The first drive member drives the second arm to rotate in a first direction, thereby driving the two gripper assemblies to move closer together or separate.

5. The rescue robot according to claim 4, characterized in that, The multi-axis drive arm also includes a second drive member, which is mounted on the second support arm. The second support arm is connected to the gripper assembly via the second drive member. The second drive member drives the gripper assembly to rotate, thereby adjusting the included angle between the two gripper assemblies.

6. The rescue robot according to claim 5, characterized in that, The opening and closing mechanism includes a frame, a first drive motor, and a second drive motor. Both the first drive motor and the second drive motor are mounted on the frame, and the rotation axes of the first drive motor and the second drive motor are parallel. The output shaft of the first drive motor is connected to the first clamp, and the output shaft of the second drive motor is connected to the second clamp.

7. The rescue robot according to claim 6, characterized in that, The opening and closing mechanism also includes a rotary drive motor, the output shaft of which is connected to the frame. The rotation axis of the rotary drive motor is parallel to the second arm and perpendicular to the rotation axis of the first drive motor or the second drive motor. The rotary drive motor drives the frame to rotate the first drive motor and the second drive motor around the axis.

8. The rescue robot according to claim 7, characterized in that, A third drive unit is installed on the first arm, and the movable end of the third drive unit is connected to the fuselage to drive the first arm to rotate and adjust the pitch angle.

9. The rescue robot according to claim 1, characterized in that, The bottom of the fuselage is equipped with a walking mechanism for moving its position.

10. The rescue robot according to claim 1, characterized in that, The machine body has a cavity, and the top of the cavity has a rotatable cover.

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