Emergency rescue vehicle for collapsed tunnel

Abstract

The utility model discloses a collapsed tunnel emergency rescue vehicle which comprises a vehicle body, a walking device, a climbing device and a telescopic mechanical clamp, the climbing device and the telescopic mechanical clamp are arranged on the vehicle body, and the walking device comprises a crawler-type walking mechanism, driving wheels and a switching mechanism used for controlling the driving wheels to be switched between a driving state and a non-driving state. According to the emergency rescue vehicle for the collapsed tunnel, the walking device is arranged to be of a structure combining wheel type driving and crawler type driving, meanwhile, the climbing device and the telescopic mechanical pincers are arranged, and the obstacle crossing capacity of the rescue vehicle can be improved.

Description

Technical Field

[0001] This utility model belongs to the field of engineering vehicle technology, specifically, it relates to an emergency rescue vehicle for collapsed tunnels. Background Technology

[0002] In the event of a collapse, the rescue of trapped personnel in the tunnels must be swift. The traditional method involves sending personnel directly down into the tunnels for reconnaissance and rescue. However, because collapses are highly likely to recur, this poses a serious threat to the safety of rescue personnel. Mining cities often contain numerous open-pit mine slopes, steep mountain slopes, and highway cuts. The rock and soil in these areas have become unstable due to long-term weathering, erosion, and human engineering activities, making them prone to collapse. Furthermore, if underground mine pits are not effectively filled after mining, the land above will lose its support, creating a risk of further collapse. Such collapsed mines are generally accompanied by the risk of secondary collapses. Traditional manual search and rescue methods are not only inefficient but also extremely dangerous. Using robots to replace humans in high-risk tasks is an important direction for technological innovation.

[0003] Existing rescue vehicles rely on relatively simple obstacle-crossing methods. For example, the intelligent search and rescue vehicle disclosed in patent document CN114714829A uses a single tracked system for movement; another example is the intelligent search and rescue vehicle disclosed in patent document CN206856831U, which uses a wheeled system. Both methods have their advantages. However, operating in collapsed mines presents an extremely complex environment. Wheeled vehicles are significantly less capable of overcoming obstacles than tracked vehicles, while tracked vehicles are slower. Furthermore, this terrain is prone to large pits formed by ground subsidence or damaged passageways, making it particularly difficult, or even impossible, for most intelligent rescue vehicles to traverse these obstacles, thus hindering search and rescue operations.

[0004] The goal is to provide an emergency rescue vehicle for collapsed tunnels, particularly focusing on how to improve the vehicle's obstacle-crossing capabilities. Utility Model Content

[0005] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention provides an emergency rescue vehicle for collapsed tunnels, with the purpose of improving the obstacle-crossing capability of the rescue vehicle.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: an emergency rescue vehicle for collapsed tunnels, including a vehicle body, a walking device, a climbing device and a retractable mechanical clamp installed on the vehicle body, wherein the walking device includes a tracked walking mechanism, drive wheels and a switching mechanism for controlling the drive wheels to switch between a driving state and a non-driving state.

[0007] The climbing device includes a pneumatic thrower, a mounting bracket, and a mounting platform. The mounting platform is mounted on the vehicle body, the mounting bracket is mounted on the mounting platform, and the pneumatic thrower is mounted on the mounting bracket.

[0008] The mounting platform and the mounting bracket are fixedly connected by bolts.

[0009] The pneumatic launcher includes a pressure chamber, a pressure valve, an air pump, a catapult, an anchor hook, a rope, and a miniature electric winch. One end of the rope is connected to the anchor hook, and the other end of the rope is connected to the miniature electric winch. The catapult and the miniature electric winch are mounted on the outer casing, which is mounted on the mounting bracket. The catapult and the anchor hook are arranged opposite to each other, and the catapult is configured to push the anchor hook outward.

[0010] A miniature camera and lighting device are installed on the outer shell.

[0011] The retractable mechanical gripper includes a mechanical arm and an end effector located at the end of the mechanical arm for gripping objects.

[0012] The emergency rescue vehicle for collapsed tunnels of this utility model has a walking device that combines wheel drive and track drive, and is also equipped with a climbing device and a retractable mechanical clamp, which can improve the obstacle crossing ability of the rescue vehicle. Attached Figure Description

[0013] This manual includes the following figures, which illustrate the following:

[0014] Figure 1 This is a structural diagram of the intelligent emergency rescue system for collapsed tunnels according to this utility model.

[0015] Figure 2 This is a structural schematic diagram of the intelligent mechanical clamp for emergency rescue of collapsed tunnels according to this utility model.

[0016] Figure 3 This is a schematic diagram of the pneumatic throwing device in the intelligent vehicle for emergency rescue of collapsed tunnels according to this utility model.

[0017] Figure 4 This is a schematic diagram of the internal structure of the pneumatic throwing device in the intelligent vehicle for emergency rescue of collapsed tunnels according to this utility model. Detailed Implementation

[0018] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings, in order to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solution of this utility model, and to facilitate its implementation.

[0019] like Figure 1As shown, this utility model provides an emergency rescue vehicle for collapsed tunnels, including a vehicle body, a walking device, a climbing device installed on the vehicle body, and a retractable mechanical clamp. The walking device includes a tracked walking mechanism 5, drive wheels, and a switching mechanism for controlling the drive wheels to switch between a driving state and a non-driving state.

[0020] Specifically, such as Figure 1 and Figure 2 As shown, two retractable mechanical clamps 4 are installed on the vehicle body. The two retractable mechanical clamps 4 are respectively installed on the left and right sides of the vehicle body. The retractable mechanical clamps 4 are used to provide assistance when climbing, and the retractable mechanical clamps 4 can also support the vehicle when the intelligent vehicle switches its mode of travel, so that the wheels 7 of the rescue vehicle can be lowered and retracted normally.

[0021] like Figure 1 and Figure 2 As shown, the extendable mechanical gripper 4 includes a robotic arm and an end effector located at the end of the robotic arm for gripping objects. The robotic arm includes a rotating gimbal 9, a robotic arm support 10, a first link 11, a second link 12, a first arm 13, a second arm 14, a first movable joint 15, a second movable joint 16, and a flange 17. The first link 11 is connected to the robotic arm support 10 and the first movable joint 15, and is parallel to the first arm. The second link 12 is connected to the first movable joint 15 and the second movable joint 16, and is parallel to the second arm 14. The first arm 13, the second arm 14, and the first movable joint 16 are connected to the first movable joint 15 and the second movable joint 16, and are parallel to the second arm 14. The three sections 15 are connected, and the first arm 14 and the second arm 15 are initially perpendicular to each other. The drive servo motor 24 is embedded in the end of the robotic arm bracket 10 and the second arm and is connected to the first arm 13. By rotating up and down, it drives the first arm 13 to rotate up and down, thereby driving the entire robotic arm to rotate up and down. The bottom of the robotic arm bracket 10 is fixed on the rotating gimbal 9. The rotating gimbal 9 can control the robotic arm bracket 10 to rotate 360 ​​degrees, so that the robotic arm can assist the rescue vehicle in all directions to overcome obstacles and pick up objects.

[0022] like Figure 1 and Figure 2As shown, the end effector 23 includes an actuator base 18, a flange 17, a screw 19, a drive rod 22, and two identical and symmetrical grippers 21 connected to the second arm. The flange 17 and the actuator base 18 are connected to the drive servo motor 24 on the second arm 14 and then fixed by the screw 19. The drive servo motor 24, located at the tail end of the second arm 14, allows the end effector 23 to rotate 360 ​​degrees. The drive rod 22 controls the two grippers 21 to grip. This telescopic mechanical clamp uses an electric drive, which allows for more precise and faster control of the end sensor 23. The end effector 23 is equipped with a vision sensor, a force sensor, and a displacement sensor. The vision sensor allows the end effector 23 to accurately grasp the predetermined position. The force sensor allows the end effector 23 to better control the gripping force. The displacement sensor allows the end sensor to better control the degree of opening and closing of its grippers 21, and also allows the grippers 21 to accurately reach the designated position.

[0023] like Figure 1 As shown, the climbing device includes a pneumatic thrower 1, a mounting bracket 2, and a mounting platform 3. The mounting platform 3 is mounted on the vehicle body, the mounting bracket 2 is mounted on the mounting platform 3, and the pneumatic thrower is mounted on the mounting bracket 2. The mounting platform 3 and the mounting bracket 2 are fixedly connected by bolts.

[0024] like Figure 3 and Figure 4 As shown, the pneumatic launcher includes a pressure chamber 27, a catapult 29, an anchor hook 25, a rope 28, a miniature electric winch 31, an air pump 32, and a pressure valve 30. One end of the rope 28 is connected to the anchor hook 25, and the other end is connected to the miniature electric winch 31. The catapult 29 and the miniature electric winch 31 are mounted on the pressure chamber 27, which is mounted on a mounting bracket. The catapult 29 and the anchor hook 25 are arranged opposite each other, and the catapult 29 is configured to push the anchor hook 25 outward. The outer casing 27 houses the miniature pressure valve 30, the miniature electric winch 31, and the catapult 29. The rope 28 is connected to the anchor hook 25 and the miniature electric winch 31, respectively. A miniature camera is mounted on the outer casing 27. After the information captured by the miniature camera is processed, the main control module controls the air pump 32 in the air pressure chamber 27 to operate, filling and compressing air into the rear space inside the air pressure chamber 27, increasing the air pressure in the air pressure chamber 27, and providing a pressure source. The air pressure in the air pressure chamber is then controlled by the air pressure valve 30, which in turn pushes the catapult 29 to launch the anchor hook 25, causing the anchor hook 25 to fly out quickly with the rope 28 and hit the target location. The anchor hook 25 inserts into the target location or hooks an object at the target location. Then, the miniature electric winch 31 winds up the rope 28, one end of which is connected to the anchor hook 25, pulling the rescue vehicle in the opposite direction toward the anchor hook 25. At the same time as the rope is being wound up, the reduction gear in the electric winch is also operating. This reduction device can reduce the speed of the motor while increasing the torque.

[0025] By setting up a pneumatic thrower 1, the success rate of the rescue vehicle in overcoming obstacles such as large potholes can be improved, thus enhancing the vehicle's obstacle-crossing capability. A mounting bracket 2 and a mounting platform 3 are set under the pneumatic thrower 1 to ensure that the pneumatic thrower 1 is firmly installed on the intelligent vehicle and will not loosen or shift due to vibrations or bumps during vehicle operation.

[0026] like Figure 1 As shown, a miniature camera and lighting device are installed on the top of the pneumatic throwing device, which can provide illumination when the light is poor, allowing the operator to see the specific situation inside the tunnel.

[0027] The rescue vehicle's body is made of high-strength, lightweight alloy materials, which minimizes the vehicle's weight and improves its mobility while ensuring the body's strength and rigidity.

[0028] A retractable mechanical clamp is installed on the vehicle body. When encountering obstacles with irregular surfaces, the clamp grips the protruding parts of the obstacle surface, enhancing overall adhesion and further improving stability during obstacle crossing. For higher obstacles or larger gaps, a pneumatic launcher is used, launching the zipline using a catapult. An electric winch retracts the anchor hook, then pulls the trolley across the obstacle. Simultaneously, the mechanical adsorption quickly activates upon landing, ensuring stable attachment to the new location. This combination of techniques addresses diverse and complex environments and obstacles, improving obstacle crossing stability.

[0029] like Figure 1 As shown, there are four drive wheels, distributed on opposite sides of the vehicle body. Each drive wheel is connected to a switching mechanism mounted on the vehicle body. The switching mechanism controls the switching of the drive wheels between driving and non-driving states. Each drive wheel has a hub motor, and the drive wheel in driving mode generates driving force.

[0030] like Figure 1 As shown, the switching mechanism includes a lifting mechanism 8, a switching motor, and a transmission mechanism connected to the switching motor and the lifting mechanism 8. The switching motor is fixedly mounted on the vehicle body. The lifting mechanism 8 has a multi-layer frame structure. One end of the lifting mechanism 8 is connected to the output end of the transmission mechanism. The drive wheels are mounted on the bottom of the lifting mechanism 8 and fixed. The input end of the transmission mechanism is connected to the motor shaft of the switching motor. The transmission mechanism is a gear transmission mechanism, such as a worm gear mechanism with a self-locking function. After the switching motor operates, it drives the lifting mechanism 8 to move up and down through the transmission mechanism. The lifting mechanism 8 drives the drive wheels to move up and down synchronously, thereby controlling the switching of the drive wheels between the driving state and the non-driving state.

[0031] The vehicle's walking mechanism combines tracks and wheels, offering flexibility to meet the needs of various road conditions. On flat terrain, a switching mechanism activates the drive wheels, enabling high speed, low energy consumption, and strong maneuverability. On complex terrain, the drive wheels retract, switching them to a non-drive state. The tracked system provides high stability and strong off-road capability, while the tracks enhance traction for climbing, improving the rescue vehicle's hill-climbing ability to a certain extent.

[0032] This utility model emergency rescue vehicle for collapsed tunnels is equipped with both tracks and wheels. Sensors detect road conditions and allow for seamless switching between track and wheel configurations to meet diverse application needs. This system also enhances the vehicle's overall reliability and survivability; if one component fails, the other can be used as a backup to continue operation, ensuring the vehicle's basic mobility.

[0033] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention; or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. An emergency rescue vehicle for collapsed tunnels, comprising a vehicle body and a walking mechanism, characterized in that: It also includes a climbing device and a retractable mechanical clamp installed on the vehicle body. The walking device includes a tracked walking mechanism, drive wheels, and a switching mechanism for controlling the drive wheels to switch between a driving state and a non-driving state.

2. The emergency rescue vehicle for collapsed tunnels according to claim 1, characterized in that: The climbing device includes a pneumatic thrower, a mounting bracket, and a mounting platform. The mounting platform is mounted on the vehicle body, the mounting bracket is mounted on the mounting platform, and the pneumatic thrower is mounted on the mounting bracket.

3. The emergency rescue vehicle for collapsed tunnels according to claim 2, characterized in that: The mounting platform and the mounting bracket are fixedly connected by bolts.

4. The emergency rescue vehicle for collapsed tunnels according to claim 2, characterized in that: The pneumatic launcher includes a pressure chamber, a pressure valve, an air pump, a catapult, an anchor hook, a rope, and a miniature electric winch. One end of the rope is connected to the anchor hook, and the other end of the rope is connected to the miniature electric winch. The catapult and the miniature electric winch are mounted on the outer casing, which is mounted on the mounting bracket. The catapult and the anchor hook are arranged opposite to each other, and the catapult is configured to push the anchor hook outward.

5. The emergency rescue vehicle for collapsed tunnels according to claim 2, characterized in that: The pneumatic projectile is equipped with a miniature camera and lighting device on its top.

6. The emergency rescue vehicle for collapsed tunnels according to any one of claims 1 to 5, characterized in that: The retractable mechanical gripper includes a mechanical arm and an end effector located at the end of the mechanical arm for gripping objects.

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