A rescue robot for hazardous chemicals

Abstract

The utility model discloses a kind of rescue robots for dangerous chemicals belong to rescue robot technical field, including substrate, the top of substrate is fixedly installed with camera for scanning surrounding environment, the bottom of substrate is rotatably connected with two tracks for driving robot to move, the upper side of track is movably connected with the clamping structure for clamping dangerous chemicals, clamping structure includes turnover claw, turnover claw is rotatably connected with three upper sides of substrate, the utility model uses, by setting circular clamping slot and inner recess in the inner cavity of turnover claw, to facilitate clamping in the inside of clamping structure when turnover claw works, and when turnover claw is contaminated, it can be continuously tightened by clamping structure, extruding turnover claw, make claw automatically separate from equipment and fall into leakproof storage bin, avoid chemical drop, volatilize or leak with robot movement, from source curb pollution diffusion and secondary accident risk.

Description

Technical Field

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

[0002] Hazardous chemicals are characterized by their flammability, explosiveness, toxicity, and corrosiveness. Accidents involving leaks or explosions during their production, storage, transportation, and use often result in severe casualties, property damage, and environmental pollution. Traditional manual rescue methods expose rescue personnel to direct exposure to hazardous environments, posing extremely high risks to their lives. Furthermore, manual rescue is inefficient and lacks precision. Against this backdrop, rescue robots for hazardous chemicals have emerged.

[0003] Chinese patent discloses an emergency rescue robot (publication number CN211893442U). The key technical features of this patent include a vehicle body and tracked devices mounted on both sides of the vehicle body. Swing-arm tracked devices are installed between the tracked devices and both ends of the vehicle body. Each swing-arm tracked device includes a swing-arm track mounting frame, a swing-arm track drive wheel, a swing-arm track driven wheel, and a swing-arm rubber track. The swing-arm track drive wheel is rotatably connected to the rear end of the swing-arm track mounting frame, and the swing-arm track driven wheel is rotatably connected to the front end of the swing-arm track mounting frame. The swing-arm rubber track spans between the swing-arm track drive wheel and the swing-arm track driven wheel. The boom track mounting frame is equipped with a tensioning mechanism for adjusting the tension of the boom track rubber track by driving the driven wheel of the boom track closer to or further away from the driving wheel of the boom track. When the above device is used in rescue operations and comes into contact with strong acids, highly toxic or flammable and explosive chemicals, the material properties make it easy for chemical reactions or physical adhesion to occur, making it difficult to completely remove pollutants by conventional cleaning methods. However, because the clamping arm in the above device cannot be disassembled and replaced, the residual chemicals will continue to evaporate, drip or leak during the robot's next operation, expanding the contaminated area and causing secondary accidents, bringing huge costs and safety hazards to the subsequent environmental cleanup and equipment maintenance. Utility Model Content

[0004] The purpose of this invention is to provide a rescue robot for hazardous chemicals, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A rescue robot for hazardous chemicals includes a base plate, characterized in that a camera for scanning the surrounding environment is fixedly mounted on the top of the base plate, two tracks for driving the robot to move are rotatably connected to the bottom of the base plate, and a clamping structure for gripping hazardous chemicals is movably connected above the tracks. The clamping structure includes three flipping claws rotatably connected to the top of the base plate, which work together to grip the hazardous chemicals. When the clamping structure is continuously tightened until it is fully retracted, the flipping claws are squeezed out of the device, allowing for the disassembly of contaminated flipping claws. A robotic arm structure for adjusting the position of the clamping structure is rotatably connected to the top of the base plate.

[0007] As a further embodiment of this invention, the outer walls of the three flipping claws are all fitted with silicone sleeves to increase friction, and the silicone sleeves increase friction when clamping objects with relatively smooth surfaces.

[0008] As a further improvement of this utility model, the inner cavities of the three flipping claws are each provided with circular slots, and the inner cavities of the three flipping claws are also provided with inner grooves.

[0009] As a further embodiment of this utility model, the clamping structure includes a base plate, the top of which is rotatably connected to the bottom of the robotic arm structure. Three uprights are fixedly connected to the top of the base plate, and the inner cavities of the three uprights are rotatably connected to a movable shaft for providing a pivot point for the flipping claw. The top of the base plate is also rotatably connected to a pull shaft for pulling the flipping claw to flip around the movable shaft.

[0010] As a further embodiment of this utility model, the robotic arm structure includes a positioning seat, the bottom of which is fixedly connected to the top of the base plate, a large arm rotatably connected to the top of the positioning seat, a middle arm rotatably connected to the inner cavity of the large arm, and a small arm rotatably connected to the inner cavity of the middle arm.

[0011] As a further embodiment of this utility model, the bottom of the base plate is fixedly connected to two drive motors for driving the track to rotate, and both ends of the two drive motors are rotatably connected to hubs, and the four hubs are rotatably connected to the inner cavity of the track.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] When this utility model is used, a circular slot and an inner groove are set in the inner cavity of the flipping claw so that the flipping claw can be locked inside the clamping structure during operation. When the flipping claw is contaminated, the continuous tightening of the clamping structure can squeeze the flipping claw, causing the claw to automatically detach from the equipment and fall into the leak-proof storage bin, preventing chemicals from dripping, evaporating or leaking as the robot moves, thus curbing the spread of pollution and the risk of secondary accidents from the source. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of a rescue robot for hazardous chemicals.

[0015] Figure 2 This is a side view of the overall structure of a rescue robot for hazardous chemicals.

[0016] Figure 3 This is a schematic diagram of a gripping structure for a rescue robot used for hazardous chemicals.

[0017] Figure 4 This is a schematic diagram of the flipper claw of a rescue robot used for hazardous chemicals.

[0018] Figure 5 This is a schematic diagram of the ring-shaped structure of a rescue robot for hazardous chemicals.

[0019] Figure 6 This is a schematic diagram of the structure of a crushing block for a rescue robot used for hazardous chemicals.

[0020] In the diagram: 1. Base plate; 2. Track; 3. Clamping structure; 4. Robotic arm structure; 5. Extrusion block; 101. Camera; 102. Spectral sensor; 201. Drive motor; 202. Wheel hub; 203. Tooth block one; 204. Tooth block two; 301. Flipping claw; 302. Silicone sleeve; 303. Circular slot; 304. Inner groove; 305. Base plate; 306. Upright pole; 307. Movable shaft; 308. Pull shaft; 309. Lifting plate; 310. Movable plate; 311. Threaded rod; 312. Electric motor; 401. Positioning seat; 402. Main arm; 403. Middle arm; 404. Forearm; 405. Irregular clamping block; 502. Bent rod; 503. Pull rope; 504. Cylindrical groove; 505. Spring; 506. Ring body; 507. Tooth block; 508. Rotating gear; 509. Drive motor. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figures 1-3A rescue robot for hazardous chemicals includes a base plate 1. A camera 101 for scanning the surrounding environment is fixedly mounted on the top of the base plate 1. A spectral sensor 102 for detecting hazardous chemical gases or objects is fixedly mounted on the side of the base plate 1. Two tracks 2 for driving the robot are rotatably connected to the bottom of the base plate 1, allowing it to move through accident sites such as hazardous chemical leaks and explosions. The tracks 2 provide enhanced off-road capability and stability in situations where obstacles, liquid corrosion, or uneven ground may exist. A clamping structure 3 for gripping hazardous chemicals is movably connected above the tracks 2. The holding structure 3 includes three flipping claws 301, which are rotatably connected to the top of the base plate 1. The three flipping claws 301 work together to clamp hazardous chemicals. When the clamping structure 3 is continuously flipped until it is fully tightened, the flipping claws 301 are squeezed out of the device, and the contaminated flipping claws 301 are disassembled. This prevents the flipping claws 301 from adhering to corrosive, toxic or flammable and explosive chemicals and from dripping, evaporating or leaking them in subsequent processes, expanding the contaminated area, or even causing secondary accidents. The top of the base plate 1 is rotatably connected to a robotic arm structure 4 for adjusting the position of the clamping structure 3.

[0023] Please see Figures 3-5 The outer walls of the three flipping claws 301 are all fitted with silicone sleeves 302 to increase friction. When clamping objects with relatively smooth surfaces, the silicone sleeves 302 increase friction to prevent the can containing hazardous chemicals from falling and avoid the can from breaking or the valve from breaking and leaking.

[0024] Please see Figure 4 The inner cavities of the three flipping claws 301 are each provided with a circular slot 303, and the inner cavities of the three flipping claws 301 are also provided with an inner groove 304.

[0025] Please see Figures 3-6 The clamping structure 3 includes a base plate 305. The top of the base plate 305 is rotatably connected to the bottom of the robotic arm structure 4. Three uprights 306 are fixedly connected to the top of the base plate 305. The inner cavities of the three uprights 306 are rotatably connected to a movable shaft 307 for providing a pivot point for the flipping claw 301 through bearings. The movable shaft 307 is located in the inner cavity of the inner groove 304. The top of the base plate 305 is also rotatably connected to a pull shaft 308 for pulling the flipping claw 301 to flip around the movable shaft 307. The pull shaft 308 is engaged in the inner cavity of the circular slot 303.

[0026] Specifically, a lifting plate 309 is slidably connected to the top of the base plate 305. The top of the lifting plate 309 is rotatably connected to a movable plate 310 for pulling the pull shaft 308 to rotate via a pin. Both ends of the pull shaft 308 are rotatably connected to the inner cavity of the movable plate 310 via bearings. A threaded rod 311 for pushing the lifting plate 309 to move up and down is threadedly connected to the inner cavity of the lifting plate 309. An electric motor 312 for driving the threaded rod 311 to rotate is fixedly connected to the bottom of the base plate 305. The outer wall of the threaded rod 311 is rotatably connected to the inner cavity of the base plate 305 via a bearing. The bottom of the threaded rod 311 is rotatably connected to the inner cavity of the electric motor 312 via a bearing. The electric motor 312 drives the threaded rod 311 to rotate, pushing the lifting plate 309 to rise and fall linearly. Then, the movable plate 310 drives the pull shaft 308 to drive the rotating claw 301 to rotate precisely around the movable shaft 307, which stably clamps and releases hazardous chemicals, realizing the efficient completion of the grabbing task in complex and dangerous environments, and providing reliable mechanical execution guarantee for hazardous chemical rescue.

[0027] More specifically, each of the three uprights 306 has a slidably connected compression block 5 at both ends of its inner cavity to increase the stability of the flipping claw 301. The compression blocks 5 press against both ends of the flipping claw 301, improving its stability during clamping. The inner cavity of the uprights 306 has a cylindrical groove 504 for providing sliding space for the compression blocks 5. A spring 505 is fixedly installed inside the cylindrical groove 504 to push the compression blocks 5 against the flipping claw 301. A bent rod 502 is rotatably connected to the bottom of the compression block 5 via a pin. The bottom of the bent rod 502 is fixedly connected to… A pull rope 503 is attached to pull the bent rod 502 downward to flip it, thereby pulling the two squeezing blocks 5 to retract to both sides. This causes the two squeezing blocks 5 to continuously squeeze the two ends of the flipping claw 301, preventing the flipping claw 301 from shaking during clamping. When it is necessary to release the container, the pull rope 503 moves down to pull the bent rod 502 downward to flip it, causing the squeezing blocks 5 to overcome the force of the spring 505 and retract to both sides, releasing the squeezing constraint on the flipping claw 301, relaxing the container, and quickly releasing the constraint in a polluted environment to prevent the continuous clamping of chemical residues from corroding the flipping claw 301.

[0028] The inner cavity of the base plate 305 is rotatably connected to an annular body 506 for pulling the bent rod 502 downward and flipping it. The inner cavity of the annular body 506 is fixedly connected to a toothed block 507. The inner cavity of the annular body 506 is rotatably connected to a rotating gear 508 for driving the annular body 506 to rotate. The rotating gear 508 is meshed with the toothed block 507. The inner cavity of the base plate 305 is fixedly installed with a drive motor 509 for driving the rotating gear 508 to rotate, and the output shaft of the drive motor 509 is fixedly connected to the bottom of the rotating gear 508.

[0029] Please see Figures 1-2The robotic arm structure 4 includes a positioning base 401. The bottom of the positioning base 401 is fixedly connected to the top of the base plate 1. A large arm 402 is rotatably connected to the top of the positioning base 401. A middle arm 403 is rotatably connected to the inner cavity of the large arm 402. A small arm 404 is rotatably connected to the inner cavity of the middle arm 403. Specifically, a motor 1 for driving the large arm 402 to rotate is fixedly installed in the inner cavity of the positioning base 401. The output shaft of the motor 1 is fixedly connected to the bottom of the large arm 402. A motor 2 for driving the middle arm 403 to rotate is fixedly installed on the outer wall of the large arm 402. The output shaft of the motor 2 is rotatably connected to the inner cavity of the large arm 402 through a bearing. The output shaft of the motor 2 is fixedly connected to the inner cavity of the middle arm 403 through a bearing. A motor 3 for driving the small arm 404 to rotate is rotatably connected to the inner cavity of the middle arm 403 through a bearing. The output shaft of the motor 3 is fixedly connected to the small arm 404 through a bearing. The inner cavity of the forearm 404 is rotatably connected to a shaped clamping block 405 for adjusting the angle of the clamping structure 3. The end of the shaped clamping block 405 away from the forearm 404 is fixedly connected to the base plate 305. The outer wall of the shaped clamping block 405 is fixedly connected to a motor for adjusting its own angle. The output shaft of the motor rotates in the inner cavity of the shaped clamping block 405 through a bearing. The output shaft of the motor passes through the bearing and is fixedly connected to the inner cavity of the forearm 404. This robotic arm structure 4, through the multi-level joint linkage of the positioning seat 401, the upper arm 402, the middle arm 403 and the forearm 404, and the drive of motor one, motor two and motor three, realizes the rotation of the upper arm 402, the flipping of the middle arm 403 and the forearm 404, and the multi-degree-of-freedom movement for adjusting the angle of the clamping structure 3. It can accurately locate hazardous chemical targets in three-dimensional space, providing rescue robots with mechanical execution capabilities that combine flexibility, precision and environmental adaptability.

[0030] Please see Figures 1-2 Two drive motors 201 for driving the track 2 to rotate are fixedly connected to the bottom of the base plate 1. Both ends of the two drive motors 201 are rotatably connected to hubs 202. The four hubs 202 are rotatably connected to the inner cavity of the track 2 to drive the track 2 to rotate. The two hubs 202 are fixedly connected to the output shaft of the drive motors 201. The two hubs 202 are rotatably connected to the bottom of the base plate 1 through bearings, and the drive motors 201 drive the two hubs 202 to rotate, so that the two hubs 202 drive the two tracks 2 to rotate respectively, realizing the movement of the entire device. At the same time, the other two hubs 202 assist the power hubs 202 to support the inside of the track 2.

[0031] Specifically, toothed block 203 is fixedly connected to the outer wall of the hub 202, and toothed block 204 is fixedly connected to the inner cavity of the track 2. Toothed block 203 and toothed block 204 are meshed together to form a gear transmission structure. The rotational power output by the drive motor 201 is transmitted to the track 2 through a rigid connection, which effectively avoids slippage and ensures that the robot can move stably in harsh environments such as mud and slippery conditions.

[0032] The working principle of this utility model is as follows:

[0033] When a rescue is needed, the camera 101 on the top of the base plate 1 begins to scan the surrounding environment and collect image information in real time, helping operators to remotely grasp the terrain, obstacle distribution and chemical container location. At the same time, the spectral sensor 102 on the side continuously detects the air and objects, analyzes the composition, concentration and chemical properties of hazardous chemical gases, so that the staff can react according to their characteristics. After confirming the target location, the drive motor 201 drives the hub 202 to rotate. The tooth block 1 203 on the outer wall of the hub 202 meshes with the tooth block 204 in the inner cavity of the track 2, efficiently transmitting the motor power to the track 2, ensuring that the robot arrives at the core area of ​​the accident smoothly and quickly.

[0034] Upon reaching the designated location, the operator, based on the image transmitted back by camera 101, uses the multi-stage joint linkage of positioning base 401, upper arm 402, middle arm 403, and lower arm 404, in conjunction with motors one, two, and three, and the electric motor, to achieve the rotation of upper arm 402 and the flipping of middle arm 403 and lower arm 404, accurately locating the hazardous chemical target. Electric motor 312 then starts, driving threaded rod 311 to rotate. Threaded rod 311 is threadedly connected to lifting plate 309, pushing lifting plate 309 to descend linearly along the top of base plate 305. This causes lifting plate 309 to pull shaft 308 via movable plate 310. Pull shaft 308 engages in the circular slot 303 of flipping claw 301, causing the three flipping claws 301 to synchronously flip around movable shaft 307 to grasp the container and complete the transfer of the hazardous chemicals.

[0035] When hazardous chemicals leak onto the outer wall of the flipping claw 301 during operation, the drive motor 509 drives the rotating gear 508 to rotate, which meshes with the toothed block 507 in the inner cavity of the annular body 506, causing the annular body 506 to rotate and pull the pull rope 503. The pull rope 503 drives the bent rod 502 to flip downward, overcoming the elastic force of the spring 505, causing the squeezing block 5 to retract to both sides, releasing the squeezing constraint on the flipping claw 301. At the same time, the clamping structure 3 continues to tighten, and the flipping claw 301 is squeezed and disengaged from the equipment, preventing secondary leakage or pollution caused by chemicals adhering to the flipping claw 301 during subsequent robot operations.

[0036] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A rescue robot for hazardous chemicals, comprising a base plate (1), characterized in that, A camera (101) for scanning the surrounding environment is fixedly installed on the top of the substrate (1). Two tracks (2) for driving the robot to move are rotatably connected to the bottom of the substrate (1). A clamping structure (3) for clamping hazardous chemicals is movably connected above the tracks (2). The clamping structure (3) includes flipping claws (301). Three flipping claws (301) are rotatably connected to the top of the substrate (1) and clamp hazardous chemicals through the cooperation of the three flipping claws (301). A robotic arm structure (4) for adjusting the position of the clamping structure (3) is rotatably connected to the top of the substrate (1).

2. The rescue robot for hazardous chemicals according to claim 1, characterized in that, The outer walls of the three flipping claws (301) are all fitted with silicone sleeves (302) to increase friction.

3. A rescue robot for hazardous chemicals according to claim 1, characterized in that, The inner cavities of the three flipping claws (301) are all provided with circular slots (303), and the inner cavities of the three flipping claws (301) are also provided with inner grooves (304).

4. A rescue robot for hazardous chemicals according to claim 1, characterized in that, The clamping structure (3) includes a base plate (305), the top of which is rotatably connected to the bottom of the robotic arm structure (4). Three uprights (306) are fixedly connected to the top of the base plate (305). The inner cavities of the three uprights (306) are rotatably connected to a movable shaft (307) for providing a pivot point for the flipping claw (301). The top of the base plate (305) is also rotatably connected to a pull shaft (308) for pulling the flipping claw (301) to flip around the movable shaft (307).

5. A rescue robot for hazardous chemicals according to claim 1, characterized in that, The robotic arm structure (4) includes a positioning base (401), the bottom of which is fixedly connected to the top of the base plate (1), the top of which is rotatably connected to a large arm (402), the inner cavity of which is rotatably connected to a middle arm (403), and the inner cavity of which is rotatably connected to a small arm (404).

6. A rescue robot for hazardous chemicals according to claim 1, characterized in that, The bottom of the base plate (1) is fixedly connected to two drive motors (201) for driving the track (2) to rotate. Both ends of the two drive motors (201) are rotatably connected to hubs (202), and the four hubs (202) are rotatably connected to the inner cavity of the track (2).

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