Obstruction clearing rescue robot

Abstract

The utility model discloses a kind of clearing and rescuing robots, comprising: walking vehicle body, front gripping device and rotary middle gripping device;One side of walking vehicle body is equipped with front gripping device, and rotary middle gripping device is installed in the middle of walking vehicle body;Front gripping device includes: bearing arm, press arm and first rotary drive mechanism, bearing arm mounting seat is on walking vehicle body, press arm can be rotatably installed bearing arm, bearing arm is below press arm, first rotary drive mechanism output end is connected to bearing arm, and first rotary drive mechanism second output end is connected to press arm;Rotary middle gripping device includes: rotary base, first rotary arm, second rotary arm, gripping manipulator, second rotary drive mechanism.The clearing and rescuing robot solves the problem that the rescue work efficiency is low due to the function of only obstacle cleaning shovel and obstacle grabbing in the prior art.

Description

Technical Field

[0001] This utility model relates to robots, specifically to a clearing and rescue robot. Background Technology

[0002] Chinese patent discloses a cleaning arm of an obstacle-clearing intelligent robot with application number CN201921862217.8. The cleaning arm of the obstacle-clearing intelligent robot includes a vehicle body, a support arm mounting base and a PLC processor on the top of the vehicle body, an obstacle storage bucket at the front of the vehicle body, the obstacle storage bucket cooperates with the vehicle body to define an open-top receiving cavity, an obstacle cleaning shovel at the front of the obstacle storage bucket that is pivotally connected to the obstacle storage bucket, and a first drive motor, which is a dual-axis synchronous motor, is located between the left support plate and the right support plate.

[0003] Although the obstacle-clearing robot's cleaning arm can clear obstacles, it still has some drawbacks: the obstacle-clearing shovel is raised and lowered by the second link of the support arm cylinder, which means that obstacles can only be grabbed into the obstacle-clearing shovel. The support arm does not have an independent grabbing function, resulting in low work efficiency in rescue operations. Utility Model Content

[0004] This utility model aims to provide an obstacle-clearing and rescue robot, which solves the problem of low rescue efficiency caused by existing technologies that only have the function of clearing obstacles and grabbing obstacles.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: The present invention discloses a clearing and rescue robot, comprising: a walking vehicle body, a front gripping device, and a rotating central gripping device; the front gripping device is installed on one side of the walking vehicle body, and the rotating central gripping device is installed in the middle of the walking vehicle body; the front gripping device includes: a support arm, a lower pressure arm, and a first rotating drive mechanism; the support arm is mounted on the walking vehicle body, and the lower pressure arms are rotatably mounted on the support arm; the support arm is located below the lower pressure arms; the output end of the first rotating drive mechanism is connected to the support arm, and the second output end of the first rotating drive mechanism is connected to the lower pressure arm; the rotating central gripping device includes: a rotating base, a first rotating arm, and a second rotating arm. The system includes a rotating arm, a gripping manipulator, a second rotary drive mechanism, a third rotary drive mechanism, and a gripping action drive mechanism. A rotating base is rotatably mounted on a traveling vehicle. The second rotary drive mechanism is mounted on the traveling vehicle and drives the rotating base to rotate relative to the traveling vehicle. The rotating base is hinged to the first end of the first rotating arm. The third rotary drive mechanism is mounted on the rotating base and drives the first rotating arm to rotate relative to the rotating base. The second end of the first rotating arm is connected to the first end of the second rotating arm. A gripping manipulator is mounted on the second end of the second rotating arm. A gripping action drive mechanism is mounted on the second rotating arm and is used to drive the gripping manipulator to perform a gripping action.

[0006] Preferably, a tracked walking assistance device is installed on the other side of the vehicle body, and the tracked walking assistance device is arranged opposite to the front gripping device; the tracked walking assistance device includes: a support frame and tracks, the track being able to move cyclically is installed on the support frame, the support frame is able to rotate relative to the vehicle body, a fourth rotary drive mechanism is installed on the vehicle body, the output end of the fourth rotary drive mechanism is connected to the support frame, and the fourth rotary drive mechanism is used to drive the tracks in the tracked walking assistance device to be close to or away from the ground.

[0007] Preferably, the supporting frame adopts a triangular structure.

[0008] Preferably, the fourth rotary drive mechanism includes: a lifting and lowering motor, a drive arm, and a mounting base. The lifting and lowering motor and the mounting base are installed at the bottom of the vehicle body. The drive arm is installed between the lifting and lowering motor and the mounting base. The first end of the drive arm is fixed to the output end of the lifting and lowering motor. The drive arm is rotatably mounted on the mounting base. The drive arm passes through the support frame and cannot rotate relative to the support frame.

[0009] Preferably, the section where the drive arm contacts the supporting frame has a cuboid structure.

[0010] Preferably, the gripping robot includes: a gripping arm, a connector, and a hinged arm. At least three pairs of gripping arms and hinged arms are installed at the connector. The connector is connected to the output end of the gripping motion drive mechanism. The connector is hinged to the first end of the hinged arm, the second end of the hinged arm is hinged to the middle of the gripping arm, and one end of the gripping arm is hinged to the second rotating arm.

[0011] Preferably, the gripping action drive mechanism includes a gripping motor, a gripping gear set, and a rack. The gripping motor is mounted on the second rotating arm, and the output end of the gripping motor is connected to the input end of the gripping gear set. The output end of the gripping gear set meshes with the rack. The rack is mounted inside the second rotating arm, and the second rotating arm guides the rack to move. The end of the rack that protrudes from the second rotating arm is the output end of the gripping action drive mechanism.

[0012] Preferably, the bearing arm includes: two fixed plates, two arm bodies, and at least two connecting columns. The two fixed plates are connected by the two connecting columns, and a gap is formed between the two fixed plates. The gap is aligned with the lower pressure arm. An arm body is installed on the side of each fixed plate away from the gap. A rotatable lower pressure arm is installed at one end of the fixed plate, and the connecting column is located next to the lower pressure arm.

[0013] Compared to existing technologies, this utility model has the following advantages: Breaking away from the traditional approach of using only a front gripping device, this application incorporates a rotating central gripping device at the center of the vehicle body. This results in a heavier weight in the center of the vehicle, preventing tipping when the front gripping device grabs an obstacle due to excessive weight. When clearing obstacles, the rotating central gripping device first grabs the obstacle and moves it to the center, where the vehicle body is heavier. Then, the front gripping device grabs the obstacle; the heavier center of the vehicle body further reduces the risk of tipping. This improves obstacle transfer efficiency while maintaining the vehicle's center of gravity, reducing the risk of tipping while simultaneously moving two obstacles.

[0014] Other advantages, objectives and features of this invention will be partly apparent from the following description, and partly understood by those skilled in the art through study and practice of this invention. Attached Figure Description

[0015] Figure 1 A schematic diagram of the structure of the obstacle removal and rescue robot.

[0016] Figure 2 A schematic diagram of the structure of the obstacle removal and rescue robot.

[0017] Figure 3 This is a schematic diagram of the structure of the front gripping device.

[0018] Figure 4This is a schematic diagram of the rotating central gripping device.

[0019] Figure 5 This is a structural diagram of the tracked walking assistance device.

[0020] Reference numerals: 1. Walking vehicle body; 2. Front gripping device; 21. Bearing arm; 211. Fixing plate; 212. Arm body; 213. Connecting column; 22. Lowering arm; 23. First rotary drive mechanism; 3. Rotary central gripping device; 30. Rotary base; 31. First rotary arm; 32. Second rotary arm; 33. Gripping manipulator; 331. Gripping arm; 332. Connector; 333. Hinge arm; 34. Third rotary drive mechanism; 35. Gripping action drive mechanism; 35. Gripping motor; 351. Gripping gear set; 352. Rack; 353. Fifth rotary drive mechanism; 36. Tracked walking auxiliary device; 40. Support frame; 41. Track; 42. Fourth rotary drive mechanism; 42. Lifting and lowering motor; 421. Driving arm; 422. Mounting seat; 423. Track drive device; 43. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this utility model clearer and easier to understand, the present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0022] like Figures 1 to 5As shown, this utility model discloses a clearing and rescue robot, including: a walking vehicle body 1, a front gripping device 2, and a rotating central gripping device 3; the front gripping device 2 is installed on one side of the walking vehicle body 1, and the rotating central gripping device 3 is installed in the middle of the walking vehicle body 1; the front gripping device 2 includes: a support arm 21, a lower pressure arm 22, and a first rotating drive mechanism 23, the support arm 21 is mounted on the walking vehicle body 1 with a mounting base 423, the lower pressure arms 22 are rotatably mounted on the support arm 21, the support arm 21 is located below the lower pressure arms 22, the output end of the first rotating drive mechanism 23 is connected to the support arm 21, and the second output end of the first rotating drive mechanism 23 is connected to the lower pressure arms 22; the rotating central gripping device 3 includes: a rotating base 30, a first rotating arm 31, a second rotating arm 32, a gripping manipulator 33, and a second... The system includes a rotary drive mechanism (not shown), a third rotary drive mechanism 34, and a gripping action drive mechanism 35. A rotary base 30 is rotatably mounted on a traveling vehicle body 1. A second rotary drive mechanism is mounted on the traveling vehicle body 1. The second rotary drive mechanism drives the rotary base 30 to rotate relative to the traveling vehicle body 1. The rotary base 30 is hinged to the first end of the first rotary arm 31. The third rotary drive mechanism 34 is mounted on the rotary base 30. The third rotary drive mechanism 34 drives the first rotary arm 31 to rotate relative to the rotary base 30. The second end of the first rotary arm 31 is connected to the first end of the second rotary arm 32. A gripping manipulator 33 is mounted on the second end of the second rotary arm 32. A gripping action drive mechanism 35 is mounted on the second rotary arm 32. The gripping action drive mechanism 35 is used to drive the gripping manipulator 33 to perform a gripping action.

[0023] In this application, a fifth rotation drive mechanism 36 is provided at the hinge of the first rotating arm 31 and the second rotating arm 32. The fifth rotation drive mechanism 36 is used to drive the second rotating arm 32 to rotate relative to the first rotating arm 31.

[0024] Preferably, a tracked walking aid 41 is installed on the other side of the vehicle body 1, and the tracked walking aid 41 is arranged opposite to the front gripping device 2. The tracked walking aid 41 includes a support frame 40 and a track 41. The track 41, which can move cyclically, is installed on the support frame 40. The support frame 40 can rotate relative to the vehicle body 1. A fourth rotary drive mechanism 42 is installed on the vehicle body 1. The output end of the fourth rotary drive mechanism 42 is connected to the support frame 40. The fourth rotary drive mechanism 42 is used to drive the track 41 in the tracked walking aid 41 to be close to or away from the ground.

[0025] The vehicle body 1 can move in two directions: one is when the front gripping device 2 is facing forward, and the other is when the track-type walking assistance device 41 is facing forward. When the front gripping device 2 is facing forward, it can grab obstacles. When the track-type walking assistance device 41 is facing forward, it allows the tracks 41 to be in contact with the ground, enabling the tracks 41 to cross certain obstacles in front, ultimately reducing the difficulty for the vehicle body 1 to jump over obstacles and playing an auxiliary role in jumping over obstacles, allowing the vehicle body 1 to move on relatively heavy ground.

[0026] In this application, the support frame 40 adopts a triangular structure. To achieve both the ability to rotate the track 41 to a position in contact with the ground and to rotate it away from the ground, the support frame 40 is designed as a triangular structure. The support frame 40 serves as the mounting base for the track 41 and its drive unit, which drives the track 41 to move cyclically.

[0027] In this application, the fourth rotary drive mechanism 42 includes: a lifting and lowering motor 421, a drive arm 422, and a mounting base 423. The lifting and lowering motor 421 and the mounting base 423 are installed at the bottom of the traveling vehicle body 1. The drive arm 422 is installed between the lifting and lowering motor 421 and the mounting base 423. The first end of the drive arm 422 is fixed to the output end of the lifting and lowering motor 421. The drive arm 422 is rotatably installed on the mounting base 423. The drive arm 422 passes through the support frame 40 and cannot rotate relative to the support frame 40. The lifting and lowering motor 421 drives the rotating arm 422 to rotate. The rotating arm 422 is located at one corner of the support frame 40, allowing the support frame 40 to rotate around this corner. The support frame 40 can be flipped so that the track 41 is away from the ground, or it can be flipped so that the track 41 is close to the ground. This rotation is driven by the lifting and lowering motor 421. The mounting base 423 guides the rotating arm 422, preventing the output shaft of the lifting and lowering motor 421 from being overloaded if only one end of the rotating arm 422 is supported by the lifting and lowering motor 421.

[0028] In this application, the contact section between the drive arm 422 and the support frame 40 is a cuboid structure. This cuboid design allows the drive arm 422 to drive the support frame 40 to rotate after passing through it.

[0029] Preferably, the gripping robot 33 includes: a gripping arm 331, a connector 332, and a hinged arm 333. At least three pairs of gripping arms 331 and hinged arms 333 are mounted at the connector 332. The connector 332 is connected to the output end of the gripping motion drive mechanism 35. The connector 332 is hinged to the first end of the hinged arm 333, the second end of the hinged arm 333 is hinged to the middle of the gripping arm 331, and one end of the gripping arm 331 is hinged to the second rotating arm 32. When the connector 332 is driven to move by the output end of the gripping motion drive mechanism 35, the gripping robot head drives the gripping arms 331 to rotate via the hinged arms 333, thereby enabling all gripping arms 331 to close and grip obstacles, and all gripping arms 331 to open and release obstacles.

[0030] Preferably, the gripping action drive mechanism 35 includes a gripping motor 351, a gripping gear set 352, and a rack 353. The gripping motor 351 is mounted on the second rotating arm 32, and its output end is connected to the input end of the gripping gear set 352. The output end of the gripping gear set 352 meshes with the rack 353, which is mounted inside the second rotating arm 32. The second rotating arm 32 guides the rack 353 to move, and the end of the rack 353 protruding from the second rotating arm 32 is the output end of the gripping action drive mechanism 35. The output end of the gripping motor 351 drives the gear at the input end of the gripping gear set 352 to rotate, and the rotation of the gear at the output end of the gripping gear set 352 causes the rack 353 to move, thereby driving the connector 332 to move.

[0031] In this application, the supporting arm 21 includes: two fixed plates 211, two arm bodies 212, and at least two connecting columns 213. The two fixed plates 211 are connected by the two connecting columns 213, forming a gap between the two fixed plates 211. The gap is aligned with the lower pressure arm 22. An arm body 212 is installed on the side of each fixed plate 211 away from the gap. A rotatable lower pressure arm 22 is installed at one end of each fixed plate 211. The connecting columns 213 are located next to the lower pressure arm 22. The fixed plates 211 are the mounting base for the lower pressure arm 22 and the two arm bodies 212. The connection between the two fixed plates 211 by the connecting columns 213 creates a gap between the two fixed plates 211, increasing the width of the two arm bodies 212 after installation, so that larger obstacles can be adequately supported.

[0032] In this embodiment, the first rotary drive mechanism 23, the second rotary drive mechanism, the third rotary drive mechanism 34, and the fifth rotary drive mechanism 36 can all be structures composed of a motor and a gear set, realizing the rotation driven by the motor.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. An obstacle-clearing and rescue robot, characterized in that, include: The vehicle body (1), the front gripping device (2), and the rotating middle gripping device (3); A front gripping device (2) is installed on one side of the walking vehicle body (1), and a rotating middle gripping device (3) is installed in the middle of the walking vehicle body (1); The front gripping device (2) includes: a support arm (21), a lower pressure arm (22) and a first rotary drive mechanism (23). The support arm (21) is mounted on the vehicle body (1) by a mounting base (423). The lower pressure arm (22) is rotatably mounted on the support arm (21). The support arm (21) is located below the lower pressure arm (22). The output end of the first rotary drive mechanism (23) is connected to the support arm (21), and the second output end of the first rotary drive mechanism (23) is connected to the lower pressure arm (22). The rotary center gripping device (3) includes: a rotary base (30), a first rotary arm (31), a second rotary arm (32), a gripping manipulator (33), a second rotary drive mechanism, a third rotary drive mechanism (34), and a gripping action drive mechanism (35). The rotary base (30) is rotatably mounted on the vehicle body (1). The second rotary drive mechanism is mounted on the vehicle body (1). The second rotary drive mechanism drives the rotary base (30) to rotate relative to the vehicle body (1). The rotary base (30) is hinged to the first rotary arm. At the first end of the arm (31), a third rotation drive mechanism (34) is installed on the rotating base (30). The third rotation drive mechanism (34) drives the first rotating arm (31) to rotate relative to the rotating base (30). The second end of the first rotating arm (31) is connected to the first end of the second rotating arm (32). A gripping robot (33) is installed at the second end of the second rotating arm (32). A gripping action drive mechanism (35) is installed on the second rotating arm (32). The gripping action drive mechanism (35) is used to drive the gripping robot (33) to perform gripping actions.

2. The obstacle-clearing and rescue robot according to claim 1, characterized in that, A tracked (41) type walking auxiliary device (4) is installed on the other side of the vehicle body (1), and the tracked (41) type walking auxiliary device (4) is set opposite to the front gripping device (2); The tracked (41) type walking assistance device (4) includes: a support frame (40) and a track (41). The track (41) that can move cyclically is installed on the support frame (40). The support frame (40) can rotate relative to the walking vehicle body (1). A fourth rotary drive mechanism (42) is installed on the walking vehicle body (1). The output end of the fourth rotary drive mechanism (42) is connected to the support frame (40). The fourth rotary drive mechanism (42) is used to drive the track (41) in the tracked (41) type walking assistance device (4) to be close to the ground or away from the ground.

3. The obstacle-clearing and rescue robot according to claim 2, characterized in that, The supporting frame (40) adopts a triangular structure.

4. The obstacle clearing and rescue robot according to claim 2 or 3, characterized in that, The fourth rotary drive mechanism (42) includes a lifting and lowering motor (421), a drive arm (422), and a mounting base (423). The lifting and lowering motor (421) and the mounting base (423) are installed at the bottom of the vehicle body (1). The drive arm (422) is installed between the lifting and lowering motor (421) and the mounting base (423). The first end of the drive arm (422) is fixed to the output end of the lifting and lowering motor (421). The drive arm (422) is rotatably installed on the mounting base (423). The drive arm (422) passes through the support frame (40). The drive arm (422) cannot rotate relative to the support frame (40).

5. The obstacle-clearing and rescue robot according to claim 4, characterized in that, The contact section between the drive arm (422) and the support frame (40) is a cuboid structure.

6. The obstacle-clearing and rescue robot according to claim 1, characterized in that, The gripping robot (33) includes: a gripping arm (331), a connector (332), and a hinged arm (333). At least three pairs of gripping arms (331) and hinged arms (333) are installed at the connector (332). The connector (332) is connected to the output end of the gripping action drive mechanism (35). The connector (332) is hinged to the first end of the hinged arm (333). The second end of the hinged arm (333) is hinged to the middle of the gripping arm (331). One end of the gripping arm (331) is hinged to the second rotating arm (32).

7. The obstacle-clearing and rescue robot according to claim 6, characterized in that, The gripping action drive mechanism (35) includes a gripping motor (351), a gripping gear set (352), and a rack (353). The gripping motor (351) is mounted on the second rotating arm (32). The output end of the gripping motor (351) is connected to the input end of the gripping gear set (352). The output end of the gripping gear set (352) meshes with the rack (353). The rack (353) is mounted inside the second rotating arm (32). The second rotating arm (32) guides the rack (353) to move. The end of the rack (353) protruding from the second rotating arm (32) is the output end of the gripping action drive mechanism (35).

8. The obstacle-clearing and rescue robot according to claim 1, characterized in that, The bearing arm (21) includes: two fixed plates (211), two arm bodies (212) and at least two connecting columns (213). The two fixed plates (211) are connected by the two connecting columns (213). A gap is formed between the two fixed plates (211) and the gap is aligned with the lower pressure arm (22). An arm body (212) is installed on the side of each fixed plate (211) away from the gap. A rotatable lower pressure arm (22) is installed at one end of the fixed plate (211). The connecting column (213) is located next to the lower pressure arm (22).

Images