CN116767366A - Reconfigurable search and rescue robot - Google Patents

Abstract

The application discloses a reconfigurable search and rescue robot which comprises a first box body, a second box body and a driving mechanism, wherein the first box body and the second box body are hinged; the deformation mechanism is arranged on the first box body, the deformation mechanism is kept connected with the second box body, and the second box body is driven to rotate towards the first box body through the deformation mechanism. According to the reconstruction search and rescue robot provided by the application, the driving mechanisms are arranged on the first box body and the second box body, the reconstruction search and rescue robot can be driven by the independent driving mechanisms, the search and rescue robot can have stronger driving force by adopting the independent driving systems, the obstacle crossing capability of the search and rescue robot can be improved, meanwhile, the second box body can rotate with the first box body through the deformation mechanism arranged on the first box body, the obstacle crossing can be carried out by utilizing the driving mechanism on the second box body when an obstacle is met, and the second box body can be kept attached to the first box body through the deformation mechanism, so that the obstacle crossing capability of the search and rescue robot can be greatly improved.

Description

Reconfigurable search and rescue robot

Technical Field

The application relates to the technical field of search and rescue robots, in particular to a reconfigurable search and rescue robot.

Background

Rescue robot, robot developed for rescue, such as earthquake rescue robot, used for searching survivors in ruins after major earthquake to execute rescue task, equipped with electronic components such as camera, thermal imaging instrument and communication system, for efficient search and rescue, wherein its driving structure determines obstacle surmounting ability of the search and rescue robot.

According to publication No.: CN101480793B, published patent application No. 2010-10-20, discloses a search and rescue robot, comprising: head, body and afterbody, its characterized in that: the head and tail parts have the same conical structure, the front ends of the head and tail parts are respectively provided with a nose cone, and a camera and an illuminating lamp are arranged in the nose cones; the body part is composed of a plurality of independent units, and the independent units are axially connected with the head part and the tail part to form a robot whole; the head, body and tail shells of the robot are of cylindrical structures; the shell is provided with a plurality of movable claws distributed circumferentially. The main technical effects are as follows: the search and rescue robot can creep, turn and surmount on a complex surface back and forth, and pass through a narrow gap for searching and rescuing trapped people under ruins. The participation of the search and rescue robot can effectively improve the rescue efficiency and reduce the casualties of rescue personnel, and the robot not only can help the staff to execute rescue work, but also can replace the staff to execute search and rescue tasks, thereby playing an increasingly important role in disaster rescue. Because the snake-shaped robot body is slender and has low gravity center, the snake-shaped robot is more suitable for moving under the complex environments of ruins. The application has scientific and reasonable integral structure and is convenient to control.

Among the above-mentioned prior art, search and rescue robot is snakelike structure, and snakelike structure's search and rescue robot only can remove in narrow and small pipeline structure, and its obstacle crossing ability is relatively poor in the great environment of height fall, for this reason, proposes a reconfigurable search and rescue robot, aims at solving among the prior art search and rescue robot, only can be under the problem of high-efficient work of a scene.

Disclosure of Invention

The application aims to provide a reconfigurable search and rescue robot, which aims to solve the problem that the search and rescue robot in the prior art can work efficiently only in one scene.

In order to achieve the above object, the present application provides the following technical solutions:

the reconfigurable search and rescue robot comprises a first box body and a second box body which are hinged with each other, and further comprises:

the driving mechanism is arranged on the first box body and the second box body;

the deformation mechanism is arranged on the first box body, the deformation mechanism is kept connected with the second box body, the second box body is driven to rotate towards the first box body through the deformation mechanism, and the second box body is attached to the first box body.

Preferably, the driving mechanism comprises a mounting plate, a connecting rod and a crawler mechanism movably arranged on the mounting plate, connecting seats are arranged on the outer walls of the first box body and the second box body, the mounting plate is connected to the connecting seats through the connecting rod, and the crawler mechanism is movably connected to the mounting plate.

Preferably, an elastic self-adapting mechanism is arranged between the mounting plate and the crawler mechanism, and the crawler mechanism is driven to be attached to the working surface through the elastic self-adapting mechanism.

Preferably, the crawler mechanism comprises a connecting plate, a positioning plate, a driving wheel, a driven wheel and a rubber crawler, wherein the driving wheel is arranged on the positioning plate, the positioning plate is connected with a movable block in a sliding manner, the driven wheel is connected with the movable block in a rotating manner, the driving wheel is connected with the connecting plate, and the rubber crawler is connected with the driving wheel and the driven wheel.

Preferably, the inner wall of the connecting seat is provided with a positioning groove, the outer wall of the positioning groove is provided with a plugging groove, and the connecting rod penetrates through the positioning groove.

Preferably, a connecting mechanism is arranged on the outer wall of one side of the first box body, and a lock catch is fixedly arranged on the outer wall of one side of the second box body, so that the lock catch is fixedly connected with the first box body through the connecting mechanism.

Preferably, the deformation mechanism comprises a driving motor and a connecting rope, wherein the driving motor is fixedly arranged in the first box body, one end of the connecting rope is fixedly connected with the output end of the driving motor, and the other end of the connecting rope penetrates through the first box body and is kept connected with the second box body.

Preferably, a hinge is mounted on the outer wall of one side of the first box body, one end, far away from the first box body, of the hinge is kept connected with the second box body, and a torsion spring is arranged in the hinge.

Preferably, the elastic self-adaptive mechanism comprises a positioning rod and a spring, the positioning rod is fixedly connected to the inner wall of one side of the mounting plate, the positioning rod is connected to the crawler mechanism, the spring is arranged between the outer wall of one side of the crawler mechanism and the end part of the positioning rod, and the spring is sleeved on the positioning rod.

In the technical scheme, the reconfigurable search and rescue robot provided by the application has the following beneficial effects:

according to the application, the first box body and the second box body are both provided with the driving mechanisms, the driving mechanisms can be used for driving, the independent driving systems are adopted to enable the search and rescue robot to have stronger driving force, the obstacle crossing capability of the search and rescue robot can be improved, meanwhile, the second box body can rotate with the first box body through the deformation mechanism arranged on the first box body, the obstacle crossing can be carried out by utilizing the driving mechanisms on the second box body when the obstacle is met, and the second box body can also keep fit with the first box body through the deformation mechanism, so that the driving mechanisms are distributed on two sides of the search and rescue robot, certain specific occasions can be crossed, and the obstacle crossing capability of the search and rescue robot can be greatly improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.

Fig. 1 is a schematic perspective view of an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a deforming mechanism according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a second case after being folded according to an embodiment of the present application;

fig. 4 is a schematic view of a rotation structure of a crawler mechanism according to an embodiment of the present application;

FIG. 5 is a schematic view of an exploded assembly construction of a crawler belt mechanism according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a track mechanism connection structure according to an embodiment of the present application;

FIG. 7 is a schematic view of an assembly of a track mechanism according to an embodiment of the present application;

fig. 8 is a schematic plan view of a connection relationship of a crawler belt mechanism according to an embodiment of the present application.

Reference numerals illustrate:

1. a first case; 2. a second case; 3. a driving mechanism; 31. a mounting plate; 311. a plug-in groove; 312. a mounting groove; 32. a connecting rod; 33. a crawler mechanism; 331. a connecting plate; 332. a positioning plate; 333. a driving wheel; 334. driven wheel; 335. a rubber crawler; 336. a bolt; 34. a connecting seat; 341. a positioning groove; 4. a deformation mechanism; 41. a driving motor; 42. a connecting rope; 5. an elastic self-adaptive mechanism; 51. a positioning rod; 52. a spring; 6. a connecting mechanism; 61. a fixing seat; 62. and (5) rotating the buckle.

Detailed Description

In order to make the technical scheme of the present application better understood by those skilled in the art, the present application will be further described in detail with reference to the accompanying drawings.

Referring to fig. 1-8, a reconfigurable search and rescue robot includes a first case 1 and a second case 2 hinged to each other, and further includes:

a driving mechanism 3 arranged on the first box 1 and the second box 2;

the deformation mechanism 4 is arranged on the first box body 1, the deformation mechanism 4 is kept connected with the second box body 2, the second box body 2 is driven to rotate towards the first box body 1 through the deformation mechanism 4, and the second box body 2 is attached to the first box body 1.

Specifically, the first box 1 and the second box 2 are hollow structures, and the sensor elements required by the search and rescue robot can be arranged in the first box 1 and the second box 2 or are independently arranged in the first box 1 and the second box 2. Be provided with deformation mechanism 4 on first box 1, deformation mechanism 4 keeps being connected with second box 2, can drive second box 2 around first box 1 through the deformation mechanism 4 that sets up on first box 1 keeps rotating, thereby can make the one end that first box 1 was kept away from to second box 2 keep away from the ground, make between second box 2 and first box 1 form obtuse angle structure, conveniently pass through the actuating mechanism 3 that sets up on second box 2 and cross the barrier, still can drive second box 2 and first box 1 simultaneously through deformation mechanism 4 and keep laminating, second box 2 is located first box 1 top promptly, search and rescue robot's upper and lower both sides all are provided with actuating mechanism 3 this moment, can remove along the pipeline inner wall, be applicable to different scenes.

According to the application, the driving mechanisms 3 are arranged on the first box body 1 and the second box body 2, the first box body and the second box body 2 can be driven by the independent driving mechanisms 3, the search and rescue robot can have stronger driving force by adopting the independent driving systems, the obstacle crossing capability of the search and rescue robot can be improved, meanwhile, the second box body 2 can rotate with the first box body 1 through the deformation mechanism 4 arranged on the first box body 1, the obstacle crossing can be carried out by utilizing the driving mechanisms 3 on the second box body 2 when the obstacle is met, the second box body 2 can be kept attached to the first box body 1 through the deformation mechanism 4, the driving mechanisms 3 are distributed on the upper side and the lower side of the search and rescue robot, the search and rescue robot can be attached to the inner wall of a pipeline to move, so that the climbing of a vertical pipeline can be carried out, and the obstacle crossing capability of the search and rescue robot can be greatly improved.

As shown in fig. 5, 6 and 7, the driving mechanism 3 includes a mounting plate 31, a connecting rod 32 and a crawler mechanism 33 movably disposed on the mounting plate 31, connecting seats 34 are symmetrically disposed on outer walls of two opposite sides of the first case 1 and the second case 2, the mounting plate 31 is disposed between the connecting seats 34 on one side, the mounting plate 31 and the connecting seats 34 are kept connected by the connecting rod 32, and an angle between the mounting plate 31 and the connecting seats 34 can be adjusted by adjusting the connecting rod 32, so that outward or inward swinging of the mounting plate 31 can be realized, and an angle of the crawler mechanism 33 movably disposed on the mounting plate 31 can be adjusted.

The crawler mechanism 33 is in sliding connection with the mounting plate 31, an elastic self-adapting mechanism 5 is arranged between the mounting plate 31 and the crawler mechanism 33, the elastic self-adapting mechanism 5 is connected with the crawler mechanism 33, and the crawler mechanism 33 is driven to be attached to the ground through the elastic self-adapting mechanism 5.

As shown in fig. 7, the crawler mechanism 33 comprises a connecting plate 331, a positioning plate 332, a driving wheel 333, a driven wheel 334 and a rubber crawler 335, the driving wheel 333 is mounted on the positioning plate 332, a robot joint module motor is embedded in the driving wheel 333, the driving wheel 333 is driven to rotate by the motor, as shown in fig. 7, bearings are arranged on two sides of the driving wheel 333, the driving wheel 333 can be limited by the connecting plate 331 and the positioning plate 332 through the bearings, the driving wheel 333 is prevented from sliding to one side, sliding grooves are formed on the outer walls of the positioning plate 332 and the connecting plate 331, a movable block 337 is slidingly connected in the sliding grooves, connecting grooves are formed on the outer walls of the positioning plate 332 and the connecting plate 331, bolts 336 are connected on the inner walls of the connecting grooves, one ends of the bolts 336 penetrate through and extend into the sliding grooves, one ends of the bolts 336 positioned in the sliding grooves are in threaded connection with the movable block 337, the bolts 336 are rotatably connected with the inner walls of the connecting grooves, the driven wheel 334 is connected between the outer walls of two adjacent sides of the two movable blocks 337 through a rotating shaft, the positions of the movable blocks 337 in the sliding grooves can be adjusted through rotating the bolts 336, as shown in fig. 7, the inner surface of the rubber crawler 335 is provided with a bump, the circumferential outer walls of the driving wheel 333 and the driven wheel 334 are provided with grooves, the rubber crawler 335 is connected with the driving wheel 333 and the driven wheel 334 through the bump, preferably, the rubber crawler 335 is made of a rubber material integrally, the rubber crawler 335 made of the rubber material can provide larger friction force when moving, the driven wheel 334 can keep synchronous movement through adjusting the positions of the movable blocks 337 through rotating the bolts 336, thereby adjusting the distance between the driven wheel 334 and the driving wheel 333, further adjusting the tightness of the rubber crawler 335, ensuring that the rubber crawler 335 is used in winter or summer, the rubber track 335 can remain taut.

As shown in fig. 5 and fig. 6, the outer walls of one side of the connecting seat 34 on the first case 1 and the second case 2 are respectively provided with a positioning groove 341, the outer wall of one end of the mounting plate 31 is provided with a plugging groove 311, the connecting rod 32 penetrates through the positioning groove 341 and is plugged into the plugging groove 311, specifically, the positioning groove 341 and the plugging groove 311 are both in geometric structures, the positioning groove 341 and the plugging groove 311 are both in octagonal structures, the shape of the connecting rod 32 is matched with the positioning groove 341 and the connecting groove, the shape of the connecting rod 32 is also in an octagonal shape, the angle between the mounting plate 31 and the connecting seat 34 can be adjusted by pulling out the connecting rod 32, so that the driving mechanism 3 swings outwards or inwards, the mounting plate 31 and the connecting seat 34 are locked through the connecting rod 32 in the octagonal structure, and rotation after connection is prevented.

As shown in fig. 3, a connection mechanism 6 is disposed on an outer wall of one side of the first case 1, the connection mechanism 6 includes a fixing seat 61 and a rotating buckle 62, the fixing seat 61 is fixedly mounted on the outer wall of one side of the first case 1, the rotating buckle 62 is rotationally connected on the outer wall of one side of the fixing seat 61, a limit groove is formed in the outer wall of one side of the rotating buckle 62, a lock catch is fixedly disposed on the outer wall of one side of the second case 2, and the width of the limit groove is adapted to the width of the lock catch, so that after the second case 2 is kept folded with the first case 1 through the deformation mechanism 4, the first case 1 and the second case 2 can be kept connected through the rotating buckle 62, and in a use process, the first case 1 and the second case 2 are prevented from being released.

As shown in fig. 2, the deformation mechanism 4 includes a driving motor 41 and a connecting rope 42, the driving motor 41 is fixedly installed inside the first box 1, one end of the connecting rope 42 is fixedly connected to the output end of the driving motor 41, a through groove is formed on the outer wall of the top of the first box 1, a fixed groove is formed on the outer wall of the top of the second box 2, the other end of the connecting rope 42 penetrates through the through groove of the first box 1 and is kept connected with the fixed groove of the second box 2, the connecting rope 42 can be wound up, the second box 2 can be pulled by the connecting rope 42 kept connected with the second box 2, and because a hinge 7 is arranged on the outer wall of one side of the first box 1, the hinge 7 is kept connected with the second box 2, the second box 2 can be kept to rotate around the hinge point with the first box 1 by winding the connecting rope 42, an obtuse angle structure is formed between the second box 2 and the first box 1, and when a robot encounters an obstacle in the forward moving process, the obstacle can be lifted up by the obstacle by the second box 2. Preferably, the torsion spring is arranged in the hinge 7, so that power can be provided when the second box body 2 is restored to be deformed, and the second box body 2 is prevented from being unable to reset.

The elastic self-adapting mechanism 5 comprises a positioning rod 51 and a spring 52, as shown in fig. 7, an installation groove 312 is formed in the inner wall of one side of the installation plate 31, the positioning rod 51 is fixedly connected in the installation groove 312 of the installation plate 31, preferably, the installation groove 312 is a dovetail groove, the connection plate 331 can be prevented from moving to the outer side of the installation plate 31, the positioning rod 51 is in sliding connection with the connection plate 331 of the crawler mechanism 33, the spring 52 is sleeved on the outer wall of the positioning rod 51, two ends of the spring 52 are respectively positioned between the limit end of the outer wall of the end part of the positioning rod 51 and the connection plate 331, and the connection plate 331 is driven to move towards the ground through the elasticity of the spring 52.

When in use, when the first box body 1 and the second box body 2 need to move on the flat ground, the driving mechanism 3 arranged on the first box body 1 and the second box body 2 moves, when an obstacle is met, the output end of the driving motor 41 arranged inside the first box body 1 keeps rotating, the connecting rope 42 is wound, the second box body 2 is lifted upwards, and the obstacle can be surmounted through the driving mechanism 3 arranged on the second box body 2.

When needs carry out perpendicular pipeline climbing, carry out the rolling through the driving motor 41 that first box 1 inside set up with connecting rope 42, make second box 2 rotate around first box 1, and finally stack in first box 1 top, this moment is fixed first box 1 and second box 2 through the coupling mechanism 6 that sets up on the first box 1, prevent that second box 2 and first box 1 from taking off, both sides face all distributes track mechanism 33 about search and rescue robot this moment, square pipeline that can be applicable to vertical setting, elasticity adaptive mechanism 5 through setting up between driving mechanism 3 and the mounting panel 31, order about track mechanism 33 laminating pipeline inner wall, rubber track 335 adopts the rubber material to make, can improve frictional force, prevent that search and rescue robot from dropping from the pipeline.

When the round pipeline needs to be climbed, can be through pulling out connecting rod 32 to rotate mounting panel 31, rotatory 45 back with mounting panel 31, insert connecting rod 32 back in connecting seat 34 again, make a plurality of crawler-type mechanisms 33 be circumference array and distribute in search and rescue robot outside, thereby can the round pipeline of the vertical setting of adaptation, simultaneously, owing to set up elasticity adaptive mechanism 5, can make crawler-type mechanism 33 have the self-adaptation in a certain range, adapt to the pipeline of different diameter sizes in a certain range, through elasticity adaptive mechanism 5 and select rubber track 335 that rubber made, can guarantee can not take place to drop when search and rescue robot scrambles the pipeline of vertical setting.

After second box 2 and first box 1 pile up, four caterpillar mechanisms 33 are located around the robot automobile body, so can provide stronger climbing ability, and first box 1 is parallel with second box 2, and the function of keeping flat of search and rescue robot then can bring stronger driving capability for the robot, can adapt to different service scenarios through warping, and its functionality is stronger.

The spring 52 mentioned here has an elastic coefficient which meets the technical requirements of the solution according to the application.

Those skilled in the art will appreciate that other similar connections may implement the present application. Such as welding, bonding, or bolting.

While certain exemplary embodiments of the present application have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that modifications may be made to the described embodiments in various different ways without departing from the spirit and scope of the application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive of the scope of the application, which is defined by the appended claims.

Claims (9)

1. The utility model provides a reconfigurable search and rescue robot, includes articulated first box (1) and second box (2), its characterized in that still includes:

a driving mechanism (3) arranged on the first box body (1) and the second box body (2);

the deformation mechanism (4) is arranged on the first box body (1), the deformation mechanism (4) is kept connected with the second box body (2), the second box body (2) is driven to rotate towards the first box body (1) through the deformation mechanism (4), and the second box body (2) is attached to the first box body (1).

2. A reconfigurable search and rescue robot according to claim 1, characterized in that the driving mechanism (3) comprises a mounting plate (31), a connecting rod (32) and a crawler mechanism (33) movably arranged on the mounting plate (31), the outer walls of the first box (1) and the second box (2) are respectively provided with a connecting seat (34), the mounting plate (31) is connected to the connecting seats (34) through the connecting rod (32), and the crawler mechanism (33) is movably connected to the mounting plate (31).

3. A reconfigurable search and rescue robot according to claim 2, characterized in that an elastic self-adapting mechanism (5) is arranged between the mounting plate (31) and the crawler mechanism (33), and the crawler mechanism (33) is driven to be attached to the working surface by the elastic self-adapting mechanism (5).

4. A reconfigurable search and rescue robot according to claim 2, characterized in that the crawler mechanism (33) comprises a connecting plate (331), a positioning plate (332), a driving wheel (333), a driven wheel (334) and a rubber crawler (335), the driving wheel (333) is mounted on the positioning plate (332), a movable block (337) is slidingly connected on the positioning plate (332), the driven wheel (334) is rotatably connected to the movable block (337), the driving wheel (333) is kept connected with the connecting plate (331), and the rubber crawler (335) is connected to the driving wheel (333) and the driven wheel (334).

5. The reconfigurable search and rescue robot according to claim 2, wherein the inner wall of the connecting seat (34) is provided with a positioning groove (341), the outer wall of the mounting plate (31) is provided with an inserting groove (311), and the connecting rod (32) penetrates through the positioning groove (341) and is inserted into the inserting groove (311).

6. The reconfigurable search and rescue robot according to claim 1, wherein a connecting mechanism (6) is arranged on the outer wall of one side of the first box body (1), and a lock catch is fixedly arranged on the outer wall of one side of the second box body (2), and the lock catch is fixedly connected with the first box body (1) through the connecting mechanism (6).

7. A reconfigurable search and rescue robot according to claim 1, characterized in that the deformation mechanism (4) comprises a driving motor (41) and a connecting rope (42), the driving motor (41) is fixedly installed inside the first box body (1), one end of the connecting rope (42) is fixedly connected to the output end of the driving motor (41), and the other end of the connecting rope (42) penetrates through the first box body (1) and is kept connected with the second box body (2).

8. The reconfigurable search and rescue robot of claim 7, wherein a hinge (7) is installed on the outer wall of one side of the first case (1), one end of the hinge (7) away from the first case (1) is kept connected with the second case (2), and a torsion spring is arranged in the hinge (7).

9. A reconfigurable search and rescue robot according to claim 3, characterized in that the elastic self-adapting mechanism (5) comprises a positioning rod (51) and a spring (52), the positioning rod (51) is fixedly connected to the inner wall of one side of the mounting plate (31), the positioning rod (51) is connected to the crawler mechanism (33), the spring (52) is arranged between the outer wall of one side of the crawler mechanism (33) and the end part of the positioning rod (51), and the spring (52) is sleeved on the positioning rod (51).