CN201578776U - Assisting rescue robot for multiple road conditions - Google Patents
Assisting rescue robot for multiple road conditions Download PDFInfo
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- CN201578776U CN201578776U CN2010200426459U CN201020042645U CN201578776U CN 201578776 U CN201578776 U CN 201578776U CN 2010200426459 U CN2010200426459 U CN 2010200426459U CN 201020042645 U CN201020042645 U CN 201020042645U CN 201578776 U CN201578776 U CN 201578776U
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Abstract
The utility model discloses an assisting rescue robot for multiple road conditions, and aims to solve the problems that the conventional functions are less and a work bench can not be placed on the ground in a completely level manner. The assisting rescue robot comprises a remote control part and a mechanical part between which a wireless transmission mode is adopted. The mechanical part mainly comprises four sets of walking devices (18), a screw jack (5), a work bench (10), a camera (15), and a hand-driven/power-driven gear-shifting device (9). One end of each walking device (18) is fixed at one of the four corners of the work bench (10), the four sets of walking devices are symmetrically distributed relative to the lengthwise and the transverse symmetric lines of the work bench (10), the screw jack (5) is fixed in the center position of the work bench (10), the camera (15) and the hand-driven/power-driven gear-shifting device (9) are respectively fixed on the work bench (10) in positions on the left and the right sides of the screw jack (5), and the output shaft of the hand-driven/power-driven gear-shifting device (9) is in rotational connection with the screw jack (5).
Description
Technical field
The utility model relates to a kind of deliverance apparatus, and more particularly, the utility model relates to the auxiliary rescue robot of a kind of multichannel condition.
Background technology
According to International Patent Classification (IPC), the auxiliary rescue robot of multichannel condition described in the utility model belongs to F portion mechanical engineering, prevents that secondary from caving in when being mainly used in the ruins rescue.The rescue tool that the ruins rescue work relied on of multiple disasters such as earthquake at present mainly contains small-sized machines such as heavy-duty machinery such as excavator, crane and jack.Because road conditions are complicated after the earthquake, big machinery is difficult to go deep into the central area, earthquake region, so jack is widely used in the disaster relief process because of its lighter weight.Disaster takes place by the back rescue personnel rescues man-hour and utilizes jack that floor is propped entering ruins, plays effects such as removing obstacles.But ordinary jack is because its automaticity is lower, and transportation and operation all will be controlled in person by the people, easily because people's own wt causes that secondary caves in, brings immeasurable heavy losses to each side in the process that it is transported under the ruins.Jack can be divided into three kinds of tooth bar jack, screw jack and hydraulic jack by architectural feature, and the jack that this utility model is utilized is screw jack.During screw jack work, by the screw pair transmission, screw rod or ut socket are lifted part as the top by manpower.Common screw jack is supported weight by the screw thread self-locking action, simple structure, but transmission efficiency is low, and return is slow.Do not have self-locking action from the screw thread that falls screw jack, but brake is housed.The loosen the brake device, weight can descend voluntarily fast, shortens return trip time, but this jack structure is complicated.Screw jack can be supported weight for a long time, and the biggest lifting capacity has reached 100 tons, uses wider.After horizontal screw bolt was loaded onto in the bottom, it was traversing to make weight make small distance.Its using method is as follows:
1. must check before using whether jack is normal, and whether each parts is flexible, filling lubricating oil, and correctly estimate weight of heavy, and select the jack of suitable tonnage for use, must guard against overload and use.
2. the support tooth method on the adjustment rocking bar with the hand rocking bar that directly moves in the direction of the clock, makes jacking sleeve fast rise top weight earlier.
3. handle is inserted in the rocking bar hole, move handle up and down, weight rises thereupon.When thin red line occurring on the jacking sleeve, should stop to move handle immediately.The support tooth transfers in the other direction when descending as need, just weight begins to descend.
For example, invention and created name is 201224676 for the Chinese patent notification number of " a kind of electric screw-jacks ", the day for announcing is 2009.04.22, and application number is 200820120112, discloses the structure and the operation principle of " a kind of electric screw-jacks " in this application case.
" a kind of electric screw-jacks " comprises transmission device, risen device, motor and risen the device support by the spiral of transmission device drive.Spirally rise the spiral rising mechanism that screw rod bearing disc that device comprises the support bearing disc risen on the device support, the axle center rotation of support bearing disc relatively is connected with the screw rod bearing disc.Between support bearing disc and the screw rod bearing disc first ring-shaped guide rail is arranged, establish the pressure-bearing steel ball in the guide rail; Screw rod bearing disc outer and rise between device support shell second ring-shaped guide rail is arranged is established in the guide rail and is protected steady steel ball.Spiral rising mechanism comprises drive screw, lifting swivel nut group, outer spline sleeve group, top cap and the travel switch of lifting swivel nut group that is connected as a single entity with the screw rod bearing disc.This utility model is provided with the pressure-bearing steel ball and protects steady steel ball, has guaranteed job stabilization.Adopt little tooth difference speed reducer in the transmission device, compact conformation, gearratio are big, are applicable to the maintenance activity of truck.
For example, consult Fig. 1, denomination of invention is CN2673581 for the Chinese patent notification number of " passive type double-crank barrier getting over mechanism ", the day for announcing is 2005.01.26, application number is 200420024716, discloses the structure and the operation principle of " the passive type double-crank barrier getting over mechanism " that have running gear in this application case.This utility model is a kind of passive type double-crank barrier getting over mechanism, and it relates to the moving link that fighter toy (comprising multi-foot robot and wheeled, caterpillar type robot etc.) uses." passive type double-crank barrier getting over mechanism " is used for the body of robot is connected with moving wheel, is one of important component part of high-performance barrier-surpassing robot.Entire mechanism is made up of crank assemblies and spring assembly, crank assemblies comprises connecting rod, goes up lower crank and bracing frame, spring assembly can only be a helical spring, or form by spring anchorage bracket, spring adjusting bracket, telescopic spring axle and helical spring, crank assemblies constitutes irregular quadrilateral, spring assembly is arranged in quadrangle.In robot obstacle detouring process, crank assemblies can provide range of movement bigger on the vertical direction to moving wheel, and spring assembly has the effect that keeps driving force and accumulation of energy damping simultaneously.This mechanism structure is simple, designs ingeniously, has improved the obstacle performance and the stability of robot largely.Its main claim is: a kind of passive type double-crank barrier getting over mechanism, it is characterized in that: entire mechanism is made up of crank assemblies and spring assembly, crank assemblies comprises connecting rod, crank and bracing frame, and spring assembly is spring anchorage bracket, spring adjusting bracket, telescopic spring axle and helical spring; Support frame as described above is fixed on the robot body, and random device the human body together move; Described crank comprises crank, lower crank, crank one end by connector be connected with the bracing frame two ends respectively, the other end is connected with contact in small end and the bar thereof respectively by connector; Described connecting rod lower end is connected with the moving wheel wheel shaft by connector; The two ends of described spring are connected with contact in the bar of upper and lower crank respectively by connector.
Described " a kind of electric screw-jacks " adopts little tooth difference speed reducer, compact conformation, and gearratio is big.But the function that " a kind of electric screw-jacks " realizes is comparatively single, can only be implemented on the level land weight is risen.Actual rescue operating mode is abominable, and jack can't operate as normal.In addition, the jack lifting device can not be manually with its rise by motor drives, and this just requires the necessary operate as normal of motor, and adaptability is relatively poor.
Described " passive type double-crank barrier getting over mechanism " is comparatively similar on running gear with the auxiliary rescue robot of multichannel condition described in the utility model, but " passive type double-crank barrier getting over mechanism " employing is that double-crank designs but not the single crank design.Though double-crank can increase the stability of whole barrier getting over mechanism, but limited the angle that connecting rod stretches, made it can't drive workbench and keep flat fully on the ground, like this, gravity will bear in mechanism such as double-crank and wheel when work, limited " passive type double-crank barrier getting over mechanism " lifting power.
Summary of the invention
Technical problem to be solved in the utility model is to have overcome that function that prior art exists is comparatively single, incompatible works in abominable rescue work condition environment and workbench can't be lain in fully the first-class problem in ground, provides a kind of multichannel condition to assist rescue robot.
For solving the problems of the technologies described above, the utility model is to adopt following technical scheme to realize: the auxiliary rescue robot of described multichannel condition comprises Long-distance Control part and mechanical part, adopts wireless transmission method to connect between mechanical part and the Long-distance Control part.
Described mechanical part mainly is made up of the identical running gear of 4 nested structures, screw jack, workbench, camera and manual/electric gearshift.
Described workbench is a rectangular plank frame spare, one end of the running gear of quadruplet same structure is fixed on the long limit end face at four jiaos of places of workbench, and promptly the running gear of quadruplet same structure is symmetric arrangement with respect to workbench vertical and horizontal line of symmetry.Screw jack is fixed on the workbench center, camera is fixed on the workbench on screw jack right side, the manual/electric gearshift is fixed on the workbench in screw jack left side, and the output axle head of manual/electric gearshift is rotationally connected by a worm screw and screw jack.
Running gear described in the technical scheme mainly is made up of No. 2 cranks, No. 2 connecting rods, No. 2 wheels, No. 2 extension springs and walking motor.One end of No. 2 cranks is fixed on the end of work director limit end face, the vertical line of symmetry of No. 2 cranks and the upper table surface angle of workbench are 100 °～150 °, one end of the other end of No. 2 cranks and No. 2 connecting rods is rotationally connected by a bearing pin, the other end and the axletree of No. 2 connecting rods are rotationally connected, and No. 2 wheel is fixedlyed connected with axletree.The output shaft of walking motor is fixedlyed connected with axletree, the axis of walking motor output shaft and the axis conllinear of axletree.No. 2 the extension spring two ends are connected with the middle part of No. 2 cranks and No. 2 connecting rods respectively; An end of No. 2 cranks (6) is fixed on the other end of work director limit end face in the identical running gear of described second nested structure, and the vertical line of symmetry of No. 2 cranks and the upper table surface angle of workbench are-100 °～-150 °; In described first cover running gear identical with second nested structure upper table surface angle of vertical line of symmetry of No. 2 cranks and workbench be 135 ° with-135 °; Described No. 2 connecting rods are major axis class formation spares, vertically are evenly equipped with the connecting hole that connects No. 2 extension spring one ends along No. 2 connecting rods.Described No. 2 cranks also are major axis class formation spares, vertically are evenly equipped with the connecting hole that connects No. 2 extension spring other ends along No. 2 cranks; Described manual/electric gearshift includes No. 1 gear, No. 2 gears, No. 3 gears, No. 1 gear shaft, No. 2 gear shafts, No. 3 gear shafts, shifting fork mechanism, handle and gearshift motor.On No. 1 gear shaft of No. 1 gear fixed installation, on No. 2 gear shafts of No. 2 gear fixed installations, on No. 3 gear shafts of No. 3 gear fixed installations.No. 1 gear is meshed respectively with No. 3 gears with No. 2 gears, No. 2 gears.The output shaft of gearshift motor is fixedlyed connected with the input of No. 1 gear shaft.One end of No. 3 gear shafts is connected with screw jack or hydraulic jack, used handle when No. 3 gear shaft other ends are installed manual manipulation.The shifting fork mechanism of No. 1 gear and No. 2 gears engaged or disengagement is installed on the casing; Described screw jack is substituted by hydraulic jack.The output shaft of manual/electric gearshift is that an end of No. 3 gear shaft terminals and a screw rod is fixedlyed connected, and the other end of screw rod and the plunger screw in the hydraulic jack are rotationally connected.
Compared with prior art the beneficial effects of the utility model are:
1. the auxiliary rescue robot deadweight of multichannel condition described in the utility model is little, cost is low, is convenient to the rescue personnel and carries.It is made up screw jack and novel walking machine, and utilizes the principle of electromechanical integration to unify control, has improved the automaticity of original screw jack, has strengthened the function of original jack.The secondary that when rescue take place of can being against any misfortune the effectively problem of caving in.Existing rescue machinery mostly is heavy-duty machinery, is not suitable for travelling of complex road condition, and is difficult to be transported to the rescue place at short notice.
2. multichannel condition described in the utility model is assisted the rescue robot simple structure, cost is lower and obstacle climbing ability is stronger, does not have this kind walking mechanism at present as yet.Compare with existing similar barrier getting over mechanism, the auxiliary rescue robot of multichannel condition described in the utility model can be set level in the course of the work fully, makes the workbench kiss the earth, has improved whole bearing capacity.
3. the outstanding characteristics of the auxiliary rescue robot of multichannel condition described in the utility model are that its size is less and with low cost.The size features of smaller makes the rescue personnel can once carry a plurality of this kind machineries, guarantees to prop floor in many places.Feasible batch process with low cost becomes possibility, and very under the harsh conditions, rescue machinery very easily damages this external rescue environment, and therefore cost-effective design concept has just had certain competitive advantage.
Description of drawings
Below in conjunction with accompanying drawing the utility model is further described:
Fig. 1 is the front view of the structural principle of passive type double-crank barrier getting over mechanism described in the prior art;
Fig. 2 is the axonometric projection graph of the structural principle of the auxiliary rescue machine philtrum skill tool part of multichannel condition described in the utility model;
Fig. 3 is the front view of the structural principle of the auxiliary rescue machine philtrum skill tool part of multichannel condition described in the utility model;
Fig. 4 is the vertical view of the structural principle of the auxiliary rescue machine philtrum skill tool part of multichannel condition described in the utility model;
Fig. 5 is the structural principle schematic diagram of the manual/electric gearshift of the auxiliary rescue machine philtrum skill tool part of multichannel condition described in the utility model;
Among the figure: No. 1.1 cranks, No. 2.1 connecting rods, No. 3.1 extension springs, 4.1 number wheel, 5. screw jack, No. 6.2 cranks, 7.2 number connecting rod, No. 8.2 wheels, 9. manual/electric gearshift, 10. workbench, No. 11.1 gears, No. 12.2 gears, 13.3 number gear, 14. gearshift motor, 15. cameras, 16.2 number extension spring, 17. walking motor, 18. running gears.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is explained in detail:
Consult Fig. 2 to Fig. 4, the secondary that the characteristics of the auxiliary rescue robot of multichannel condition described in the utility model take place when being the to be against any misfortune rescue effectively problem of caving in.The combination that the auxiliary rescue robot of multichannel condition is screw jack 5 and running gear, and the control section by electromechanical integration carries out automation control to each several part, auxiliary rescue work when being used for disaster and taking place promptly realizes preventing the cave in generation of phenomenon of ruins secondary.
More particularly, the auxiliary rescue robot of multichannel condition described in the utility model is made up of Long-distance Control part and mechanical part.Mechanical part is that screw jack 5, workbench 10, camera 15 and manual/electric gearshift 9 are formed by 4 covers (first, second, third, fourth cover) running gear 18, equipment that structure is identical mainly.
Running gear 18 is mainly by 8, No. 2 extension springs 16 of 7, No. 2 wheels of 6, No. 2 connecting rods of No. 2 cranks and walking motor 17.
Described workbench 10 is rectangular plank frame spares, adopts aluminum alloy materials to make.One end of No. 2 cranks 6 in the identical running gear 18 of first nested structure is fixed on an end of workbench 10, more particularly, one end of No. 2 cranks 6 is fixed on the end of workbench 10 long limit end faces, the vertical line of symmetry of No. 2 cranks 6 of strip and the upper table surface angle of workbench 10 are 100 °～150 ° (what adopted among the embodiment is 135 °), one end of the other end of No. 2 cranks 6 and No. 2 connecting rods 7 is rotationally connected by a bearing pin, and promptly No. 2 connecting rods 7 can rotate around bearing pin relative to No. 2 cranks 6; The other end and the axletree of No. 2 connecting rods 7 are rotationally connected, and No. 2 wheel 8 is fixedlyed connected with axletree, and No. 2 wheels 8 and axletree can rotate around the center line of the other end through hole of No. 2 connecting rods 7; No. 2 cranks 6 and No. 2 connecting rods 7 adopt steel material; The output shaft of walking motor 17 is fixedlyed connected with axletree, and the walk axis of motor 17 output shafts and the axis of axletree are wanted conllinear, and 17 startups of walking motor are rotated and the purpose of realization driving with regard to drive axletree and No. 2 wheels 8; No. 2 extension spring 16 two ends are connected with the middle part of No. 2 cranks 6 and No. 2 connecting rods 7 respectively, make between No. 2 connecting rods 7 and No. 2 cranks 6 all to keep a suitable angle constantly, and make No. 2 connecting rods 7 be the elasticity opening and closing with respect to No. 2 cranks 6.One end of No. 2 cranks 6 in the running gear 18 of the second cover same structure is fixed on the other end of workbench 10 long limit end faces, the vertical line of symmetry of No. 2 cranks 6 of strip and the upper table surface angle of workbench 10 are-100 °～-150 °, and what adopted among the embodiment is-135 °.Promptly the running gear 18 of the second cover same structure and the first cover running gear 18 are symmetric arrangement at workbench 10 with two ends along its length, side end face.The 3rd cover is the two ends that are fixed on the long limit of workbench 10 opposite sides end face symmetrically with the running gear 18 of quadruplet same structure.The running gear 18 of quadruplet same structure is arranged in the Si Jiaochu of the workbench 10 of the plank frame that is rectangle, and promptly the running gear 18 of quadruplet same structure is symmetric arrangement with respect to the vertical and horizontal line of symmetry of workbench 10.Running gear 18 profiles of seeing two covers arranged at the long limit of workbench 10 homonymies end face (first and second cover, the 3rd and quadruplet) same structure from the front view direction are the M shape.Wherein, No. 2 connecting rods 7 are major axis class formation spares, No. 2 connecting rods 7 both can be whole rod members, the other end of No. 2 connecting rods 7 is installed on the axletree of No. 2 wheel 8 one sides to become to be rotationally connected, No. 2 connecting rods 7 also can be combined member bars (or X-member), and the other end of No. 2 connecting rods 7 is installed on the axletree of No. 2 wheel 8 both sides to become to be rotationally connected.No. 2 connecting rods 7 are no matter be that a whole rod member or combined member bar (or X-member) vertically are evenly equipped with the connecting hole that connects No. 2 extension spring 16 1 ends along it.Like this, No. 2 extension spring 16 1 ends are connected on No. 2 cranks 6 motionless, and No. 2 extension spring 16 other ends are adjusted link position as required.No. 2 cranks 6 also are major axis class formation spares, equally with No. 2 connecting rods 7 vertically are evenly equipped with the connecting hole that is connected No. 2 extension spring 16 1 ends along it, adjust as required and the link position of No. 2 extension spring 16 1 ends.Enlarged the link position of No. 2 extension springs 16 on No. 2 cranks 6 and No. 2 connecting rods 7, thus obtain wheel different raise angle, thereby reduce chassis height, increase the ability that adapts to road conditions.
According to the above, four No. 2 wheels 8 all are equipped with walking motor 17, so the auxiliary rescue robot of multichannel condition both can be realized four-wheel drive, also can realize the substep motion of four-wheel.When running into barrier when shorter, after wheel is run into barrier, be subjected to support force upwards, connecting rod is rotated counterclockwise around bearing pin, raises thereby drive No. 2 wheels 8, clears the jumps.After clearing the jumps, No. 2 connecting rod 7 is got back to original position automatically under the restoring force effect of No. 2 extension springs 16.When barrier is higher, can controls the rotating speed of No. 2 wheels 8 in both sides and realize a left side/right-hand rotation, the cut-through thing.When in the bigger road conditions of difference, working, also can by adjust No. 2 extension springs 16 and the link position of No. 2 cranks 6 and No. 2 connecting rods 7 obtain wheel different raise angle, thereby reduce chassis height, increase the ability that adapts to road conditions.The auxiliary rescue robot of multichannel condition is compared with common wheel type traveling mechanism and has been improved obstacle climbing ability.In addition, the auxiliary rescue robot chassis of multichannel condition can be set level fully in the course of the work, makes the workbench kiss the earth, improves the bearing capacity and the job stability of robot.
Consult Fig. 4 and Fig. 5, equipment is that screw jack 5 (or hydraulic jack) is fixed on workbench 10 center positions by bolt or employing welding manner.Described screw jack 5 can be utilized prior art, improves a little on the basis of common screw jack 5, with the dual mode that power source changes into manually and gearshift motor 14 is controlled of screw rod (push rod) nut.Manual/electric gearshift 9 is installed in the left side of screw jack 5, and manual/electric gearshift 9 includes 13, No. 1 gear shaft of 12, No. 3 gears of 11, No. 2 gears of No. 1 gear, No. 2 gear shafts, No. 3 gear shafts, shifting fork mechanism, handle and gearshift motor 14.On No. 1 gear shaft of No. 1 gear 11 fixed installations in the manual/electric gearshift 9, on No. 2 gear shafts of No. 2 gear 12 fixed installations, on No. 3 gear shafts of No. 3 gear 13 fixed installations.12, No. 2 gears 12 of No. 1 gear 11 and No. 2 gears in the manual/electric gearshift 9 are meshed respectively with No. 3 gears 13, the output shaft of gearshift motor 14 is that input shaft end is fixedlyed connected with No. 1 gear shaft that No. 1 gear 11 is installed, No. 3 gear shafts that No. 3 gears 13 are installed are promptly exported axle head and are connected with a worm screw, worm gear in worm screw and the screw jack 5 is connected with a joggle, worm gear set be contained in screw jack 5 in the outside of the equipped nut of push rod, be fixedly connected between worm gear and the nut.What the utility model adopted is hydraulic jack, the output that No. 3 gear shafts of No. 3 gears 13 are installed is connected with a screw rod, plunger screw in screw rod and the hydraulic jack is in transmission connection, the rotation of screw rod becomes plunger along the moving of screw axis, thus the fluid in the extruding hydraulic jack and the push rod in the hydraulic jack is risen.The power of gearshift motor 14 is passed to gear 13 No. 3 by No. 1 gear 11 and No. 2 gears 12, thereby the push rod that drives screw jack 5 (or hydraulic jack) by No. 3 gear shafts that No. 3 gears 13 are installed rises or descends, and realizes the control mode of the gearshift motor 14 of screw jack 5.If in the time of will being changed to manual manipulation, then No. 1 gear 11 and No. 2 gears 12 are thrown off by the shifting fork mechanism that is installed on the casing, operator's operation is installed in the handle on the gear shaft No. 3, rotates No. 3 gear shafts and makes the push rod of screw jack 5 rise or descend, and realizes the manual mode of screw jack 5.
When the auxiliary rescue robot of multichannel condition runs to when suing and labouring the place, walking motor 17 on front-wheel under the control of Long-distance Control part is just changeing, walking motor 17 counter-rotatings on the trailing wheel, and control drives gearshift motor 14 work of screw jack 5, worm screw (screw rod) rotation that is connected with the output of No. 3 gear shafts that No. 3 gears 13 are installed drives screw jack 5 (or hydraulic jack) co-operation, by by the useless reaction force that decreases building element of jack-up up to following working face and other member of the workbench 10 of the auxiliary rescue machine philtrum of multichannel condition or ground is tight contact till.The auxiliary rescue robot of multichannel condition this moment is changed into by workbench 10 by wheel support and supporting.The pressure sensor at screw jack 5 its top in the rise process is given control section with signal feedback, Long-distance Control is partly controlled all walking motor 17 and 14 stalls of gearshift motor when pressure reaches certain value, the useless damage of screw jack 5 (or hydraulic jack) jack-up building element is motionless, and the rescue personnel implements rescue work.When rescue task finishes, the auxiliary rescue robot of control multichannel condition reclaims, walking motor 17 counter-rotatings on same its front-wheel of control, walking motor 17 on the trailing wheel is just changeing, make the auxiliary rescue robot of multichannel condition return to walking states at last, the auxiliary rescue robot of control multichannel condition leaves the danger zone.Consider that the multichannel condition assists the different working condition of rescue robot, the rise of screw jack 5 and landing not only can be finished by gearshift motor 14, also can be by manually finishing.
Long-distance Control partly is by control panel the auxiliary rescue robot of multichannel condition to be implemented control.Promptly control the control of the action realization of the walking motor 17 that is installed in four four same structures on No. 2 wheels 8, and 14 realizations of control gearshift motor are to the push rod rising of screw jack 5 or the control that descends to the auxiliary rescue robot of multichannel condition by control panel.Control panel is to utilize model to link to each other with the chip of model for 74LS148 for the chip of 74LS900, the start-stop of utilization singlechip technology control walking motor 17 or gearshift motor 14.In the exercises programmed input single-chip microcomputer with the auxiliary rescue robot of multichannel condition, realize Electromechanical Design.Workbench 10 in the mechanical part is provided with signal receiver (not drawing among the figure), is advanced, retreats and turned by the running gear 18 in people's remote control mechanical part.The camera that the place ahead of workbench 10 in the mechanical part is provided with, the situation with traffic information and indicator of trapped personnel informs the outside timely.The top of screw jack 5 also is provided with pressure sensor, and pressure sensor sends pressure 14 stalls of to control panel control gearshift motor as feedback signal during work, makes screw jack 5 stop vertical motion.
The auxiliary rescue robot of multichannel condition described in the utility model can be implemented in the walking of complex road condition, finishes the auxiliary rescue work when disaster takes place, and can prevent effectively that secondary from caving in.The auxiliary rescue robot of multichannel condition is that the referable rescue personnel uses after making product, the rescue personnel is the auxiliary rescue robot of the several multichannel conditions of portability in the rescue process, the auxiliary rescue robot of multichannel condition enter support floor in the ruins after the rescue personnel enter again and implement rescue in the ruins, can prevent from effectively that the ruins secondary from caving in to cause the generation of The secondary disaster phenomenon.
Claims (7)
1. the auxiliary rescue robot of multichannel condition comprises the Long-distance Control part, it is characterized in that, the auxiliary rescue robot of described multichannel condition also comprises mechanical part, adopts wireless transmission method to connect between mechanical part and the Long-distance Control part;
Described mechanical part mainly is made up of with manual/electric gearshift (9) the identical running gear of 4 nested structures (18), screw jack (5), workbench (10), camera (15);
Described workbench (10) is a rectangular plank frame spare, one end of the running gear of quadruplet same structure (18) is fixed on the long limit end face at (10) four jiaos of places of workbench, the running gear (18) that is the quadruplet same structure is symmetric arrangement with respect to workbench (10) vertical and horizontal line of symmetry, screw jack (5) is fixed on workbench (10) center, camera (15) is fixed on the workbench (10) on screw jack (5) right side, manual/electric gearshift (9) is fixed on the workbench (10) in screw jack (5) left side, and the output axle head of manual/electric gearshift (9) is rotationally connected by a worm screw and screw jack (5).
2. according to the auxiliary rescue robot of the described multichannel condition of claim 1, it is characterized in that described running gear (18) mainly is made up of No. 2 cranks (6), No. 2 connecting rods (7), No. 2 wheels (8), No. 2 extension springs (16) and walking motor (17);
One end of No. 2 cranks (6) is fixed on the end of the long limit of workbench (10) end face, the upper table surface angle of vertical line of symmetry of No. 2 cranks (6) and workbench (10) is 100 °～150 °, one end of the other end of No. 2 cranks (6) and No. 2 connecting rods (7) is rotationally connected by a bearing pin, the other end and the axletree of No. 2 connecting rods (7) are rotationally connected, No. 2 wheels (8) are fixedlyed connected with axletree, the output shaft of walking motor (17) is fixedlyed connected with axletree, the axis of walking motor (17) output shaft and the axis conllinear of axletree, No. 2 extension springs (16) two ends are connected with the middle part of No. 2 cranks (6) with No. 2 connecting rods (7) respectively.
3. according to the auxiliary rescue robot of the described multichannel condition of claim 1, it is characterized in that, an end of No. 2 cranks (6) is fixed on the other end of the long limit of workbench (10) end face in the identical running gear (18) of described second nested structure, and the upper table surface angle of vertical line of symmetry of No. 2 cranks (6) and workbench (10) is-100 °～-150 °.
4. according to claim 2 or the auxiliary rescue robot of 3 described multichannel conditions, it is characterized in that, in described first cover running gear (18) identical with second nested structure upper table surface angle of vertical line of symmetry of No. 2 cranks (6) and workbench (10) be 135 ° with-135 °.
5. according to claim 2 or the auxiliary rescue robot of 3 described multichannel conditions, it is characterized in that described No. 2 connecting rods (7) are major axis class formation spares, vertically be evenly equipped with the connecting hole that connects No. 2 extension spring (16) one ends along No. 2 connecting rods (7);
Described No. 2 cranks (6) also are major axis class formation spares, vertically are evenly equipped with the connecting hole that connects No. 2 extension springs (16) other end along No. 2 cranks (6).
6. according to the auxiliary rescue robot of the described multichannel condition of claim 1, it is characterized in that described manual/electric gearshift (9) includes No. 1 gear (11), No. 2 gears (12), No. 3 gears (13), No. 1 gear shaft, No. 2 gear shafts, No. 3 gear shafts, shifting fork mechanism, handle and gearshift motor (14);
On No. 1 gear shaft of No. 1 gear (11) fixed installation, on No. 2 gear shafts of No. 2 gears (12) fixed installation, on No. 3 gear shafts of No. 3 gears (13) fixed installation, No. 1 gear (11) and No. 2 gears (12), No. 2 gears (12) are meshed respectively with No. 3 gears (13), the output shaft of gearshift motor (14) is fixedlyed connected with the input of No. 1 gear shaft, one end of No. 3 gear shafts is connected with screw jack (5) or hydraulic jack, used handle when No. 3 gear shaft other ends are installed manual manipulation makes No. 1 gear (11) and No. 2 gears (12) engagement or the shifting fork mechanism of throwing off is installed on the casing.
7. according to the auxiliary rescue robot of the described multichannel condition of claim 1, it is characterized in that, described screw jack (5) is substituted by hydraulic jack, the output shaft of manual/electric gearshift (9) is that an end of No. 3 gear shaft terminals and a screw rod is fixedlyed connected, and the other end of screw rod and the plunger screw in the hydraulic jack are rotationally connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200426459U CN201578776U (en) | 2010-01-18 | 2010-01-18 | Assisting rescue robot for multiple road conditions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200426459U CN201578776U (en) | 2010-01-18 | 2010-01-18 | Assisting rescue robot for multiple road conditions |
Publications (1)
| Publication Number | Publication Date |
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| CN201578776U true CN201578776U (en) | 2010-09-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010200426459U Expired - Fee Related CN201578776U (en) | 2010-01-18 | 2010-01-18 | Assisting rescue robot for multiple road conditions |
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| Country | Link |
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| CN (1) | CN201578776U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102452626A (en) * | 2010-10-29 | 2012-05-16 | 中国北车集团大连机车车辆有限公司 | Motor-driven hydraulic lifting machine for mounting urban rail vehicle tractor body |
| CN104085377A (en) * | 2014-05-20 | 2014-10-08 | 阮自恒 | Rapid emergency device for halfway failures of automobile |
| CN105619375A (en) * | 2014-11-30 | 2016-06-01 | 中国科学院沈阳自动化研究所 | Multifunctional rescue robot and using method thereof |
| CN111024702A (en) * | 2020-01-15 | 2020-04-17 | 东阳罗素电子科技有限公司 | Cable detection equipment |
-
2010
- 2010-01-18 CN CN2010200426459U patent/CN201578776U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102452626A (en) * | 2010-10-29 | 2012-05-16 | 中国北车集团大连机车车辆有限公司 | Motor-driven hydraulic lifting machine for mounting urban rail vehicle tractor body |
| CN104085377A (en) * | 2014-05-20 | 2014-10-08 | 阮自恒 | Rapid emergency device for halfway failures of automobile |
| CN105619375A (en) * | 2014-11-30 | 2016-06-01 | 中国科学院沈阳自动化研究所 | Multifunctional rescue robot and using method thereof |
| CN111024702A (en) * | 2020-01-15 | 2020-04-17 | 东阳罗素电子科技有限公司 | Cable detection equipment |
| CN111024702B (en) * | 2020-01-15 | 2020-11-17 | 泉州奔众空气过滤网有限公司 | Cable detection equipment |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100915 Termination date: 20110118 |