CN103481275B - A kind of variable-distance material storage and transportation collecting robot people - Google Patents
A kind of variable-distance material storage and transportation collecting robot people Download PDFInfo
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- CN103481275B CN103481275B CN201310389929.3A CN201310389929A CN103481275B CN 103481275 B CN103481275 B CN 103481275B CN 201310389929 A CN201310389929 A CN 201310389929A CN 103481275 B CN103481275 B CN 103481275B
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- arm
- car body
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- motor
- side plate
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Abstract
The present invention relates to a kind of variable-distance material storage and transportation collecting robot people, especially relate to a kind of robot for carrying out Material Transportation goods and materials collection in disaster relief.Including variable-distance running gear, material collecting device, robot device, car body, turning arm motor, described variable-distance running gear is arranged on described car body, described turning arm motor is fixedly mounted on described car body, described material collecting device is connected with described turning arm motor, described robot device is arranged on described car body, described variable-distance running gear includes car body side plate, the guide post being provided through described car body side plate on swivel nut, and described car body side plate it is fixedly installed inside described car body side plate.The invention has the beneficial effects as follows: the walking of wheel displacement can be realized in disaster relief, complete the transport to relief goods and the collection to dangerous substances.
Description
Technical field
The present invention relates to a kind of variable-distance material storage and transportation collecting robot people, especially relate to a kind of in calamity
Difficult rescue carries out the robot of Material Transportation goods and materials collection.
Background technology
In the dangerous operations such as a lot of disaster reliefs, robotics research becomes more and more important at present, and it can replace
Manual work, reduces risk factor in rescue work, domestic to salvage robot, independently rescue
The research helping the rescue robot such as unmanned plane and ground moving job that requires special skills robot is concentrated mainly on walking
In system structure, the accumulating to relief goods under complex environment and the collection to dangerous substances are also deposited
In shortcoming.
Summary of the invention
The technical problem to be solved is to provide a kind of variable-distance material storage and transportation collecting robot people, gram
Take, in disaster relief, relief goods, dangerous substances have been collected difficult defect.
The technical scheme is that a kind of variable-distance material storage and transportation collects machine
Device people, including variable-distance running gear, material collecting device, robot device, car body, turning arm electricity
Machine, described variable-distance running gear is arranged on described car body, and described turning arm motor is fixedly mounted on institute
Stating on car body, described material collecting device is connected with described turning arm motor, and described robot device is arranged
On described car body；
Described variable-distance running gear includes car body side plate, is fixedly installed spiral shell inside described car body side plate
Set, and on described car body side plate, it is provided through the guide post of described car body side plate.
Further, described variable-distance running gear includes wheel, wheel drive motors, screw rod, wheelspan electricity
Machine, bevel gear I, bevel gear II, described car body side plate is positioned at the both sides of described car body, and described wheel drives
Galvanic electricity machine is fixedly mounted on inside described car body side plate, described wheel and the electricity in described wheel drive motors
Arbor connects, and described wheelspan motor is arranged on described car body, and the bevel gear II on described wheelspan motor is bored
Gear I is meshed with the bevel gear I of described screw rod one end, and the described screw rod other end is described through being fixed on
Described swivel nut inside car body side plate stretches to outside car body side plate.
Further, described material collecting device include telescopic arm motor, vertical collecting plate, tilt collecting board,
Bearer network, telescopic arm, turning arm, described turning arm one end is connected with described motor, and described turning arm is another
One end is connected with described telescopic arm, and described bearer network is connected with described turning arm, and described telescopic arm motor is pacified
Being contained on described turning arm, described vertical collecting plate is arranged on described telescopic arm, described inclination collecting board
Being arranged on described turning arm, described inclination collecting board is rotatable relative to described turning arm.
Further, inside described turning arm, it is provided with chute, equipped with tooth bar on described telescopic arm, described flexible
Arm is arranged in the chute of described turning arm, and described tooth bar is nibbled mutually with the gear on described telescopic arm motor
Close.
Further, described robot device includes thrust bearing, arm I, arm II, arm III, described arm I
One end is flexibly connected with described thrust bearing, and described arm I other end is flexibly connected with described arm II one end,
Described arm II other end is flexibly connected with described arm III one end, and described arm III other end is provided with crawl folder,
Described thrust bearing is fixedly mounted on described car body.
Further, the described folder that captures is provided with meshing gear, described arm I, described arm II, described arm III,
Described crawl is designed with motor on folder.
The invention has the beneficial effects as follows: the walking of wheel displacement can be realized in disaster relief, complete rescuing
Help the transport of goods and materials and the collection to dangerous substances.
Accompanying drawing explanation
Fig. 1 is the tomograph of the variable-distance material storage and transportation collecting robot people of the present invention；
Fig. 2 is the front view of the variable-distance material storage and transportation collecting robot people of the present invention；
Fig. 3 is the side view of the variable-distance material storage and transportation collecting robot people of the present invention；
Fig. 4 is the upward view of the variable-distance material storage and transportation collecting robot people of the present invention；
In accompanying drawing, the list of parts representated by each label is as follows:
1, car body, 2, car body side plate, 3, screw rod, 4, wheel, 5, wheel drive motors, 6, wheel
Away from motor, 7, guide post, 8, thrust bearing, 9, turning arm motor, 10, turning arm, 11, stretch
Contracting arm, 12, telescopic arm motor, 13, tilt collecting board, 14, vertical collecting plate, 15, bearer network,
16, arm I, 17, arm II, 18, arm III, 19, capture folder, 20, bevel gear I, 21, tooth bar,
22, gear, 23, swivel nut, 24, motor, 25 bevel gears II.
Detailed description of the invention
Being described principle and the feature of the present invention below in conjunction with accompanying drawing, example is served only for explaining this
Invention, is not intended to limit the scope of the present invention.
As shown in Fig. 1, Fig. 3, Fig. 4, the car body side plate 2 of described rectangle is positioned at the two of described car body 1
Side, the inner side of car body side plate 2 is installed with swivel nut 23, and described wheel drive motors 5 is fixedly mounted on
Inside car body side plate 2, the motor shaft in wheel drive motors 5 is through car body side plate 2 and car body side plate 2
The wheel 4 in outside is fixing to be connected, and wheel drive motors 5 drives wheel 4 to rotate, and wheelspan motor 6 is fixed
It is arranged on car body 1, the bevel gear I 20 of screw rod 3 one end and the bevel gear II 25 on wheelspan motor 6
Engagement, screw rod 3 other end swivel nut 23 hard-wired with inside car body side plate 2 coordinates and through car body
Side plate 2 stretches out the outside of car body side plate 2, and wheelspan motor 6 rotates and drives screw rod 3 to rotate so that swivel nut
23 move on screw rod 3, and swivel nut 23 drives car body side plate 2 to move thus adjusts between car body side plate 2
Distance.Car body side plate 2 is provided with two guide posts 7 through car body side plate 2.
As shown in Figure 1 and Figure 2, material collecting device includes turning arm 10, telescopic arm 11, is fixed on rotation
Telescopic arm motor 12 on pivoted arm 10, inclination collecting board 13, vertical collecting plate 14, bearer network 15,
Turning arm 10 is connected with turning arm motor 9, and turning arm motor 9 is fixedly mounted on car body 1, carrying
Net 15 is arranged on the inner side of turning arm 10, is arranged on rotation for collecting the inclination collecting board 13 of goods and materials
The arm end of arm 10, tilts collecting board 13 and is equivalent to turning arm 10 rotatably, and vertical collecting plate 14 is installed
On telescopic arm 11, telescopic arm 11 is arranged on inside turning arm 10, and telescopic arm 11 can follow turning arm
10 rotate.
Being provided with chute inside described turning arm 10, equipped with tooth bar 21 on telescopic arm 11, telescopic arm 11 is pacified
It is contained in the chute of turning arm 10, as in figure 2 it is shown, the tooth bar 21 on telescopic arm 11 and telescopic arm electricity
Gear 22 on machine 12 is meshed, and telescopic arm motor 12 driven gear 22 rotates, and gear 22 drives
Tooth bar 21 moves, thus drives telescopic arm 11 to move in the chute of turning arm 10.
As it is shown on figure 3, robot device include being fixedly mounted on car body 1 upper surface thrust bearing 8,
Arm II 17 and arm II 17 that the arm I 16 being arranged on thrust bearing 8 is flexibly connected with arm I 16 are lived
The crawl folder 19 that the arm III 18 being dynamically connected is connected with arm III 18, the lower end of arm I 16 is arranged on thrust axis
Holding on 8, thrust bearing 8 band swing arm I 16 realizes rotating, the upper end of arm I 16 and one end of arm II 17
Using axle connected mode to be flexibly connected, the other end of arm II 17 uses axle connection side with one end of arm III 18
Formula is flexibly connected, and the other end of arm III 18 is flexibly connected with capturing folder 19 employing axle connected mode.At arm
I 16, it is fitted with motor 24 for driving between each arm on arm II 17, arm III 18, crawl folder 19
Motion.Capturing and be provided with pitch wheel on folder 19, motor controls the motion of drivewheel to be made to grab
Take folder 19 folding and capture goods and materials.
Its work process is: wheel drive motors 5 provides power to make wheel 4 rotate, and wheelspan motor 6 leads to
Crossing the transmission between bevel gear II 25 and bevel gear I 20 makes screw rod 3 band movable snail sleeve 23 rotate, swivel nut
23 move the spacing changed between two car body side plates 2 being connected fixing with swivel nut 23, side on screw rod 3
Just the robot road by different in width, when goods and materials collected by needs, is arranged on thrust bearing 8
Arm I 16 in robot device can be with 360 degree of rotations, and arm I 16, arm II 17 and arm III 18 coordinate fortune
Dynamic, capture folder 19 and can complete the crawl of all directions goods and materials, deliver to goods and materials specify position.Rotate
Arm motor 9 drives the turning arm about 10 in material collecting device to rotate, and makes inclination collecting board 13
Collecting goods and materials, vertical collecting plate 14 can be extended by telescopic arm 11 or shorten to be received goods and materials at a distance
Collection arrives in bearer network 15.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all in the present invention
Spirit and principle within, any modification, equivalent substitution and improvement etc. made, should be included in this
Within bright protection domain.
Claims (4)
1. a variable-distance material storage and transportation collecting robot people, it is characterised in that include variable-distance walking dress
Put, material collecting device, robot device, car body, turning arm motor, described variable-distance running gear
Being arranged on described car body, described turning arm motor is fixedly mounted on described car body, and described goods and materials are collected
Device is connected with described turning arm motor, and described robot device is arranged on described car body；
Described variable-distance running gear includes car body side plate, is fixedly installed spiral shell inside described car body side plate
Set, and on described car body side plate, it is provided through the guide post of described car body side plate；
Described material collecting device include telescopic arm motor, vertical collecting plate, tilt collecting board, bearer network,
Telescopic arm, turning arm, described turning arm one end is connected with described turning arm motor, described turning arm another
End is connected with described telescopic arm, and described bearer network is connected with described turning arm, and described telescopic arm motor is installed
On described turning arm, described vertical collecting plate is arranged on described telescopic arm, and described inclination collecting board is pacified
Being contained on described turning arm, described inclination collecting board is rotatable relative to described turning arm；Described turning arm
Inner side is provided with chute, and equipped with tooth bar on described telescopic arm, described telescopic arm is arranged on the cunning of described turning arm
In groove, described tooth bar is meshed with the gear on described telescopic arm motor.
A kind of variable-distance material storage and transportation collecting robot people the most according to claim 1, its feature exists
In, described variable-distance running gear also includes wheel, wheel drive motors, screw rod, wheelspan motor, cone
Gear I, bevel gear II, described car body side plate is positioned at the both sides of described car body, described wheel drive motors
Being fixedly mounted on inside described car body side plate, described wheel is with the motor shaft in described wheel drive motors even
Connecing, described wheelspan motor is arranged on described car body, the bevel gear II on described wheelspan motor and described spiral shell
The bevel gear I of bar one end is meshed, and the described screw rod other end is through being fixed on inside described car body side plate
Swivel nut stretches to outside car body side plate.
A kind of variable-distance material storage and transportation collecting robot people the most according to claim 1, its feature exists
In, described robot device includes thrust bearing, arm I, arm II, arm III, described arm I one end and institute
Stating thrust bearing to be flexibly connected, the described arm I other end is flexibly connected with described arm II one end, described arm II
The other end is flexibly connected with described arm III one end, and the described arm III other end is connected with capturing folder, described thrust
Bearing is fixedly mounted on described car body.
A kind of variable-distance material storage and transportation collecting robot people the most according to claim 3, its feature exists
In, the described folder that captures is provided with meshing gear, described arm I, described arm II, described arm III, described in grab
Take and on folder, be designed with motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310389929.3A CN103481275B (en) | 2013-08-30 | 2013-08-30 | A kind of variable-distance material storage and transportation collecting robot people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310389929.3A CN103481275B (en) | 2013-08-30 | 2013-08-30 | A kind of variable-distance material storage and transportation collecting robot people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103481275A CN103481275A (en) | 2014-01-01 |
| CN103481275B true CN103481275B (en) | 2016-11-23 |
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ID=49822044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310389929.3A Expired - Fee Related CN103481275B (en) | 2013-08-30 | 2013-08-30 | A kind of variable-distance material storage and transportation collecting robot people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103481275B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111297575A (en) * | 2019-12-30 | 2020-06-19 | 南京晨光集团有限责任公司 | Multifunctional unmanned rescue device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61100806A (en) * | 1984-09-28 | 1986-05-19 | Kikai Syst Shinko Kyokai | Maintenance robot |
| CN101407061A (en) * | 2007-10-09 | 2009-04-15 | 上海市吴淞中学 | Multifunction manipulator |
| CN101961532A (en) * | 2010-08-09 | 2011-02-02 | 孟凡滨 | Disaster-situation accompanying robot |
| ES1073757Y (en) * | 2010-09-20 | 2011-05-06 | Proyectos Y Tecnologia Sallen S L | TELECOMMAND ROBOT FOR SPECIAL OPERATIONS |
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2013
- 2013-08-30 CN CN201310389929.3A patent/CN103481275B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN103481275A (en) | 2014-01-01 |
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Granted publication date: 20161123 Termination date: 20170830 |