CN103624765A - Modular search and rescue robot with reconfigurable function - Google Patents
Modular search and rescue robot with reconfigurable function Download PDFInfo
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- CN103624765A CN103624765A CN201310716861.5A CN201310716861A CN103624765A CN 103624765 A CN103624765 A CN 103624765A CN 201310716861 A CN201310716861 A CN 201310716861A CN 103624765 A CN103624765 A CN 103624765A
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Abstract
The invention discloses a modular search and rescue robot with a reconfigurable function and relates to a search and rescue robot in order to solve the problems that the conventional search and rescue robot has limited functions, is low in expandability and difficultly configures the search and rescue function reasonably according to the disaster in complicated search and rescue work. A first working module comprises a mobile trolley, a mobile telescoping mechanism and a cutting mechanism; the cutting mechanism is hinged to the telescoping mechanism; a mobile module and the mobile trolley comprise trolley shells and trolley body moving components; the trolley body moving components are arranged on the trolley shells; the trolley shells are rectangular box bodies, and an opening is formed in one end of each rectangular box body; the mobile module is connected with the mobile trolley through a first connection module; a first connection piece on the first connection module is fixedly connected with the trolley shell on the first working module; an insertion body on the first connection module is fixedly connected with the trolley shell on the mobile module; the mobile telescoping mechanism and the cutting mechanism are arranged in the shells on the mobile trolley through the opening in the mobile trolley. The modular search and rescue robot disclosed by the invention is used in a complicated and severe cutting environment.
Description
Technical field
The present invention relates to a kind of search and rescue robot, be specifically related to a kind of modularization search and rescue robot of reconfigurable function.
Background technology
Search and rescue robot is applied in search-and-rescue work, can be in danger, under complex environment, launch video acquisition, and cutting foreign material, prop up the work such as weight, can effectively improve the efficiency of search and rescue and minimizing rescuer's injures and deaths.But existing search and rescue robot only has a locomotive ，Yi Ge locomotive robot can only complete a task mostly, has the limited problem of function; In existing search and rescue robot structure, generally there is the railing of expenditure, cause that volume is large, extended capability is poor, in complicated search-and-rescue work, be difficult to search and rescue function according to the condition of a disaster reasonable disposition.
Summary of the invention
The present invention is limited in order to solve existing search and rescue robot function, and extended capability is poor, is difficult to search and rescue according to the condition of a disaster reasonable disposition the problem of function in complicated search-and-rescue work, and then a kind of modularization search and rescue robot of reconfigurable function is provided.
The modularization search and rescue robot of reconfigurable function of the present invention comprises the first operation module, the first link block and mobile module, the first operation module comprises travelling car, moving telescopic mechanism and cutting mechanism, cutting mechanism is hinged on telescoping mechanism, mobile module and travelling car include car housing and car body moving-member, car body moving-member is arranged on car housing, car housing is the rectangle box body of an end opening, mobile module is connected with travelling car by the first link block, the first connector in the first link block is fixedly connected with the car housing in the first operation module, grafting body in the first link block is fixedly connected with the car housing on mobile module, moving telescopic mechanism and cutting mechanism are arranged in the housing on travelling car by the opening on travelling car.
The invention has the beneficial effects as follows:
One, mobile module of the present invention adopts crawler belt mode, good to complex road surface situation adaptability, can under rescue adverse circumstances, move smoothly.Link block can guarantee the relative position of search and rescue robot modules in rescue process, improves robot accommodative ability of environment and flexibility.Operation module adopts modularization, can select different work module according to different task, raises the efficiency; Integrated degree is high, can shrink in robot body.
Two, mobile module and operation module have mobile drive motors, drive power large, and move reliably on the injustice road surface of jolting.
Three, volume of the present invention has compared with prior art reduced below one times.
Accompanying drawing explanation
Fig. 1 is overall structure stereogram of the present invention;
Fig. 2 is the overall structure stereogram of the first operation modules A under in working order;
Fig. 3 be the first operation modules A under off position, cutting mechanics arm is contracted in the structural perspective in shell body 21;
Fig. 4 is the syndeton schematic diagram of the 3rd tooth bar 20, slide rail 17 and slide block 35;
Fig. 5 is the structural representation that shell body 21 1 sides are positioned at a crawler belt 24;
Fig. 6 is the cutaway view of cutting mechanism A3 under in working order;
Fig. 7 is the use state top perspective view of the first link block B1 or the second link block B2;
Fig. 8 is the main parallax stereogram of use state of the first link block B1 or the second link block B2;
Fig. 9 is the position relationship top perspective view of the main slave module B-2 of Three Degree Of Freedom and two leading screw adjusting module B-3;
Figure 10 is the main parallax stereogram of position relationship of the main slave module B-2 of Three Degree Of Freedom and two leading screw adjusting module B-3;
Figure 11 is the stereogram of the main slave module B-2 of Three Degree Of Freedom;
Figure 12 is the cutaway view of leading screw adjusting module B-3.
Figure 13 is that putting module F is arranged on the cutaway view on travelling car A1.
Figure 14 is the top view of Figure 13.
The specific embodiment
The specific embodiment one: in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 7 and Fig. 8 illustrate present embodiment, the modularization search and rescue robot of the reconfigurable function of present embodiment comprises the first operation modules A, the first link block B1 and mobile module C, the first operation modules A comprises travelling car A1, the A2 of moving telescopic mechanism and cutting mechanism A3, cutting mechanism A3 is hinged on telescoping mechanism A2, mobile module C and travelling car A1 include car housing 21 and car body moving-member D, car body moving-member D is arranged on car housing 21, car housing 21 is the rectangle box body of an end opening 21-1, mobile module C is connected with travelling car A1 by the first link block B1, be the opening 21-1 of the car housing 21 on mobile module C outwardly, the opening 21-1 of the car housing 21 on travelling car A1 outwardly, the first connector B-4 on the first link block B1 is fixedly connected with the car housing 21 in the first operation modules A, grafting body B-7 on the first link block B1 is fixedly connected with the car housing 21 on mobile module C, the A2 of moving telescopic mechanism and cutting mechanism A3 are arranged in the housing 21 on travelling car A1 by the opening 21-1 on travelling car A1.
The specific embodiment two: present embodiment is described in conjunction with Fig. 2～Fig. 5, the car body moving-member D of present embodiment comprises that two drive Athey wheel 22, two driven Athey wheels 23, article two, crawler belt 24, two baffle plates 25, two drive motors 27, two the first driven gears 30, two the first driving gears 28, two bracing frames 33, four wheel shafts 29, eight the 3rd ball bearings 31 and eight bearing blocks 32, in each bearing block 32, be provided with the 3rd ball bearing 31, the both ends of the surface of each the 3rd ball bearing 31 are provided with end ring 36, before car housing 21, two wheel shafts 29 are respectively installed on rear end, two wheel shafts 29 of front end are symmetricly set on the lateral wall of car housing 21 both sides with the longitudinal centre line N-N of car housing 21, two wheel shafts 29 of rear end are symmetrical arranged on the lateral wall of car housing 21 both sides with the longitudinal centre line N-N of car housing 21, on two wheel shafts 29 of car housing 21 rear ends (being opening 21-1 one end), a driven Athey wheel 23 is respectively installed, on two wheel shafts 29 of car housing 21 front ends, respectively install one and drive Athey wheel 22, between the driving Athey wheel 22 of car housing 21 the same sides and driven Athey wheel 23, by a crawler belt 24, be connected, and a bracing frame 33 is set between the driving Athey wheel 22 of homonymy and driven Athey wheel 23, on bracing frame 33, the end face of the longitudinal side wall of car housing 21 is fixedly connected with car housing 21 relatively, the outside of each bracing frame 33 is fixedly connected with a baffle plate 25, the two ends of each wheel shaft 29 are separately installed with bearing block 32, and wheel shaft 29 is arranged on car housing 21 by bearing block 32, each drives on the wheel shaft 29 in Athey wheel 22 first driven gear 30 is installed, the first driven gear 30 and the first driving gear 28 engagements, the first driving gear 28 is arranged on the output shaft of drive motors 27 by key, drive motors 27 is packed on bracing frame 33.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: present embodiment is described in conjunction with Fig. 4, the A2 of moving telescopic mechanism of present embodiment comprises flexible motor 16, motor cabinet 18, driven gear 19, the 3rd tooth bar 20, two slide rails 17 and two slide blocks 35, two slide rails 17 are fixed on the upper surface of car housing 21 bottoms along the parallel longitudinal of car housing 21, each slide rail 17 is combined with a slide block being slidably connected with it 35, slide block 35 is fixedly mounted on the lower surface of telescopic boom body 3-1, the upper one end contrary with connecting axle 11 of telescopic boom body 3-1 is installed with motor cabinet 18, flexible motor 16 is arranged on motor cabinet 18, on the output shaft of flexible motor 16, by key, be set with driven gear 19, driven gear 19 and the 3rd tooth bar 20 engagements, the 3rd tooth bar 20 is fixedly mounted on the upper surface of car housing 21, the 3rd tooth bar 20 be arranged in parallel with slide rail 17.Other composition and annexation are identical with the specific embodiment one or two.
The operation principle of the first operation modules A:
The work of the first operation modules A mainly can be divided into three phases: cutting movement, cutting mechanics arm stretch out the recovery with cutting, cutting mechanics arm.
During cutting robot motion, do not carry out cutting work, cutting mechanics arm is folding to be closed in the shell body 21 of travelling car, two drive motors 27 of travelling car start, drive driving gear 28 and driven gear 30 to rotate, two wheel shafts 29 rotate, and two drive Athey wheel 22 to rotate thereupon, thereby drive crawler belt 24 and driven Athey wheel 23 motions.
While arriving cutting position, flexible motor 16 starts, and driven gear 19 rotates on fixing tooth bar 20, make integral cutting mechanical arm and travelling car produce relative motion, stretch out cutting mechanics arm, turning motor 10 starts, by drive bevel gear 15 and by dynamic bevel gear 34 transmissions, connecting axle 11 rotates thereupon, makes forearm 2 revolutions, and electric rotating machine 6 starts, drive end cutting hand 1 to rotate, realize cutting tool 4 and arrive operating position, then cutting motor 5 starts, and carries out cutting work.
After having cut; cutting motor 5 is shut down; electric rotating machine 6 starts with turning motor 10; make forearm 2 and end cutting hand 1 get back to initial position; flexible motor 16 starts; drive integral cutting mechanical arm to be recovered in travelling car, two drive motors 27 of travelling car start, and drive travelling car to go to next operating position.
The specific embodiment four: present embodiment is described in conjunction with Fig. 2 and Fig. 6, the cutting mechanism A3 of present embodiment comprises cutting hand 1, forearm 2, large arm 3 and cutting tool 4, cutting tool 4 is fixedly mounted on one end of cutting hand 1, the other end of cutting hand 1 is connected with one end of forearm 2, the other end of forearm 2 is rotationally connected with large arm 3, large arm 3 is fixedly mounted on the A2 of moving telescopic mechanism, cutting hand 1 comprises cutting motor 5, cursor body 5-1 and flange 7, forearm 2 comprises forearm body 2-1, electric rotating machine 6, electric rotating support 9 and two the first ball bearings 8, large arm 3 comprises telescopic boom body 3-1, turning motor 10, connecting axle 11, bearing (ball) cover 13, turning motor seat 14, drive bevel gear 15, by dynamic bevel gear 34 and two the second ball bearings 12, cursor body 5-1, forearm body 2-1 and telescopic boom body 3-1 are hollow housing, an end face of flange 7 is processed with circular shaft 7-1, on circular shaft 7-1, be set with two the first ball bearings 8, cutting motor 5 is fixedly mounted in cursor body 5-1, electric rotating machine 6 is fixedly mounted in electric rotating support 9, electric rotating support 9 is arranged in forearm body 2-1, one end of cursor body 5-1 is fixedly connected with cutting tool 4, the rotary tool axis of the output shaft of cutting motor 5 and cutting tool 4 is connected, the other end of cursor body 5-1 is connected with one end of forearm body 2-1 by flange 7, circular shaft 7-1 is fixedly connected with the output shaft of electric rotating machine 6 through the sidewall of forearm body 2-1, the other end of forearm body 2-1 and one end of telescopic boom body 3-1 are rotationally connected by connecting axle 11, the two ends of connecting axle 11 are respectively installed with second ball bearing 12, one end of connecting axle 11 is provided with bearing (ball) cover 13, the other end of connecting axle 11 is set with drive bevel gear 15 by key, drive bevel gear 15 with by dynamic bevel gear 34, meshed, by dynamic bevel gear 34, be arranged on the output of turning motor 10, turning motor 10 is fixedly mounted in turning motor seat 14, turning motor seat 14 is fixedly mounted on telescopic boom body 3-1.Other composition and annexation are identical with the specific embodiment three.
The specific embodiment five: present embodiment is described in conjunction with Fig. 7～Figure 10, the first link block B1 of present embodiment comprises multidiameter B-1, the main slave module B-2 of Three Degree Of Freedom, the first connector B-4, the second connector B-5, power transmission shaft B-6, grafting body B-7, the second driven gear B-8, the second driving gear B-9, the first motor B-10, electromagnetism fastener B-11 and two leading screw adjusting module B-3, described two leading screw adjusting module B-3 be arranged in parallel side by side, one end of each leading screw adjusting module B-3 and the first connector B-4 are hinged, the other end of leading screw adjusting module B-3 and the second connector B-5 are hinged, the other end of the first connector B-4 is connected with the second driven gear B-8 by power transmission shaft B-6, the second driven gear B-8 and the second driving gear B-9 engagement, the second driving gear B-9 is arranged on the first motor B-10, the other end of the second connector B-5 is fixedly connected with grafting body B-7, the main slave module B-2 of described Three Degree Of Freedom be arranged on two leading screw adjusting module B-3 below, Y-direction moving block B-2-6 on the main slave module B-2 of Three Degree Of Freedom is positioned at grafting body B-7 mono-side, multidiameter B-1 be positioned at the main slave module B-2 of Three Degree Of Freedom below, and multidiameter B-1 is connected with the directions X moving block B-2-1 on the main slave module B-2 of Three Degree Of Freedom, electromagnetism fastener B-11 is packed on multidiameter B-1.Other composition and annexation are identical with the specific embodiment one, two or four.
The specific embodiment six: present embodiment is described in conjunction with Figure 12, each leading screw adjusting module B-3 of present embodiment comprises rotation end contiguous block B-3-1, the first movable block B-3-2, leading screw connector B-3-3, leading screw B-3-4, feed screw nut B-3-5, the outer B-3-6 of screw set, screw set connector B-3-7, the second movable block B-3-8, fixed connecting piece B-3-9 and six bearing pin B-3-10, the outer end and the first connector B-4 that rotate end contiguous block B-3-1 are hinged, one end of the first movable block B-3-2 is hinged with rotation end contiguous block B-3-1 by a bearing pin B-3-10, the other end of the first movable block B-3-2 is hinged by one end of a bearing pin B-3-10 and leading screw connector B-3-3, the other end of leading screw connector B-3-3 is hinged by one end of a bearing pin B-3-10 and leading screw B-3-4, the other end of leading screw B-3-4 is threaded with feed screw nut B-3-5, feed screw nut B-3-5 is fixedly mounted in one end of the outer B-3-6 of screw set, the other end of the outer B-3-6 of screw set is hinged by one end of a bearing pin B-3-10 and the second movable block B-3-8 by the other end of a bearing pin B-3-10 and screw set connector B-3-7 screw set connector B-3-7, the other end of the second movable block B-3-8 is hinged by a bearing pin B-3-10 and fixed connecting piece B-3-9, the outer end of fixed connecting piece B-3-9 and the second connector B-5 are hinged.The first motor B-10 drives leading screw B-4 to rotate, thereby regulate the distance between the first connector B-4 and the second connector B-5, the object of leading screw B-3-4 is in order to realize the variation of leading screw adjusting module length, with leading screw B-3-4 adjusting module, than cylinder and hydraulic pressure, there is good controllability, higher precision, and there is auto-lock function between the outer B-3-6 of leading screw B-3-4 and screw set, can effectively control the length with adjusting screw adjusting module, and then accurately and effectively control connection joint around Z axis, the rotational angle of Y-axis, rotate end contiguous block B-3-1, the first movable block B-3-2 and leading screw connector B-3-3 can well be delivered to the rotation of the first motor B-10 on leading screw B-3-4, screw set connector B-3-7, the second movable block B-3-8 and fixed connecting piece B-3-9 have formed universal coupling.Other composition and annexation are identical with the specific embodiment five.
The specific embodiment seven: present embodiment is described in conjunction with Figure 11, the main slave module B-2 of Three Degree Of Freedom of present embodiment comprises directions X moving block B-2-1, Z direction moving block B-2-2, bolt B-2-3, pin B-2-4, nut B-2-5 and Y-direction moving block B-2-6, one end of directions X moving block B-2-1 and Z direction moving block B-2-2 is hinged by pin B-2-4, the other end of Z direction moving block B-2-2 is provided with fork plate mounting groove B-2-2-1, the link of Y-direction moving block B-2-6 is arranged in fork plate mounting groove B-2-2-1, and it is hinged that Y-direction moving block B-2-6 passes through bolt B-2-3 and nut B-2-5 and Z direction moving block B-2-2.Directions X moving block B-2-1 is comprised of level board B-2-1-1 and vertical panel B-2-1-2, and vertical panel B-2-1-2 arranges with level board B-2-1-1 is vertical, arranges like this and is convenient to being connected of directions X moving block B-2-1 and outer relay part.The thickness of level board B-2-1-1 and vertical panel B-2-1-2 is 3mm～5mm, level board B-2-1-1 and vertical panel 2-1-2 adopt 3mm～5mm thickness, can reduce the resistance rotating, there is good function of seismic resistance, thereby realize high accuracy, control and and higher control stability.Y-direction moving block B-2-6 is sheet, and its thickness is 5mm～10mm, and laminated structure can reduce the resistance rotating, and has good function of seismic resistance, thereby realize high accuracy, controls and and higher control stability.Other composition and annexation are identical with the specific embodiment six.
The operation principle of the first link block B1:
Around Z axis, rotate: the corner of controlling respectively two motors 10, thereby control the angle that leading screw 3-4 turns, the length of leading screw adjusting module is changed, the design parameter of two parts that connect according to connection joint, just can calculate two leading screw adjusting module correspondences and rotate needed variation length around Z axis, control two leading screw adjusting module length rate over time, two parts that just can make joint connect rotate around Z axis, and guarantee that Y-direction moving block 2-6 is motionless, thereby realize, around Z axis, rotate, if the length of the leading screw adjusting module 3 on the left side is greater than the length of the leading screw adjusting module 3 on the right and just turns right, otherwise turn left.
Around Y-axis, rotate: the corner of controlling respectively two motors 10, thereby control the angle that leading screw 3-4 turns, the length that two leading screw adjusting modules are changed is consistent, two parts that just can make joint connect just in time rotate around Y-axis, 2-2 is motionless for Z direction moving block, thereby realize the rotation around Y-axis, it is exactly upwards to rotate that two leading screw adjusting modules 3 shorten, and elongated is exactly to rotate.
Around Y-axis and Z axis, rotate: control respectively two motors 10 simultaneously, make the length variations of two leading screw adjusting modules 3, the design parameter of two parts that connect according to connection joint, just can calculate left and right leading screw adjusting module 3 correspondences and rotate needed variation length around Z axis, control length variations and just can make joint not only around Z axis, rotate certain angle but also rotate certain angle around Y-axis.
Directions X moves: when electromagnetism fastener unclamps, multidiameter 1 can move at directions X, thereby directions X moving block 2-1 can be moved at directions X, when electromagnetism fastener 8 compresses, multidiameter 1 can not move at directions X, and directions X moving block 2-1 just can not move at directions X, when directions X moving block 2-1 is after directions X has occurred to move, joint also can be rotated around Y-axis, can carry out perception by increasing sensor, then controls motor 10 rotations and neutralizes the rotation around Y-axis.
Mix to change: when X-direction moves and rotates need to occur time around Y-axis and Z axis simultaneously, can separately analyze the feature of each independently moving, the angle of motor 10 required rotations, is finally superimposed various situations again, just can realize mixing changing.
After joint is around Z axis or Y-axis rotation, rotate end contiguous block 3-1 and leading screw connector 3-3 and can produce a corner, screw set connector 3-7 and fixed connecting piece 3-9 can produce a corner equally.When joint is during again around the rotation of Z axis or Y-axis, so, owing to existing angle no longer linear between connector, rotating, the rotation of the rotation of motor 10 and leading screw 3-4 hold contiguous block 3-1, the first movable block 3-2 identical with the structural principle of Hooks coupling universal coupling with the structural principle of leading screw connector 3-3.
The specific embodiment eight: present embodiment is described in conjunction with Figure 11, present embodiment is different from the specific embodiment seven is that it also increases and has the second link block B2 and the second operation module E, the structure of the second link block B2 is identical with the structure of the first link block B, the second operation module E comprises travelling car A1 and putting module F, putting module F is arranged on travelling car A1, the first connector B-4 on the second link block B2 is fixedly connected with the car housing 21 on mobile module C, grafting body B-7 on the second link block B2 is fixedly connected with the car housing 21 on the second operation module E, opening 21-1 on car housing 21 in putting module F outwardly.When operation complexity needs a plurality of operation module, can increase operation module according to mission requirements.Other composition and annexation are identical with the specific embodiment seven.
The specific embodiment nine: present embodiment is described in conjunction with Figure 11, the putting module F of present embodiment comprises input motor F-1, the 3rd driving gear F-2, the first tooth bar F-3, driving pulley F-4, belt F-5, passive belt wheel F-6, the 3rd driven gear F-7, the second tooth bar F-8, the first movable plate F-9, the second movable plate F-11, hinge F-13, plate F-14, two the first rectilinear orbit F-10 and two the second rectilinear orbit F-12, the 3rd driving gear F-2 and driving pulley F-4 are installed on the output shaft of throwing in motor F-1, the 3rd driving gear F-2 and the first tooth bar F-3 engagement, driving pulley F-4 and the 3rd driving gear F-2 are fixed together, driving pulley F-4 is connected with passive belt wheel F-6 by belt F-5, the 3rd driven gear F-7 and passive belt wheel F-6 are fixed together, the 3rd driven gear F-7 and the second tooth bar F-8 engagement, the second tooth bar F-8 is arranged on the first movable plate F-9, the first movable plate F-9 and two the first rectilinear orbit F-10 are slidably connected, two the first rectilinear orbit F-10 are set in parallel on the second movable plate F-11, the second movable plate F-11 is connected with input motor F-1, the second movable plate F-11 and two the second rectilinear orbit F-12 are slidably connected, two the second rectilinear orbit F-12 be arranged in parallel, plate F-14 is connected to the front end of the first movable plate F-9 by hinge F-13, the first tooth bar F-3 is packed on corresponding travelling car A1.Other composition and annexation are identical with the specific embodiment eight.
The operation principle of putting module F:
Camera module, shoring instrument etc. is placed on plate F-14, during work, start and throw in motor F-1, drive the 3rd driving gear F-2 to rotate, the 3rd driving gear F-2 and the first tooth bar F-3 engagement, the 3rd driving gear F-2 drives the first movable plate F-9 being connected with input motor F-1 outwards to move, meanwhile, driving pulley F-4 is also thrown in motor F-1 and is driven rotation, by belt F-5, drive passive belt wheel F-6 to rotate, the 3rd driven gear F-7 rotates thereupon, the 3rd driven gear F-7 and the second tooth bar F-8 engagement, make also outwards motion simultaneously of the second movable plate F-11, by the camera module on plate F-14, shoring the inputs such as instrument goes out.
The specific embodiment ten: in conjunction with Figure 11, present embodiment is described, the different from the specific embodiment nine of present embodiment are that putting module F also comprises electromagnet, electromagnet be arranged on hinge F-13 below.Before plate F-14, need to shore instrument with other and combine while using, electromagnet is used for adsorbing this and shores instrument.When shoring instrument, stretch out completely, when rack-and-pinion moves to extreme position, the electromagnet dead electricity of fixture 2-6 below, the instrument of shoring moves downward and arrives operating position.When shoring tool work and complete, shore part while regaining completely, a torsion spring will play a role the instrument of shoring is pulled up, and then electromagnet obtains electric being adsorbed on electromagnet.Now motor reversal can be regained shoring parts.Other composition and annexation are identical with the specific embodiment nine.
Claims (10)
1. the modularization search and rescue robot of a reconfigurable function, it is characterized in that: the modularization search and rescue robot of described reconfigurable function comprises the first operation module (A), the first link block (B1) and mobile module (C), the first operation module (A) comprises travelling car (A1), moving telescopic mechanism (A2) and cutting mechanism (A3), cutting mechanism (A3) is hinged on telescoping mechanism (A2), mobile module (C) and travelling car (A1) include car housing (21) and car body moving-member (D), car body moving-member (D) is arranged on car housing (21), car housing (21) is the rectangle box body of an end opening (21-1), mobile module (C) is connected with travelling car (A1) by the first link block (B1), the first connector (B-4) in the first link block (B1) is fixedly connected with the car housing (21) in the first operation module (A), grafting body (B-7) in the first link block (B1) is fixedly connected with the car housing (21) on mobile module (C), moving telescopic mechanism (A2) and cutting mechanism (A3) are arranged in the housing (21) on travelling car (A1) by the opening (21-1) on travelling car (A1).
2. a kind of modularization search and rescue robot of reconfigurable function according to claim 1, it is characterized in that: described car body moving-member (D) comprises that two drive Athey wheel (22), two driven Athey wheels (23), article two, crawler belt (24), two baffle plates (25), two drive motors (27), two the first driven gears (30), two the first driving gears (28), two bracing frames (33), four wheel shafts (29), eight the 3rd ball bearings (31) and eight bearing blocks (32), in each bearing block (32), be provided with the 3rd ball bearing (31), before car housing (21), two wheel shafts (29) are respectively installed on rear end, two wheel shafts (29) of front end are symmetricly set on the lateral wall of car housing (21) both sides with the longitudinal centre line (N-N) of car housing (21), two wheel shafts (29) of rear end are symmetrical arranged on the lateral wall of car housing (21) both sides with the longitudinal centre line (N-N) of car housing (21), on two wheel shafts (29) of car housing (21) rear end, a driven Athey wheel (23) is respectively installed, on two wheel shafts (29) of car housing (21) front end, respectively install one and drive Athey wheel (22), between the driving Athey wheel (22) that is positioned at car housing (21) the same side and driven Athey wheel (23), by a crawler belt (24), be connected, and between the driving Athey wheel (22) of homonymy and driven Athey wheel (23), a bracing frame (33) is set, the end face of the longitudinal side wall of the upper relative car housing (21) of bracing frame (33) is fixedly connected with car housing (21), the outside of each bracing frame (33) is fixedly connected with a baffle plate (25), the two ends of each wheel shaft (29) are separately installed with bearing block (32), and wheel shaft (29) is arranged on car housing (21) by bearing block (32), each drives upper first driven gear (30) of installing of wheel shaft (29) in Athey wheel (22), the first driven gear (30) and the first driving gear (28) engagement, the first driving gear (28) is arranged on the output shaft of drive motors (27) by key, drive motors (27) is packed on bracing frame (33).
3. according to the modularization search and rescue robot of a kind of reconfigurable function described in claim 1 or 2, it is characterized in that: moving telescopic mechanism (A2) comprises flexible motor (16), motor cabinet (18), driven gear (19), the 3rd tooth bar (20), two slide rails (17) and two slide blocks (35), two slide rails (17) are fixed on the upper surface of car housing (21) bottom along the parallel longitudinal of car housing (21), each slide rail (17) is combined with a slide block being slidably connected with it (35), slide block (35) is fixedly mounted on the lower surface of telescopic boom body (3-1), the upper one end contrary with connecting axle (11) of telescopic boom body (3-1) is installed with motor cabinet (18), flexible motor (16) is arranged on motor cabinet (18), on the output shaft of flexible motor (16), by key, be set with driven gear (19), driven gear (19) and the 3rd tooth bar (20) engagement, the 3rd tooth bar (20) is fixedly mounted on the upper surface of car housing (21), the 3rd tooth bar (20) be arranged in parallel with slide rail (17).
4. a kind of modularization search and rescue robot of reconfigurable function according to claim 3, it is characterized in that: described cutting mechanism (A3) comprises cutting hand (1), forearm (2), large arm (3) and cutting tool (4), cutting tool (4) is fixedly mounted on one end of cutting hand (1), the other end of cutting hand (1) is connected with one end of forearm (2), the other end of forearm (2) is rotationally connected with large arm (3), cutting hand (1) comprises cutting motor (5), cursor body (5-1) and flange (7), forearm (2) comprises forearm body (2-1), electric rotating machine (6), electric rotating support (9) and two the first ball bearings (8), large arm (3) comprises telescopic boom body (3-1), turning motor (10), connecting axle (11), bearing (ball) cover (13), turning motor seat (14), drive bevel gear (15), by dynamic bevel gear (34) and two the second ball bearings (12), cursor body (5-1), forearm body (2-1) and telescopic boom body (3-1) are hollow housing, an end face of flange (7) is processed with circular shaft (7-1), on circular shaft (7-1), be set with two the first ball bearings (8), cutting motor (5) is fixedly mounted in cursor body (5-1), electric rotating machine (6) is fixedly mounted in electric rotating support (9), electric rotating support (9) is arranged in forearm body (2-1), one end of cursor body (5-1) is fixedly connected with cutting tool (4), the rotary tool axis of the output shaft of cutting motor (5) and cutting tool (4) is connected, the other end of cursor body (5-1) is connected with one end of forearm body (2-1) by flange (7), circular shaft (7-1) is fixedly connected with the output shaft of electric rotating machine (6) through the sidewall of forearm body (2-1), one end of the other end of forearm body (2-1) and telescopic boom body (3-1) is rotationally connected by connecting axle (11), the two ends of connecting axle (11) are respectively installed with second ball bearing (12), one end of connecting axle (11) is provided with bearing (ball) cover (13), the other end of connecting axle (11) is set with drive bevel gear (15) by key, drive bevel gear (15) with by dynamic bevel gear (34), meshed, by dynamic bevel gear (34), be arranged on the output of turning motor (10), turning motor (10) is fixedly mounted in turning motor seat (14), turning motor seat (14) is fixedly mounted on telescopic boom body (3-1).
5. according to claim 1, a kind of modularization search and rescue robot of reconfigurable function described in 2 or 4, it is characterized in that: described the first link block (B1) comprises multidiameter (B-1), the main slave module of Three Degree Of Freedom (B-2), the first connector (B-4), the second connector (B-5), power transmission shaft (B-6), grafting body (B-7), the second driven gear (B-8), the second driving gear (B-9), the first motor (B-10), electromagnetism fastener (B-11) and two leading screw adjusting modules (B-3), described two leading screw adjusting modules (B-3) be arranged in parallel side by side, one end of each leading screw adjusting module (B-3) and the first connector (B-4) are hinged, the other end of leading screw adjusting module (B-3) and the second connector (B-5) are hinged, the other end of the first connector (B-4) is connected with the second driven gear (B-8) by power transmission shaft (B-6), the second driven gear (B-8) and the second driving gear (B-9) engagement, the second driving gear (B-9) is arranged on the first motor (B-10), the other end of the second connector (B-5) is fixedly connected with grafting body (B-7), the main slave module of described Three Degree Of Freedom (B-2) be arranged on two leading screw adjusting modules (B-3) below, Y-direction moving block (B-2-6) on the main slave module of Three Degree Of Freedom (B-2) is positioned at grafting body (B-7) side, multidiameter (B-1) be positioned at the main slave module of Three Degree Of Freedom (B-2) below, and multidiameter (B-1) is connected with the directions X moving block (B-2-1) on the main slave module of Three Degree Of Freedom (B-2), electromagnetism fastener (B-11) is packed on multidiameter (B-1).
6. a kind of modularization search and rescue robot of reconfigurable function according to claim 5, it is characterized in that: described each leading screw adjusting module (B-3) comprises rotating holds contiguous block (B-3-1), the first movable block (B-3-2), leading screw connector (B-3-3), leading screw (B-3-4), feed screw nut (B-3-5), screw set outer (B-3-6), screw set connector (B-3-7), the second movable block (B-3-8), fixed connecting piece (B-3-9) and six bearing pins (B-3-10), one end of the first movable block (B-3-2) is hinged with rotation end contiguous block (B-3-1) by a bearing pin (B-3-10), the other end of the first movable block (B-3-2) is hinged with one end of leading screw connector (B-3-3) by a bearing pin (B-3-10), the other end of leading screw connector (B-3-3) is hinged with one end of leading screw (B-3-4) by a bearing pin (B-3-10), the other end of leading screw (B-3-4) is threaded with feed screw nut (B-3-5), feed screw nut (B-3-5) is fixedly mounted in one end of screw set outer (B-3-6), the other end of screw set outer (B-3-6) is hinged with one end of the second movable block (B-3-8) by a bearing pin (B-3-10) with the other end of screw set connector (B-3-7) screw set connector (B-3-7) by a bearing pin (B-3-10), the other end of the second movable block (B-3-8) is hinged by a bearing pin (B-3-10) and fixed connecting piece (B-3-9).
7. a kind of modularization search and rescue robot of reconfigurable function according to claim 6, it is characterized in that: the main slave module of described Three Degree Of Freedom (B-2) comprises directions X moving block (B-2-1), Z direction moving block (B-2-2), bolt (B-2-3), pin (B-2-4), nut (B-2-5) and Y-direction moving block (B-2-6), directions X moving block (B-2-1) is hinged by pin (B-2-4) with one end of Z direction moving block (B-2-2), the other end of Z direction moving block (B-2-2) is provided with fork plate mounting groove (B-2-2-1), the link of Y-direction moving block (B-2-6) is arranged in fork plate mounting groove (B-2-2-1), and Y-direction moving block (B-2-6) is hinged with Z direction moving block (B-2-2) by bolt (B-2-3) and nut (B-2-5).
8. a kind of modularization search and rescue robot of reconfigurable function according to claim 7, it is characterized in that: the modularization search and rescue robot of described reconfigurable function also comprises the second link block (B2) and the second operation module (E), the structure of the second link block (B2) is identical with the structure of the first link block (B), the second operation module (E) comprises travelling car (A1) and putting module (F), putting module (F) is arranged on travelling car (A1), the first connector (B-4) in the second link block (B2) is fixedly connected with the car housing (21) on mobile module (C), grafting body (B-7) in the second link block (B2) is fixedly connected with the car housing (21) in the second operation module (E), opening (21-1) on car housing (21) in putting module (F) outwardly.
9. a kind of modularization search and rescue robot of reconfigurable function according to claim 8, it is characterized in that: described putting module (F) comprises throws in motor (F-1), the 3rd driving gear (F-2), the first tooth bar (F-3), driving pulley (F-4), belt (F-5), passive belt wheel (F-6), the 3rd driven gear (F-7), the second tooth bar (F-8), the first movable plate (F-9), the second movable plate (F-11), hinge (F-13), plate (F-14), two the first rectilinear orbits (F-10) and two the second rectilinear orbits (F-12), the 3rd driving gear (F-2) and driving pulley (F-4) are installed on the output shaft of throwing in motor (F-1), the 3rd driving gear (F-2) and the first tooth bar (F-3) engagement, driving pulley (F-4) is fixed together with the 3rd driving gear (F-2), driving pulley (F-4) is connected with passive belt wheel (F-6) by belt (F-5), the 3rd driven gear (F-7) is fixed together with passive belt wheel (F-6), the 3rd driven gear (F-7) and the second tooth bar (F-8) engagement, the second tooth bar (F-8) is arranged on the first movable plate (F-9), the first movable plate (F-9) is slidably connected with two the first rectilinear orbits (F-10), two the first rectilinear orbits (F-10) are set in parallel on the second movable plate (F-11), the second movable plate (F-11) is connected with input motor (F-1), the second movable plate (F-11) is slidably connected with two the second rectilinear orbits (F-12), two the second rectilinear orbits (F-12) be arranged in parallel, plate (F-14) is connected to the front end of the first movable plate (F-9) by hinge (F-13), the first tooth bar (F-3) is packed on corresponding travelling car (A1).
10. a kind of modularization search and rescue robot of reconfigurable function according to claim 9, is characterized in that: described putting module (F) also comprises electromagnet, electromagnet be arranged on hinge (F-13) below.
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| WO2022259707A1 (en) * | 2021-06-08 | 2022-12-15 | 東京計器株式会社 | Yawing regulation device |
| CN113752242A (en) * | 2021-09-26 | 2021-12-07 | 河海大学 | Mechanical structure of bionic snake-shaped robot |
| CN114484150A (en) * | 2022-02-24 | 2022-05-13 | 南京航空航天大学 | Small crawler-type pipeline robot and motion method thereof |
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