CN103624765B - A kind of modularization search and rescue robot of reconfigurable function - Google Patents
A kind of modularization search and rescue robot of reconfigurable function Download PDFInfo
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- CN103624765B CN103624765B CN201310716861.5A CN201310716861A CN103624765B CN 103624765 B CN103624765 B CN 103624765B CN 201310716861 A CN201310716861 A CN 201310716861A CN 103624765 B CN103624765 B CN 103624765B
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Abstract
A modularization search and rescue robot for reconfigurable function, it relates to a kind of search and rescue robot, and limited to solve existing search and rescue robot function, extended capability is poor, is difficult to the problem of searching and rescuing function according to the condition of a disaster reasonable disposition in complicated search-and-rescue work.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 one end open, mobile module is connected with travelling car by the first link block, the first connector in first link block is fixedly connected with the car housing in the first operation module, grafting body in first link block is fixedly connected with the car housing on mobile module, moving telescopic mechanism and cutting mechanism are arranged on by the opening on travelling car in the housing on travelling car.The present invention is used for using in the severe cutting environment of circumstance complication.
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, in danger, can launch video acquisition under complex environment, and cutting foreign material, prop up the work such as weight, effectively can improve the efficiency of search and rescue and reduce the injures and deaths of rescuer.But existing search and rescue robot only has a locomotive mostly, a locomotive robot can only complete a task, there is the problem that function is limited; Existing search and rescue robot structure generally there is the railing of expenditure, cause that volume is large, extended capability is poor, be difficult to search and rescue function according to the condition of a disaster reasonable disposition in complicated search-and-rescue work.
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 the problem of searching and rescuing function according to the condition of a disaster reasonable disposition, and then provides a kind of modularization search and rescue robot of reconfigurable function in complicated search-and-rescue work.
The modularization search and rescue robot of reconfigurable function of the present invention comprises the first operation module, first link block and mobile module, 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 one end open, mobile module is connected with travelling car by the first link block, the first connector in first link block is fixedly connected with the car housing in the first operation module, grafting body in first link block is fixedly connected with the car housing on mobile module, moving telescopic mechanism and cutting mechanism are arranged on by the opening on travelling car in the housing on travelling car.
The invention has the beneficial effects as follows:
One, mobile module of the present invention adopts caterpillar manner, good to complex road surface situation adaptability, can movement smoothly under rescue adverse circumstances.Link block can ensure the relative position of search and rescue robot modules in rescue operations, improves robot accommodative ability of environment and flexibility.Operation module adopts modularization, can select different work module, raise the efficiency according to different task; Integration degree is high, can shrink in robot body.
Two, mobile module and operation module have mobile drive motors, drive power large, and injustice road surface of jolting is moved reliably.
Three, volume of the present invention compared with prior art decreases less than one times.
Accompanying drawing explanation
Fig. 1 is overall structure stereogram of the present invention;
Fig. 2 be the first operation modules A in working order under overall structure stereogram;
Fig. 3 be the first operation modules A in a quiescent state, cutting machine mechanical 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 side is positioned at a crawler belt 24;
Fig. 6 be cutting mechanism A3 in working order under sectional view;
Fig. 7 is the using state top perspective view of the first link block B1 or the second link block B2;
Fig. 8 is the main parallax stereogram of using 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 and two of a Three Degree Of Freedom leading screw adjusting module B-3;
Figure 10 is the main parallax stereogram of position relationship of Three Degree Of Freedom main slave module B-2 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 sectional view of leading screw adjusting module B-3.
Figure 13 is the sectional view that putting module F is arranged on travelling car A1.
Figure 14 is the top view of Figure 13.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1, Fig. 2, Fig. 3, Fig. 7 and Fig. 8 illustrates present embodiment, the modularization search and rescue robot of the reconfigurable function of present embodiment comprises the first operation modules A, first link block B1 and mobile module C, first operation modules 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 includes 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 one end open 21-1, mobile module C is connected with travelling car A1 by the first link block B1, the opening 21-1 of the car housing 21 namely 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 first link block B1 is fixedly connected with the car housing 21 in the first operation modules A, grafting body B-7 on first link block B1 is fixedly connected with the car housing 21 on mobile module C, moving telescopic mechanism A2 and cutting mechanism A3 is arranged on by the opening 21-1 on travelling car A1 in the housing 21 on travelling car A1.
Detailed description of the invention two: composition graphs 2 ~ Fig. 5 illustrates present embodiment, the car body moving-member D of present embodiment comprises two and drives 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, the 3rd ball bearing 31 is provided with in each bearing block 32, the both ends of the surface of each 3rd ball bearing 31 are provided with end ring 36, before car housing 21, rear end is respectively provided with two wheel shafts 29, 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, each installation driven Athey wheel 23 on two wheel shafts 29 of car housing 21 rear end (i.e. opening 21-1 one end), on two wheel shafts 29 of car housing 21 front end, each installation one drives Athey wheel 22, be connected by a crawler belt 24 between driving Athey wheel 22 in car housing 21 the same side with driven Athey wheel 23, and between the driving Athey wheel 22 of homonymy and driven Athey wheel 23, a bracing frame 33 is set, on bracing frame 33, the end face of the longitudinal side wall of relative car housing 21 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, wheel shaft 29 in each driving Athey wheel 22 installs first driven gear 30, first driven gear 30 engages with the first driving gear 28, first driving gear 28 is arranged on by key on the output shaft of drive motors 27, drive motors 27 is packed on bracing frame 33.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 4 illustrates present embodiment, the moving telescopic mechanism A2 of present embodiment comprises telescope motor 16, motor cabinet 18, driven gear 19, 3rd tooth bar 20, two slide rails 17 and two slide blocks 35, two slide rails 17 are along on the parallel longitudinal upper surface be fixed on bottom car housing 21 of car housing 21, each slide rail 17 is combined with a slide block be slidably connected with it 35, slide block 35 is fixedly mounted on the lower surface of telescopic boom body 3-1, one end contrary with connecting axle 11 on telescopic boom body 3-1 is installed with motor cabinet 18, telescope motor 16 is arranged on motor cabinet 18, the output shaft of telescope motor 16 is set with driven gear 19 by key, driven gear 19 engages with the 3rd tooth bar 20, 3rd tooth bar 20 is fixedly mounted on the upper surface of car housing 21, 3rd tooth bar 20 be arranged in parallel with slide rail 17.Other composition and annexation identical with detailed description of the invention 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 machine mechanical arm stretch out with cutting, cutting machine mechanical arm recovery.
During cutting robot motion, do not carry out cutting work, cutting machine mechanical arm folds and closes in the shell body 21 of travelling car, two drive motors 27 of travelling car start, driving gear 28 and driven gear 30 is driven to rotate, two wheel shafts 29 rotate, and two drive Athey wheel 22 to rotate thereupon, thus drive crawler belt 24 and driven Athey wheel 23 to move.
When arriving cutting position, telescope 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 machine mechanical arm, turn round the first motor B-10 and start, by drive bevel gear 15 and by dynamic bevel gear 34 transmission, connecting axle 11 rotates thereupon, and forearm 2 is turned round, and electric rotating machine 6 starts, end cutting hand 1 is driven 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 revolution the first motor B-10; make forearm 2 and end cut hand 1 and get back to initial position; telescope 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.
Detailed description of the invention four: composition graphs 2 and Fig. 6 illustrate present embodiment, 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 and the large arm 3 of forearm 2 are rotationally connected, large arm 3 is fixedly mounted on moving telescopic mechanism A2, 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, turn round the first motor B-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 is hollow housing, an end face of flange 7 is processed with circular shaft 7-1, circular shaft 7-1 is 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 output shaft of cutting motor 5 and the rotary tool axis of cutting tool 4 are 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 engages with by dynamic bevel gear 34, be arranged on the output of revolution first motor B-10 by dynamic bevel gear 34, turning round the first motor B-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 identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 7 ~ Figure 10 illustrates present embodiment, first link block B1 of present embodiment comprises multidiameter B-1, the main slave module B-2 of Three Degree Of Freedom, first connector B-4, second connector B-5, power transmission shaft B-6, grafting body B-7, second driven gear B-8, second driving gear B-9, first motor B-10, electromagnetism fastener and two leading screw adjusting module B-3, described two leading screw adjusting module B-3 side by side parallel are arranged, one end and the first connector B-4 of each leading screw adjusting module B-3 are hinged, the other end and the second connector B-5 of leading screw adjusting module B-3 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, second driven gear B-8 engages with the second driving gear B-9, 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 is arranged on below two leading screw adjusting module B-3, 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 side, multidiameter B-1 is positioned at below the main slave module B-2 of Three Degree Of Freedom, and multidiameter B-1 is connected with the X-direction moving block B-2-1 on the main slave module B-2 of Three Degree Of Freedom, electromagnetism fastener is packed on multidiameter B-1.Other composition and annexation and detailed description of the invention one, two or four identical.
Detailed description of the invention six: present embodiment is described in conjunction with Figure 12, each leading screw adjusting module B-3 of present embodiment comprises turning end contiguous block B-3-1, 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, second movable block B-3-8, fixed connecting piece B-3-9 and six bearing pin B-3-10, outer end and the first connector B-4 of turning end contiguous block B-3-1 are hinged, one end of first movable block B-3-2 is hinged by a bearing pin B-3-10 and turning end contiguous block B-3-1, 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 screw set connector B-3-7, the other end of screw set connector B-3-7 is hinged by one end of a bearing pin B-3-10 and the second movable block B-3-8, 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, outer end and the second connector B-5 of fixed connecting piece B-3-9 are hinged.First motor B-10 drives leading screw B-3-4 to rotate, thus regulate the distance between the first connector B-4 and the second connector B-5, the object of leading screw B-3-4 is the change in order to realize leading screw adjusting module length, compared to cylinder and hydraulic pressure, there is good controllability with leading screw B-3-4 adjusting module, higher precision, and between leading screw B-3-4 and the outer B-3-6 of screw set, there is auto-lock function, effectively can control the length with adjusting screw adjusting module, and then accurately and effective control connection joint around Z axis, the rotational angle of Y-axis, turning end contiguous block B-3-1, first movable block B-3-2 and leading screw connector B-3-3 can well be delivered on leading screw B-3-4 the rotation of the first motor B-10, screw set connector B-3-7, second movable block B-3-8 and fixed connecting piece B-3-9 constitutes universal coupling.Other composition and annexation identical with detailed description of the invention five.
Detailed description of the invention 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 X-direction 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 X-direction 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 Y-direction moving block B-2-6 is hinged by bolt B-2-3 and nut B-2-5 and Z-direction moving block B-2-2.X-direction moving block B-2-1 is made up of level board B-2-1-1 and vertical panel B-2-1-2, and vertical panel B-2-1-2 is vertical with level board B-2-1-1 to be arranged, and arranges the connection being convenient to X-direction moving block B-2-1 and external parts like this.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 B-2-1-2 adopts 3mm ~ 5mm thickness, the resistance rotated can be reduced, there is good function of seismic resistance, thus realize high accuracy and 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 rotated, and has good function of seismic resistance, thus realizes high accuracy and control and and higher control stability.Other composition and annexation identical with detailed description of the invention six.
The operation principle of the first link block B1:
Rotate around Z axis: the corner controlling two the first motor B-10 respectively, thus control leading screw B-3-4 the angle that turns, the length of leading screw adjusting module is changed, according to the design parameter connecting two parts that joint connects, variation length required for just can calculating that two leading screw adjusting modules are corresponding and rotating around Z axis, control two leading screw adjusting module length rate over time, two parts that joint just can be made to connect rotate around Z axis, and ensure that Y-direction moving block B-2-6 is motionless, thus realize rotating around Z axis, if the length that the length of the leading screw adjusting module B-3 on the left side is greater than the leading screw adjusting module B-3 on the right is just turned right, otherwise turn left.
Rotate around Y-axis: the corner controlling two the first motor B-10 respectively, thus control leading screw B-3-4 the angle that turns, make the length of two leading screw adjusting module changes consistent, two parts that joint just can be made to connect just in time rotate around Y-axis, 2-2 is motionless for Z-direction moving block, thus the rotation realized around Y-axis, it is exactly upwards rotate that two leading screw adjusting module B-3 shorten, and elongated is exactly rotate.
Rotate around Y-axis and Z axis: control two the first motor B-10 respectively simultaneously, make the length variations of two leading screw adjusting module B-3, according to the design parameter connecting two parts that joint connects, variation length required for just can calculating that left and right leading screw adjusting module B-3 is corresponding and rotating around Z axis, control length variations just can make joint not only rotate certain angle around Z axis but also rotate certain angle around Y-axis.
X-direction moves: when electromagnetism fastener unclamps, multidiameter 1 can move in X-direction, thus X-direction moving block B-2-1 can be moved in X-direction, when electromagnetism fastener compresses, multidiameter 1 can not move in X-direction, then X-direction moving block B-2-1 just can not move in X-direction, when X-direction moving block B-2-1 is after X-direction there occurs movement, joint also can be rotated around Y-axis, can carry out perception, then controlling the first motor B-10 and rotating the rotation neutralized around Y-axis by increasing sensor.
Mixing change: when moving when X-direction and need to occur around Y-axis and Z axis rotation simultaneously, separately can analyze the feature of each independently moving, the required angle of rotating of first motor B-10, is finally superimposed various situation again, just can realize mixing change.
After joint is rotated around Z axis or Y-axis, turning end contiguous block B-3-1 and leading screw connector B-3-3 can produce a corner, and screw set connector B-3-7 is same with fixed connecting piece B-3-9 can produce a corner.When joint rotates around Z axis or Y-axis again, the rotation of the first motor B-10 and the rotation of leading screw B-3-4 are owing to there is angle between connector so no longer linear, and turning end contiguous block B-3-1, the first movable block B-3-2 are identical with the structural principle of Hooks coupling universal coupling with the structural principle of leading screw connector B-3-3.
Detailed description of the invention eight: composition graphs 1, Fig. 2, Fig. 3, Fig. 4, Fig. 7 and Fig. 8 illustrates present embodiment, present embodiment and detailed description of the invention seven also increase unlike it 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, 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 second link block B2 is fixedly connected with the car housing 21 on mobile module C, grafting body B-7 on 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 multiple operation module, operation module can be increased according to mission requirements.Other composition and annexation identical with detailed description of the invention seven.
Detailed description of the invention nine: present embodiment is described in conjunction with Figure 13 and Figure 14, the putting module F of present embodiment comprises input motor F-1, 3rd driving gear F-2, first tooth bar F-3, driving pulley F-4, belt F-5, passive belt wheel F-6, 3rd driven gear F-7, second tooth bar F-8, first movable plate F-9, 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, 3rd driving gear F-2 and driving pulley F-4 is installed on the output shaft of input motor F-1, 3rd driving gear F-2 engages with the first tooth bar F-3, driving pulley F-4 and the 3rd driving gear F-2 is fixed together, driving pulley F-4 is connected with passive belt wheel F-6 by belt F-5, 3rd driven gear F-7 and passive belt wheel F-6 is fixed together, 3rd driven gear F-7 engages with the second tooth bar F-8, second tooth bar F-8 is arranged on the first movable plate F-9, first movable plate F-9 and two the first rectilinear orbit F-10 is slidably connected, two the first rectilinear orbit F-10 are set in parallel on the second movable plate F-11, second movable plate F-11 is connected with input motor F-1, second movable plate F-11 and two the second rectilinear orbit F-12 is 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, first tooth bar F-3 is packed on corresponding travelling car A1.Other composition and annexation identical with detailed description of the invention 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, the 3rd driving gear F-2 is driven to rotate, 3rd driving gear F-2 engages with the first tooth bar F-3, 3rd driving gear F-2 drives the second movable plate F-11 be connected with input motor F-1 outwards to move, meanwhile, driving pulley F-4 is also driven by input motor F-1 and rotates, passive belt wheel F-6 is driven to rotate by belt F-5, 3rd driven gear F-7 rotates thereupon, 3rd driven gear F-7 engages with the second tooth bar F-8, make the first movable plate F-9 also outwards motion simultaneously, by the camera module on plate F-14, shore instrument etc. to throw in away.
Detailed description of the invention ten: present embodiment is described in conjunction with Figure 13 and Figure 14, present embodiment also comprise electromagnet with detailed description of the invention nine unlike putting module F, electromagnet is arranged on below hinge F-13.When needing to shore with other implement before plate F-14 and using, electromagnet shores instrument for adsorbing this.Stretch out completely when shoring instrument, when namely rack-and-pinion moves to extreme position, the electromagnet dead electricity below hinge F-13, the instrument of shoring moves downward and arrives operating position.When shoring tool work and completing, namely shore part when regaining completely, torsion spring will play a role and to be pulled up by the instrument of shoring, and then electromagnet obtains electric being adsorbed on electromagnet.Now throw in motor F-1 reversion to regain shoring parts.Other composition and annexation identical with detailed description of the invention 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), first link block (B1) and mobile module (C), 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 one end open (21-1), mobile module (C) is connected with travelling car (A1) by the first link block (B1), the first connector (B-4) in first link block (B1) is fixedly connected with the car housing (21) in the first operation module (A), grafting body (B-7) in 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 on by the opening (21-1) on travelling car (A1) in the housing (21) on travelling car (A1).
2. the modularization search and rescue robot of a kind of reconfigurable function according to claim 1, it is characterized in that: described car body moving-member (D) comprises two and drives 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), the 3rd ball bearing (31) is provided with in each bearing block (32), before car housing (21), rear end is respectively provided with two wheel shafts (29), two wheel shafts (29) of front end are symmetricly set on the longitudinal centre line of car housing (21) (N-N) on the lateral wall of car housing (21) both sides, two wheel shafts (29) of rear end are symmetrical arranged with the longitudinal centre line of car housing (21) (N-N) on the lateral wall of car housing (21) both sides, upper each installation driven Athey wheel (23) of two wheel shafts (29) of car housing (21) rear end, the upper each installation one of two wheel shafts (29) of car housing (21) front end drives Athey wheel (22), be positioned at the driving Athey wheel (22) of car housing (21) the same side to be connected by a crawler belt (24) with between driven Athey wheel (23), 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), upper installation first driven gear (30) of wheel shaft (29) in each driving Athey wheel (22), first driven gear (30) engages with the first driving gear (28), first driving gear (28) is arranged on by key on the output shaft of drive motors (27), drive motors (27) is packed on bracing frame (33).
3. a kind of modularization search and rescue robot of reconfigurable function according to claim 1 or 2, it is characterized in that: moving telescopic mechanism (A2) comprises telescope motor (16), motor cabinet (18), driven gear (19), 3rd tooth bar (20), two slide rails (17) and two slide blocks (35), two slide rails (17) are along on the parallel longitudinal upper surface being fixed on car housing (21) bottom of car housing (21), each slide rail (17) is combined with a slide block be 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), telescope motor (16) is arranged on motor cabinet (18), the output shaft of telescope motor (16) is set with driven gear (19) by key, driven gear (19) engages with the 3rd tooth bar (20), 3rd tooth bar (20) is fixedly mounted on the upper surface of car housing (21), 3rd tooth bar (20) and slide rail (17) be arranged in parallel.
4. the modularization search and rescue robot of a kind 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 and the large arm (3) of forearm (2) are rotationally connected, 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), circular shaft (7-1) is 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 output shaft of cutting motor (5) and the rotary tool axis of cutting tool (4) are 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) engages with by dynamic bevel gear (34), be arranged on the output of turning motor (10) by dynamic bevel gear (34), 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, the modularization search and rescue robot of a kind of reconfigurable function described in 2 or 4, it is characterized in that: described first link block (B1) comprises multidiameter (B-1), the main slave module of Three Degree Of Freedom (B-2), first connector (B-4), second connector (B-5), power transmission shaft (B-6), grafting body (B-7), second driven gear (B-8), second driving gear (B-9), first motor (B-10), electromagnetism fastener and two leading screw adjusting modules (B-3), described two leading screw adjusting module (B-3) side by side parallel are arranged, one end and first connector (B-4) of each leading screw adjusting module (B-3) are hinged, the other end and second connector (B-5) of leading screw adjusting module (B-3) 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), second driven gear (B-8) engages with the second driving gear (B-9), 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) is arranged on below two leading screw adjusting modules (B-3), 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) is positioned at below the main slave module of Three Degree Of Freedom (B-2), and multidiameter (B-1) is connected with the X-direction moving block (B-2-1) on the main slave module of Three Degree Of Freedom (B-2), electromagnetism fastener is packed on multidiameter (B-1).
6. the modularization search and rescue robot of a kind of reconfigurable function according to claim 5, it is characterized in that: described each leading screw adjusting module (B-3) comprises turning end contiguous block (B-3-1), 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), second movable block (B-3-8), fixed connecting piece (B-3-9) and six bearing pins (B-3-10), one end of first movable block (B-3-2) is hinged by a bearing pin (B-3-10) and turning end contiguous block (B-3-1), 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 screw set connector (B-3-7) by a bearing pin (B-3-10), the other end of screw set connector (B-3-7) is hinged with one end of the second movable block (B-3-8) 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. the modularization search and rescue robot of a kind 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 X-direction 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), X-direction 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 by bolt (B-2-3) and nut (B-2-5) and Z-direction moving block (B-2-2).
8. the modularization search and rescue robot of a kind 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 (B1), 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 second link block (B2) is fixedly connected with the car housing (21) on mobile module (C), grafting body (B-7) in 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. the modularization search and rescue robot of a kind of reconfigurable function according to claim 8, it is characterized in that: described putting module (F) comprises throws in motor (F-1), 3rd driving gear (F-2), first tooth bar (F-3), driving pulley (F-4), belt (F-5), passive belt wheel (F-6), 3rd driven gear (F-7), second tooth bar (F-8), first movable plate (F-9), 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), 3rd driving gear (F-2) and driving pulley (F-4) are installed on the output shaft of input motor (F-1), 3rd driving gear (F-2) engages with the first tooth bar (F-3), 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), 3rd driven gear (F-7) and passive belt wheel (F-6) are fixed together, 3rd driven gear (F-7) engages with the second tooth bar (F-8), second tooth bar (F-8) is arranged on the first movable plate (F-9), first movable plate (F-9) and two the first rectilinear orbits (F-10) are slidably connected, two the first rectilinear orbits (F-10) are set in parallel on the second movable plate (F-11), second movable plate (F-11) is connected with input motor (F-1), second movable plate (F-11) and two the second rectilinear orbits (F-12) are slidably connected, 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), first tooth bar (F-3) is packed on corresponding travelling car (A1).
10. the modularization search and rescue robot of a kind of reconfigurable function according to claim 9, it is characterized in that: described putting module (F) also comprises electromagnet, electromagnet is arranged on below hinge (F-13).
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| CN105171716B (en) * | 2015-09-01 | 2017-07-25 | 上海大学 | A kind of multi-joint search and rescue robot |
| CN105480313B (en) * | 2015-11-26 | 2017-07-28 | 哈尔滨工业大学 | A kind of reconstruct formula caterpillar robot |
| CN105549594A (en) * | 2016-02-03 | 2016-05-04 | 无锡博实自动输送***有限公司 | Crawler belt type unmanned patrol inspection dolly |
| CN107263457A (en) * | 2017-06-22 | 2017-10-20 | 清华大学 | Split type robot and combinations thereof, separation method |
| CN107363819B (en) * | 2017-08-25 | 2020-01-14 | 哈尔滨工业大学 | Modularized spherical soft robot connected by magnetic force |
| CN107322635B (en) * | 2017-08-25 | 2020-01-14 | 哈尔滨工业大学 | Non-contact type connecting and joint driving mechanism for modular robot |
| EP3936419A4 (en) * | 2019-05-30 | 2022-04-20 | Tokyo Keiki Inc. | Movement device |
| 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 |
| CN114484150B (en) * | 2022-02-24 | 2022-10-25 | 南京航空航天大学 | Small crawler-type pipeline robot and motion method thereof |
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