CN103640640A - All-terrain anti-disaster searching spider robot - Google Patents
All-terrain anti-disaster searching spider robot Download PDFInfo
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- CN103640640A CN103640640A CN201310699714.1A CN201310699714A CN103640640A CN 103640640 A CN103640640 A CN 103640640A CN 201310699714 A CN201310699714 A CN 201310699714A CN 103640640 A CN103640640 A CN 103640640A
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Abstract
The invention discloses an all-terrain anti-disaster searching spider robot. The robot comprises a robot body and six mechanical legs arranged below the robot body, wherein a control cabin, flying cables, flying cable catapults and flying cable recovery devices; the control cabin is arranged above the robot body, the flying cable catapults are arranged on two sides of the control cabin, the flying cables are arranged at front ends of the flying cable catapults, and the flying cable recovery devices are arranged at back ends of the flying cable catapults; each mechanical leg comprises an arm control ring, a support arm, a continuous track arm, a claw control arm and a mechanical claw; each mechanical claw is movably arranged in front of each claw control arm, each claw control arm is movably arranged in front of each continuous track arm, each continuous track arm is movably arranged in front of each support arm, a cavity for placing each claw control arm and each mechanical claw is designed in each continuous track arm, each support arm is movably arranged in front of each arm control ring, and each claw control arm is a retractable device. The robot has the characteristics of flexibility, stability, safety and high adaptability during rescue.
Description
Technical field
The present invention relates to a kind of full landform and combat a natural disaster to search spider robot.
Background technology
The disasters such as earthquake, big flood, mud-rock flow often run into road congestion after occurring, the all difficulties such as have inconvenient traffic, in rescue, rescue machinery heavier, operationalize dumb, and unstable in the local mechanical action that grade ratio is larger, operating personal when entering work area because the visual field is narrow, very dangerous, while is shape variously, and rescue machinery will be difficult to adapt to.
Summary of the invention
The technical problem to be solved in the present invention is to be to realize a kind of full landform to combat a natural disaster to search spider robot, and this robot device can adapt to the effect that various landform play rescue adventurous headman fool proof, stable, flexibly, grabs valuable rescue time.
For addressing the above problem, the present invention adopts following technical scheme: a kind of full landform combats a natural disaster to search spider robot, comprise fuselage and be arranged on six pedipulators of fuselage below, on described fuselage, be provided with control passenger cabin, fly rope, fly rope catapult-launching gear and fly to recover receiving apparatus, described control passenger cabin is arranged on body upper, the described rope catapult-launching gear that flies is arranged on control passenger cabin both sides, the described rope that flies is arranged on and flies rope catapult-launching gear front end, describedly fly to recover receiving apparatus and be arranged on and fly rope catapult-launching gear rear end, describedly fly to recover receiving apparatus and be provided with motor, described pedipulator comprises control armlet, hold-down arm, crawler belt arm, control pawl arm and gripper, described gripper is movably arranged on control pawl arm the place ahead, described control pawl arm is movably arranged on the place ahead of crawler belt arm, described crawler belt arm is movably arranged on hold-down arm the place ahead, in described crawler belt arm, designed the cavity of placing control pawl arm and gripper, described hold-down arm is movably arranged on control armlet the place ahead, described control pawl arm is retractable device.
As preferably, described six pedipulator structures are identical, are symmetricly set on fuselage both sides.
As preferably, described control passenger cabin is rotatable 360 ° of passenger cabins.
The invention has the beneficial effects as follows: 1, flexible, robot in fact only needs four legs just can keep balance, and can well move.So in actual field, chaufeur can be according to actual conditions, choice for use any bar mechanical arm.Coordinate again 360 ° of rotation passenger cabins, make site operation more flexible.2, stable, the advantage of bionical spider is that six pedipulators are creeped advances, and the wheeled and crawler type progression with respect to traditional has better stability on uneven road surface.Tradition has not only been broken in this design, has more the realistic meaning that adapts to on-the-spot needs.3, safety, the large radian front glass on the through crown, can avoid observing dead angle, in advance escape from danger region.4, strong adaptability, for the different situations in different disaster areas, is used the gripper of disparate modules.
Accompanying drawing explanation
Fig. 1 is that a kind of full landform of the present invention combats a natural disaster to search the block diagram of spider robot crawler vehicle form;
Fig. 2 is the front view that shown in Fig. 1, a kind of full landform combats a natural disaster to search pedipulator in spider robot;
Fig. 3 is that a kind of full landform of the present invention combats a natural disaster to search the block diagram of spider robot spider form;
Fig. 4 is the front view that shown in Fig. 3, a kind of full landform combats a natural disaster to search pedipulator in spider robot;
Fig. 5 is the block diagram that shown in Fig. 3, a kind of full landform combats a natural disaster to search gripper in spider robot.
The specific embodiment
Consult shown in Fig. 1 to Fig. 5, a kind of full landform combats a natural disaster to search spider robot, comprise fuselage 1 and be arranged on six pedipulators of fuselage below, on described fuselage 1, be provided with and control passenger cabin 2, fly rope 3, fly rope catapult-launching gear 4 and fly to recover receiving apparatus 5, described control passenger cabin 2 is arranged on fuselage 1 top, the described rope catapult-launching gear 4 that flies is arranged on control passenger cabin 2 both sides, the described rope 3 that flies is arranged on and flies rope catapult-launching gear 4 front ends, describedly fly to recover receiving apparatus 5 and be arranged on and fly rope catapult-launching gear 4 rear ends, describedly fly to recover receiving apparatus 5 and be provided with motor (not shown), described pedipulator comprises control armlet 6, hold-down arm 7, crawler belt arm 8, control pawl arm 9 and gripper 10, described gripper 10 is movably arranged on control pawl arm 9 the place aheads, described control pawl arm 9 is movably arranged on the place ahead of crawler belt arm 8, described crawler belt arm 8 is movably arranged on hold-down arm 7 the place aheads, in described crawler belt arm 8, designed the cavity of placing control pawl arm 9 and gripper 10, described hold-down arm 7 is movably arranged on control armlet 6 the place aheads, described control pawl arm 9 is retractable device.
Described six pedipulator structures are identical, are symmetricly set on fuselage both sides, and described control passenger cabin 2 is rotatable 360 ° of passenger cabins.
This full landform is combated a natural disaster to search spider robot and is adopted following Functional Design:
1, leaping over obstacles
This robot body moulding and the obstacle detouring form mode of advancing are simulated spider and are carried out Bionic Design.
Simultaneously, for for advancing under a stable condition and the consideration of multiple disaster relief landform, further set the form of crawler vehicle under smooth road conditions.The landform that track structure more can cannot pass through by conventional wheel, is retaining under the prerequisite of climbing function, and stability and landform comformability improve greatly, have also guaranteed the level land gait of march of traditional rescue tool simultaneously.Further optimized design.
2, advance fast
Crawler vehicle form adapts to flat road surface, and spider form adapts to rugged road surface.Make this instrument rush towards scene with the fastest speed, implement rescue.
3, without dismounting deformation design
Tackle various situations, by Z-shaped foldover design, need not dismounting, mechanical arm folded deformation is become to crawler vehicle, convenient and swift, workable.
4, modular design
In the process of analogue formation, considered the needs of the disaster relief, for follow-up rescue tool has stayed can be for the interface of installing tasks such as () first wife's claw structure of displaying can complete climbing, move away from, thereby make robot can carry out various operations.
5, guarantee safety
360 ° are rotated cockpit design without dead angle, facilitate navigating mate operation.
Mechanical arm deformation principle:
1) in crawler belt arm, designed the cavity of placing control pawl arm 9 and gripper 10, when control pawl arm 9 inwardly rotates to certain angle, be received into completely in crawler belt arm 8.
2) in deformation process, for realizing organism balance, six mechanical arms, in deformation process, have four mechanical arms to grab and control whole machine balancing, and two other mechanical arm completes deformation process.
Each structural-functional analysis of fuselage
1) control passenger cabin 2: chaufeur is advanced passenger cabin internal control robot processed, and action.Adopt high duty metal and glass, the front window of design wide-angle, visual angle is openr, more effectively avoids the danger such as high-altitude falling rocks.And deposit gripper 10 modules.
2) fuselage 1: actuating unit place, the core of robot.
3) fly rope 3: very large in angle, in the time of surface condition extreme difference, launch and fly rope, fly rope head with automatic locking structure, pin after fixture, then advance, avoid landing.
4) fly rope catapult-launching gear 4: launch and fly rope, with high-strength spring, provide launch power.When recovery flies rope 3, after first Compress Spring, reclaim.
5) fly to recover receiving apparatus 5: motor, fly rope 3 and fly out after locking fixture, recovery power is provided.
The invention has the beneficial effects as follows: 1, flexible, robot in fact only needs four legs just can keep balance, and can well move.So in actual field, chaufeur can be according to actual conditions, choice for use any bar mechanical arm.Coordinate again 360 ° of rotation passenger cabins, make site operation more flexible.2, stable, the advantage of bionical spider is that six pedipulators are creeped advances, and the wheeled and crawler type progression with respect to traditional has better stability on uneven road surface.Tradition has not only been broken in this design, has more the realistic meaning that adapts to on-the-spot needs.3, safety, the large radian front glass on the through crown, can avoid observing dead angle, in advance escape from danger region.4, strong adaptability, for the different situations in different disaster areas, is used the gripper of disparate modules.
The above, be only the specific embodiment of the present invention, but protection scope of the present invention is not limited to this, and any variation of expecting without creative work or replacement, within all should being encompassed in protection domain of the present invention.
Claims (3)
1. a full landform combats a natural disaster to search spider robot, it is characterized in that: comprise fuselage and be arranged on six pedipulators of fuselage below, on described fuselage, be provided with control passenger cabin, fly rope, fly rope catapult-launching gear and fly to recover receiving apparatus, described control passenger cabin is arranged on body upper, the described rope catapult-launching gear that flies is arranged on control passenger cabin both sides, the described rope that flies is arranged on and flies rope catapult-launching gear front end, describedly fly to recover receiving apparatus and be arranged on and fly rope catapult-launching gear rear end, describedly fly to recover receiving apparatus and be provided with motor, described pedipulator comprises control armlet, hold-down arm, crawler belt arm, control pawl arm and gripper, described gripper is movably arranged on control pawl arm the place ahead, described control pawl arm is movably arranged on the place ahead of crawler belt arm, described crawler belt arm is movably arranged on hold-down arm the place ahead, in described crawler belt arm, designed the cavity of placing control pawl arm and gripper, described hold-down arm is movably arranged on control armlet the place ahead, described control pawl arm is retractable device.
2. full landform according to claim 1 combats a natural disaster to search spider robot, it is characterized in that: described six pedipulator structures are identical, are symmetricly set on fuselage both sides.
3. full landform according to claim 1 combats a natural disaster to search spider robot, it is characterized in that: described control passenger cabin is rotatable 360 ° of passenger cabins.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310699714.1A CN103640640A (en) | 2013-12-18 | 2013-12-18 | All-terrain anti-disaster searching spider robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310699714.1A CN103640640A (en) | 2013-12-18 | 2013-12-18 | All-terrain anti-disaster searching spider robot |
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| Publication Number | Publication Date |
|---|---|
| CN103640640A true CN103640640A (en) | 2014-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310699714.1A Pending CN103640640A (en) | 2013-12-18 | 2013-12-18 | All-terrain anti-disaster searching spider robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129449A (en) * | 2014-07-15 | 2014-11-05 | 昆明理工大学 | Hybrid-power all-terrain walking device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5429009A (en) * | 1993-05-20 | 1995-07-04 | Carnegie Mellon University | Robot with cruciform geometry |
| CN101786504A (en) * | 2010-02-25 | 2010-07-28 | 哈尔滨工业大学 | Anchor positioning system for detecting planetoid lander |
| CN101948011A (en) * | 2010-09-09 | 2011-01-19 | 北京航空航天大学 | Hexapod universal walking multifunctional moonshot robot |
| CN102826136A (en) * | 2012-09-07 | 2012-12-19 | 周若飞 | Belt rope type obstacle crossing robot |
| CN102837752A (en) * | 2012-09-20 | 2012-12-26 | 吉林大学 | Six-foot obstacle crossing robot with limb self-cutting function and control system thereof |
-
2013
- 2013-12-18 CN CN201310699714.1A patent/CN103640640A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5429009A (en) * | 1993-05-20 | 1995-07-04 | Carnegie Mellon University | Robot with cruciform geometry |
| CN101786504A (en) * | 2010-02-25 | 2010-07-28 | 哈尔滨工业大学 | Anchor positioning system for detecting planetoid lander |
| CN101948011A (en) * | 2010-09-09 | 2011-01-19 | 北京航空航天大学 | Hexapod universal walking multifunctional moonshot robot |
| CN102826136A (en) * | 2012-09-07 | 2012-12-19 | 周若飞 | Belt rope type obstacle crossing robot |
| CN102837752A (en) * | 2012-09-20 | 2012-12-26 | 吉林大学 | Six-foot obstacle crossing robot with limb self-cutting function and control system thereof |
Non-Patent Citations (1)
| Title |
|---|
| 邵雷萍等: ""蜘蛛侠"飞檐走壁还能变身", 《半岛都市报》, 11 November 2013 (2013-11-11), pages 3 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129449A (en) * | 2014-07-15 | 2014-11-05 | 昆明理工大学 | Hybrid-power all-terrain walking device |
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Application publication date: 20140319 |