CN104044422A - Robot for detecting safety of pressure-bearing equipment under sudden-onset disasters - Google Patents
Robot for detecting safety of pressure-bearing equipment under sudden-onset disasters Download PDFInfo
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- CN104044422A CN104044422A CN201410249600.1A CN201410249600A CN104044422A CN 104044422 A CN104044422 A CN 104044422A CN 201410249600 A CN201410249600 A CN 201410249600A CN 104044422 A CN104044422 A CN 104044422A
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Abstract
The invention relates to a robot for detecting the safety of pressure-bearing equipment under sudden-onset disasters. The robot comprises a crawling assembly, a flight assembly connected with the upper part of the crawling assembly, and a plurality of manipulator assemblies connected with the crawling assembly, wherein the crawling assembly comprises a substrate, a transmission assembly arranged on the substrate, six leg parts for connecting the substrate with the transmission assembly, and a driving device connected with the transmission assembly, the substrate comprises a first end part, a second end part and a connecting rod for connecting the first end part with the second end part, the driving device is fixed at the first end part, the substrate also comprises a plurality of fixing parts and a plurality of extending parts, and the transmission assembly comprises a driving gear arranged on the driving device, a left gear and a right gear which are meshed with the driving gear, a left transmission shaft, a right transmission shaft, a plurality of worm parts arranged on each of the left transmission shaft and the right transmission shaft, worm wheels corresponding to every worm part, and worm wheel rods connected with the centers of the worm wheels. Through arranging the crawling assembly, the flight assembly and the manipulator assemblies, higher forwarding speed is realized, the crawling is reliable, and the working efficiency is greatly improved.
Description
Technical field:
The present invention relates to a kind of wrecking equipment, relate in particular to bearing device safety detection robot under a kind of burst fire-disaster.
Background technology:
Disaster the mankind's safety as serious threats such as earthquake, fire, floods, more and more causes that people pay close attention to widely.By fusions such as Robotics, control technology, information-handling technique, rescue attempt technology, develop and develop for searching and rescuing, succour the device of dealing with calamity, be the challenging frontier in one, wrecking equipment field.
In recent years, the sudden accidents such as chemical plant, nuclear power plant blast, leakage usually occur, and because landform is severe, hazardous and noxious substances spillage risk area division is large, general robot is difficult to the short time and arrives in processing; In addition, general robot function is too single, is mostly only to possess the function that the wounded is shifted, and for hazardous chemical article, processing capacity, does not substantially have.
Summary of the invention:
Therefore, the object of the present invention is to provide a kind ofly there is quick travel, creep, survey, collect, bearing device safety detection robot under the burst fire-disaster of the ability such as processing.
A bearing device safety detection robot under burst fire-disaster, comprises a crawler component, connects the flight assembly on this crawler component top and connects some mechanical arm assemblies of this crawler component; Described crawler component comprises a pedestal, be arranged on transmission component on pedestal, connect six shanks of pedestal and transmission component and connect the actuating device of this transmission component, this pedestal comprises the pipe link of a first end, the second end, connection first end and the second end, and described actuating device is fixed on first end; Described pedestal also comprises some fixed parts and extension; Described transmission component comprise be arranged on the driving gear of actuating device, with left gear and right gear, Left Drive axle, the right transmission shaft of the engagement of this driving gear, be arranged on some worm screws portion, the worm gear of corresponding each worm screw portion and the worm gear pole at connection worm gear center on Left Drive axle and right transmission shaft; The external side end of described each worm gear pole connects a crank; Described each shank connects corresponding crank and fixed part or extension, by actuating device and transmission component, drives described shank swing to creep to realize the front and back of bearing device safety detection robot under this burst fire-disaster; Wherein said each shank comprises huckle, calf and the foot connecting successively, the inner side of this huckle is a link rod part, the free end pivot joint of one end of this link rod part and described crank, the other end is by fixed part or the extension pivot joint of a rocking bar portion and described pedestal; Described each shank also comprises a spring, and this spring connects the back of described foot and the middle and lower part of described calf; The second output gear, the first input gear with the first output gear engagement, the second input gear with the second output gear engagement, the interior axle that is connected the first input gear, the outer shaft that connects the second input gear that described flight assembly comprises the first flight motor, the second flight motor, connect the first output gear of this first flight motor, connect this second flight motor are, second screw wing at the middle part of first screw wing on the top of the interior axle of connection and connection outer shaft; Described flight assembly also comprises a trammel beam, and described the first screw wing is connected with a trammel beam by a connector; Described mechanical hand assembly comprises one first grabbing arm, the second grabbing arm, boring arm and cutting arm; The middle part of described the first grabbing arm, the second end of the second grabbing arm in pedestal, described boring arm and cutting arm are positioned at the both sides of the first grabbing arm, the second grabbing arm.
Under burst fire-disaster of the present invention, bearing device safety detection robot, by crawler component, flight assembly, mechanical hand assembly are set, has very fast flying speed, and it is reliable to creep, and greatly improves its work efficiency.
Accompanying drawing explanation:
Fig. 1 is the schematic perspective view of bearing device safety detection robot under the burst fire-disaster of a preferred embodiment of the present invention.
Fig. 2 is that under the burst fire-disaster of Fig. 1, bearing device safety detection robot is removed the schematic perspective view after shell.
Fig. 3 is the schematic diagram of the crawler component of bearing device safety detection robot under the burst fire-disaster of Fig. 2.
Fig. 4 is the enlarged drawing of the circle A part of Fig. 2.
Fig. 5 is the cutaway view that under the burst fire-disaster of Fig. 1, bearing device safety detection Robot one center vertical plane is cut open.
Fig. 6 is the enlarged drawing of the circle B part of Fig. 1.
In figure: crawler component 10, pedestal 11, first end 12, the second end 13, pipe link 14, fixed part 15, extension 16, center am rest 19, transmission component 20, driving gear 21, left gear 22, right gear 23, Left Drive axle 24, right transmission shaft 25, worm screw portion 26, worm gear 27, worm gear pole 28, crank 29, shank 30, huckle 31, link rod part 310, calf 32, foot 33, spring 34, rocking bar portion 35, actuating device 40, inchworm motor 41, flight assembly 50, the first flight motor 51, the second flight motor 52, the first output gear 53, the second output gear 54, the first input gear 55, the second input gear 56, interior axle 57, the first screw wing 570, outer shaft 58, the second screw wing 580, trammel beam 59, mechanical arm assembly 80, the first grabbing arm 81, the second grabbing arm 82, boring arm 83, bore cutter 830, cutting arm 84, cutting blade 840, housing 90.
The specific embodiment:
For technical scheme of the present invention can more clearly be showed, below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figures 1 to 6, for bearing device safety detection robot under the burst fire-disaster of one embodiment of the invention, under this burst fire-disaster, bearing device safety detection robot comprises a crawler component 10, connects the flight assembly 50 on these crawler component 10 tops and connects some mechanical arm assemblies 80 of this crawler component 10.Under this burst fire-disaster, bearing device safety detection robot is set in crawler component 10 by a housing 90.
Described crawler component 10 comprises a pedestal 11, be arranged on transmission component 20 on pedestal 11, connect six shanks 30 of pedestal 11 and transmission component 20 and connect the actuating device 40 of this transmission component 20.
Described pedestal 11 is rectangular frame setting in the present embodiment.This pedestal 11 comprises a first end 12, the second end 13, connects the pipe link 14 of first end 12 and the second end 13.Described actuating device 40 is fixed on first end 12.Described pedestal 11 also comprises the fixed part 15 of the described pipe link 14 of some connections.Each fixed part 15 is L-type setting, from the end face of described pipe link 14, extends upward the rear setting that vertically stretches out.Described the second end 13 is provided with extension 16, and the outer ledge that this extension 16 and fixed part 15 outwards exceed described extension pipe link 14 extends, for described corresponding connection of shank 30.In the present embodiment, the quantity of described fixed part 15 is four, and the quantity of described extension 16 is two, and this extension 16 and fixed part 15 intervals arrange to guarantee the distance between each shank 30.In the present embodiment, this pedestal 11 also comprises a center am rest 19, and this center am rest 19 connects the medial surface middle part of first end 12 and the second end 13.
Described actuating device 40 comprises an inchworm motor 41 in the present embodiment, and this inchworm motor 41 is positioned at the middle upper portion position of first end 12, and the output shaft of inchworm motor 41 is to the lateral surface extension setting of first end 12.
Described transmission component 20 comprise driving gear 21 on the output shaft that is arranged on inchworm motor 41, with left gear 22 and the right gear 23 of these driving gear 21 engagements, connect the Left Drive axle 24 of left gear 22, connect right gear 23 right transmission shaft 25, be arranged on some worm screws portion 26, the worm gear 27 of corresponding each worm screw portion 26 and the worm gear pole 28 at connection worm gear 27 centers on Left Drive axle 24 and right transmission shaft 25.Described driving gear 21, left gear 22 and right gear 23 are straight gear.Described Left Drive axle 24 and right transmission shaft 25 interval that is parallel to each other arranges.One end of Left Drive axle 24 is fixedly connected with left gear 22 through the first end 12 of pedestal 11, the second end 13 pivot joints of the other end and pedestal 11; One end of right transmission shaft 25 is fixedly connected with right gear 23 through the first end 12 of pedestal 11, the second end 13 pivot joints of the other end and pedestal 11.Described each worm gear 27 is positioned at the below of corresponding worm screw portion 26 and meshes with this worm screw portion 26.Described each worm gear pole 28 wears fixing corresponding worm gear 27, the medial extremity of each worm gear pole 28 and 19 pivot joints of described center am rest, external side end pass described pipe link 14 and with pipe link 14 pivot joints.The vertical extension of external side end one crank 29, the free end of this crank 29 and 30 pivot joints of described shank of each worm gear pole 28.
Described shank 30 comprises huckle 31, calf 32 and the foot 33 connecting successively.The inner side of this huckle 31 is a link rod part 310, the free end pivot joint of one end of this link rod part 310 and described crank 29, and the other end is fixed part 15 or extension 16 pivot joints with described pedestal 11 by a rocking bar portion 35.Therefore, described crank 29, link rod part 310, rocking bar portion 35 form a crank rocker device, while rotating by worm gear pole 28, drive shank 30 to swing by a small margin.The top of described calf 32 and huckle 31 pivot joints, the bottom of described calf 32 and foot's 33 pivot joints, and be connected with the middle and lower part of calf 32 by the back of a spring 34Jiang foot 33, to guarantee the shockproof effect of foot 33.
Described crawler component 10 is when initial condition, six cranks 29 of described transmission component 20 are in two kinds of different angle states, wherein former and later two cranks 29 in left side and the crank 29 in the middle of right side are in identical the first anglec of rotation, the crank 29 of the centre in left side and former and later two cranks 29 of right side are in identical the second anglec of rotation, this in second the anglec of rotation and the first anglec of rotation differ between 90 to 180 degree, so that the height of the foot 33 of the shank 30 in the first anglec of rotation is different from the height of the foot 33 of shank 30 in the second anglec of rotation, make to only have San Ge foot 33 to land at every turn, guaranteed the stationarity of bearing device safety detection robot under whole burst fire-disaster.When inchworm motor 41 forwards or while rotating backward, transmission component 20 drive turn over before shanks 30 or after turn over the effect of creeping that reaches.
Described flight assembly 50 comprises the first flight motor 51, the second flight motor 52, the first output gear 53 that connects the output shaft of this first flight motor 51, the second output gear 54 that connects the output shaft of this second flight motor 52, the first input gear 55 with the first output gear 53 engagements, the second input gear 56 with the second output gear 54 engagements, the interior axle 57 that connects the first input gear 55, the outer shaft 58 that connects the second input gear 56, first screw wing 570 on the top of axle 57 in connecting, and second screw wing 580 at the middle part of connection outer shaft 58.Described the first screw wing 570 is connected with a trammel beam 59 by a connector (figure is mark not).By the setting of flight assembly 50, make bearing device safety detection robot under this burst fire-disaster there is powerful flight performance, can promptly avoid the obstacle on ground, fly to the task that disaster field is carried out detection and collected specimens, transmitted data and image to disaster relief command centre.
Described mechanical hand assembly 80 comprises one first grabbing arm 81, the second grabbing arm 82, boring arm 83 and cutting arm 84.In the present embodiment, the middle part of this first grabbing arm 81, the second end 13 of the second grabbing arm 82 in pedestal 11, described boring arm 83 and cutting arm 84 are positioned at the both sides of the first grabbing arm 81, the second grabbing arm 82.Described the first grabbing arm 81 carries out grasping movement by screw mandrel and motor (figure is mark not) driving in the middle of one.The second grabbing arm 82 is controlled to stretch to more at a distance by a plurality of joint designs and micromotor and is captured, and free-ended machine pawl is drawn in and opened action to capture by screw mandrel (figure is mark not) equally.The end of described boring arm 83 arranges and bores cutter 830, and the end of described cutting arm 84 arranges cutting blade 840, by a plurality of motors, is controlled flexible and is rotated.This mechanical hand assembly 80 carries out collected specimens by the first above-mentioned grabbing arm 81, the second grabbing arm 82, boring arm 83 and cutting 84 pairs of disaster scenes of arm, to bring out for expert, analyzes.
Under described burst fire-disaster, bearing device safety detection robot also comprises robot main control chip, detecting device, wireless module, power module; This detecting device is surveyed the object gathering in robot environment of living in for detection of multifunctional rescue, and produce corresponding detection signal, and the detection signal of generation is offered to robot main control chip, this detecting device can be harmful gas detector, cuclear density detector, camera and other non-destructive detecting device; Described robot main control chip is for the work of Comprehensive Control crawler component, flight assembly, mechanical hand assembly, detecting device, wireless module, external equipment, inchworm motor 41 forwards of accessory drive 40 or rotate backward for example, control detecting device and start to detect and stop detection etc., described robot main control chip also produces and detects data according to the detection signal receiving, and detection data are offered to wireless module; This wireless module is for sending it back to peripheral control personnel detecting data wireless, and accept control personnel's remote control command, and the control command of reception is offered to described robot main control chip, so that described robot main control chip is controlled other corresponding device work in bearing device safety detection robot under burst fire-disaster according to control command; Power module is used to each parts of bearing device safety detection robot under described burst fire-disaster that electric energy is provided.Under described burst fire-disaster, bearing device safety detection robot also comprises external equipment, described external equipment can be light equipment for illuminating bearing device safety detection robot environment of living under described burst fire-disaster, for described burst fire-disaster under personnel transfer in bearing device safety detection robot environment of living in audio player, for assisting bearing device safety detection robot under described burst fire-disaster at environment of living in mobile IR evading obstacle sensors smoothly.Above-mentioned robot main control chip, detecting device, wireless module, external equipment are arranged in crawler component 10, and are positioned at housing 90.
Under burst fire-disaster of the present invention, bearing device safety detection robot, by crawler component 10, flight assembly 50, mechanical hand assembly 80 are set, has very high front line speed, and it is reliable to creep, and greatly improves its work efficiency; And detection, information acquisition that under this burst fire-disaster, bearing device safety detection robot has, take the several functions such as sample, at chemical plant pressure container, blast and be with a wide range of applications during the sudden accident such as nuclear power plant's core bearing device generation nuclear leakage accident.
Claims (3)
1. a bearing device safety detection robot under burst fire-disaster, is characterized in that: comprise a crawler component, connect the flight assembly on this crawler component top and connect some mechanical arm assemblies of this crawler component, described crawler component comprises a pedestal, be arranged on transmission component on pedestal, connect six shanks of pedestal and transmission component and connect the actuating device of this transmission component, this pedestal comprises the pipe link of a first end, the second end, connection first end and the second end, and described actuating device is fixed on first end, described pedestal also comprises some fixed parts and extension, described transmission component comprise be arranged on the driving gear of actuating device, with left gear and right gear, Left Drive axle, the right transmission shaft of the engagement of this driving gear, be arranged on some worm screws portion, the worm gear of corresponding each worm screw portion and the worm gear pole at connection worm gear center on Left Drive axle and right transmission shaft, the external side end of described each worm gear pole connects a crank, described each shank connects corresponding crank and fixed part or extension, by actuating device and transmission component, drives described shank swing to creep to realize the front and back of bearing device safety detection robot under this burst fire-disaster, wherein, described each shank comprises huckle, calf and the foot connecting successively, the inner side of this huckle is a link rod part, the free end pivot joint of one end of this link rod part and described crank, the other end is by fixed part or the extension pivot joint of a rocking bar portion and described pedestal, described each shank also comprises a spring, and this spring connects the back of described foot and the middle and lower part of described calf, wherein, described flight assembly comprises the first flight motor, the second flight motor, the first output gear that connects this first flight motor, the second output gear that connects this second flight motor, the first input gear with the first output gear engagement, the second input gear with the second output gear engagement, the interior axle that connects the first input gear, the outer shaft that connects the second input gear, first screw wing on the top of axle in connecting, and second screw wing at the middle part of connection outer shaft, described flight assembly also comprises a trammel beam, described the first screw wing is connected with a trammel beam by a connector, wherein, described mechanical hand assembly comprises one first grabbing arm, the second grabbing arm, boring arm and cutting arm, the middle part of described the first grabbing arm, the second end of the second grabbing arm in pedestal, described boring arm and cutting arm are positioned at the both sides of the first grabbing arm, the second grabbing arm.
2. bearing device safety detection robot under burst fire-disaster as claimed in claim 1, is characterized in that: under described burst fire-disaster, bearing device safety detection robot also comprises robot main control chip, detecting device, wireless module; This detecting device is surveyed the object gathering in robot environment of living in for detection of multifunctional rescue, and produces corresponding detection signal, and the detection signal of generation is offered to robot main control chip; Described robot main control chip is for the work of Comprehensive Control crawler component, flight assembly, mechanical hand assembly, detecting device, wireless module, external equipment, described robot main control chip also produces and detects data according to the detection signal receiving, and detection data are offered to wireless module; This wireless module is for sending it back to peripheral control personnel detecting data wireless, and accept control personnel's remote control command, and the control command of reception is offered to described robot main control chip, so that described robot main control chip is controlled other corresponding device work in bearing device safety detection robot under burst fire-disaster according to control command.
3. bearing device safety detection robot under burst fire-disaster as claimed in claim 1, it is characterized in that: described crawler component is when initial condition, six cranks of described transmission component are in two kinds of different angle states, wherein former and later two cranks in left side and the crank in the middle of right side are in identical the first anglec of rotation, the crank of the centre in left side and former and later two cranks of right side are in identical the second anglec of rotation, this in second the anglec of rotation and the first anglec of rotation differ between 90 to 180 degree, so that the height of the foot of the shank in the first anglec of rotation is different from the height of the foot of shank in the second anglec of rotation, make to only have San Ge foot to land at every turn, to guarantee the stationarity of bearing device safety detection robot under whole burst fire-disaster.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410249600.1A CN104044422B (en) | 2014-06-09 | 2014-06-09 | Bearing device safety detection robot under burst fire-disaster |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410249600.1A CN104044422B (en) | 2014-06-09 | 2014-06-09 | Bearing device safety detection robot under burst fire-disaster |
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| Publication Number | Publication Date |
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| CN104044422A true CN104044422A (en) | 2014-09-17 |
| CN104044422B CN104044422B (en) | 2016-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410249600.1A Expired - Fee Related CN104044422B (en) | 2014-06-09 | 2014-06-09 | Bearing device safety detection robot under burst fire-disaster |
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| CN105966618A (en) * | 2016-06-17 | 2016-09-28 | 深圳市元征科技股份有限公司 | Unmanned plane |
| CN106625580A (en) * | 2016-11-23 | 2017-05-10 | 华南理工大学 | Single-motor-driven robot walking mechanism |
| WO2018129837A1 (en) * | 2017-01-11 | 2018-07-19 | 成都中良川工科技有限公司 | Robot walking mechanism |
| CN109848963A (en) * | 2019-01-10 | 2019-06-07 | 武汉职业技术学院 | A kind of toxic gas detection robot |
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| EP1464454A1 (en) * | 2001-11-09 | 2004-10-06 | Honda Giken Kogyo Kabushiki Kaisha | Leg joint assist device for leg type movable robot |
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|---|---|
| CN104044422B (en) | 2016-05-11 |
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