CN105459081A - Corrosion preventing and explosion preventing multifunctional thermal imaging detecting rescue robot - Google Patents
Corrosion preventing and explosion preventing multifunctional thermal imaging detecting rescue robot Download PDFInfo
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- CN105459081A CN105459081A CN201610025291.9A CN201610025291A CN105459081A CN 105459081 A CN105459081 A CN 105459081A CN 201610025291 A CN201610025291 A CN 201610025291A CN 105459081 A CN105459081 A CN 105459081A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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Abstract
The invention discloses a corrosion preventing and explosion preventing multifunctional thermal imaging detecting rescue robot which comprises a wheel-track type robot platform, a mechanical hand device and a monitor. The wheel-track type robot platform comprises a chassis bin, a gas detector, a temperature detector, a laser radar and the mechanical hand device are arranged on the chassis bin. The mechanical hand device comprises a mechanical arm upper arm, the front end of the mechanical hand upper arm is connected with a mechanical hand through a mechanical hand lower arm, and the tail end of the mechanical hand upper arm is hinged to a support. The support is mounted on a mounting seat arranged on a top plate of the chassis bin through a rotary joint capable of infinitely rotating by 360 degrees in the horizontal direction, and the middle of the mechanical hand upper arm is connected with an electric push rod. The monitor is mounted on the rear side of the support through an electric telescopic rod. The corrosion preventing and explosion preventing multifunctional thermal imaging detecting rescue robot is high in environmental adaptability, a search and rescue map can be constructed by itself, the robot can replace people to execute switching valve leaking stoppage, rescue and other tasks in the severe environment, and quite high practicality is achieved.
Description
Technical field
The present invention relates to a kind of robot, more particularly, relate to a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot.
Background technology
Along with the fast development of China's economic construction, urbanization and process of industrialization are constantly accelerated, a large amount of fire safety evaluating hidden danger and risk increasing, fire fighting and rescue task becomes increasingly complex, the dangerous sort that fireman faces is various, brings serious threat to the life security of fireman.Inflammable for some, explosive, poisonous, harmful, easily the indoor and outdoor hazards such as building, bulk storage plant stacking, anoxic, dense smoke, radioactivity that caves in is on-the-spot, because commanding and rescue personnel do not understand site environment, there is no on-the-spot map, do not know there are the hazards such as what pernicious gas yet, cannot set about completely, where more do not know the leakage point of some causes of accident, disaster affected people where, cannot make judging accurately and operational commanding these hazards scenes.Meanwhile, also there is a large amount of Dangerous and Harmful Factors in severe scene, is unfavorable for that very much people enters to perform high-risk rescue work.Therefore for above-mentioned problem, be badly in need of a kind ofly can entering the specialized robot that extreme disaster field carries out detection and rescue.
Summary of the invention
1. invent the technical problem that will solve
The object of the invention is to overcome above-mentioned deficiency, provide a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot, adopt technical scheme of the present invention, obstacle climbing ability is strong, adapt to high and low temperature environment and strong acid and strong base environmental performance strong, climbing obstacle climbing ability is good, have at high temperature, blast and strong corrosive environment under secondary survive ability, high temperature or leak point can not only be detected, and disaster affected people, and can serviceability temperature sensor and gas detector detection around whether exist high temperature and poisonous explosive may, use manipulator for rescue simultaneously, Remote valve-off can be realized, cut off source of leakage or perform long-range rescue task.
2. technical scheme
For achieving the above object, technical scheme provided by the invention is:
A kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present invention, comprise wheel-pedrail robot platform, wheel-pedrail robot platform comprises cabin, chassis body and is located at the creeper undercarriage of the Cang Ti left and right sides, chassis, also comprise robot device and monitor, described robot device comprises manipulator large arm, manipulator forearm, rotary joint, gripper of manipulator and revolute joint, the front end of described manipulator large arm is hinged by the front end of rotary joint and manipulator forearm, the end of manipulator forearm is provided with gripper of manipulator, the end of manipulator forearm is provided with video camera, the end of described manipulator large arm is articulated with on support, and support is by can the revolute joint of horizontal direction 360 degree of unlimited rotaries be arranged on the mount pad be located on body top board rear end, cabin, chassis, the middle part of described manipulator large arm is connected with the electric pushrod be arranged on mount pad, described monitor is arranged on the rear side of support by electric expansion bar.
Further, described monitor is the two light integrated monitoring instrument of thermal infrared imager or infrared visible ray.
Further, the front end of described cabin, chassis body is provided with laser radar.
Further, front side and the left and right sides of described cabin, chassis body are provided with temperature sensor.
Further, described cabin, chassis body is provided with gas detector, each gas detector is all connected with alarm.
Further, bottom or the top of described cabin, chassis body are provided with water tank, the side plate of water tank offer draining sewage draining exit; The top board of described cabin, chassis body offers water inlet and delivery port, and water inlet and delivery port are all communicated with water tank chassis.
Further, the left and right sides panel of described cabin, chassis body is provided with the casing that can be used as control cabinet or power supply box, four angles of this casing are equipped with chamfering; Between each described casing upper plane that all chassis non-corrosive metal (NCM) crawler belt is formed in creeper undercarriage and lower plane; Tensioning apparatus is provided with between the upper plane that described casing and chassis non-corrosive metal (NCM) crawler belt are formed, described tensioning apparatus comprises " U " font tensioning plate and is formed at the slide rail plate of casing both sides, the flat board of described tensioning plate is arranged on roof box by tensioning spring, and the biside plate of tensioning plate is slidably mounted in slide rail plate respectively.
Further, the chassis driven pulley that described creeper undercarriage comprises chassis non-corrosive metal (NCM) crawler belt, chassis driving wheel and is rotationally connected with side, cabin, chassis panel, described chassis non-corrosive metal (NCM) crawler belt is sleeved on chassis driving wheel, chassis driven pulley; Described chassis driving wheel is connected with the hoofing part reductor be located in the body rear deck of cabin, chassis by driving shaft, and hoofing part reductor is connected with travel driving motor.
Further, two symmetrical metal fin arms are provided with outside creeper undercarriage described in two, described metal fin arm comprises fin arm non-corrosive metal (NCM) crawler belt, fin arm metallic support, the fin arm driving wheel be connected with chassis driven pulley and the fin arm driven pulley be rotationally connected with fin arm metallic support, and described fin arm non-corrosive metal (NCM) crawler belt is sleeved on fin arm driving wheel, fin arm driven pulley; The front deck middle position of described cabin, chassis body is provided with fin arm angle-controlled motor, and described fin arm angle-controlled motor is connected with fin arm rotary actuation reductor, and fin arm rotary actuation reductor is plugged with rotating shaft; The two ends of described rotating shaft are stretched out the Cang Ti left and right sides, chassis panel respectively and are connected with fin arm metallic support through after chassis driven pulley and fin arm driving wheel; Manual rotation axle is provided with in the delivery outlet of described fin arm rotary actuation reductor.
Further, the top board of described cabin, chassis body is provided with Backpack type reserve battery.
3. beneficial effect
Adopt technical scheme provided by the invention, compared with existing known technology, there is following beneficial effect:
(1) a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present invention, the front end of its manipulator large arm is hinged by the front end of rotary joint and manipulator forearm, realize the folding angles conversion of manipulator forearm, the end of manipulator forearm is provided with gripper of manipulator, gripper of manipulator can realize rotating and folding, for rescue works such as opening/shutting valve and crawl objects, the end of manipulator forearm is provided with video camera, for the effect observing aligning object and hand grab object, the end of manipulator large arm is articulated with on support, support is by can the revolute joint of horizontal direction 360 degree of unlimited rotaries be arranged on the mount pad be located on body top board rear end, cabin, chassis, horizontal direction 360 degree of unlimited rotaries can be realized, so that gripper of manipulator can the interior comprehensive work of horizontal direction 360 degree, the middle part of manipulator large arm is connected with the electric pushrod be arranged on mount pad, be convenient to control manipulator large arm lift and put down,
(2) a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present invention, its monitor is arranged on the rear side of support by electric expansion bar, can investigate at a distance at high visual angle, and comprehensive monitoring, monitor is the two light integrated monitoring instrument of infrared visible ray, high-performance infrared thermal imaging module and visible ray module is equipped with in the two light integrated monitoring instrument of infrared visible ray, can 360 ° of all-directional rotations, visible image capturing and the dual imaging function of infra-red thermal imaging can be realized, realize the work double tides of robot, simultaneously, infrared imaging is utilized to add visible light camera, detection pipeline leakage point, ignition point or personnel to be rescued, can be judged by trickle variations in temperature, determine best track route and rescue method,
(3) a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present invention, the front end of its cabin, chassis body is provided with laser radar, guarantee the on-the-spot map of robot Fast Drawing under the extreme environment such as dense smoke thick fog no light conditions at night, be convenient to formulate attack and route of withdrawal;
(4) a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present invention, front side and the left and right sides of its cabin, chassis body are provided with temperature sensor, can monitor the temperature conditions of wheel-pedrail robot platform front and left and right sides side;
(5) a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present invention, the top board of its cabin, chassis body is provided with gas detector, each gas detector is all connected with alarm, for understanding on-the-spot gas station;
(6) a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present invention, its cabin, chassis body is provided with cooling water tank, the water inlet of cooling water tank is communicated with the water inlet be located on the body of cabin, chassis, the delivery port of cooling water tank is communicated with the delivery port be located on the body top board of cabin, chassis, anti-freeze cooling liquid can be perfused with in cooling water tank, in high temperature environments, evaporated by liquid, the emergent robot constant temperature that provides ensures, the side plate of cooling water tank offers draining sewage draining exit, for draining or blowdown;
(7) a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present invention, the left and right sides panel of its cabin, chassis body is provided with the casing that can be used as control cabinet or power supply box, four angles of this casing are equipped with chamfering, substituting control circuit or battery in tradition is arranged in the body of cabin, chassis, cabin, chassis body internal reservation is made to go out usage space more, also maintenance personal is made directly to carry out outside keeping in repair or safeguarding, easy to maintenance, time saving and energy saving, between each casing upper plane that all chassis non-corrosive metal (NCM) crawler belt is formed in creeper undercarriage and lower plane, and four of casing angles are equipped with chamfering, chassis non-corrosive metal (NCM) crawler belt is played to the effect supporting and lead, for chassis non-corrosive metal (NCM) crawler belt provides run trace, guarantee that chassis non-corrosive metal (NCM) crawler belt will make crawler belt lose guiding because of the paralysis of suspended structure,
(8) a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present invention, tensioning apparatus is provided with between the upper plane that in its casing and creeper undercarriage, chassis non-corrosive metal (NCM) crawler belt is formed, for compensating the gap of non-corrosive metal (NCM) crawler belt owing to producing after service wear, chassis, tensioning apparatus comprises " U " font tensioning plate and be fixedly mounted on the slide rail plate of casing both sides, the flat board of tensioning plate is arranged on roof box by tensioning spring, structure is simple, the spacing being different from conventional track system fading margin front axle or rear axle realizes traditional handicraft and the technology of track tensioning, the elastic force of tensioning spring is utilized to promote tensioning plate is lifted, the gap of auto-compensation crawler belt owing to producing after service wear, realize the object non-maintaining to chassis non-corrosive metal (NCM) crawler belt, greatly improve the reliability service time of robot platform, reduce the difficulty that robot platform is safeguarded, reduce use cost, the biside plate of tensioning plate is slidably mounted in slide rail plate respectively, limit tensioning plate can only move up and down, avoid tensioning plate double swerve,
(9) a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present invention, two symmetrical metal fin arms are provided with outside its two creeper undercarriage, creeper undercarriage is in conjunction with metal fin arm, wheel-pedrail robot platform both can be moved forward backward, climbing obstacle climbing ability can be improved again, flexible and convenient operation, in addition due to fin arm non-corrosive metal (NCM) crawler belt and chassis non-corrosive metal (NCM) crawler belt, have high temperature resistant, corrosion resistant advantage, has the ability of secondary existence under high temperature, blast and strong corrosive environment;
(10) a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present invention, the top board of its cabin, chassis body is provided with Backpack type reserve battery, for robot provides emergency power supply, again lengthens working hours, and expands robot ambulation distance.
Accompanying drawing explanation
Fig. 1 is the side view of a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present invention
Fig. 2 is the stereogram of a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present invention;
Fig. 3 is the sectional view of wheel-pedrail robot platform in the present invention;
Fig. 4 is the side view of cabin, chassis body in the present invention.
Label declaration in schematic diagram: 1, cabin, chassis body; 101, casing; 102, tensioning plate; 103, tensioning spring; 104, slide rail plate; 201, chassis non-corrosive metal (NCM) crawler belt; 202, chassis driving wheel; 203, chassis driven pulley; 301, fin arm non-corrosive metal (NCM) crawler belt; 302, fin arm driving wheel; 303, fin arm driven pulley; 304, fin arm metallic support; 4, fin arm angle-controlled motor; 5, rotating shaft; 6, hoofing part reductor; 7, travel driving motor; 8, fin arm rotary actuation reductor; 9, manual rotation axle; 10, to raise one's hand handle; 11, cooling water tank; 12, draining sewage draining exit; 13, mount pad; 14, support; 15, electric pushrod; 16, manipulator large arm; 17, manipulator forearm; 18, gripper of manipulator; 19, electric expansion bar; 20, monitor; 21, laser radar; 22, temperature sensor; 23, gas detector; 24, alarm; 25, reserve battery; 26, video camera.
Detailed description of the invention
For understanding content of the present invention further, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment 1
Composition graphs 1, Fig. 2 and Fig. 3, a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present embodiment, comprise wheel-pedrail robot platform, comprise cabin, chassis body 1 and the creeper undercarriage being located at body 1 left and right sides, cabin, chassis, in the present embodiment, the two sides, front and back of cabin, chassis body 1 are intilted inclined-plane, improve the obstacle climbing ability of robot platform, for the ease of carrying cabin, chassis body 1, the front and back position place of the left and right sides panel of cabin, chassis body 1 is provided with handle 10 of raising one's hand, and conveniently carrying fuse, emergency drug and urgent equipment, handle 10 of raising one's hand is for hollow pipe, and the opening part of hollow pipe has been threaded end cap, the chassis driven pulley 203 that creeper undercarriage comprises chassis non-corrosive metal (NCM) crawler belt 201, chassis driving wheel 202 and is rotationally connected with cabin, chassis body 1 side panel, chassis non-corrosive metal (NCM) crawler belt 201 has high temperature resistant, corrosion resistant advantage, there is the ability of secondary existence under high temperature, blast and strong corrosive environment, in the present embodiment, chassis non-corrosive metal (NCM) crawler belt 201 is the crawler belt with holes that can increase tooth block or rubber blanket, according to the difference of environment for use, increase tooth block and be used for the environment such as stair climbing, or rubber blanket is installed for noise reduction or the increase ground connection frictional force of walking, chassis non-corrosive metal (NCM) crawler belt 201 is sleeved on chassis driving wheel 202, chassis driven pulley 203, and chassis driving wheel 202 is connected with the hoofing part reductor 6 be located in body 1 rear deck of cabin, chassis by driving shaft, and hoofing part reductor 6 is connected with travel driving motor 7, be provided with two symmetrical metal fin arms outside two creepers undercarriage, creeper undercarriage, in conjunction with metal fin arm, makes wheel-pedrail robot platform both can move backward forward, can improve climbing obstacle climbing ability again, flexible and convenient operation, metal fin arm comprises fin arm non-corrosive metal (NCM) crawler belt 301, fin arm metallic support 304, the fin arm driving wheel 302 be connected with chassis driven pulley 203 and the fin arm driven pulley 303 be rotationally connected with fin arm metallic support 304, fin arm non-corrosive metal (NCM) crawler belt 301 has high temperature resistant, corrosion resistant advantage, at high temperature, blast and strong corrosive environment under have secondary survive ability, in the present embodiment, fin arm non-corrosive metal (NCM) crawler belt 301 is crawler belt with holes, be convenient to the difference according to environment for use, increase tooth block and be used for the environment such as stair climbing, or rubber blanket is installed for noise reduction or the increase ground connection frictional force of walking, fin arm driving wheel 302 and chassis driven pulley 203 are connected, so that fin arm driving wheel 302 and chassis driven pulley 203 rotate simultaneously, receive the power of the chassis driving wheel 202 that chassis non-corrosive metal (NCM) crawler belt 201 passes over, fin arm non-corrosive metal (NCM) crawler belt 301 is sleeved on fin arm driving wheel 302, fin arm driven pulley 303, and fin arm non-corrosive metal (NCM) crawler belt 301 is in the outer rim of fin arm metallic support 304, for kiss the earth, realizes the functions such as climbing obstacle detouring, the front deck middle position of cabin, chassis body 1 is provided with fin arm angle-controlled motor 4, and fin arm angle-controlled motor 4 is connected with fin arm rotary actuation reductor 8, and fin arm rotary actuation reductor 8 is plugged with rotating shaft 5, the two ends of rotating shaft 5 stretch out body 1 left and right sides, cabin, chassis panel respectively and through after chassis driven pulley 203 and fin arm driving wheel 302 and fin arm metallic support 304 be connected, two ends and the fin arm metallic support 304 of rotating shaft 5 are connected the object realizing synchronous rotary, the anglec of rotation of rotating shaft 5 is regulated by fin arm rotary actuation reductor 8, and the rotation of fin arm rotary actuation reductor 8 can be driven by fin arm angle-controlled motor 4, also by being plugged with manual rotation axle 9 on fin arm rotary actuation reductor 8, manually can drive, fin arm driving wheel 302 passes through two bearing outsides in rotating shaft 5 with chassis driven pulley 203 particularly, when not connecting base plate non-corrosive metal (NCM) crawler belt 201, can rotate freely, after connecting base plate non-corrosive metal (NCM) crawler belt 201, become and transmit the transition apparatus of chassis driving wheel 202 power to fin arm driven pulley 303,
The left and right sides panel of cabin, chassis body 1 is provided with the casing 101 that can be used as control cabinet or power supply box, substituting control circuit or battery in tradition is arranged in cabin, chassis body 1, cabin, chassis body 1 internal reservation is made to go out usage space more, also maintenance personal is made directly to carry out outside keeping in repair or safeguarding, easy to maintenance, time saving and energy saving, between each casing 101 upper plane that all chassis non-corrosive metal (NCM) crawler belt 201 is formed in creeper undercarriage and lower plane, and four of casing 101 angles are equipped with chamfering, chassis non-corrosive metal (NCM) crawler belt 201 is played to the effect supporting and lead, for chassis non-corrosive metal (NCM) crawler belt 201 provides run trace, guarantee that chassis non-corrosive metal (NCM) crawler belt 201 will make crawler belt lose guiding because of the paralysis of suspended structure, tensioning apparatus is provided with between the upper plane that casing 101 and chassis non-corrosive metal (NCM) crawler belt 201 are formed, for compensating the gap of chassis non-corrosive metal (NCM) crawler belt 201 owing to producing after service wear, tensioning apparatus comprises " U " font tensioning plate 102 and be fixedly mounted on the slide rail plate 104 of casing 101 both sides, the flat board of tensioning plate 102 is arranged on casing 101 top board by tensioning spring 103, structure is simple, the spacing being different from conventional track system fading margin front axle or rear axle realizes traditional handicraft and the technology of track tensioning, the elastic force of tensioning spring 103 is utilized to promote tensioning plate 102 is lifted, the gap of auto-compensation crawler belt owing to producing after service wear, realize the object non-maintaining to chassis non-corrosive metal (NCM) crawler belt 201, greatly improve the reliability service time of robot platform, reduce the difficulty that robot platform is safeguarded, reduce use cost, the biside plate of tensioning plate 102 is slidably mounted in slide rail plate 104 respectively, limit tensioning plate 102 can only move up and down, avoid tensioning plate 102 double swerve,
Cabin, chassis body 1 is provided with cooling water tank 11, and the bottom of cooling water tank 11 is provided with draining sewage draining exit 12, and for draining or blowdown, in the present embodiment, cooling water tank 11 is arranged at bottom cabin, chassis body 1 (shown in Figure 4); The water inlet of cooling water tank 11 is communicated with the water inlet be located on cabin, chassis body 1, the delivery port of cooling water tank 11 is communicated with the delivery port be located on body 1 top board of cabin, chassis, anti-freeze cooling liquid can be perfused with in cooling water tank 11, in high temperature environments, evaporated by liquid, the emergent robot constant temperature that provides ensures;
The top board of cabin, chassis body 1 is provided with robot device, robot device comprises manipulator large arm 16, manipulator forearm 17, rotary joint, gripper of manipulator 18 and revolute joint, the front end of manipulator large arm 16 is hinged by the front end of rotary joint and manipulator forearm 17, realizes the folding angles conversion of manipulator forearm 17; The end of manipulator forearm 17 is provided with gripper of manipulator 18, and gripper of manipulator 18 can realize rotating and folding, for rescue works such as opening/shutting valve and crawl objects; The end of manipulator forearm 17 is provided with video camera 26, for the effect observing aligning object and hand grab object; The end of manipulator large arm 16 is articulated with on support 14, support 14 is by can the revolute joint of horizontal direction 360 degree of unlimited rotaries be arranged on the mount pad 13 be located on body 1 top board rear end, cabin, chassis, horizontal direction 360 degree of unlimited rotaries can be realized, so that gripper of manipulator 18 can the interior comprehensive work of horizontal direction 360 degree; The middle part of manipulator large arm 16 is connected with the electric pushrod 15 be arranged on mount pad 13, is convenient to control manipulator large arm 16 and lifts and put down; Support 14 is provided with rotable antenna, bending when avoiding work; Monitor 20 is arranged on the rear side of support 14 by electric expansion bar 19, can rotate in the lump along with support 14, monitoring visual angle is more comprehensive, monitor 20 is the two light integrated monitoring instrument of infrared visible ray, visible image capturing and the dual imaging function of infra-red thermal imaging can be realized, realize the work double tides of robot, simultaneously, infrared imaging is utilized to add visible light camera, detection pipeline leakage point, ignition point or personnel to be rescued, can be judged by trickle variations in temperature, determine best track route and rescue method; The front end of cabin, chassis body 1 is provided with laser radar 21, without any need for light, only laser radar 21 need be utilized to generate map, and then manipulation robot advance according to map, guarantee that robot can execute the task under the extreme environment such as dense smoke thick fog no light conditions at night, and return smoothly; Front side and the left and right sides of cabin, chassis body 1 are provided with temperature sensor 22, can monitor the temperature conditions of wheel-pedrail robot platform front and left and right sides side; The top board of cabin, chassis body 1 is provided with gas detector 23, each gas detector 23 is all connected with alarm 24, the top board of cabin, chassis body 1 is provided with Backpack type reserve battery 25, for understanding the gas station of scene of fire, for robot provides emergency power supply, again lengthen working hours, expand robot ambulation distance.
Embodiment 2
The basic structure of a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present embodiment is with embodiment 1, difference is: monitor 20 is thermal infrared imager, can find pipeline leakage point, ignition point or personnel to be rescued by trickle variations in temperature.
A kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot of the present invention, climbing obstacle climbing ability is good, there is the ability of secondary existence under high temperature, blast and strong corrosive environment, high temperature or leak point can not only be detected, and disaster affected people, and can serviceability temperature sensor 22 and gas detector 23 detect around whether exist high temperature and poisonous explosive may, use manipulator for rescue simultaneously, Remote valve-off can be realized, cut off source of leakage or perform long-range rescue task.
Schematically above be described the present invention and embodiment thereof, this description does not have restricted, and also just one of the embodiments of the present invention shown in accompanying drawing, actual structure is not limited thereto.So, if those of ordinary skill in the art enlightens by it, when not departing from the invention aim, designing the frame mode similar to this technical scheme and embodiment without creationary, all should protection scope of the present invention be belonged to.
Claims (10)
1. an anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot, comprises wheel-pedrail robot platform, and wheel-pedrail robot platform comprises cabin, chassis body (1) and is located at the creeper undercarriage of body (1) left and right sides, cabin, chassis; It is characterized in that: also comprise robot device and monitor (20), described robot device comprises manipulator large arm (16), manipulator forearm (17), rotary joint, gripper of manipulator (18) and revolute joint, the front end of described manipulator large arm (16) is hinged by the front end of rotary joint and manipulator forearm (17), and the end of manipulator forearm (17) is provided with gripper of manipulator (18); The end of described manipulator forearm (17) is provided with just to the video camera (26) of gripper of manipulator (18); The end of described manipulator large arm (16) is articulated with on support (14), and support (14) is by can the revolute joint of horizontal direction 360 degree of unlimited rotaries be arranged on the mount pad (13) be located on body (1) top board rear end, cabin, chassis; The middle part of described manipulator large arm (16) is connected with the electric pushrod (15) be arranged on mount pad (13); Described monitor (20) is arranged on the rear side of support (14) by electric expansion bar (19).
2. a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot according to claim 1, is characterized in that: described monitor (20) is thermal infrared imager or the two light integrated monitoring instrument of infrared visible ray.
3. a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot according to claim 2, is characterized in that: the front end in described cabin, chassis body (1) is provided with laser radar (21).
4. a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot according to claim 3, is characterized in that: front side and the left and right sides in described cabin, chassis body (1) are provided with temperature sensor (22).
5. a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot according to claim 4, it is characterized in that: described cabin, chassis body (1) is provided with gas detector (23), each gas detector (23) is all connected with alarm (24).
6. a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot according to claim 5, it is characterized in that: described cabin, chassis body (1) is provided with cooling water tank (11), the side plate of cooling water tank (11) offers draining sewage draining exit (12); The water inlet of described cooling water tank (11) is communicated with the water inlet be located on cabin, chassis body (1), and the delivery port of cooling water tank (11) is communicated with the delivery port be located on body (1) top board of cabin, chassis.
7. a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot according to claim 6, it is characterized in that: the left and right sides panel in described cabin, chassis body (1) is provided with the casing (101) that can be used as control cabinet or power supply box, four angles of this casing (101) are equipped with chamfering; Each described casing (101) be all arranged in that creeper undercarriage chassis non-corrosive metal (NCM) crawler belt (201) formed between upper plane and lower plane; Tensioning apparatus is provided with between the upper plane that described casing (101) and chassis non-corrosive metal (NCM) crawler belt (201) are formed, described tensioning apparatus comprises " U " font tensioning plate (102) and is formed at the slide rail plate (104) of casing (101) both sides, the flat board of described tensioning plate (102) is arranged on casing (101) top board by tensioning spring (103), and the biside plate of tensioning plate (102) is slidably mounted in slide rail plate (104) respectively.
8. a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot according to claim 7, it is characterized in that: the chassis driven pulley (203) that described creeper undercarriage comprises chassis non-corrosive metal (NCM) crawler belt (201), chassis driving wheel (202) and is rotationally connected with cabin, chassis body (1) side panel, described chassis non-corrosive metal (NCM) crawler belt (201) is sleeved on chassis driving wheel (202), chassis driven pulley (203); Described chassis driving wheel (202) is connected with the hoofing part reductor (6) be located in body (1) rear deck of cabin, chassis by driving shaft, and hoofing part reductor (6) is connected with travel driving motor (7).
9. a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot according to claim 8, it is characterized in that: outside the creeper undercarriage described in two, be provided with two symmetrical metal fin arms, described metal fin arm comprises fin arm non-corrosive metal (NCM) crawler belt (301), fin arm metallic support (304), the fin arm driving wheel (302) be connected with chassis driven pulley (203) and the fin arm driven pulley (303) be rotationally connected with fin arm metallic support (304), described fin arm non-corrosive metal (NCM) crawler belt (301) is sleeved on fin arm driving wheel (302), on fin arm driven pulley (303), the front deck middle position in described cabin, chassis body (1) is provided with fin arm angle-controlled motor (4), described fin arm angle-controlled motor (4) is connected with fin arm rotary actuation reductor (8), fin arm rotary actuation reductor (8) is plugged with rotating shaft (5), the two ends of described rotating shaft (5) are stretched out body (1) left and right sides, cabin, chassis panel respectively and are connected with fin arm metallic support (304) afterwards through chassis driven pulley (203) and fin arm driving wheel (302), manual rotation axle (9) is provided with in the delivery outlet of described fin arm rotary actuation reductor (8).
10. a kind of anticorrosion explosion-proof multi-functional thermal imaging detection and rescue robot according to claim 9, is characterized in that: the top board in described cabin, chassis body (1) is provided with Backpack type reserve battery (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108393897A (en) * | 2018-02-26 | 2018-08-14 | 深圳达芬奇创新科技有限公司 | A kind of danger detects trolley |
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| CN109129395A (en) * | 2018-08-21 | 2019-01-04 | 合肥工业大学 | A kind of Lun Lvshi detection and rescue robot |
| CN109654378A (en) * | 2019-01-03 | 2019-04-19 | 北京讯腾智慧科技股份有限公司 | A kind of fuel gas pipeline leakage detection device and method based on Beidou positioning |
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