CN105818131A - Special intelligent engineering emergency rescue and disaster relief vehicle - Google Patents
Special intelligent engineering emergency rescue and disaster relief vehicle Download PDFInfo
- Publication number
- CN105818131A CN105818131A CN201610321681.0A CN201610321681A CN105818131A CN 105818131 A CN105818131 A CN 105818131A CN 201610321681 A CN201610321681 A CN 201610321681A CN 105818131 A CN105818131 A CN 105818131A
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- China
- Prior art keywords
- digitorum manus
- articulations digitorum
- operation bench
- work car
- mechanical arm
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- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 241000905957 Channa melasoma Species 0.000 claims description 42
- 239000011159 matrix material Substances 0.000 claims description 29
- 230000005855 radiation Effects 0.000 claims description 11
- 238000003331 infrared imaging Methods 0.000 claims description 8
- 239000005341 toughened glass Substances 0.000 claims description 7
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 6
- 210000001145 finger joint Anatomy 0.000 claims description 6
- 239000001301 oxygen Substances 0.000 claims description 6
- 229910052760 oxygen Inorganic materials 0.000 claims description 6
- 230000004223 radioprotective effect Effects 0.000 claims description 6
- 239000005336 safety glass Substances 0.000 claims description 6
- 210000000245 forearm Anatomy 0.000 claims description 5
- 239000005357 flat glass Substances 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 6
- 230000001681 protective effect Effects 0.000 abstract description 6
- 238000013461 design Methods 0.000 abstract description 3
- 210000003128 head Anatomy 0.000 description 24
- 210000003811 finger Anatomy 0.000 description 23
- 239000003921 oil Substances 0.000 description 20
- 210000005224 forefinger Anatomy 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 210000004932 little finger Anatomy 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004899 motility Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 210000003797 carpal joint Anatomy 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002480 mineral oil Substances 0.000 description 1
- 235000010446 mineral oil Nutrition 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000002407 reforming Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
- E02F3/358—Bucket-arms pivoted on a turntable being part of a tractor frame or buckets arranged on a turntable supported by the arms
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
A special intelligent engineering emergency rescue and disaster relief vehicle comprises a traveling mechanism and a power mechanism. A rotary table is arranged at the top of the traveling mechanism. A control protective cabin is arranged on the rotary table. A cabin door is arranged on the rear side of the control protective cabin. A transparent window is arranged on the front side of the control protective cabin. A console connected with a power mechanism is arranged in the control protective cabin. A plurality of mechanical arms connected with the console are arranged on the portion, outside the control protective cabin, of the rotary table. A manipulator is arranged at the front end of each mechanical arm. The mechanical arms, the manipulators and the rotary table are connected with the console. The special intelligent engineering emergency rescue and disaster relief vehicle is reasonable in structural design, broad in application range and high in intelligence degree, a rescuer is fully protected, various operation tasks can be completed during engineering construction, and the problems in the prior art are solved.
Description
Technical field:
The present invention relates to a kind of extraordinary intelligence engineering rescue and relief work car.
Background technology:
Along with socioeconomic development, also constantly reforming of China's rescue theory.Rescue main task be dispose rapidly dangerous situation, personnel are survived in search and process is likely to occur various danger, search and rescue work should be launched at once after danger occurs, and have to judge soundly and set before search, good search and rescue environment so could be provided as far as possible, and set out suitable emergency dealing machinery, improve rescue efficiency, but existing equipment has its weakness of self, it is essentially all special equipment, applicable surface is too narrow, and this causes once rescue to need plurality of devices.The more important thing is, existing equipment, for the protection wretched insufficiency of rescue personnel, often results in the casualties of rescue personnel.Visible existing equipment of speedily carrying out rescue work obviously can not meet requirement in all directions.
It addition, present engineering machinery, such as excavator, bull-dozer, crane etc. are essentially all a kind of plant equipment completes a kind of operation, applicable surface is the narrowest.The engineering machinery of present stage requires that operator have extraordinary mechanically actuated experience, but efficiency is the lowest.Do not has a kind of engineering of integrating machinery that can complete various engineering job task currently on the market.
Summary of the invention:
The purpose of the present invention is aiming at the disadvantages mentioned above that prior art exists; provide a kind of extraordinary intelligence engineering rescue and relief work car; its reasonable in design; widely applicable; intelligence degree is high; rescue personnel is carried out sufficient protection, it is possible to complete several work task in engineering construction, solve problems of the prior art.
The present invention solves that above-mentioned technical problem be the technical scheme is that
A kind of extraordinary intelligence engineering rescue and relief work car, including walking mechanism and actuating unit, it is provided with a turntable at walking mechanism top, it is provided with manipulation protection bin on a spinstand, it is provided with door on rear side of manipulation protection bin, front side is provided with transparency window, it is provided with an operation bench being connected with actuating unit in operation protection bin, it is provided with some mechanical arms being connected with operation bench on turntable outside manipulation protection bin, being equipped with a mechanical hand in each mechanical arm front end, mechanical arm, mechanical hand, turntable are connected with operation bench respectively.
Preferably, described actuating unit includes that an electromotor and electromotor provide a Hydraulic Station of power, electromotor is connected with operation bench respectively with Hydraulic Station, and described manipulation protection bin is airtight radioprotective warehouse, is additionally provided with automatic oxygen supply and air conditioner in manipulation protection bin.
Preferably, being provided with wireless transport module in described operation bench, operation bench is connected with Background control terminal by wireless transport module.
Preferably, described transparency window is toughened glass window, and toughened glass window is externally provided with the radiation shield that can be turned on and off.
Preferably, described manipulation protection bin top is provided with some photographic head, and each mechanical arm front end is respectively provided with a photographic head up and down, and each photographic head is connected with operation bench respectively, and operation bench is provided with photographic head display screen.
Preferably, described photographic head is the high definition wide-angle camera with infrared imaging function, is respectively equipped with a safety glass cover outside each photographic head.
Preferably, described operation bench is provided with driving task platform and mechanical arm operation bench, and mechanical arm operation bench is provided with data glove control system or the operating rod type control system of manipulation mechanical hand.
Preferably, described mechanical hand includes the connection matrix being connected by four-bar linkage with mechanical arm, forearm oil cylinder it is provided with between four-bar linkage and mechanical arm front end, connect matrix and be provided with guide rail, matrix is saved at the finger being arranged in guide rail that is respectively provided on two sides with connecting matrix, two refer to be provided with between joint matrix a connection oil cylinder, respectively refer on joint matrix at least provided with a hydraulic pressure finger.
Preferably, described hydraulic pressure finger includes first articulations digitorum manus being connected with finger joint matrix, first articulations digitorum manus is provided with a first articulations digitorum manus oil cylinder being connected with finger joint matrix, connecting the second articulations digitorum manus at the first articulations digitorum manus end, the second articulations digitorum manus is provided with a second articulations digitorum manus oil cylinder being connected with the first articulations digitorum manus.
Preferably, the oil supply pipe of described second articulations digitorum manus oil cylinder and the second articulations digitorum manus oil cylinder is hidden and is located in the first articulations digitorum manus.
Compared with prior art, the invention have the advantage that reasonable in design, manipulation protection bin have turntable, it is possible to meeting the requirement that manipulation protection bin 360 ° rotates, operating flexibility degree is the best；Widely applicable, it is possible to for places such as earthquake, fire, radioprotective, use mechanical hand as operation medium, it is possible to be readily accomplished support, the operation excavated or capture, the most flexible and widely applicable；Intelligence degree is high, uses data glove control system or operating rod type control system as control system, and the control accuracy for mechanical hand is high, in conjunction with the auxiliary of photographic head, it is possible to point-device complete each task；User of service's safe coefficient is high, operation bench is provided with wireless transport module, in the occasion being in extreme danger, can be controlled in the way of using Background control terminal remote control, in the occasion that degree of danger is the highest, in conjunction with the radiation shield arranged outside manipulation protection bin, the image that rescue personnel can pass back according to the high definition wide-angle camera with infrared imaging function in manipulation protection bin carries out precise manipulation, and by wireless transport module, field condition is real-time transmitted to Background control terminal；Can complete several work task in engineering construction, the present invention can realize the effect of the various engineering machineries such as excavator, bull-dozer, crane, and work efficiency is higher.
Accompanying drawing illustrates:
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation of mechanical hand.
In figure, 1, walking mechanism, 2, turntable, 3, door, 4, transparency window, 5, operation bench, 6, mechanical arm, 7, mechanical hand, 8, automatic oxygen supply, 9, air conditioner, 10, radiation shield, 11, photographic head, 12, matrix is connected, 13, forearm oil cylinder, 14, guide rail, 15, refer to save matrix, 16, oil cylinder, the 17, first articulations digitorum manus, the 18, first articulations digitorum manus oil cylinder are connected, 19, the second articulations digitorum manus, the 20, second articulations digitorum manus oil cylinder, 21, manipulation protection bin.
Detailed description of the invention:
For the technical characterstic of this programme can be clearly described, below by detailed description of the invention, and combining its accompanying drawing, the present invention will be described in detail.
As shown in Figure 1-2, a kind of extraordinary intelligence engineering rescue and relief work car, including walking mechanism 1 and actuating unit, it is provided with a turntable 2 at walking mechanism 1 top, turntable 2 is provided with manipulation protection bin 21, it is provided with door 3 on rear side of manipulation protection bin 21, front side is provided with transparency window 4, it is provided with an operation bench 5 being connected with actuating unit in operation protection bin, it is provided with some mechanical arms 6 being connected with operation bench on turntable 2 outside manipulation protection bin 21, being equipped with a mechanical hand 7 in each mechanical arm 6 front end, mechanical arm 6, mechanical hand 7, turntable 2 are connected with operation bench 5 respectively.Actuating unit can use crawler type or rubber-tyred.Can require to select for working environment etc..
Described actuating unit includes that an electromotor and electromotor provide a Hydraulic Station of power, and electromotor is connected with operation bench 5 respectively with Hydraulic Station, and described manipulation protection bin 21 is airtight radioprotective warehouse, is additionally provided with automatic oxygen supply 8 and air conditioner 9 in manipulation protection bin.Hydraulic Station can provide hydraulic power.Hydraulic pressure has a following features: hydraulicdriven various elements, can arrange the most easily and flexibly；Lightweight, volume is little, motional inertia is little, response speed is fast；Handle easy to control, large-scale stepless speed regulation (speed adjustable range reaches 2000:1) can be realized；Overload protection can be automatically obtained；General use mineral oil as working media, relative motion face can lubricating by oneself, service life is long；It is easily achieved linear motion；Be easily achieved the automatization of machine, when use electro-hydraulic jointly control after, not only can realize the automatic control process of higher degree, and remote control can be realized；Electric energy relatively, safety is more preferable.This device is under the working condition that some are harsh, and such as explosion scene, scene of fire, nuclear leakage are on-the-spot, and now manipulation protection bin 21 needs seal operation, arranges automatic oxygen supply 8 and can meet the aerobic demand of staff 1.5h-3h in manipulation protection bin 21.Air conditioner 8 provides comfortable working environment as far as possible in can making manipulation protection bin 21, it is ensured that work efficiency and precision.
Being provided with wireless transport module in described operation bench 5, operation bench 5 is connected with Background control terminal by wireless transport module.In the occasion being in extreme danger, can be controlled in the way of using Background control terminal remote control, in the occasion that degree of danger is the highest, in conjunction with the outer radiation shield arranged of manipulation protection bin 21, the image that rescue personnel can pass back according to the high definition wide-angle camera 11 of infrared imaging function in manipulation protection bin 21 carries out precise manipulation, and by wireless transport module, field condition is real-time transmitted to Background control terminal.
Described transparency window 4 is toughened glass window, and toughened glass window is externally provided with the radiation shield 10 that can be turned on and off.Toughened glass window can be fire-proof and explosion-proof, is suitable for harsh environment.Radiation shield 10 is contained within lead etc. and radiation shield 10 can be placed in outside transparency window 4 play radioprotective protective effect when necessary with the material of radioprotective.Safety glass can be fire-proof and explosion-proof, and the environment of use can be harsher compared with normal transparent window.Being provided with radiation shield 10 can protect the rescue personnel that is in manipulation protection bin 21 in the safety of the occasions that are in extreme danger such as nuclear leakage is on-the-spot; and combine photographic head 11; can be in the case of naked eyes cannot observe mechanical hand 7 and external environment condition, it is ensured that the precision of operation and accuracy.
Described manipulation protection bin 21 top is provided with some photographic head 11, and described each mechanical arm 6 front end is respectively provided with a photographic head 11 up and down, and each photographic head 11 is connected with operation bench 5 respectively, and operation bench 5 is provided with photographic head 11 display screen.It is provided with some photographic head at manipulation protection bin 21 top and ensure that rescue personnel can be without the situation observing surrounding at dead angle in manipulation protection bin 21, mechanical arm 6 front end is respectively provided with a photographic head up and down and ensure that precision when mechanical hand 7 operates, and can see the situation of mechanical hand surrounding.
Described photographic head 11 is the high definition wide-angle camera with infrared imaging function, is respectively equipped with a safety glass cover outside each photographic head 11.Photographic head 11 is played a very good protection by safety glass cover.Being externally provided with safety glass cover to have the photographic head of infrared imaging function and be applicable at harsh environment, such as nuclear leakage occasion, now need radiation shield to put down, rescue personnel cannot observe external circumstances by voluptuousness, and intelligence is by photographic head.It addition, at night or when there being the situation such as dense smoke, thick fog, the photographic head of infrared imaging function can provide a external image the most complete, rescue personnel is helped preferably to grasp external circumstances.
Described operation bench 5 is provided with driving task platform and mechanical arm operation bench, and mechanical arm operation bench is provided with data glove control system or the operating rod type control system of manipulation mechanical hand 7.Two operating board are set, a people can carry out rescue and relief work car driving, another people's manipulator's arm, so can improve work efficiency and work quality.Utilize data glove control system manipulator 7 can be greatly improved the flexibility ratio of mechanical hand 7；Utilize operating rod type control system to control mechanical hand cost relatively low, and disclosure satisfy that the needs in major part place.
Described mechanical hand 7 includes the connection matrix 12 being connected by four-bar linkage 8 with mechanical arm 6, it is provided with forearm oil cylinder 13 between four-bar linkage 8 and mechanical arm 6 front end, connect matrix 12 and be provided with guide rail 14, matrix 15 is saved at the finger being arranged in guide rail 14 that is respectively provided on two sides with connecting matrix 12, two refer to be provided with between joint matrix 15 a connection oil cylinder 16, respectively refer on joint matrix 15 at least provided with a hydraulic pressure finger.Described hydraulic pressure finger includes first articulations digitorum manus 17 being connected with finger joint matrix 15, first articulations digitorum manus 17 is provided with a first articulations digitorum manus oil cylinder 18 being connected with finger joint matrix 15, connecting the second articulations digitorum manus 19 at the first articulations digitorum manus end, the second articulations digitorum manus 19 is provided with a second articulations digitorum manus oil cylinder 20 being connected with the first articulations digitorum manus 17.Mechanical hand 7 uses the structure of bionic mechanical hand.The upper limb of people has higher operability, motility and adaptability, and carpal joint has 3 degree of freedom, to determine the attitude of the palm of the hand.Hands, by takeing on, after elbow, wrist determine position and attitude, is made various exquisiteness, complicated action to grasp object, also to be leaned on the multiarticulate the five fingers and soft palm.Finger is constituted 20 degree of freedom by 26 pieces of skeletons, and therefore finger can make various delicate operation.Under the most multivariant cooperation, muscle can send the biggest strength under instant movement, and EIAJ is the most much higher far beyond any machine that the mankind manufacture with the ratio of deadweight.The controlling organization of muscle has multiple automatic controls and release mechanism, can arrive the various piece of hands from the instruction that brain is next.From engineering, realize such functioning characteristics and information processing system is highly difficult." wrist " the i.e. mechanical arm of mechanical hand that the present invention uses and " palm " i.e. connect and are provided with forearm oil cylinder 13, flexible operation between matrix, substantially realize the function of human wrist.Compared to the finger of people, hydraulic pressure finger includes that two refer to joint, and two refer to that joint can operate with articulations digitorum manus oil cylinder.One, mechanical hand in the present invention, according to bionic mechanical hand structure completely, i.e. refers to that joint matrix 15 sets finger, i.e. a thumb, another refers to arrange four fingers, i.e. forefinger, middle finger, the third finger, little finger of toe on joint matrix 15.This kind of structure can complete very many operations, for example, it is possible to be used as the function extension of staff, bearing capacity is greatly improved, and completes pickup and captures work；If four fingers and rise, i.e. forefinger, middle finger, the third finger, little finger of toe and rise, it is possible to as excavator use；Furthermore it is possible to concordant for all fingers, utilize mechanical arm, use as crane gear.Owing to the second articulations digitorum manus 19 and operation object contact are the most frequent, may damage, the structure that the present invention uses, the replacing of articulations digitorum manus is the simplest.And the second articulations digitorum manus 19 of mechanical hand can be changed to have the drill bit etc. of probing function and there is the hydraulic driving part of other functions various, it is simple to carry out different operations.
The oil supply pipe of described second articulations digitorum manus oil cylinder 20 and the second articulations digitorum manus oil cylinder is hidden and is located in the first articulations digitorum manus 17.Concealed layout, the motility of beneficially mechanical hand 7 operation and reliability of structure own.
During use, owing to being provided with crawler type or rubber-tyred walking mechanism, it is possible to as soon as possible this device is driven to the place of speedily carrying out rescue work needed.Then operating robotic arm reaches mechanical hand 7 needs the concrete position of operation.The information obtained according to naked eyes and photographic head 11 feedack, mechanical hand 7 completes concrete operations.In nuclear leakage or chemical contamination occasion, now need radiation shield 10 to put down, now rescue personnel cannot with voluptuousness observe outside, need to be by photographic head 11.If at night or when there being the situation such as dense smoke, thick fog, photographic head 11 has infrared imaging function, external image the most complete can be provided for operation bench, rescue personnel is helped preferably to grasp external circumstances and carry out precise manipulation, the aerobic demand of staff 1.5h-3h in the automatic oxygen supply of auxiliary equipment 8 can meet manipulation protection bin 21 in addition.Air conditioner 8 provides comfortable working environment as far as possible in can making manipulation protection bin 21, it is ensured that work efficiency and work quality.
If using in engineering construction, rely on the conversion of mechanical hand, it is possible to realize several functions.This kind of structure can complete very many operations, such as, arranges two mechanical arms, bearing capacity can be greatly improved by the function extension of both hands of conducting oneself, and completes to carry work；If four fingers and rise, i.e. forefinger, middle finger, the third finger, little finger of toe and rise, it is possible to as excavator use；Mechanical arm can be utilized concordant for all fingers, use as crane gear.And the second articulations digitorum manus 19 of mechanical hand can be changed to have the drill bit etc. of probing function and there is the hydraulic driving part of other functions various, it is simple to carry out different construction operations at engineering field.In a word, the present invention can complete very many constructing operation in engineering construction, and the engineer operation task that a kind of machinery of the present invention can complete covers the effect of present stage most of engineering machinery, is suitable in engineering field popularization and application.
Above-mentioned detailed description of the invention cannot function as limiting the scope of the invention, and to those of ordinary skill in the art, any alternate modification being made embodiment of the present invention or conversion all fall within protection scope of the present invention.
The present invention does not describes part in detail, is the known technology of those skilled in the art of the present technique.
Claims (10)
1. an extraordinary intelligence engineering rescue and relief work car, it is characterized in that: include walking mechanism and actuating unit, it is provided with a turntable at walking mechanism top, it is provided with manipulation protection bin on a spinstand, it is provided with door on rear side of manipulation protection bin, front side is provided with transparency window, it is provided with an operation bench being connected with actuating unit in operation protection bin, it is provided with some mechanical arms being connected with operation bench on turntable outside manipulation protection bin, being equipped with a mechanical hand in each mechanical arm front end, mechanical arm, mechanical hand, turntable are connected with operation bench respectively.
A kind of extraordinary intelligence engineering rescue and relief work car the most according to claim 1, it is characterised in that: described actuating unit includes that an electromotor and electromotor provide a Hydraulic Station of power, and electromotor is connected with operation bench respectively with Hydraulic Station.
A kind of extraordinary intelligence engineering rescue and relief work car the most according to claim 1, it is characterised in that: described manipulation protection bin is airtight radioprotective warehouse, is additionally provided with automatic oxygen supply and air conditioner in manipulation protection bin.
4. according to a kind of extraordinary intelligence engineering rescue and relief work car described in claim 1,2 or 3, it is characterised in that: being provided with wireless transport module in described operation bench, operation bench is connected with Background control terminal by wireless transport module.
5. according to a kind of extraordinary intelligence engineering rescue and relief work car described in claim 1,2 or 3, it is characterised in that: described transparency window is toughened glass window, and toughened glass window is externally provided with the radiation shield that can be turned on and off.
A kind of extraordinary intelligence engineering rescue and relief work car the most according to claim 1, it is characterized in that: described manipulation protection bin top is provided with some photographic head, each mechanical arm front end is respectively provided with a photographic head up and down, and each photographic head is connected with operation bench respectively, and operation bench is provided with photographic head display screen；Described photographic head is the high definition wide-angle camera with infrared imaging function, is respectively equipped with a safety glass cover outside each photographic head.
A kind of extraordinary intelligence engineering rescue and relief work car the most according to claim 1, it is characterized in that: described operation bench is provided with driving task platform and mechanical arm operation bench, mechanical arm operation bench is provided with data glove control system or the operating rod type control system of manipulation mechanical hand.
A kind of extraordinary intelligence engineering rescue and relief work car the most according to claim 1, it is characterized in that: described mechanical hand includes the connection matrix being connected by four-bar linkage with mechanical arm, forearm oil cylinder it is provided with between four-bar linkage and mechanical arm front end, connect matrix and be provided with guide rail, matrix is saved at the finger being arranged in guide rail that is respectively provided on two sides with connecting matrix, two refer to be provided with between joint matrix a connection oil cylinder, respectively refer on joint matrix at least provided with a hydraulic pressure finger.
A kind of extraordinary intelligence engineering rescue and relief work car the most according to claim 8, it is characterized in that: described hydraulic pressure finger includes first articulations digitorum manus being connected with finger joint matrix, first articulations digitorum manus is provided with a first articulations digitorum manus oil cylinder being connected with finger joint matrix, connecting the second articulations digitorum manus at the first articulations digitorum manus end, the second articulations digitorum manus is provided with a second articulations digitorum manus oil cylinder being connected with the first articulations digitorum manus.
A kind of extraordinary intelligence engineering rescue and relief work car the most according to claim 9, it is characterised in that: the oil supply pipe of described second articulations digitorum manus oil cylinder and the second articulations digitorum manus oil cylinder is hidden and is located in the first articulations digitorum manus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610321681.0A CN105818131B (en) | 2016-05-13 | 2016-05-13 | A kind of special type intelligence engineering rescue and relief work car |
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| CN201610321681.0A CN105818131B (en) | 2016-05-13 | 2016-05-13 | A kind of special type intelligence engineering rescue and relief work car |
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| CN105818131A true CN105818131A (en) | 2016-08-03 |
| CN105818131B CN105818131B (en) | 2018-04-17 |
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| CN201610321681.0A Expired - Fee Related CN105818131B (en) | 2016-05-13 | 2016-05-13 | A kind of special type intelligence engineering rescue and relief work car |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322595A (en) * | 2017-06-27 | 2017-11-07 | 广东石油化工学院 | A kind of double-crawler type emergency rescue robot and control method |
| CN112571406A (en) * | 2020-11-30 | 2021-03-30 | 山东大学日照智能制造研究院 | Electro-hydraulic hybrid drive special robot and control method |
| CN113204045A (en) * | 2021-04-06 | 2021-08-03 | 宝鸡赛威重型机床制造有限公司 | Nuclear radiation severe pollution safety approaching vehicle |
| CN114714317A (en) * | 2021-07-22 | 2022-07-08 | 中广核研究院有限公司 | Rescue robot |
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| JP2015131371A (en) * | 2014-01-14 | 2015-07-23 | 日立建機株式会社 | Double-arm work machine |
| CN104972477A (en) * | 2015-07-21 | 2015-10-14 | 北京工业大学 | Multifunctional engineering accessory for six-bar mechanism |
| CN205734878U (en) * | 2016-05-13 | 2016-11-30 | 李建纯 | A kind of extraordinary intelligence engineering rescue and relief work car |
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| CN114714317A (en) * | 2021-07-22 | 2022-07-08 | 中广核研究院有限公司 | Rescue robot |
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