CN109129392A - A kind of cross-country obstacle removing robot - Google Patents
A kind of cross-country obstacle removing robot Download PDFInfo
- Publication number
- CN109129392A CN109129392A CN201810833249.9A CN201810833249A CN109129392A CN 109129392 A CN109129392 A CN 109129392A CN 201810833249 A CN201810833249 A CN 201810833249A CN 109129392 A CN109129392 A CN 109129392A
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- China
- Prior art keywords
- motor
- fixedly mounted
- support
- shaft
- fuselage
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of cross-country obstacle removing robot of the invention, including fuselage, moving device, grabbing device, sweeping device is scraped, moving device is mounted on the two sides of fuselage, and moving device is fixedly mounted on the front end of fuselage, scrapes the rear end bottom that sweeping device is fixedly mounted on fuselage；The present invention makes robot enforcement and throwing over barrier by moving device, clears up bulk barrier by grabbing device, clears up fritter barrier by scraping sweeping device, improves obstacle climbing ability, enhance effect of removing obstacles.
Description
Technical field
The present invention relates to obstacle cleaning equipment technical field live after calamity, in particular to a kind of cross-country obstacle removing robots.
Background technique
In recent years, the natural calamities such as earthquake, tsunami, landslide, mud-rock flow take place frequently, and often result in a wide range of house and fall
It collapses, casualties, cause many inconvenient to people's lives while also having brought tremendous economic losses, disaster area reconstruction, disaster area
Rescue becomes the significant problem that people need to face, and disaster area is rebuild, often requires to use equipment of removing obstacles in the rescue operations of disaster area
Rapidly abolish barrier, efficiently clear up building waste, general equipment of removing obstacles is large-scale obstacles removing car, such as application No. is
201510062599.6 disclose a kind of " obstacles removing car ", mainly include vehicle body platform, lifting device, support arm etc., such equipment
Volume is big, structure is complicated, cost is high, is only applicable to more spacious region, can not freely enter and leave in some narrow zones, therefore needs
Want a kind of novel equipment of removing obstacles.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of cross-country obstacle removing robot, by moving device make robot exercise and
Throwing over barrier clears up bulk barrier by grabbing device, clears up fritter barrier by scraping sweeping device, improves obstacle detouring energy
Power enhances effect of removing obstacles.
Technical solution used in the present invention is: a kind of cross-country obstacle removing robot, including fuselage, moving device, crawl dress
It sets, scrape sweeping device, the moving device is mounted on the two sides of fuselage, and moving device is fixedly mounted on the front end of fuselage, sweeps
Device is fixedly mounted on the rear end bottom of fuselage.
The moving device includes bottom plate, speed reducer, first bevel gear, shaft, second bevel gear, fore-stock, steering
Steering engine, walking steering engine support, walking steering engine, wheel, after-poppet, the speed reducer are fixedly mounted on the vertical plate of base plate rear end
On, the projecting shaft of first bevel gear and speed reducer is fixedly mounted, and the vertical plate of two shaft one end and bottom panel side is rotatablely installed, separately
One end and fore-stock are fixedly mounted, and a spindle nose of second bevel gear and shaft is fixedly mounted, the rear end of after-poppet and fore-stock
Rotational installation, steering-engine are fixedly mounted on the front end of fore-stock and the both ends of after-poppet, walk steering engine support and steering-engine
Projecting shaft be fixedly mounted, walking steering engine be fixedly mounted on walking steering engine support on, wheel with walk steering engine projecting shaft fix
Installation.
The grabbing device includes first motor support, first motor, the second motor support base, the second motor, first
Arm, third motor, second support arm, the 4th motor, third support arm, the 5th motor, clamping jaw, pinion gear, rack gear, first electricity
Machine is fixed on first motor support, and the projecting shaft of the second motor support base and first motor is fixedly mounted, and the second motor is fixed on
On second motor support base, the projecting shaft of first support arm one end and the second motor is fixedly mounted, the other end and the fixed peace of third motor
The projecting shaft of dress, second support arm one end and third motor is fixedly mounted, and the other end and the 4th motor are fixedly mounted, third support arm one
End and the projecting shaft of the 4th motor are fixedly mounted, and the other end and the 5th motor are fixedly mounted, and the front end of clamping jaw and third support arm is sliding
Dynamic installation, rack gear is fixedly mounted on the inside of clamping jaw, the projecting shaft fixed installation of pinion gear and the 5th motor, and nibbles with rack gear
It closes.
The sweeping device of scraping includes pedestal, hydraulic cylinder, support rod, long connecting shaft, short connecting shaft, platform, the 6th motor, stands
Plate, lead screw, feed screw nut seat, guide rail, scraper plate, guide wheel, the pedestal are fixedly mounted on the lower section of fuselage, hydraulic cylinder bottom with
The long connecting shaft of base rotation installation, hydraulic stem and bottom is fixedly mounted, and long connecting shaft and the pedestal of bottom are slidably installed, most upper
One root long connecting shaft of side is slidably installed with platform, and eight support rods and short connecting shaft and remaining long connecting shaft are rotatablely installed, wherein two
One end of root support rod and base rotation are installed, and guide rail is fixedly mounted on platform, and vertical plate is fixedly mounted on guide rail both ends, and the 6th
Motor is fixedly mounted on one of vertical plate, and lead screw one end is inserted into the hollow shaft of the 6th motor, and the other end and vertical plate rotate
Installation, guide wheel and feed screw nut seat lower rotation are installed, and are slidably installed with guide rail, and feed screw nut seat and lead screw are rotatablely installed, and are scraped
Plate is fixedly mounted on feed screw nut seat.
Beneficial effects of the present invention: (1) fore-stock of moving device of the invention can be swung up and down, imitate creep it is dynamic
Make, can easily be crossed when encountering obstacle during traveling, improve its obstacle climbing ability；(2) present invention is clear in grabbing device
After having managed bulk barrier, the fritters such as remaining small crushed stone barrier is cleared up by scraping sweeping device, and work of removing obstacles is more thorough, enhancing
Effect of removing obstacles.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is moving device structural schematic diagram of the invention.
Fig. 3 is grabbing device structural schematic diagram of the invention.
Fig. 4 is the partial structural diagram of grabbing device grip portion of the invention.
Fig. 5 sweeps apparatus structure schematic diagram for of the invention.
Fig. 6 is the partial structural diagram for scraping sweeping device slipper of the invention.
Detailed description of the invention: 1- fuselage；2- moving device；3- grabbing device 4- scrapes sweeping device；201- bottom plate；202- speed reducer；
203- first bevel gear；204- shaft；205- second bevel gear；206- fore-stock；207- steering-engine；208- walking steering engine branch
Seat；209- walking steering engine；210- wheel；211- after-poppet；301- first motor support；302- first motor；The second electricity of 303-
Machine support；The second motor of 304-；305- first support arm；306- third motor；307- second support arm；The 4th motor of 308-；309-
Third support arm；The 5th motor of 310-；311- clamping jaw；312- pinion gear；313- rack gear；401- pedestal；402- hydraulic cylinder；403- branch
Strut；404- long connecting shaft；The short connecting shaft of 405-；406- platform；The 6th motor of 407-；408- vertical plate；409- lead screw；410- lead screw spiral shell
Base；411- guide rail；412- scraper plate；413- guide wheel.
Specific embodiment
The invention will be further described combined with specific embodiments below, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
Embodiment: as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, a kind of cross-country obstacle removing robot shown in fig. 6, including fuselage 1, row
Into device 2, grabbing device 3, scrape sweeping device 4.Moving device 2 is mounted on the two sides of fuselage 1, and moving device 2 is fixedly mounted on machine
The rear end bottom that sweeping device 4 is fixedly mounted on fuselage 1 is scraped in the front end of body 1.
Moving device 2 includes bottom plate 201, speed reducer 202, first bevel gear 203, shaft 204, second bevel gear 205, preceding
Bracket 206, steering-engine 207, walking steering engine support 208, walking steering engine 209, wheel 210, after-poppet 211, the deceleration
Machine 202 is fixedly mounted on the vertical plate of 201 rear end of bottom plate, and the projecting shaft of first bevel gear 203 and speed reducer 202 is fixedly mounted,
The vertical plate of two 204 one end of shaft and 201 side of bottom plate is rotatablely installed, and the other end and fore-stock 206 are fixedly mounted, the second cone tooth
Wheel 205 and a spindle nose of shaft 204 are fixedly mounted, and the rear end thereof of after-poppet 211 and fore-stock 206 is installed, steering-engine
207 are fixedly mounted on the both ends of the front end of fore-stock 206 and after-poppet 211, walking steering engine support 208 and steering-engine 207
Projecting shaft is fixedly mounted, and walking steering engine 209 is fixedly mounted on walking steering engine support 208, wheel 210 and steering engine 209 of walking
Projecting shaft is fixedly mounted.
Grabbing device 3 include first motor support 301, first motor 302, the second motor support base 303, the second motor 304,
First support arm 305, third motor 306, second support arm 307, the 4th motor 308, third support arm 309, the 5th motor 310, clamping jaw
311, pinion gear 312, rack gear 313, the first motor 302 are fixed on first motor support 301, the second motor support base
303 are fixedly mounted with the projecting shaft of first motor 302, and the second motor 304 is fixed on the second motor support base 303, first support arm
The projecting shaft of 305 one end and the second motor 304 is fixedly mounted, and the other end and third motor 306 are fixedly mounted, second support arm 307
The projecting shaft of one end and third motor 306 is fixedly mounted, and the other end and the 4th motor 308 are fixedly mounted, 309 one end of third support arm
It is fixedly mounted with the projecting shaft of the 4th motor 308, the other end and the 5th motor 310 are fixedly mounted, clamping jaw 311 and third support arm
309 front end is slidably installed, and rack gear 313 is fixedly mounted on the inside of clamping jaw 311, the stretching of pinion gear 312 and the 5th motor 310
Axis is fixedly mounted, and engages with rack gear 313.
Scrape sweeping device 4 include pedestal 401, hydraulic cylinder 402, support rod 403, long connecting shaft 404, short connecting shaft 405, platform 406,
6th motor 407, vertical plate 408, lead screw 409, feed screw nut seat 410, guide rail 411, scraper plate 412, guide wheel 413, the pedestal
401 are fixedly mounted on the lower section of fuselage 1, and 402 bottom of hydraulic cylinder and pedestal 401 are rotatablely installed, and hydraulic stem and the long of bottom connect
Axis 404 is fixedly mounted, and long connecting shaft 404 and the pedestal 401 of bottom are slidably installed, the root long connecting shaft 404 and platform of the top
406 are slidably installed, and eight support rods 403 and short connecting shaft 405 and remaining long connecting shaft 404 are rotatablely installed, wherein two support rods
403 one end and pedestal 401 are rotatablely installed, and guide rail 411 is fixedly mounted on platform 406, and vertical plate 408 is fixedly mounted on guide rail
411 both ends, the 6th motor 407 are fixedly mounted on one of vertical plate 408, and the sky of the 6th motor 407 is inserted into 409 one end of lead screw
In mandrel, the other end and vertical plate 408 are rotatablely installed, and guide wheel 413 and 410 lower rotation of feed screw nut seat are installed, sliding with guide rail 411
Dynamic installation, feed screw nut seat 410 and lead screw 409 are rotatablely installed, and scraper plate 412 is fixedly mounted on feed screw nut seat 410.
The working principle of the invention: the work of speed reducer 202 drives the rotation of first bevel gear 203 to drive second bevel gear
205 rotations, the rotation of second bevel gear 205 drive fore-stock 206 to swing so that robot crossing over blockage, steering-engine 207
The direction of travel of robot is controlled, walking 209 work belt motor car wheel 210 of steering engine rotates so that robot traveling, first motor 302
Work belt is moved manipulator and is planar rotated, and the second motor 304, third motor 306 and the work of the 4th motor 308 drive crawl dress
3 each joint swing is set to adjust crawl position, the work of the 5th motor 310 drives the rotation of pinion gear 312 to movable tooth
Item 313 is mobile, and to realize grasping movement, hydraulic cylinder 402 works the mobile opening and closing for driving two clamping jaws 311 of rack gear 313
Make platform raising and lowering by support rod 403, long connecting shaft 404 and short connecting shaft 405, the work of the 6th motor 407 drives lead screw
To drive feed screw nut seat 410 to move left and right, feed screw nut seat 410, which moves left and right, drives scraper plate 412 to move left and right for 409 rotations
The obstacle of fritter is walked clearly.
Claims (1)
1. a kind of cross-country obstacle removing robot, including fuselage (1), moving device (2), grabbing device (3), scrape sweeping device (4), it is special
Sign is: the moving device (2) is mounted on the two sides of fuselage (1), before moving device (2) is fixedly mounted on fuselage (1)
End, scrapes the rear end bottom that sweeping device (4) is fixedly mounted on fuselage (1)；
The moving device (2) includes bottom plate (201), speed reducer (202), first bevel gear (203), shaft (204), second
Bevel gear (205), fore-stock (206), steering-engine (207), walking steering engine support (208), walking steering engine (209), wheel
(210), after-poppet (211), the speed reducer (202) are fixedly mounted on the vertical plate of bottom plate (201) rear end, first bevel gear
(203) it is fixedly mounted with the projecting shaft of speed reducer (202), the vertical plate of two shaft (204) one end and bottom plate (201) side rotates
Installation, the other end and fore-stock (206) are fixedly mounted, and a spindle nose of second bevel gear (205) and shaft (204) is fixed to pacify
Dress, the rear end thereof installation of after-poppet (211) and fore-stock (206), steering-engine (207) are fixedly mounted on fore-stock (206)
Front end and after-poppet (211) both ends, walking steering engine support (208) and steering-engine (207) projecting shaft be fixedly mounted, row
It walks steering engine (209) to be fixedly mounted in walking steering engine support (208), wheel (210) and the projecting shaft of walking steering engine (209) are fixed
Installation；
The grabbing device (3) includes first motor support (301), first motor (302), the second motor support base (303),
Two motors (304), first support arm (305), third motor (306), second support arm (307), the 4th motor (308), third support arm
(309), the 5th motor (310), clamping jaw (311), pinion gear (312), rack gear (313), the first motor (302) are fixed on
On first motor support (301), the projecting shaft of the second motor support base (303) and first motor (302) is fixedly mounted, the second motor
(304) it is fixed on the second motor support base (303), the projecting shaft of first support arm (305) one end and the second motor (304) is fixed to pacify
Dress, the other end and third motor (306) are fixedly mounted, and second support arm (307) one end and the projecting shaft of third motor (306) are fixed
Installation, the other end and the 4th motor (308) are fixedly mounted, and the projecting shaft of third support arm (309) one end and the 4th motor (308) is solid
Dingan County's dress, the other end and the 5th motor (310) are fixedly mounted, and clamping jaw (311) and the front end of third support arm (309) are slidably installed,
Rack gear (313) is fixedly mounted on the inside of clamping jaw (311), the fixed peace of the projecting shaft of pinion gear (312) and the 5th motor (310)
Dress, and engaged with rack gear (313)；
The sweeping device (4) of scraping includes pedestal (401), hydraulic cylinder (402), support rod (403), long connecting shaft (404), short connecting shaft
(405), platform (406), the 6th motor (407), vertical plate (408), lead screw (409), feed screw nut seat (410), guide rail (411),
Scraper plate (412), guide wheel (413), the pedestal (401) are fixedly mounted on the lower section of fuselage (1), hydraulic cylinder (402) bottom with
The long connecting shaft (404) of pedestal (401) rotational installation, hydraulic stem and bottom is fixedly mounted, the long connecting shaft (404) of bottom and bottom
Seat (401) is slidably installed, and a root long connecting shaft (404) and the platform (406) of the top are slidably installed, eight support rods (403) and
Short connecting shaft (405) and remaining long connecting shaft (404) rotational installation, wherein one end of two support rods (403) and pedestal (401) turn
Dynamic installation, guide rail (411) are fixedly mounted on platform (406), and vertical plate (408) is fixedly mounted on guide rail (411) both ends, the 6th electricity
Machine (407) is fixedly mounted on one of vertical plate (408), and 409 one end of lead screw is inserted into the hollow shaft of the 6th motor (407),
The other end and vertical plate (408) are rotatablely installed, and guide wheel (413) and feed screw nut seat (410) lower rotation are installed, with guide rail (411)
It is slidably installed, feed screw nut seat (410) and lead screw (409) are rotatablely installed, and scraper plate (412) is fixedly mounted on feed screw nut seat 410
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810833249.9A CN109129392A (en) | 2018-07-26 | 2018-07-26 | A kind of cross-country obstacle removing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810833249.9A CN109129392A (en) | 2018-07-26 | 2018-07-26 | A kind of cross-country obstacle removing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109129392A true CN109129392A (en) | 2019-01-04 |
Family
ID=64799220
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810833249.9A Withdrawn CN109129392A (en) | 2018-07-26 | 2018-07-26 | A kind of cross-country obstacle removing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109129392A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110001816A (en) * | 2019-04-19 | 2019-07-12 | 南京涵铭置智能科技有限公司 | A kind of patch ground walking Prospecting vehicle and its patch ground method |
| CN110215625A (en) * | 2019-05-12 | 2019-09-10 | 陕西理工大学 | A kind of structural fire protection robot based on the double sense processing of video |
| CN112359898A (en) * | 2020-10-29 | 2021-02-12 | 江苏华东地质环境工程有限公司 | Quick clearing device of geological disaster dangerous rock mass |
| CN112792827A (en) * | 2021-02-24 | 2021-05-14 | 杭州图灵视频科技有限公司 | Electric power inspection robot |
| CN114734458A (en) * | 2022-04-01 | 2022-07-12 | 东北电力大学 | Intelligent building inspection robot |
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Application publication date: 20190104 |