CN110001284A - A kind of rescue robot with the deformable wheel of umbrella shape - Google Patents
A kind of rescue robot with the deformable wheel of umbrella shape Download PDFInfo
- Publication number
- CN110001284A CN110001284A CN201910354678.2A CN201910354678A CN110001284A CN 110001284 A CN110001284 A CN 110001284A CN 201910354678 A CN201910354678 A CN 201910354678A CN 110001284 A CN110001284 A CN 110001284A
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- China
- Prior art keywords
- side plectane
- wheel
- jackshaft
- driving
- deformable wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of rescue robots with the deformable wheel of umbrella shape, belong to lifesaving appliance technical field.The robot includes fuselage, fuselage is equipped with deformable wheel, driving running gear and driving anamorphotic system, deformable wheel includes affixed side plectane, jackshaft, link mechanism and active side plectane, affixed side plectane is coaxially fixed on the outside of jackshaft, active side plectane is coaxially fixed on the inside of jackshaft, link mechanism is that the hinged end of multiple groups and its both ends respectively with affixed side plectane and active side plectane is fixed, driving anamorphotic system is slided on jackshaft by controlling active side plectane, realizes the deformation of wheel；The rotation of running gear control jackshaft is driven to realize the walking of deformable wheel.The mine rescue robot is very good to the adaptability of roadway unstructured moving grids after catastrophe.The gap narrow by underground when using wheel radius minimum is gone to cross biggish obstacle when with wheel radius maximum, saves a large amount of time to the search and rescue of rescue personnel.
Description
Technical field
The invention belongs to lifesaving appliance technical field, in particular to a kind of rescue machine with the deformable wheel of umbrella shape
People.
Background technique
After mine disaster occurs, underground catastrophe scene is that tunnel collapsing, gas combustion, a poison gas diffuse, throughout ponding
The complicated unstructured moving grids being full of with explosion fall-out carry out underground and give first aid to the risk handled with disaster very high, to rescue
The safety of personnel brings potential danger.But the rescue robot of existing exploitation it is generally existing to catastrophe tunnel terrain adaptability compared with
The problem of difference, underground practical application successful case are few.It is complicated that this is mainly due to catastrophe roadway topographic structures, and Service Environment is disliked
It is bad to cause rescue robot not caused enough to landform adaptability.
Summary of the invention
In view of the problems of the existing technology, the invention discloses a kind of rescue machines with the deformable wheel of umbrella shape
People keeps rescue robot adaptability wider, rescue efficiency is higher by being deformed to wheel to adapt to different roadblocks.
The object of the invention to solve the technical problems adopts the following technical solutions to realize.It proposes according to the present invention
A kind of rescue robot with the deformable wheel of umbrella shape, including fuselage, the fuselage is equipped with deformable wheel, driving walking
System and driving anamorphotic system, the deformable wheel includes affixed side plectane, jackshaft, link mechanism and active side plectane,
The affixed side plectane is coaxially fixed on the outside of jackshaft, and active side plectane is coaxially fixed on the inside of jackshaft, connecting rod machine
Structure is that the hinged end of multiple groups and its both ends respectively with affixed side plectane and active side plectane is fixed, and driving anamorphotic system passes through control
Active side plectane slides on jackshaft, realizes the deformation of wheel；The rotation of running gear control jackshaft is driven to realize variable
The walking of shape wheel.
The fuselage of the rescue robot is made of forebody and rear body, and forebody and rear body are equipped with connecting pin simultaneously
It is realized and is detachably connected by connecting pin.
The fuselage is equipped with the article box for loading relief supplies.
Driving anamorphotic system includes driving deformation motor, gear and rack teeth mechanism and connector, gear simultaneously with upper tooth
Item and the engagement of lower rack gear, connector include upper fastener and lower fastener, and upper fastener, which is equipped with, is used to the buckle fixed with rack gear, lower fastener
Equipped with the groove for installation activity side plectane, active side plectane can rotate in groove, upper and lower fastener fixing locking, driving
The deformable wheel that deformation motor controls fuselage two sides by the relative motion of driving rack-and-pinion realizes synchronous deformation
Movement.
The link mechanism includes 3 connecting rods, wherein one end of the hinged connecting rod in two connecting rod one end.
It is that the present invention obtains the utility model has the advantages that
1, rescue robot of the invention is very good to the adaptability of roadway unstructured moving grids after catastrophe.Utilize wheel
By the gap that underground is narrow when radius minimum, goes to cross biggish obstacle when with wheel radius maximum, can make small
Vehicle feeds back to the true situation in underground after catastrophe as early as possible, saves a large amount of time to the search and rescue of rescue personnel；
2, deformable wheel structure is simple.It is made up of affixed side plectane, active side plectane, jackshaft and link mechanism
Crank block slider structure keeps link mechanism flexible, wheel can be realized by position of the control active side plectane on jackshaft
Deformation.
3, fuselage can make 4 wheels and ground keep reliable contacts, improve in such a way that forebody and rear body combine
Robot obstacle climbing ability and operation stability.
4, driving anamorphotic system can make Motor controlling machine using the structure of motor, gear and rack teeth mechanism and connector
The wheel of body two sides realizes synchronous deformation；The setting of connector can make rack gear not generate and move synchronously with the rotation of wheel.
Figure of description
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is driving anamorphotic system schematic diagram of the invention；
Fig. 3 is connector construction figure of the invention；
Fig. 4 is the status diagram when present invention passes through gap；
Fig. 5 is the status diagram when present invention passes through roadblock.
In figure: 1- forebody, 2- rear body, the connecting pin 3-, 4- article box, 5- affixed side plectane, 6- active side plectane, 7-
Object jackshaft, 8- link mechanism, 9- hinged seat, 10- driving deformation motor, 11- connector, 12- gear, 13- upper rack,
Rack gear under 14-, 15- upper fastener, fastener under 16-, 17- buckle, 18- groove, 19- driving walking motor.
Specific embodiment
The present invention will be further described combined with specific embodiments below.
A kind of rescue robot with the deformable wheel of umbrella shape in conjunction with shown in Fig. 1-3, by forebody 1 and rear body 2
Composition.Forebody 1 and rear body 2 are equipped with connecting pin 3 and are realized by connecting pin 3 and be detachably connected, and forebody 1, which is equipped with, to be loaded
The article box 4 of relief supplies.
Forebody 1 and rear body 2 are respectively equipped with deformable wheel, driving anamorphotic system and driving running gear.
Deformable wheel includes affixed side plectane 5, active side plectane 6, jackshaft 7 and link mechanism 8.Affixed side plectane
5 are coaxially fixed on the outside of jackshaft 7, and active side plectane 6 is coaxially connected with jackshaft 7 and can slide on jackshaft 7.Gu
Determine to be uniformly distributed 5 groups of link mechanisms 8 between side plectane 5 and active side plectane 6, every group of link mechanism 8 includes 3 connecting rods, by two
One end of the hinged connecting rod in root connecting rod one end.The connecting pin of link mechanism 8 is separately fixed at affixed side plectane 5 and active side circle
On the hinged seat 9 of plate 6.
Driving anamorphotic system includes driving deformation motor 10, gear and rack teeth mechanism and connector 11.Gear 12 is simultaneously
It is engaged with upper rack 13 and lower rack gear 14, connector 11 includes upper fastener 15 and lower fastener 16, and upper fastener 15, which is equipped with, to be used to and tooth
The fixed buckle 17 of item, lower fastener 16 are equipped with the groove 18 for installation activity side plectane, and active side plectane 6 can be in groove 18
Interior rotation.Upper and lower fastener is bolted locking.Driving deformation motor 10 by driving rack-and-pinion relative motion from
And the deformable wheel for controlling fuselage two sides realizes synchronous deformed movement.
Driving running gear includes driving walking motor 19, and driving walking motor 19 drives the rotation of jackshaft 7 to realize
The rotation of affixed side plectane 5, affixed side plectane 5 drive active side plectane 6 to realize and rotate synchronously.
Two kinds of limiting conditions of wheel are as shown in Figure 4 and Figure 5:
When Fig. 4 is that link mechanism 8 is in tensional state, wheel radius is minimum, for passing through narrow gap.
When Fig. 5 is that link mechanism 8 is in contraction state, wheel radius is maximum, for crossing biggish obstacle.
Claims (5)
1. a kind of rescue robot with the deformable wheel of umbrella shape, including fuselage, it is characterised in that: the fuselage is equipped with variable
Shape wheel, driving running gear and driving anamorphotic system, the deformable wheel includes affixed side plectane, jackshaft, connecting rod machine
Structure and active side plectane, the affixed side plectane are coaxially fixed on the outside of jackshaft, and active side plectane is coaxially fixed on centre
The inside of axis, link mechanism are that the hinged end of multiple groups and its both ends respectively with affixed side plectane and active side plectane is fixed, and are driven
Anamorphotic system is slided on jackshaft by controlling active side plectane, realizes the deformation of wheel；Drive running gear control intermediate
The walking of deformable wheel is realized in the rotation of axis.
2. a kind of rescue robot with the deformable wheel of umbrella shape according to claim 1, it is characterised in that: described to rescue
The fuselage for helping robot is made of forebody and rear body, and forebody and rear body are equipped with connecting pin and are realized by connecting pin
It is detachably connected.
3. a kind of rescue robot with the deformable wheel of umbrella shape according to claim 1, it is characterised in that: the machine
Body is equipped with the article box for loading relief supplies.
4. a kind of rescue robot with the deformable wheel of umbrella shape according to claim 1, it is characterised in that: driving becomes
Shape system includes that driving deformation motor, gear and rack teeth mechanism and connector, gear are engaged with upper rack and lower rack gear simultaneously,
Connector includes upper fastener and lower fastener, and upper fastener, which is equipped with, is used to the buckle fixed with rack gear, and lower fastener is equipped with for installing work
The groove of dynamic side plectane, active side plectane can rotate in groove, and upper and lower fastener fixing locking, driving deformation motor passes through
The relative motion of rack-and-pinion is driven to control the deformable wheel of fuselage two sides and realize synchronous deformed movement.
5. a kind of rescue robot with the deformable wheel of umbrella shape according to claim 1, it is characterised in that: the company
Linkage includes 3 connecting rods, wherein one end of the hinged connecting rod in two connecting rod one end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910354678.2A CN110001284A (en) | 2019-04-29 | 2019-04-29 | A kind of rescue robot with the deformable wheel of umbrella shape |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910354678.2A CN110001284A (en) | 2019-04-29 | 2019-04-29 | A kind of rescue robot with the deformable wheel of umbrella shape |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110001284A true CN110001284A (en) | 2019-07-12 |
Family
ID=67175016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910354678.2A Pending CN110001284A (en) | 2019-04-29 | 2019-04-29 | A kind of rescue robot with the deformable wheel of umbrella shape |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110001284A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216491A (en) * | 2020-02-28 | 2020-06-02 | 山东大学 | Wheel structure and vehicle with adjustable wheel diameter |
| CN111530002A (en) * | 2020-05-08 | 2020-08-14 | 广州市妙伊莲科技有限公司 | Fire-fighting robot capable of crossing obstacles |
| CN112339493A (en) * | 2020-11-09 | 2021-02-09 | 山东鼎目机器人科技有限公司 | Three-wheel spoke deformation wheel mechanism |
| WO2021043254A1 (en) * | 2019-09-06 | 2021-03-11 | 上海大学 | Wheel-legged amphibious mobile robot with variable angle of attack |
| CN113276986A (en) * | 2021-06-10 | 2021-08-20 | 辽宁工程技术大学 | Multi-connecting-rod walking mechanism based on hydro-elastic wheel structure |
| CN114537037A (en) * | 2022-03-14 | 2022-05-27 | 尹星淇 | Deformable cone pulley obstacle crossing vehicle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0247948A2 (en) * | 1986-05-30 | 1987-12-02 | Motor Wheel Corporation | Wheel for a track laying vehicle and method for making same |
| US20040000439A1 (en) * | 2002-04-19 | 2004-01-01 | Burt Ian T. | Adjustable diameter wheel assembly, and methods and vehicles using same |
| CN201980012U (en) * | 2011-03-07 | 2011-09-21 | 中国兵器工业***总体部 | Deformable walking mechanism |
| US20120104834A1 (en) * | 2010-10-20 | 2012-05-03 | Oto Melara S.P.A. | Variable-diameter wheel |
| CN103863433A (en) * | 2014-02-19 | 2014-06-18 | 上海工程技术大学 | Automatic switch type wheel claw structure of mobile robot |
| CN107161232A (en) * | 2017-06-07 | 2017-09-15 | 宋天钰 | It is a kind of that there is the mobile barrier-surpassing robot for taking turns leg converting means |
| CN107225924A (en) * | 2017-06-10 | 2017-10-03 | 杨静姝 | A kind of amphibious robot and its control method for taking turns oar leg one |
| CN208085844U (en) * | 2018-03-30 | 2018-11-13 | 广州大学 | A kind of avoidance robot suitable for a variety of landform |
-
2019
- 2019-04-29 CN CN201910354678.2A patent/CN110001284A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0247948A2 (en) * | 1986-05-30 | 1987-12-02 | Motor Wheel Corporation | Wheel for a track laying vehicle and method for making same |
| US20040000439A1 (en) * | 2002-04-19 | 2004-01-01 | Burt Ian T. | Adjustable diameter wheel assembly, and methods and vehicles using same |
| US20120104834A1 (en) * | 2010-10-20 | 2012-05-03 | Oto Melara S.P.A. | Variable-diameter wheel |
| CN201980012U (en) * | 2011-03-07 | 2011-09-21 | 中国兵器工业***总体部 | Deformable walking mechanism |
| CN103863433A (en) * | 2014-02-19 | 2014-06-18 | 上海工程技术大学 | Automatic switch type wheel claw structure of mobile robot |
| CN107161232A (en) * | 2017-06-07 | 2017-09-15 | 宋天钰 | It is a kind of that there is the mobile barrier-surpassing robot for taking turns leg converting means |
| CN107225924A (en) * | 2017-06-10 | 2017-10-03 | 杨静姝 | A kind of amphibious robot and its control method for taking turns oar leg one |
| CN208085844U (en) * | 2018-03-30 | 2018-11-13 | 广州大学 | A kind of avoidance robot suitable for a variety of landform |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021043254A1 (en) * | 2019-09-06 | 2021-03-11 | 上海大学 | Wheel-legged amphibious mobile robot with variable angle of attack |
| US11752819B2 (en) | 2019-09-06 | 2023-09-12 | Shanghai University | Wheel-legged amphibious mobile robot with variable attack angle |
| CN111216491A (en) * | 2020-02-28 | 2020-06-02 | 山东大学 | Wheel structure and vehicle with adjustable wheel diameter |
| CN111530002A (en) * | 2020-05-08 | 2020-08-14 | 广州市妙伊莲科技有限公司 | Fire-fighting robot capable of crossing obstacles |
| CN112339493A (en) * | 2020-11-09 | 2021-02-09 | 山东鼎目机器人科技有限公司 | Three-wheel spoke deformation wheel mechanism |
| CN113276986A (en) * | 2021-06-10 | 2021-08-20 | 辽宁工程技术大学 | Multi-connecting-rod walking mechanism based on hydro-elastic wheel structure |
| CN114537037A (en) * | 2022-03-14 | 2022-05-27 | 尹星淇 | Deformable cone pulley obstacle crossing vehicle |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20190712 |