CN204296907U - Multifunctional rescue detection gathers robot - Google Patents
Multifunctional rescue detection gathers robot Download PDFInfo
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- CN204296907U CN204296907U CN201420300161.8U CN201420300161U CN204296907U CN 204296907 U CN204296907 U CN 204296907U CN 201420300161 U CN201420300161 U CN 201420300161U CN 204296907 U CN204296907 U CN 204296907U
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Abstract
A kind of multifunctional rescue detection gathers robot, comprises crawler component, connects some mechanical arm assemblies of the flight assembly on crawler component top and connection crawler component; Crawler component comprises pedestal, the transmission component be arranged on pedestal, connect pedestal and six legs of transmission component and the drive unit of connection for transmission assembly, pedestal comprises the connecting rod of a first end, the second end, connection first end and the second end, and drive unit is fixed on first end; Pedestal also comprises some fixed parts and extension; Transmission component comprise be arranged on drive unit driving gear, with the left gear that driving gear engages and right gear, Left Drive axle, right power transmission shaft, be arranged on some worm screw portions of Left Drive axle and right power transmission shaft, the worm gear in each worm screw portion corresponding and connect the worm gear pole at worm gear center; The utility model, by arranging crawler component, flight assembly, mechanical hand assembly, has very high front line speed, and it is reliable to creep, and greatly improves its operating efficiency.
Description
Technical field:
The utility model relates to a kind of rescue aid, particularly relates to the detection of a kind of multifunctional rescue and gathers robot.
Background technology:
The safety of the mankind in natural calamity such as the serious threats such as earthquake, fire, flood, more and more causes people to pay close attention to widely.By fusions such as Robotics, rescue attempt technology, develop and develop for searching and rescuing, the device of disasters process, be field of rescue equipment challenging frontier.
In recent years, the sudden accidents such as chemical plant, nuclear power plant blast, leakage usually occur, and because landform is severe, poisonous and harmful substance spillage risk regional extent is large, general robot is difficult to the short time and arrives in process; In addition, general robot function is too single, is mostly only to possess function the wounded shifted, and does not substantially have for dangerous chemical, disposal ability.
Utility model content:
Therefore, the purpose of this utility model is to provide a kind of multifunctional rescue detection with abilities such as quick movement, detection, collections to gather robot.
A kind of multifunctional rescue detection gathers robot, comprises a crawler component, connects the flight assembly on this crawler component top and connects some mechanical arm assemblies of this crawler component; Described crawler component comprises a pedestal, the transmission component be arranged on pedestal, connect six legs of pedestal and transmission component and connect the drive unit of this transmission component, this pedestal comprises the connecting rod of a first end, the second end, connection first end and the second end, and described drive unit is fixing on the first end; Described pedestal also comprises some fixed parts and extension; Described transmission component comprise be arranged on drive unit driving gear, with the left gear that this driving gear engages and right gear, Left Drive axle, right power transmission shaft, be arranged on the some worm screw portions on Left Drive axle and right specially moving axis, each worm screw portion corresponding worm gear and connect the worm gear pole at worm gear center; The outboard end of each worm gear pole described connects a crank; Described each leg connects corresponding crank and fixed part or extension, drives described leg swing to creep with the front and back realizing the detection of this multifunctional rescue and gather robot by drive unit and transmission component.
Further, each leg described comprise connect successively huckle, calf and foot, the inner side of this huckle is a link rod part, one end of this link rod part and the free end pivot joint of described crank, and the other end passes through fixed part or the extension pivot joint of a rocking bar portion and described pedestal.
Further, each leg described also comprises a spring, and this spring connects the back of described foot and the middle and lower part of described calf.
Further, described flight assembly comprise the first flight motor, the second flight motor, the first output gear connecting this first flight motor, the second output gear connecting this second flight motor, the first input gear engaged with the first output gear, the second input gear engaged with the second output gear, the interior axle being connected the first input gear, connect the second input gear outer shaft, connect first screw wing on the top of interior axle and connect second screw wing at middle part of outer shaft.
Further, described flight assembly also comprises a balancing pole, and described first screw wing is connected with a balancing pole by a connector.
Further, described mechanical hand assembly comprises one first grabbing arm, the second grabbing arm, boring arm and cutting arm; Described first grabbing arm, the second grabbing arm are in the middle part of the second end of pedestal, and described boring arm and cutting arm are positioned at the both sides of the first grabbing arm, the second grabbing arm.
Multifunctional rescue detection of the present utility model gathers robot by arranging crawler component, flight assembly, mechanical hand assembly, have very high front line speed, and it is reliable to creep, and greatly improves its operating efficiency.
Accompanying drawing illustrates:
Fig. 1 is the schematic perspective view of the multifunctional rescue detection collection robot of a preferred embodiment of the present utility model.
Fig. 2 is the schematic perspective view after the multifunctional rescue detection collection robot removal shell of Fig. 1.
Fig. 3 is the schematic diagram of the crawler component of the multifunctional rescue detection collection robot of Fig. 2.
Fig. 4 is the enlarged drawing of the circle part A of Fig. 3.
Fig. 5 is that the multifunctional rescue detection of Fig. 1 gathers the sectional view cut open in Robot one center vertical face.
Fig. 6 is the enlarged drawing of the circle part B of Fig. 2.
In figure: crawler component 10, pedestal 11, first end 12, the second end 13, connecting rod 14, fixed part 15, extension 16, centre frame 19, transmission component 20, driving gear 21, left gear 22, right gear 23, Left Drive axle 24, right power transmission shaft 25, worm screw portion 26, worm gear 27, worm gear pole 28, crank 29, leg 30, huckle 31, link rod part 310, calf 32, foot 33, spring 34, rocking bar portion 35, drive unit 40, inchworm motor 41, flight assembly 50, first flight motor 51, second flight motor 52, first output gear 53, second output gear 54, first input gear 55, second input gear 56, interior axle 57, first screw wing 570, outer shaft 58, second screw wing 580, balancing pole 59, mechanical arm assembly 80, first grabbing arm 81, second grabbing arm 82, boring arm 83, drill 830, cutting arm 84, cutting blade 840, housing 90.
Detailed description of the invention:
In order to make the technical solution of the utility model more clearly show, below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figures 1 to 6, for the multifunctional rescue detection of an embodiment of the present utility model gathers robot, the detection of this multifunctional rescue gathers robot and comprises a crawler component 10, connect the flight assembly 50 on this crawler component 10 top and connect some mechanical arm assemblies 80 of this crawler component 10.The detection of this multifunctional rescue is gathered robot and is set in crawler component 10 by a housing 90.
Described crawler component 10 comprises a pedestal 11, installs six legs 30 of transmission component 20, connection pedestal 11 and transmission component 20 on the base 11 and connect the drive unit 40 of this transmission component 20.
Described pedestal 11 in the present embodiment rectangular frame is arranged.This pedestal 11 comprises the connecting rod 14 of a first end 12, the second end 13, connection first end 12 and the second end 13.Described drive unit 40 is fixed on first end 12.Described pedestal 11 also comprises the fixed part 15 of the described connecting rod 14 of some connections.Each fixed part 15 is arranged in L-type, upwards extends rear Vertical dimension extension arrange from the end face of described connecting rod 14.Described the second end 13 is provided with extension 16, and the outer ledge that this extension 16 and fixed part 15 outwards exceed described extension connecting rod 14 extends, and connects for described leg 30 correspondence.In the present embodiment, the quantity of described fixed part 15 is four, and the quantity of described extension 16 is two, and this extension 16 and fixed part 15 interval are arranged to ensure the distance between each leg 30.In the present embodiment, this pedestal 11 also comprises a centre frame 19, and this centre frame 19 connects in the middle part of the medial surface of first end 12 and the second end 13.
Described drive unit 40 comprises an inchworm motor 41 in the present embodiment, and this inchworm motor 41 is positioned at the middle upper portion position of first end 12, and the output shaft of inchworm motor 41 is extended to the lateral surface of first end 12.
The worm gear 27 in the left gear 22 that described transmission component 20 comprises driving gear 21 on the output shaft being arranged on inchworm motor 41, engage with this driving gear 21 and right gear 23, the Left Drive axle 24 connecting left gear 22, the right power transmission shaft 25 connecting right gear 23, the some worm screw portions 26 be arranged on Left Drive axle 24 and right power transmission shaft 25, each worm screw portion 26 corresponding and connect the worm gear pole 28 at worm gear 27 center.Described driving gear 21, left gear 22 and right gear 23 are spur gear.Described Left Drive axle 24 and right power transmission shaft 25 be parallel to each other interval arrange.One end of Left Drive axle 24 is fixedly connected with left gear 22 through the first end 12 of pedestal 11, the second end 13 pivot joint of the other end and pedestal 11; One end of right power transmission shaft 25 is fixedly connected with right gear 23 through the first end 12 of pedestal 11, the second end 13 pivot joint of the other end and pedestal 11.Each worm gear 27 described is positioned at the below in corresponding worm screw portion 26 and engages with this worm screw portion 26.Each worm gear pole 28 described wears fixing corresponding worm gear 27, the medial extremity of each worm gear pole 28 and described centre frame 19 pivot joint, outboard end pass described connecting rod 14 and with connecting rod 14 pivot joint.The outboard end of each worm gear pole 28 vertically extends a crank 29, the free end of this crank 29 and described leg 30 pivot joint.
Described leg 30 comprise connect successively huckle 31, calf 32 and foot 33.The inner side of this huckle 31 is a link rod part 310, one end of this link rod part 310 and the free end pivot joint of described crank 29, and the other end passes through fixed part 15 or extension 16 pivot joint of a rocking bar portion 35 and described pedestal 11.Therefore, described crank 29, link rod part 310, rocking bar portion 35 form a crank rocker device, drive leg 30 to swing by a small margin when being rotated by worm gear pole 28.The top of described calf 32 and huckle 31 pivot joint, the bottom of described calf 32 and foot 33 pivot joint, and the middle and lower part of the back of foot 33 with calf 32 is connected, to ensure the shockproof effect of foot 33 by a spring 34.
When described crawler component 10 is in original state, six cranks 29 of described transmission component 20 are in two kinds of different angle states, former and later two cranks 29 wherein and the crank 29 in the middle of right side are in the first identical anglec of rotation, crank 29 and former and later two cranks 29 of right side of the centre in left side are in identical the second anglec of rotation, this in second the anglec of rotation differ with the first anglec of rotation 90 to 180 spend between, to make the height of the foot 33 of the leg 30 being in the first anglec of rotation different from the height of foot 33 of the leg 30 being in the second anglec of rotation, make to only have three foots 33 to land at every turn, ensure that the detection of whole multifunctional rescue gathers the stationarity of robot.When inchworm motor 41 forward or when rotating backward, transmission component 20 turn over before driving leg 30 or after turn over the effect reaching and creep.
Described flight assembly 50 comprises the first flight motor 51, second flight motor 52, connect the first output gear 53 of the output shaft of this first flight motor 51, connect the second output gear 54 of the output shaft of this second flight motor 52, the first input gear 55 engaged with the first output gear 53, the second input gear 56 engaged with the second output gear 54, connect the interior axle 57 of the first input gear 55, connect the outer shaft 58 of the second input gear 56, first screw wing 570 on the top of axle 57 in connecting, and second screw wing 580 at the middle part of connection outer shaft 58.Described first screw wing 570 is connected with a balancing pole 59 by a connector (figure does not mark).By the setting of the assembly 50 that flies, make this multifunctional rescue detect collection robot and there is powerful flight performance, promptly can avoid the obstacle on ground, fly to disaster field and perform and detect and collected specimens, transmit the task of data and image to disaster relief command centre.
Described mechanical hand assembly 80 comprises one first grabbing arm 81, second grabbing arm 82, boring arm 83 and cutting arm 84.In the present embodiment, this first grabbing arm 81, second grabbing arm 82 is in the middle part of the second end 13 of pedestal 11, and described boring arm 83 and cutting arm 84 are positioned at the both sides of the first grabbing arm 81, second grabbing arm 82.Described first grabbing arm 81 is driven by the screw mandrel in the middle of one and motor (figure does not mark) and carries out grasping movement.Second grabbing arm 82 controls to capture more at a distance to stretch to by multiple joint designs and micro machine, and the machine pawl of free end carries out gathering and expansion action to capture by screw mandrel (figure does not mark) equally.The end of described boring arm 83 arranges drill 830, and the end of described cutting arm 84 arranges cutting blade 840, carries out control stretch and rotate by multiple motor.This mechanical hand assembly 80 carries out collected specimens by the first above-mentioned grabbing arm 81, second grabbing arm 82, boring arm 83 and cutting arm 84 pairs of disaster scenes, analyzes for expert to bring out.
Described multifunctional rescue detection gathers robot and also comprises robot main control chip, checkout gear, wireless module and other some ancillary equipment; This checkout gear can be harmful gas detector, cuclear density detector, make a video recording first-class; This wireless module is used for information wireless to send it back to the controllers of periphery, or accepts the Long-distance Control of controllers; Described ancillary equipment can be lighting apparatus, audio player, IR evading obstacle sensors etc.; Described robot main control chip is used for Comprehensive Control crawler component 10, flight assembly 50, mechanical hand assembly 80, checkout gear, wireless module and other ancillary equipment.
Multifunctional rescue detection of the present utility model gathers robot by arranging crawler component 10, flight assembly 50, mechanical hand assembly 80, have very high front line speed, and it is reliable to creep, and greatly improves its operating efficiency; And the detection of this multifunctional rescue gathers detection, information gathering that robot has, takes the several functions such as sample, chemical plant pressure vessel blast and the sudden accident such as nuclear power plant's Nuclear pressure components generation nuclear leakage accident time be with a wide range of applications.
The above embodiment only have expressed a kind of embodiment of the present utility model, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (6)
1. multifunctional rescue detection gathers a robot, it is characterized in that: comprise a crawler component, connect the flight assembly on this crawler component top and connect some mechanical arm assemblies of this crawler component; Described crawler component comprises a pedestal, the transmission component be arranged on pedestal, connect six legs of pedestal and transmission component and connect the drive unit of this transmission component, this pedestal comprises the connecting rod of a first end, the second end, connection first end and the second end, and described drive unit is fixing on the first end; Described pedestal also comprises some fixed parts and extension; Described transmission component comprise be arranged on drive unit driving gear, with the worm gear in the left gear that this driving gear engages and right gear, Left Drive axle, right power transmission shaft, the some worm screw portions be arranged on Left Drive axle and right power transmission shaft, each worm screw portion corresponding and the worm gear pole connecting worm gear center; The outboard end of each worm gear pole described connects a crank; Described each leg connects corresponding crank and fixed part or extension, drives described leg swing to creep with the front and back realizing the detection of this multifunctional rescue and gather robot by drive unit and transmission component.
2. multifunctional rescue detection as claimed in claim 1 gathers robot, it is characterized in that: each leg described comprise connect successively huckle, calf and foot, the inner side of this huckle is a link rod part, one end of this link rod part and the free end pivot joint of described crank, the other end passes through fixed part or the extension pivot joint of a rocking bar portion and described pedestal.
3. multifunctional rescue detection as claimed in claim 2 gathers robot, and it is characterized in that: each leg described also comprises a spring, this spring connects the back of described foot and the middle and lower part of described calf.
4. multifunctional rescue detection as claimed in claim 1 gathers robot, it is characterized in that: described flight assembly comprise the first flight motor, the second flight motor, the first output gear connecting this first flight motor, the second output gear connecting this second flight motor, the first input gear engaged with the first output gear, the second input gear engaged with the second output gear, the interior axle being connected the first input gear, connect the second input gear outer shaft, connect first screw wing on the top of interior axle and connect second screw wing at middle part of outer shaft.
5. multifunctional rescue detection as claimed in claim 4 gathers robot, and it is characterized in that: described flight assembly also comprises a balancing pole, described first screw wing is connected with a balancing pole by a connector.
6. multifunctional rescue detection as claimed in claim 1 gathers robot, it is characterized in that: described mechanical hand assembly comprises one first grabbing arm, the second grabbing arm, boring arm and cutting arm; Described first grabbing arm, the second grabbing arm are in the middle part of the second end of pedestal, and described boring arm and cutting arm are positioned at the both sides of the first grabbing arm, the second grabbing arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420300161.8U CN204296907U (en) | 2014-06-09 | 2014-06-09 | Multifunctional rescue detection gathers robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420300161.8U CN204296907U (en) | 2014-06-09 | 2014-06-09 | Multifunctional rescue detection gathers robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204296907U true CN204296907U (en) | 2015-04-29 |
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ID=53102472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420300161.8U Expired - Fee Related CN204296907U (en) | 2014-06-09 | 2014-06-09 | Multifunctional rescue detection gathers robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204296907U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737596A (en) * | 2017-01-11 | 2017-05-31 | 西华大学 | A kind of robot running gear |
| CN112340042A (en) * | 2020-11-16 | 2021-02-09 | 中山大学 | Multifunctional unmanned aerial vehicle |
-
2014
- 2014-06-09 CN CN201420300161.8U patent/CN204296907U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737596A (en) * | 2017-01-11 | 2017-05-31 | 西华大学 | A kind of robot running gear |
| CN112340042A (en) * | 2020-11-16 | 2021-02-09 | 中山大学 | Multifunctional unmanned aerial vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150429 Termination date: 20160609 |