CN207433675U - Full landform intelligence rescue robot with self-balancing objective table - Google Patents
Full landform intelligence rescue robot with self-balancing objective table Download PDFInfo
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- CN207433675U CN207433675U CN201721538832.4U CN201721538832U CN207433675U CN 207433675 U CN207433675 U CN 207433675U CN 201721538832 U CN201721538832 U CN 201721538832U CN 207433675 U CN207433675 U CN 207433675U
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- belt wheel
- objective table
- balancing
- balancing objective
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Abstract
The utility model discloses a kind of full landform intelligence rescue robots with self-balancing objective table, including walking mechanism, further include self-balancing mechanism, self-balancing mechanism includes being arranged on the self-balancing objective table above rack, control system, the screw and screw rod driving device of 2 or more, the lower end of screw is connect by shaft coupling and screw rod driving device axis, the upper end is connected with self-balancing objective table, a threaded rod is equipped between the center of self-balancing objective table and rack, the bottom of threaded rod is fixed in rack, its top is connected to the bottom of self-balancing objective table by universal joint.The walking mechanism of the structure, which overcomes existing robot, cannot adapt to earthquake-stricken area Various Complex landform, have the characteristics that mobility is by force and simple in structure；And set self-balancing objective table can be constantly in horizontality under any circumstance, can give treatment in rapid, steady, safety the disaster area that is carried out the wounded in disaster area, and avoid because transport process is likely to occur the situation of secondary injury.
Description
Technical field
The utility model is related to a kind of robots, and in particular to a kind of full landform with self-balancing objective table is intelligently rescued
Robot.
Background technology
At present, with global warming and Global climate change, as earthquake, sea occur again and again on the earth of human setting house
The natural calamities such as howl, landslide, big flood, fire threaten the life and property safety of this mankind.When these disasters occur,
The people's own army, fire fighters, medical staff etc. is needed timely to be rescued.And only cannot by artificial rescue
The requirement of rescue.With the development of science and technology, more and more smart machines are gradually put into disaster relief ranks, wherein more universal
It is rescue robot.
Rescue robot can play rescue during entire rescue and relief work, scout feedback, on the spot rescue, logistics supply
Etc. can play huge effect in tasks.Particularly in earthquake disaster field, calamity place shape is extremely complex, and ambulance at all can not be into
Enter disaster area and implement rescue.It is difficult to lift the badly-wounded wounded by stretcher when rescue soldier enters when rescue is implemented in earthquake-stricken area
Go out disaster area, because the stationarity of stretcher, the ground after earthquake must be kept the moment during the wounded to be sent out to disaster area with stretcher
Landform complex is difficult to ensure that stretcher will not rock, and the condition of the injury for rocking the wounded that will increase sharply of stretcher causes not
Repairable situation.Therefore, this problem will be efficiently solved by studying a kind of robot with self-balancing objective table.
Robot in terms of the existing rescue applied to disaster area is mostly used for information feedback system or thermal imaging system to detect
Sign of life in disaster area, use are relatively limited.And study on the contrary many, example for the robot with self-balance structure is existing
Chinese utility model patent if Authorization Notice No. is 204673629U discloses a kind of single wheel self-balancing of horizontal gyroscope structure
Robot, including rack, balance motor, rotating weight, control circuit board, electric rotating machine, gyrorotor, traveling wheel and walking electricity
Machine, rack are the hollow cylindrical of bottom surface closing, and rack top surface installs a square top plate, and balance motor is mounted on top plate
Upper surface, one end connection balance motor of rotating weight, the other end is hanging, and control circuit board is mounted on the geometry of top plate lower face
Center, control circuit board connection balance motor, electric rotating machine and movable motor, electric rotating machine are mounted on the inside of rack,
Gyrorotor is mounted in the rotation axis of electric rotating machine, and traveling wheel is mounted on the bottom surface lower face of rack, and movable motor connection is driven
Dynamic traveling wheel, the central axis of the rotation axis of rotating weight, the rotation axis of gyrorotor and rack, the supporting point position of traveling wheel
In on the central shaft of rack.Robot motion's flexibility of this kind of single wheel structure is good and with fixed point balanced capacity, is only applicable in
In being used on level land, it is difficult to adapt to the landform of earthquake-stricken area Various Complex.
Utility model content
For above-mentioned deficiency, operate steadily the technical problem to be solved by the utility model is to provide one kind, mobility
It can the full landform intelligence rescue machine strong, suitable in the situation of complicated landform carry the wounded with self-balancing objective table
People.
To achieve the above object, the utility model is achieved through the following technical solutions：
Full landform intelligence rescue robot with self-balancing objective table, including walking mechanism, the walking mechanism includes
Rack and be separately mounted to rack both sides cover belt wheel group, respectively covers the lower section that belt wheel group is mounted on rack by connecting bracket, also
Including self-balancing mechanism, the self-balancing mechanism includes being arranged on self-balancing objective table above rack, for controlling self-balancing
Objective table is constantly in the control system of horizontality, the screw of 2 or more and the screw rod driving device for driving screw, institute
It states screw rod driving device to be fixed in rack by erection support, the lower end of the screw passes through shaft coupling and screw rod driving device
Axis connects, the upper end is connected by fastener with self-balancing objective table, and one is equipped between the center of self-balancing objective table and rack
Threaded rod, the bottom of the threaded rod is fixed in rack, its top is connected to the bottom of self-balancing objective table by universal joint.
In said program, the fastener may include ring flange, screw and connection ring, and the centre bore of the ring flange supplies silk
Bar penetrates, and is fixed in the location hole that the screw is penetrated on ring flange and by ring flange on screw, the open loop of the connection ring
It is fixed on after holding through the wall body of self-balancing objective table in the location hole on ring flange.I.e. by the effect of fastener by self-balancing
Objective table is attached with screw, which is not to be completely fixed connection nor the company of slack and undisciplined arbitrary mobile form
It connects.
In said program, the screw rod driving device can be DC speed-reducing.
In said program, each belt wheel group of covering may include that a pair of of master covers belt wheel, a pair is covered the servo-actuated of belt wheel transmission with master and covered
Belt wheel, for the main driving motor for covering belt wheel and one to be driven to cover band, wherein
The master covers the shaft of belt wheel and the output axis connection of driving motor, it is described it is servo-actuated cover belt wheel and be arranged on master cover belt wheel
Top and be connected with a motion bar between the servo-actuated shaft for covering belt wheel and the main shaft for covering belt wheel, the driving motor passes through
Motor fixing frame is mounted on the lower section of the bottom plate below rack, and the bottom plate is parallel with rack to be set and pass through spring and rack
Connection, it is described cover band be coated on it is main cover belt wheel on the servo-actuated periphery covered where belt wheel.
It is described to ensure the servo-actuated flexibility for covering belt wheel movement in order to adjust the servo-actuated tensioning for covering belt wheel in said program
The servo-actuated shaft for covering belt wheel can be connected with a slide, and the slide is located at the lower section of bottom plate and the top of slide and passes through screw vertically
It is fixed on bottom plate, the servo-actuated shaft for covering belt wheel is fitted to the sliding slot opened up on slide by bolt and bearing
It is interior.
In said program, in order to ensure respectively to cover the synchronism of belt wheel movement, it can cover belt wheel main and main cover between belt wheel
A horizon bar is connected in shaft, a horizon bar is connected in belt wheel and the servo-actuated shaft covered between belt wheel in servo-actuated cover.
In said program, the control system may include camera, control terminal and master control borad, and the camera is mounted on
On bottom plate, the master control borad is mounted on the lower section of self-balancing objective table and is mainly sensed by central processing unit, driving chip, balance
Device and the electric power generating composition for power supply, the power supply is connected after power supply transfer chip with the feeder ear of central processing unit, described
PID controller connection in the input terminal and central processing unit of driving chip, its output terminal are connected with screw rod driving device, described
Balance sensor and camera are connected with the signal input part of central processing unit；The control terminal passes through wireless connection module
It is connected with central processing unit.
In said program, the central processing unit can be model be STM32F407 processing chip, the driving chip
For the drive module of model TB6612.
The beneficial effects of the utility model are：
1) walking mechanism that the utility model uses includes rack and be separately mounted to rack both sides covers belt wheel group, each
Cover belt wheel group include it is a pair of main cover belt wheel, it is a pair of with it is main cover belt wheel transmission it is servo-actuated cover belt wheel, driving motor and one cover band, should
The walking mechanism of structure, which overcomes existing robot, cannot adapt to earthquake-stricken area Various Complex landform, have mobility strong and tie
The characteristics of structure is simple；
2) robot of this structure is provided with self-balancing objective table, passes through screw, screw rod driving device, threaded rod and control
The use of system processed so that self-balancing objective table can be constantly in horizontality under any circumstance, more run when in landform
It winnows with a dustpan and complicated earthquake, the wounded or other breakables etc. is placed on self-balancing objective table, you can the wounded in disaster area are fast
Speed, steady, safety the disaster area that is carried out are given treatment to, and are avoided because transport process is likely to occur the situation of secondary injury.Tool
There is stable, system to control sensitive, highly practical beneficial features.
Description of the drawings
Fig. 1 has the structure diagram of the full landform intelligence rescue robot of self-balancing objective table.
Fig. 2 is the system block diagram of the control system.
Figure label is：1st, screw；2nd, connection ring；3rd, ring flange；4th, self-balancing objective table；5th, shaft coupling；6th, screw drives
Dynamic device；7th, erection support；8th, rack；9th, spring；10th, connecting bracket；11st, crawler belt；12nd, main Athey wheel；13rd, output shaft；14、
Driving motor；15th, motor fixing frame；16th, motion bar；17th, slide；18th, threaded rod；19th, universal joint；20th, bottom plate；21st, it is servo-actuated
Athey wheel；22nd, camera；23rd, master control borad, 24, horizon bar.
Specific embodiment
As shown in Figure 1, the full landform intelligence rescue robot with self-balancing objective table, including walking mechanism, the row
It walks that mechanism includes rack 8 and be separately mounted to 8 both sides of rack cover belt wheel group, respectively covers belt wheel group and be mounted on by connecting bracket 10
The lower section of rack 8, except that：Further include self-balancing mechanism.
The self-balancing mechanism includes being arranged on the self-balancing objective table 4 of the top of rack 8, for controlling self-balancing objective table
4 are constantly in the control system of horizontality, the screw 1 of 2 or more and the screw rod driving device 6 for driving screw 1.It is described
Screw rod driving device 6 is fixed on by erection support 7 in rack 8.In order to improve efficiency and save installation space, the present embodiment
In, the screw rod driving device 6 is DC speed-reducing.The lower end of the screw 1 passes through shaft coupling 5 and screw rod driving device 6
Axis connects, the upper end is connected by fastener with self-balancing objective table 4.It is equipped between the center of self-balancing objective table 4 and rack 8
One threaded rod 18, the bottom of the threaded rod 18 is fixed in rack 8, its top is connected to self-balancing loading by universal joint 19
The bottom of platform 4.The screw 1 is matched somebody with somebody to merge with threaded rod 18, control system and be made under the action of screw rod driving device 6 from flat jointly
Weighing apparatus objective table 4 is constantly in horizontal state.In the present embodiment, the screw 1 is specially 2, naturally it is also possible to selected as 3
Deng.
The fastener specifically includes ring flange 3, screw and connection ring 2, wherein the centre bore screw mandrel 1 of ring flange 3
Upper end penetrates, and is fixed in the location hole that the screw is penetrated on ring flange 3 and by ring flange 3 on screw 1, the connection ring 2
Open-loop through self-balancing objective table 4 wall body after be fixed in the location hole on ring flange 3.I.e. self-balancing objective table 4 is logical
It crosses threaded rod 18 and is used as main support, with screw 1 connection ring 2 being connected with ring flange 3 is pulled to adjust the upper of self-balancing objective table 4
Under, left and right, tilt to ensure the horizontality of self-balancing objective table 4.
Each belt wheel group of covering includes a pair of main covering belt wheel, a pair of covering the servo-actuated of belt wheel transmission with main and cover belt wheel, for driving
Master covers the driving motor 14 of belt wheel and one covers band.Wherein, the master covers the shaft of belt wheel and the output shaft 13 of driving motor 14
Connection.A horizon bar is connected in belt wheel and the main shaft covered between belt wheel in main cover, covers belt wheel with servo-actuated in the servo-actuated belt wheel that covers
Between shaft on be connected with a horizon bar.I.e. at two same group and with straight line installation master cover the shaft of belt wheel between connect
There is horizon bar；Similarly, it is connected with horizon bar between the servo-actuated shaft for covering belt wheel at two same group and with straight line installation.
The servo-actuated belt wheel that covers is arranged on the main top for covering belt wheel and covers turning for belt wheel with main in the servo-actuated shaft for covering belt wheel
A motion bar 16 is connected between axis.The driving motor 14 is mounted on the bottom plate 20 of 8 lower section of rack by motor fixing frame 15
Lower section, the driving motor 14 be DC speed-reducing.The bottom plate 20 is parallel with rack 8 set and pass through spring 9 with
Rack 8 connects.The quantity of the spring 9 is 4 or more, is major diameter stiffness spring 9, to reach 8 top of frames
The effect of self-balancing objective table 4 can also play good cushioning effect.It is described cover band and be coated on the main belt wheel that covers cover belt wheel with servo-actuated
On the periphery at place.The servo-actuated shaft for covering belt wheel is connected with a slide 17.The slide 17 is located at vertically under bottom plate 20
The side and top of slide 17 is screwed on bottom plate 20, the servo-actuated shaft for covering belt wheel are matched somebody with somebody by bolt and bearing
It closes in the sliding slot for being mounted on and being opened up on slide 17.The i.e. servo-actuated shaft for covering belt wheel can move up and down in sliding slot so that with
The dynamic belt wheel that covers can be adjusted corresponding rate of tension according to the main rotation for covering belt wheel.
As shown in Fig. 2, the control system includes camera 22, control terminal and master control borad 23.The camera 22 is pacified
Dress on the base plate 20, for gathering the real time environment image of robot current location, and is sent to central processing unit.The master control
Plate 23 is mounted on the lower section of self-balancing objective table 4 and mainly by central processing unit, driving chip, balance sensor and for powering
Electric power generating composition.In the present embodiment, the central processing implement body selects the processing chip that model is STM32F407.It is wherein electric
Source is connected after power supply transfer chip with the feeder ear of central processing unit.In the input terminal and central processing unit of the driving chip
PID controller connection, its output terminal is connected with screw rod driving device 6.In the present embodiment, the driving chip uses model
The drive module of TB6612, the signal that the pid control module to receive in central processing unit is sent, and to screw rod driving device
6 send rotating forward, reversion, the instruction of working speed.The balance sensor and camera 22 are defeated with the signal of central processing unit
Enter end connection.The balance sensor is mounted on lower section, the angle of inclination for detecting self-balancing objective table 4 of master control borad 23,
The balance sensor of specific optional model MPU6050.The control terminal passes through wireless connection module and central processing unit
Connection.The control terminal can be the mobile equipment such as mobile phone, tablet computer, smartwatch or joystick, remote control
Device etc..When in use, the installation of control terminal domestic demand and the corresponding control operation software of control system, the control operation software
By carrying out burning, exploitation in central processing unit.
Certainly, above-mentioned control system is only used for ensureing the control that self-balancing objective table 4 is constantly in horizontality, and
Corresponding Robot remote device is also needed for the control of entire robot.Used Robot remote device can be existing more ripe
Robot control distant handle, the control of robot can also be integrated together in control terminal together with, control easy to operation.
The self-balancing objective table 4 is when in use：
1) by the wounded or treat that loading is placed on self-balancing objective table 4, and be fixed with some bandages, software controller
Control instruction is triggered by touch controlled key, then operates control terminal, walking mechanism movement；
2) balance sensor being arranged in rack 8 detects, senses the angle of inclination of self-balancing objective table 4 and be sent to immediately
Central processing unit；Central processing unit is that the value that sends is compared, when detecting that self-balancing objective table 4 is heeling condition
When, interrupt and pass through PID controller calculate when reaching horizontality immediately, the adjustment parameter of each screw 1；
3) each adjustment parameter is switched to corresponding control instruction by central processing unit, and control screw drive motor 14 rotates forward, instead
Turn and velocity of rotation, make 3 up and down of ring flange on screw 1 so as to control or tilt, self-balancing to be driven to carry
Object platform 4 reaches the real-time, balance of moment.
Therefore, when the utility model at work, it is only necessary to control the traveling of robot running gear, the self-balancing objective table
4 balance by control system in real time, in moment itself realization level avoids transporting wounded's process, because of with a varied topography, walking
Mechanism jolts and the situation of wounded's secondary injury occurs.
It these are only the embodiment for illustrating the utility model, be not intended to limit the utility model, for this field
For technical staff, within the spirit and principle of the utility model, any modifications, equivalent replacements and improvements are made,
It should be included within the scope of protection of this utility model.
Claims (8)
1. the full landform intelligence rescue robot with self-balancing objective table, including walking mechanism, the walking mechanism includes machine
Frame (8) and be separately mounted to rack (8) both sides cover belt wheel group, respectively covers belt wheel group and is mounted on rack by connecting bracket (10)
(8) lower section, it is characterised in that：
Further include self-balancing mechanism, the self-balancing mechanism includes being arranged on self-balancing objective table (4) above rack (8), uses
The control system of horizontality, the screw of 2 or more (1) are constantly in control self-balancing objective table (4) and for driving silk
The screw rod driving device (6) of bar (1), the screw rod driving device (6) is fixed on by erection support (7) in rack (8), described
The lower end of screw (1) is by shaft coupling (5) and screw rod driving device (6) axis connects, the upper end passes through fastener and self-balancing loading
Platform (4) connects, and a threaded rod (18), the threaded rod (18) are equipped between the center of self-balancing objective table (4) and rack (8)
Bottom be fixed in rack (8), its top is connected to the bottoms of self-balancing objective table (4) by universal joint (19).
2. the full landform intelligence rescue robot according to claim 1 with self-balancing objective table, it is characterised in that：Institute
Stating fastener includes ring flange (3), screw and connection ring (2), and the centre bore screw mandrel (1) of the ring flange (3) penetrates, described
It is fixed in the location hole that screw is penetrated on ring flange (3) and by ring flange (3) on screw (1), the open loop of the connection ring (2)
It is fixed on after holding through the wall body of self-balancing objective table (4) in the location hole on ring flange (3).
3. the full landform intelligence rescue robot according to claim 1 or 2 with self-balancing objective table, feature exist
In：The screw rod driving device (6) is DC speed-reducing.
4. the full landform intelligence rescue robot according to claim 1 with self-balancing objective table, it is characterised in that：Often
One, which covers belt wheel group, includes a pair of main covering belt wheel, a pair of covering the servo-actuated of belt wheel transmission with main and cover belt wheel, for master to be driven to cover belt wheel
Driving motor (14) and one cover band, wherein
The master is covered the shaft of belt wheel and is connected with the output shaft (13) of driving motor (14), and the servo-actuated belt wheel that covers is arranged on main cover
The top of belt wheel and it is connected with a motion bar (16), the driving between the servo-actuated shaft for covering belt wheel and the main shaft for covering belt wheel
Motor (14) is mounted on the lower section of the bottom plate (20) below rack (8), the bottom plate (20) and machine by motor fixing frame (15)
Frame (8) is parallel to be set and passes through spring (9) and be connected with rack (8), it is described cover band be coated on it is main cover belt wheel and be servo-actuated cover belt wheel
On the periphery at place.
5. the full landform intelligence rescue robot according to claim 4 with self-balancing objective table, it is characterised in that：Institute
It states the servo-actuated shaft for covering belt wheel and is connected with a slide (17), the slide (17) is located at lower section and the slide of bottom plate (20) vertically
(17) top is screwed on bottom plate (20), and the servo-actuated shaft for covering belt wheel is pacified by the cooperation of bolt and bearing
In the sliding slot opened up on slide (17).
6. the full landform intelligence rescue robot according to claim 4 with self-balancing objective table, it is characterised in that：
Main cover is connected with a horizon bar (24) in belt wheel and the main shaft covered between belt wheel, covers belt wheel servo-actuated and servo-actuated covers between belt wheel
Shaft on be connected with a horizon bar (24).
7. the full landform intelligence rescue robot according to claim 4 with self-balancing objective table, it is characterised in that：Institute
Stating control system includes camera (22), control terminal and master control borad (23), and the camera (22) is mounted on bottom plate (20),
The master control borad (23) is mounted on the lower section of self-balancing objective table (4) and is mainly sensed by central processing unit, driving chip, balance
Device and the electric power generating composition for power supply, the power supply is connected after power supply transfer chip with the feeder ear of central processing unit, described
PID controller connection in the input terminal and central processing unit of driving chip, its output terminal are connected with screw rod driving device (6),
The balance sensor and camera (22) are connected with the signal input part of central processing unit；The control terminal passes through wireless
Link block is connected with central processing unit.
8. the full landform intelligence rescue robot according to claim 7 with self-balancing objective table, it is characterised in that：Institute
It is the processing chip that model is STM32F407 to state central processing unit, and the driving chip is the drive module of model TB6612.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721538832.4U CN207433675U (en) | 2017-11-16 | 2017-11-16 | Full landform intelligence rescue robot with self-balancing objective table |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721538832.4U CN207433675U (en) | 2017-11-16 | 2017-11-16 | Full landform intelligence rescue robot with self-balancing objective table |
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| Publication Number | Publication Date |
|---|---|
| CN207433675U true CN207433675U (en) | 2018-06-01 |
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ID=62290047
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721538832.4U Expired - Fee Related CN207433675U (en) | 2017-11-16 | 2017-11-16 | Full landform intelligence rescue robot with self-balancing objective table |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107757737A (en) * | 2017-11-16 | 2018-03-06 | 钦州学院 | Full landform intelligence rescue robot with self-balancing objective table |
| CN109099898A (en) * | 2018-08-17 | 2018-12-28 | 北京理工大学 | A kind of mobile service system based on self-stabilization platform |
| CN111994179A (en) * | 2020-07-16 | 2020-11-27 | 中国北方车辆研究所 | Contraction and expansion type wheel-track walking device |
| CN112773625A (en) * | 2021-01-21 | 2021-05-11 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Self-balancing device for wheelchair |
-
2017
- 2017-11-16 CN CN201721538832.4U patent/CN207433675U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107757737A (en) * | 2017-11-16 | 2018-03-06 | 钦州学院 | Full landform intelligence rescue robot with self-balancing objective table |
| CN107757737B (en) * | 2017-11-16 | 2024-01-16 | 钦州学院 | All-terrain intelligent rescue robot with self-balancing objective table |
| CN109099898A (en) * | 2018-08-17 | 2018-12-28 | 北京理工大学 | A kind of mobile service system based on self-stabilization platform |
| CN111994179A (en) * | 2020-07-16 | 2020-11-27 | 中国北方车辆研究所 | Contraction and expansion type wheel-track walking device |
| CN112773625A (en) * | 2021-01-21 | 2021-05-11 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Self-balancing device for wheelchair |
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| CF01 | Termination of patent right due to non-payment of annual fee |